diff --git a/N025/go2_arm/dr_off/seed_1016/check.json b/N025/go2_arm/dr_off/seed_1016/check.json new file mode 100644 index 0000000000000000000000000000000000000000..23d040b3c2751c92a8ac1ecd68ebc6cdc32144a0 --- /dev/null +++ b/N025/go2_arm/dr_off/seed_1016/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "1707 rows vs ceil(3413/2) = 1707" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 31..3443, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "18.09 MB, 1707 frames at 25 fps, mean luma 111..142, std 24, new picture 1706x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1707 vs 1707" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "26.51 MB, 1707 frames at 25 fps, mean luma 113..173, std 30, new picture 1706x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1707 vs 1707" + }, + "sim_info present": { + "pass": true, + "detail": "stationassembly/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N025/go2_arm/dr_off/seed_1016/check.txt b/N025/go2_arm/dr_off/seed_1016/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..16d5614c7e1a177ab398013ae1e43a5af49de74c --- /dev/null +++ b/N025/go2_arm/dr_off/seed_1016/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n025_go2_off_1016/out task=N025 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n025_go2_off_1016/out/stationassembly/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1707 videos 2 robot_type Go2PlusCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 1707 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5'] +[PASS] action shape: parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y'] +[PASS] task text = MobileBench instruction: task_index 0: 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.' +rows 1707 at dataset fps 25 = 68.28 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1707 rows vs ceil(3413/2) = 1707 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..3443, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 18.09 MB, 1707 frames at 25 fps, mean luma 111..142, std 24, new picture 1706x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1707 vs 1707 +[PASS] video observation.images.wrist decodes, 640x480, not black: 26.51 MB, 1707 frames at 25 fps, mean luma 113..173, std 30, new picture 1706x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1707 vs 1707 +parquet size 19.67 MB +[PASS] sim_info present: stationassembly/000/sim_info +dataset size 64.52 MB; whole cell dir 66.0 MB +RESULT: ALL PASS diff --git a/N025/go2_arm/dr_off/seed_1016/report.json b/N025/go2_arm/dr_off/seed_1016/report.json new file mode 100644 index 0000000000000000000000000000000000000000..f7bd75b7a745f1069574c2ae9f19a728f6c4aca9 --- /dev/null +++ b/N025/go2_arm/dr_off/seed_1016/report.json @@ -0,0 +1,2124 @@ +{ + "task": "N025", + "agent_id": null, + "embodiment": "go2_arm", + "level": "easy", + "scene_seed": 1016, + "execution_mode": "headless_collect_chain(StationAssembly->NavToPose/ReachStance/AssemblyGrasp/CarryPose/AssemblyInsert->NavTo+MobileMoveL+AssemblyServoL->cuRobo)", + "config": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/src/magicsim/Collect/Task/MobileAssembly/Conf/n025_wedge_shim.yaml", + "full_success": true, + "failure_reason": null, + "dr": { + "seed": 1016, + "wedge": { + "dx": 0.03759, + "dy": 0.03336, + "yaw_deg": 1.84245 + }, + "shim_board": { + "dx": 0.02613, + "dy": -0.00444, + "yaw_deg": -1.50917 + }, + "wedge_mass": 0.03701, + "light": 1153.61472, + "spawn": { + "dx": -0.02411, + "dy": 0.03449, + "yaw_deg": -1.33464 + }, + "overrides": { + "env.scene.objects.wedge.common.pos": [ + -1.96241, + 1.43336, + 0.431 + ], + "env.scene.objects.wedge.common.ori": [ + 0.0, + 0.0, + 91.84245 + ], + "env.scene.objects.shim_board.common.pos": [ + 1.22613, + 3.14556, + 0.43 + ], + "env.scene.objects.shim_board.common.ori": [ + 0.0, + 0.0, + -91.50917 + ], + "env.scene.objects.wedge.wedge_1.physics.mass": 0.03701, + "env.scene.background.intensity": [ + 1153.61472, + 1153.61472 + ], + "env.robot.RidgebackSawyerUmi.common.pos": [ + [ + -3.62411, + -2.46551, + 0.06 + ], + [ + -3.62411, + -2.46551, + 0.06 + ] + ], + "env.robot.RidgebackSawyerUmi.common.ori": [ + [ + 0, + 0, + 58.66536 + ], + [ + 0, + 0, + 58.66536 + ] + ] + } + }, + "planner_seeds": { + "label": "lean", + "num_trajopt_seeds": 1, + "num_ik_seeds": 4, + "max_attempts": 6 + }, + "collect": { + "task": "N025", + "robot": "go2_arm", + "visual_dr": false, + "env": { + "MMB_COLLECT": "1", + "MMB_TASK_ID": "N025", + "MMB_CLEAN_VIEW": "1", + "MMB_REAL_ROBOT_LOOK": "1", + "MMB_VISUAL_DR": "0" + }, + "cameras": { + "head": { + "link": "Robot_0/Bodies/go2_base", + "pos": [ + 0.332051, + 0.038027, + 0.093559 + ], + "ori": [ + 169.9473, + -88.6452, + 81.5985 + ], + "focal_length": 1.8231182098388672, + "horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.4407838582992554 + }, + "wrist": { + "link": "Robot_0/Bodies/piper_link6", + "pos": [ + -0.074987, + 0.005289, + 0.045821 + ], + "ori": [ + 179.3135, + -20.212, + 88.9402 + ], + "focal_length": 1.8517500162124634, + "horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.4393036365509033 + } + }, + "resolution": [ + 640, + 480 + ], + "camera_hz": 25, + "record": { + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + } + }, + "steps": 3443, + "task_id": "N025", + "task_version": "EXT60-MobileAvatar-v3", + "family_id": "wedge_support", + "primary_category": "C4", + "env_terminated": true, + "env_truncated": false, + "station_layout": { + "S": { + "pose": [ + -3.6, + -2.5, + 60.0 + ] + }, + "A": { + "center": [ + -2.0, + 0.6 + ], + "zone_radius": 0.6, + "table": "table_A" + }, + "B": { + "center": [ + 1.2, + 2.1 + ], + "zone_radius": 0.6, + "table": "table_B" + } + }, + "spawn_pose": [ + -3.624109983444214, + -2.4655098915100098, + 1.0239037095098025 + ], + "base_path": [ + [ + -3.624, + -2.466, + 1.024 + ], + [ + -3.626, + -2.469, + 1.033 + ], + [ + -3.627, + -2.469, + 1.033 + ], + [ + -3.627, + -2.47, + 1.031 + ], + [ + -3.624, + -2.463, + 1.036 + ], + [ + -3.607, + -2.43, + 1.045 + ], + [ + -3.585, + -2.386, + 1.058 + ], + [ + -3.56, + -2.337, + 1.066 + ], + [ + -3.531, + -2.281, + 1.064 + ], + [ + -3.502, + -2.221, + 1.069 + ], + [ + -3.47, + -2.161, + 1.067 + ], + [ + -3.439, + -2.1, + 1.07 + ], + [ + -3.406, + -2.04, + 1.068 + ], + [ + -3.374, + -1.98, + 1.071 + ], + [ + -3.341, + -1.919, + 1.07 + ], + [ + -3.309, + -1.859, + 1.07 + ], + [ + -3.276, + -1.799, + 1.07 + ], + [ + -3.244, + -1.74, + 1.069 + ], + [ + -3.211, + -1.678, + 1.072 + ], + [ + -3.179, + -1.619, + 1.066 + ], + [ + -3.147, + -1.558, + 1.071 + ], + [ + -3.114, + -1.499, + 1.066 + ], + [ + -3.082, + -1.438, + 1.069 + ], + [ + -3.049, + -1.378, + 1.067 + ], + [ + -3.017, + -1.318, + 1.07 + ], + [ + -2.984, + -1.258, + 1.068 + ], + [ + -2.952, + -1.198, + 1.071 + ], + [ + -2.919, + -1.137, + 1.07 + ], + [ + -2.887, + -1.077, + 1.07 + ], + [ + -2.854, + -1.017, + 1.071 + ], + [ + -2.822, + -0.957, + 1.07 + ], + [ + -2.789, + -0.896, + 1.072 + ], + [ + -2.757, + -0.837, + 1.066 + ], + [ + -2.725, + -0.775, + 1.072 + ], + [ + -2.692, + -0.716, + 1.066 + ], + [ + -2.66, + -0.655, + 1.069 + ], + [ + -2.627, + -0.596, + 1.067 + ], + [ + -2.596, + -0.535, + 1.07 + ], + [ + -2.562, + -0.474, + 1.069 + ], + [ + -2.53, + -0.414, + 1.072 + ], + [ + -2.496, + -0.353, + 1.07 + ], + [ + -2.464, + -0.292, + 1.071 + ], + [ + -2.431, + -0.231, + 1.07 + ], + [ + -2.399, + -0.172, + 1.067 + ], + [ + -2.366, + -0.11, + 1.07 + ], + [ + -2.333, + -0.051, + 1.065 + ], + [ + -2.301, + 0.01, + 1.071 + ], + [ + -2.268, + 0.069, + 1.066 + ], + [ + -2.237, + 0.131, + 1.069 + ], + [ + -2.204, + 0.191, + 1.065 + ], + [ + -2.173, + 0.252, + 1.07 + ], + [ + -2.141, + 0.311, + 1.067 + ], + [ + -2.115, + 0.365, + 1.071 + ], + [ + -2.091, + 0.413, + 1.071 + ], + [ + -2.071, + 0.45, + 1.066 + ], + [ + -2.055, + 0.483, + 1.072 + ], + [ + -2.045, + 0.508, + 1.072 + ], + [ + -2.039, + 0.523, + 1.072 + ], + [ + -2.037, + 0.526, + 1.128 + ], + [ + -2.042, + 0.53, + 1.236 + ], + [ + -2.043, + 0.525, + 1.376 + ], + [ + -2.042, + 0.525, + 1.538 + ], + [ + -2.04, + 0.524, + 1.694 + ], + [ + -2.041, + 0.524, + 1.866 + ], + [ + -2.042, + 0.523, + 1.994 + ], + [ + -2.039, + 0.521, + 1.999 + ], + [ + -2.037, + 0.518, + 1.947 + ], + [ + -2.035, + 0.515, + 1.887 + ], + [ + -2.032, + 0.515, + 1.836 + ], + [ + -2.033, + 0.516, + 1.783 + ], + [ + -2.036, + 0.519, + 1.727 + ], + [ + -2.042, + 0.534, + 1.67 + ], + [ + -2.046, + 0.555, + 1.619 + ], + [ + -2.044, + 0.577, + 1.573 + ], + [ + -2.044, + 0.599, + 1.538 + ], + [ + -2.046, + 0.622, + 1.508 + ], + [ + -2.047, + 0.644, + 1.499 + ], + [ + -2.045, + 0.663, + 1.499 + ], + [ + -2.041, + 0.68, + 1.493 + ], + [ + -2.038, + 0.701, + 1.493 + ], + [ + -2.037, + 0.722, + 1.493 + ], + [ + -2.039, + 0.744, + 1.492 + ], + [ + -2.037, + 0.76, + 1.486 + ], + [ + -2.032, + 0.78, + 1.485 + ], + [ + -2.031, + 0.803, + 1.486 + ], + [ + -2.033, + 0.819, + 1.485 + ], + [ + -2.033, + 0.828, + 1.484 + ], + [ + -2.033, + 0.832, + 1.484 + ], + [ + -2.033, + 0.834, + 1.484 + ], + [ + -2.033, + 0.835, + 1.483 + ], + [ + -2.033, + 0.835, + 1.482 + ], + [ + -2.033, + 0.836, + 1.482 + ], + [ + -2.033, + 0.836, + 1.482 + ], + [ + -2.033, + 0.836, + 1.483 + ], + [ + -2.032, + 0.839, + 1.484 + ], + [ + -2.03, + 0.843, + 1.483 + ], + [ + -2.025, + 0.847, + 1.473 + ], + [ + -2.026, + 0.854, + 1.475 + ], + [ + -2.026, + 0.856, + 1.468 + ], + [ + -2.027, + 0.861, + 1.466 + ], + [ + -2.026, + 0.862, + 1.465 + ], + [ + -2.025, + 0.861, + 1.462 + ], + [ + -2.025, + 0.858, + 1.46 + ], + [ + -2.025, + 0.854, + 1.46 + ], + [ + -2.026, + 0.85, + 1.458 + ], + [ + -2.026, + 0.845, + 1.457 + ], + [ + -2.027, + 0.841, + 1.456 + ], + [ + -2.027, + 0.837, + 1.455 + ], + [ + -2.027, + 0.84, + 1.455 + ], + [ + -2.028, + 0.838, + 1.454 + ], + [ + -2.028, + 0.84, + 1.455 + ], + [ + -2.029, + 0.843, + 1.455 + ], + [ + -2.028, + 0.845, + 1.455 + ], + [ + -2.028, + 0.846, + 1.455 + ], + [ + -2.028, + 0.844, + 1.455 + ], + [ + -2.028, + 0.841, + 1.454 + ], + [ + -2.028, + 0.838, + 1.454 + ], + [ + -2.028, + 0.84, + 1.455 + ], + [ + -2.029, + 0.843, + 1.455 + ], + [ + -2.029, + 0.844, + 1.455 + ], + [ + -2.028, + 0.843, + 1.455 + ], + [ + -2.028, + 0.842, + 1.455 + ], + [ + -2.028, + 0.84, + 1.454 + ], + [ + -2.028, + 0.838, + 1.454 + ], + [ + -2.028, + 0.841, + 1.455 + ], + [ + -2.029, + 0.842, + 1.455 + ], + [ + -2.028, + 0.841, + 1.454 + ], + [ + -2.028, + 0.84, + 1.454 + ], + [ + -2.028, + 0.838, + 1.454 + ], + [ + -2.028, + 0.841, + 1.455 + ], + [ + -2.029, + 0.843, + 1.455 + ], + [ + -2.028, + 0.842, + 1.455 + ], + [ + -2.028, + 0.84, + 1.455 + ], + [ + -2.028, + 0.838, + 1.454 + ], + [ + -2.028, + 0.841, + 1.455 + ], + [ + -2.029, + 0.842, + 1.455 + ], + [ + -2.028, + 0.841, + 1.455 + ], + [ + -2.028, + 0.84, + 1.454 + ], + [ + -2.028, + 0.838, + 1.454 + ], + [ + -2.028, + 0.841, + 1.455 + ], + [ + -2.029, + 0.842, + 1.454 + ], + [ + -2.028, + 0.841, + 1.455 + ], + [ + -2.028, + 0.84, + 1.454 + ], + [ + -2.028, + 0.838, + 1.454 + ], + [ + -2.028, + 0.841, + 1.455 + ], + [ + -2.029, + 0.842, + 1.455 + ], + [ + -2.029, + 0.843, + 1.455 + ], + [ + -2.028, + 0.842, + 1.455 + ], + [ + -2.028, + 0.842, + 1.455 + ], + [ + -2.028, + 0.841, + 1.454 + ], + [ + -2.028, + 0.84, + 1.454 + ], + [ + -2.028, + 0.839, + 1.454 + ], + [ + -2.028, + 0.84, + 1.454 + ], + [ + -2.027, + 0.84, + 1.454 + ], + [ + -2.027, + 0.84, + 1.454 + ], + [ + -2.026, + 0.837, + 1.454 + ], + [ + -2.025, + 0.838, + 1.454 + ], + [ + -2.025, + 0.841, + 1.455 + ], + [ + -2.025, + 0.84, + 1.453 + ], + [ + -2.025, + 0.838, + 1.452 + ], + [ + -2.023, + 0.835, + 1.406 + ], + [ + -2.026, + 0.83, + 1.295 + ], + [ + -2.034, + 0.826, + 1.133 + ], + [ + -2.032, + 0.824, + 0.974 + ], + [ + -2.035, + 0.821, + 0.808 + ], + [ + -2.037, + 0.822, + 0.639 + ], + [ + -2.026, + 0.818, + 0.48 + ], + [ + -1.991, + 0.814, + 0.341 + ], + [ + -1.938, + 0.799, + 0.257 + ], + [ + -1.873, + 0.78, + 0.214 + ], + [ + -1.807, + 0.765, + 0.214 + ], + [ + -1.734, + 0.753, + 0.221 + ], + [ + -1.665, + 0.75, + 0.233 + ], + [ + -1.592, + 0.75, + 0.242 + ], + [ + -1.524, + 0.756, + 0.245 + ], + [ + -1.453, + 0.764, + 0.253 + ], + [ + -1.387, + 0.776, + 0.248 + ], + [ + -1.317, + 0.789, + 0.256 + ], + [ + -1.251, + 0.803, + 0.245 + ], + [ + -1.183, + 0.82, + 0.252 + ], + [ + -1.117, + 0.835, + 0.244 + ], + [ + -1.049, + 0.853, + 0.247 + ], + [ + -0.981, + 0.868, + 0.244 + ], + [ + -0.914, + 0.887, + 0.247 + ], + [ + -0.845, + 0.903, + 0.248 + ], + [ + -0.777, + 0.922, + 0.246 + ], + [ + -0.708, + 0.939, + 0.253 + ], + [ + -0.641, + 0.958, + 0.246 + ], + [ + -0.572, + 0.976, + 0.253 + ], + [ + -0.505, + 0.994, + 0.243 + ], + [ + -0.437, + 1.012, + 0.25 + ], + [ + -0.371, + 1.028, + 0.242 + ], + [ + -0.303, + 1.047, + 0.249 + ], + [ + -0.235, + 1.064, + 0.246 + ], + [ + -0.167, + 1.083, + 0.25 + ], + [ + -0.098, + 1.1, + 0.249 + ], + [ + -0.032, + 1.119, + 0.248 + ], + [ + 0.038, + 1.135, + 0.251 + ], + [ + 0.104, + 1.154, + 0.246 + ], + [ + 0.174, + 1.171, + 0.252 + ], + [ + 0.241, + 1.189, + 0.244 + ], + [ + 0.311, + 1.208, + 0.251 + ], + [ + 0.376, + 1.225, + 0.241 + ], + [ + 0.445, + 1.244, + 0.247 + ], + [ + 0.512, + 1.259, + 0.241 + ], + [ + 0.579, + 1.279, + 0.247 + ], + [ + 0.648, + 1.295, + 0.246 + ], + [ + 0.715, + 1.315, + 0.249 + ], + [ + 0.785, + 1.331, + 0.25 + ], + [ + 0.852, + 1.351, + 0.247 + ], + [ + 0.917, + 1.368, + 0.252 + ], + [ + 0.972, + 1.384, + 0.244 + ], + [ + 1.022, + 1.398, + 0.253 + ], + [ + 1.06, + 1.409, + 0.25 + ], + [ + 1.084, + 1.414, + 0.239 + ], + [ + 1.106, + 1.42, + 0.252 + ], + [ + 1.124, + 1.425, + 0.267 + ], + [ + 1.13, + 1.428, + 0.358 + ], + [ + 1.13, + 1.431, + 0.488 + ], + [ + 1.132, + 1.431, + 0.632 + ], + [ + 1.13, + 1.432, + 0.796 + ], + [ + 1.131, + 1.43, + 0.953 + ], + [ + 1.13, + 1.431, + 1.118 + ], + [ + 1.132, + 1.432, + 1.281 + ], + [ + 1.133, + 1.432, + 1.436 + ], + [ + 1.135, + 1.435, + 1.53 + ], + [ + 1.135, + 1.436, + 1.565 + ], + [ + 1.135, + 1.433, + 1.579 + ], + [ + 1.136, + 1.431, + 1.576 + ], + [ + 1.135, + 1.431, + 1.574 + ], + [ + 1.135, + 1.441, + 1.562 + ], + [ + 1.133, + 1.458, + 1.557 + ], + [ + 1.13, + 1.478, + 1.549 + ], + [ + 1.129, + 1.494, + 1.535 + ], + [ + 1.131, + 1.517, + 1.54 + ], + [ + 1.131, + 1.541, + 1.537 + ], + [ + 1.128, + 1.565, + 1.536 + ], + [ + 1.126, + 1.585, + 1.531 + ], + [ + 1.129, + 1.601, + 1.523 + ], + [ + 1.131, + 1.623, + 1.524 + ], + [ + 1.13, + 1.647, + 1.526 + ], + [ + 1.127, + 1.672, + 1.528 + ], + [ + 1.126, + 1.691, + 1.527 + ], + [ + 1.128, + 1.707, + 1.523 + ], + [ + 1.131, + 1.729, + 1.531 + ], + [ + 1.131, + 1.752, + 1.532 + ], + [ + 1.128, + 1.778, + 1.533 + ], + [ + 1.126, + 1.798, + 1.53 + ], + [ + 1.128, + 1.814, + 1.525 + ], + [ + 1.131, + 1.835, + 1.525 + ], + [ + 1.131, + 1.859, + 1.527 + ], + [ + 1.128, + 1.885, + 1.528 + ], + [ + 1.126, + 1.905, + 1.527 + ], + [ + 1.128, + 1.922, + 1.526 + ], + [ + 1.131, + 1.941, + 1.527 + ], + [ + 1.133, + 1.965, + 1.532 + ], + [ + 1.13, + 1.991, + 1.534 + ], + [ + 1.127, + 2.013, + 1.532 + ], + [ + 1.128, + 2.03, + 1.528 + ], + [ + 1.131, + 2.049, + 1.523 + ], + [ + 1.133, + 2.072, + 1.526 + ], + [ + 1.13, + 2.097, + 1.528 + ], + [ + 1.127, + 2.119, + 1.527 + ], + [ + 1.128, + 2.137, + 1.527 + ], + [ + 1.131, + 2.155, + 1.523 + ], + [ + 1.134, + 2.177, + 1.531 + ], + [ + 1.131, + 2.203, + 1.533 + ], + [ + 1.128, + 2.226, + 1.531 + ], + [ + 1.128, + 2.244, + 1.528 + ], + [ + 1.132, + 2.261, + 1.519 + ], + [ + 1.133, + 2.285, + 1.524 + ], + [ + 1.131, + 2.31, + 1.528 + ], + [ + 1.128, + 2.333, + 1.528 + ], + [ + 1.128, + 2.351, + 1.527 + ], + [ + 1.131, + 2.36, + 1.533 + ], + [ + 1.135, + 2.36, + 1.556 + ], + [ + 1.139, + 2.359, + 1.588 + ], + [ + 1.144, + 2.359, + 1.615 + ], + [ + 1.145, + 2.36, + 1.666 + ], + [ + 1.144, + 2.364, + 1.739 + ], + [ + 1.15, + 2.37, + 1.829 + ], + [ + 1.151, + 2.38, + 1.923 + ], + [ + 1.148, + 2.391, + 2.028 + ], + [ + 1.144, + 2.402, + 2.13 + ], + [ + 1.142, + 2.416, + 2.23 + ], + [ + 1.14, + 2.422, + 2.33 + ], + [ + 1.144, + 2.426, + 2.423 + ], + [ + 1.144, + 2.43, + 2.544 + ], + [ + 1.145, + 2.433, + 2.658 + ], + [ + 1.15, + 2.434, + 2.761 + ], + [ + 1.156, + 2.435, + 2.874 + ], + [ + 1.157, + 2.435, + 2.983 + ], + [ + 1.157, + 2.437, + 3.069 + ], + [ + 1.16, + 2.439, + 3.13 + ], + [ + 1.164, + 2.442, + -3.131 + ], + [ + 1.166, + 2.443, + -3.125 + ], + [ + 1.168, + 2.443, + -3.141 + ], + [ + 1.171, + 2.444, + 3.129 + ], + [ + 1.17, + 2.446, + 3.135 + ], + [ + 1.168, + 2.445, + 3.136 + ], + [ + 1.166, + 2.444, + 3.131 + ], + [ + 1.165, + 2.445, + 3.125 + ], + [ + 1.164, + 2.446, + 3.121 + ], + [ + 1.163, + 2.446, + 3.118 + ], + [ + 1.161, + 2.447, + 3.116 + ], + [ + 1.159, + 2.447, + 3.114 + ], + [ + 1.158, + 2.446, + 3.113 + ], + [ + 1.16, + 2.446, + 3.113 + ], + [ + 1.159, + 2.445, + 3.113 + ], + [ + 1.158, + 2.445, + 3.112 + ], + [ + 1.156, + 2.444, + 3.113 + ], + [ + 1.154, + 2.443, + 3.113 + ], + [ + 1.153, + 2.443, + 3.113 + ], + [ + 1.152, + 2.442, + 3.113 + ], + [ + 1.151, + 2.442, + 3.113 + ], + [ + 1.151, + 2.442, + 3.113 + ], + [ + 1.151, + 2.442, + 3.112 + ], + [ + 1.152, + 2.442, + 3.112 + ], + [ + 1.153, + 2.443, + 3.112 + ], + [ + 1.152, + 2.442, + 3.113 + ], + [ + 1.152, + 2.442, + 3.112 + ], + [ + 1.152, + 2.442, + 3.113 + ], + [ + 1.152, + 2.441, + 3.112 + ], + [ + 1.152, + 2.441, + 3.112 + ], + [ + 1.151, + 2.441, + 3.112 + ], + [ + 1.151, + 2.441, + 3.112 + ], + [ + 1.152, + 2.44, + 3.112 + ], + [ + 1.152, + 2.439, + 3.112 + ], + [ + 1.152, + 2.439, + 3.112 + ], + [ + 1.153, + 2.44, + 3.112 + ], + [ + 1.153, + 2.441, + 3.112 + ], + [ + 1.154, + 2.441, + 3.112 + ], + [ + 1.154, + 2.441, + 3.112 + ], + [ + 1.154, + 2.441, + 3.112 + ], + [ + 1.154, + 2.441, + 3.112 + ], + [ + 1.155, + 2.441, + 3.112 + ], + [ + 1.155, + 2.441, + 3.112 + ], + [ + 1.155, + 2.441, + 3.112 + ], + [ + 1.155, + 2.441, + 3.112 + ], + [ + 1.155, + 2.441, + 3.112 + ], + [ + 1.155, + 2.441, + 3.112 + ], + [ + 1.155, + 2.441, + 3.112 + ], + [ + 1.155, + 2.441, + 3.112 + ], + [ + 1.155, + 2.441, + 3.112 + ], + [ + 1.155, + 2.441, + 3.112 + ] + ], + "stage_events": [ + { + "step": 30, + "event": "stage_start", + "stage": "nav_A" + }, + { + "step": 471, + "event": "enter_zone", + "zone": "A", + "base": [ + -2.268, + 0.069 + ] + }, + { + "step": 594, + "event": "stage_done", + "stage": "nav_A", + "skill_state": "finished: planner reached target" + }, + { + "step": 594, + "event": "stage_start", + "stage": "stance_A" + }, + { + "step": 1059, + "event": "stage_done", + "stage": "stance_A", + "skill_state": "finished" + }, + { + "step": 1059, + "event": "stage_start", + "stage": "pick" + }, + { + "step": 1300, + "event": "picked", + "part": [ + -1.9628, + 1.4297, + 0.4607 + ], + "gap_mm": 29.7, + "lift_mm": 30.7 + }, + { + "step": 1439, + "event": "stage_done", + "stage": "pick", + "skill_state": "finished" + }, + { + "step": 1439, + "event": "stage_start", + "stage": "carry" + }, + { + "step": 1589, + "event": "stage_done", + "stage": "carry", + "skill_state": "finished" + }, + { + "step": 1589, + "event": "stage_start", + "stage": "nav_B" + }, + { + "step": 2231, + "event": "stage_done", + "stage": "nav_B", + "skill_state": "finished: planner reached target" + }, + { + "step": 2231, + "event": "stage_start", + "stage": "stance_B" + }, + { + "step": 2336, + "event": "enter_zone", + "zone": "B", + "base": [ + 1.129, + 1.506 + ] + }, + { + "step": 3048, + "event": "stage_done", + "stage": "stance_B", + "skill_state": "finished" + }, + { + "step": 3048, + "event": "stage_start", + "stage": "assemble" + }, + { + "step": 3048, + "event": "wp_start", + "name": "pre_insert", + "kind": "plan" + }, + { + "step": 3048, + "event": "assemble_start", + "t_l6_part": [ + -0.0099, + 0.0006, + 0.1409, + 0.0131, + -0.0026, + -0.9999, + 0.0038 + ] + }, + { + "step": 3181, + "event": "wp_done", + "name": "pre_insert" + }, + { + "step": 3181, + "event": "wp_start", + "name": "align", + "kind": "servo" + }, + { + "step": 3212, + "event": "wp_done", + "name": "align" + }, + { + "step": 3212, + "event": "wp_start", + "name": "insert", + "kind": "servo" + }, + { + "step": 3280, + "event": "stop_condition", + "name": "board_level", + "wp": "insert" + }, + { + "step": 3280, + "event": "wp_done", + "name": "insert" + }, + { + "step": 3280, + "event": "release_start" + }, + { + "step": 3364, + "event": "leave_start" + }, + { + "step": 3414, + "event": "released", + "gap_mm": 70.0 + }, + { + "step": 3443, + "event": "success", + "ok": true, + "tilt_deg": -0.4, + "tilt_err_deg": -0.4, + "support_gap_mm": 0.55, + "wedge_on_plate": true, + "wedge_x_mm": 287.6, + "wedge_yaw_deg": -180.0, + "board_touch_steps": 0 + } + ], + "station_transition_order": [ + "S", + "A", + "B" + ], + "interstation_path_lengths": { + "S": 2.887, + "S->A": 4.429, + "A->B": 1.037 + }, + "base_path_length": 8.353, + "distance_to_first_interaction": 3.865, + "regrasp_events": 0, + "violations": [], + "end_state": { + "ok": true, + "tilt_deg": -0.4, + "tilt_err_deg": -0.4, + "support_gap_mm": 0.55, + "wedge_on_plate": true, + "wedge_x_mm": 287.6, + "wedge_yaw_deg": -180.0, + "board_touch_steps": 0 + }, + "manipulation_success": true, + "mobile_success": true, + "transport_state": { + "picked": true, + "released": true + }, + "command_state": null, + "elapsed_s": 1096.2 +} diff --git a/N025/go2_arm/dr_off/seed_1016/stationassembly/000/completed/0.json b/N025/go2_arm/dr_off/seed_1016/stationassembly/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..1db0234d1d09a173dbe0f48b261236e22fe34f76 --- /dev/null +++ b/N025/go2_arm/dr_off/seed_1016/stationassembly/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationassembly/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N025/go2_arm/dr_off/seed_1016/stationassembly/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N025/go2_arm/dr_off/seed_1016/stationassembly/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..f16014d0c7ab49327702941ee66787cd30455048 --- /dev/null +++ b/N025/go2_arm/dr_off/seed_1016/stationassembly/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6caf11505f62b0da1b3ae892e1035cb79cb0ebb6da6f0f9c19406daf4208fdbe +size 19667337 diff --git a/N025/go2_arm/dr_off/seed_1016/stationassembly/000/lerobot_v21/meta/episodes.jsonl b/N025/go2_arm/dr_off/seed_1016/stationassembly/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2711442b4fca933ca34b575bb7f05d0a9de14491 --- /dev/null +++ b/N025/go2_arm/dr_off/seed_1016/stationassembly/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level."], "length": 1707, "magicsim/control_steps": 3413, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a medium shim board and a small wedge. The gray table A is to the left of the wedge. The gray table B is to the right of the shim board. The shim board is on top of the gray table B. The shim board is to the left of the gray table B. The wedge is on top of the gray table A. The wedge is to the right of the gray table A. The scene is viewed from front-right, at table height."} diff --git a/N025/go2_arm/dr_off/seed_1016/stationassembly/000/lerobot_v21/meta/episodes_stats.jsonl b/N025/go2_arm/dr_off/seed_1016/stationassembly/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6b95a8bcf523c270af835d6e12677a674ab19929 --- /dev/null +++ b/N025/go2_arm/dr_off/seed_1016/stationassembly/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.13002310924157806, -0.0032164094245086374, 0.04175189745996538, 0.3602929056808134, -0.6583865334022863, 1.338939599042478, 0.7908504414991391, 0.24025384339093522, -0.5107807627348224, 0.6423027538751729, 0.13327482205957603, 0.6139425893380199], "std": [0.14277448129194517, 0.02215386489459298, 0.23216510022687015, 0.021368705982444038, 1.6047514949606814, 1.1166313969158164, 0.15674614495581934, 0.23317339307069374, 0.30180643725947226, 0.24776252766274817, 0.2102920238979055, 0.4868440061610513], "min": [0.0, -0.20999999344348907, -0.800000011920929, 0.3400000035762787, -3.4335923194885254, -2.1505024433135986, 0.567799985408783, -0.048453789204359055, -0.9055480360984802, -0.7550332546234131, -0.6037800908088684, 0.0], "max": [0.3499999940395355, 0.009999996982514858, 0.800000011920929, 0.38999998569488525, 1.2969844341278076, 2.852961778640747, 1.07229483127594, 0.6140872240066528, 0.7927480936050415, 0.8629490733146667, 0.6037800312042236, 1.0], "count": [1707]}, "action_is_hold": {"mean": [0.06033977738722906, 0.06033977738722906, 0.06033977738722906, 0.06033977738722906, 0.0984182776801406, 0.0984182776801406, 0.0984182776801406, 0.0984182776801406, 0.0984182776801406, 0.0984182776801406, 0.0984182776801406, 0.9466900995899239], "std": [0.23811528437311325, 0.23811528437311325, 0.23811528437311325, 0.23811528437311325, 0.2978793720595879, 0.2978793720595879, 0.2978793720595879, 0.2978793720595879, 0.2978793720595879, 0.2978793720595879, 0.2978793720595879, 0.22465073987936238], "min": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], "count": [1707]}, "observation.state": {"mean": [-0.00949846234421133, 0.007801516322133312, -0.017516093744343465, 0.07103116743248306, -0.3047610592340421, 0.6551119933089249, 0.6965683440437216, 0.7916904174240975, 0.784562155455962, 1.5090559633698601, -1.3414080443966088, -1.3255037488333998, -1.339763945770599, -1.3694116704702797, -1.3194292873126692, 0.1519518225111741, 0.8005580816551057, -0.2511528525152625, 0.022393170840204566, -0.022826122561950886, -0.7235172865759553, 1.0529447668300222, 1.4612536499670674, 0.3862283403194642, -0.022826122561950886, -0.022393170840204566], "std": [0.04359131551706947, 0.039357349054282224, 0.05156035616501306, 0.052876394253069225, 0.5592655529533117, 0.1041208544196261, 0.09200085168180511, 0.11300657510505581, 0.12234697942957963, 0.6232085600622743, 0.13322102868742866, 0.1431121901309637, 0.13254345121704597, 0.14086200893572348, 0.3588677864805572, 0.2098989315690026, 0.19694995063200835, 0.2156403152932526, 0.009970481139806782, 0.009627771493982014, 1.6581615893363681, 1.1478116987738263, 0.928314171267454, 0.01680878020696952, 0.009627771493982014, 0.009970481139806782], "min": [-0.18988849222660065, -0.15499347448349, -0.20451746881008148, -0.06131374090909958, -2.0096921920776367, 0.4903058111667633, 0.47596776485443115, 0.614729106426239, 0.5815926194190979, 0.7189987301826477, -1.5531154870986938, -1.6407299041748047, -1.6348129510879517, -1.6634327173233032, -2.236722469329834, -0.3977600336074829, 0.5023585557937622, -0.7307523488998413, 0.014386983588337898, -0.03500000014901161, -3.6273045539855957, -2.470163583755493, -3.1392555236816406, 0.35211801528930664, -0.03500000014901161, -0.03500000014901161], "max": [0.18910475075244904, 0.16768118739128113, 0.1502964198589325, 0.2624472379684448, 0.9304991364479065, 0.9294393658638, 0.8976603150367737, 1.0769591331481934, 1.0420942306518555, 2.6941564083099365, -1.1052098274230957, -1.0826445817947388, -1.1207890510559082, -1.1249988079071045, -0.7533864378929138, 0.632770836353302, 1.216351866722107, 0.23373736441135406, 0.03500000014901161, -0.01474010944366455, 1.1717312335968018, 2.446756362915039, 3.140869617462158, 0.412903755903244, -0.01474010944366455, -0.014386983588337898], "count": [1707]}, "observation.joint_vel": {"mean": [-0.002582093837368725, -0.0031632935659981804, 0.007096488263920521, 0.0018338275291932, -0.023910931273077248, -0.004848139703625303, 0.00034447065092171484, 0.0018318661056860232, -0.011490175680703962, 0.005594726576726335, 0.0020942166822168, 0.0016208352357146123, -0.0026544124701393854, 0.019453926231174798, -0.01491573663910523, 0.0013665349988993731, 0.006998438238225333, 0.0018258370370864618, 0.011211925000263181, 0.0006004187820180721], "std": [0.39123634773769894, 0.35846636051956515, 0.42924239994714586, 0.5350652557908463, 0.28474258531300706, 1.0325679550839735, 1.04172062725118, 0.813381585740464, 0.7036542124665517, 0.20941348740391827, 0.5795894685693378, 0.9451092790456361, 0.9429452096843983, 0.9739674459857326, 0.2210066481338036, 0.28818773771769174, 0.14424956726470783, 0.27181880339374925, 0.013952753838612301, 0.010163937436922099], "min": [-2.793055295944214, -3.896383285522461, -3.345538377761841, -3.9937903881073, -1.7418830394744873, -4.464044094085693, -5.5072340965271, -4.71367883682251, -3.6712307929992676, -0.9507409334182739, -3.036705255508423, -6.54309606552124, -4.947680473327637, -6.0311598777771, -2.8074867725372314, -2.1367244720458984, -1.2316631078720093, -1.8228135108947754, -0.20009444653987885, -0.20002157986164093], "max": [3.0064773559570312, 2.49600887298584, 4.960679054260254, 3.4338457584381104, 1.588266372680664, 1.6105417013168335, 1.7751675844192505, 4.504315376281738, 7.264926910400391, 1.0670830011367798, 2.8228838443756104, 4.77854061126709, 3.8479788303375244, 3.840449810028076, 1.2995120286941528, 1.802392601966858, 1.5758293867111206, 1.9853750467300415, 0.20000691711902618, 0.20035545527935028], "count": [1707]}, "observation.eef_pose": {"mean": [-0.6599210320846965, 1.338039854109859, 0.7908197049167188, 0.24091491806656384, -0.5580845459483839, 0.6460742239513521, 0.16221097993375827], "std": [1.6051643132967381, 1.1158133075279084, 0.15699490479927, 0.2318307604271155, 0.20640305886845195, 0.23395855650938785, 0.1889259885846446], "min": [-3.4335923194885254, -2.1505188941955566, 0.5686854124069214, -0.04962193965911865, -0.9056404829025269, -0.10509197413921356, -0.008840084075927734], "max": [1.2971309423446655, 2.852961778640747, 1.0705457925796509, 0.6141535043716431, -0.11568447947502136, 0.8629645705223083, 0.6098802089691162], "count": [1707]}, "observation.environment_state": {"mean": [0.04999078624141438, -0.0009486886825192841, 1.2261300086975098, 3.1455600261688232, 0.4300000071525574, -0.6977331638336182, 0.0, -9.313225746154785e-10, 0.7163577675819397, -2.0, 1.5, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, 1.2000000476837158, 3.0, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, -0.5355977077719357, 1.7498622380227602, 0.6694839381480259, 0.6170410454454224, 0.134306486032817, -0.20280780691877087, 0.6030010348551442], "std": [0.0099675038442074, 0.014201766210882847, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4648314753108034, 0.5972705311785856, 0.24035378817526307, 0.2170154508062684, 0.1999113286184668, 0.25210929651147357, 0.21415303947486888], "min": [0.004740909673273563, -0.21997641026973724, 1.2261300086975098, 3.1455600261688232, 0.4300000071525574, -0.6977331638336182, 0.0, -9.313225746154785e-10, 0.7163577675819397, -2.0, 1.5, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, 1.2000000476837158, 3.0, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, -1.989571213722229, 0.799079954624176, 0.4299999177455902, -0.10924598574638367, -0.009205976501107216, -0.6030624508857727, 0.12031833827495575], "max": [0.05235988274216652, 0.007892658933997154, 1.2261300086975098, 3.1455600261688232, 0.4300000071525574, -0.6977331638336182, 0.0, -9.313225746154785e-10, 0.7163577675819397, -2.0, 1.5, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, 1.2000000476837158, 3.0, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, 1.4295673370361328, 2.858020782470703, 1.0290553569793701, 0.7988576292991638, 0.5991184115409851, 0.061802901327610016, 0.9107589721679688], "count": [1707]}, "action.command": {"mean": [-1.4324390509706617, 0.3127646140233518, 0.9825825825192169, 0.5933504051867229, 0.0, 0.0, 0.7271098697142635, 0.5367121507472384, -0.6697975069313487, 1.278980246529012, 0.8007871274672367, 0.26245537025398163, -0.5241548183087872, 0.6470793947381409, 0.15723601803977055, 0.32967032967032966, -2.846322662201687, -0.9381462664746526, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.352510157571009, 0.32414238182071037, 0.8298738740174529, 0.367613936871735, -0.3337271456571163, 0.8053140679797525, 0.05759235255877375, 0.0, -2.8096322479532727, -0.9241989450668221, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.352510157571009, 0.32414238182071037, 0.8298738740174529, 0.367613936871735, -0.3337271456571163, 0.8053140679797525, 0.05759235255877375, 0.0, -2.767973989396546, -0.9129464220051742, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.352510157571009, 0.32414238182071037, 0.8298738740174529, 0.367613936871735, -0.3337271456571163, 0.8053140679797525, 0.05759235255877375, 0.0, -2.74857043804814, -0.9010119565683811, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.352510157571009, 0.32414238182071037, 0.8298738740174529, 0.367613936871735, -0.3337271456571163, 0.8053140679797525, 0.05759235255877375, 0.0, -2.6966534781811844, -0.8771333608461257, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.352510157571009, 0.32414238182071037, 0.8298738740174529, 0.367613936871735, -0.3337271456571163, 0.8053140679797525, 0.05759235255877375, 0.0, -2.6800475648386564, -0.8641584779492658, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.352510157571009, 0.32414238182071037, 0.8298738740174529, 0.367613936871735, -0.3337271456571163, 0.8053140679797525, 0.05759235255877375, 0.0, -2.6681307026402865, -0.8476032988349004, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.352510157571009, 0.32414238182071037, 0.8298738740174529, 0.367613936871735, -0.3337271456571163, 0.8053140679797525, 0.05759235255877375, 0.0, -2.599301106894194, -0.8054177841143821, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.352510157571009, 0.32414238182071037, 0.8298738740174529, 0.367613936871735, -0.3337271456571163, 0.8053140679797525, 0.05759235255877375, 0.0, -2.567566434542338, -0.7793806646000686, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.352510157571009, 0.32414238182071037, 0.8298738740174529, 0.367613936871735, -0.3337271456571163, 0.8053140679797525, 0.05759235255877375, 0.0, -2.5176972862499865, -0.7440125085228119, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.352510157571009, 0.32414238182071037, 0.8298738740174529, 0.367613936871735, -0.3337271456571163, 0.8053140679797525, 0.05759235255877375, 0.0, -2.471366300511716, -0.7132609937321487, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.352510157571009, 0.32414238182071037, 0.8298738740174529, 0.367613936871735, -0.3337271456571163, 0.8053140679797525, 0.05759235255877375, 0.0, -2.43639381252118, -0.6804111131388156, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.352510157571009, 0.32414238182071037, 0.8298738740174529, 0.367613936871735, -0.3337271456571163, 0.8053140679797525, 0.05759235255877375, 0.0, -2.3738922853374955, -0.646270592117784, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.352510157571009, 0.32414238182071037, 0.8298738740174529, 0.367613936871735, -0.3337271456571163, 0.8053140679797525, 0.05759235255877375, 0.0, -2.3579301828175634, -0.6167902199190054, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.352510157571009, 0.32414238182071037, 0.8298738740174529, 0.367613936871735, -0.3337271456571163, 0.8053140679797525, 0.05759235255877375, 0.0, -2.347407508845353, -0.5976288582555097, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.352510157571009, 0.32414238182071037, 0.8298738740174529, 0.367613936871735, -0.3337271456571163, 0.8053140679797525, 0.05759235255877375, 0.0, -2.2812066167148193, -0.5533717556379327, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.352510157571009, 0.32414238182071037, 0.8298738740174529, 0.367613936871735, -0.3337271456571163, 0.8053140679797525, 0.05759235255877375, 0.0, -2.249281072497961, -0.5301337678041032, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.352510157571009, 0.32414238182071037, 0.8298738740174529, 0.367613936871735, -0.3337271456571163, 0.8053140679797525, 0.05759235255877375, 0.0, -2.202301988554238, -0.489539294990141, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.352510157571009, 0.32414238182071037, 0.8298738740174529, 0.367613936871735, -0.3337271456571163, 0.8053140679797525, 0.05759235255877375, 0.0, -2.1432497513234914, -0.4605641035891291, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.352510157571009, 0.32414238182071037, 0.8298738740174529, 0.367613936871735, -0.3337271456571163, 0.8053140679797525, 0.05759235255877375, 0.0, -2.1180713016595414, -0.42411831599562916, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.352510157571009, 0.32414238182071037, 0.8298738740174529, 0.367613936871735, -0.3337271456571163, 0.8053140679797525, 0.05759235255877375, 0.0, -2.0943312615304444, -0.4059866666793823, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.352510157571009, 0.32414238182071037, 0.8298738740174529, 0.367613936871735, -0.3337271456571163, 0.8053140679797525, 0.05759235255877375, 0.0, -2.0344062607679794, -0.3590737596080078, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.352510157571009, 0.32414238182071037, 0.8298738740174529, 0.367613936871735, -0.3337271456571163, 0.8053140679797525, 0.05759235255877375, 0.0, -2.010346782148181, -0.3422042380517988, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.352510157571009, 0.32414238182071037, 0.8298738740174529, 0.367613936871735, -0.3337271456571163, 0.8053140679797525, 0.05759235255877375, 0.0, -1.9504771197020119, -0.29369448192084013, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.352510157571009, 0.32414238182071037, 0.8298738740174529, 0.367613936871735, -0.3337271456571163, 0.8053140679797525, 0.05759235255877375, 0.0, -1.9067858979476624, -0.2732829884510135, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.352510157571009, 0.32414238182071037, 0.8298738740174529, 0.367613936871735, -0.3337271456571163, 0.8053140679797525, 0.05759235255877375, 0.0, -1.8673166294596089, -0.2288198862502824, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.352510157571009, 0.32414238182071037, 0.8298738740174529, 0.367613936871735, -0.3337271456571163, 0.8053140679797525, 0.05759235255877375, 0.0, -1.8121033390956138, -0.20669219149878962, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.352510157571009, 0.32414238182071037, 0.8298738740174529, 0.367613936871735, -0.3337271456571163, 0.8053140679797525, 0.05759235255877375, 0.0, -1.7845679506733643, -0.16371293002693213, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.352510157571009, 0.32414238182071037, 0.8298738740174529, 0.367613936871735, -0.3337271456571163, 0.8053140679797525, 0.05759235255877375, 0.0, -1.778969887773789, -0.1562584970720965, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.352510157571009, 0.32414238182071037, 0.8298738740174529, 0.367613936871735, -0.3337271456571163, 0.8053140679797525, 0.05759235255877375, 0.0, -1.7020533511887734, -0.09904533921189569, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.352510157571009, 0.32414238182071037, 0.8298738740174529, 0.367613936871735, -0.3337271456571163, 0.8053140679797525, 0.05759235255877375, 0.0, -1.677360642312178, -0.08784947763034953, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.352510157571009, 0.32414238182071037, 0.8298738740174529, 0.367613936871735, -0.3337271456571163, 0.8053140679797525, 0.05759235255877375, 0.0, -1.619281811945474, -0.033894706128248527, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.352510157571009, 0.32414238182071037, 0.8298738740174529, 0.367613936871735, -0.3337271456571163, 0.8053140679797525, 0.05759235255877375, 0.0, -1.575751365120731, -0.01944051393822058, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.352510157571009, 0.32414238182071037, 0.8298738740174529, 0.367613936871735, -0.3337271456571163, 0.8053140679797525, 0.05759235255877375, 0.0, -1.5367942929860965, 0.030728065552403084, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.352510157571009, 0.32414238182071037, 0.8298738740174529, 0.367613936871735, -0.3337271456571163, 0.8053140679797525, 0.05759235255877375, 0.0, -1.4967656829463902, 0.043029639851394574, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.352510157571009, 0.32414238182071037, 0.8298738740174529, 0.367613936871735, -0.3337271456571163, 0.8053140679797525, 0.05759235255877375, 0.0, -1.4540532950441636, 0.09590811160073351, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.352510157571009, 0.32414238182071037, 0.8298738740174529, 0.367613936871735, -0.3337271456571163, 0.8053140679797525, 0.05759235255877375, 0.0, -1.4480903706147303, 0.09754314885210635, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.352510157571009, 0.32414238182071037, 0.8298738740174529, 0.367613936871735, -0.3337271456571163, 0.8053140679797525, 0.05759235255877375, 0.0, -1.3971181066326834, 0.11333084996066876, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.352510157571009, 0.32414238182071037, 0.8298738740174529, 0.367613936871735, -0.3337271456571163, 0.8053140679797525, 0.05759235255877375, 0.0, -1.346813241788997, 0.16586506603962153, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.352510157571009, 0.32414238182071037, 0.8298738740174529, 0.367613936871735, -0.3337271456571163, 0.8053140679797525, 0.05759235255877375, 0.0, -1.3163773164764714, 0.1749952307981045, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.352510157571009, 0.32414238182071037, 0.8298738740174529, 0.367613936871735, -0.3337271456571163, 0.8053140679797525, 0.05759235255877375, 0.0, -1.2455360093964867, 0.23418689960270972, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.352510157571009, 0.32414238182071037, 0.8298738740174529, 0.367613936871735, -0.3337271456571163, 0.8053140679797525, 0.05759235255877375, 0.0, -1.2337711421189024, 0.2401262978416177, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.352510157571009, 0.32414238182071037, 0.8298738740174529, 0.367613936871735, -0.3337271456571163, 0.8053140679797525, 0.05759235255877375, 0.0, -1.1814146209415513, 0.2927552200668487, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.352510157571009, 0.32414238182071037, 0.8298738740174529, 0.367613936871735, -0.3337271456571163, 0.8053140679797525, 0.05759235255877375, 0.0, -1.1513661539080131, 0.3047411732412689, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.352510157571009, 0.32414238182071037, 0.8298738740174529, 0.367613936871735, -0.3337271456571163, 0.8053140679797525, 0.05759235255877375, 0.0, -1.1179432261049451, 0.35115281384975755, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.352510157571009, 0.32414238182071037, 0.8298738740174529, 0.367613936871735, -0.3337271456571163, 0.8053140679797525, 0.05759235255877375, 0.0, -1.068603231835721, 0.3698758379143862, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.352510157571009, 0.32414238182071037, 0.8298738740174529, 0.367613936871735, -0.3337271456571163, 0.8053140679797525, 0.05759235255877375, 0.0, -1.0163338854538269, 0.41956189675117606, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.352510157571009, 0.32414238182071037, 0.8298738740174529, 0.367613936871735, -0.3337271456571163, 0.8053140679797525, 0.05759235255877375, 0.0, -0.9860837284605302, 0.4345582338114876, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.352510157571009, 0.32414238182071037, 0.8298738740174529, 0.367613936871735, -0.3337271456571163, 0.8053140679797525, 0.05759235255877375, 0.0, -0.9147246880317802, 0.4879708743807095, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.352510157571009, 0.32414238182071037, 0.8298738740174529, 0.367613936871735, -0.3337271456571163, 0.8053140679797525, 0.05759235255877375, 0.0, -0.9033443168621158, 0.4996492325963072, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.352510157571009, 0.32414238182071037, 0.8298738740174529, 0.367613936871735, -0.3337271456571163, 0.8053140679797525, 0.05759235255877375, 0.0, -0.8660636541262194, 0.5424806887830668, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.352510157571009, 0.32414238182071037, 0.8298738740174529, 0.367613936871735, -0.3337271456571163, 0.8053140679797525, 0.05759235255877375, 0.0, -0.8209277622735323, 0.5643421607231026, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.352510157571009, 0.32414238182071037, 0.8298738740174529, 0.367613936871735, -0.3337271456571163, 0.8053140679797525, 0.05759235255877375, 0.0, -0.7871972289844532, 0.6049196127042249, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.352510157571009, 0.32414238182071037, 0.8298738740174529, 0.367613936871735, -0.3337271456571163, 0.8053140679797525, 0.05759235255877375, 0.0, -0.7383921024811209, 0.6293421178611357, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.352510157571009, 0.32414238182071037, 0.8298738740174529, 0.367613936871735, -0.3337271456571163, 0.8053140679797525, 0.05759235255877375, 0.0, -0.6859200362542376, 0.6732414985325799, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.352510157571009, 0.32414238182071037, 0.8298738740174529, 0.367613936871735, -0.3337271456571163, 0.8053140679797525, 0.05759235255877375, 0.0, -0.656005692126146, 0.6940647223918, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.352510157571009, 0.32414238182071037, 0.8298738740174529, 0.367613936871735, -0.3337271456571163, 0.8053140679797525, 0.05759235255877375, 0.0, -0.5846428752538577, 0.7415633113192979, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.352510157571009, 0.32414238182071037, 0.8298738740174529, 0.367613936871735, -0.3337271456571163, 0.8053140679797525, 0.05759235255877375, 0.0, -0.5734936221322017, 0.7590208620722614, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.352510157571009, 0.32414238182071037, 0.8298738740174529, 0.367613936871735, -0.3337271456571163, 0.8053140679797525, 0.05759235255877375, 0.0, -0.5507121166186546, 0.7922063331995437, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.352510157571009, 0.32414238182071037, 0.8298738740174529, 0.367613936871735, -0.3337271456571163, 0.8053140679797525, 0.05759235255877375, 0.0, -0.4909221651542246, 0.8238296019497202, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.352510157571009, 0.32414238182071037, 0.8298738740174529, 0.367613936871735, -0.3337271456571163, 0.8053140679797525, 0.05759235255877375, 0.0, -0.45691693066364497, 0.8585640404058333, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.352510157571009, 0.32414238182071037, 0.8298738740174529, 0.367613936871735, -0.3337271456571163, 0.8053140679797525, 0.05759235255877375, 0.0, -0.40825336430203263, 0.8887893661337706, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.352510157571009, 0.32414238182071037, 0.8298738740174529, 0.367613936871735, -0.3337271456571163, 0.8053140679797525, 0.05759235255877375, 0.0, -0.35721255416300757, 0.9291117428547114, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.352510157571009, 0.32414238182071037, 0.8298738740174529, 0.367613936871735, -0.3337271456571163, 0.8053140679797525, 0.05759235255877375, 0.0, -2.10441255569458, 0.3833378255367279, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6134496935715914, -0.5740786122937575, 0.6728652639591948, 0.10484090635011382, -0.5059828059681764, 0.8537482562217307, 0.06302771973588787, 0.0, -2.0735716819763184, 0.44065436720848083, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6134496935715914, -0.5740786122937575, 0.6728652639591948, 0.10484090635011382, -0.5059828059681764, 0.8537482562217307, 0.06302771973588787, 0.0, -2.045703172683716, 0.4924469590187073, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6134496935715914, -0.5740786122937575, 0.6728652639591948, 0.10484090635011382, -0.5059828059681764, 0.8537482562217307, 0.06302771973588787, 0.0, -2.0161845684051514, 0.5473058223724365, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6134496935715914, -0.5740786122937575, 0.6728652639591948, 0.10484090635011382, -0.5059828059681764, 0.8537482562217307, 0.06302771973588787, 0.0, -2.0, 0.6000000238418579, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6134496935715914, -0.5740786122937575, 0.6728652639591948, 0.10484090635011382, -0.5059828059681764, 0.8537482562217307, 0.06302771973588787, 0.0], "std": [1.8998507661396207, 1.8237284565987513, 0.6126771818205454, 0.2624225963365239, 0.0, 0.0, 0.22445688061246702, 1.2353562682382426, 1.6120289550339084, 1.1347545805135877, 0.15361459919775294, 0.2339657436783564, 0.24859149240143252, 0.24602512995200776, 0.1894143167861857, 0.47009339859796523, 0.8494419553383473, 1.6323777367575503, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4862871041438936, 1.081779827406309, 0.1472427218045564, 0.24689032478407497, 0.18152008548802698, 0.05824823887391885, 0.06588707228058467, 0.0, 0.8784118537553268, 1.6353778408656152, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4862871041438936, 1.081779827406309, 0.1472427218045564, 0.24689032478407497, 0.18152008548802698, 0.05824823887391885, 0.06588707228058467, 0.0, 0.9170597778970245, 1.6451849973426902, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4862871041438936, 1.081779827406309, 0.1472427218045564, 0.24689032478407497, 0.18152008548802698, 0.05824823887391885, 0.06588707228058467, 0.0, 0.926656851547125, 1.6404056725088974, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4862871041438936, 1.081779827406309, 0.1472427218045564, 0.24689032478407497, 0.18152008548802698, 0.05824823887391885, 0.06588707228058467, 0.0, 0.96244599570217, 1.638864668578754, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4862871041438936, 1.081779827406309, 0.1472427218045564, 0.24689032478407497, 0.18152008548802698, 0.05824823887391885, 0.06588707228058467, 0.0, 0.9671904653443985, 1.6309178930814974, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4862871041438936, 1.081779827406309, 0.1472427218045564, 0.24689032478407497, 0.18152008548802698, 0.05824823887391885, 0.06588707228058467, 0.0, 0.9614985411860703, 1.6150983647591308, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4862871041438936, 1.081779827406309, 0.1472427218045564, 0.24689032478407497, 0.18152008548802698, 0.05824823887391885, 0.06588707228058467, 0.0, 0.9957251497056102, 1.5983519916883693, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4862871041438936, 1.081779827406309, 0.1472427218045564, 0.24689032478407497, 0.18152008548802698, 0.05824823887391885, 0.06588707228058467, 0.0, 1.0032335884550463, 1.5814316995388669, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4862871041438936, 1.081779827406309, 0.1472427218045564, 0.24689032478407497, 0.18152008548802698, 0.05824823887391885, 0.06588707228058467, 0.0, 1.0219994808418376, 1.5625900893041884, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4862871041438936, 1.081779827406309, 0.1472427218045564, 0.24689032478407497, 0.18152008548802698, 0.05824823887391885, 0.06588707228058467, 0.0, 1.042079996853141, 1.548028173171001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4862871041438936, 1.081779827406309, 0.1472427218045564, 0.24689032478407497, 0.18152008548802698, 0.05824823887391885, 0.06588707228058467, 0.0, 1.0451350603417697, 1.5235770183689727, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4862871041438936, 1.081779827406309, 0.1472427218045564, 0.24689032478407497, 0.18152008548802698, 0.05824823887391885, 0.06588707228058467, 0.0, 1.0814470918501282, 1.5141891353481014, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4862871041438936, 1.081779827406309, 0.1472427218045564, 0.24689032478407497, 0.18152008548802698, 0.05824823887391885, 0.06588707228058467, 0.0, 1.0646484359920336, 1.4827969498169935, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4862871041438936, 1.081779827406309, 0.1472427218045564, 0.24689032478407497, 0.18152008548802698, 0.05824823887391885, 0.06588707228058467, 0.0, 1.053917200579543, 1.462483540456591, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4862871041438936, 1.081779827406309, 0.1472427218045564, 0.24689032478407497, 0.18152008548802698, 0.05824823887391885, 0.06588707228058467, 0.0, 1.0822117647899967, 1.4412336208723298, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4862871041438936, 1.081779827406309, 0.1472427218045564, 0.24689032478407497, 0.18152008548802698, 0.05824823887391885, 0.06588707228058467, 0.0, 1.0934772482069701, 1.4283394304877397, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4862871041438936, 1.081779827406309, 0.1472427218045564, 0.24689032478407497, 0.18152008548802698, 0.05824823887391885, 0.06588707228058467, 0.0, 1.1020182571365524, 1.4004282733844997, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4862871041438936, 1.081779827406309, 0.1472427218045564, 0.24689032478407497, 0.18152008548802698, 0.05824823887391885, 0.06588707228058467, 0.0, 1.1404468790746605, 1.3961409063824943, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4862871041438936, 1.081779827406309, 0.1472427218045564, 0.24689032478407497, 0.18152008548802698, 0.05824823887391885, 0.06588707228058467, 0.0, 1.126577903183319, 1.3606675704861757, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4862871041438936, 1.081779827406309, 0.1472427218045564, 0.24689032478407497, 0.18152008548802698, 0.05824823887391885, 0.06588707228058467, 0.0, 1.1338852405629776, 1.3498898218317017, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4862871041438936, 1.081779827406309, 0.1472427218045564, 0.24689032478407497, 0.18152008548802698, 0.05824823887391885, 0.06588707228058467, 0.0, 1.1508934141894849, 1.3210859019336108, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4862871041438936, 1.081779827406309, 0.1472427218045564, 0.24689032478407497, 0.18152008548802698, 0.05824823887391885, 0.06588707228058467, 0.0, 1.1601906796602866, 1.3122665570502197, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4862871041438936, 1.081779827406309, 0.1472427218045564, 0.24689032478407497, 0.18152008548802698, 0.05824823887391885, 0.06588707228058467, 0.0, 1.1751232742130044, 1.2811986259164136, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4862871041438936, 1.081779827406309, 0.1472427218045564, 0.24689032478407497, 0.18152008548802698, 0.05824823887391885, 0.06588707228058467, 0.0, 1.2048445815634727, 1.27946005966754, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4862871041438936, 1.081779827406309, 0.1472427218045564, 0.24689032478407497, 0.18152008548802698, 0.05824823887391885, 0.06588707228058467, 0.0, 1.1990130284594174, 1.2415452544057657, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4862871041438936, 1.081779827406309, 0.1472427218045564, 0.24689032478407497, 0.18152008548802698, 0.05824823887391885, 0.06588707228058467, 0.0, 1.2411769551802185, 1.2444689269077651, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4862871041438936, 1.081779827406309, 0.1472427218045564, 0.24689032478407497, 0.18152008548802698, 0.05824823887391885, 0.06588707228058467, 0.0, 1.222089306549796, 1.2013151365384478, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4862871041438936, 1.081779827406309, 0.1472427218045564, 0.24689032478407497, 0.18152008548802698, 0.05824823887391885, 0.06588707228058467, 0.0, 1.2198204477064032, 1.1943341948306405, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4862871041438936, 1.081779827406309, 0.1472427218045564, 0.24689032478407497, 0.18152008548802698, 0.05824823887391885, 0.06588707228058467, 0.0, 1.24542060449316, 1.1615551176583943, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4862871041438936, 1.081779827406309, 0.1472427218045564, 0.24689032478407497, 0.18152008548802698, 0.05824823887391885, 0.06588707228058467, 0.0, 1.2626451063307893, 1.1610473679266664, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4862871041438936, 1.081779827406309, 0.1472427218045564, 0.24689032478407497, 0.18152008548802698, 0.05824823887391885, 0.06588707228058467, 0.0, 1.268470934499376, 1.1212778917506123, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4862871041438936, 1.081779827406309, 0.1472427218045564, 0.24689032478407497, 0.18152008548802698, 0.05824823887391885, 0.06588707228058467, 0.0, 1.3054697946951113, 1.1277606005025393, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4862871041438936, 1.081779827406309, 0.1472427218045564, 0.24689032478407497, 0.18152008548802698, 0.05824823887391885, 0.06588707228058467, 0.0, 1.2918242251169367, 1.0815639102737455, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4862871041438936, 1.081779827406309, 0.1472427218045564, 0.24689032478407497, 0.18152008548802698, 0.05824823887391885, 0.06588707228058467, 0.0, 1.3270897086806066, 1.0889074708815056, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4862871041438936, 1.081779827406309, 0.1472427218045564, 0.24689032478407497, 0.18152008548802698, 0.05824823887391885, 0.06588707228058467, 0.0, 1.3147987777954186, 1.041226877377698, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4862871041438936, 1.081779827406309, 0.1472427218045564, 0.24689032478407497, 0.18152008548802698, 0.05824823887391885, 0.06588707228058467, 0.0, 1.3203001433872508, 1.0425965793424605, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4862871041438936, 1.081779827406309, 0.1472427218045564, 0.24689032478407497, 0.18152008548802698, 0.05824823887391885, 0.06588707228058467, 0.0, 1.365052893364643, 1.0517762234116712, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4862871041438936, 1.081779827406309, 0.1472427218045564, 0.24689032478407497, 0.18152008548802698, 0.05824823887391885, 0.06588707228058467, 0.0, 1.3628137372708733, 1.0092280568657566, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4862871041438936, 1.081779827406309, 0.1472427218045564, 0.24689032478407497, 0.18152008548802698, 0.05824823887391885, 0.06588707228058467, 0.0, 1.3899084786124174, 1.0151236995072095, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4862871041438936, 1.081779827406309, 0.1472427218045564, 0.24689032478407497, 0.18152008548802698, 0.05824823887391885, 0.06588707228058467, 0.0, 1.4053272047598317, 0.975859623608833, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4862871041438936, 1.081779827406309, 0.1472427218045564, 0.24689032478407497, 0.18152008548802698, 0.05824823887391885, 0.06588707228058467, 0.0, 1.4127738699684942, 0.9747726591067069, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4862871041438936, 1.081779827406309, 0.1472427218045564, 0.24689032478407497, 0.18152008548802698, 0.05824823887391885, 0.06588707228058467, 0.0, 1.4130150272991346, 0.9333491375473204, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4862871041438936, 1.081779827406309, 0.1472427218045564, 0.24689032478407497, 0.18152008548802698, 0.05824823887391885, 0.06588707228058467, 0.0, 1.436032598778465, 0.9350191532701174, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4862871041438936, 1.081779827406309, 0.1472427218045564, 0.24689032478407497, 0.18152008548802698, 0.05824823887391885, 0.06588707228058467, 0.0, 1.4200936200491803, 0.890678799391386, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4862871041438936, 1.081779827406309, 0.1472427218045564, 0.24689032478407497, 0.18152008548802698, 0.05824823887391885, 0.06588707228058467, 0.0, 1.4590920589415326, 0.8947590278189429, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4862871041438936, 1.081779827406309, 0.1472427218045564, 0.24689032478407497, 0.18152008548802698, 0.05824823887391885, 0.06588707228058467, 0.0, 1.4629183678933475, 0.8573920319672499, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4862871041438936, 1.081779827406309, 0.1472427218045564, 0.24689032478407497, 0.18152008548802698, 0.05824823887391885, 0.06588707228058467, 0.0, 1.4824111932557462, 0.8549814326434719, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4862871041438936, 1.081779827406309, 0.1472427218045564, 0.24689032478407497, 0.18152008548802698, 0.05824823887391885, 0.06588707228058467, 0.0, 1.5057432049572743, 0.8241052496731596, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4862871041438936, 1.081779827406309, 0.1472427218045564, 0.24689032478407497, 0.18152008548802698, 0.05824823887391885, 0.06588707228058467, 0.0, 1.5054957687850907, 0.8147678947840996, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4862871041438936, 1.081779827406309, 0.1472427218045564, 0.24689032478407497, 0.18152008548802698, 0.05824823887391885, 0.06588707228058467, 0.0, 1.4989402566978587, 0.7777909231728318, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4862871041438936, 1.081779827406309, 0.1472427218045564, 0.24689032478407497, 0.18152008548802698, 0.05824823887391885, 0.06588707228058467, 0.0, 1.5286712592637486, 0.7749125445759044, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4862871041438936, 1.081779827406309, 0.1472427218045564, 0.24689032478407497, 0.18152008548802698, 0.05824823887391885, 0.06588707228058467, 0.0, 1.520448616226412, 0.7389084105063407, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4862871041438936, 1.081779827406309, 0.1472427218045564, 0.24689032478407497, 0.18152008548802698, 0.05824823887391885, 0.06588707228058467, 0.0, 1.5516120125180073, 0.7347012595158119, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4862871041438936, 1.081779827406309, 0.1472427218045564, 0.24689032478407497, 0.18152008548802698, 0.05824823887391885, 0.06588707228058467, 0.0, 1.562962046540467, 0.7055399214870636, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4862871041438936, 1.081779827406309, 0.1472427218045564, 0.24689032478407497, 0.18152008548802698, 0.05824823887391885, 0.06588707228058467, 0.0, 1.5747118743685633, 0.6947858848461735, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4862871041438936, 1.081779827406309, 0.1472427218045564, 0.24689032478407497, 0.18152008548802698, 0.05824823887391885, 0.06588707228058467, 0.0, 1.6054754471145705, 0.672171383211031, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4862871041438936, 1.081779827406309, 0.1472427218045564, 0.24689032478407497, 0.18152008548802698, 0.05824823887391885, 0.06588707228058467, 0.0, 1.5976776686392649, 0.6546213490887054, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4862871041438936, 1.081779827406309, 0.1472427218045564, 0.24689032478407497, 0.18152008548802698, 0.05824823887391885, 0.06588707228058467, 0.0, 1.5848662444646884, 0.6222327757131715, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4862871041438936, 1.081779827406309, 0.1472427218045564, 0.24689032478407497, 0.18152008548802698, 0.05824823887391885, 0.06588707228058467, 0.0, 1.6209040441288167, 0.6146990357229336, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4862871041438936, 1.081779827406309, 0.1472427218045564, 0.24689032478407497, 0.18152008548802698, 0.05824823887391885, 0.06588707228058467, 0.0, 1.620367119531115, 0.5870233667772051, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4862871041438936, 1.081779827406309, 0.1472427218045564, 0.24689032478407497, 0.18152008548802698, 0.05824823887391885, 0.06588707228058467, 0.0, 1.644063891407182, 0.5746255134282933, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4862871041438936, 1.081779827406309, 0.1472427218045564, 0.24689032478407497, 0.18152008548802698, 0.05824823887391885, 0.06588707228058467, 0.0, 1.6614063715254823, 0.5557411669220454, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4862871041438936, 1.081779827406309, 0.1472427218045564, 0.24689032478407497, 0.18152008548802698, 0.05824823887391885, 0.06588707228058467, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5087366761031257, 0.9565943125729787, 0.004538376043529039, 0.0048964712791416485, 0.008659643681569474, 0.005344771272851178, 0.0018971400178520177, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5087366761031257, 0.9565943125729787, 0.004538376043529039, 0.0048964712791416485, 0.008659643681569474, 0.005344771272851178, 0.0018971400178520177, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5087366761031257, 0.9565943125729787, 0.004538376043529039, 0.0048964712791416485, 0.008659643681569474, 0.005344771272851178, 0.0018971400178520177, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5087366761031257, 0.9565943125729787, 0.004538376043529039, 0.0048964712791416485, 0.008659643681569474, 0.005344771272851178, 0.0018971400178520177, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5087366761031257, 0.9565943125729787, 0.004538376043529039, 0.0048964712791416485, 0.008659643681569474, 0.005344771272851178, 0.0018971400178520177, 0.0], "min": [-3.755664348602295, -2.6844332218170166, 0.3400000035762787, -0.057880502194166183, 0.0, 0.0, -0.9983235001564026, -1.0, -3.4335923194885254, -2.1505024433135986, 0.567799985408783, -0.048453789204359055, -0.9055480360984802, -0.7550332546234131, -0.6037800908088684, 0.0, -3.752601146697998, -2.6797471046447754, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4335923194885254, -2.1505024433135986, 0.6523202061653137, 0.09577806293964386, -0.5808814167976379, 0.5690804719924927, -0.008222773671150208, 0.0, -3.746819019317627, -2.6690006256103516, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4335923194885254, -2.1505024433135986, 0.6523202061653137, 0.09577806293964386, -0.5808814167976379, 0.5690804719924927, -0.008222773671150208, 0.0, -3.746394634246826, -2.6682114601135254, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4335923194885254, -2.1505024433135986, 0.6523202061653137, 0.09577806293964386, -0.5808814167976379, 0.5690804719924927, -0.008222773671150208, 0.0, -3.7372303009033203, -2.6511778831481934, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4335923194885254, -2.1505024433135986, 0.6523202061653137, 0.09577806293964386, -0.5808814167976379, 0.5690804719924927, -0.008222773671150208, 0.0, -3.723497152328491, -2.625655174255371, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4335923194885254, -2.1505024433135986, 0.6523202061653137, 0.09577806293964386, -0.5808814167976379, 0.5690804719924927, -0.008222773671150208, 0.0, -3.7119531631469727, -2.6042017936706543, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4335923194885254, -2.1505024433135986, 0.6523202061653137, 0.09577806293964386, -0.5808814167976379, 0.5690804719924927, -0.008222773671150208, 0.0, -3.6939635276794434, -2.5707685947418213, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4335923194885254, -2.1505024433135986, 0.6523202061653137, 0.09577806293964386, -0.5808814167976379, 0.5690804719924927, -0.008222773671150208, 0.0, -3.6616506576538086, -2.510716199874878, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4335923194885254, -2.1505024433135986, 0.6523202061653137, 0.09577806293964386, -0.5808814167976379, 0.5690804719924927, -0.008222773671150208, 0.0, -3.6379268169403076, -2.4666266441345215, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4335923194885254, -2.1505024433135986, 0.6523202061653137, 0.09577806293964386, -0.5808814167976379, 0.5690804719924927, -0.008222773671150208, 0.0, -3.608079195022583, -2.411156177520752, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4335923194885254, -2.1505024433135986, 0.6523202061653137, 0.09577806293964386, -0.5808814167976379, 0.5690804719924927, -0.008222773671150208, 0.0, -3.58317232131958, -2.364868402481079, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4335923194885254, -2.1505024433135986, 0.6523202061653137, 0.09577806293964386, -0.5808814167976379, 0.5690804719924927, -0.008222773671150208, 0.0, -3.551459312438965, -2.305931329727173, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4335923194885254, -2.1505024433135986, 0.6523202061653137, 0.09577806293964386, -0.5808814167976379, 0.5690804719924927, -0.008222773671150208, 0.0, -3.5276994705200195, -2.261774778366089, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4335923194885254, -2.1505024433135986, 0.6523202061653137, 0.09577806293964386, -0.5808814167976379, 0.5690804719924927, -0.008222773671150208, 0.0, -3.493814706802368, -2.1988017559051514, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4335923194885254, -2.1505024433135986, 0.6523202061653137, 0.09577806293964386, -0.5808814167976379, 0.5690804719924927, -0.008222773671150208, 0.0, -3.4718427658081055, -2.1579678058624268, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4335923194885254, -2.1505024433135986, 0.6523202061653137, 0.09577806293964386, -0.5808814167976379, 0.5690804719924927, -0.008222773671150208, 0.0, -3.4358296394348145, -2.091038942337036, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4335923194885254, -2.1505024433135986, 0.6523202061653137, 0.09577806293964386, -0.5808814167976379, 0.5690804719924927, -0.008222773671150208, 0.0, -3.4159233570098877, -2.054044008255005, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4335923194885254, -2.1505024433135986, 0.6523202061653137, 0.09577806293964386, -0.5808814167976379, 0.5690804719924927, -0.008222773671150208, 0.0, -3.378056764602661, -1.9836708307266235, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4335923194885254, -2.1505024433135986, 0.6523202061653137, 0.09577806293964386, -0.5808814167976379, 0.5690804719924927, -0.008222773671150208, 0.0, -3.360004425048828, -1.9501214027404785, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4335923194885254, -2.1505024433135986, 0.6523202061653137, 0.09577806293964386, -0.5808814167976379, 0.5690804719924927, -0.008222773671150208, 0.0, -3.3200290203094482, -1.875828742980957, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4335923194885254, -2.1505024433135986, 0.6523202061653137, 0.09577806293964386, -0.5808814167976379, 0.5690804719924927, -0.008222773671150208, 0.0, -3.3040852546691895, -1.8461982011795044, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4335923194885254, -2.1505024433135986, 0.6523202061653137, 0.09577806293964386, -0.5808814167976379, 0.5690804719924927, -0.008222773671150208, 0.0, -3.2623064517974854, -1.7685540914535522, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4335923194885254, -2.1505024433135986, 0.6523202061653137, 0.09577806293964386, -0.5808814167976379, 0.5690804719924927, -0.008222773671150208, 0.0, -3.24816632270813, -1.7422751188278198, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4335923194885254, -2.1505024433135986, 0.6523202061653137, 0.09577806293964386, -0.5808814167976379, 0.5690804719924927, -0.008222773671150208, 0.0, -3.204228401184082, -1.6606186628341675, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4335923194885254, -2.1505024433135986, 0.6523202061653137, 0.09577806293964386, -0.5808814167976379, 0.5690804719924927, -0.008222773671150208, 0.0, -3.192247152328491, -1.6383522748947144, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4335923194885254, -2.1505024433135986, 0.6523202061653137, 0.09577806293964386, -0.5808814167976379, 0.5690804719924927, -0.008222773671150208, 0.0, -3.1465561389923096, -1.5534374713897705, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4335923194885254, -2.1505024433135986, 0.6523202061653137, 0.09577806293964386, -0.5808814167976379, 0.5690804719924927, -0.008222773671150208, 0.0, -3.1363279819488525, -1.5344290733337402, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4335923194885254, -2.1505024433135986, 0.6523202061653137, 0.09577806293964386, -0.5808814167976379, 0.5690804719924927, -0.008222773671150208, 0.0, -3.088427782058716, -1.445408582687378, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4335923194885254, -2.1505024433135986, 0.6523202061653137, 0.09577806293964386, -0.5808814167976379, 0.5690804719924927, -0.008222773671150208, 0.0, -3.080409049987793, -1.4305061101913452, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4335923194885254, -2.1505024433135986, 0.6523202061653137, 0.09577806293964386, -0.5808814167976379, 0.5690804719924927, -0.008222773671150208, 0.0, -3.0308055877685547, -1.3383206129074097, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4335923194885254, -2.1505024433135986, 0.6523202061653137, 0.09577806293964386, -0.5808814167976379, 0.5690804719924927, -0.008222773671150208, 0.0, -3.0244898796081543, -1.3265830278396606, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4335923194885254, -2.1505024433135986, 0.6523202061653137, 0.09577806293964386, -0.5808814167976379, 0.5690804719924927, -0.008222773671150208, 0.0, -2.9726266860961914, -1.230197787284851, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4335923194885254, -2.1505024433135986, 0.6523202061653137, 0.09577806293964386, -0.5808814167976379, 0.5690804719924927, -0.008222773671150208, 0.0, -2.9685707092285156, -1.2226600646972656, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4335923194885254, -2.1505024433135986, 0.6523202061653137, 0.09577806293964386, -0.5808814167976379, 0.5690804719924927, -0.008222773671150208, 0.0, -2.9150550365448, -1.1232037544250488, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4335923194885254, -2.1505024433135986, 0.6523202061653137, 0.09577806293964386, -0.5808814167976379, 0.5690804719924927, -0.008222773671150208, 0.0, -2.912651538848877, -1.1187371015548706, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4335923194885254, -2.1505024433135986, 0.6523202061653137, 0.09577806293964386, -0.5808814167976379, 0.5690804719924927, -0.008222773671150208, 0.0, -2.856825828552246, -1.0149877071380615, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4335923194885254, -2.1505024433135986, 0.6523202061653137, 0.09577806293964386, -0.5808814167976379, 0.5690804719924927, -0.008222773671150208, 0.0, -2.8567323684692383, -1.014814019203186, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4335923194885254, -2.1505024433135986, 0.6523202061653137, 0.09577806293964386, -0.5808814167976379, 0.5690804719924927, -0.008222773671150208, 0.0, -2.8535072803497314, -1.0088201761245728, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4335923194885254, -2.1505024433135986, 0.6523202061653137, 0.09577806293964386, -0.5808814167976379, 0.5690804719924927, -0.008222773671150208, 0.0, -2.8008134365081787, -0.9108908772468567, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4335923194885254, -2.1505024433135986, 0.6523202061653137, 0.09577806293964386, -0.5808814167976379, 0.5690804719924927, -0.008222773671150208, 0.0, -2.7992851734161377, -0.9080508351325989, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4335923194885254, -2.1505024433135986, 0.6523202061653137, 0.09577806293964386, -0.5808814167976379, 0.5690804719924927, -0.008222773671150208, 0.0, -2.74489426612854, -0.8069679141044617, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4335923194885254, -2.1505024433135986, 0.6523202061653137, 0.09577806293964386, -0.5808814167976379, 0.5690804719924927, -0.008222773671150208, 0.0, -2.741074323654175, -0.7998688220977783, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4335923194885254, -2.1505024433135986, 0.6523202061653137, 0.09577806293964386, -0.5808814167976379, 0.5690804719924927, -0.008222773671150208, 0.0, -2.6889750957489014, -0.7030447125434875, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4335923194885254, -2.1505024433135986, 0.6523202061653137, 0.09577806293964386, -0.5808814167976379, 0.5690804719924927, -0.008222773671150208, 0.0, -2.6834843158721924, -0.6928405165672302, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4335923194885254, -2.1505024433135986, 0.6523202061653137, 0.09577806293964386, -0.5808814167976379, 0.5690804719924927, -0.008222773671150208, 0.0, -2.6330559253692627, -0.5991216897964478, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4335923194885254, -2.1505024433135986, 0.6523202061653137, 0.09577806293964386, -0.5808814167976379, 0.5690804719924927, -0.008222773671150208, 0.0, -2.62532377243042, -0.5847519040107727, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4335923194885254, -2.1505024433135986, 0.6523202061653137, 0.09577806293964386, -0.5808814167976379, 0.5690804719924927, -0.008222773671150208, 0.0, -2.577136754989624, -0.4951986074447632, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4335923194885254, -2.1505024433135986, 0.6523202061653137, 0.09577806293964386, -0.5808814167976379, 0.5690804719924927, -0.008222773671150208, 0.0, -2.567683696746826, -0.4776303768157959, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4335923194885254, -2.1505024433135986, 0.6523202061653137, 0.09577806293964386, -0.5808814167976379, 0.5690804719924927, -0.008222773671150208, 0.0, -2.5212178230285645, -0.3912756145000458, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4335923194885254, -2.1505024433135986, 0.6523202061653137, 0.09577806293964386, -0.5808814167976379, 0.5690804719924927, -0.008222773671150208, 0.0, -2.509573459625244, -0.36963513493537903, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4335923194885254, -2.1505024433135986, 0.6523202061653137, 0.09577806293964386, -0.5808814167976379, 0.5690804719924927, -0.008222773671150208, 0.0, -2.465298652648926, -0.2873525619506836, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4335923194885254, -2.1505024433135986, 0.6523202061653137, 0.09577806293964386, -0.5808814167976379, 0.5690804719924927, -0.008222773671150208, 0.0, -2.45188307762146, -0.262420117855072, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4335923194885254, -2.1505024433135986, 0.6523202061653137, 0.09577806293964386, -0.5808814167976379, 0.5690804719924927, -0.008222773671150208, 0.0, -2.409379720687866, -0.18342947959899902, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4335923194885254, -2.1505024433135986, 0.6523202061653137, 0.09577806293964386, -0.5808814167976379, 0.5690804719924927, -0.008222773671150208, 0.0, -2.3938231468200684, -0.15451832115650177, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4335923194885254, -2.1505024433135986, 0.6523202061653137, 0.09577806293964386, -0.5808814167976379, 0.5690804719924927, -0.008222773671150208, 0.0, -2.3534605503082275, -0.07950640469789505, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4335923194885254, -2.1505024433135986, 0.6523202061653137, 0.09577806293964386, -0.5808814167976379, 0.5690804719924927, -0.008222773671150208, 0.0, -2.3360822200775146, -0.04720958694815636, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4335923194885254, -2.1505024433135986, 0.6523202061653137, 0.09577806293964386, -0.5808814167976379, 0.5690804719924927, -0.008222773671150208, 0.0, -2.297541379928589, 0.024416649714112282, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4335923194885254, -2.1505024433135986, 0.6523202061653137, 0.09577806293964386, -0.5808814167976379, 0.5690804719924927, -0.008222773671150208, 0.0, -2.2780725955963135, 0.06059851497411728, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4335923194885254, -2.1505024433135986, 0.6523202061653137, 0.09577806293964386, -0.5808814167976379, 0.5690804719924927, -0.008222773671150208, 0.0, -2.2416224479675293, 0.12833969295024872, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4335923194885254, -2.1505024433135986, 0.6523202061653137, 0.09577806293964386, -0.5808814167976379, 0.5690804719924927, -0.008222773671150208, 0.0, -2.2202816009521484, 0.16800078749656677, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4335923194885254, -2.1505024433135986, 0.6523202061653137, 0.09577806293964386, -0.5808814167976379, 0.5690804719924927, -0.008222773671150208, 0.0, -2.1857035160064697, 0.23226268589496613, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4335923194885254, -2.1505024433135986, 0.6523202061653137, 0.09577806293964386, -0.5808814167976379, 0.5690804719924927, -0.008222773671150208, 0.0, -2.1623222827911377, 0.2757154107093811, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4335923194885254, -2.1505024433135986, 0.6523202061653137, 0.09577806293964386, -0.5808814167976379, 0.5690804719924927, -0.008222773671150208, 0.0, -2.129784345626831, 0.3361856937408447, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4335923194885254, -2.1505024433135986, 0.6523202061653137, 0.09577806293964386, -0.5808814167976379, 0.5690804719924927, -0.008222773671150208, 0.0, -2.10441255569458, 0.3833378255367279, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4335923194885254, -2.1505024433135986, 0.6523202061653137, 0.09577806293964386, -0.5808814167976379, 0.8055095672607422, 0.05861542001366615, 0.0, -2.0735716819763184, 0.44065436720848083, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4335923194885254, -2.1505024433135986, 0.6523202061653137, 0.09577806293964386, -0.5808814167976379, 0.8055095672607422, 0.05861542001366615, 0.0, -2.045703172683716, 0.4924469590187073, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4335923194885254, -2.1505024433135986, 0.6523202061653137, 0.09577806293964386, -0.5808814167976379, 0.8055095672607422, 0.05861542001366615, 0.0, -2.0161845684051514, 0.5473058223724365, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4335923194885254, -2.1505024433135986, 0.6523202061653137, 0.09577806293964386, -0.5808814167976379, 0.8055095672607422, 0.05861542001366615, 0.0, -2.0, 0.6000000238418579, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4335923194885254, -2.1505024433135986, 0.6523202061653137, 0.09577806293964386, -0.5808814167976379, 0.8055095672607422, 0.05861542001366615, 0.0], "max": [1.1429027318954468, 2.4556796550750732, 1.5707963705062866, 0.7741807699203491, 0.0, 0.0, 0.9999983310699463, 2.0, 1.2969844341278076, 2.852961778640747, 1.07229483127594, 0.6140872240066528, 0.7927480936050415, 0.8629490733146667, 0.6037800312042236, 1.0, -2.0501527786254883, 0.5918582081794739, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2969844341278076, 1.5969843864440918, 0.9990778565406799, 0.6140872240066528, -0.11530635505914688, 0.8629490733146667, 0.3482249677181244, 0.0, -1.986309289932251, 0.6086174845695496, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2969844341278076, 1.5969843864440918, 0.9990778565406799, 0.6140872240066528, -0.11530635505914688, 0.8629490733146667, 0.3482249677181244, 0.0, -1.9084268808364868, 0.6290621161460876, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2969844341278076, 1.5969843864440918, 0.9990778565406799, 0.6140872240066528, -0.11530635505914688, 0.8629490733146667, 0.3482249677181244, 0.0, -1.8800281286239624, 0.6365169882774353, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2969844341278076, 1.5969843864440918, 0.9990778565406799, 0.6140872240066528, -0.11530635505914688, 0.8629490733146667, 0.3482249677181244, 0.0, -1.7945665121078491, 0.6589512228965759, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2969844341278076, 1.5969843864440918, 0.9990778565406799, 0.6140872240066528, -0.11530635505914688, 0.8629490733146667, 0.3482249677181244, 0.0, -1.773513674736023, 0.6644777059555054, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2969844341278076, 1.5969843864440918, 0.9990778565406799, 0.6140872240066528, -0.11530635505914688, 0.8629490733146667, 0.3482249677181244, 0.0, -1.7669317722320557, 0.6662054657936096, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2969844341278076, 1.5969843864440918, 0.9990778565406799, 0.6140872240066528, -0.11530635505914688, 0.8629490733146667, 0.3482249677181244, 0.0, -1.6660220623016357, 0.6926948428153992, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2969844341278076, 1.5969843864440918, 0.9990778565406799, 0.6140872240066528, -0.11530635505914688, 0.8629490733146667, 0.3482249677181244, 0.0, -1.627249836921692, 0.7028728127479553, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2969844341278076, 1.5969843864440918, 0.9990778565406799, 0.6140872240066528, -0.11530635505914688, 0.8629490733146667, 0.3482249677181244, 0.0, -1.5597916841506958, 0.7205809950828552, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2969844341278076, 1.5969843864440918, 0.9990778565406799, 0.6140872240066528, -0.11530635505914688, 0.8629490733146667, 0.3482249677181244, 0.0, -1.49463951587677, 0.7376838326454163, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2969844341278076, 1.5969843864440918, 0.9990778565406799, 0.6140872240066528, -0.11530635505914688, 0.8629490733146667, 0.3482249677181244, 0.0, -1.456803560256958, 0.7476159930229187, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2969844341278076, 1.5969843864440918, 0.9990778565406799, 0.6140872240066528, -0.11530635505914688, 0.8629490733146667, 0.3482249677181244, 0.0, -1.3602672815322876, 0.7729573845863342, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2969844341278076, 1.5969843864440918, 0.9990778565406799, 0.6140872240066528, -0.11530635505914688, 0.8629490733146667, 0.3482249677181244, 0.0, -1.3600503206253052, 0.7730143070220947, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2969844341278076, 1.5969843864440918, 0.9990778565406799, 0.6140872240066528, -0.11530635505914688, 0.8629490733146667, 0.3482249677181244, 0.0, -1.3595858812332153, 0.7731361985206604, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2969844341278076, 1.5969843864440918, 0.9990778565406799, 0.6140872240066528, -0.11530635505914688, 0.8629490733146667, 0.3482249677181244, 0.0, -1.2668648958206177, 0.797476053237915, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2969844341278076, 1.5969843864440918, 0.9990778565406799, 0.6140872240066528, -0.11530635505914688, 0.8629490733146667, 0.3482249677181244, 0.0, -1.224380373954773, 0.808628499507904, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2969844341278076, 1.5969843864440918, 0.9990778565406799, 0.6140872240066528, -0.11530635505914688, 0.8629490733146667, 0.3482249677181244, 0.0, -1.169395923614502, 0.8230622410774231, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2969844341278076, 1.5969843864440918, 0.9990778565406799, 0.6140872240066528, -0.11530635505914688, 0.8629490733146667, 0.3482249677181244, 0.0, -1.0743250846862793, 0.8480189442634583, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2969844341278076, 1.5969843864440918, 0.9990778565406799, 0.6140872240066528, -0.11530635505914688, 0.8629490733146667, 0.3482249677181244, 0.0, -1.0621458292007446, 0.8512160778045654, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2969844341278076, 1.5969843864440918, 0.9990778565406799, 0.6140872240066528, -0.11530635505914688, 0.8629490733146667, 0.3482249677181244, 0.0, -1.0315567255020142, 0.8592458963394165, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2969844341278076, 1.5969843864440918, 0.9990778565406799, 0.6140872240066528, -0.11530635505914688, 0.8629490733146667, 0.3482249677181244, 0.0, -0.9556902050971985, 0.8791612982749939, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2969844341278076, 1.5969843864440918, 0.9990778565406799, 0.6140872240066528, -0.11530635505914688, 0.8629490733146667, 0.3482249677181244, 0.0, -0.9229165315628052, 0.887764573097229, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2969844341278076, 1.5969843864440918, 0.9990778565406799, 0.6140872240066528, -0.11530635505914688, 0.8629490733146667, 0.3482249677181244, 0.0, -0.849050760269165, 0.9071547985076904, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2969844341278076, 1.5969843864440918, 0.9990778565406799, 0.6140872240066528, -0.11530635505914688, 0.8629490733146667, 0.3482249677181244, 0.0, -0.777502179145813, 0.925936758518219, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2969844341278076, 1.5969843864440918, 0.9990778565406799, 0.6140872240066528, -0.11530635505914688, 0.8629490733146667, 0.3482249677181244, 0.0, -0.7434987425804138, 0.9348628520965576, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2969844341278076, 1.5969843864440918, 0.9990778565406799, 0.6140872240066528, -0.11530635505914688, 0.8629490733146667, 0.3482249677181244, 0.0, -0.6487658023834229, 0.959730863571167, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2969844341278076, 1.5969843864440918, 0.9990778565406799, 0.6140872240066528, -0.11530635505914688, 0.8629490733146667, 0.3482249677181244, 0.0, -0.6391209959983826, 0.9622626900672913, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2969844341278076, 1.5969843864440918, 0.9990778565406799, 0.6140872240066528, -0.11530635505914688, 0.8629490733146667, 0.3482249677181244, 0.0, -0.6356495022773743, 0.9631739854812622, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2969844341278076, 1.5969843864440918, 0.9990778565406799, 0.6140872240066528, -0.11530635505914688, 0.8629490733146667, 0.3482249677181244, 0.0, -0.534738302230835, 0.9896637797355652, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2969844341278076, 1.5969843864440918, 0.9990778565406799, 0.6140872240066528, -0.11530635505914688, 0.8629490733146667, 0.3482249677181244, 0.0, -0.4939013123512268, 1.000383734703064, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2969844341278076, 1.5969843864440918, 0.9990778565406799, 0.6140872240066528, -0.11530635505914688, 0.8629490733146667, 0.3482249677181244, 0.0, -0.4303620159626007, 1.0170631408691406, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2969844341278076, 1.5969843864440918, 0.9990778565406799, 0.6140872240066528, -0.11530635505914688, 0.8629490733146667, 0.3482249677181244, 0.0, -0.35215306282043457, 1.0375934839248657, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2969844341278076, 1.5969843864440918, 0.9990778565406799, 0.6140872240066528, -0.11530635505914688, 0.8629490733146667, 0.3482249677181244, 0.0, -0.32598578929901123, 1.0444625616073608, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2969844341278076, 1.5969843864440918, 0.9990778565406799, 0.6140872240066528, -0.11530635505914688, 0.8629490733146667, 0.3482249677181244, 0.0, -0.2529033422470093, 1.0636471509933472, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2969844341278076, 1.5969843864440918, 0.9990778565406799, 0.6140872240066528, -0.11530635505914688, 0.8629490733146667, 0.3482249677181244, 0.0, -0.22171106934547424, 1.0718352794647217, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2969844341278076, 1.5969843864440918, 0.9990778565406799, 0.6140872240066528, -0.11530635505914688, 0.8629490733146667, 0.3482249677181244, 0.0, -0.21059179306030273, 1.0747541189193726, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2969844341278076, 1.5969843864440918, 0.9990778565406799, 0.6140872240066528, -0.11530635505914688, 0.8629490733146667, 0.3482249677181244, 0.0, -0.11767341196537018, 1.099145770072937, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2969844341278076, 1.5969843864440918, 0.9990778565406799, 0.6140872240066528, -0.11530635505914688, 0.8629490733146667, 0.3482249677181244, 0.0, -0.06946727633476257, 1.111800193786621, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2969844341278076, 1.5969843864440918, 0.9990778565406799, 0.6140872240066528, -0.11530635505914688, 0.8629490733146667, 0.3482249677181244, 0.0, -0.01363583467900753, 1.1264562606811523, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2969844341278076, 1.5969843864440918, 0.9990778565406799, 0.6140872240066528, -0.11530635505914688, 0.8629490733146667, 0.3482249677181244, 0.0, 0.0716572254896164, 1.1488462686538696, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2969844341278076, 1.5969843864440918, 0.9990778565406799, 0.6140872240066528, -0.11530635505914688, 0.8629490733146667, 0.3482249677181244, 0.0, 0.09040174633264542, 1.1537668704986572, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2969844341278076, 1.5969843864440918, 0.9990778565406799, 0.6140872240066528, -0.11530635505914688, 0.8629490733146667, 0.3482249677181244, 0.0, 0.1429843008518219, 1.1675701141357422, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2969844341278076, 1.5969843864440918, 0.9990778565406799, 0.6140872240066528, -0.11530635505914688, 0.8629490733146667, 0.3482249677181244, 0.0, 0.19460681080818176, 1.1811213493347168, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2969844341278076, 1.5969843864440918, 0.9990778565406799, 0.6140872240066528, -0.11530635505914688, 0.8629490733146667, 0.3482249677181244, 0.0, 0.21309036016464233, 1.1859734058380127, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2969844341278076, 1.5969843864440918, 0.9990778565406799, 0.6140872240066528, -0.11530635505914688, 0.8629490733146667, 0.3482249677181244, 0.0, 0.29898303747177124, 1.208520770072937, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2969844341278076, 1.5969843864440918, 0.9990778565406799, 0.6140872240066528, -0.11530635505914688, 0.8629490733146667, 0.3482249677181244, 0.0, 0.3548387289047241, 1.223183274269104, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2969844341278076, 1.5969843864440918, 0.9990778565406799, 0.6140872240066528, -0.11530635505914688, 0.8629490733146667, 0.3482249677181244, 0.0, 0.40335923433303833, 1.2359201908111572, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2969844341278076, 1.5969843864440918, 0.9990778565406799, 0.6140872240066528, -0.11530635505914688, 0.8629490733146667, 0.3482249677181244, 0.0, 0.49658703804016113, 1.2603930234909058, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2969844341278076, 1.5969843864440918, 0.9990778565406799, 0.6140872240066528, -0.11530635505914688, 0.8629490733146667, 0.3482249677181244, 0.0, 0.5077354907989502, 1.2633196115493774, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2969844341278076, 1.5969843864440918, 0.9990778565406799, 0.6140872240066528, -0.11530635505914688, 0.8629490733146667, 0.3482249677181244, 0.0, 0.5388717651367188, 1.2714930772781372, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2969844341278076, 1.5969843864440918, 0.9990778565406799, 0.6140872240066528, -0.11530635505914688, 0.8629490733146667, 0.3482249677181244, 0.0, 0.6118741035461426, 1.2906566858291626, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2969844341278076, 1.5969843864440918, 0.9990778565406799, 0.6140872240066528, -0.11530635505914688, 0.8629490733146667, 0.3482249677181244, 0.0, 0.6378976702690125, 1.2974879741668701, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2969844341278076, 1.5969843864440918, 0.9990778565406799, 0.6140872240066528, -0.11530635505914688, 0.8629490733146667, 0.3482249677181244, 0.0, 0.7159118056297302, 1.317967176437378, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2969844341278076, 1.5969843864440918, 0.9990778565406799, 0.6140872240066528, -0.11530635505914688, 0.8629490733146667, 0.3482249677181244, 0.0, 0.7790220975875854, 1.3345340490341187, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2969844341278076, 1.5969843864440918, 0.9990778565406799, 0.6140872240066528, -0.11530635505914688, 0.8629490733146667, 0.3482249677181244, 0.0, 0.8199493885040283, 1.3452776670455933, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2969844341278076, 1.5969843864440918, 0.9990778565406799, 0.6140872240066528, -0.11530635505914688, 0.8629490733146667, 0.3482249677181244, 0.0, 0.9201464653015137, 1.3715800046920776, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2969844341278076, 1.5969843864440918, 0.9990778565406799, 0.6140872240066528, -0.11530635505914688, 0.8629490733146667, 0.3482249677181244, 0.0, 0.9239869713783264, 1.3725881576538086, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2969844341278076, 1.5969843864440918, 0.9990778565406799, 0.6140872240066528, -0.11530635505914688, 0.8629490733146667, 0.3482249677181244, 0.0, 0.9347605109214783, 1.3754162788391113, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2969844341278076, 1.5969843864440918, 0.9990778565406799, 0.6140872240066528, -0.11530635505914688, 0.8629490733146667, 0.3482249677181244, 0.0, 1.0283281803131104, 1.3999782800674438, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2969844341278076, 1.5969843864440918, 0.9990778565406799, 0.6140872240066528, -0.11530635505914688, 0.8629490733146667, 0.3482249677181244, 0.0, 1.0618301630020142, 1.4087727069854736, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2969844341278076, 1.5969843864440918, 0.9990778565406799, 0.6140872240066528, -0.11530635505914688, 0.8629490733146667, 0.3482249677181244, 0.0, 1.1327043771743774, 1.427377700805664, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2969844341278076, 1.5969843864440918, 0.9990778565406799, 0.6140872240066528, -0.11530635505914688, 0.8629490733146667, 0.3482249677181244, 0.0, 1.2000000476837158, 1.4500000476837158, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2969844341278076, 1.5969843864440918, 0.9990778565406799, 0.6140872240066528, -0.11530635505914688, 0.8629490733146667, 0.3482249677181244, 0.0, -2.10441255569458, 0.3833378255367279, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.860108733177185, 0.8922117948532104, 0.6799207329750061, 0.11585405468940735, -0.4883093237876892, 0.8629490733146667, 0.06768473237752914, 0.0, -2.0735716819763184, 0.44065436720848083, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.860108733177185, 0.8922117948532104, 0.6799207329750061, 0.11585405468940735, -0.4883093237876892, 0.8629490733146667, 0.06768473237752914, 0.0, -2.045703172683716, 0.4924469590187073, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.860108733177185, 0.8922117948532104, 0.6799207329750061, 0.11585405468940735, -0.4883093237876892, 0.8629490733146667, 0.06768473237752914, 0.0, -2.0161845684051514, 0.5473058223724365, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.860108733177185, 0.8922117948532104, 0.6799207329750061, 0.11585405468940735, -0.4883093237876892, 0.8629490733146667, 0.06768473237752914, 0.0, -2.0, 0.6000000238418579, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.860108733177185, 0.8922117948532104, 0.6799207329750061, 0.11585405468940735, -0.4883093237876892, 0.8629490733146667, 0.06768473237752914, 0.0], "count": [1707]}, "action.applied": {"mean": [0.30202112135853276, 0.6221514625827262, -1.126176932993589, -0.3028146508005221, 0.682808525445661, -1.1144566058274523, 0.253791590972504, 0.7300879603320559, -1.223637043486999, -0.18545486501297478, 0.748768939284742, -1.2184608736510296, -0.3078849767669956, 1.5097025493536347, -1.3209939582974992, 0.15196965222087117, 0.8015595120020477, -0.250726319912202, 0.0028705331112253226, -0.0028705331112253226], "std": [0.1405749580210955, 0.1589600688607444, 0.16995542741238678, 0.13542652105866912, 0.10168675691543781, 0.15882824598415804, 0.12463821002598369, 0.1177018066472193, 0.16823711509352915, 0.11152466642114697, 0.09199289941712119, 0.17725676347822436, 0.5635668631583743, 0.6237024170607948, 0.3594232600241789, 0.21257905082334844, 0.19755869231886655, 0.2172242299846526, 0.009603577405216822, 0.009603577405216822], "min": [-0.22442394495010376, 0.3224886357784271, -1.762894868850708, -0.5784306526184082, 0.3588566482067108, -1.6432379484176636, -0.18799903988838196, 0.43796366453170776, -1.7722210884094238, -0.6123737692832947, 0.5812675952911377, -1.7228845357894897, -2.011823892593384, 0.7134191393852234, -2.2443687915802, -0.44785037636756897, 0.4985574185848236, -0.9517319202423096, 0.0, -0.03500000014901161], "max": [0.6964616179466248, 1.0284935235977173, -0.8323231935501099, 0.19547146558761597, 0.9445972442626953, -0.8490391373634338, 0.5674248337745667, 1.20876145362854, -0.9630169868469238, 0.28724223375320435, 1.1496421098709106, -0.9531188607215881, 0.9820365309715271, 2.696218967437744, -0.7500140070915222, 0.8982266187667847, 1.2191845178604126, 0.2781134843826294, 0.03500000014901161, 0.0], "count": [1707]}, "extra.reward": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1707]}, "next.truncated": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1707]}, "sim_step_idx": {"mean": [1737.0], "std": [985.5367403941198], "min": [31.0], "max": [3443.0], "count": [1707]}, "timestamp": {"mean": [34.1200000023154], "std": [19.710734808397387], "min": [0.0], "max": [68.23999786376953], "count": [1707]}, "frame_index": {"mean": [853.0], "std": [492.7683701970599], "min": [0.0], "max": [1706.0], "count": [1707]}, "episode_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1707]}, "index": {"mean": [853.0], "std": [492.7683701970599], "min": [0.0], "max": [1706.0], "count": [1707]}, "task_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1707]}, "next.done": {"mean": [0.0005858230814294083], "std": [0.024196691772774906], "min": [0.0], "max": [1.0], "count": [1707]}, "observation.images.head": {"mean": [[[0.5258098923823017]], [[0.5093338560934461]], [[0.47303663501257603]]], "std": [[[0.11413408884693532]], [[0.12085523695952939]], [[0.1387411892088778]]], "min": [[[0.00392156862745098]], [[0.00784313725490196]], [[0.0]]], "max": [[[0.8901960784313725]], [[0.8901960784313725]], [[0.8901960784313725]]], "count": [100]}, "observation.images.wrist": {"mean": [[[0.5824017763027973]], [[0.5332198948080181]], [[0.44872486481710977]]], "std": [[[0.1461011148095682]], [[0.1309852298511448]], [[0.17213978222990456]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9333333333333333]], [[0.9019607843137255]], [[0.8823529411764706]]], "count": [100]}}} diff --git a/N025/go2_arm/dr_off/seed_1016/stationassembly/000/lerobot_v21/meta/extra/episode_000000.json b/N025/go2_arm/dr_off/seed_1016/stationassembly/000/lerobot_v21/meta/extra/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..06bbe4831f42a23e658c801a79d2131ba5d571c4 --- /dev/null +++ b/N025/go2_arm/dr_off/seed_1016/stationassembly/000/lerobot_v21/meta/extra/episode_000000.json @@ -0,0 +1,550 @@ +{ + "episode_index": 0, + "trajectory_id": 0, + "env_id": 0, + "task_type": "StationAssembly", + "subsample_every": 2, + "control_steps": 3413, + "language": { + "scene": { + "objects": [ + { + "id": "table_A_1", + "cat_name": "table_A", + "inst_id": 1, + "noun": "table A", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 4.240036239467396, + 0.6442136346849706, + -0.17741727042656433 + ], + "bbox": { + "extent": [ + 1.0, + 1.0000000000000002, + 1.0 + ], + "center": [ + 0.0, + -1.1102230246251565e-16, + 0.0 + ] + } + }, + { + "id": "table_B_1", + "cat_name": "table_B", + "inst_id": 1, + "noun": "table B", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 7.171521969159801, + -1.3295687760783814, + -0.20138415530970494 + ], + "bbox": { + "extent": [ + 0.9999999999999999, + 1.0, + 1.0 + ], + "center": [ + 5.551115123125783e-17, + 0.0, + 0.0 + ] + } + }, + { + "id": "shim_board_1", + "cat_name": "shim_board", + "inst_id": 1, + "noun": "shim board", + "color": null, + "size": "medium", + "material": null, + "category": "articulation", + "pos": [ + 7.312226023677566, + -1.2759810122034334, + -0.00339117048709045 + ], + "bbox": { + "extent": [ + 0.4336904052380932, + 0.28211528176653916, + 0.04200000036507845 + ], + "center": [ + 0.1500000059604636, + 1.3877787807814457e-16, + 0.021000000182539225 + ] + } + }, + { + "id": "wedge_1", + "cat_name": "wedge", + "inst_id": 1, + "noun": "wedge", + "color": null, + "size": "small", + "material": null, + "category": "rigid", + "pos": [ + 4.20463379693515, + 0.5788954275176134, + 0.023416238046516297 + ], + "bbox": { + "extent": [ + 0.18692811963555023, + 0.04189045161686111, + 0.02800067061327738 + ], + "center": [ + 0.05750000290572632, + -9.367506770274758e-17, + 0.01400000043213373 + ] + } + } + ], + "relations": [ + { + "subject": "table_A_1", + "relation": "left_of", + "object": "wedge_1" + }, + { + "subject": "table_B_1", + "relation": "right_of", + "object": "shim_board_1" + }, + { + "subject": "shim_board_1", + "relation": "on_top_of", + "object": "table_B_1" + }, + { + "subject": "shim_board_1", + "relation": "left_of", + "object": "table_B_1" + }, + { + "subject": "wedge_1", + "relation": "on_top_of", + "object": "table_A_1" + }, + { + "subject": "wedge_1", + "relation": "right_of", + "object": "table_A_1" + } + ], + "cameras": [ + { + "name": "head", + "intrinsics": { + "K": [ + [ + 607.7061061683956, + 0.0, + 320.0 + ], + [ + 0.0, + 607.3754374751866, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 55.53991912549515, + "resolution": [ + 640, + 480 + ] + }, + "pos_robot": [ + 4.183293353732281, + -2.108409934532727, + -0.296944842071894 + ], + "viewpoint": "front-right, at table height", + "extrinsics": { + "R": [ + [ + 0.0034545225363202814, + -0.9995776319673901, + 0.028855223868669955 + ], + [ + -0.02338972540530354, + 0.0287667346071393, + 0.9993124615081647 + ], + [ + -0.9997204544368945, + -0.0041270631819024794, + -0.023280471000004077 + ] + ], + "t": [ + 0.03416419479862187, + -0.08682200219228882, + 0.33429322289826396 + ] + } + }, + { + "name": "wrist", + "intrinsics": { + "K": [ + [ + 617.2500342478374, + 0.0, + 320.0 + ], + [ + 0.0, + 617.548655622722, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 54.807019583348044, + "resolution": [ + 640, + 480 + ] + }, + "pos_robot": [ + 3.945394670321673, + -1.7763804517026207, + -0.34375588848353505 + ], + "viewpoint": "front-right, at table height", + "extrinsics": { + "R": [ + [ + 0.017356943317221596, + -0.9998337334638687, + 0.005589449560045617 + ], + [ + -0.9382601518788614, + -0.014355819960515381, + 0.34563246061317376 + ], + [ + -0.3454947523696107, + -0.011243480820582297, + -0.9383533237667454 + ] + ], + "t": [ + 0.006333551580298355, + -0.08611861262827436, + 0.017148138726427706 + ] + } + } + ], + "robots": [ + { + "name": "Go2Plus", + "model": "go2plus", + "type": "mobilemanip", + "noun": "Unitree Go2 EDU quadruped with a Piper arm", + "arms": 1, + "arm_layout": null, + "mobile": true, + "dexterous": false, + "base_pose": { + "pos": [ + -3.62411, + -2.46551, + 0.45 + ], + "ori": [ + 0.8717899918556213, + 0.0, + 0.0, + 0.4898797869682312 + ] + }, + "facing_yaw_deg": 58.665361182700735, + "gripper": "parallel gripper" + } + ], + "lighting": [], + "background": { + "name": null, + "kind": "background", + "type": "dome", + "pose": null, + "setting": null, + "time_of_day": null, + "indoor": false, + "intensity": 1153.61472, + "ambient": "dim" + }, + "effects": [], + "caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a medium shim board and a small wedge. The gray table A is to the left of the wedge. The gray table B is to the right of the shim board. The shim board is on top of the gray table B. The shim board is to the left of the gray table B. The wedge is on top of the gray table A. The wedge is to the right of the gray table A. The scene is viewed from front-right, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n [shim board]\n\n\n[[wedge]]\n\n\n\n\n [robot]" + }, + "task": { + "task_type": "StationAssembly", + "instruction": "Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.", + "template_id": -1, + "slots": { + "obj": 1.5707963267948966, + "support": null + }, + "generic_instruction": "Stationassembly the 1.5707963267948966.", + "task_id": "N025", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_0564": { + "frame_idx": 564, + "caption": "Computing a grasp pose for the small wedge; the right gripper is below and to the left of and in front of the wedge.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "NavTo", + "planner_state": "finished", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0601": { + "frame_idx": 601, + "caption": "Working on the small wedge; the right gripper is below and to the left of and in front of the wedge.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0965": { + "frame_idx": 965, + "caption": "Computing a grasp pose for the small wedge; the right gripper is below and to the left of and in front of the wedge.", + "skill": "ReachStance", + "phase": "verify", + "skill_state": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_1031": { + "frame_idx": 1031, + "caption": "Working on the small wedge; the right gripper is below and to the left of and in front of the wedge.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_1066": { + "frame_idx": 1066, + "caption": "Working on the small wedge; the right gripper is below and in front of the wedge.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "in_front_of" + ] + }, + "frame_1077": { + "frame_idx": 1077, + "caption": "Working on the small wedge; the right gripper is below the wedge.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_1408": { + "frame_idx": 1408, + "caption": "Done — the small wedge is grasped; the right gripper is below the wedge.", + "skill": "Grasp", + "phase": "completed", + "skill_state": "finished", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_1409": { + "frame_idx": 1409, + "caption": "Working on the small wedge; the right gripper is below the wedge.", + "skill": "CarryPose", + "phase": null, + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_1457": { + "frame_idx": 1457, + "caption": "Working on the small wedge; the right gripper is below and to the left of the wedge.", + "skill": "CarryPose", + "phase": null, + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_1459": { + "frame_idx": 1459, + "caption": "Working on the small wedge; the right gripper is below and to the left of and in front of the wedge.", + "skill": "CarryPose", + "phase": null, + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_2201": { + "frame_idx": 2201, + "caption": "Computing a grasp pose for the medium shim board; the right gripper is below and to the left of and in front of the shim board.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "NavTo", + "planner_state": "finished", + "target": "shim_board_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_2206": { + "frame_idx": 2206, + "caption": "Working on the medium shim board; the right gripper is below and to the left of and in front of the shim board.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "shim_board_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_2952": { + "frame_idx": 2952, + "caption": "Computing a grasp pose for the medium shim board; the right gripper is below and to the left of and in front of the shim board.", + "skill": "ReachStance", + "phase": "verify", + "skill_state": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "shim_board_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_3018": { + "frame_idx": 3018, + "caption": "Working on the small wedge; the right gripper is below and to the left of and behind the wedge.", + "skill": "AssemblyInsert", + "phase": "wp:pre_insert", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "behind" + ] + } + } + }, + "depth_range": [ + 0.1, + 20.0 + ], + "annotation_sidecar": null, + "annotation_sidecar_keys": [], + "terminated": true, + "truncated": false +} \ No newline at end of file diff --git a/N025/go2_arm/dr_off/seed_1016/stationassembly/000/lerobot_v21/meta/info.json b/N025/go2_arm/dr_off/seed_1016/stationassembly/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..b277291351b87dec901fb0818391bc9564b074b1 --- /dev/null +++ b/N025/go2_arm/dr_off/seed_1016/stationassembly/000/lerobot_v21/meta/info.json @@ -0,0 +1,296 @@ +{ + "codebase_version": "v2.1", + "robot_type": "Go2PlusCfg", + "total_episodes": 1, + "total_frames": 1707, + "total_tasks": 1, + "total_videos": 2, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 25, + "splits": { + "train": "0:1" + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", + "features": { + "action": { + "dtype": "float32", + "shape": [ + 12 + ], + "names": [ + "base_action_0", + "base_action_1", + "base_action_2", + "base_action_3", + "eef0.pos_x", + "eef0.pos_y", + "eef0.pos_z", + "eef0.quat_w", + "eef0.quat_x", + "eef0.quat_y", + "eef0.quat_z", + "gripper" + ] + }, + "action_is_hold": { + "dtype": "bool", + "shape": [ + 12 + ], + "names": null + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 26 + ], + "names": [ + "joint_0", + "joint_1", + "joint_2", + "joint_3", + "joint_4", + "joint_5", + "joint_6", + "joint_7", + "joint_8", + "joint_9", + "joint_10", + "joint_11", + "joint_12", + "joint_13", + "joint_14", + "joint_15", + "joint_16", + "joint_17", + "joint_18", + "joint_19", + "joint_20", + "joint_21", + "joint_22", + "joint_23", + "gripper_0", + "gripper_1" + ] + }, + "observation.joint_vel": { + "dtype": "float32", + "shape": [ + 20 + ], + "names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ] + }, + "observation.eef_pose": { + "dtype": "float32", + "shape": [ + 7 + ], + "names": null + }, + "observation.environment_state": { + "dtype": "float32", + "shape": [ + 30 + ], + "names": [ + "articulation_joint_pos.shim_board.0", + "articulation_joint_vel.shim_board.0", + "articulation_pose.shim_board.0", + "articulation_pose.shim_board.1", + "articulation_pose.shim_board.2", + "articulation_pose.shim_board.3", + "articulation_pose.shim_board.4", + "articulation_pose.shim_board.5", + "articulation_pose.shim_board.6", + "object_pose.table_A.0", + "object_pose.table_A.1", + "object_pose.table_A.2", + "object_pose.table_A.3", + "object_pose.table_A.4", + "object_pose.table_A.5", + "object_pose.table_A.6", + "object_pose.table_B.0", + "object_pose.table_B.1", + "object_pose.table_B.2", + "object_pose.table_B.3", + "object_pose.table_B.4", + "object_pose.table_B.5", + "object_pose.table_B.6", + "object_pose.wedge.0", + "object_pose.wedge.1", + "object_pose.wedge.2", + "object_pose.wedge.3", + "object_pose.wedge.4", + "object_pose.wedge.5", + "object_pose.wedge.6" + ] + }, + "action.command": { + "dtype": "float32", + "shape": [ + 1104 + ], + "names": null + }, + "action.applied": { + "dtype": "float32", + "shape": [ + 20 + ], + "names": null + }, + "narration": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "collect_info": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "extra.reward": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "extra.action_info": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "next.truncated": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "sim_step_idx": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "next.done": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "observation.images.head": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25, + "video.codec": "libsvtav1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.wrist": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25, + "video.codec": "libsvtav1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + } + } +} \ No newline at end of file diff --git a/N025/go2_arm/dr_off/seed_1016/stationassembly/000/lerobot_v21/meta/magicsim_manifest.json b/N025/go2_arm/dr_off/seed_1016/stationassembly/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..1d8b91a24036148047aa8884384c3bb14a532dee --- /dev/null +++ b/N025/go2_arm/dr_off/seed_1016/stationassembly/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,290 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 03:12:42" + }, + "embodiment": { + "robots": [ + { + "name": "Go2Plus", + "cfg": "Go2PlusCfg", + "type": "mobilemanip", + "joint_names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 12, + "nan_policy": "from_raw", + "segments": [ + { + "name": "Go2Plus.base_action", + "start": 0, + "end": 4, + "names": [ + "base_action_0", + "base_action_1", + "base_action_2", + "base_action_3" + ], + "source": "Go2UnifiedLocomotionAction", + "names_source": "fallback" + }, + { + "name": "Go2Plus.arm_action", + "start": 4, + "end": 11, + "names": [ + "eef0.pos_x", + "eef0.pos_y", + "eef0.pos_z", + "eef0.quat_w", + "eef0.quat_x", + "eef0.quat_y", + "eef0.quat_z" + ], + "source": "Go2PlusCuroboIKAction", + "names_source": "pose_layout" + }, + { + "name": "Go2Plus.eef_action", + "start": 11, + "end": 12, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 26, + "segments": [ + { + "name": "Go2Plus.joint_pos", + "start": 0, + "end": 24, + "names": [ + "joint_0", + "joint_1", + "joint_2", + "joint_3", + "joint_4", + "joint_5", + "joint_6", + "joint_7", + "joint_8", + "joint_9", + "joint_10", + "joint_11", + "joint_12", + "joint_13", + "joint_14", + "joint_15", + "joint_16", + "joint_17", + "joint_18", + "joint_19", + "joint_20", + "joint_21", + "joint_22", + "joint_23" + ], + "source": "ObservationManager", + "names_source": "fallback_dim_mismatch(joint_names=20,obs=24)" + }, + { + "name": "Go2Plus.gripper_pos", + "start": 24, + "end": 26, + "names": [ + "gripper_0", + "gripper_1" + ], + "source": "ObservationManager", + "names_source": "generated" + } + ] + }, + "joint_vel_layout": { + "dim": 20, + "segments": [ + { + "name": "Go2Plus.joint_vel", + "start": 0, + "end": 20, + "names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "action_levels": { + "L0": "task command list (collect.auto_collect_info.current_action)", + "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)", + "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)", + "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy", + "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)" + }, + "cameras": { + "head": { + "intrinsics": { + "K": [ + [ + 607.7061061683956, + 0.0, + 320.0 + ], + [ + 0.0, + 607.3754374751866, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 55.53991912549515, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.33205100893974304, + 0.038026999682188034, + 0.09355899691581726 + ], + "quat": [ + -0.5022302269935608, + -0.499491810798645, + 0.5120040774345398, + 0.4859265089035034 + ] + }, + "wrist": { + "intrinsics": { + "K": [ + [ + 617.2500342478374, + 0.0, + 320.0 + ], + [ + 0.0, + 617.548655622722, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 54.807019583348044, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + -0.0749870017170906, + 0.005288999993354082, + 0.04582099989056587 + ], + "quat": [ + 0.1271296590566635, + 0.701795220375061, + -0.6904057860374451, + -0.12108422070741653 + ] + } + }, + "lerobot": { + "codebase_version": "v2.1", + "video_keys": [ + "observation.images.head", + "observation.images.wrist" + ], + "columns": [ + "action", + "action.applied", + "action.command", + "action_is_hold", + "collect_info", + "episode_index", + "extra.action_info", + "extra.reward", + "frame_index", + "index", + "narration", + "next.done", + "next.truncated", + "observation.eef_pose", + "observation.environment_state", + "observation.images.head", + "observation.images.wrist", + "observation.joint_vel", + "observation.state", + "sim_step_idx", + "task_index", + "timestamp" + ] + }, + "generated_run": { + "run_id": "stationassembly/000", + "task_type": "StationAssembly" + } +} \ No newline at end of file diff --git a/N025/go2_arm/dr_off/seed_1016/stationassembly/000/lerobot_v21/meta/stats.json b/N025/go2_arm/dr_off/seed_1016/stationassembly/000/lerobot_v21/meta/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..4f54c64e93f3b9b549283b7b7937d2f0298adc58 --- /dev/null +++ b/N025/go2_arm/dr_off/seed_1016/stationassembly/000/lerobot_v21/meta/stats.json @@ -0,0 +1,5329 @@ +{ + "action": { + "mean": [ + 0.13002310924157806, + -0.0032164094245086374, + 0.04175189745996538, + 0.3602929056808134, + -0.6583865334022863, + 1.338939599042478, + 0.7908504414991391, + 0.24025384339093522, + -0.5107807627348224, + 0.6423027538751729, + 0.13327482205957603, + 0.6139425893380199 + ], + "std": [ + 0.14277448129194517, + 0.02215386489459298, + 0.23216510022687015, + 0.021368705982444038, + 1.6047514949606814, + 1.1166313969158164, + 0.15674614495581934, + 0.23317339307069374, + 0.3018064372594723, + 0.24776252766274817, + 0.2102920238979055, + 0.4868440061610513 + ], + "min": [ + 0.0, + -0.20999999344348907, + -0.800000011920929, + 0.3400000035762787, + -3.4335923194885254, + -2.1505024433135986, + 0.567799985408783, + -0.048453789204359055, + -0.9055480360984802, + -0.7550332546234131, + -0.6037800908088684, + 0.0 + ], + "max": [ + 0.3499999940395355, + 0.009999996982514858, + 0.800000011920929, + 0.38999998569488525, + 1.2969844341278076, + 2.852961778640747, + 1.07229483127594, + 0.6140872240066528, + 0.7927480936050415, + 0.8629490733146667, + 0.6037800312042236, + 1.0 + ], + "count": [ + 1707 + ] + }, + "action_is_hold": { + "mean": [ + 0.06033977738722906, + 0.06033977738722906, + 0.06033977738722906, + 0.06033977738722906, + 0.0984182776801406, + 0.0984182776801406, + 0.0984182776801406, + 0.0984182776801406, + 0.0984182776801406, + 0.0984182776801406, + 0.0984182776801406, + 0.9466900995899239 + ], + "std": [ + 0.23811528437311325, + 0.23811528437311325, + 0.23811528437311325, + 0.23811528437311325, + 0.2978793720595879, + 0.2978793720595879, + 0.2978793720595879, + 0.2978793720595879, + 0.2978793720595879, + 0.2978793720595879, + 0.2978793720595879, + 0.2246507398793624 + ], + "min": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "max": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "count": [ + 1707 + ] + }, + "observation.state": { + "mean": [ + -0.00949846234421133, + 0.007801516322133312, + -0.017516093744343465, + 0.07103116743248306, + -0.3047610592340421, + 0.6551119933089249, + 0.6965683440437216, + 0.7916904174240975, + 0.784562155455962, + 1.5090559633698601, + -1.3414080443966088, + -1.3255037488333998, + -1.339763945770599, + -1.3694116704702797, + -1.3194292873126692, + 0.1519518225111741, + 0.8005580816551057, + -0.2511528525152625, + 0.022393170840204566, + -0.022826122561950886, + -0.7235172865759553, + 1.0529447668300222, + 1.4612536499670674, + 0.3862283403194642, + -0.022826122561950886, + -0.022393170840204566 + ], + "std": [ + 0.04359131551706947, + 0.039357349054282224, + 0.05156035616501306, + 0.052876394253069225, + 0.5592655529533117, + 0.1041208544196261, + 0.09200085168180511, + 0.11300657510505581, + 0.12234697942957963, + 0.6232085600622743, + 0.13322102868742866, + 0.1431121901309637, + 0.13254345121704597, + 0.14086200893572348, + 0.3588677864805572, + 0.20989893156900263, + 0.19694995063200835, + 0.2156403152932526, + 0.009970481139806782, + 0.009627771493982014, + 1.6581615893363681, + 1.1478116987738263, + 0.928314171267454, + 0.01680878020696952, + 0.009627771493982014, + 0.009970481139806782 + ], + "min": [ + -0.18988849222660065, + -0.15499347448349, + -0.20451746881008148, + -0.06131374090909958, + -2.0096921920776367, + 0.4903058111667633, + 0.47596776485443115, + 0.614729106426239, + 0.5815926194190979, + 0.7189987301826477, + -1.5531154870986938, + -1.6407299041748047, + -1.6348129510879517, + -1.6634327173233032, + -2.236722469329834, + -0.3977600336074829, + 0.5023585557937622, + -0.7307523488998413, + 0.014386983588337898, + -0.03500000014901161, + -3.6273045539855957, + -2.470163583755493, + -3.1392555236816406, + 0.35211801528930664, + -0.03500000014901161, + -0.03500000014901161 + ], + "max": [ + 0.18910475075244904, + 0.16768118739128113, + 0.1502964198589325, + 0.2624472379684448, + 0.9304991364479065, + 0.9294393658638, + 0.8976603150367737, + 1.0769591331481934, + 1.0420942306518555, + 2.6941564083099365, + -1.1052098274230957, + -1.0826445817947388, + -1.1207890510559082, + -1.1249988079071045, + -0.7533864378929138, + 0.632770836353302, + 1.216351866722107, + 0.23373736441135406, + 0.03500000014901161, + -0.01474010944366455, + 1.1717312335968018, + 2.446756362915039, + 3.140869617462158, + 0.412903755903244, + -0.01474010944366455, + -0.014386983588337898 + ], + "count": [ + 1707 + ] + }, + "observation.joint_vel": { + "mean": [ + -0.002582093837368725, + -0.0031632935659981804, + 0.007096488263920521, + 0.0018338275291932, + -0.023910931273077248, + -0.004848139703625303, + 0.00034447065092171484, + 0.0018318661056860232, + -0.011490175680703962, + 0.005594726576726335, + 0.0020942166822168, + 0.0016208352357146123, + -0.0026544124701393854, + 0.019453926231174798, + -0.01491573663910523, + 0.0013665349988993731, + 0.006998438238225333, + 0.0018258370370864618, + 0.011211925000263181, + 0.0006004187820180721 + ], + "std": [ + 0.39123634773769894, + 0.35846636051956515, + 0.42924239994714586, + 0.5350652557908463, + 0.28474258531300706, + 1.0325679550839735, + 1.04172062725118, + 0.813381585740464, + 0.7036542124665517, + 0.20941348740391827, + 0.5795894685693378, + 0.9451092790456361, + 0.9429452096843983, + 0.9739674459857326, + 0.2210066481338036, + 0.28818773771769174, + 0.14424956726470783, + 0.27181880339374925, + 0.013952753838612301, + 0.010163937436922099 + ], + "min": [ + -2.793055295944214, + -3.896383285522461, + -3.345538377761841, + -3.9937903881073, + -1.7418830394744873, + -4.464044094085693, + -5.5072340965271, + -4.71367883682251, + -3.6712307929992676, + -0.9507409334182739, + -3.036705255508423, + -6.54309606552124, + -4.947680473327637, + -6.0311598777771, + -2.8074867725372314, + -2.1367244720458984, + -1.2316631078720093, + -1.8228135108947754, + -0.20009444653987885, + -0.20002157986164093 + ], + "max": [ + 3.0064773559570312, + 2.49600887298584, + 4.960679054260254, + 3.4338457584381104, + 1.588266372680664, + 1.6105417013168335, + 1.7751675844192505, + 4.504315376281738, + 7.264926910400391, + 1.0670830011367798, + 2.8228838443756104, + 4.77854061126709, + 3.8479788303375244, + 3.840449810028076, + 1.2995120286941528, + 1.802392601966858, + 1.5758293867111206, + 1.9853750467300415, + 0.20000691711902618, + 0.20035545527935028 + ], + "count": [ + 1707 + ] + }, + "observation.eef_pose": { + "mean": [ + -0.6599210320846965, + 1.338039854109859, + 0.7908197049167188, + 0.24091491806656384, + -0.5580845459483839, + 0.6460742239513521, + 0.16221097993375827 + ], + "std": [ + 1.6051643132967384, + 1.1158133075279084, + 0.15699490479927, + 0.2318307604271155, + 0.20640305886845195, + 0.23395855650938785, + 0.1889259885846446 + ], + "min": [ + -3.4335923194885254, + -2.1505188941955566, + 0.5686854124069214, + -0.04962193965911865, + -0.9056404829025269, + -0.10509197413921356, + -0.008840084075927734 + ], + "max": [ + 1.2971309423446655, + 2.852961778640747, + 1.0705457925796509, + 0.6141535043716431, + -0.11568447947502136, + 0.8629645705223083, + 0.6098802089691162 + ], + "count": [ + 1707 + ] + }, + "observation.environment_state": { + "mean": [ + 0.04999078624141438, + -0.0009486886825192841, + 1.2261300086975098, + 3.1455600261688232, + 0.4300000071525574, + -0.6977331638336182, + 0.0, + -9.313225746154785e-10, + 0.7163577675819397, + -2.0, + 1.5, + 0.23000000417232513, + 1.0, + 0.0, + 0.0, + 0.0, + 1.2000000476837158, + 3.0, + 0.23000000417232513, + 1.0, + 0.0, + 0.0, + 0.0, + -0.5355977077719357, + 1.7498622380227602, + 0.6694839381480259, + 0.6170410454454224, + 0.134306486032817, + -0.20280780691877087, + 0.6030010348551442 + ], + "std": [ + 0.0099675038442074, + 0.014201766210882847, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4648314753108034, + 0.5972705311785858, + 0.24035378817526307, + 0.2170154508062684, + 0.1999113286184668, + 0.25210929651147357, + 0.21415303947486888 + ], + "min": [ + 0.004740909673273563, + -0.21997641026973724, + 1.2261300086975098, + 3.1455600261688232, + 0.4300000071525574, + -0.6977331638336182, + 0.0, + -9.313225746154785e-10, + 0.7163577675819397, + -2.0, + 1.5, + 0.23000000417232513, + 1.0, + 0.0, + 0.0, + 0.0, + 1.2000000476837158, + 3.0, + 0.23000000417232513, + 1.0, + 0.0, + 0.0, + 0.0, + -1.989571213722229, + 0.799079954624176, + 0.4299999177455902, + -0.10924598574638367, + -0.009205976501107216, + -0.6030624508857727, + 0.12031833827495575 + ], + "max": [ + 0.05235988274216652, + 0.007892658933997154, + 1.2261300086975098, + 3.1455600261688232, + 0.4300000071525574, + -0.6977331638336182, + 0.0, + -9.313225746154785e-10, + 0.7163577675819397, + -2.0, + 1.5, + 0.23000000417232513, + 1.0, + 0.0, + 0.0, + 0.0, + 1.2000000476837158, + 3.0, + 0.23000000417232513, + 1.0, + 0.0, + 0.0, + 0.0, + 1.4295673370361328, + 2.858020782470703, + 1.0290553569793701, + 0.7988576292991638, + 0.5991184115409851, + 0.061802901327610016, + 0.9107589721679688 + ], + "count": [ + 1707 + ] + }, + "action.command": { + "mean": [ + -1.4324390509706617, + 0.3127646140233518, + 0.9825825825192169, + 0.5933504051867229, + 0.0, + 0.0, + 0.7271098697142635, + 0.5367121507472384, + -0.6697975069313487, + 1.278980246529012, + 0.8007871274672367, + 0.26245537025398163, + -0.5241548183087872, + 0.6470793947381409, + 0.15723601803977055, + 0.32967032967032966, + -2.846322662201687, + -0.9381462664746526, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.352510157571009, + 0.32414238182071037, + 0.8298738740174529, + 0.367613936871735, + -0.3337271456571163, + 0.8053140679797525, + 0.05759235255877375, + 0.0, + -2.8096322479532727, + -0.9241989450668221, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.352510157571009, + 0.32414238182071037, + 0.8298738740174529, + 0.367613936871735, + -0.3337271456571163, + 0.8053140679797525, + 0.05759235255877375, + 0.0, + -2.767973989396546, + -0.9129464220051742, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.352510157571009, + 0.32414238182071037, + 0.8298738740174529, + 0.367613936871735, + -0.3337271456571163, + 0.8053140679797525, + 0.05759235255877375, + 0.0, + -2.74857043804814, + -0.9010119565683811, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.352510157571009, + 0.32414238182071037, + 0.8298738740174529, + 0.367613936871735, + -0.3337271456571163, + 0.8053140679797525, + 0.05759235255877375, + 0.0, + -2.6966534781811844, + -0.8771333608461257, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.352510157571009, + 0.32414238182071037, + 0.8298738740174529, + 0.367613936871735, + -0.3337271456571163, + 0.8053140679797525, + 0.05759235255877375, + 0.0, + -2.6800475648386564, + -0.8641584779492658, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.352510157571009, + 0.32414238182071037, + 0.8298738740174529, + 0.367613936871735, + -0.3337271456571163, + 0.8053140679797525, + 0.05759235255877375, + 0.0, + -2.6681307026402865, + -0.8476032988349004, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.352510157571009, + 0.32414238182071037, + 0.8298738740174529, + 0.367613936871735, + -0.3337271456571163, + 0.8053140679797525, + 0.05759235255877375, + 0.0, + -2.599301106894194, + -0.8054177841143821, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.352510157571009, + 0.32414238182071037, + 0.8298738740174529, + 0.367613936871735, + -0.3337271456571163, + 0.8053140679797525, + 0.05759235255877375, + 0.0, + -2.567566434542338, + -0.7793806646000686, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.352510157571009, + 0.32414238182071037, + 0.8298738740174529, + 0.367613936871735, + -0.3337271456571163, + 0.8053140679797525, + 0.05759235255877375, + 0.0, + -2.5176972862499865, + -0.7440125085228119, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.352510157571009, + 0.32414238182071037, + 0.8298738740174529, + 0.367613936871735, + -0.3337271456571163, + 0.8053140679797525, + 0.05759235255877375, + 0.0, + -2.471366300511716, + -0.7132609937321487, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.352510157571009, + 0.32414238182071037, + 0.8298738740174529, + 0.367613936871735, + -0.3337271456571163, + 0.8053140679797525, + 0.05759235255877375, + 0.0, + -2.43639381252118, + -0.6804111131388156, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.352510157571009, + 0.32414238182071037, + 0.8298738740174529, + 0.367613936871735, + -0.3337271456571163, + 0.8053140679797525, + 0.05759235255877375, + 0.0, + -2.3738922853374955, + -0.646270592117784, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.352510157571009, + 0.32414238182071037, + 0.8298738740174529, + 0.367613936871735, + -0.3337271456571163, + 0.8053140679797525, + 0.05759235255877375, + 0.0, + -2.3579301828175634, + -0.6167902199190054, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.352510157571009, + 0.32414238182071037, + 0.8298738740174529, + 0.367613936871735, + -0.3337271456571163, + 0.8053140679797525, + 0.05759235255877375, + 0.0, + -2.347407508845353, + -0.5976288582555097, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.352510157571009, + 0.32414238182071037, + 0.8298738740174529, + 0.367613936871735, + -0.3337271456571163, + 0.8053140679797525, + 0.05759235255877375, + 0.0, + -2.2812066167148193, + -0.5533717556379327, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.352510157571009, + 0.32414238182071037, + 0.8298738740174529, + 0.367613936871735, + -0.3337271456571163, + 0.8053140679797525, + 0.05759235255877375, + 0.0, + -2.249281072497961, + -0.5301337678041032, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.352510157571009, + 0.32414238182071037, + 0.8298738740174529, + 0.367613936871735, + -0.3337271456571163, + 0.8053140679797525, + 0.05759235255877375, + 0.0, + -2.202301988554238, + -0.489539294990141, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.352510157571009, + 0.32414238182071037, + 0.8298738740174529, + 0.367613936871735, + -0.3337271456571163, + 0.8053140679797525, + 0.05759235255877375, + 0.0, + -2.1432497513234914, + -0.4605641035891291, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.352510157571009, + 0.32414238182071037, + 0.8298738740174529, + 0.367613936871735, + -0.3337271456571163, + 0.8053140679797525, + 0.05759235255877375, + 0.0, + -2.1180713016595414, + -0.42411831599562916, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.352510157571009, + 0.32414238182071037, + 0.8298738740174529, + 0.367613936871735, + -0.3337271456571163, + 0.8053140679797525, + 0.05759235255877375, + 0.0, + -2.0943312615304444, + -0.4059866666793823, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.352510157571009, + 0.32414238182071037, + 0.8298738740174529, + 0.367613936871735, + -0.3337271456571163, + 0.8053140679797525, + 0.05759235255877375, + 0.0, + -2.0344062607679794, + -0.3590737596080078, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.352510157571009, + 0.32414238182071037, + 0.8298738740174529, + 0.367613936871735, + -0.3337271456571163, + 0.8053140679797525, + 0.05759235255877375, + 0.0, + -2.010346782148181, + -0.3422042380517988, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.352510157571009, + 0.32414238182071037, + 0.8298738740174529, + 0.367613936871735, + -0.3337271456571163, + 0.8053140679797525, + 0.05759235255877375, + 0.0, + -1.9504771197020119, + -0.29369448192084013, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.352510157571009, + 0.32414238182071037, + 0.8298738740174529, + 0.367613936871735, + -0.3337271456571163, + 0.8053140679797525, + 0.05759235255877375, + 0.0, + -1.9067858979476624, + -0.2732829884510135, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.352510157571009, + 0.32414238182071037, + 0.8298738740174529, + 0.367613936871735, + -0.3337271456571163, + 0.8053140679797525, + 0.05759235255877375, + 0.0, + -1.8673166294596089, + -0.2288198862502824, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.352510157571009, + 0.32414238182071037, + 0.8298738740174529, + 0.367613936871735, + -0.3337271456571163, + 0.8053140679797525, + 0.05759235255877375, + 0.0, + -1.8121033390956138, + -0.20669219149878962, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.352510157571009, + 0.32414238182071037, + 0.8298738740174529, + 0.367613936871735, + -0.3337271456571163, + 0.8053140679797525, + 0.05759235255877375, + 0.0, + -1.7845679506733643, + -0.16371293002693213, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.352510157571009, + 0.32414238182071037, + 0.8298738740174529, + 0.367613936871735, + -0.3337271456571163, + 0.8053140679797525, + 0.05759235255877375, + 0.0, + -1.778969887773789, + -0.1562584970720965, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.352510157571009, + 0.32414238182071037, + 0.8298738740174529, + 0.367613936871735, + -0.3337271456571163, + 0.8053140679797525, + 0.05759235255877375, + 0.0, + -1.7020533511887734, + -0.09904533921189569, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.352510157571009, + 0.32414238182071037, + 0.8298738740174529, + 0.367613936871735, + -0.3337271456571163, + 0.8053140679797525, + 0.05759235255877375, + 0.0, + -1.677360642312178, + -0.08784947763034953, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.352510157571009, + 0.32414238182071037, + 0.8298738740174529, + 0.367613936871735, + -0.3337271456571163, + 0.8053140679797525, + 0.05759235255877375, + 0.0, + -1.619281811945474, + -0.033894706128248527, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.352510157571009, + 0.32414238182071037, + 0.8298738740174529, + 0.367613936871735, + -0.3337271456571163, + 0.8053140679797525, + 0.05759235255877375, + 0.0, + -1.575751365120731, + -0.01944051393822058, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.352510157571009, + 0.32414238182071037, + 0.8298738740174529, + 0.367613936871735, + -0.3337271456571163, + 0.8053140679797525, + 0.05759235255877375, + 0.0, + -1.5367942929860965, + 0.030728065552403084, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.352510157571009, + 0.32414238182071037, + 0.8298738740174529, + 0.367613936871735, + -0.3337271456571163, + 0.8053140679797525, + 0.05759235255877375, + 0.0, + -1.4967656829463902, + 0.043029639851394574, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.352510157571009, + 0.32414238182071037, + 0.8298738740174529, + 0.367613936871735, + -0.3337271456571163, + 0.8053140679797525, + 0.05759235255877375, + 0.0, + -1.4540532950441636, + 0.09590811160073351, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.352510157571009, + 0.32414238182071037, + 0.8298738740174529, + 0.367613936871735, + -0.3337271456571163, + 0.8053140679797525, + 0.05759235255877375, + 0.0, + -1.4480903706147303, + 0.09754314885210635, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.352510157571009, + 0.32414238182071037, + 0.8298738740174529, + 0.367613936871735, + -0.3337271456571163, + 0.8053140679797525, + 0.05759235255877375, + 0.0, + -1.3971181066326834, + 0.11333084996066876, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.352510157571009, + 0.32414238182071037, + 0.8298738740174529, + 0.367613936871735, + -0.3337271456571163, + 0.8053140679797525, + 0.05759235255877375, + 0.0, + -1.346813241788997, + 0.16586506603962153, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.352510157571009, + 0.32414238182071037, + 0.8298738740174529, + 0.367613936871735, + -0.3337271456571163, + 0.8053140679797525, + 0.05759235255877375, + 0.0, + -1.3163773164764714, + 0.1749952307981045, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.352510157571009, + 0.32414238182071037, + 0.8298738740174529, + 0.367613936871735, + -0.3337271456571163, + 0.8053140679797525, + 0.05759235255877375, + 0.0, + -1.2455360093964867, + 0.23418689960270972, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.352510157571009, + 0.32414238182071037, + 0.8298738740174529, + 0.367613936871735, + -0.3337271456571163, + 0.8053140679797525, + 0.05759235255877375, + 0.0, + -1.2337711421189024, + 0.2401262978416177, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.352510157571009, + 0.32414238182071037, + 0.8298738740174529, + 0.367613936871735, + -0.3337271456571163, + 0.8053140679797525, + 0.05759235255877375, + 0.0, + -1.1814146209415513, + 0.2927552200668487, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.352510157571009, + 0.32414238182071037, + 0.8298738740174529, + 0.367613936871735, + -0.3337271456571163, + 0.8053140679797525, + 0.05759235255877375, + 0.0, + -1.1513661539080131, + 0.3047411732412689, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.352510157571009, + 0.32414238182071037, + 0.8298738740174529, + 0.367613936871735, + -0.3337271456571163, + 0.8053140679797525, + 0.05759235255877375, + 0.0, + -1.1179432261049451, + 0.35115281384975755, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.352510157571009, + 0.32414238182071037, + 0.8298738740174529, + 0.367613936871735, + -0.3337271456571163, + 0.8053140679797525, + 0.05759235255877375, + 0.0, + -1.068603231835721, + 0.3698758379143862, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.352510157571009, + 0.32414238182071037, + 0.8298738740174529, + 0.367613936871735, + -0.3337271456571163, + 0.8053140679797525, + 0.05759235255877375, + 0.0, + -1.0163338854538269, + 0.41956189675117606, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.352510157571009, + 0.32414238182071037, + 0.8298738740174529, + 0.367613936871735, + -0.3337271456571163, + 0.8053140679797525, + 0.05759235255877375, + 0.0, + -0.9860837284605302, + 0.4345582338114876, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.352510157571009, + 0.32414238182071037, + 0.8298738740174529, + 0.367613936871735, + -0.3337271456571163, + 0.8053140679797525, + 0.05759235255877375, + 0.0, + -0.9147246880317802, + 0.4879708743807095, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.352510157571009, + 0.32414238182071037, + 0.8298738740174529, + 0.367613936871735, + -0.3337271456571163, + 0.8053140679797525, + 0.05759235255877375, + 0.0, + -0.9033443168621158, + 0.4996492325963072, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.352510157571009, + 0.32414238182071037, + 0.8298738740174529, + 0.367613936871735, + -0.3337271456571163, + 0.8053140679797525, + 0.05759235255877375, + 0.0, + -0.8660636541262194, + 0.5424806887830668, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.352510157571009, + 0.32414238182071037, + 0.8298738740174529, + 0.367613936871735, + -0.3337271456571163, + 0.8053140679797525, + 0.05759235255877375, + 0.0, + -0.8209277622735323, + 0.5643421607231026, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.352510157571009, + 0.32414238182071037, + 0.8298738740174529, + 0.367613936871735, + -0.3337271456571163, + 0.8053140679797525, + 0.05759235255877375, + 0.0, + -0.7871972289844532, + 0.6049196127042249, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.352510157571009, + 0.32414238182071037, + 0.8298738740174529, + 0.367613936871735, + -0.3337271456571163, + 0.8053140679797525, + 0.05759235255877375, + 0.0, + -0.7383921024811209, + 0.6293421178611357, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.352510157571009, + 0.32414238182071037, + 0.8298738740174529, + 0.367613936871735, + -0.3337271456571163, + 0.8053140679797525, + 0.05759235255877375, + 0.0, + -0.6859200362542376, + 0.6732414985325799, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.352510157571009, + 0.32414238182071037, + 0.8298738740174529, + 0.367613936871735, + -0.3337271456571163, + 0.8053140679797525, + 0.05759235255877375, + 0.0, + -0.656005692126146, + 0.6940647223918, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.352510157571009, + 0.32414238182071037, + 0.8298738740174529, + 0.367613936871735, + -0.3337271456571163, + 0.8053140679797525, + 0.05759235255877375, + 0.0, + -0.5846428752538577, + 0.7415633113192979, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.352510157571009, + 0.32414238182071037, + 0.8298738740174529, + 0.367613936871735, + -0.3337271456571163, + 0.8053140679797525, + 0.05759235255877375, + 0.0, + -0.5734936221322017, + 0.7590208620722614, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.352510157571009, + 0.32414238182071037, + 0.8298738740174529, + 0.367613936871735, + -0.3337271456571163, + 0.8053140679797525, + 0.05759235255877375, + 0.0, + -0.5507121166186546, + 0.7922063331995437, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.352510157571009, + 0.32414238182071037, + 0.8298738740174529, + 0.367613936871735, + -0.3337271456571163, + 0.8053140679797525, + 0.05759235255877375, + 0.0, + -0.4909221651542246, + 0.8238296019497202, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.352510157571009, + 0.32414238182071037, + 0.8298738740174529, + 0.367613936871735, + -0.3337271456571163, + 0.8053140679797525, + 0.05759235255877375, + 0.0, + -0.45691693066364497, + 0.8585640404058333, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.352510157571009, + 0.32414238182071037, + 0.8298738740174529, + 0.367613936871735, + -0.3337271456571163, + 0.8053140679797525, + 0.05759235255877375, + 0.0, + -0.40825336430203263, + 0.8887893661337706, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.352510157571009, + 0.32414238182071037, + 0.8298738740174529, + 0.367613936871735, + -0.3337271456571163, + 0.8053140679797525, + 0.05759235255877375, + 0.0, + -0.35721255416300757, + 0.9291117428547114, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.352510157571009, + 0.32414238182071037, + 0.8298738740174529, + 0.367613936871735, + -0.3337271456571163, + 0.8053140679797525, + 0.05759235255877375, + 0.0, + -2.10441255569458, + 0.3833378255367279, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.6134496935715914, + -0.5740786122937575, + 0.6728652639591948, + 0.10484090635011382, + -0.5059828059681764, + 0.8537482562217307, + 0.06302771973588787, + 0.0, + -2.0735716819763184, + 0.44065436720848083, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.6134496935715914, + -0.5740786122937575, + 0.6728652639591948, + 0.10484090635011382, + -0.5059828059681764, + 0.8537482562217307, + 0.06302771973588787, + 0.0, + -2.045703172683716, + 0.4924469590187073, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.6134496935715914, + -0.5740786122937575, + 0.6728652639591948, + 0.10484090635011382, + -0.5059828059681764, + 0.8537482562217307, + 0.06302771973588787, + 0.0, + -2.0161845684051514, + 0.5473058223724365, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.6134496935715914, + -0.5740786122937575, + 0.6728652639591948, + 0.10484090635011382, + -0.5059828059681764, + 0.8537482562217307, + 0.06302771973588787, + 0.0, + -2.0, + 0.6000000238418579, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.6134496935715914, + -0.5740786122937575, + 0.6728652639591948, + 0.10484090635011382, + -0.5059828059681764, + 0.8537482562217307, + 0.06302771973588787, + 0.0 + ], + "std": [ + 1.8998507661396207, + 1.8237284565987513, + 0.6126771818205454, + 0.2624225963365239, + 0.0, + 0.0, + 0.22445688061246702, + 1.2353562682382426, + 1.6120289550339084, + 1.1347545805135877, + 0.15361459919775294, + 0.23396574367835643, + 0.24859149240143252, + 0.24602512995200776, + 0.1894143167861857, + 0.47009339859796523, + 0.8494419553383473, + 1.6323777367575503, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4862871041438936, + 1.081779827406309, + 0.1472427218045564, + 0.24689032478407497, + 0.18152008548802698, + 0.05824823887391885, + 0.06588707228058467, + 0.0, + 0.8784118537553268, + 1.6353778408656152, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4862871041438936, + 1.081779827406309, + 0.1472427218045564, + 0.24689032478407497, + 0.18152008548802698, + 0.05824823887391885, + 0.06588707228058467, + 0.0, + 0.9170597778970245, + 1.6451849973426902, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4862871041438936, + 1.081779827406309, + 0.1472427218045564, + 0.24689032478407497, + 0.18152008548802698, + 0.05824823887391885, + 0.06588707228058467, + 0.0, + 0.926656851547125, + 1.6404056725088974, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4862871041438936, + 1.081779827406309, + 0.1472427218045564, + 0.24689032478407497, + 0.18152008548802698, + 0.05824823887391885, + 0.06588707228058467, + 0.0, + 0.96244599570217, + 1.638864668578754, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4862871041438936, + 1.081779827406309, + 0.1472427218045564, + 0.24689032478407497, + 0.18152008548802698, + 0.05824823887391885, + 0.06588707228058467, + 0.0, + 0.9671904653443985, + 1.6309178930814974, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4862871041438936, + 1.081779827406309, + 0.1472427218045564, + 0.24689032478407497, + 0.18152008548802698, + 0.05824823887391885, + 0.06588707228058467, + 0.0, + 0.9614985411860703, + 1.6150983647591308, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4862871041438936, + 1.081779827406309, + 0.1472427218045564, + 0.24689032478407497, + 0.18152008548802698, + 0.05824823887391885, + 0.06588707228058467, + 0.0, + 0.9957251497056102, + 1.5983519916883693, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4862871041438936, + 1.081779827406309, + 0.1472427218045564, + 0.24689032478407497, + 0.18152008548802698, + 0.05824823887391885, + 0.06588707228058467, + 0.0, + 1.0032335884550463, + 1.5814316995388669, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4862871041438936, + 1.081779827406309, + 0.1472427218045564, + 0.24689032478407497, + 0.18152008548802698, + 0.05824823887391885, + 0.06588707228058467, + 0.0, + 1.0219994808418376, + 1.5625900893041884, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4862871041438936, + 1.081779827406309, + 0.1472427218045564, + 0.24689032478407497, + 0.18152008548802698, + 0.05824823887391885, + 0.06588707228058467, + 0.0, + 1.042079996853141, + 1.548028173171001, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4862871041438936, + 1.081779827406309, + 0.1472427218045564, + 0.24689032478407497, + 0.18152008548802698, + 0.05824823887391885, + 0.06588707228058467, + 0.0, + 1.0451350603417697, + 1.5235770183689727, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4862871041438936, + 1.081779827406309, + 0.1472427218045564, + 0.24689032478407497, + 0.18152008548802698, + 0.05824823887391885, + 0.06588707228058467, + 0.0, + 1.0814470918501282, + 1.5141891353481014, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4862871041438936, + 1.081779827406309, + 0.1472427218045564, + 0.24689032478407497, + 0.18152008548802698, + 0.05824823887391885, + 0.06588707228058467, + 0.0, + 1.0646484359920336, + 1.4827969498169935, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4862871041438936, + 1.081779827406309, + 0.1472427218045564, + 0.24689032478407497, + 0.18152008548802698, + 0.05824823887391885, + 0.06588707228058467, + 0.0, + 1.053917200579543, + 1.462483540456591, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4862871041438936, + 1.081779827406309, + 0.1472427218045564, + 0.24689032478407497, + 0.18152008548802698, + 0.05824823887391885, + 0.06588707228058467, + 0.0, + 1.0822117647899967, + 1.4412336208723298, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4862871041438936, + 1.081779827406309, + 0.1472427218045564, + 0.24689032478407497, + 0.18152008548802698, + 0.05824823887391885, + 0.06588707228058467, + 0.0, + 1.0934772482069701, + 1.4283394304877397, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4862871041438936, + 1.081779827406309, + 0.1472427218045564, + 0.24689032478407497, + 0.18152008548802698, + 0.05824823887391885, + 0.06588707228058467, + 0.0, + 1.1020182571365524, + 1.4004282733844997, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4862871041438936, + 1.081779827406309, + 0.1472427218045564, + 0.24689032478407497, + 0.18152008548802698, + 0.05824823887391885, + 0.06588707228058467, + 0.0, + 1.1404468790746605, + 1.3961409063824943, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4862871041438936, + 1.081779827406309, + 0.1472427218045564, + 0.24689032478407497, + 0.18152008548802698, + 0.05824823887391885, + 0.06588707228058467, + 0.0, + 1.126577903183319, + 1.3606675704861757, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4862871041438936, + 1.081779827406309, + 0.1472427218045564, + 0.24689032478407497, + 0.18152008548802698, + 0.05824823887391885, + 0.06588707228058467, + 0.0, + 1.1338852405629776, + 1.3498898218317017, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4862871041438936, + 1.081779827406309, + 0.1472427218045564, + 0.24689032478407497, + 0.18152008548802698, + 0.05824823887391885, + 0.06588707228058467, + 0.0, + 1.1508934141894849, + 1.3210859019336108, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4862871041438936, + 1.081779827406309, + 0.1472427218045564, + 0.24689032478407497, + 0.18152008548802698, + 0.05824823887391885, + 0.06588707228058467, + 0.0, + 1.1601906796602866, + 1.3122665570502197, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4862871041438936, + 1.081779827406309, + 0.1472427218045564, + 0.24689032478407497, + 0.18152008548802698, + 0.05824823887391885, + 0.06588707228058467, + 0.0, + 1.1751232742130044, + 1.2811986259164136, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4862871041438936, + 1.081779827406309, + 0.1472427218045564, + 0.24689032478407497, + 0.18152008548802698, + 0.05824823887391885, + 0.06588707228058467, + 0.0, + 1.2048445815634727, + 1.27946005966754, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4862871041438936, + 1.081779827406309, + 0.1472427218045564, + 0.24689032478407497, + 0.18152008548802698, + 0.05824823887391885, + 0.06588707228058467, + 0.0, + 1.1990130284594174, + 1.2415452544057657, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4862871041438936, + 1.081779827406309, + 0.1472427218045564, + 0.24689032478407497, + 0.18152008548802698, + 0.05824823887391885, + 0.06588707228058467, + 0.0, + 1.2411769551802185, + 1.2444689269077651, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4862871041438936, + 1.081779827406309, + 0.1472427218045564, + 0.24689032478407497, + 0.18152008548802698, + 0.05824823887391885, + 0.06588707228058467, + 0.0, + 1.222089306549796, + 1.2013151365384478, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4862871041438936, + 1.081779827406309, + 0.1472427218045564, + 0.24689032478407497, + 0.18152008548802698, + 0.05824823887391885, + 0.06588707228058467, + 0.0, + 1.2198204477064032, + 1.1943341948306405, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4862871041438936, + 1.081779827406309, + 0.1472427218045564, + 0.24689032478407497, + 0.18152008548802698, + 0.05824823887391885, + 0.06588707228058467, + 0.0, + 1.24542060449316, + 1.1615551176583943, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4862871041438936, + 1.081779827406309, + 0.1472427218045564, + 0.24689032478407497, + 0.18152008548802698, + 0.05824823887391885, + 0.06588707228058467, + 0.0, + 1.2626451063307893, + 1.1610473679266664, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4862871041438936, + 1.081779827406309, + 0.1472427218045564, + 0.24689032478407497, + 0.18152008548802698, + 0.05824823887391885, + 0.06588707228058467, + 0.0, + 1.268470934499376, + 1.1212778917506123, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4862871041438936, + 1.081779827406309, + 0.1472427218045564, + 0.24689032478407497, + 0.18152008548802698, + 0.05824823887391885, + 0.06588707228058467, + 0.0, + 1.3054697946951113, + 1.1277606005025393, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4862871041438936, + 1.081779827406309, + 0.1472427218045564, + 0.24689032478407497, + 0.18152008548802698, + 0.05824823887391885, + 0.06588707228058467, + 0.0, + 1.2918242251169367, + 1.0815639102737455, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4862871041438936, + 1.081779827406309, + 0.1472427218045564, + 0.24689032478407497, + 0.18152008548802698, + 0.05824823887391885, + 0.06588707228058467, + 0.0, + 1.3270897086806066, + 1.0889074708815056, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4862871041438936, + 1.081779827406309, + 0.1472427218045564, + 0.24689032478407497, + 0.18152008548802698, + 0.05824823887391885, + 0.06588707228058467, + 0.0, + 1.3147987777954186, + 1.041226877377698, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4862871041438936, + 1.081779827406309, + 0.1472427218045564, + 0.24689032478407497, + 0.18152008548802698, + 0.05824823887391885, + 0.06588707228058467, + 0.0, + 1.3203001433872508, + 1.0425965793424605, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4862871041438936, + 1.081779827406309, + 0.1472427218045564, + 0.24689032478407497, + 0.18152008548802698, + 0.05824823887391885, + 0.06588707228058467, + 0.0, + 1.365052893364643, + 1.0517762234116712, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4862871041438936, + 1.081779827406309, + 0.1472427218045564, + 0.24689032478407497, + 0.18152008548802698, + 0.05824823887391885, + 0.06588707228058467, + 0.0, + 1.3628137372708735, + 1.0092280568657566, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4862871041438936, + 1.081779827406309, + 0.1472427218045564, + 0.24689032478407497, + 0.18152008548802698, + 0.05824823887391885, + 0.06588707228058467, + 0.0, + 1.3899084786124174, + 1.0151236995072095, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4862871041438936, + 1.081779827406309, + 0.1472427218045564, + 0.24689032478407497, + 0.18152008548802698, + 0.05824823887391885, + 0.06588707228058467, + 0.0, + 1.4053272047598317, + 0.975859623608833, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4862871041438936, + 1.081779827406309, + 0.1472427218045564, + 0.24689032478407497, + 0.18152008548802698, + 0.05824823887391885, + 0.06588707228058467, + 0.0, + 1.4127738699684942, + 0.9747726591067069, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4862871041438936, + 1.081779827406309, + 0.1472427218045564, + 0.24689032478407497, + 0.18152008548802698, + 0.05824823887391885, + 0.06588707228058467, + 0.0, + 1.4130150272991346, + 0.9333491375473204, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4862871041438936, + 1.081779827406309, + 0.1472427218045564, + 0.24689032478407497, + 0.18152008548802698, + 0.05824823887391885, + 0.06588707228058467, + 0.0, + 1.436032598778465, + 0.9350191532701174, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4862871041438936, + 1.081779827406309, + 0.1472427218045564, + 0.24689032478407497, + 0.18152008548802698, + 0.05824823887391885, + 0.06588707228058467, + 0.0, + 1.4200936200491803, + 0.890678799391386, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4862871041438936, + 1.081779827406309, + 0.1472427218045564, + 0.24689032478407497, + 0.18152008548802698, + 0.05824823887391885, + 0.06588707228058467, + 0.0, + 1.4590920589415326, + 0.8947590278189429, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4862871041438936, + 1.081779827406309, + 0.1472427218045564, + 0.24689032478407497, + 0.18152008548802698, + 0.05824823887391885, + 0.06588707228058467, + 0.0, + 1.4629183678933475, + 0.8573920319672499, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4862871041438936, + 1.081779827406309, + 0.1472427218045564, + 0.24689032478407497, + 0.18152008548802698, + 0.05824823887391885, + 0.06588707228058467, + 0.0, + 1.4824111932557462, + 0.8549814326434719, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4862871041438936, + 1.081779827406309, + 0.1472427218045564, + 0.24689032478407497, + 0.18152008548802698, + 0.05824823887391885, + 0.06588707228058467, + 0.0, + 1.5057432049572743, + 0.8241052496731596, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4862871041438936, + 1.081779827406309, + 0.1472427218045564, + 0.24689032478407497, + 0.18152008548802698, + 0.05824823887391885, + 0.06588707228058467, + 0.0, + 1.5054957687850907, + 0.8147678947840996, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4862871041438936, + 1.081779827406309, + 0.1472427218045564, + 0.24689032478407497, + 0.18152008548802698, + 0.05824823887391885, + 0.06588707228058467, + 0.0, + 1.4989402566978587, + 0.7777909231728318, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4862871041438936, + 1.081779827406309, + 0.1472427218045564, + 0.24689032478407497, + 0.18152008548802698, + 0.05824823887391885, + 0.06588707228058467, + 0.0, + 1.5286712592637486, + 0.7749125445759044, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4862871041438936, + 1.081779827406309, + 0.1472427218045564, + 0.24689032478407497, + 0.18152008548802698, + 0.05824823887391885, + 0.06588707228058467, + 0.0, + 1.520448616226412, + 0.7389084105063407, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4862871041438936, + 1.081779827406309, + 0.1472427218045564, + 0.24689032478407497, + 0.18152008548802698, + 0.05824823887391885, + 0.06588707228058467, + 0.0, + 1.551612012518007, + 0.7347012595158119, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4862871041438936, + 1.081779827406309, + 0.1472427218045564, + 0.24689032478407497, + 0.18152008548802698, + 0.05824823887391885, + 0.06588707228058467, + 0.0, + 1.562962046540467, + 0.7055399214870636, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4862871041438936, + 1.081779827406309, + 0.1472427218045564, + 0.24689032478407497, + 0.18152008548802698, + 0.05824823887391885, + 0.06588707228058467, + 0.0, + 1.5747118743685633, + 0.6947858848461735, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4862871041438936, + 1.081779827406309, + 0.1472427218045564, + 0.24689032478407497, + 0.18152008548802698, + 0.05824823887391885, + 0.06588707228058467, + 0.0, + 1.6054754471145702, + 0.672171383211031, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4862871041438936, + 1.081779827406309, + 0.1472427218045564, + 0.24689032478407497, + 0.18152008548802698, + 0.05824823887391885, + 0.06588707228058467, + 0.0, + 1.5976776686392649, + 0.6546213490887054, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4862871041438936, + 1.081779827406309, + 0.1472427218045564, + 0.24689032478407497, + 0.18152008548802698, + 0.05824823887391885, + 0.06588707228058467, + 0.0, + 1.5848662444646884, + 0.6222327757131715, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4862871041438936, + 1.081779827406309, + 0.1472427218045564, + 0.24689032478407497, + 0.18152008548802698, + 0.05824823887391885, + 0.06588707228058467, + 0.0, + 1.6209040441288167, + 0.6146990357229336, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4862871041438936, + 1.081779827406309, + 0.1472427218045564, + 0.24689032478407497, + 0.18152008548802698, + 0.05824823887391885, + 0.06588707228058467, + 0.0, + 1.620367119531115, + 0.5870233667772051, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4862871041438936, + 1.081779827406309, + 0.1472427218045564, + 0.24689032478407497, + 0.18152008548802698, + 0.05824823887391885, + 0.06588707228058467, + 0.0, + 1.644063891407182, + 0.5746255134282933, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4862871041438936, + 1.081779827406309, + 0.1472427218045564, + 0.24689032478407497, + 0.18152008548802698, + 0.05824823887391885, + 0.06588707228058467, + 0.0, + 1.6614063715254823, + 0.5557411669220454, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4862871041438936, + 1.081779827406309, + 0.1472427218045564, + 0.24689032478407497, + 0.18152008548802698, + 0.05824823887391885, + 0.06588707228058467, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.5087366761031257, + 0.9565943125729788, + 0.004538376043529039, + 0.0048964712791416485, + 0.008659643681569474, + 0.005344771272851178, + 0.0018971400178520177, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.5087366761031257, + 0.9565943125729788, + 0.004538376043529039, + 0.0048964712791416485, + 0.008659643681569474, + 0.005344771272851178, + 0.0018971400178520177, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.5087366761031257, + 0.9565943125729788, + 0.004538376043529039, + 0.0048964712791416485, + 0.008659643681569474, + 0.005344771272851178, + 0.0018971400178520177, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.5087366761031257, + 0.9565943125729788, + 0.004538376043529039, + 0.0048964712791416485, + 0.008659643681569474, + 0.005344771272851178, + 0.0018971400178520177, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.5087366761031257, + 0.9565943125729788, + 0.004538376043529039, + 0.0048964712791416485, + 0.008659643681569474, + 0.005344771272851178, + 0.0018971400178520177, + 0.0 + ], + "min": [ + -3.755664348602295, + -2.6844332218170166, + 0.3400000035762787, + -0.057880502194166183, + 0.0, + 0.0, + -0.9983235001564026, + -1.0, + -3.4335923194885254, + -2.1505024433135986, + 0.567799985408783, + -0.048453789204359055, + -0.9055480360984802, + -0.7550332546234131, + -0.6037800908088684, + 0.0, + -3.752601146697998, + -2.6797471046447754, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4335923194885254, + -2.1505024433135986, + 0.6523202061653137, + 0.09577806293964386, + -0.5808814167976379, + 0.5690804719924927, + -0.008222773671150208, + 0.0, + -3.746819019317627, + -2.6690006256103516, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4335923194885254, + -2.1505024433135986, + 0.6523202061653137, + 0.09577806293964386, + -0.5808814167976379, + 0.5690804719924927, + -0.008222773671150208, + 0.0, + -3.746394634246826, + -2.6682114601135254, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4335923194885254, + -2.1505024433135986, + 0.6523202061653137, + 0.09577806293964386, + -0.5808814167976379, + 0.5690804719924927, + -0.008222773671150208, + 0.0, + -3.7372303009033203, + -2.6511778831481934, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4335923194885254, + -2.1505024433135986, + 0.6523202061653137, + 0.09577806293964386, + -0.5808814167976379, + 0.5690804719924927, + -0.008222773671150208, + 0.0, + -3.723497152328491, + -2.625655174255371, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4335923194885254, + -2.1505024433135986, + 0.6523202061653137, + 0.09577806293964386, + -0.5808814167976379, + 0.5690804719924927, + -0.008222773671150208, + 0.0, + -3.7119531631469727, + -2.6042017936706543, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4335923194885254, + -2.1505024433135986, + 0.6523202061653137, + 0.09577806293964386, + -0.5808814167976379, + 0.5690804719924927, + -0.008222773671150208, + 0.0, + -3.6939635276794434, + -2.5707685947418213, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4335923194885254, + -2.1505024433135986, + 0.6523202061653137, + 0.09577806293964386, + -0.5808814167976379, + 0.5690804719924927, + -0.008222773671150208, + 0.0, + -3.6616506576538086, + -2.510716199874878, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4335923194885254, + -2.1505024433135986, + 0.6523202061653137, + 0.09577806293964386, + -0.5808814167976379, + 0.5690804719924927, + -0.008222773671150208, + 0.0, + -3.6379268169403076, + -2.4666266441345215, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4335923194885254, + -2.1505024433135986, + 0.6523202061653137, + 0.09577806293964386, + -0.5808814167976379, + 0.5690804719924927, + -0.008222773671150208, + 0.0, + -3.608079195022583, + -2.411156177520752, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4335923194885254, + -2.1505024433135986, + 0.6523202061653137, + 0.09577806293964386, + -0.5808814167976379, + 0.5690804719924927, + -0.008222773671150208, + 0.0, + -3.58317232131958, + -2.364868402481079, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4335923194885254, + -2.1505024433135986, + 0.6523202061653137, + 0.09577806293964386, + -0.5808814167976379, + 0.5690804719924927, + -0.008222773671150208, + 0.0, + -3.551459312438965, + -2.305931329727173, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4335923194885254, + -2.1505024433135986, + 0.6523202061653137, + 0.09577806293964386, + -0.5808814167976379, + 0.5690804719924927, + -0.008222773671150208, + 0.0, + -3.5276994705200195, + -2.261774778366089, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4335923194885254, + -2.1505024433135986, + 0.6523202061653137, + 0.09577806293964386, + -0.5808814167976379, + 0.5690804719924927, + -0.008222773671150208, + 0.0, + -3.493814706802368, + -2.1988017559051514, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4335923194885254, + -2.1505024433135986, + 0.6523202061653137, + 0.09577806293964386, + -0.5808814167976379, + 0.5690804719924927, + -0.008222773671150208, + 0.0, + -3.4718427658081055, + -2.1579678058624268, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4335923194885254, + -2.1505024433135986, + 0.6523202061653137, + 0.09577806293964386, + -0.5808814167976379, + 0.5690804719924927, + -0.008222773671150208, + 0.0, + -3.4358296394348145, + -2.091038942337036, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4335923194885254, + -2.1505024433135986, + 0.6523202061653137, + 0.09577806293964386, + -0.5808814167976379, + 0.5690804719924927, + -0.008222773671150208, + 0.0, + -3.4159233570098877, + -2.054044008255005, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4335923194885254, + -2.1505024433135986, + 0.6523202061653137, + 0.09577806293964386, + -0.5808814167976379, + 0.5690804719924927, + -0.008222773671150208, + 0.0, + -3.378056764602661, + -1.9836708307266235, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4335923194885254, + -2.1505024433135986, + 0.6523202061653137, + 0.09577806293964386, + -0.5808814167976379, + 0.5690804719924927, + -0.008222773671150208, + 0.0, + -3.360004425048828, + -1.9501214027404785, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4335923194885254, + -2.1505024433135986, + 0.6523202061653137, + 0.09577806293964386, + -0.5808814167976379, + 0.5690804719924927, + -0.008222773671150208, + 0.0, + -3.3200290203094482, + -1.875828742980957, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4335923194885254, + -2.1505024433135986, + 0.6523202061653137, + 0.09577806293964386, + -0.5808814167976379, + 0.5690804719924927, + -0.008222773671150208, + 0.0, + -3.3040852546691895, + -1.8461982011795044, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4335923194885254, + -2.1505024433135986, + 0.6523202061653137, + 0.09577806293964386, + -0.5808814167976379, + 0.5690804719924927, + -0.008222773671150208, + 0.0, + -3.2623064517974854, + -1.7685540914535522, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4335923194885254, + -2.1505024433135986, + 0.6523202061653137, + 0.09577806293964386, + -0.5808814167976379, + 0.5690804719924927, + -0.008222773671150208, + 0.0, + -3.24816632270813, + -1.7422751188278198, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4335923194885254, + -2.1505024433135986, + 0.6523202061653137, + 0.09577806293964386, + -0.5808814167976379, + 0.5690804719924927, + -0.008222773671150208, + 0.0, + -3.204228401184082, + -1.6606186628341675, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4335923194885254, + -2.1505024433135986, + 0.6523202061653137, + 0.09577806293964386, + -0.5808814167976379, + 0.5690804719924927, + -0.008222773671150208, + 0.0, + -3.192247152328491, + -1.6383522748947144, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4335923194885254, + -2.1505024433135986, + 0.6523202061653137, + 0.09577806293964386, + -0.5808814167976379, + 0.5690804719924927, + -0.008222773671150208, + 0.0, + -3.1465561389923096, + -1.5534374713897705, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4335923194885254, + -2.1505024433135986, + 0.6523202061653137, + 0.09577806293964386, + -0.5808814167976379, + 0.5690804719924927, + -0.008222773671150208, + 0.0, + -3.1363279819488525, + -1.5344290733337402, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4335923194885254, + -2.1505024433135986, + 0.6523202061653137, + 0.09577806293964386, + -0.5808814167976379, + 0.5690804719924927, + -0.008222773671150208, + 0.0, + -3.088427782058716, + -1.445408582687378, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4335923194885254, + -2.1505024433135986, + 0.6523202061653137, + 0.09577806293964386, + -0.5808814167976379, + 0.5690804719924927, + -0.008222773671150208, + 0.0, + -3.080409049987793, + -1.4305061101913452, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4335923194885254, + -2.1505024433135986, + 0.6523202061653137, + 0.09577806293964386, + -0.5808814167976379, + 0.5690804719924927, + -0.008222773671150208, + 0.0, + -3.0308055877685547, + -1.3383206129074097, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4335923194885254, + -2.1505024433135986, + 0.6523202061653137, + 0.09577806293964386, + -0.5808814167976379, + 0.5690804719924927, + -0.008222773671150208, + 0.0, + -3.0244898796081543, + -1.3265830278396606, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4335923194885254, + -2.1505024433135986, + 0.6523202061653137, + 0.09577806293964386, + -0.5808814167976379, + 0.5690804719924927, + -0.008222773671150208, + 0.0, + -2.9726266860961914, + -1.230197787284851, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4335923194885254, + -2.1505024433135986, + 0.6523202061653137, + 0.09577806293964386, + -0.5808814167976379, + 0.5690804719924927, + -0.008222773671150208, + 0.0, + -2.9685707092285156, + -1.2226600646972656, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4335923194885254, + -2.1505024433135986, + 0.6523202061653137, + 0.09577806293964386, + -0.5808814167976379, + 0.5690804719924927, + -0.008222773671150208, + 0.0, + -2.9150550365448, + -1.1232037544250488, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4335923194885254, + -2.1505024433135986, + 0.6523202061653137, + 0.09577806293964386, + -0.5808814167976379, + 0.5690804719924927, + -0.008222773671150208, + 0.0, + -2.912651538848877, + -1.1187371015548706, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4335923194885254, + -2.1505024433135986, + 0.6523202061653137, + 0.09577806293964386, + -0.5808814167976379, + 0.5690804719924927, + -0.008222773671150208, + 0.0, + -2.856825828552246, + -1.0149877071380615, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4335923194885254, + -2.1505024433135986, + 0.6523202061653137, + 0.09577806293964386, + -0.5808814167976379, + 0.5690804719924927, + -0.008222773671150208, + 0.0, + -2.8567323684692383, + -1.014814019203186, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4335923194885254, + -2.1505024433135986, + 0.6523202061653137, + 0.09577806293964386, + -0.5808814167976379, + 0.5690804719924927, + -0.008222773671150208, + 0.0, + -2.8535072803497314, + -1.0088201761245728, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4335923194885254, + -2.1505024433135986, + 0.6523202061653137, + 0.09577806293964386, + -0.5808814167976379, + 0.5690804719924927, + -0.008222773671150208, + 0.0, + -2.8008134365081787, + -0.9108908772468567, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4335923194885254, + -2.1505024433135986, + 0.6523202061653137, + 0.09577806293964386, + -0.5808814167976379, + 0.5690804719924927, + -0.008222773671150208, + 0.0, + -2.7992851734161377, + -0.9080508351325989, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4335923194885254, + -2.1505024433135986, + 0.6523202061653137, + 0.09577806293964386, + -0.5808814167976379, + 0.5690804719924927, + -0.008222773671150208, + 0.0, + -2.74489426612854, + -0.8069679141044617, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4335923194885254, + -2.1505024433135986, + 0.6523202061653137, + 0.09577806293964386, + -0.5808814167976379, + 0.5690804719924927, + -0.008222773671150208, + 0.0, + -2.741074323654175, + -0.7998688220977783, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4335923194885254, + -2.1505024433135986, + 0.6523202061653137, + 0.09577806293964386, + -0.5808814167976379, + 0.5690804719924927, + -0.008222773671150208, + 0.0, + -2.6889750957489014, + -0.7030447125434875, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4335923194885254, + -2.1505024433135986, + 0.6523202061653137, + 0.09577806293964386, + -0.5808814167976379, + 0.5690804719924927, + -0.008222773671150208, + 0.0, + -2.6834843158721924, + -0.6928405165672302, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4335923194885254, + -2.1505024433135986, + 0.6523202061653137, + 0.09577806293964386, + -0.5808814167976379, + 0.5690804719924927, + -0.008222773671150208, + 0.0, + -2.6330559253692627, + -0.5991216897964478, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4335923194885254, + -2.1505024433135986, + 0.6523202061653137, + 0.09577806293964386, + -0.5808814167976379, + 0.5690804719924927, + -0.008222773671150208, + 0.0, + -2.62532377243042, + -0.5847519040107727, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4335923194885254, + -2.1505024433135986, + 0.6523202061653137, + 0.09577806293964386, + -0.5808814167976379, + 0.5690804719924927, + -0.008222773671150208, + 0.0, + -2.577136754989624, + -0.4951986074447632, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4335923194885254, + -2.1505024433135986, + 0.6523202061653137, + 0.09577806293964386, + -0.5808814167976379, + 0.5690804719924927, + -0.008222773671150208, + 0.0, + -2.567683696746826, + -0.4776303768157959, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4335923194885254, + -2.1505024433135986, + 0.6523202061653137, + 0.09577806293964386, + -0.5808814167976379, + 0.5690804719924927, + -0.008222773671150208, + 0.0, + -2.5212178230285645, + -0.3912756145000458, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4335923194885254, + -2.1505024433135986, + 0.6523202061653137, + 0.09577806293964386, + -0.5808814167976379, + 0.5690804719924927, + -0.008222773671150208, + 0.0, + -2.509573459625244, + -0.36963513493537903, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4335923194885254, + -2.1505024433135986, + 0.6523202061653137, + 0.09577806293964386, + -0.5808814167976379, + 0.5690804719924927, + -0.008222773671150208, + 0.0, + -2.465298652648926, + -0.2873525619506836, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4335923194885254, + -2.1505024433135986, + 0.6523202061653137, + 0.09577806293964386, + -0.5808814167976379, + 0.5690804719924927, + -0.008222773671150208, + 0.0, + -2.45188307762146, + -0.262420117855072, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4335923194885254, + -2.1505024433135986, + 0.6523202061653137, + 0.09577806293964386, + -0.5808814167976379, + 0.5690804719924927, + -0.008222773671150208, + 0.0, + -2.409379720687866, + -0.18342947959899902, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4335923194885254, + -2.1505024433135986, + 0.6523202061653137, + 0.09577806293964386, + -0.5808814167976379, + 0.5690804719924927, + -0.008222773671150208, + 0.0, + -2.3938231468200684, + -0.15451832115650177, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4335923194885254, + -2.1505024433135986, + 0.6523202061653137, + 0.09577806293964386, + -0.5808814167976379, + 0.5690804719924927, + -0.008222773671150208, + 0.0, + -2.3534605503082275, + -0.07950640469789505, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4335923194885254, + -2.1505024433135986, + 0.6523202061653137, + 0.09577806293964386, + -0.5808814167976379, + 0.5690804719924927, + -0.008222773671150208, + 0.0, + -2.3360822200775146, + -0.04720958694815636, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4335923194885254, + -2.1505024433135986, + 0.6523202061653137, + 0.09577806293964386, + -0.5808814167976379, + 0.5690804719924927, + -0.008222773671150208, + 0.0, + -2.297541379928589, + 0.024416649714112282, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4335923194885254, + -2.1505024433135986, + 0.6523202061653137, + 0.09577806293964386, + -0.5808814167976379, + 0.5690804719924927, + -0.008222773671150208, + 0.0, + -2.2780725955963135, + 0.06059851497411728, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4335923194885254, + -2.1505024433135986, + 0.6523202061653137, + 0.09577806293964386, + -0.5808814167976379, + 0.5690804719924927, + -0.008222773671150208, + 0.0, + -2.2416224479675293, + 0.12833969295024872, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4335923194885254, + -2.1505024433135986, + 0.6523202061653137, + 0.09577806293964386, + -0.5808814167976379, + 0.5690804719924927, + -0.008222773671150208, + 0.0, + -2.2202816009521484, + 0.16800078749656677, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4335923194885254, + -2.1505024433135986, + 0.6523202061653137, + 0.09577806293964386, + -0.5808814167976379, + 0.5690804719924927, + -0.008222773671150208, + 0.0, + -2.1857035160064697, + 0.23226268589496613, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4335923194885254, + -2.1505024433135986, + 0.6523202061653137, + 0.09577806293964386, + -0.5808814167976379, + 0.5690804719924927, + -0.008222773671150208, + 0.0, + -2.1623222827911377, + 0.2757154107093811, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4335923194885254, + -2.1505024433135986, + 0.6523202061653137, + 0.09577806293964386, + -0.5808814167976379, + 0.5690804719924927, + -0.008222773671150208, + 0.0, + -2.129784345626831, + 0.3361856937408447, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4335923194885254, + -2.1505024433135986, + 0.6523202061653137, + 0.09577806293964386, + -0.5808814167976379, + 0.5690804719924927, + -0.008222773671150208, + 0.0, + -2.10441255569458, + 0.3833378255367279, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4335923194885254, + -2.1505024433135986, + 0.6523202061653137, + 0.09577806293964386, + -0.5808814167976379, + 0.8055095672607422, + 0.05861542001366615, + 0.0, + -2.0735716819763184, + 0.44065436720848083, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4335923194885254, + -2.1505024433135986, + 0.6523202061653137, + 0.09577806293964386, + -0.5808814167976379, + 0.8055095672607422, + 0.05861542001366615, + 0.0, + -2.045703172683716, + 0.4924469590187073, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4335923194885254, + -2.1505024433135986, + 0.6523202061653137, + 0.09577806293964386, + -0.5808814167976379, + 0.8055095672607422, + 0.05861542001366615, + 0.0, + -2.0161845684051514, + 0.5473058223724365, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4335923194885254, + -2.1505024433135986, + 0.6523202061653137, + 0.09577806293964386, + -0.5808814167976379, + 0.8055095672607422, + 0.05861542001366615, + 0.0, + -2.0, + 0.6000000238418579, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4335923194885254, + -2.1505024433135986, + 0.6523202061653137, + 0.09577806293964386, + -0.5808814167976379, + 0.8055095672607422, + 0.05861542001366615, + 0.0 + ], + "max": [ + 1.1429027318954468, + 2.4556796550750732, + 1.5707963705062866, + 0.7741807699203491, + 0.0, + 0.0, + 0.9999983310699463, + 2.0, + 1.2969844341278076, + 2.852961778640747, + 1.07229483127594, + 0.6140872240066528, + 0.7927480936050415, + 0.8629490733146667, + 0.6037800312042236, + 1.0, + -2.0501527786254883, + 0.5918582081794739, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2969844341278076, + 1.5969843864440918, + 0.9990778565406799, + 0.6140872240066528, + -0.11530635505914688, + 0.8629490733146667, + 0.3482249677181244, + 0.0, + -1.986309289932251, + 0.6086174845695496, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2969844341278076, + 1.5969843864440918, + 0.9990778565406799, + 0.6140872240066528, + -0.11530635505914688, + 0.8629490733146667, + 0.3482249677181244, + 0.0, + -1.9084268808364868, + 0.6290621161460876, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2969844341278076, + 1.5969843864440918, + 0.9990778565406799, + 0.6140872240066528, + -0.11530635505914688, + 0.8629490733146667, + 0.3482249677181244, + 0.0, + -1.8800281286239624, + 0.6365169882774353, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2969844341278076, + 1.5969843864440918, + 0.9990778565406799, + 0.6140872240066528, + -0.11530635505914688, + 0.8629490733146667, + 0.3482249677181244, + 0.0, + -1.7945665121078491, + 0.6589512228965759, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2969844341278076, + 1.5969843864440918, + 0.9990778565406799, + 0.6140872240066528, + -0.11530635505914688, + 0.8629490733146667, + 0.3482249677181244, + 0.0, + -1.773513674736023, + 0.6644777059555054, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2969844341278076, + 1.5969843864440918, + 0.9990778565406799, + 0.6140872240066528, + -0.11530635505914688, + 0.8629490733146667, + 0.3482249677181244, + 0.0, + -1.7669317722320557, + 0.6662054657936096, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2969844341278076, + 1.5969843864440918, + 0.9990778565406799, + 0.6140872240066528, + -0.11530635505914688, + 0.8629490733146667, + 0.3482249677181244, + 0.0, + -1.6660220623016357, + 0.6926948428153992, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2969844341278076, + 1.5969843864440918, + 0.9990778565406799, + 0.6140872240066528, + -0.11530635505914688, + 0.8629490733146667, + 0.3482249677181244, + 0.0, + -1.627249836921692, + 0.7028728127479553, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2969844341278076, + 1.5969843864440918, + 0.9990778565406799, + 0.6140872240066528, + -0.11530635505914688, + 0.8629490733146667, + 0.3482249677181244, + 0.0, + -1.5597916841506958, + 0.7205809950828552, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2969844341278076, + 1.5969843864440918, + 0.9990778565406799, + 0.6140872240066528, + -0.11530635505914688, + 0.8629490733146667, + 0.3482249677181244, + 0.0, + -1.49463951587677, + 0.7376838326454163, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2969844341278076, + 1.5969843864440918, + 0.9990778565406799, + 0.6140872240066528, + -0.11530635505914688, + 0.8629490733146667, + 0.3482249677181244, + 0.0, + -1.456803560256958, + 0.7476159930229187, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2969844341278076, + 1.5969843864440918, + 0.9990778565406799, + 0.6140872240066528, + -0.11530635505914688, + 0.8629490733146667, + 0.3482249677181244, + 0.0, + -1.3602672815322876, + 0.7729573845863342, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2969844341278076, + 1.5969843864440918, + 0.9990778565406799, + 0.6140872240066528, + -0.11530635505914688, + 0.8629490733146667, + 0.3482249677181244, + 0.0, + -1.3600503206253052, + 0.7730143070220947, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2969844341278076, + 1.5969843864440918, + 0.9990778565406799, + 0.6140872240066528, + -0.11530635505914688, + 0.8629490733146667, + 0.3482249677181244, + 0.0, + -1.3595858812332153, + 0.7731361985206604, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2969844341278076, + 1.5969843864440918, + 0.9990778565406799, + 0.6140872240066528, + -0.11530635505914688, + 0.8629490733146667, + 0.3482249677181244, + 0.0, + -1.2668648958206177, + 0.797476053237915, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2969844341278076, + 1.5969843864440918, + 0.9990778565406799, + 0.6140872240066528, + -0.11530635505914688, + 0.8629490733146667, + 0.3482249677181244, + 0.0, + -1.224380373954773, + 0.808628499507904, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2969844341278076, + 1.5969843864440918, + 0.9990778565406799, + 0.6140872240066528, + -0.11530635505914688, + 0.8629490733146667, + 0.3482249677181244, + 0.0, + -1.169395923614502, + 0.8230622410774231, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2969844341278076, + 1.5969843864440918, + 0.9990778565406799, + 0.6140872240066528, + -0.11530635505914688, + 0.8629490733146667, + 0.3482249677181244, + 0.0, + -1.0743250846862793, + 0.8480189442634583, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2969844341278076, + 1.5969843864440918, + 0.9990778565406799, + 0.6140872240066528, + -0.11530635505914688, + 0.8629490733146667, + 0.3482249677181244, + 0.0, + -1.0621458292007446, + 0.8512160778045654, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2969844341278076, + 1.5969843864440918, + 0.9990778565406799, + 0.6140872240066528, + -0.11530635505914688, + 0.8629490733146667, + 0.3482249677181244, + 0.0, + -1.0315567255020142, + 0.8592458963394165, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2969844341278076, + 1.5969843864440918, + 0.9990778565406799, + 0.6140872240066528, + -0.11530635505914688, + 0.8629490733146667, + 0.3482249677181244, + 0.0, + -0.9556902050971985, + 0.8791612982749939, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2969844341278076, + 1.5969843864440918, + 0.9990778565406799, + 0.6140872240066528, + -0.11530635505914688, + 0.8629490733146667, + 0.3482249677181244, + 0.0, + -0.9229165315628052, + 0.887764573097229, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2969844341278076, + 1.5969843864440918, + 0.9990778565406799, + 0.6140872240066528, + -0.11530635505914688, + 0.8629490733146667, + 0.3482249677181244, + 0.0, + -0.849050760269165, + 0.9071547985076904, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2969844341278076, + 1.5969843864440918, + 0.9990778565406799, + 0.6140872240066528, + -0.11530635505914688, + 0.8629490733146667, + 0.3482249677181244, + 0.0, + -0.777502179145813, + 0.925936758518219, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2969844341278076, + 1.5969843864440918, + 0.9990778565406799, + 0.6140872240066528, + -0.11530635505914688, + 0.8629490733146667, + 0.3482249677181244, + 0.0, + -0.7434987425804138, + 0.9348628520965576, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2969844341278076, + 1.5969843864440918, + 0.9990778565406799, + 0.6140872240066528, + -0.11530635505914688, + 0.8629490733146667, + 0.3482249677181244, + 0.0, + -0.6487658023834229, + 0.959730863571167, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2969844341278076, + 1.5969843864440918, + 0.9990778565406799, + 0.6140872240066528, + -0.11530635505914688, + 0.8629490733146667, + 0.3482249677181244, + 0.0, + -0.6391209959983826, + 0.9622626900672913, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2969844341278076, + 1.5969843864440918, + 0.9990778565406799, + 0.6140872240066528, + -0.11530635505914688, + 0.8629490733146667, + 0.3482249677181244, + 0.0, + -0.6356495022773743, + 0.9631739854812622, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2969844341278076, + 1.5969843864440918, + 0.9990778565406799, + 0.6140872240066528, + -0.11530635505914688, + 0.8629490733146667, + 0.3482249677181244, + 0.0, + -0.534738302230835, + 0.9896637797355652, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2969844341278076, + 1.5969843864440918, + 0.9990778565406799, + 0.6140872240066528, + -0.11530635505914688, + 0.8629490733146667, + 0.3482249677181244, + 0.0, + -0.4939013123512268, + 1.000383734703064, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2969844341278076, + 1.5969843864440918, + 0.9990778565406799, + 0.6140872240066528, + -0.11530635505914688, + 0.8629490733146667, + 0.3482249677181244, + 0.0, + -0.4303620159626007, + 1.0170631408691406, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2969844341278076, + 1.5969843864440918, + 0.9990778565406799, + 0.6140872240066528, + -0.11530635505914688, + 0.8629490733146667, + 0.3482249677181244, + 0.0, + -0.35215306282043457, + 1.0375934839248657, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2969844341278076, + 1.5969843864440918, + 0.9990778565406799, + 0.6140872240066528, + -0.11530635505914688, + 0.8629490733146667, + 0.3482249677181244, + 0.0, + -0.32598578929901123, + 1.0444625616073608, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2969844341278076, + 1.5969843864440918, + 0.9990778565406799, + 0.6140872240066528, + -0.11530635505914688, + 0.8629490733146667, + 0.3482249677181244, + 0.0, + -0.2529033422470093, + 1.0636471509933472, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2969844341278076, + 1.5969843864440918, + 0.9990778565406799, + 0.6140872240066528, + -0.11530635505914688, + 0.8629490733146667, + 0.3482249677181244, + 0.0, + -0.22171106934547424, + 1.0718352794647217, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2969844341278076, + 1.5969843864440918, + 0.9990778565406799, + 0.6140872240066528, + -0.11530635505914688, + 0.8629490733146667, + 0.3482249677181244, + 0.0, + -0.21059179306030273, + 1.0747541189193726, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2969844341278076, + 1.5969843864440918, + 0.9990778565406799, + 0.6140872240066528, + -0.11530635505914688, + 0.8629490733146667, + 0.3482249677181244, + 0.0, + -0.11767341196537018, + 1.099145770072937, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2969844341278076, + 1.5969843864440918, + 0.9990778565406799, + 0.6140872240066528, + -0.11530635505914688, + 0.8629490733146667, + 0.3482249677181244, + 0.0, + -0.06946727633476257, + 1.111800193786621, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2969844341278076, + 1.5969843864440918, + 0.9990778565406799, + 0.6140872240066528, + -0.11530635505914688, + 0.8629490733146667, + 0.3482249677181244, + 0.0, + -0.01363583467900753, + 1.1264562606811523, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2969844341278076, + 1.5969843864440918, + 0.9990778565406799, + 0.6140872240066528, + -0.11530635505914688, + 0.8629490733146667, + 0.3482249677181244, + 0.0, + 0.0716572254896164, + 1.1488462686538696, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2969844341278076, + 1.5969843864440918, + 0.9990778565406799, + 0.6140872240066528, + -0.11530635505914688, + 0.8629490733146667, + 0.3482249677181244, + 0.0, + 0.09040174633264542, + 1.1537668704986572, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2969844341278076, + 1.5969843864440918, + 0.9990778565406799, + 0.6140872240066528, + -0.11530635505914688, + 0.8629490733146667, + 0.3482249677181244, + 0.0, + 0.1429843008518219, + 1.1675701141357422, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2969844341278076, + 1.5969843864440918, + 0.9990778565406799, + 0.6140872240066528, + -0.11530635505914688, + 0.8629490733146667, + 0.3482249677181244, + 0.0, + 0.19460681080818176, + 1.1811213493347168, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2969844341278076, + 1.5969843864440918, + 0.9990778565406799, + 0.6140872240066528, + -0.11530635505914688, + 0.8629490733146667, + 0.3482249677181244, + 0.0, + 0.21309036016464233, + 1.1859734058380127, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2969844341278076, + 1.5969843864440918, + 0.9990778565406799, + 0.6140872240066528, + -0.11530635505914688, + 0.8629490733146667, + 0.3482249677181244, + 0.0, + 0.29898303747177124, + 1.208520770072937, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2969844341278076, + 1.5969843864440918, + 0.9990778565406799, + 0.6140872240066528, + -0.11530635505914688, + 0.8629490733146667, + 0.3482249677181244, + 0.0, + 0.3548387289047241, + 1.223183274269104, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2969844341278076, + 1.5969843864440918, + 0.9990778565406799, + 0.6140872240066528, + -0.11530635505914688, + 0.8629490733146667, + 0.3482249677181244, + 0.0, + 0.40335923433303833, + 1.2359201908111572, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2969844341278076, + 1.5969843864440918, + 0.9990778565406799, + 0.6140872240066528, + -0.11530635505914688, + 0.8629490733146667, + 0.3482249677181244, + 0.0, + 0.49658703804016113, + 1.2603930234909058, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2969844341278076, + 1.5969843864440918, + 0.9990778565406799, + 0.6140872240066528, + -0.11530635505914688, + 0.8629490733146667, + 0.3482249677181244, + 0.0, + 0.5077354907989502, + 1.2633196115493774, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2969844341278076, + 1.5969843864440918, + 0.9990778565406799, + 0.6140872240066528, + -0.11530635505914688, + 0.8629490733146667, + 0.3482249677181244, + 0.0, + 0.5388717651367188, + 1.2714930772781372, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2969844341278076, + 1.5969843864440918, + 0.9990778565406799, + 0.6140872240066528, + -0.11530635505914688, + 0.8629490733146667, + 0.3482249677181244, + 0.0, + 0.6118741035461426, + 1.2906566858291626, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2969844341278076, + 1.5969843864440918, + 0.9990778565406799, + 0.6140872240066528, + -0.11530635505914688, + 0.8629490733146667, + 0.3482249677181244, + 0.0, + 0.6378976702690125, + 1.2974879741668701, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2969844341278076, + 1.5969843864440918, + 0.9990778565406799, + 0.6140872240066528, + -0.11530635505914688, + 0.8629490733146667, + 0.3482249677181244, + 0.0, + 0.7159118056297302, + 1.317967176437378, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2969844341278076, + 1.5969843864440918, + 0.9990778565406799, + 0.6140872240066528, + -0.11530635505914688, + 0.8629490733146667, + 0.3482249677181244, + 0.0, + 0.7790220975875854, + 1.3345340490341187, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2969844341278076, + 1.5969843864440918, + 0.9990778565406799, + 0.6140872240066528, + -0.11530635505914688, + 0.8629490733146667, + 0.3482249677181244, + 0.0, + 0.8199493885040283, + 1.3452776670455933, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2969844341278076, + 1.5969843864440918, + 0.9990778565406799, + 0.6140872240066528, + -0.11530635505914688, + 0.8629490733146667, + 0.3482249677181244, + 0.0, + 0.9201464653015137, + 1.3715800046920776, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2969844341278076, + 1.5969843864440918, + 0.9990778565406799, + 0.6140872240066528, + -0.11530635505914688, + 0.8629490733146667, + 0.3482249677181244, + 0.0, + 0.9239869713783264, + 1.3725881576538086, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2969844341278076, + 1.5969843864440918, + 0.9990778565406799, + 0.6140872240066528, + -0.11530635505914688, + 0.8629490733146667, + 0.3482249677181244, + 0.0, + 0.9347605109214783, + 1.3754162788391113, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2969844341278076, + 1.5969843864440918, + 0.9990778565406799, + 0.6140872240066528, + -0.11530635505914688, + 0.8629490733146667, + 0.3482249677181244, + 0.0, + 1.0283281803131104, + 1.3999782800674438, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2969844341278076, + 1.5969843864440918, + 0.9990778565406799, + 0.6140872240066528, + -0.11530635505914688, + 0.8629490733146667, + 0.3482249677181244, + 0.0, + 1.0618301630020142, + 1.4087727069854736, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2969844341278076, + 1.5969843864440918, + 0.9990778565406799, + 0.6140872240066528, + -0.11530635505914688, + 0.8629490733146667, + 0.3482249677181244, + 0.0, + 1.1327043771743774, + 1.427377700805664, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2969844341278076, + 1.5969843864440918, + 0.9990778565406799, + 0.6140872240066528, + -0.11530635505914688, + 0.8629490733146667, + 0.3482249677181244, + 0.0, + 1.2000000476837158, + 1.4500000476837158, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2969844341278076, + 1.5969843864440918, + 0.9990778565406799, + 0.6140872240066528, + -0.11530635505914688, + 0.8629490733146667, + 0.3482249677181244, + 0.0, + -2.10441255569458, + 0.3833378255367279, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.860108733177185, + 0.8922117948532104, + 0.6799207329750061, + 0.11585405468940735, + -0.4883093237876892, + 0.8629490733146667, + 0.06768473237752914, + 0.0, + -2.0735716819763184, + 0.44065436720848083, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.860108733177185, + 0.8922117948532104, + 0.6799207329750061, + 0.11585405468940735, + -0.4883093237876892, + 0.8629490733146667, + 0.06768473237752914, + 0.0, + -2.045703172683716, + 0.4924469590187073, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.860108733177185, + 0.8922117948532104, + 0.6799207329750061, + 0.11585405468940735, + -0.4883093237876892, + 0.8629490733146667, + 0.06768473237752914, + 0.0, + -2.0161845684051514, + 0.5473058223724365, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.860108733177185, + 0.8922117948532104, + 0.6799207329750061, + 0.11585405468940735, + -0.4883093237876892, + 0.8629490733146667, + 0.06768473237752914, + 0.0, + -2.0, + 0.6000000238418579, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.860108733177185, + 0.8922117948532104, + 0.6799207329750061, + 0.11585405468940735, + -0.4883093237876892, + 0.8629490733146667, + 0.06768473237752914, + 0.0 + ], + "count": [ + 1707 + ] + }, + "action.applied": { + "mean": [ + 0.30202112135853276, + 0.6221514625827262, + -1.126176932993589, + -0.3028146508005221, + 0.682808525445661, + -1.1144566058274523, + 0.253791590972504, + 0.7300879603320559, + -1.223637043486999, + -0.18545486501297478, + 0.748768939284742, + -1.2184608736510296, + -0.3078849767669956, + 1.5097025493536347, + -1.3209939582974992, + 0.15196965222087117, + 0.8015595120020477, + -0.250726319912202, + 0.0028705331112253226, + -0.0028705331112253226 + ], + "std": [ + 0.1405749580210955, + 0.1589600688607444, + 0.16995542741238678, + 0.13542652105866912, + 0.10168675691543781, + 0.15882824598415804, + 0.12463821002598369, + 0.1177018066472193, + 0.16823711509352915, + 0.11152466642114697, + 0.09199289941712119, + 0.17725676347822436, + 0.5635668631583743, + 0.6237024170607948, + 0.3594232600241789, + 0.21257905082334844, + 0.19755869231886655, + 0.2172242299846526, + 0.009603577405216822, + 0.009603577405216822 + ], + "min": [ + -0.22442394495010376, + 0.3224886357784271, + -1.762894868850708, + -0.5784306526184082, + 0.3588566482067108, + -1.6432379484176636, + -0.18799903988838196, + 0.43796366453170776, + -1.7722210884094238, + -0.6123737692832947, + 0.5812675952911377, + -1.7228845357894897, + -2.011823892593384, + 0.7134191393852234, + -2.2443687915802, + -0.44785037636756897, + 0.4985574185848236, + -0.9517319202423096, + 0.0, + -0.03500000014901161 + ], + "max": [ + 0.6964616179466248, + 1.0284935235977173, + -0.8323231935501099, + 0.19547146558761597, + 0.9445972442626953, + -0.8490391373634338, + 0.5674248337745667, + 1.20876145362854, + -0.9630169868469238, + 0.28724223375320435, + 1.1496421098709106, + -0.9531188607215881, + 0.9820365309715271, + 2.696218967437744, + -0.7500140070915222, + 0.8982266187667847, + 1.2191845178604126, + 0.2781134843826294, + 0.03500000014901161, + 0.0 + ], + "count": [ + 1707 + ] + }, + "extra.reward": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 1707 + ] + }, + "next.truncated": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 1707 + ] + }, + "sim_step_idx": { + "mean": [ + 1737.0 + ], + "std": [ + 985.5367403941198 + ], + "min": [ + 31.0 + ], + "max": [ + 3443.0 + ], + "count": [ + 1707 + ] + }, + "timestamp": { + "mean": [ + 34.1200000023154 + ], + "std": [ + 19.710734808397387 + ], + "min": [ + 0.0 + ], + "max": [ + 68.23999786376953 + ], + "count": [ + 1707 + ] + }, + "frame_index": { + "mean": [ + 853.0 + ], + "std": [ + 492.7683701970599 + ], + "min": [ + 0.0 + ], + "max": [ + 1706.0 + ], + "count": [ + 1707 + ] + }, + "episode_index": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 1707 + ] + }, + "index": { + "mean": [ + 853.0 + ], + "std": [ + 492.7683701970599 + ], + "min": [ + 0.0 + ], + "max": [ + 1706.0 + ], + "count": [ + 1707 + ] + }, + "task_index": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 1707 + ] + }, + "next.done": { + "mean": [ + 0.0005858230814294083 + ], + "std": [ + 0.024196691772774906 + ], + "min": [ + 0.0 + ], + "max": [ + 1.0 + ], + "count": [ + 1707 + ] + }, + "observation.images.head": { + "mean": [ + [ + [ + 0.5258098923823017 + ] + ], + [ + [ + 0.5093338560934461 + ] + ], + [ + [ + 0.47303663501257603 + ] + ] + ], + "std": [ + [ + [ + 0.11413408884693532 + ] + ], + [ + [ + 0.12085523695952939 + ] + ], + [ + [ + 0.1387411892088778 + ] + ] + ], + "min": [ + [ + [ + 0.00392156862745098 + ] + ], + [ + [ + 0.00784313725490196 + ] + ], + [ + [ + 0.0 + ] + ] + ], + "max": [ + [ + [ + 0.8901960784313725 + ] + ], + [ + [ + 0.8901960784313725 + ] + ], + [ + [ + 0.8901960784313725 + ] + ] + ], + "count": [ + 100 + ] + }, + "observation.images.wrist": { + "mean": [ + [ + [ + 0.5824017763027973 + ] + ], + [ + [ + 0.5332198948080181 + ] + ], + [ + [ + 0.44872486481710977 + ] + ] + ], + "std": [ + [ + [ + 0.1461011148095682 + ] + ], + [ + [ + 0.1309852298511448 + ] + ], + [ + [ + 0.17213978222990456 + ] + ] + ], + "min": [ + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ] + ], + "max": [ + [ + [ + 0.9333333333333333 + ] + ], + [ + [ + 0.9019607843137255 + ] + ], + [ + [ + 0.8823529411764706 + ] + ] + ], + "count": [ + 100 + ] + } +} \ No newline at end of file diff --git a/N025/go2_arm/dr_off/seed_1016/stationassembly/000/lerobot_v21/meta/tasks.jsonl b/N025/go2_arm/dr_off/seed_1016/stationassembly/000/lerobot_v21/meta/tasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7ef32cea3933584c053b6f1b17969eee32e6aaa6 --- /dev/null +++ b/N025/go2_arm/dr_off/seed_1016/stationassembly/000/lerobot_v21/meta/tasks.jsonl @@ -0,0 +1 @@ +{"task_index": 0, "task": "Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level."} diff --git a/N025/go2_arm/dr_off/seed_1016/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 b/N025/go2_arm/dr_off/seed_1016/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..fbbda72f6bd3fc47d2a77544bfae809dd708e028 --- /dev/null +++ b/N025/go2_arm/dr_off/seed_1016/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aa597b08224b786af1f8d528757211da0fcda3d160b575f9c7f45f9190bad484 +size 18092390 diff --git a/N025/go2_arm/dr_off/seed_1016/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 b/N025/go2_arm/dr_off/seed_1016/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b198f38cc794f1af4c9cc93a2b26cd4371872fbb --- /dev/null +++ b/N025/go2_arm/dr_off/seed_1016/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a24a261c47edc00be3173a155a3452570d69e7c666b1c6b34dd621ef874ea2e9 +size 26511019 diff --git a/N025/go2_arm/dr_off/seed_1016/stationassembly/000/run_meta.json b/N025/go2_arm/dr_off/seed_1016/stationassembly/000/run_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fe548283e6f38e74927eed477fdff9d1043cc690 --- /dev/null +++ b/N025/go2_arm/dr_off/seed_1016/stationassembly/000/run_meta.json @@ -0,0 +1,964 @@ +{ + "run_id": "stationassembly/000", + "created": "2026-11-08 02:55:08", + "num_envs": 1, + "session_id": null, + "record_config": { + "output_dir": "/mnt/scratch/xc536_atomic/n025_go2_off_1016/out", + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + }, + "config": { + "env_string": "MobileWedgeSupportEnv-V0", + "env": { + "sim": { + "device": "cpu", + "use_fabric": false, + "decimation": 4, + "dt": 0.005, + "seed": 1016, + "soft_resets": 2, + "scene": { + "num_envs": 1, + "env_spacing": 14 + }, + "render": { + "rendering_mode": "performance", + "enable_reflections": false, + "enable_global_illumination": false, + "enable_translucency": false, + "enable_dl_denoiser": false + } + }, + "robot": { + "Go2Plus": { + "name": "go2plus", + "type": "mobilemanip", + "common": { + "pos": [ + [ + -3.62411, + -2.46551, + 0.45 + ], + [ + -3.62411, + -2.46551, + 0.45 + ] + ], + "ori": [ + [ + 0, + 0, + 58.66536 + ], + [ + 0, + 0, + 58.66536 + ] + ], + "initial_joint_pos": null + }, + "action": { + "base_action": "unified", + "arm_action": "ik_curobo", + "eef_action": "binary" + }, + "reset": "default", + "planner": { + "dual_mode": true, + "base_joint_names": [ + "base_x", + "base_y", + "base_yaw", + "base_height" + ], + "ik": { + "type": "go2plus", + "enable": true, + "ik_num_instances": 1, + "ik_batch_size": 1, + "ik_num_seeds": 64, + "ik_position_threshold": 0.005, + "ik_rotation_threshold": 0.05, + "microbatch_wait_ms": 400.0, + "relative_to_world_frame": false, + "eef_num": 1, + "debug": false, + "seed_use_live_joint_pos": true + }, + "motiongen": { + "type": "go2plus", + "enable": true, + "batch_size": 1, + "debug": false, + "motiongen_num_instances": 1, + "microbatch_wait_ms": 400.0, + "mode": "position", + "relative_to_world_frame": false, + "eef_num": 1, + "seed_use_live_joint_pos": true, + "anchor_ik_seeds_to_current_state": false, + "num_trajopt_seeds": 1, + "num_ik_seeds": 4, + "max_attempts": 6, + "joint_limit_retry_weight": 100000000.0, + "start_state_limit_inset": 0.002 + }, + "body": { + "type": "nav", + "dwb_type": "dwb_quadruped", + "dwb_quadruped": { + "device": "cpu", + "dt": 0.02, + "debug": false, + "num_rollout_steps": 60, + "num_speed_samples": 11, + "num_steer_samples": 11, + "num_vx_samples": 7, + "num_vy_samples": 7, + "num_yaw_samples": 7, + "max_accel": 1.5, + "max_steer_rate": 1.5, + "max_accel_vx": 1.5, + "max_accel_vy": 1.5, + "max_yaw_accel": 1.5, + "w_goal": 6.0, + "w_path": 24.0, + "w_vel": 0.2, + "w_vy": 0.0, + "dilate_radius": 0.2, + "goal_cost_mode": "path", + "room_size": 12.0, + "occupancy_update_interval": 25, + "scan_height": 0.38, + "scan_min_z": 0.15, + "scan_max_z": 0.63, + "goal_pos_threshold": 0.09, + "goal_yaw_threshold": 0.08, + "goal_yaw_hysteresis": 0.02, + "kp_goal_yaw": 4.0, + "heading_reference": "path", + "turn_yaw_threshold": 0.8, + "heading_lookahead": 0.8, + "heading_min_leg": 0.35, + "route_yaw_gain": 2.0, + "min_vx": -0.35, + "max_vx": 0.35, + "min_vy": -0.25, + "max_vy": 0.25, + "min_yaw_rate": -0.8, + "max_yaw_rate": 0.8, + "dynamic_window_source": "command", + "default_height": 0.35, + "safety_min_progress_speed": 0.1, + "safety_stop_distance": 0.2, + "safety_enabled": true, + "safety_deceleration": 0.5, + "safety_reaction_time": 0.5, + "safety_release_distance": 0.35, + "scan_type": "3d", + "robot_type": "quadruped", + "velocity_frame": "body" + }, + "p_controller": { + "velocity_frame": "body", + "nav_upgrade_distance": 0.03, + "nav_heading_target": -1, + "kp_linear_x": 1.5, + "kd_linear_x": 0.4, + "kp_linear_y": 1.5, + "kd_linear_y": 0.4, + "kp_angular": 1.5, + "kd_angular": 0.2, + "kp_angular_turning_only": 1.5, + "kd_angular_turning_only": 0.2, + "min_vel": -0.4, + "max_vel": 0.5, + "linear_dead_zone": 0.03, + "angular_dead_zone": 0.05 + } + }, + "arm": { + "type": "default" + }, + "eef": { + "type": "default" + } + }, + "physics": { + "robot_radius": 0.5 + } + } + }, + "camera": { + "enable_tiled": false, + "colorize_depth": false, + "head": { + "camera": { + "type": "camera", + "mesh": "pinhole", + "resolution": [ + 640, + 480 + ], + "frequency": 25, + "focal_length": 1.8231182098388672, + "horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.4407838582992554, + "clipping_range": [ + 0.05, + 30.0 + ], + "focus_distance": 3.0, + "mode": "RGB", + "mount_link": "Robot_0/Bodies/go2_base", + "pos": [ + 0.332051, + 0.038027, + 0.093559 + ], + "ori": [ + 169.9473, + -88.6452, + 81.5985 + ] + }, + "annotator": { + "enabled": true, + "rgb_capture": { + "type": "rgb", + "device": "cpu" + } + } + }, + "wrist": { + "camera": { + "type": "camera", + "mesh": "pinhole", + "resolution": [ + 640, + 480 + ], + "frequency": 25, + "focal_length": 1.8517500162124634, + "horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.4393036365509033, + "clipping_range": [ + 0.05, + 30.0 + ], + "focus_distance": 3.0, + "mode": "RGB", + "mount_link": "Robot_0/Bodies/piper_link6", + "pos": [ + -0.074987, + 0.005289, + 0.045821 + ], + "ori": [ + 179.3135, + -20.212, + 88.9402 + ] + }, + "annotator": { + "enabled": true, + "rgb_capture": { + "type": "rgb", + "device": "cpu" + } + } + } + }, + "scene": { + "background": { + "intensity": [ + 1153.61472, + 1153.61472 + ] + }, + "terrain": { + "type": "nav_room", + "collision": true, + "hide_top_walls": true, + "usd": [ + "$MAGICSIM_ASSETS/Room/Collected_SimpleRoom" + ], + "annotation": "Annotation", + "random": false, + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0, + "friction_combine_mode": "multiply", + "restitution_combine_mode": "multiply" + } + }, + "objects": { + "table_A": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "pos": [ + -2.0, + 1.5, + 0.23 + ], + "ori": [ + 0, + 0, + 0 + ], + "scale": [ + 0.9, + 0.6, + 0.4 + ] + }, + "table_A_1": { + "primitive_params": { + "size": [ + 1, + 1, + 1 + ] + }, + "visual": { + "color": [ + 0.78, + 0.72, + 0.62 + ] + }, + "physics": { + "type": "geometry", + "collision": true + } + } + }, + "table_B": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "pos": [ + 1.2, + 3.0, + 0.23 + ], + "ori": [ + 0, + 0, + 0 + ], + "scale": [ + 0.9, + 0.6, + 0.4 + ] + }, + "table_B_1": { + "primitive_params": { + "size": [ + 1, + 1, + 1 + ] + }, + "visual": { + "color": [ + 0.62, + 0.72, + 0.78 + ] + }, + "physics": { + "type": "geometry", + "collision": true + } + } + }, + "shim_board": { + "usd": [ + "$MAGICSIM_ASSETS/Object/MobileAssembly/shim_board_a05/Object.usd" + ], + "random": false, + "num_per_env": 1, + "common": { + "pos": [ + 1.22613, + 3.14556, + 0.43 + ], + "ori": [ + 0.0, + 0.0, + -91.50917 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "shim_board_1": { + "visual": {}, + "physics": { + "type": "articulation", + "collision": true, + "fixed_base": true + } + } + }, + "wedge": { + "usd": [ + "$MAGICSIM_ASSETS/Object/MobileAssembly/wedge_a05/Object.usd" + ], + "random": false, + "num_per_env": 1, + "common": { + "pos": [ + -1.96241, + 1.43336, + 0.431 + ], + "ori": [ + 0.0, + 0.0, + 91.84245 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "wedge_1": { + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.03701, + "physics_material": { + "static_friction": 0.8, + "dynamic_friction": 0.7, + "restitution": 0.0 + } + } + } + } + } + }, + "nav": { + "navmesh": { + "enabled": true, + "visualize": false, + "bake_timeout_s": 180, + "agent_height_cm": 65, + "min_agent_radius_cm": 30.0, + "max_agent_radius_cm": 30.0, + "max_step_height_cm": 20, + "max_floor_slope_deg": 30, + "agent_island_radius_cm": 5, + "auto_exclude_rigid_bodies": true, + "validate_path_clearance": true, + "validate_path_window": true, + "navmesh_offset_z_m": 0, + "verbose": false + }, + "occupancymap": { + "cell_size": 0.05 + } + } + }, + "task": { + "observation": {}, + "reward": {}, + "level": "easy", + "termination": { + "timeout_steps": 9000, + "success_hold_frames": 1 + }, + "station": { + "S": { + "pose": [ + -3.6, + -2.5, + 60.0 + ] + }, + "A": { + "center": [ + -2.0, + 0.6 + ], + "zone_radius": 0.6, + "table": "table_A" + }, + "B": { + "center": [ + 1.2, + 2.1 + ], + "zone_radius": 0.6, + "table": "table_B" + } + }, + "stance": { + "radii_A": [ + 0.6, + 0.62, + 0.58, + 0.64, + 0.59, + 0.61, + 0.56, + 0.55, + 0.57, + 0.54, + 0.52, + 0.49, + 0.45, + 0.4, + 0.35, + 0.3 + ], + "radii_B": [ + 0.48, + 0.47, + 0.49, + 0.46, + 0.5, + 0.45, + 0.44, + 0.51, + 0.43 + ], + "bearings_deg": [ + 0.0 + ], + "yaw_offsets_deg": [ + 0.0, + -4.0, + 4.0 + ], + "include_current": true, + "yaw_offsets_deg_B": [ + 100.0, + 96.0, + 104.0, + 92.0, + 108.0, + 88.0 + ], + "stand_height_m": 0.403 + }, + "assembly": { + "part": { + "name": "wedge", + "id": 0 + }, + "fixture": { + "name": "shim_board", + "id": 0 + }, + "support_z": 0.43, + "part_half_height": 0.014, + "lift_height": 0.03, + "carry_lost": 0.25, + "hold_steps": 30, + "release_clear": 0.06, + "fixture_move_limit": 0.01, + "fall_margin": 0.12, + "target_deg": 0.0, + "tol_deg": 1.5, + "contact_gap": 0.002, + "stop_margin_deg": 0.3, + "board_touch_limit": 20, + "pre_height": 0.03, + "align_height": 0.0015, + "align_x": 0.4, + "insert_x": 0.205, + "umi": { + "table_clearance": 0.002, + "min_approach_down_deg": 65.0, + "max_approach_down_deg": 90.0, + "max_candidates": 64 + }, + "heading_link": "none", + "free_axis_yaw": true, + "approach_axis": "z", + "gap_open": 0.0675, + "hand": { + "wrist_to_gripper_pos": [ + -0.00289, + 0.0, + -0.0528 + ], + "wrist_to_gripper_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "tcp_in_gripper": [ + 0.00289, + 0.0, + 0.1686 + ] + } + }, + "command": { + "StationAssembly": { + "robot_id": 0, + "hand_id": 0, + "init_limit": 30, + "max_attempt": 2, + "tail_steps": 400, + "part": { + "obj_type": "rigid", + "obj_name": "wedge", + "obj_id": 0 + }, + "fixture": { + "obj_type": "articulation", + "obj_name": "shim_board", + "obj_id": 0 + }, + "stages": [ + { + "name": "nav_A", + "type": "nav", + "goal": [ + -2.0, + 0.6, + 90.0 + ] + }, + { + "name": "stance_A", + "type": "stance", + "target": "part" + }, + { + "name": "pick", + "type": "grasp" + }, + { + "name": "carry", + "type": "carry" + }, + { + "name": "nav_B", + "type": "nav", + "goal": [ + 1.2, + 1.45, + 90.0 + ] + }, + { + "name": "stance_B", + "type": "stance", + "target": "fixture" + }, + { + "name": "assemble", + "type": "assemble" + } + ] + } + } + }, + "collect": { + "command": { + "StationAssembly": { + "robot_id": 0, + "hand_id": 0, + "init_limit": 30, + "max_attempt": 2, + "tail_steps": 400, + "part": { + "obj_type": "rigid", + "obj_name": "wedge", + "obj_id": 0 + }, + "fixture": { + "obj_type": "articulation", + "obj_name": "shim_board", + "obj_id": 0 + }, + "stages": [ + { + "name": "nav_A", + "type": "nav", + "goal": [ + -2.0, + 0.6, + 90.0 + ] + }, + { + "name": "stance_A", + "type": "stance", + "target": "part" + }, + { + "name": "pick", + "type": "grasp" + }, + { + "name": "carry", + "type": "carry" + }, + { + "name": "nav_B", + "type": "nav", + "goal": [ + 1.2, + 1.45, + 90.0 + ] + }, + { + "name": "stance_B", + "type": "stance", + "target": "fixture" + }, + { + "name": "assemble", + "type": "assemble" + } + ] + } + }, + "global_planner": { + "NavTo": { + "use_navmesh": true, + "use_absolute": true, + "translation_threshold": 0.2, + "rotation_threshold": 0.3, + "num_path_segments": 30, + "start_forward_offset": -0.25, + "visualize_path": false, + "carry_arm": true + }, + "MobileMoveL": { + "translation_threshold": 0.006, + "rotation_threshold": 0.2, + "motiongen_distance_threshold": 0.05, + "timeout_steps": 3000, + "reactive": false, + "base_pos_threshold": 0.12, + "base_rot_threshold": 0.5, + "eef_pos_threshold": 0.03, + "eef_rot_threshold": 0.3, + "waypoint_max_steps": 8, + "interp_steps": 60, + "retry_mobile_on_locked_plan_failure": true, + "debug": false, + "debug_viz": false, + "stall_release_ticks": 100, + "stall_release_factor": 5.0, + "interp_validate_target": true + }, + "AssemblyServoL": { + "translation_threshold": 0.0003, + "rotation_threshold": 0.005, + "motiongen_distance_threshold": 0.0, + "timeout_steps": 1000000, + "min_steps_before_done": 1000000, + "reactive": false, + "base_pos_threshold": 0.12, + "base_rot_threshold": 0.5, + "eef_pos_threshold": 0.03, + "eef_rot_threshold": 0.3, + "waypoint_max_steps": 1, + "debug": false, + "debug_viz": false + }, + "MobileServoL": { + "translation_threshold": 0.03, + "rotation_threshold": 0.3, + "done_threshold": 0.03, + "timeout_steps": 300, + "stride": 1, + "eef_pos_threshold": 0.03, + "eef_rot_threshold": 0.1, + "base_pos_threshold": 0.12, + "waypoint_max_steps": 20, + "force_free_base_distance": 0.4, + "motiongen_distance_threshold": 0.05, + "embedded_direct_lock_layout": "trailing", + "debug": false, + "debug_viz": false + }, + "ParallelGripper": { + "gripper_threshold": 0.0005, + "timeout_steps": 60 + } + }, + "atomic_skill": { + "NavToPose": { + "robot_id": 0, + "show_marker": false + }, + "HoldPose": { + "robot_id": 0, + "hand_id": 0 + }, + "NavTo": { + "robot_id": 0, + "position_offset": 0.85, + "position_threshold": 0.08, + "angle_threshold": 0.06 + }, + "ReachStance": { + "check_current_first": true, + "stance_margin": 0.0, + "max_reach": 1.0, + "max_walks": 3, + "reject_radius": 0.02, + "obstacle_avoidance": [ + "dynamic" + ], + "walk_planner": "MobileServoL", + "strategy_kwargs": { + "reach_steps": 2 + }, + "pre_grasp_planner": "MobileMoveL", + "pre_grasp_mode": -1, + "goalset_lock_base": true, + "debug": true, + "walk_extra_m": 0.05, + "verify_min_steps": 60 + }, + "AssemblyGrasp": { + "pre_grasp_offset_x": 0.12, + "retrieval_offset_x": 0.05, + "mobile": true, + "pre_grasp_planner": "MobileMoveL", + "pre_grasp_mode": -1, + "grasp_mode": 4, + "retrieval_mode": 4, + "goalset_lock_base": true, + "reactive": false, + "viz_grasp": false, + "close_settle_steps": 10, + "obstacle_ignore": [ + "table_A" + ] + }, + "CarryPose": { + "robot_id": 0, + "hand_id": 0, + "carry_part_pos": [ + 0.3, + 0.0, + 0.55 + ], + "planner_mode": 1, + "carry_down_deg": 20.0, + "carry_fallbacks": [ + [ + 0.25, + 0.0, + 0.45 + ], + [ + 0.35, + 0.0, + 0.5 + ], + [ + 0.3, + 0.0, + 0.65 + ], + [ + 0.2, + 0.0, + 0.5 + ], + [ + 0.3, + 0.15, + 0.55 + ], + [ + 0.3, + -0.15, + 0.55 + ] + ], + "carry_pitch_forward": true + }, + "AssemblyInsert": { + "plan_mode": 1, + "max_lin": 0.002, + "max_rot_deg": 1.0, + "settle_ticks": 3, + "servo_max_steps": 600, + "lateral_gate": 0.002, + "stall_ticks": 60, + "stall_min_progress": 0.8, + "carry_lost": 0.25, + "open_value": 0.0 + } + }, + "auto_collect": { + "task_type": "assembly", + "max_trajectories": 1 + }, + "record": { + "output_dir": "/mnt/scratch/xc536_atomic/n025_go2_off_1016/out", + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + } + }, + "visual_dr": { + "keep": [ + "wedge", + "shim_board" + ] + } + }, + "git_sha": null, + "collect_runtime": { + "max_trajectories": 1 + } +} \ No newline at end of file diff --git a/N025/go2_arm/dr_off/seed_1016/stationassembly/000/sim_info/0/actions.npz b/N025/go2_arm/dr_off/seed_1016/stationassembly/000/sim_info/0/actions.npz new file mode 100644 index 0000000000000000000000000000000000000000..4a0ed90cfc461da5b3788f2ea0ae74e4da9064b0 --- /dev/null +++ b/N025/go2_arm/dr_off/seed_1016/stationassembly/000/sim_info/0/actions.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d43c99813e912b8bd2d292a330ee7418131120b7dce766a15513231e92945fca +size 663040 diff --git a/N025/go2_arm/dr_off/seed_1016/stationassembly/000/sim_info/0/device_commands.jsonl b/N025/go2_arm/dr_off/seed_1016/stationassembly/000/sim_info/0/device_commands.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N025/go2_arm/dr_off/seed_1016/stationassembly/000/sim_info/0/device_events.jsonl b/N025/go2_arm/dr_off/seed_1016/stationassembly/000/sim_info/0/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N025/go2_arm/dr_off/seed_1016/stationassembly/000/sim_info/0/scene_snapshot.json b/N025/go2_arm/dr_off/seed_1016/stationassembly/000/sim_info/0/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..ca067f20bdd6465aa6c484dd4fb1528fb5f8e20e --- /dev/null +++ b/N025/go2_arm/dr_off/seed_1016/stationassembly/000/sim_info/0/scene_snapshot.json @@ -0,0 +1,348 @@ +{ + "trajectory_id": 0, + "env_id": 0, + "run_id": "stationassembly/000", + "task_type": "StationAssembly", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])", + "avatars": "avatar_manager.set_avatars_state(snapshot['avatars'], env_ids=[env_id]) (present when the scene has animated avatars)" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "table_A": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -2.0, + 1.5, + 0.23 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 0.9, + 0.6, + 0.4 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.78, + 0.72, + 0.62 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 1, + 1, + 1 + ] + } + }, + "type_specific": {} + } + ], + "table_B": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 1.2, + 3.0, + 0.23 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 0.9, + 0.6, + 0.4 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.62, + 0.72, + 0.78 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 1, + 1, + 1 + ] + } + }, + "type_specific": {} + } + ], + "shim_board": [ + { + "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MobileAssembly/shim_board_a05/Object.usd", + "pose": { + "pos": [ + 1.2261300086975098, + 3.1455600261688232, + 0.4300000071525574 + ], + "ori": [ + -0.6977331638336182, + 0.0, + 0.0, + 0.7163577675819397 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "collision": true, + "fixed_base": true, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 0.05235988274216652 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "wedge": [ + { + "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MobileAssembly/wedge_a05/Object.usd", + "pose": { + "pos": [ + -1.9624097347259521, + 1.433359980583191, + 0.4299999475479126 + ], + "ori": [ + 0.6956465244293213, + 3.2410025596618652e-06, + 3.382563591003418e-06, + 0.7183841466903687 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.03701, + "physics_material": { + "static_friction": 0.8, + "dynamic_friction": 0.7, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -0.0004096362099517137, + 1.643495306780096e-05, + -9.741017856867984e-05 + ], + "angular_velocity": [ + 0.0009147567907348275, + -0.0007303415914066136, + -0.0010083590168505907 + ] + } + } + ] + } + ], + "artifacts": [ + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1153.61472, + "texture": null, + "color": [ + 0.85, + 0.85, + 0.85 + ] + } + } + }, + "robots": { + "Go2Plus": { + "root_pose": [ + [ + -3.6271796226501465, + -2.4699764251708984, + 0.35211801528930664, + 0.8700112104415894, + 0.005534523166716099, + -0.0038662832230329514, + 0.49298566579818726 + ] + ], + "root_vel": [ + [ + -0.003462289460003376, + -0.005544022191315889, + -0.003206718247383833, + -0.008145613595843315, + 0.009842630475759506, + -0.007055885624140501 + ] + ], + "joint_pos": [ + [ + 0.04184252768754959, + -0.0366099514067173, + -0.07203754037618637, + 0.0832921639084816, + -8.046431321417913e-05, + 0.6624739170074463, + 0.7448832392692566, + 1.025937557220459, + 1.0203360319137573, + 1.7056214809417725, + -1.5261307954788208, + -1.551484227180481, + -1.5873825550079346, + -1.610289454460144, + -0.9956588745117188, + 4.0039354644250125e-05, + 0.6994948983192444, + -4.4961187086300924e-05, + 0.03500000014901161, + -0.03499884903430939 + ] + ], + "joint_vel": [ + [ + -3.4195894841104746e-05, + 0.0006341643165796995, + -0.010887673124670982, + -0.012890445068478584, + -4.5934488298371434e-05, + -0.015411707572638988, + -0.015330090187489986, + -0.023967798799276352, + -0.03152112290263176, + -0.03594961389899254, + -0.029204662889242172, + -0.039951685816049576, + -0.012265159748494625, + -0.009925023652613163, + -0.026729747653007507, + -0.0005404648254625499, + 0.01140283141285181, + 0.00044383478234522045, + 2.2522053200191294e-07, + 2.438199044263456e-05 + ] + ] + } + }, + "cameras": { + "cameras": { + "head": [ + [ + 0.33205100893974304, + 0.038026999682188034, + 0.09355899691581726, + -0.5022302269935608, + -0.499491810798645, + 0.5120040774345398, + 0.4859265089035034 + ] + ], + "wrist": [ + [ + -0.0749870017170906, + 0.005288999993354082, + 0.04582099989056587, + 0.1271296590566635, + 0.701795220375061, + -0.6904057860374451, + -0.12108422070741653 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/N025/go2_arm/dr_off/seed_1016/stationassembly/000/sim_info/0/sim_states.npz b/N025/go2_arm/dr_off/seed_1016/stationassembly/000/sim_info/0/sim_states.npz new file mode 100644 index 0000000000000000000000000000000000000000..cb247470fa19f73f4eb0589de37c2605ce73074a --- /dev/null +++ b/N025/go2_arm/dr_off/seed_1016/stationassembly/000/sim_info/0/sim_states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a8698271ff982940f64a0d1759a0a3853527e4b07c8d3a7c9bd238a8303dd3ac +size 775103 diff --git a/N025/go2_arm/dr_off/seed_1016/stationassembly/000/sim_info/magicsim_manifest.json b/N025/go2_arm/dr_off/seed_1016/stationassembly/000/sim_info/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..8f9bd5213789b265b03de99c6eb21c8c5e3e3eb0 --- /dev/null +++ b/N025/go2_arm/dr_off/seed_1016/stationassembly/000/sim_info/magicsim_manifest.json @@ -0,0 +1,259 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 03:13:05" + }, + "embodiment": { + "robots": [ + { + "name": "Go2Plus", + "cfg": "Go2PlusCfg", + "type": "mobilemanip", + "joint_names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 12, + "nan_policy": "from_raw", + "segments": [ + { + "name": "Go2Plus.base_action", + "start": 0, + "end": 4, + "names": [ + "base_action_0", + "base_action_1", + "base_action_2", + "base_action_3" + ], + "source": "Go2UnifiedLocomotionAction", + "names_source": "fallback" + }, + { + "name": "Go2Plus.arm_action", + "start": 4, + "end": 11, + "names": [ + "eef0.pos_x", + "eef0.pos_y", + "eef0.pos_z", + "eef0.quat_w", + "eef0.quat_x", + "eef0.quat_y", + "eef0.quat_z" + ], + "source": "Go2PlusCuroboIKAction", + "names_source": "pose_layout" + }, + { + "name": "Go2Plus.eef_action", + "start": 11, + "end": 12, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 26, + "segments": [ + { + "name": "Go2Plus.joint_pos", + "start": 0, + "end": 24, + "names": [ + "joint_0", + "joint_1", + "joint_2", + "joint_3", + "joint_4", + "joint_5", + "joint_6", + "joint_7", + "joint_8", + "joint_9", + "joint_10", + "joint_11", + "joint_12", + "joint_13", + "joint_14", + "joint_15", + "joint_16", + "joint_17", + "joint_18", + "joint_19", + "joint_20", + "joint_21", + "joint_22", + "joint_23" + ], + "source": "ObservationManager", + "names_source": "fallback_dim_mismatch(joint_names=20,obs=24)" + }, + { + "name": "Go2Plus.gripper_pos", + "start": 24, + "end": 26, + "names": [ + "gripper_0", + "gripper_1" + ], + "source": "ObservationManager", + "names_source": "generated" + } + ] + }, + "joint_vel_layout": { + "dim": 20, + "segments": [ + { + "name": "Go2Plus.joint_vel", + "start": 0, + "end": 20, + "names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "action_levels": { + "L0": "task command list (collect.auto_collect_info.current_action)", + "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)", + "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)", + "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy", + "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)" + }, + "cameras": { + "head": { + "intrinsics": { + "K": [ + [ + 607.7061061683956, + 0.0, + 320.0 + ], + [ + 0.0, + 607.3754374751866, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 55.53991912549515, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.33205100893974304, + 0.038026999682188034, + 0.09355899691581726 + ], + "quat": [ + -0.5022302269935608, + -0.499491810798645, + 0.5120040774345398, + 0.4859265089035034 + ] + }, + "wrist": { + "intrinsics": { + "K": [ + [ + 617.2500342478374, + 0.0, + 320.0 + ], + [ + 0.0, + 617.548655622722, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 54.807019583348044, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + -0.0749870017170906, + 0.005288999993354082, + 0.04582099989056587 + ], + "quat": [ + 0.1271296590566635, + 0.701795220375061, + -0.6904057860374451, + -0.12108422070741653 + ] + } + }, + "generated_run": { + "run_id": "stationassembly/000", + "task_type": "StationAssembly" + } +} \ No newline at end of file diff --git a/N025/go2_arm/dr_on/seed_2015/check.json b/N025/go2_arm/dr_on/seed_2015/check.json new file mode 100644 index 0000000000000000000000000000000000000000..5de674e44b4dd2f22cbe86e9e20b759a2292691e --- /dev/null +++ b/N025/go2_arm/dr_on/seed_2015/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "3150 rows vs ceil(6299/2) = 3150" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 31..6329, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "26.45 MB, 3150 frames at 25 fps, mean luma 96..137, std 32, new picture 3149x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "3150 vs 3150" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "50.73 MB, 3150 frames at 25 fps, mean luma 107..171, std 31, new picture 3149x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "3150 vs 3150" + }, + "sim_info present": { + "pass": true, + "detail": "stationassembly/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N025/go2_arm/dr_on/seed_2015/check.txt b/N025/go2_arm/dr_on/seed_2015/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..1fd8fedd1dae16c3498a26a8fe3031029b69ec42 --- /dev/null +++ b/N025/go2_arm/dr_on/seed_2015/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n025_go2_on_2015_r1/out task=N025 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n025_go2_on_2015_r1/out/stationassembly/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 3150 videos 2 robot_type Go2PlusCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 3150 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5'] +[PASS] action shape: parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y'] +[PASS] task text = MobileBench instruction: task_index 0: 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.' +rows 3150 at dataset fps 25 = 126.00 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3150 rows vs ceil(6299/2) = 3150 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..6329, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 26.45 MB, 3150 frames at 25 fps, mean luma 96..137, std 32, new picture 3149x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 3150 vs 3150 +[PASS] video observation.images.wrist decodes, 640x480, not black: 50.73 MB, 3150 frames at 25 fps, mean luma 107..171, std 31, new picture 3149x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 3150 vs 3150 +parquet size 48.16 MB +[PASS] sim_info present: stationassembly/000/sim_info +dataset size 125.57 MB; whole cell dir 127.9 MB +RESULT: ALL PASS diff --git a/N025/go2_arm/dr_on/seed_2015/report.json b/N025/go2_arm/dr_on/seed_2015/report.json new file mode 100644 index 0000000000000000000000000000000000000000..07111d3aedccf3e8da062d6cf104417fcfced226 --- /dev/null +++ b/N025/go2_arm/dr_on/seed_2015/report.json @@ -0,0 +1,2412 @@ +{ + "task": "N025", + "agent_id": null, + "embodiment": "go2_arm", + "level": "easy", + "scene_seed": 2015, + "execution_mode": "headless_collect_chain(StationAssembly->NavToPose/ReachStance/AssemblyGrasp/CarryPose/AssemblyInsert->NavTo+MobileMoveL+AssemblyServoL->cuRobo)", + "config": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/src/magicsim/Collect/Task/MobileAssembly/Conf/n025_wedge_shim.yaml", + "full_success": true, + "failure_reason": null, + "dr": { + "seed": 2015, + "wedge": { + "dx": 0.03336, + "dy": 0.05666, + "yaw_deg": -4.13229 + }, + "shim_board": { + "dx": 0.06627, + "dy": 0.04426, + "yaw_deg": -3.37809 + }, + "wedge_mass": 0.02429, + "light": 814.51721, + "spawn": { + "dx": 0.05769, + "dy": 0.08372, + "yaw_deg": -0.45117 + }, + "overrides": { + "env.scene.objects.wedge.common.pos": [ + -1.96664, + 1.45666, + 0.431 + ], + "env.scene.objects.wedge.common.ori": [ + 0.0, + 0.0, + 85.86771 + ], + "env.scene.objects.shim_board.common.pos": [ + 1.26627, + 3.19426, + 0.43 + ], + "env.scene.objects.shim_board.common.ori": [ + 0.0, + 0.0, + -93.37809 + ], + "env.scene.objects.wedge.wedge_1.physics.mass": 0.02429, + "env.scene.background.intensity": [ + 814.51721, + 814.51721 + ], + "env.robot.RidgebackSawyerUmi.common.pos": [ + [ + -3.54231, + -2.41628, + 0.06 + ], + [ + -3.54231, + -2.41628, + 0.06 + ] + ], + "env.robot.RidgebackSawyerUmi.common.ori": [ + [ + 0, + 0, + 59.54883 + ], + [ + 0, + 0, + 59.54883 + ] + ] + } + }, + "planner_seeds": { + "label": "lean", + "num_trajopt_seeds": 1, + "num_ik_seeds": 4, + "max_attempts": 6 + }, + "collect": { + "task": "N025", + "robot": "go2_arm", + "visual_dr": true, + "env": { + "MMB_COLLECT": "1", + "MMB_TASK_ID": "N025", + "MMB_CLEAN_VIEW": "1", + "MMB_REAL_ROBOT_LOOK": "1", + "MMB_VISUAL_DR": "1" + }, + "cameras": { + "head": { + "link": "Robot_0/Bodies/go2_base", + "pos": [ + 0.332051, + 0.038027, + 0.093559 + ], + "ori": [ + 169.9473, + -88.6452, + 81.5985 + ], + "focal_length": 1.8231182098388672, + "horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.4407838582992554 + }, + "wrist": { + "link": "Robot_0/Bodies/piper_link6", + "pos": [ + -0.074987, + 0.005289, + 0.045821 + ], + "ori": [ + 179.3135, + -20.212, + 88.9402 + ], + "focal_length": 1.8517500162124634, + "horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.4393036365509033 + } + }, + "resolution": [ + 640, + 480 + ], + "camera_hz": 25, + "record": { + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + } + }, + "steps": 6329, + "task_id": "N025", + "task_version": "EXT60-MobileAvatar-v3", + "family_id": "wedge_support", + "primary_category": "C4", + "env_terminated": true, + "env_truncated": false, + "station_layout": { + "S": { + "pose": [ + -3.6, + -2.5, + 60.0 + ] + }, + "A": { + "center": [ + -2.0, + 0.6 + ], + "zone_radius": 0.6, + "table": "table_A" + }, + "B": { + "center": [ + 1.2, + 2.1 + ], + "zone_radius": 0.6, + "table": "table_B" + } + }, + "spawn_pose": [ + -3.5423099994659424, + -2.4162800312042236, + 1.0393231299526189 + ], + "base_path": [ + [ + -2.029, + 0.84, + 1.499 + ], + [ + -2.029, + 0.84, + 1.499 + ], + [ + -2.029, + 0.84, + 1.499 + ], + [ + -2.029, + 0.84, + 1.499 + ], + [ + -2.029, + 0.84, + 1.499 + ], + [ + -2.029, + 0.84, + 1.499 + ], + [ + -2.029, + 0.84, + 1.499 + ], + [ + -2.029, + 0.84, + 1.499 + ], + [ + -2.029, + 0.84, + 1.499 + ], + [ + -2.029, + 0.84, + 1.499 + ], + [ + -2.029, + 0.84, + 1.499 + ], + [ + -2.029, + 0.84, + 1.499 + ], + [ + -2.029, + 0.84, + 1.499 + ], + [ + -2.029, + 0.841, + 1.499 + ], + [ + -2.029, + 0.84, + 1.499 + ], + [ + -2.029, + 0.84, + 1.499 + ], + [ + -2.029, + 0.84, + 1.499 + ], + [ + -2.029, + 0.84, + 1.499 + ], + [ + -2.029, + 0.84, + 1.499 + ], + [ + -2.029, + 0.84, + 1.499 + ], + [ + -2.029, + 0.84, + 1.499 + ], + [ + -2.029, + 0.84, + 1.499 + ], + [ + -2.029, + 0.84, + 1.499 + ], + [ + -2.029, + 0.841, + 1.499 + ], + [ + -2.029, + 0.842, + 1.499 + ], + [ + -2.029, + 0.841, + 1.499 + ], + [ + -2.029, + 0.839, + 1.499 + ], + [ + -2.029, + 0.842, + 1.499 + ], + [ + -2.029, + 0.842, + 1.499 + ], + [ + -2.029, + 0.84, + 1.499 + ], + [ + -2.029, + 0.84, + 1.499 + ], + [ + -2.029, + 0.842, + 1.499 + ], + [ + -2.029, + 0.841, + 1.499 + ], + [ + -2.029, + 0.84, + 1.499 + ], + [ + -2.029, + 0.841, + 1.499 + ], + [ + -2.029, + 0.842, + 1.5 + ], + [ + -2.029, + 0.842, + 1.499 + ], + [ + -2.029, + 0.839, + 1.499 + ], + [ + -2.029, + 0.841, + 1.499 + ], + [ + -2.029, + 0.842, + 1.499 + ], + [ + -2.029, + 0.841, + 1.499 + ], + [ + -2.029, + 0.84, + 1.499 + ], + [ + -2.029, + 0.841, + 1.499 + ], + [ + -2.029, + 0.841, + 1.499 + ], + [ + -2.029, + 0.84, + 1.499 + ], + [ + -2.029, + 0.841, + 1.499 + ], + [ + -2.029, + 0.841, + 1.499 + ], + [ + -2.029, + 0.84, + 1.499 + ], + [ + -2.029, + 0.841, + 1.499 + ], + [ + -2.029, + 0.842, + 1.499 + ], + [ + -2.029, + 0.841, + 1.499 + ], + [ + -2.029, + 0.84, + 1.5 + ], + [ + -2.029, + 0.842, + 1.5 + ], + [ + -2.029, + 0.842, + 1.5 + ], + [ + -2.029, + 0.84, + 1.5 + ], + [ + -2.029, + 0.84, + 1.5 + ], + [ + -2.029, + 0.842, + 1.5 + ], + [ + -2.029, + 0.842, + 1.5 + ], + [ + -2.029, + 0.84, + 1.499 + ], + [ + -2.029, + 0.84, + 1.5 + ], + [ + -2.029, + 0.842, + 1.5 + ], + [ + -2.029, + 0.842, + 1.5 + ], + [ + -2.029, + 0.84, + 1.5 + ], + [ + -2.029, + 0.841, + 1.5 + ], + [ + -2.029, + 0.842, + 1.5 + ], + [ + -2.029, + 0.842, + 1.5 + ], + [ + -2.029, + 0.84, + 1.5 + ], + [ + -2.029, + 0.841, + 1.5 + ], + [ + -2.029, + 0.843, + 1.501 + ], + [ + -2.029, + 0.843, + 1.501 + ], + [ + -2.029, + 0.843, + 1.501 + ], + [ + -2.029, + 0.841, + 1.5 + ], + [ + -2.029, + 0.84, + 1.5 + ], + [ + -2.028, + 0.841, + 1.501 + ], + [ + -2.028, + 0.842, + 1.5 + ], + [ + -2.028, + 0.842, + 1.5 + ], + [ + -2.027, + 0.842, + 1.5 + ], + [ + -2.027, + 0.84, + 1.5 + ], + [ + -2.027, + 0.84, + 1.501 + ], + [ + -2.027, + 0.842, + 1.501 + ], + [ + -2.027, + 0.843, + 1.501 + ], + [ + -2.027, + 0.842, + 1.5 + ], + [ + -2.026, + 0.84, + 1.479 + ], + [ + -2.026, + 0.837, + 1.388 + ], + [ + -2.027, + 0.835, + 1.254 + ], + [ + -2.032, + 0.833, + 1.095 + ], + [ + -2.034, + 0.83, + 0.934 + ], + [ + -2.034, + 0.828, + 0.773 + ], + [ + -2.038, + 0.829, + 0.601 + ], + [ + -2.023, + 0.825, + 0.446 + ], + [ + -1.981, + 0.814, + 0.324 + ], + [ + -1.924, + 0.796, + 0.257 + ], + [ + -1.857, + 0.777, + 0.223 + ], + [ + -1.789, + 0.763, + 0.222 + ], + [ + -1.716, + 0.753, + 0.227 + ], + [ + -1.647, + 0.752, + 0.238 + ], + [ + -1.574, + 0.753, + 0.245 + ], + [ + -1.505, + 0.761, + 0.25 + ], + [ + -1.433, + 0.769, + 0.256 + ], + [ + -1.365, + 0.782, + 0.252 + ], + [ + -1.294, + 0.795, + 0.257 + ], + [ + -1.228, + 0.81, + 0.248 + ], + [ + -1.159, + 0.825, + 0.253 + ], + [ + -1.092, + 0.842, + 0.244 + ], + [ + -1.024, + 0.86, + 0.252 + ], + [ + -0.957, + 0.877, + 0.245 + ], + [ + -0.889, + 0.895, + 0.251 + ], + [ + -0.821, + 0.912, + 0.245 + ], + [ + -0.754, + 0.931, + 0.248 + ], + [ + -0.686, + 0.947, + 0.245 + ], + [ + -0.619, + 0.966, + 0.248 + ], + [ + -0.551, + 0.982, + 0.248 + ], + [ + -0.484, + 1.001, + 0.25 + ], + [ + -0.416, + 1.016, + 0.251 + ], + [ + -0.349, + 1.036, + 0.25 + ], + [ + -0.279, + 1.052, + 0.252 + ], + [ + -0.213, + 1.071, + 0.246 + ], + [ + -0.143, + 1.087, + 0.249 + ], + [ + -0.077, + 1.106, + 0.242 + ], + [ + -0.008, + 1.123, + 0.249 + ], + [ + 0.059, + 1.142, + 0.241 + ], + [ + 0.128, + 1.159, + 0.25 + ], + [ + 0.194, + 1.177, + 0.243 + ], + [ + 0.263, + 1.195, + 0.251 + ], + [ + 0.33, + 1.212, + 0.246 + ], + [ + 0.398, + 1.231, + 0.25 + ], + [ + 0.465, + 1.248, + 0.248 + ], + [ + 0.532, + 1.267, + 0.249 + ], + [ + 0.601, + 1.284, + 0.248 + ], + [ + 0.667, + 1.302, + 0.249 + ], + [ + 0.736, + 1.318, + 0.25 + ], + [ + 0.802, + 1.338, + 0.251 + ], + [ + 0.87, + 1.355, + 0.254 + ], + [ + 0.931, + 1.374, + 0.25 + ], + [ + 0.986, + 1.389, + 0.255 + ], + [ + 1.03, + 1.402, + 0.243 + ], + [ + 1.066, + 1.413, + 0.252 + ], + [ + 1.097, + 1.422, + 0.253 + ], + [ + 1.117, + 1.428, + 0.252 + ], + [ + 1.123, + 1.431, + 0.308 + ], + [ + 1.123, + 1.437, + 0.42 + ], + [ + 1.122, + 1.439, + 0.554 + ], + [ + 1.123, + 1.44, + 0.718 + ], + [ + 1.125, + 1.439, + 0.87 + ], + [ + 1.125, + 1.441, + 1.043 + ], + [ + 1.125, + 1.44, + 1.199 + ], + [ + 1.124, + 1.441, + 1.369 + ], + [ + 1.126, + 1.442, + 1.531 + ], + [ + 1.125, + 1.443, + 1.696 + ], + [ + 1.125, + 1.445, + 1.866 + ], + [ + 1.125, + 1.445, + 2.027 + ], + [ + 1.124, + 1.447, + 2.201 + ], + [ + 1.125, + 1.447, + 2.357 + ], + [ + 1.122, + 1.448, + 2.532 + ], + [ + 1.123, + 1.45, + 2.687 + ], + [ + 1.12, + 1.45, + 2.862 + ], + [ + 1.121, + 1.451, + 3.02 + ], + [ + 1.119, + 1.449, + -3.093 + ], + [ + 1.118, + 1.45, + -2.93 + ], + [ + 1.118, + 1.449, + -2.764 + ], + [ + 1.116, + 1.449, + -2.596 + ], + [ + 1.117, + 1.449, + -2.435 + ], + [ + 1.115, + 1.447, + -2.261 + ], + [ + 1.115, + 1.448, + -2.104 + ], + [ + 1.115, + 1.446, + -1.929 + ], + [ + 1.114, + 1.446, + -1.775 + ], + [ + 1.115, + 1.444, + -1.6 + ], + [ + 1.113, + 1.444, + -1.442 + ], + [ + 1.115, + 1.442, + -1.272 + ], + [ + 1.114, + 1.441, + -1.109 + ], + [ + 1.116, + 1.441, + -0.944 + ], + [ + 1.116, + 1.44, + -0.776 + ], + [ + 1.116, + 1.44, + -0.614 + ], + [ + 1.118, + 1.439, + -0.441 + ], + [ + 1.117, + 1.438, + -0.284 + ], + [ + 1.12, + 1.439, + -0.109 + ], + [ + 1.119, + 1.437, + 0.046 + ], + [ + 1.121, + 1.439, + 0.22 + ], + [ + 1.122, + 1.438, + 0.378 + ], + [ + 1.122, + 1.44, + 0.549 + ], + [ + 1.124, + 1.439, + 0.711 + ], + [ + 1.125, + 1.439, + 0.865 + ], + [ + 1.127, + 1.439, + 0.945 + ], + [ + 1.125, + 1.439, + 0.974 + ], + [ + 1.123, + 1.438, + 0.993 + ], + [ + 1.121, + 1.434, + 1.03 + ], + [ + 1.12, + 1.429, + 1.092 + ], + [ + 1.12, + 1.427, + 1.167 + ], + [ + 1.121, + 1.427, + 1.244 + ], + [ + 1.122, + 1.431, + 1.335 + ], + [ + 1.12, + 1.431, + 1.396 + ], + [ + 1.123, + 1.436, + 1.44 + ], + [ + 1.123, + 1.45, + 1.467 + ], + [ + 1.122, + 1.471, + 1.483 + ], + [ + 1.122, + 1.492, + 1.491 + ], + [ + 1.121, + 1.514, + 1.501 + ], + [ + 1.126, + 1.536, + 1.509 + ], + [ + 1.125, + 1.56, + 1.509 + ], + [ + 1.124, + 1.582, + 1.504 + ], + [ + 1.125, + 1.603, + 1.503 + ], + [ + 1.127, + 1.621, + 1.497 + ], + [ + 1.129, + 1.644, + 1.507 + ], + [ + 1.132, + 1.663, + 1.512 + ], + [ + 1.133, + 1.686, + 1.509 + ], + [ + 1.134, + 1.708, + 1.51 + ], + [ + 1.137, + 1.729, + 1.501 + ], + [ + 1.137, + 1.753, + 1.507 + ], + [ + 1.14, + 1.774, + 1.515 + ], + [ + 1.138, + 1.798, + 1.514 + ], + [ + 1.137, + 1.819, + 1.508 + ], + [ + 1.138, + 1.839, + 1.505 + ], + [ + 1.14, + 1.857, + 1.497 + ], + [ + 1.142, + 1.88, + 1.507 + ], + [ + 1.144, + 1.901, + 1.509 + ], + [ + 1.144, + 1.925, + 1.506 + ], + [ + 1.146, + 1.946, + 1.506 + ], + [ + 1.149, + 1.967, + 1.498 + ], + [ + 1.149, + 1.991, + 1.507 + ], + [ + 1.151, + 2.013, + 1.514 + ], + [ + 1.149, + 2.036, + 1.513 + ], + [ + 1.149, + 2.057, + 1.506 + ], + [ + 1.151, + 2.078, + 1.506 + ], + [ + 1.153, + 2.097, + 1.499 + ], + [ + 1.155, + 2.121, + 1.511 + ], + [ + 1.156, + 2.142, + 1.512 + ], + [ + 1.156, + 2.165, + 1.507 + ], + [ + 1.158, + 2.188, + 1.506 + ], + [ + 1.16, + 2.209, + 1.5 + ], + [ + 1.161, + 2.232, + 1.513 + ], + [ + 1.162, + 2.255, + 1.515 + ], + [ + 1.16, + 2.277, + 1.512 + ], + [ + 1.16, + 2.297, + 1.506 + ], + [ + 1.161, + 2.316, + 1.503 + ], + [ + 1.162, + 2.337, + 1.503 + ], + [ + 1.166, + 2.358, + 1.515 + ], + [ + 1.166, + 2.36, + 1.516 + ], + [ + 1.163, + 2.361, + 1.509 + ], + [ + 1.161, + 2.361, + 1.503 + ], + [ + 1.16, + 2.361, + 1.5 + ], + [ + 1.159, + 2.361, + 1.498 + ], + [ + 1.159, + 2.36, + 1.498 + ], + [ + 1.159, + 2.36, + 1.497 + ], + [ + 1.159, + 2.36, + 1.497 + ], + [ + 1.159, + 2.36, + 1.498 + ], + [ + 1.159, + 2.36, + 1.498 + ], + [ + 1.159, + 2.36, + 1.498 + ], + [ + 1.159, + 2.36, + 1.499 + ], + [ + 1.16, + 2.36, + 1.5 + ], + [ + 1.161, + 2.36, + 1.502 + ], + [ + 1.161, + 2.36, + 1.504 + ], + [ + 1.162, + 2.36, + 1.506 + ], + [ + 1.163, + 2.36, + 1.508 + ], + [ + 1.164, + 2.36, + 1.51 + ], + [ + 1.164, + 2.36, + 1.512 + ], + [ + 1.164, + 2.36, + 1.512 + ], + [ + 1.164, + 2.36, + 1.513 + ], + [ + 1.165, + 2.36, + 1.515 + ], + [ + 1.165, + 2.36, + 1.516 + ], + [ + 1.166, + 2.36, + 1.517 + ], + [ + 1.166, + 2.36, + 1.517 + ], + [ + 1.166, + 2.36, + 1.518 + ], + [ + 1.166, + 2.36, + 1.518 + ], + [ + 1.166, + 2.36, + 1.519 + ], + [ + 1.166, + 2.36, + 1.519 + ], + [ + 1.166, + 2.36, + 1.521 + ], + [ + 1.167, + 2.359, + 1.522 + ], + [ + 1.167, + 2.359, + 1.523 + ], + [ + 1.168, + 2.359, + 1.525 + ], + [ + 1.168, + 2.359, + 1.527 + ], + [ + 1.169, + 2.359, + 1.528 + ], + [ + 1.169, + 2.359, + 1.53 + ], + [ + 1.17, + 2.359, + 1.532 + ], + [ + 1.17, + 2.359, + 1.533 + ], + [ + 1.171, + 2.359, + 1.535 + ], + [ + 1.171, + 2.359, + 1.536 + ], + [ + 1.172, + 2.359, + 1.538 + ], + [ + 1.172, + 2.359, + 1.539 + ], + [ + 1.173, + 2.359, + 1.541 + ], + [ + 1.173, + 2.359, + 1.542 + ], + [ + 1.173, + 2.359, + 1.544 + ], + [ + 1.174, + 2.359, + 1.545 + ], + [ + 1.174, + 2.359, + 1.546 + ], + [ + 1.174, + 2.359, + 1.546 + ], + [ + 1.174, + 2.359, + 1.547 + ], + [ + 1.173, + 2.359, + 1.549 + ], + [ + 1.173, + 2.36, + 1.58 + ], + [ + 1.178, + 2.359, + 1.619 + ], + [ + 1.184, + 2.36, + 1.643 + ], + [ + 1.187, + 2.36, + 1.657 + ], + [ + 1.19, + 2.36, + 1.665 + ], + [ + 1.192, + 2.36, + 1.67 + ], + [ + 1.193, + 2.36, + 1.675 + ], + [ + 1.194, + 2.361, + 1.679 + ], + [ + 1.195, + 2.361, + 1.682 + ], + [ + 1.195, + 2.361, + 1.684 + ], + [ + 1.195, + 2.361, + 1.686 + ], + [ + 1.196, + 2.361, + 1.688 + ], + [ + 1.196, + 2.361, + 1.69 + ], + [ + 1.197, + 2.361, + 1.693 + ], + [ + 1.198, + 2.361, + 1.696 + ], + [ + 1.198, + 2.361, + 1.699 + ], + [ + 1.199, + 2.361, + 1.701 + ], + [ + 1.199, + 2.362, + 1.703 + ], + [ + 1.199, + 2.362, + 1.705 + ], + [ + 1.199, + 2.362, + 1.706 + ], + [ + 1.199, + 2.362, + 1.708 + ], + [ + 1.2, + 2.362, + 1.709 + ], + [ + 1.199, + 2.362, + 1.709 + ], + [ + 1.196, + 2.363, + 1.728 + ], + [ + 1.194, + 2.365, + 1.766 + ], + [ + 1.199, + 2.368, + 1.8 + ], + [ + 1.203, + 2.369, + 1.821 + ], + [ + 1.206, + 2.37, + 1.833 + ], + [ + 1.208, + 2.371, + 1.842 + ], + [ + 1.209, + 2.372, + 1.848 + ], + [ + 1.21, + 2.372, + 1.853 + ], + [ + 1.211, + 2.373, + 1.859 + ], + [ + 1.212, + 2.373, + 1.864 + ], + [ + 1.213, + 2.374, + 1.871 + ], + [ + 1.213, + 2.374, + 1.877 + ], + [ + 1.214, + 2.375, + 1.883 + ], + [ + 1.215, + 2.376, + 1.89 + ], + [ + 1.215, + 2.377, + 1.897 + ], + [ + 1.216, + 2.377, + 1.904 + ], + [ + 1.216, + 2.378, + 1.909 + ], + [ + 1.216, + 2.379, + 1.928 + ], + [ + 1.209, + 2.383, + 1.957 + ], + [ + 1.213, + 2.385, + 1.968 + ], + [ + 1.215, + 2.387, + 1.978 + ], + [ + 1.216, + 2.388, + 1.983 + ], + [ + 1.216, + 2.388, + 1.986 + ], + [ + 1.216, + 2.388, + 1.986 + ], + [ + 1.216, + 2.388, + 1.986 + ], + [ + 1.216, + 2.388, + 1.986 + ], + [ + 1.216, + 2.388, + 1.987 + ], + [ + 1.215, + 2.39, + 2.002 + ], + [ + 1.212, + 2.395, + 2.051 + ], + [ + 1.205, + 2.405, + 2.129 + ], + [ + 1.195, + 2.417, + 2.211 + ], + [ + 1.188, + 2.424, + 2.292 + ], + [ + 1.188, + 2.429, + 2.388 + ], + [ + 1.185, + 2.437, + 2.479 + ], + [ + 1.182, + 2.447, + 2.581 + ], + [ + 1.176, + 2.453, + 2.686 + ], + [ + 1.172, + 2.462, + 2.793 + ], + [ + 1.172, + 2.465, + 2.888 + ], + [ + 1.172, + 2.467, + 2.961 + ], + [ + 1.168, + 2.468, + 3.023 + ], + [ + 1.167, + 2.468, + 3.061 + ], + [ + 1.166, + 2.47, + 3.075 + ], + [ + 1.167, + 2.47, + 3.083 + ], + [ + 1.168, + 2.47, + 3.083 + ], + [ + 1.169, + 2.47, + 3.083 + ], + [ + 1.17, + 2.47, + 3.083 + ], + [ + 1.17, + 2.472, + 3.081 + ], + [ + 1.171, + 2.474, + 3.081 + ], + [ + 1.172, + 2.475, + 3.081 + ], + [ + 1.173, + 2.475, + 3.081 + ], + [ + 1.173, + 2.475, + 3.081 + ], + [ + 1.173, + 2.475, + 3.081 + ], + [ + 1.173, + 2.475, + 3.078 + ], + [ + 1.173, + 2.475, + 3.081 + ], + [ + 1.175, + 2.475, + 3.082 + ], + [ + 1.176, + 2.474, + 3.082 + ], + [ + 1.176, + 2.473, + 3.082 + ], + [ + 1.176, + 2.472, + 3.082 + ], + [ + 1.176, + 2.471, + 3.082 + ], + [ + 1.176, + 2.471, + 3.082 + ], + [ + 1.176, + 2.47, + 3.082 + ], + [ + 1.176, + 2.47, + 3.081 + ], + [ + 1.177, + 2.469, + 3.081 + ], + [ + 1.178, + 2.47, + 3.081 + ], + [ + 1.178, + 2.47, + 3.08 + ], + [ + 1.179, + 2.47, + 3.08 + ], + [ + 1.179, + 2.47, + 3.079 + ], + [ + 1.178, + 2.469, + 3.079 + ], + [ + 1.177, + 2.469, + 3.079 + ], + [ + 1.177, + 2.469, + 3.079 + ], + [ + 1.177, + 2.469, + 3.079 + ], + [ + 1.177, + 2.469, + 3.078 + ], + [ + 1.177, + 2.468, + 3.078 + ], + [ + 1.177, + 2.468, + 3.079 + ], + [ + 1.178, + 2.468, + 3.079 + ], + [ + 1.178, + 2.468, + 3.079 + ], + [ + 1.179, + 2.468, + 3.079 + ], + [ + 1.179, + 2.468, + 3.078 + ], + [ + 1.179, + 2.469, + 3.077 + ], + [ + 1.18, + 2.469, + 3.077 + ], + [ + 1.18, + 2.469, + 3.077 + ], + [ + 1.18, + 2.469, + 3.077 + ], + [ + 1.18, + 2.469, + 3.077 + ], + [ + 1.18, + 2.469, + 3.077 + ], + [ + 1.18, + 2.468, + 3.077 + ], + [ + 1.18, + 2.469, + 3.077 + ], + [ + 1.18, + 2.469, + 3.077 + ], + [ + 1.18, + 2.469, + 3.077 + ], + [ + 1.18, + 2.469, + 3.077 + ], + [ + 1.18, + 2.469, + 3.077 + ], + [ + 1.18, + 2.469, + 3.077 + ], + [ + 1.18, + 2.469, + 3.077 + ] + ], + "stage_events": [ + { + "step": 30, + "event": "stage_start", + "stage": "nav_A" + }, + { + "step": 457, + "event": "enter_zone", + "zone": "A", + "base": [ + -2.266, + 0.068 + ] + }, + { + "step": 582, + "event": "stage_done", + "stage": "nav_A", + "skill_state": "finished: planner reached target" + }, + { + "step": 582, + "event": "stage_start", + "stage": "stance_A" + }, + { + "step": 1550, + "event": "stage_done", + "stage": "stance_A", + "skill_state": "finished" + }, + { + "step": 1550, + "event": "stage_start", + "stage": "pick" + }, + { + "step": 2528, + "event": "stage_failed", + "stage": "pick", + "truncated": 3, + "state": "failed: grasp servo timed out", + "attempt": 1 + }, + { + "step": 2528, + "event": "stage_start", + "stage": "pick" + }, + { + "step": 2805, + "event": "picked", + "part": [ + -1.9676, + 1.4502, + 0.4601 + ], + "gap_mm": 29.6, + "lift_mm": 30.1 + }, + { + "step": 2991, + "event": "stage_done", + "stage": "pick", + "skill_state": "finished" + }, + { + "step": 2991, + "event": "stage_start", + "stage": "carry" + }, + { + "step": 3143, + "event": "stage_done", + "stage": "carry", + "skill_state": "finished" + }, + { + "step": 3143, + "event": "stage_start", + "stage": "nav_B" + }, + { + "step": 3786, + "event": "stage_done", + "stage": "nav_B", + "skill_state": "finished: planner reached target" + }, + { + "step": 3786, + "event": "stage_start", + "stage": "stance_B" + }, + { + "step": 4278, + "event": "enter_zone", + "zone": "B", + "base": [ + 1.121, + 1.507 + ] + }, + { + "step": 5929, + "event": "stage_done", + "stage": "stance_B", + "skill_state": "finished" + }, + { + "step": 5929, + "event": "stage_start", + "stage": "assemble" + }, + { + "step": 5929, + "event": "wp_start", + "name": "pre_insert", + "kind": "plan" + }, + { + "step": 5929, + "event": "assemble_start", + "t_l6_part": [ + -0.0123, + 0.0002, + 0.1404, + 0.0238, + -0.0037, + -0.9997, + -0.0072 + ] + }, + { + "step": 6061, + "event": "wp_done", + "name": "pre_insert" + }, + { + "step": 6061, + "event": "wp_start", + "name": "align", + "kind": "servo" + }, + { + "step": 6097, + "event": "wp_done", + "name": "align" + }, + { + "step": 6097, + "event": "wp_start", + "name": "insert", + "kind": "servo" + }, + { + "step": 6165, + "event": "stop_condition", + "name": "board_level", + "wp": "insert" + }, + { + "step": 6165, + "event": "wp_done", + "name": "insert" + }, + { + "step": 6165, + "event": "release_start" + }, + { + "step": 6249, + "event": "leave_start" + }, + { + "step": 6300, + "event": "released", + "gap_mm": 70.0 + }, + { + "step": 6329, + "event": "success", + "ok": true, + "tilt_deg": -0.31, + "tilt_err_deg": -0.31, + "support_gap_mm": 0.88, + "wedge_on_plate": true, + "wedge_x_mm": 286.2, + "wedge_yaw_deg": 180.0, + "board_touch_steps": 0 + } + ], + "station_transition_order": [ + "S", + "A", + "B" + ], + "interstation_path_lengths": { + "S": 2.808, + "S->A": 4.658, + "A->B": 1.107 + }, + "base_path_length": 8.573, + "distance_to_first_interaction": 3.921, + "regrasp_events": 1, + "violations": [], + "end_state": { + "ok": true, + "tilt_deg": -0.31, + "tilt_err_deg": -0.31, + "support_gap_mm": 0.88, + "wedge_on_plate": true, + "wedge_x_mm": 286.2, + "wedge_yaw_deg": 180.0, + "board_touch_steps": 0 + }, + "manipulation_success": true, + "mobile_success": true, + "transport_state": { + "picked": true, + "released": true + }, + "command_state": null, + "elapsed_s": 1762.4 +} diff --git a/N025/go2_arm/dr_on/seed_2015/stationassembly/000/completed/0.json b/N025/go2_arm/dr_on/seed_2015/stationassembly/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..1db0234d1d09a173dbe0f48b261236e22fe34f76 --- /dev/null +++ b/N025/go2_arm/dr_on/seed_2015/stationassembly/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationassembly/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N025/go2_arm/dr_on/seed_2015/stationassembly/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N025/go2_arm/dr_on/seed_2015/stationassembly/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..85d389eaeb7cb02f0ae10dc00cc35d5842e63ff0 --- /dev/null +++ b/N025/go2_arm/dr_on/seed_2015/stationassembly/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:475e87c4ca2a86d695e52150de856d7851b6c24976a5a6ded0c9ecbaec2a0bb4 +size 48156958 diff --git a/N025/go2_arm/dr_on/seed_2015/stationassembly/000/lerobot_v21/meta/episodes.jsonl b/N025/go2_arm/dr_on/seed_2015/stationassembly/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dfa410f14412473c9083baa0e5ea282b16ae2932 --- /dev/null +++ b/N025/go2_arm/dr_on/seed_2015/stationassembly/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level."], "length": 3150, "magicsim/control_steps": 6299, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a medium shim board and a small wedge. The gray table A is to the left of the wedge. The gray table B is behind the shim board. The shim board is on top of the gray table B. The shim board is in front of the gray table B. The wedge is on top of the gray table A. The wedge is to the right of the gray table A. The scene is viewed from front-right, at table height."} diff --git a/N025/go2_arm/dr_on/seed_2015/stationassembly/000/lerobot_v21/meta/episodes_stats.jsonl b/N025/go2_arm/dr_on/seed_2015/stationassembly/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d144fe99854c887fa77da9ff912fde53e6335222 --- /dev/null +++ b/N025/go2_arm/dr_on/seed_2015/stationassembly/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.10608086909803133, -0.002245107645848914, 0.09309901545777739, 0.36280316851441824, -0.596098054004094, 1.5770725414819187, 0.7747283316793896, 0.2135722982942585, -0.5111687693283672, 0.6220849169267431, 0.17808880498963556, 0.552063492063492], "std": [0.12200914978210581, 0.017041759111017348, 0.2589159149423106, 0.022778066037398025, 1.5752116724830243, 0.9348382611775665, 0.1610552381900073, 0.2024586884650825, 0.3247662040966149, 0.2834438140116363, 0.21813975438139024, 0.4972820052989677], "min": [0.0, -0.2199999839067459, -0.800000011920929, 0.3400000035762787, -3.359178304672241, -2.0946500301361084, 0.5660436153411865, -0.0216550063341856, -0.8516642451286316, -0.7332175374031067, -0.5894299149513245, 0.0], "max": [0.3499999940395355, 0.03424065560102463, 0.800000011920929, 0.38999998569488525, 1.2832772731781006, 2.8969485759735107, 1.0808382034301758, 0.5952487587928772, 0.8730600476264954, 0.858812153339386, 0.5898195505142212, 1.0], "count": [3150]}, "action_is_hold": {"mean": [0.10666666666666667, 0.10666666666666667, 0.10666666666666667, 0.10666666666666667, 0.1292063492063492, 0.1292063492063492, 0.1292063492063492, 0.1292063492063492, 0.1292063492063492, 0.1292063492063492, 0.1292063492063492, 0.9631746031746031], "std": [0.3086889840744124, 0.3086889840744124, 0.3086889840744124, 0.3086889840744124, 0.3354281868464709, 0.3354281868464709, 0.3354281868464709, 0.3354281868464709, 0.3354281868464709, 0.3354281868464709, 0.3354281868464709, 0.18833291526986548], "min": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], "count": [3150]}, "observation.state": {"mean": [-0.00905991773583176, 0.0010234985117015655, -0.02307721155415204, 0.07543918511775065, -0.09270370779742404, 0.659960411588351, 0.6398714670302376, 0.7877186086064293, 0.778892161524485, 1.647559776419685, -1.3209564198766437, -1.322716689942375, -1.3181281800875588, -1.3588544260887874, -1.4790724361321284, 0.012951363351106188, 0.8346238533845024, -0.025612784328272704, 0.023683224704471373, -0.02399389660695479, -0.6386689284774992, 1.231181939872987, 1.4431933454753432, 0.3879822213214541, -0.02399389660695479, -0.023683224704471373], "std": [0.034415157807011806, 0.03246466344845656, 0.04060918960871949, 0.043903905843618175, 0.45758436928441104, 0.09742494918674546, 0.09987070984085165, 0.10285830561014865, 0.10457982025449504, 0.7227485638922596, 0.1318231077993385, 0.12809644422363753, 0.14638134913580733, 0.15824723516754952, 0.4805272115328399, 0.15833593819103745, 0.24267908323382562, 0.17080404337896815, 0.010182548361365937, 0.009867644658009664, 1.6270794185774222, 0.9732349197345469, 0.8504972068701907, 0.01737462838734798, 0.009867644658009664, 0.010182548361365937], "min": [-0.22334106266498566, -0.13600893318653107, -0.24349570274353027, -0.1586351841688156, -1.9852012395858765, 0.49152740836143494, 0.48079347610473633, 0.658355176448822, 0.6168252229690552, 0.7011715173721313, -1.567995309829712, -1.5944031476974487, -1.6291117668151855, -1.6660537719726562, -2.3962669372558594, -0.830300509929657, 0.5018386244773865, -0.7187497019767761, 0.014345038682222366, -0.03500000014901161, -3.5469841957092285, -2.4208762645721436, -3.111375570297241, 0.35306382179260254, -0.03500000014901161, -0.03500000014901161], "max": [0.15317894518375397, 0.19338883459568024, 0.2241421341896057, 0.2504477798938751, 1.0629247426986694, 0.9121396541595459, 0.917162299156189, 1.056289553642273, 1.0278043746948242, 2.770322561264038, -1.114890456199646, -1.1404719352722168, -1.1196000576019287, -1.121931552886963, -0.8693286180496216, 0.8254373073577881, 1.217090129852295, 0.8181875348091125, 0.03500000014901161, -0.014736359007656574, 1.2173548936843872, 2.4753682613372803, 3.1366519927978516, 0.41002482175827026, -0.014736359007656574, -0.014345038682222366], "count": [3150]}, "observation.joint_vel": {"mean": [-4.534517245672991e-05, 0.0028094472928482683, -0.002516269249802477, -0.008266489185891896, -0.012766015753292618, 0.008912353424286324, 0.0008170129427480066, 0.0003743598316479678, 0.008602335245400139, 0.008749887658111494, 0.0011924042110654732, 0.008569939815028597, 0.010298198803608275, -0.004062646611216353, -0.009011871166783546, 0.0012636986167709682, -0.0006602994125107273, -0.06269966726568457, -0.0006857776669950979, -0.011867852161043134], "std": [0.3718127382343017, 0.3462728628902602, 0.38690758711093975, 0.48755989847608444, 0.22547665589394048, 0.7388096548098847, 0.7460484937385509, 0.6794564674819462, 0.5507808857786055, 0.16605719699391613, 0.4585354636901233, 0.7378068260079998, 0.7599326862886092, 0.7018904587220516, 0.16607412762157733, 0.21711807707718575, 0.1384075837682099, 0.21508932535656505, 0.007918339338692775, 0.01335848097808898], "min": [-2.628739595413208, -3.9000282287597656, -2.7509360313415527, -5.977188587188721, -2.9905667304992676, -4.95957088470459, -4.805860996246338, -3.4594061374664307, -3.6055352687835693, -0.9535468220710754, -3.893068313598633, -4.554554462432861, -4.54827880859375, -5.510549068450928, -2.298624038696289, -2.6626760959625244, -1.559412956237793, -2.9992992877960205, -0.2000928521156311, -0.2000652402639389], "max": [4.196052074432373, 2.3627912998199463, 6.124467372894287, 3.2442033290863037, 2.5547473430633545, 2.2987093925476074, 2.360488176345825, 3.9113519191741943, 4.979971408843994, 1.6810024976730347, 3.1185457706451416, 4.029915809631348, 3.7781291007995605, 3.707153081893921, 1.552850604057312, 2.990584135055542, 1.9187602996826172, 2.3354697227478027, 0.20001696050167084, 0.20035596191883087], "count": [3150]}, "observation.eef_pose": {"mean": [-0.6003266249372372, 1.5666033026954485, 0.7745467974647643, -0.009998908323782777, -0.13652277138498095, 0.26005736735368534, -0.07548276483066499], "std": [1.5733588681986606, 0.9355466605181797, 0.16156429332458166, 0.2884383756729566, 0.5972526545461484, 0.6256538326609167, 0.27673804674572233], "min": [-3.359208822250366, -2.094707489013672, 0.5659364461898804, -0.5959742069244385, -0.867098331451416, -0.8063135743141174, -0.5908277034759521], "max": [1.2867975234985352, 2.8969485759735107, 1.0791395902633667, 0.5955257415771484, 0.8734055161476135, 0.8588122129440308, 0.5973538756370544], "count": [3150]}, "observation.environment_state": {"mean": [0.051032414284963454, -0.0005325673544124423, 1.2662700414657593, 3.1942598819732666, 0.4300000071525574, -0.6859574913978577, -9.313225191043273e-10, 1.420995979432887e-25, 0.7276415824890137, -2.0, 1.5, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, 1.2000000476837158, 3.0, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, -0.5449956533885635, 1.8263252455658383, 0.6582250722627792, 0.6365714663287029, 0.16494845884838097, -0.16660961022852677, 0.5973422136932375], "std": [0.007672974022793588, 0.010413706842522763, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.498691265191489, 0.6174369372063586, 0.23646601496361816, 0.20758073840769034, 0.21607588162951794, 0.22133442806948894, 0.21029693370303743], "min": [0.005485568195581436, -0.18647608160972595, 1.2662700414657593, 3.1942598819732666, 0.4300000071525574, -0.6859574913978577, -9.313225191043273e-10, 1.420995979432887e-25, 0.7276415824890137, -2.0, 1.5, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, 1.2000000476837158, 3.0, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, -2.010220766067505, 0.8242747187614441, 0.4300000071525574, -0.5799700021743774, -0.39065632224082947, -0.5772976279258728, -0.5704062581062317], "max": [0.05235988274216652, 0.006733062211424112, 1.2662700414657593, 3.1942598819732666, 0.4300000071525574, -0.6859574913978577, -9.313225191043273e-10, 1.420995979432887e-25, 0.7276415824890137, -2.0, 1.5, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, 1.2000000476837158, 3.0, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, 1.4242234230041504, 2.9085025787353516, 1.0448627471923828, 0.8202518820762634, 0.5781652927398682, 0.41275736689567566, 0.8839028477668762], "count": [3150]}, "action.command": {"mean": [-0.7822206125844444, 0.9620302043183748, 0.7447206495930395, 0.6401274487364992, 0.0, 0.0, 0.7340052207071618, 0.1068173532628509, -0.680203700930456, 1.5615222393608077, 0.7696522716575411, 0.2104441641788825, -0.5201971249677297, 0.6191688474234448, 0.18535183395041022, 0.25862068965517243, -2.7480395073866726, -0.8605970282051432, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3374609743530428, 0.3563806062916815, 0.8287085692087809, 0.35562479690690735, -0.3156533728242919, 0.8127923681708037, 0.09924323911118747, 0.0, -2.7043056757605854, -0.8446932518901538, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3374609743530428, 0.3563806062916815, 0.8287085692087809, 0.35562479690690735, -0.3156533728242919, 0.8127923681708037, 0.09924323911118747, 0.0, -2.6668438689792575, -0.799262060591923, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3374609743530428, 0.3563806062916815, 0.8287085692087809, 0.35562479690690735, -0.3156533728242919, 0.8127923681708037, 0.09924323911118747, 0.0, -2.6165230004631694, -0.7825290794348597, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3374609743530428, 0.3563806062916815, 0.8287085692087809, 0.35562479690690735, -0.3156533728242919, 0.8127923681708037, 0.09924323911118747, 0.0, -2.5850345854783177, -0.736896497819891, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3374609743530428, 0.3563806062916815, 0.8287085692087809, 0.35562479690690735, -0.3156533728242919, 0.8127923681708037, 0.09924323911118747, 0.0, -2.5794883091845104, -0.7309122322192744, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3374609743530428, 0.3563806062916815, 0.8287085692087809, 0.35562479690690735, -0.3156533728242919, 0.8127923681708037, 0.09924323911118747, 0.0, -2.5023657508830928, -0.6738077665693197, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3374609743530428, 0.3563806062916815, 0.8287085692087809, 0.35562479690690735, -0.3156533728242919, 0.8127923681708037, 0.09924323911118747, 0.0, -2.4781264156552414, -0.6606903163032916, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3374609743530428, 0.3563806062916815, 0.8287085692087809, 0.35562479690690735, -0.3156533728242919, 0.8127923681708037, 0.09924323911118747, 0.0, -2.420302170604917, -0.6107608717889642, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3374609743530428, 0.3563806062916815, 0.8287085692087809, 0.35562479690690735, -0.3156533728242919, 0.8127923681708037, 0.09924323911118747, 0.0, -2.380579098984225, -0.5915401464131609, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3374609743530428, 0.3563806062916815, 0.8287085692087809, 0.35562479690690735, -0.3156533728242919, 0.8127923681708037, 0.09924323911118747, 0.0, -2.339964354457568, -0.5481552385804641, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3374609743530428, 0.3563806062916815, 0.8287085692087809, 0.35562479690690735, -0.3156533728242919, 0.8127923681708037, 0.09924323911118747, 0.0, -2.281940553056535, -0.5217953090691686, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3374609743530428, 0.3563806062916815, 0.8287085692087809, 0.35562479690690735, -0.3156533728242919, 0.8127923681708037, 0.09924323911118747, 0.0, -2.2629595521706434, -0.4864263226039446, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3374609743530428, 0.3563806062916815, 0.8287085692087809, 0.35562479690690735, -0.3156533728242919, 0.8127923681708037, 0.09924323911118747, 0.0, -2.2535288609451984, -0.47076763489737583, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3374609743530428, 0.3563806062916815, 0.8287085692087809, 0.35562479690690735, -0.3156533728242919, 0.8127923681708037, 0.09924323911118747, 0.0, -2.1878673257540218, -0.4252000717661489, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3374609743530428, 0.3563806062916815, 0.8287085692087809, 0.35562479690690735, -0.3156533728242919, 0.8127923681708037, 0.09924323911118747, 0.0, -2.156259103636047, -0.40143961283429785, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3374609743530428, 0.3563806062916815, 0.8287085692087809, 0.35562479690690735, -0.3156533728242919, 0.8127923681708037, 0.09924323911118747, 0.0, -2.110481802542605, -0.3633708792116175, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3374609743530428, 0.3563806062916815, 0.8287085692087809, 0.35562479690690735, -0.3156533728242919, 0.8127923681708037, 0.09924323911118747, 0.0, -2.049402694606302, -0.32972938930568985, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3374609743530428, 0.3563806062916815, 0.8287085692087809, 0.35562479690690735, -0.3156533728242919, 0.8127923681708037, 0.09924323911118747, 0.0, -2.0278857970357542, -0.3001717778306511, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3374609743530428, 0.3563806062916815, 0.8287085692087809, 0.35562479690690735, -0.3156533728242919, 0.8127923681708037, 0.09924323911118747, 0.0, -1.998083512387683, -0.27254017423744775, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3374609743530428, 0.3563806062916815, 0.8287085692087809, 0.35562479690690735, -0.3156533728242919, 0.8127923681708037, 0.09924323911118747, 0.0, -1.9456808360377749, -0.2370753875329866, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3374609743530428, 0.3563806062916815, 0.8287085692087809, 0.35562479690690735, -0.3156533728242919, 0.8127923681708037, 0.09924323911118747, 0.0, -1.9154220472029106, -0.20713488061224397, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3374609743530428, 0.3563806062916815, 0.8287085692087809, 0.35562479690690735, -0.3156533728242919, 0.8127923681708037, 0.09924323911118747, 0.0, -1.8634186360105198, -0.1739640996683782, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3374609743530428, 0.3563806062916815, 0.8287085692087809, 0.35562479690690735, -0.3156533728242919, 0.8127923681708037, 0.09924323911118747, 0.0, -1.8109575072724615, -0.13602877801387153, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3374609743530428, 0.3563806062916815, 0.8287085692087809, 0.35562479690690735, -0.3156533728242919, 0.8127923681708037, 0.09924323911118747, 0.0, -1.7817264867188343, -0.11100250632319618, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3374609743530428, 0.3563806062916815, 0.8287085692087809, 0.35562479690690735, -0.3156533728242919, 0.8127923681708037, 0.09924323911118747, 0.0, -1.7135805424733377, -0.06669727821445945, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3374609743530428, 0.3563806062916815, 0.8287085692087809, 0.35562479690690735, -0.3156533728242919, 0.8127923681708037, 0.09924323911118747, 0.0, -1.7006607439050723, -0.048205689569214484, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3374609743530428, 0.3563806062916815, 0.8287085692087809, 0.35562479690690735, -0.3156533728242919, 0.8127923681708037, 0.09924323911118747, 0.0, -1.6821355888591938, -0.014847323223574078, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3374609743530428, 0.3563806062916815, 0.8287085692087809, 0.35562479690690735, -0.3156533728242919, 0.8127923681708037, 0.09924323911118747, 0.0, -1.6195878721960826, 0.014592953962297296, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3374609743530428, 0.3563806062916815, 0.8287085692087809, 0.35562479690690735, -0.3156533728242919, 0.8127923681708037, 0.09924323911118747, 0.0, -1.5795510047344705, 0.055910146116611346, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3374609743530428, 0.3563806062916815, 0.8287085692087809, 0.35562479690690735, -0.3156533728242919, 0.8127923681708037, 0.09924323911118747, 0.0, -1.5385175964341091, 0.07739094753361228, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3374609743530428, 0.3563806062916815, 0.8287085692087809, 0.35562479690690735, -0.3156533728242919, 0.8127923681708037, 0.09924323911118747, 0.0, -1.4771225434451847, 0.12636705858623562, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3374609743530428, 0.3563806062916815, 0.8287085692087809, 0.35562479690690735, -0.3156533728242919, 0.8127923681708037, 0.09924323911118747, 0.0, -1.4574474308958005, 0.14018900070957202, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3374609743530428, 0.3563806062916815, 0.8287085692087809, 0.35562479690690735, -0.3156533728242919, 0.8127923681708037, 0.09924323911118747, 0.0, -1.3959325653823775, 0.1915561931217136, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3374609743530428, 0.3563806062916815, 0.8287085692087809, 0.35562479690690735, -0.3156533728242919, 0.8127923681708037, 0.09924323911118747, 0.0, -1.376428393038673, 0.20297351075177217, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3374609743530428, 0.3563806062916815, 0.8287085692087809, 0.35562479690690735, -0.3156533728242919, 0.8127923681708037, 0.09924323911118747, 0.0, -1.3484426489726982, 0.24751123171954897, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3374609743530428, 0.3563806062916815, 0.8287085692087809, 0.35562479690690735, -0.3156533728242919, 0.8127923681708037, 0.09924323911118747, 0.0, -1.2955405166625378, 0.2657236465856658, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3374609743530428, 0.3563806062916815, 0.8287085692087809, 0.35562479690690735, -0.3156533728242919, 0.8127923681708037, 0.09924323911118747, 0.0, -1.2461256749141756, 0.3183121381692551, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3374609743530428, 0.3563806062916815, 0.8287085692087809, 0.35562479690690735, -0.3156533728242919, 0.8127923681708037, 0.09924323911118747, 0.0, -1.2146525390764427, 0.32847367219589463, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3374609743530428, 0.3563806062916815, 0.8287085692087809, 0.35562479690690735, -0.3156533728242919, 0.8127923681708037, 0.09924323911118747, 0.0, -1.14469403335497, 0.38740902330408145, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3374609743530428, 0.3563806062916815, 0.8287085692087809, 0.35562479690690735, -0.3156533728242919, 0.8127923681708037, 0.09924323911118747, 0.0, -1.1337646977536042, 0.391223780473872, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3374609743530428, 0.3563806062916815, 0.8287085692087809, 0.35562479690690735, -0.3156533728242919, 0.8127923681708037, 0.09924323911118747, 0.0, -1.1047228215327813, 0.3989036879946838, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3374609743530428, 0.3563806062916815, 0.8287085692087809, 0.35562479690690735, -0.3156533728242919, 0.8127923681708037, 0.09924323911118747, 0.0, -1.0527890919890237, 0.45399689494664947, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3374609743530428, 0.3563806062916815, 0.8287085692087809, 0.35562479690690735, -0.3156533728242919, 0.8127923681708037, 0.09924323911118747, 0.0, -1.041608397834864, 0.4594207786435458, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3374609743530428, 0.3563806062916815, 0.8287085692087809, 0.35562479690690735, -0.3156533728242919, 0.8127923681708037, 0.09924323911118747, 0.0, -0.9717188242392324, 0.516794906788735, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3374609743530428, 0.3563806062916815, 0.8287085692087809, 0.35562479690690735, -0.3156533728242919, 0.8127923681708037, 0.09924323911118747, 0.0, -0.9392283868849577, 0.5297843086060567, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3374609743530428, 0.3563806062916815, 0.8287085692087809, 0.35562479690690735, -0.3156533728242919, 0.8127923681708037, 0.09924323911118747, 0.0, -0.8906485645016234, 0.5795929324087785, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3374609743530428, 0.3563806062916815, 0.8287085692087809, 0.35562479690690735, -0.3156533728242919, 0.8127923681708037, 0.09924323911118747, 0.0, -0.8365950819535471, 0.6006352407249373, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3374609743530428, 0.3563806062916815, 0.8287085692087809, 0.35562479690690735, -0.3156533728242919, 0.8127923681708037, 0.09924323911118747, 0.0, -0.8095782566909215, 0.6423908904868754, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3374609743530428, 0.3563806062916815, 0.8287085692087809, 0.35562479690690735, -0.3156533728242919, 0.8127923681708037, 0.09924323911118747, 0.0, -0.7870646068199196, 0.6571597804376228, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3374609743530428, 0.3563806062916815, 0.8287085692087809, 0.35562479690690735, -0.3156533728242919, 0.8127923681708037, 0.09924323911118747, 0.0, -0.7286344131632666, 0.7051556366097987, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3374609743530428, 0.3563806062916815, 0.8287085692087809, 0.35562479690690735, -0.3156533728242919, 0.8127923681708037, 0.09924323911118747, 0.0, -0.7080539905246178, 0.7217427439725579, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3374609743530428, 0.3563806062916815, 0.8287085692087809, 0.35562479690690735, -0.3156533728242919, 0.8127923681708037, 0.09924323911118747, 0.0, -0.6477465087444938, 0.76790569924829, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3374609743530428, 0.3563806062916815, 0.8287085692087809, 0.35562479690690735, -0.3156533728242919, 0.8127923681708037, 0.09924323911118747, 0.0, -0.6059418320655823, 0.7921495952797895, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3374609743530428, 0.3563806062916815, 0.8287085692087809, 0.35562479690690735, -0.3156533728242919, 0.8127923681708037, 0.09924323911118747, 0.0, -0.566858604325721, 0.8306557386364769, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3374609743530428, 0.3563806062916815, 0.8287085692087809, 0.35562479690690735, -0.3156533728242919, 0.8127923681708037, 0.09924323911118747, 0.0, -0.5037132312904051, 0.8627805092825962, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3374609743530428, 0.3563806062916815, 0.8287085692087809, 0.35562479690690735, -0.3156533728242919, 0.8127923681708037, 0.09924323911118747, 0.0, -0.4859706537807407, 0.893405784913643, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3374609743530428, 0.3563806062916815, 0.8287085692087809, 0.35562479690690735, -0.3156533728242919, 0.8127923681708037, 0.09924323911118747, 0.0, -0.46937703277597476, 0.9154721049208138, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3374609743530428, 0.3563806062916815, 0.8287085692087809, 0.35562479690690735, -0.3156533728242919, 0.8127923681708037, 0.09924323911118747, 0.0, -0.40478882178589326, 0.9564509158158422, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3374609743530428, 0.3563806062916815, 0.8287085692087809, 0.35562479690690735, -0.3156533728242919, 0.8127923681708037, 0.09924323911118747, 0.0, -0.37458632160071753, 0.9846876530192006, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3374609743530428, 0.3563806062916815, 0.8287085692087809, 0.35562479690690735, -0.3156533728242919, 0.8127923681708037, 0.09924323911118747, 0.0, -0.3230633124634249, 1.0205102997209559, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3374609743530428, 0.3563806062916815, 0.8287085692087809, 0.35562479690690735, -0.3156533728242919, 0.8127923681708037, 0.09924323911118747, 0.0, -0.27939695928564023, 1.0570352125407463, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3374609743530428, 0.3563806062916815, 0.8287085692087809, 0.35562479690690735, -0.3156533728242919, 0.8127923681708037, 0.09924323911118747, 0.0], "std": [1.897580225934255, 1.6936611544358902, 0.5723110552909998, 0.1793683250576095, 0.0, 0.0, 0.1389250541784921, 1.089789973225693, 1.567607018231039, 0.9792291855628633, 0.15943675799156418, 0.20088019436077423, 0.31174316734123547, 0.2933665087885862, 0.2092418039810102, 0.43787672755863133, 0.8221087712237725, 1.5831955494326866, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4593398444930783, 1.0643985931143831, 0.14462732583821408, 0.23409146150609147, 0.20286219004045655, 0.04834329164358439, 0.07158231181163971, 0.0, 0.8573454506615792, 1.5877102081240364, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4593398444930783, 1.0643985931143831, 0.14462732583821408, 0.23409146150609147, 0.20286219004045655, 0.04834329164358439, 0.07158231181163971, 0.0, 0.8491409138350909, 1.5471805676684567, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4593398444930783, 1.0643985931143831, 0.14462732583821408, 0.23409146150609147, 0.20286219004045655, 0.04834329164358439, 0.07158231181163971, 0.0, 0.89157518103379, 1.5545612451824071, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4593398444930783, 1.0643985931143831, 0.14462732583821408, 0.23409146150609147, 0.20286219004045655, 0.04834329164358439, 0.07158231181163971, 0.0, 0.8756930587688125, 1.5101019060581147, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4593398444930783, 1.0643985931143831, 0.14462732583821408, 0.23409146150609147, 0.20286219004045655, 0.04834329164358439, 0.07158231181163971, 0.0, 0.875373773538006, 1.5051369375098733, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4593398444930783, 1.0643985931143831, 0.14462732583821408, 0.23409146150609147, 0.20286219004045655, 0.04834329164358439, 0.07158231181163971, 0.0, 0.9024422309810385, 1.4725389080096194, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4593398444930783, 1.0643985931143831, 0.14462732583821408, 0.23409146150609147, 0.20286219004045655, 0.04834329164358439, 0.07158231181163971, 0.0, 0.9167792789980188, 1.4690354182743044, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4593398444930783, 1.0643985931143831, 0.14462732583821408, 0.23409146150609147, 0.20286219004045655, 0.04834329164358439, 0.07158231181163971, 0.0, 0.9284884645438358, 1.4346645295954672, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4593398444930783, 1.0643985931143831, 0.14462732583821408, 0.23409146150609147, 0.20286219004045655, 0.04834329164358439, 0.07158231181163971, 0.0, 0.9547303583783608, 1.432099727740437, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4593398444930783, 1.0643985931143831, 0.14462732583821408, 0.23409146150609147, 0.20286219004045655, 0.04834329164358439, 0.07158231181163971, 0.0, 0.9529194310332983, 1.396352025515097, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4593398444930783, 1.0643985931143831, 0.14462732583821408, 0.23409146150609147, 0.20286219004045655, 0.04834329164358439, 0.07158231181163971, 0.0, 0.9933223261883013, 1.395000709616414, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4593398444930783, 1.0643985931143831, 0.14462732583821408, 0.23409146150609147, 0.20286219004045655, 0.04834329164358439, 0.07158231181163971, 0.0, 0.9742604867670945, 1.3572274599848817, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4593398444930783, 1.0643985931143831, 0.14462732583821408, 0.23409146150609147, 0.20286219004045655, 0.04834329164358439, 0.07158231181163971, 0.0, 0.9670998676237802, 1.341131846925225, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4593398444930783, 1.0643985931143831, 0.14462732583821408, 0.23409146150609147, 0.20286219004045655, 0.04834329164358439, 0.07158231181163971, 0.0, 0.9938276432084743, 1.317636239951745, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4593398444930783, 1.0643985931143831, 0.14462732583821408, 0.23409146150609147, 0.20286219004045655, 0.04834329164358439, 0.07158231181163971, 0.0, 1.0044913657591161, 1.303778535826506, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4593398444930783, 1.0643985931143831, 0.14462732583821408, 0.23409146150609147, 0.20286219004045655, 0.04834329164358439, 0.07158231181163971, 0.0, 1.015521505556215, 1.2786042148355994, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4593398444930783, 1.0643985931143831, 0.14462732583821408, 0.23409146150609147, 0.20286219004045655, 0.04834329164358439, 0.07158231181163971, 0.0, 1.0509391053668122, 1.2689557028261924, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4593398444930783, 1.0643985931143831, 0.14462732583821408, 0.23409146150609147, 0.20286219004045655, 0.04834329164358439, 0.07158231181163971, 0.0, 1.0420468452704443, 1.2408426739141274, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4593398444930783, 1.0643985931143831, 0.14462732583821408, 0.23409146150609147, 0.20286219004045655, 0.04834329164358439, 0.07158231181163971, 0.0, 1.0457909579128668, 1.2204786416849458, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4593398444930783, 1.0643985931143831, 0.14462732583821408, 0.23409146150609147, 0.20286219004045655, 0.04834329164358439, 0.07158231181163971, 0.0, 1.068209363560346, 1.2029855613897065, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4593398444930783, 1.0643985931143831, 0.14462732583821408, 0.23409146150609147, 0.20286219004045655, 0.04834329164358439, 0.07158231181163971, 0.0, 1.069734913385728, 1.1796776206701751, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4593398444930783, 1.0643985931143831, 0.14462732583821408, 0.23409146150609147, 0.20286219004045655, 0.04834329164358439, 0.07158231181163971, 0.0, 1.0944249573735485, 1.1651425944134717, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4593398444930783, 1.0643985931143831, 0.14462732583821408, 0.23409146150609147, 0.20286219004045655, 0.04834329164358439, 0.07158231181163971, 0.0, 1.1139346995310615, 1.1442370194849891, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4593398444930783, 1.0643985931143831, 0.14462732583821408, 0.23409146150609147, 0.20286219004045655, 0.04834329164358439, 0.07158231181163971, 0.0, 1.1201119653341178, 1.1271604899232146, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4593398444930783, 1.0643985931143831, 0.14462732583821408, 0.23409146150609147, 0.20286219004045655, 0.04834329164358439, 0.07158231181163971, 0.0, 1.1514552312174096, 1.1069443024467416, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4593398444930783, 1.0643985931143831, 0.14462732583821408, 0.23409146150609147, 0.20286219004045655, 0.04834329164358439, 0.07158231181163971, 0.0, 1.1452183520326351, 1.0890258155916481, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4593398444930783, 1.0643985931143831, 0.14462732583821408, 0.23409146150609147, 0.20286219004045655, 0.04834329164358439, 0.07158231181163971, 0.0, 1.1280155526509037, 1.05378042891514, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4593398444930783, 1.0643985931143831, 0.14462732583821408, 0.23409146150609147, 0.20286219004045655, 0.04834329164358439, 0.07158231181163971, 0.0, 1.170331128001868, 1.0508928351597782, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4593398444930783, 1.0643985931143831, 0.14462732583821408, 0.23409146150609147, 0.20286219004045655, 0.04834329164358439, 0.07158231181163971, 0.0, 1.170296373340913, 1.0176781964586552, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4593398444930783, 1.0643985931143831, 0.14462732583821408, 0.23409146150609147, 0.20286219004045655, 0.04834329164358439, 0.07158231181163971, 0.0, 1.1954414968505076, 1.0127591415069768, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4593398444930783, 1.0643985931143831, 0.14462732583821408, 0.23409146150609147, 0.20286219004045655, 0.04834329164358439, 0.07158231181163971, 0.0, 1.2127456924727273, 0.981900033756636, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4593398444930783, 1.0643985931143831, 0.14462732583821408, 0.23409146150609147, 0.20286219004045655, 0.04834329164358439, 0.07158231181163971, 0.0, 1.220551984569313, 0.9746254478541821, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4593398444930783, 1.0643985931143831, 0.14462732583821408, 0.23409146150609147, 0.20286219004045655, 0.04834329164358439, 0.07158231181163971, 0.0, 1.235119373225161, 0.9405020765513191, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4593398444930783, 1.0643985931143831, 0.14462732583821408, 0.23409146150609147, 0.20286219004045655, 0.04834329164358439, 0.07158231181163971, 0.0, 1.2456148425036757, 0.9364793619879402, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4593398444930783, 1.0643985931143831, 0.14462732583821408, 0.23409146150609147, 0.20286219004045655, 0.04834329164358439, 0.07158231181163971, 0.0, 1.226694852321878, 0.8914087628196573, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4593398444930783, 1.0643985931143831, 0.14462732583821408, 0.23409146150609147, 0.20286219004045655, 0.04834329164358439, 0.07158231181163971, 0.0, 1.2705563005796852, 0.8983011811804048, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4593398444930783, 1.0643985931143831, 0.14462732583821408, 0.23409146150609147, 0.20286219004045655, 0.04834329164358439, 0.07158231181163971, 0.0, 1.268590240255646, 0.8550824006898021, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4593398444930783, 1.0643985931143831, 0.14462732583821408, 0.23409146150609147, 0.20286219004045655, 0.04834329164358439, 0.07158231181163971, 0.0, 1.2954976314274644, 0.860123119243015, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4593398444930783, 1.0643985931143831, 0.14462732583821408, 0.23409146150609147, 0.20286219004045655, 0.04834329164358439, 0.07158231181163971, 0.0, 1.3114403783991273, 0.8205938602770991, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4593398444930783, 1.0643985931143831, 0.14462732583821408, 0.23409146150609147, 0.20286219004045655, 0.04834329164358439, 0.07158231181163971, 0.0, 1.3204390569998972, 0.8219449681530111, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4593398444930783, 1.0643985931143831, 0.14462732583821408, 0.23409146150609147, 0.20286219004045655, 0.04834329164358439, 0.07158231181163971, 0.0, 1.3473156208691635, 0.8289644141309374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4593398444930783, 1.0643985931143831, 0.14462732583821408, 0.23409146150609147, 0.20286219004045655, 0.04834329164358439, 0.07158231181163971, 0.0, 1.3454618631221338, 0.7837882879843966, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4593398444930783, 1.0643985931143831, 0.14462732583821408, 0.23409146150609147, 0.20286219004045655, 0.04834329164358439, 0.07158231181163971, 0.0, 1.3528312702597212, 0.783047028569395, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4593398444930783, 1.0643985931143831, 0.14462732583821408, 0.23409146150609147, 0.20286219004045655, 0.04834329164358439, 0.07158231181163971, 0.0, 1.3705722245413796, 0.7456546389078965, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4593398444930783, 1.0643985931143831, 0.14462732583821408, 0.23409146150609147, 0.20286219004045655, 0.04834329164358439, 0.07158231181163971, 0.0, 1.3953329368351308, 0.7473696380395336, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4593398444930783, 1.0643985931143831, 0.14462732583821408, 0.23409146150609147, 0.20286219004045655, 0.04834329164358439, 0.07158231181163971, 0.0, 1.3956825785312514, 0.7075209749726432, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4593398444930783, 1.0643985931143831, 0.14462732583821408, 0.23409146150609147, 0.20286219004045655, 0.04834329164358439, 0.07158231181163971, 0.0, 1.43756143979908, 0.7111666111227324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4593398444930783, 1.0643985931143831, 0.14462732583821408, 0.23409146150609147, 0.20286219004045655, 0.04834329164358439, 0.07158231181163971, 0.0, 1.4207929770974255, 0.6693872553169962, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4593398444930783, 1.0643985931143831, 0.14462732583821408, 0.23409146150609147, 0.20286219004045655, 0.04834329164358439, 0.07158231181163971, 0.0, 1.430989034748831, 0.662524632503039, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4593398444930783, 1.0643985931143831, 0.14462732583821408, 0.23409146150609147, 0.20286219004045655, 0.04834329164358439, 0.07158231181163971, 0.0, 1.4457861102577205, 0.6312227585071399, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4593398444930783, 1.0643985931143831, 0.14462732583821408, 0.23409146150609147, 0.20286219004045655, 0.04834329164358439, 0.07158231181163971, 0.0, 1.4513818929901163, 0.620641607065166, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4593398444930783, 1.0643985931143831, 0.14462732583821408, 0.23409146150609147, 0.20286219004045655, 0.04834329164358439, 0.07158231181163971, 0.0, 1.4707275943365608, 0.5930446566368193, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4593398444930783, 1.0643985931143831, 0.14462732583821408, 0.23409146150609147, 0.20286219004045655, 0.04834329164358439, 0.07158231181163971, 0.0, 1.493498123094605, 0.5847400831472329, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4593398444930783, 1.0643985931143831, 0.14462732583821408, 0.23409146150609147, 0.20286219004045655, 0.04834329164358439, 0.07158231181163971, 0.0, 1.4956690784154003, 0.5548665798406625, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4593398444930783, 1.0643985931143831, 0.14462732583821408, 0.23409146150609147, 0.20286219004045655, 0.04834329164358439, 0.07158231181163971, 0.0, 1.5354886480123664, 0.5485970485107537, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4593398444930783, 1.0643985931143831, 0.14462732583821408, 0.23409146150609147, 0.20286219004045655, 0.04834329164358439, 0.07158231181163971, 0.0, 1.520610384189015, 0.5166884956151242, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4593398444930783, 1.0643985931143831, 0.14462732583821408, 0.23409146150609147, 0.20286219004045655, 0.04834329164358439, 0.07158231181163971, 0.0, 1.5146317504115094, 0.4960244648374338, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4593398444930783, 1.0643985931143831, 0.14462732583821408, 0.23409146150609147, 0.20286219004045655, 0.04834329164358439, 0.07158231181163971, 0.0, 1.5455615561853309, 0.478278057387498, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4593398444930783, 1.0643985931143831, 0.14462732583821408, 0.23409146150609147, 0.20286219004045655, 0.04834329164358439, 0.07158231181163971, 0.0, 1.54907345598395, 0.4573139389086988, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4593398444930783, 1.0643985931143831, 0.14462732583821408, 0.23409146150609147, 0.20286219004045655, 0.04834329164358439, 0.07158231181163971, 0.0, 1.5699654202799305, 0.4387840879982355, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4593398444930783, 1.0643985931143831, 0.14462732583821408, 0.23409146150609147, 0.20286219004045655, 0.04834329164358439, 0.07158231181163971, 0.0, 1.595448209317734, 0.42379093617206826, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4593398444930783, 1.0643985931143831, 0.14462732583821408, 0.23409146150609147, 0.20286219004045655, 0.04834329164358439, 0.07158231181163971, 0.0], "min": [-3.6702070236206055, -2.636451244354248, 0.3400000035762787, -0.010460706427693367, 0.0, 0.0, -0.9999452829360962, -1.0, -3.359178304672241, -2.0946500301361084, 0.5660436153411865, -0.0216550063341856, -0.8516642451286316, -0.7332175374031067, -0.5894299149513245, 0.0, -3.634638547897339, -2.567986249923706, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.359178304672241, -2.0946500301361084, 0.6496888399124146, 0.0975959300994873, -0.5812102556228638, 0.5975660085678101, 0.06057226285338402, 0.0, -3.6289055347442627, -2.5569512844085693, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.359178304672241, -2.0946500301361084, 0.6496888399124146, 0.0975959300994873, -0.5812102556228638, 0.5975660085678101, 0.06057226285338402, 0.0, -3.5825955867767334, -2.467811107635498, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.359178304672241, -2.0946500301361084, 0.6496888399124146, 0.0975959300994873, -0.5812102556228638, 0.5975660085678101, 0.06057226285338402, 0.0, -3.578037738800049, -2.4590377807617188, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.359178304672241, -2.0946500301361084, 0.6496888399124146, 0.0975959300994873, -0.5812102556228638, 0.5975660085678101, 0.06057226285338402, 0.0, -3.529421329498291, -2.3654582500457764, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.359178304672241, -2.0946500301361084, 0.6496888399124146, 0.0975959300994873, -0.5812102556228638, 0.5975660085678101, 0.06057226285338402, 0.0, -3.5235307216644287, -2.3541195392608643, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.359178304672241, -2.0946500301361084, 0.6496888399124146, 0.0975959300994873, -0.5812102556228638, 0.5975660085678101, 0.06057226285338402, 0.0, -3.475600004196167, -2.261859893798828, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.359178304672241, -2.0946500301361084, 0.6496888399124146, 0.0975959300994873, -0.5812102556228638, 0.5975660085678101, 0.06057226285338402, 0.0, -3.466822385787964, -2.244964122772217, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.359178304672241, -2.0946500301361084, 0.6496888399124146, 0.0975959300994873, -0.5812102556228638, 0.5975660085678101, 0.06057226285338402, 0.0, -3.421625852584839, -2.1579675674438477, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.359178304672241, -2.0946500301361084, 0.6496888399124146, 0.0975959300994873, -0.5812102556228638, 0.5975660085678101, 0.06057226285338402, 0.0, -3.410203218460083, -2.1359808444976807, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.359178304672241, -2.0946500301361084, 0.6496888399124146, 0.0975959300994873, -0.5812102556228638, 0.5975660085678101, 0.06057226285338402, 0.0, -3.367635488510132, -2.054044008255005, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.359178304672241, -2.0946500301361084, 0.6496888399124146, 0.0975959300994873, -0.5812102556228638, 0.5975660085678101, 0.06057226285338402, 0.0, -3.3531839847564697, -2.026226758956909, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.359178304672241, -2.0946500301361084, 0.6496888399124146, 0.0975959300994873, -0.5812102556228638, 0.5975660085678101, 0.06057226285338402, 0.0, -3.313645839691162, -1.9501214027404785, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.359178304672241, -2.0946500301361084, 0.6496888399124146, 0.0975959300994873, -0.5812102556228638, 0.5975660085678101, 0.06057226285338402, 0.0, -3.2964928150177, -1.9171044826507568, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.359178304672241, -2.0946500301361084, 0.6496888399124146, 0.0975959300994873, -0.5812102556228638, 0.5975660085678101, 0.06057226285338402, 0.0, -3.259655714035034, -1.8461982011795044, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.359178304672241, -2.0946500301361084, 0.6496888399124146, 0.0975959300994873, -0.5812102556228638, 0.5975660085678101, 0.06057226285338402, 0.0, -3.2395477294921875, -1.807492971420288, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.359178304672241, -2.0946500301361084, 0.6496888399124146, 0.0975959300994873, -0.5812102556228638, 0.5975660085678101, 0.06057226285338402, 0.0, -3.2056658267974854, -1.7422751188278198, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.359178304672241, -2.0946500301361084, 0.6496888399124146, 0.0975959300994873, -0.5812102556228638, 0.5975660085678101, 0.06057226285338402, 0.0, -3.1827826499938965, -1.6982282400131226, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.359178304672241, -2.0946500301361084, 0.6496888399124146, 0.0975959300994873, -0.5812102556228638, 0.5975660085678101, 0.06057226285338402, 0.0, -3.1516759395599365, -1.6383522748947144, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.359178304672241, -2.0946500301361084, 0.6496888399124146, 0.0975959300994873, -0.5812102556228638, 0.5975660085678101, 0.06057226285338402, 0.0, -3.1259114742279053, -1.588759183883667, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.359178304672241, -2.0946500301361084, 0.6496888399124146, 0.0975959300994873, -0.5812102556228638, 0.5975660085678101, 0.06057226285338402, 0.0, -3.0976858139038086, -1.5344290733337402, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.359178304672241, -2.0946500301361084, 0.6496888399124146, 0.0975959300994873, -0.5812102556228638, 0.5975660085678101, 0.06057226285338402, 0.0, -3.0690722465515137, -1.4793522357940674, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.359178304672241, -2.0946500301361084, 0.6496888399124146, 0.0975959300994873, -0.5812102556228638, 0.5975660085678101, 0.06057226285338402, 0.0, -3.0436956882476807, -1.4305062294006348, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.359178304672241, -2.0946500301361084, 0.6496888399124146, 0.0975959300994873, -0.5812102556228638, 0.5975660085678101, 0.06057226285338402, 0.0, -3.012274742126465, -1.370025396347046, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.359178304672241, -2.0946500301361084, 0.6496888399124146, 0.0975959300994873, -0.5812102556228638, 0.5975660085678101, 0.06057226285338402, 0.0, -2.9897055625915527, -1.3265830278396606, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.359178304672241, -2.0946500301361084, 0.6496888399124146, 0.0975959300994873, -0.5812102556228638, 0.5975660085678101, 0.06057226285338402, 0.0, -2.9553616046905518, -1.260475754737854, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.359178304672241, -2.0946500301361084, 0.6496888399124146, 0.0975959300994873, -0.5812102556228638, 0.5975660085678101, 0.06057226285338402, 0.0, -2.935715675354004, -1.2226600646972656, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.359178304672241, -2.0946500301361084, 0.6496888399124146, 0.0975959300994873, -0.5812102556228638, 0.5975660085678101, 0.06057226285338402, 0.0, -2.8986382484436035, -1.1512914896011353, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.359178304672241, -2.0946500301361084, 0.6496888399124146, 0.0975959300994873, -0.5812102556228638, 0.5975660085678101, 0.06057226285338402, 0.0, -2.881725549697876, -1.1187371015548706, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.359178304672241, -2.0946500301361084, 0.6496888399124146, 0.0975959300994873, -0.5812102556228638, 0.5975660085678101, 0.06057226285338402, 0.0, -2.841651201248169, -1.0415997505187988, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.359178304672241, -2.0946500301361084, 0.6496888399124146, 0.0975959300994873, -0.5812102556228638, 0.5975660085678101, 0.06057226285338402, 0.0, -2.827735424041748, -1.014814019203186, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.359178304672241, -2.0946500301361084, 0.6496888399124146, 0.0975959300994873, -0.5812102556228638, 0.5975660085678101, 0.06057226285338402, 0.0, -2.7850019931793213, -0.9325580596923828, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.359178304672241, -2.0946500301361084, 0.6496888399124146, 0.0975959300994873, -0.5812102556228638, 0.5975660085678101, 0.06057226285338402, 0.0, -2.773745536804199, -0.9108908772468567, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.359178304672241, -2.0946500301361084, 0.6496888399124146, 0.0975959300994873, -0.5812102556228638, 0.5975660085678101, 0.06057226285338402, 0.0, -2.727940797805786, -0.8227235078811646, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.359178304672241, -2.0946500301361084, 0.6496888399124146, 0.0975959300994873, -0.5812102556228638, 0.5975660085678101, 0.06057226285338402, 0.0, -2.7197554111480713, -0.8069679141044617, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.359178304672241, -2.0946500301361084, 0.6496888399124146, 0.0975959300994873, -0.5812102556228638, 0.5975660085678101, 0.06057226285338402, 0.0, -2.67136549949646, -0.7138240337371826, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.359178304672241, -2.0946500301361084, 0.6496888399124146, 0.0975959300994873, -0.5812102556228638, 0.5975660085678101, 0.06057226285338402, 0.0, -2.6657655239105225, -0.7030447125434875, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.359178304672241, -2.0946500301361084, 0.6496888399124146, 0.0975959300994873, -0.5812102556228638, 0.5975660085678101, 0.06057226285338402, 0.0, -2.6142303943634033, -0.6038471460342407, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.359178304672241, -2.0946500301361084, 0.6496888399124146, 0.0975959300994873, -0.5812102556228638, 0.5975660085678101, 0.06057226285338402, 0.0, -2.6117753982543945, -0.5991217494010925, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.359178304672241, -2.0946500301361084, 0.6496888399124146, 0.0975959300994873, -0.5812102556228638, 0.5975660085678101, 0.06057226285338402, 0.0, -2.5590102672576904, -0.49755626916885376, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.359178304672241, -2.0946500301361084, 0.6496888399124146, 0.0975959300994873, -0.5812102556228638, 0.5975660085678101, 0.06057226285338402, 0.0, -2.5577855110168457, -0.4951986074447632, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.359178304672241, -2.0946500301361084, 0.6496888399124146, 0.0975959300994873, -0.5812102556228638, 0.5975660085678101, 0.06057226285338402, 0.0, -2.5577285289764404, -0.4950887858867645, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.359178304672241, -2.0946500301361084, 0.6496888399124146, 0.0975959300994873, -0.5812102556228638, 0.5975660085678101, 0.06057226285338402, 0.0, -2.503795623779297, -0.3912756145000458, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.359178304672241, -2.0946500301361084, 0.6496888399124146, 0.0975959300994873, -0.5812102556228638, 0.5975660085678101, 0.06057226285338402, 0.0, -2.5005624294281006, -0.38505232334136963, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.359178304672241, -2.0946500301361084, 0.6496888399124146, 0.0975959300994873, -0.5812102556228638, 0.5975660085678101, 0.06057226285338402, 0.0, -2.449805498123169, -0.2873525619506836, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.359178304672241, -2.0946500301361084, 0.6496888399124146, 0.0975959300994873, -0.5812102556228638, 0.5975660085678101, 0.06057226285338402, 0.0, -2.4440181255340576, -0.2762126922607422, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.359178304672241, -2.0946500301361084, 0.6496888399124146, 0.0975959300994873, -0.5812102556228638, 0.5975660085678101, 0.06057226285338402, 0.0, -2.395815372467041, -0.18342947959899902, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.359178304672241, -2.0946500301361084, 0.6496888399124146, 0.0975959300994873, -0.5812102556228638, 0.5975660085678101, 0.06057226285338402, 0.0, -2.3869259357452393, -0.16631878912448883, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.359178304672241, -2.0946500301361084, 0.6496888399124146, 0.0975959300994873, -0.5812102556228638, 0.5975660085678101, 0.06057226285338402, 0.0, -2.341825246810913, -0.07950640469789505, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.359178304672241, -2.0946500301361084, 0.6496888399124146, 0.0975959300994873, -0.5812102556228638, 0.5975660085678101, 0.06057226285338402, 0.0, -2.3303074836730957, -0.05733655393123627, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.359178304672241, -2.0946500301361084, 0.6496888399124146, 0.0975959300994873, -0.5812102556228638, 0.5975660085678101, 0.06057226285338402, 0.0, -2.287835121154785, 0.024416649714112282, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.359178304672241, -2.0946500301361084, 0.6496888399124146, 0.0975959300994873, -0.5812102556228638, 0.5975660085678101, 0.06057226285338402, 0.0, -2.273289442062378, 0.052414946258068085, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.359178304672241, -2.0946500301361084, 0.6496888399124146, 0.0975959300994873, -0.5812102556228638, 0.5975660085678101, 0.06057226285338402, 0.0, -2.2338452339172363, 0.12833969295024872, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.359178304672241, -2.0946500301361084, 0.6496888399124146, 0.0975959300994873, -0.5812102556228638, 0.5975660085678101, 0.06057226285338402, 0.0, -2.216597318649292, 0.16153961420059204, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.359178304672241, -2.0946500301361084, 0.6496888399124146, 0.0975959300994873, -0.5812102556228638, 0.5975660085678101, 0.06057226285338402, 0.0, -2.1798553466796875, 0.23226268589496613, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.359178304672241, -2.0946500301361084, 0.6496888399124146, 0.0975959300994873, -0.5812102556228638, 0.5975660085678101, 0.06057226285338402, 0.0, -2.1596531867980957, 0.27114880084991455, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.359178304672241, -2.0946500301361084, 0.6496888399124146, 0.0975959300994873, -0.5812102556228638, 0.5975660085678101, 0.06057226285338402, 0.0, -2.1258652210235596, 0.3361856937408447, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.359178304672241, -2.0946500301361084, 0.6496888399124146, 0.0975959300994873, -0.5812102556228638, 0.5975660085678101, 0.06057226285338402, 0.0, -2.1028239727020264, 0.3805370330810547, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.359178304672241, -2.0946500301361084, 0.6496888399124146, 0.0975959300994873, -0.5812102556228638, 0.5975660085678101, 0.06057226285338402, 0.0, -2.071591854095459, 0.44065436720848083, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.359178304672241, -2.0946500301361084, 0.6496888399124146, 0.0975959300994873, -0.5812102556228638, 0.5975660085678101, 0.06057226285338402, 0.0, -2.0451767444610596, 0.49149975180625916, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.359178304672241, -2.0946500301361084, 0.6496888399124146, 0.0975959300994873, -0.5812102556228638, 0.5975660085678101, 0.06057226285338402, 0.0, -2.0161845684051514, 0.5473058223724365, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.359178304672241, -2.0946500301361084, 0.6496888399124146, 0.0975959300994873, -0.5812102556228638, 0.5975660085678101, 0.06057226285338402, 0.0, -2.0, 0.6000000238418579, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.359178304672241, -2.0946500301361084, 0.6496888399124146, 0.0975959300994873, -0.5812102556228638, 0.5975660085678101, 0.06057226285338402, 0.0], "max": [1.1623514890670776, 2.4903247356414795, 1.5707963705062866, 0.9215816855430603, 0.0, 0.0, 0.9999899864196777, 2.0, 1.2832772731781006, 2.8969485759735107, 1.0808382034301758, 0.5952487587928772, 0.8730600476264954, 0.858812153339386, 0.5898195505142212, 1.0, -1.9857300519943237, 0.6074385643005371, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2832772731781006, 1.5991418361663818, 0.9909541010856628, 0.5952487587928772, -0.07723711431026459, 0.858812153339386, 0.4123007357120514, 0.0, -1.9093226194381714, 0.6275286078453064, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2832772731781006, 1.5991418361663818, 0.9909541010856628, 0.5952487587928772, -0.07723711431026459, 0.858812153339386, 0.4123007357120514, 0.0, -1.879468560218811, 0.6353782415390015, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2832772731781006, 1.5991418361663818, 0.9909541010856628, 0.5952487587928772, -0.07723711431026459, 0.858812153339386, 0.4123007357120514, 0.0, -1.7898000478744507, 0.6589550375938416, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2832772731781006, 1.5991418361663818, 0.9909541010856628, 0.5952487587928772, -0.07723711431026459, 0.858812153339386, 0.4123007357120514, 0.0, -1.7730385065078735, 0.6633622050285339, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2832772731781006, 1.5991418361663818, 0.9909541010856628, 0.5952487587928772, -0.07723711431026459, 0.858812153339386, 0.4123007357120514, 0.0, -1.767788290977478, 0.664742648601532, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2832772731781006, 1.5991418361663818, 0.9909541010856628, 0.5952487587928772, -0.07723711431026459, 0.858812153339386, 0.4123007357120514, 0.0, -1.6655662059783936, 0.6916202306747437, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2832772731781006, 1.5991418361663818, 0.9909541010856628, 0.5952487587928772, -0.07723711431026459, 0.858812153339386, 0.4123007357120514, 0.0, -1.6280326843261719, 0.7014890313148499, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2832772731781006, 1.5991418361663818, 0.9909541010856628, 0.5952487587928772, -0.07723711431026459, 0.858812153339386, 0.4123007357120514, 0.0, -1.5593509674072266, 0.719547688961029, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2832772731781006, 1.5991418361663818, 0.9909541010856628, 0.5952487587928772, -0.07723711431026459, 0.858812153339386, 0.4123007357120514, 0.0, -1.4952948093414307, 0.7363901734352112, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2832772731781006, 1.5991418361663818, 0.9909541010856628, 0.5952487587928772, -0.07723711431026459, 0.858812153339386, 0.4123007357120514, 0.0, -1.4563592672348022, 0.7466276288032532, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2832772731781006, 1.5991418361663818, 0.9909541010856628, 0.5952487587928772, -0.07723711431026459, 0.858812153339386, 0.4123007357120514, 0.0, -1.360871434211731, 0.7717345356941223, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2832772731781006, 1.5991418361663818, 0.9909541010856628, 0.5952487587928772, -0.07723711431026459, 0.858812153339386, 0.4123007357120514, 0.0, -1.3595657348632812, 0.7720778584480286, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2832772731781006, 1.5991418361663818, 0.9909541010856628, 0.5952487587928772, -0.07723711431026459, 0.858812153339386, 0.4123007357120514, 0.0, -1.3567748069763184, 0.7728117108345032, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2832772731781006, 1.5991418361663818, 0.9909541010856628, 0.5952487587928772, -0.07723711431026459, 0.858812153339386, 0.4123007357120514, 0.0, -1.2663296461105347, 0.7965927124023438, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2832772731781006, 1.5991418361663818, 0.9909541010856628, 0.5952487587928772, -0.07723711431026459, 0.858812153339386, 0.4123007357120514, 0.0, -1.224833369255066, 0.8075034618377686, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2832772731781006, 1.5991418361663818, 0.9909541010856628, 0.5952487587928772, -0.07723711431026459, 0.858812153339386, 0.4123007357120514, 0.0, -1.1688282489776611, 0.8222290277481079, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2832772731781006, 1.5991418361663818, 0.9909541010856628, 0.5952487587928772, -0.07723711431026459, 0.858812153339386, 0.4123007357120514, 0.0, -1.0749077796936035, 0.846923828125, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2832772731781006, 1.5991418361663818, 0.9909541010856628, 0.5952487587928772, -0.07723711431026459, 0.858812153339386, 0.4123007357120514, 0.0, -1.0616363286972046, 0.8504133224487305, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2832772731781006, 1.5991418361663818, 0.9909541010856628, 0.5952487587928772, -0.07723711431026459, 0.858812153339386, 0.4123007357120514, 0.0, -1.0283622741699219, 0.8591621518135071, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2832772731781006, 1.5991418361663818, 0.9909541010856628, 0.5952487587928772, -0.07723711431026459, 0.858812153339386, 0.4123007357120514, 0.0, -0.9551718831062317, 0.878406286239624, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2832772731781006, 1.5991418361663818, 0.9909541010856628, 0.5952487587928772, -0.07723711431026459, 0.858812153339386, 0.4123007357120514, 0.0, -0.9234985113143921, 0.8867342472076416, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2832772731781006, 1.5991418361663818, 0.9909541010856628, 0.5952487587928772, -0.07723711431026459, 0.858812153339386, 0.4123007357120514, 0.0, -0.8486009836196899, 0.906427264213562, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2832772731781006, 1.5991418361663818, 0.9909541010856628, 0.5952487587928772, -0.07723711431026459, 0.858812153339386, 0.4123007357120514, 0.0, -0.7780492305755615, 0.9249776601791382, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2832772731781006, 1.5991418361663818, 0.9909541010856628, 0.5952487587928772, -0.07723711431026459, 0.858812153339386, 0.4123007357120514, 0.0, -0.7430902719497681, 0.9341695308685303, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2832772731781006, 1.5991418361663818, 0.9909541010856628, 0.5952487587928772, -0.07723711431026459, 0.858812153339386, 0.4123007357120514, 0.0, -0.645880937576294, 0.9597290754318237, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2832772731781006, 1.5991418361663818, 0.9909541010856628, 0.5952487587928772, -0.07723711431026459, 0.858812153339386, 0.4123007357120514, 0.0, -0.6387443542480469, 0.9616055488586426, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2832772731781006, 1.5991418361663818, 0.9909541010856628, 0.5952487587928772, -0.07723711431026459, 0.858812153339386, 0.4123007357120514, 0.0, -0.6361706852912903, 0.9622822403907776, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2832772731781006, 1.5991418361663818, 0.9909541010856628, 0.5952487587928772, -0.07723711431026459, 0.858812153339386, 0.4123007357120514, 0.0, -0.5343853831291199, 0.9890449643135071, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2832772731781006, 1.5991418361663818, 0.9909541010856628, 0.5952487587928772, -0.07723711431026459, 0.858812153339386, 0.4123007357120514, 0.0, -0.49438074231147766, 0.9995635151863098, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2832772731781006, 1.5991418361663818, 0.9909541010856628, 0.5952487587928772, -0.07723711431026459, 0.858812153339386, 0.4123007357120514, 0.0, -0.4300312399864197, 1.0164830684661865, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2832772731781006, 1.5991418361663818, 0.9909541010856628, 0.5952487587928772, -0.07723711431026459, 0.858812153339386, 0.4123007357120514, 0.0, -0.3525906801223755, 1.0368447303771973, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2832772731781006, 1.5991418361663818, 0.9909541010856628, 0.5952487587928772, -0.07723711431026459, 0.858812153339386, 0.4123007357120514, 0.0, -0.3256770968437195, 1.0439212322235107, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2832772731781006, 1.5991418361663818, 0.9909541010856628, 0.5952487587928772, -0.07723711431026459, 0.858812153339386, 0.4123007357120514, 0.0, -0.2506544589996338, 1.0636471509933472, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2832772731781006, 1.5991418361663818, 0.9909541010856628, 0.5952487587928772, -0.07723711431026459, 0.858812153339386, 0.4123007357120514, 0.0, -0.22141824662685394, 1.0713343620300293, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2832772731781006, 1.5991418361663818, 0.9909541010856628, 0.5952487587928772, -0.07723711431026459, 0.858812153339386, 0.4123007357120514, 0.0, -0.2109762728214264, 1.0740798711776733, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2832772731781006, 1.5991418361663818, 0.9909541010856628, 0.5952487587928772, -0.07723711431026459, 0.858812153339386, 0.4123007357120514, 0.0, -0.11740312725305557, 1.0986833572387695, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2832772731781006, 1.5991418361663818, 0.9909541010856628, 0.5952487587928772, -0.07723711431026459, 0.858812153339386, 0.4123007357120514, 0.0, -0.06981133669614792, 1.111196756362915, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2832772731781006, 1.5991418361663818, 0.9909541010856628, 0.5952487587928772, -0.07723711431026459, 0.858812153339386, 0.4123007357120514, 0.0, -0.013388024643063545, 1.1260323524475098, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2832772731781006, 1.5991418361663818, 0.9909541010856628, 0.5952487587928772, -0.07723711431026459, 0.858812153339386, 0.4123007357120514, 0.0, 0.07135356962680817, 1.1483137607574463, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2832772731781006, 1.5991418361663818, 0.9909541010856628, 0.5952487587928772, -0.07723711431026459, 0.858812153339386, 0.4123007357120514, 0.0, 0.0906270295381546, 1.15338134765625, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2832772731781006, 1.5991418361663818, 0.9909541010856628, 0.5952487587928772, -0.07723711431026459, 0.858812153339386, 0.4123007357120514, 0.0, 0.14459049701690674, 1.1675701141357422, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2832772731781006, 1.5991418361663818, 0.9909541010856628, 0.5952487587928772, -0.07723711431026459, 0.858812153339386, 0.4123007357120514, 0.0, 0.194805309176445, 1.1807732582092285, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2832772731781006, 1.5991418361663818, 0.9909541010856628, 0.5952487587928772, -0.07723711431026459, 0.858812153339386, 0.4123007357120514, 0.0, 0.21281936764717102, 1.1855098009109497, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2832772731781006, 1.5991418361663818, 0.9909541010856628, 0.5952487587928772, -0.07723711431026459, 0.858812153339386, 0.4123007357120514, 0.0, 0.299159437417984, 1.2082114219665527, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2832772731781006, 1.5991418361663818, 0.9909541010856628, 0.5952487587928772, -0.07723711431026459, 0.858812153339386, 0.4123007357120514, 0.0, 0.35460951924324036, 1.222791075706482, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2832772731781006, 1.5991418361663818, 0.9909541010856628, 0.5952487587928772, -0.07723711431026459, 0.858812153339386, 0.4123007357120514, 0.0, 0.4035135507583618, 1.235649585723877, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2832772731781006, 1.5991418361663818, 0.9909541010856628, 0.5952487587928772, -0.07723711431026459, 0.858812153339386, 0.4123007357120514, 0.0, 0.4963996708393097, 1.2600723505020142, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2832772731781006, 1.5991418361663818, 0.9909541010856628, 0.5952487587928772, -0.07723711431026459, 0.858812153339386, 0.4123007357120514, 0.0, 0.5078677535057068, 1.2630876302719116, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2832772731781006, 1.5991418361663818, 0.9909541010856628, 0.5952487587928772, -0.07723711431026459, 0.858812153339386, 0.4123007357120514, 0.0, 0.5398358106613159, 1.2714930772781372, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2832772731781006, 1.5991418361663818, 0.9909541010856628, 0.5952487587928772, -0.07723711431026459, 0.858812153339386, 0.4123007357120514, 0.0, 0.6119867563247681, 1.290463924407959, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2832772731781006, 1.5991418361663818, 0.9909541010856628, 0.5952487587928772, -0.07723711431026459, 0.858812153339386, 0.4123007357120514, 0.0, 0.6377559304237366, 1.2972395420074463, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2832772731781006, 1.5991418361663818, 0.9909541010856628, 0.5952487587928772, -0.07723711431026459, 0.858812153339386, 0.4123007357120514, 0.0, 0.7160019278526306, 1.3178129196166992, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2832772731781006, 1.5991418361663818, 0.9909541010856628, 0.5952487587928772, -0.07723711431026459, 0.858812153339386, 0.4123007357120514, 0.0, 0.7789208292961121, 1.3343563079833984, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2832772731781006, 1.5991418361663818, 0.9909541010856628, 0.5952487587928772, -0.07723711431026459, 0.858812153339386, 0.4123007357120514, 0.0, 0.8200170993804932, 1.3451619148254395, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2832772731781006, 1.5991418361663818, 0.9909541010856628, 0.5952487587928772, -0.07723711431026459, 0.858812153339386, 0.4123007357120514, 0.0, 0.920085608959198, 1.3714731931686401, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2832772731781006, 1.5991418361663818, 0.9909541010856628, 0.5952487587928772, -0.07723711431026459, 0.858812153339386, 0.4123007357120514, 0.0, 0.9240321516990662, 1.3725109100341797, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2832772731781006, 1.5991418361663818, 0.9909541010856628, 0.5952487587928772, -0.07723711431026459, 0.858812153339386, 0.4123007357120514, 0.0, 0.9350820183753967, 1.3754162788391113, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2832772731781006, 1.5991418361663818, 0.9909541010856628, 0.5952487587928772, -0.07723711431026459, 0.858812153339386, 0.4123007357120514, 0.0, 1.0283502340316772, 1.3999395370483398, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2832772731781006, 1.5991418361663818, 0.9909541010856628, 0.5952487587928772, -0.07723711431026459, 0.858812153339386, 0.4123007357120514, 0.0, 1.0618091821670532, 1.408737063407898, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2832772731781006, 1.5991418361663818, 0.9909541010856628, 0.5952487587928772, -0.07723711431026459, 0.858812153339386, 0.4123007357120514, 0.0, 1.132704496383667, 1.427377700805664, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2832772731781006, 1.5991418361663818, 0.9909541010856628, 0.5952487587928772, -0.07723711431026459, 0.858812153339386, 0.4123007357120514, 0.0, 1.2000000476837158, 1.4500000476837158, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2832772731781006, 1.5991418361663818, 0.9909541010856628, 0.5952487587928772, -0.07723711431026459, 0.858812153339386, 0.4123007357120514, 0.0], "count": [3150]}, "action.applied": {"mean": [0.3308587337084233, 0.6961602185737519, -1.078503007718495, -0.3222332803077168, 0.6394236998236369, -1.1236256160054887, 0.22638953549757837, 0.7780550665893252, -1.1970621303528075, -0.19117815465681137, 0.7401044487953186, -1.1910602425772046, -0.09439072236646849, 1.6481701994131481, -1.480157931588945, 0.012919926699975067, 0.8353050244043744, -0.025097003807932478, 0.007144444474861736, -0.007144444474861736], "std": [0.1436255765735921, 0.14040341741695964, 0.16916437142097981, 0.13368197369085433, 0.11255905750936229, 0.14117760986839295, 0.1114239380214283, 0.15518326888971545, 0.15406926196371337, 0.0916226288468346, 0.11494581708480127, 0.16402951442076905, 0.461216754138344, 0.7229195424882524, 0.48004964311259307, 0.16013400971486436, 0.24289972792729236, 0.172533064450034, 0.01410717798960383, 0.01410717798960383], "min": [-0.23605406284332275, 0.4527047276496887, -1.7264248132705688, -0.5965147614479065, 0.3914091885089874, -1.6676807403564453, -0.37966644763946533, 0.46696561574935913, -1.7484291791915894, -0.49648985266685486, 0.5356267690658569, -1.7356576919555664, -1.9867794513702393, 0.6953681707382202, -2.402679681777954, -0.8418230414390564, 0.5018913745880127, -0.7657144069671631, 0.0, -0.03500000014901161], "max": [0.7058820128440857, 1.0745773315429688, -0.8887714743614197, 0.2689204514026642, 0.9602505564689636, -0.9148350358009338, 0.5479024052619934, 1.2343623638153076, -0.9646737575531006, 0.2889177203178406, 1.1650587320327759, -0.899353563785553, 1.083075761795044, 2.7732250690460205, -0.8662735223770142, 0.8849616050720215, 1.219680905342102, 0.8304145336151123, 0.03500000014901161, 0.0], "count": [3150]}, "extra.reward": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [3150]}, "next.truncated": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [3150]}, "sim_step_idx": {"mean": [3180.0], "std": [1818.6532563044188], "min": [31.0], "max": [6329.0], "count": [3150]}, "timestamp": {"mean": [62.97999999999527], "std": [36.37306512290768], "min": [0.0], "max": [125.95999908447266], "count": [3150]}, "frame_index": {"mean": [1574.5], "std": [909.3266281522094], "min": [0.0], "max": [3149.0], "count": [3150]}, "episode_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [3150]}, "index": {"mean": [1574.5], "std": [909.3266281522094], "min": [0.0], "max": [3149.0], "count": [3150]}, "task_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [3150]}, "next.done": {"mean": [0.00031746031746031746], "std": [0.017814587741712], "min": [0.0], "max": [1.0], "count": [3150]}, "observation.images.head": {"mean": [[[0.4488098777204909]], [[0.4404096055604703]], [[0.4321381888410743]]], "std": [[[0.14516592302090375]], [[0.14203791294904738]], [[0.14073832190950444]]], "min": [[[0.00392156862745098]], [[0.00784313725490196]], [[0.0]]], "max": [[[0.9215686274509803]], [[0.8901960784313725]], [[0.8823529411764706]]], "count": [100]}, "observation.images.wrist": {"mean": [[[0.5638706864943989]], [[0.5145949599220258]], [[0.45132806871205206]]], "std": [[[0.1589280048157656]], [[0.1371072140646794]], [[0.18400692209830996]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9372549019607843]], [[0.8980392156862745]], [[0.8784313725490196]]], "count": [100]}}} diff --git a/N025/go2_arm/dr_on/seed_2015/stationassembly/000/lerobot_v21/meta/extra/episode_000000.json b/N025/go2_arm/dr_on/seed_2015/stationassembly/000/lerobot_v21/meta/extra/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..10fbd9a8644d9747ff2a05ebf7099369fa197195 --- /dev/null +++ b/N025/go2_arm/dr_on/seed_2015/stationassembly/000/lerobot_v21/meta/extra/episode_000000.json @@ -0,0 +1,624 @@ +{ + "episode_index": 0, + "trajectory_id": 0, + "env_id": 0, + "task_type": "StationAssembly", + "subsample_every": 2, + "control_steps": 6299, + "language": { + "scene": { + "objects": [ + { + "id": "table_A_1", + "cat_name": "table_A", + "inst_id": 1, + "noun": "table A", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 4.169264624775006, + 0.6126410243306665, + -0.13597854350512226 + ], + "bbox": { + "extent": [ + 1.0, + 1.0000000000000002, + 1.0 + ], + "center": [ + 0.0, + -1.1102230246251565e-16, + 0.0 + ] + } + }, + { + "id": "table_B_1", + "cat_name": "table_B", + "inst_id": 1, + "noun": "table B", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 7.0644855783255815, + -1.4141006548140835, + -0.13969285895001074 + ], + "bbox": { + "extent": [ + 0.9999999999999999, + 1.0, + 1.0 + ], + "center": [ + 5.551115123125783e-17, + 0.0, + 0.0 + ] + } + }, + { + "id": "shim_board_1", + "cat_name": "shim_board", + "inst_id": 1, + "noun": "shim board", + "color": null, + "size": "medium", + "material": null, + "category": "articulation", + "pos": [ + 7.266486225954085, + -1.3743116196090892, + 0.05965907617047922 + ], + "bbox": { + "extent": [ + 0.4505875581203522, + 0.30941068272532923, + 0.04200000036507845 + ], + "center": [ + 0.15000000596046403, + -7.077671781985373e-16, + 0.021000000182539225 + ] + } + }, + { + "id": "wedge_1", + "cat_name": "wedge", + "inst_id": 1, + "noun": "wedge", + "color": null, + "size": "small", + "material": null, + "category": "rigid", + "pos": [ + 4.148874270592634, + 0.5625505241753165, + 0.064187459510026 + ], + "bbox": { + "extent": [ + 0.18931239960862628, + 0.056593172822031565, + 0.028000357846764024 + ], + "center": [ + 0.057500002905726405, + -4.527628272299467e-16, + 0.014000000432133675 + ] + } + } + ], + "relations": [ + { + "subject": "table_A_1", + "relation": "left_of", + "object": "wedge_1" + }, + { + "subject": "table_B_1", + "relation": "behind", + "object": "shim_board_1" + }, + { + "subject": "shim_board_1", + "relation": "on_top_of", + "object": "table_B_1" + }, + { + "subject": "shim_board_1", + "relation": "in_front_of", + "object": "table_B_1" + }, + { + "subject": "wedge_1", + "relation": "on_top_of", + "object": "table_A_1" + }, + { + "subject": "wedge_1", + "relation": "right_of", + "object": "table_A_1" + } + ], + "cameras": [ + { + "name": "head", + "intrinsics": { + "K": [ + [ + 607.7061061683956, + 0.0, + 320.0 + ], + [ + 0.0, + 607.3754374751866, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 55.53991912549515, + "resolution": [ + 640, + 480 + ] + }, + "pos_robot": [ + 4.0636321035275795, + -2.1380546272471026, + -0.26620262777459364 + ], + "viewpoint": "front-right, at table height", + "extrinsics": { + "R": [ + [ + 0.0034545225363202814, + -0.9995776319673901, + 0.028855223868669955 + ], + [ + -0.02338972540530354, + 0.0287667346071393, + 0.9993124615081647 + ], + [ + -0.9997204544368945, + -0.0041270631819024794, + -0.023280471000004077 + ] + ], + "t": [ + 0.03416419479862187, + -0.08682200219228882, + 0.33429322289826396 + ] + } + }, + { + "name": "wrist", + "intrinsics": { + "K": [ + [ + 617.2500342478374, + 0.0, + 320.0 + ], + [ + 0.0, + 617.548655622722, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 54.807019583348044, + "resolution": [ + 640, + 480 + ] + }, + "pos_robot": [ + 3.832261328085738, + -1.8015851443379785, + -0.3140198469052513 + ], + "viewpoint": "front-right, at table height", + "extrinsics": { + "R": [ + [ + 0.017356943317221596, + -0.9998337334638687, + 0.005589449560045617 + ], + [ + -0.9382601518788614, + -0.014355819960515381, + 0.34563246061317376 + ], + [ + -0.3454947523696107, + -0.011243480820582297, + -0.9383533237667454 + ] + ], + "t": [ + 0.006333551580298355, + -0.08611861262827436, + 0.017148138726427706 + ] + } + } + ], + "robots": [ + { + "name": "Go2Plus", + "model": "go2plus", + "type": "mobilemanip", + "noun": "Unitree Go2 EDU quadruped with a Piper arm", + "arms": 1, + "arm_layout": null, + "mobile": true, + "dexterous": false, + "base_pose": { + "pos": [ + -3.54231, + -2.41628, + 0.45 + ], + "ori": [ + 0.8679872751235962, + 0.0, + 0.0, + 0.496586412191391 + ] + }, + "facing_yaw_deg": 59.54882889661187, + "gripper": "parallel gripper" + } + ], + "lighting": [], + "background": { + "name": null, + "kind": "background", + "type": "dome", + "pose": null, + "setting": null, + "time_of_day": null, + "indoor": false, + "intensity": 814.51721, + "ambient": "dim" + }, + "effects": [], + "caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a medium shim board and a small wedge. The gray table A is to the left of the wedge. The gray table B is behind the shim board. The shim board is on top of the gray table B. The shim board is in front of the gray table B. The wedge is on top of the gray table A. The wedge is to the right of the gray table A. The scene is viewed from front-right, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n [shim board]\n\n\n[[wedge]]\n\n\n\n\n [robot]" + }, + "task": { + "task_type": "StationAssembly", + "instruction": "Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.", + "template_id": -1, + "slots": { + "obj": 1.5707963267948966, + "support": null + }, + "generic_instruction": "Stationassembly the 1.5707963267948966.", + "task_id": "N025", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_0552": { + "frame_idx": 552, + "caption": "Computing a grasp pose for the small wedge; the right gripper is below and to the left of and in front of the wedge.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "NavTo", + "planner_state": "finished", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0603": { + "frame_idx": 603, + "caption": "Working on the small wedge; the right gripper is below and to the left of and in front of the wedge.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_1236": { + "frame_idx": 1236, + "caption": "Computing a grasp pose for the small wedge; the right gripper is below and to the left of and in front of the wedge.", + "skill": "ReachStance", + "phase": "verify", + "skill_state": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_1321": { + "frame_idx": 1321, + "caption": "Working on the small wedge; the right gripper is below and to the left of and in front of the wedge.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_1451": { + "frame_idx": 1451, + "caption": "Computing a grasp pose for the small wedge; the right gripper is below and to the left of and in front of the wedge.", + "skill": "ReachStance", + "phase": "verify", + "skill_state": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_1528": { + "frame_idx": 1528, + "caption": "Working on the small wedge; the right gripper is below and to the left of and in front of the wedge.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_1568": { + "frame_idx": 1568, + "caption": "Working on the small wedge; the right gripper is below and in front of the wedge.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "in_front_of" + ] + }, + "frame_1573": { + "frame_idx": 1573, + "caption": "Working on the small wedge; the right gripper is below the wedge.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_2497": { + "frame_idx": 2497, + "caption": "The skill for the small wedge could not be planned; the right gripper is below the wedge.", + "skill": "Grasp", + "phase": "grasp", + "skill_state": "failed", + "planner": "AssemblyServoL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_2498": { + "frame_idx": 2498, + "caption": "Computing a grasp pose for the small wedge; the right gripper is below the wedge.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "computing", + "planner": "AssemblyServoL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_2505": { + "frame_idx": 2505, + "caption": "Working on the small wedge; the right gripper is below the wedge.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_2960": { + "frame_idx": 2960, + "caption": "Done — the small wedge is grasped; the right gripper is below the wedge.", + "skill": "Grasp", + "phase": "completed", + "skill_state": "finished", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_2961": { + "frame_idx": 2961, + "caption": "Working on the small wedge; the right gripper is below the wedge.", + "skill": "CarryPose", + "phase": null, + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_3003": { + "frame_idx": 3003, + "caption": "Working on the small wedge; the right gripper is below and in front of the wedge.", + "skill": "CarryPose", + "phase": null, + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "in_front_of" + ] + }, + "frame_3016": { + "frame_idx": 3016, + "caption": "Working on the small wedge; the right gripper is below and to the left of and in front of the wedge.", + "skill": "CarryPose", + "phase": null, + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_3756": { + "frame_idx": 3756, + "caption": "Computing a grasp pose for the medium shim board; the right gripper is below and to the left of and in front of the shim board.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "NavTo", + "planner_state": "finished", + "target": "shim_board_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_4105": { + "frame_idx": 4105, + "caption": "Working on the medium shim board; the right gripper is below and to the left of and in front of the shim board.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "shim_board_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_5831": { + "frame_idx": 5831, + "caption": "Computing a grasp pose for the medium shim board; the right gripper is below and to the left of and in front of the shim board.", + "skill": "ReachStance", + "phase": "verify", + "skill_state": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "shim_board_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_5899": { + "frame_idx": 5899, + "caption": "Working on the small wedge; the right gripper is below and to the left of and behind the wedge.", + "skill": "AssemblyInsert", + "phase": "wp:pre_insert", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "behind" + ] + } + } + }, + "depth_range": [ + 0.1, + 20.0 + ], + "annotation_sidecar": null, + "annotation_sidecar_keys": [], + "terminated": true, + "truncated": false +} \ No newline at end of file diff --git a/N025/go2_arm/dr_on/seed_2015/stationassembly/000/lerobot_v21/meta/info.json b/N025/go2_arm/dr_on/seed_2015/stationassembly/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..82d3a7744efbac7f872582fa20b1fc2b9caa9f72 --- /dev/null +++ b/N025/go2_arm/dr_on/seed_2015/stationassembly/000/lerobot_v21/meta/info.json @@ -0,0 +1,296 @@ +{ + "codebase_version": "v2.1", + "robot_type": "Go2PlusCfg", + "total_episodes": 1, + "total_frames": 3150, + "total_tasks": 1, + "total_videos": 2, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 25, + "splits": { + "train": "0:1" + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", + "features": { + "action": { + "dtype": "float32", + "shape": [ + 12 + ], + "names": [ + "base_action_0", + "base_action_1", + "base_action_2", + "base_action_3", + "eef0.pos_x", + "eef0.pos_y", + "eef0.pos_z", + "eef0.quat_w", + "eef0.quat_x", + "eef0.quat_y", + "eef0.quat_z", + "gripper" + ] + }, + "action_is_hold": { + "dtype": "bool", + "shape": [ + 12 + ], + "names": null + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 26 + ], + "names": [ + "joint_0", + "joint_1", + "joint_2", + "joint_3", + "joint_4", + "joint_5", + "joint_6", + "joint_7", + "joint_8", + "joint_9", + "joint_10", + "joint_11", + "joint_12", + "joint_13", + "joint_14", + "joint_15", + "joint_16", + "joint_17", + "joint_18", + "joint_19", + "joint_20", + "joint_21", + "joint_22", + "joint_23", + "gripper_0", + "gripper_1" + ] + }, + "observation.joint_vel": { + "dtype": "float32", + "shape": [ + 20 + ], + "names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ] + }, + "observation.eef_pose": { + "dtype": "float32", + "shape": [ + 7 + ], + "names": null + }, + "observation.environment_state": { + "dtype": "float32", + "shape": [ + 30 + ], + "names": [ + "articulation_joint_pos.shim_board.0", + "articulation_joint_vel.shim_board.0", + "articulation_pose.shim_board.0", + "articulation_pose.shim_board.1", + "articulation_pose.shim_board.2", + "articulation_pose.shim_board.3", + "articulation_pose.shim_board.4", + "articulation_pose.shim_board.5", + "articulation_pose.shim_board.6", + "object_pose.table_A.0", + "object_pose.table_A.1", + "object_pose.table_A.2", + "object_pose.table_A.3", + "object_pose.table_A.4", + "object_pose.table_A.5", + "object_pose.table_A.6", + "object_pose.table_B.0", + "object_pose.table_B.1", + "object_pose.table_B.2", + "object_pose.table_B.3", + "object_pose.table_B.4", + "object_pose.table_B.5", + "object_pose.table_B.6", + "object_pose.wedge.0", + "object_pose.wedge.1", + "object_pose.wedge.2", + "object_pose.wedge.3", + "object_pose.wedge.4", + "object_pose.wedge.5", + "object_pose.wedge.6" + ] + }, + "action.command": { + "dtype": "float32", + "shape": [ + 1008 + ], + "names": null + }, + "action.applied": { + "dtype": "float32", + "shape": [ + 20 + ], + "names": null + }, + "narration": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "collect_info": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "extra.reward": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "extra.action_info": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "next.truncated": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "sim_step_idx": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "next.done": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "observation.images.head": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25, + "video.codec": "libsvtav1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.wrist": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25, + "video.codec": "libsvtav1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + } + } +} \ No newline at end of file diff --git a/N025/go2_arm/dr_on/seed_2015/stationassembly/000/lerobot_v21/meta/magicsim_manifest.json b/N025/go2_arm/dr_on/seed_2015/stationassembly/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..250ecb54c0f49b8cd318a4fd8bd600e4c9f01858 --- /dev/null +++ b/N025/go2_arm/dr_on/seed_2015/stationassembly/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,290 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 03:14:27" + }, + "embodiment": { + "robots": [ + { + "name": "Go2Plus", + "cfg": "Go2PlusCfg", + "type": "mobilemanip", + "joint_names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 12, + "nan_policy": "from_raw", + "segments": [ + { + "name": "Go2Plus.base_action", + "start": 0, + "end": 4, + "names": [ + "base_action_0", + "base_action_1", + "base_action_2", + "base_action_3" + ], + "source": "Go2UnifiedLocomotionAction", + "names_source": "fallback" + }, + { + "name": "Go2Plus.arm_action", + "start": 4, + "end": 11, + "names": [ + "eef0.pos_x", + "eef0.pos_y", + "eef0.pos_z", + "eef0.quat_w", + "eef0.quat_x", + "eef0.quat_y", + "eef0.quat_z" + ], + "source": "Go2PlusCuroboIKAction", + "names_source": "pose_layout" + }, + { + "name": "Go2Plus.eef_action", + "start": 11, + "end": 12, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 26, + "segments": [ + { + "name": "Go2Plus.joint_pos", + "start": 0, + "end": 24, + "names": [ + "joint_0", + "joint_1", + "joint_2", + "joint_3", + "joint_4", + "joint_5", + "joint_6", + "joint_7", + "joint_8", + "joint_9", + "joint_10", + "joint_11", + "joint_12", + "joint_13", + "joint_14", + "joint_15", + "joint_16", + "joint_17", + "joint_18", + "joint_19", + "joint_20", + "joint_21", + "joint_22", + "joint_23" + ], + "source": "ObservationManager", + "names_source": "fallback_dim_mismatch(joint_names=20,obs=24)" + }, + { + "name": "Go2Plus.gripper_pos", + "start": 24, + "end": 26, + "names": [ + "gripper_0", + "gripper_1" + ], + "source": "ObservationManager", + "names_source": "generated" + } + ] + }, + "joint_vel_layout": { + "dim": 20, + "segments": [ + { + "name": "Go2Plus.joint_vel", + "start": 0, + "end": 20, + "names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "action_levels": { + "L0": "task command list (collect.auto_collect_info.current_action)", + "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)", + "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)", + "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy", + "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)" + }, + "cameras": { + "head": { + "intrinsics": { + "K": [ + [ + 607.7061061683956, + 0.0, + 320.0 + ], + [ + 0.0, + 607.3754374751866, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 55.53991912549515, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.33205100893974304, + 0.038026999682188034, + 0.09355899691581726 + ], + "quat": [ + -0.5022302269935608, + -0.499491810798645, + 0.5120040774345398, + 0.4859265089035034 + ] + }, + "wrist": { + "intrinsics": { + "K": [ + [ + 617.2500342478374, + 0.0, + 320.0 + ], + [ + 0.0, + 617.548655622722, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 54.807019583348044, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + -0.0749870017170906, + 0.005288999993354082, + 0.04582099989056587 + ], + "quat": [ + 0.1271296590566635, + 0.701795220375061, + -0.6904057860374451, + -0.12108422070741653 + ] + } + }, + "lerobot": { + "codebase_version": "v2.1", + "video_keys": [ + "observation.images.head", + "observation.images.wrist" + ], + "columns": [ + "action", + "action.applied", + "action.command", + "action_is_hold", + "collect_info", + "episode_index", + "extra.action_info", + "extra.reward", + "frame_index", + "index", + "narration", + "next.done", + "next.truncated", + "observation.eef_pose", + "observation.environment_state", + "observation.images.head", + "observation.images.wrist", + "observation.joint_vel", + "observation.state", + "sim_step_idx", + "task_index", + "timestamp" + ] + }, + "generated_run": { + "run_id": "stationassembly/000", + "task_type": "StationAssembly" + } +} \ No newline at end of file diff --git a/N025/go2_arm/dr_on/seed_2015/stationassembly/000/lerobot_v21/meta/stats.json b/N025/go2_arm/dr_on/seed_2015/stationassembly/000/lerobot_v21/meta/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..ff20e686e8595dd12b1dc6a269a7e507c0b81cd9 --- /dev/null +++ b/N025/go2_arm/dr_on/seed_2015/stationassembly/000/lerobot_v21/meta/stats.json @@ -0,0 +1,4945 @@ +{ + "action": { + "mean": [ + 0.10608086909803133, + -0.002245107645848914, + 0.09309901545777739, + 0.36280316851441824, + -0.596098054004094, + 1.5770725414819187, + 0.7747283316793896, + 0.2135722982942585, + -0.5111687693283672, + 0.6220849169267431, + 0.17808880498963556, + 0.552063492063492 + ], + "std": [ + 0.12200914978210581, + 0.017041759111017348, + 0.2589159149423106, + 0.022778066037398025, + 1.5752116724830243, + 0.9348382611775665, + 0.1610552381900073, + 0.2024586884650825, + 0.32476620409661483, + 0.2834438140116363, + 0.21813975438139024, + 0.4972820052989677 + ], + "min": [ + 0.0, + -0.2199999839067459, + -0.800000011920929, + 0.3400000035762787, + -3.359178304672241, + -2.0946500301361084, + 0.5660436153411865, + -0.0216550063341856, + -0.8516642451286316, + -0.7332175374031067, + -0.5894299149513245, + 0.0 + ], + "max": [ + 0.3499999940395355, + 0.03424065560102463, + 0.800000011920929, + 0.38999998569488525, + 1.2832772731781006, + 2.8969485759735107, + 1.0808382034301758, + 0.5952487587928772, + 0.8730600476264954, + 0.858812153339386, + 0.5898195505142212, + 1.0 + ], + "count": [ + 3150 + ] + }, + "action_is_hold": { + "mean": [ + 0.10666666666666667, + 0.10666666666666667, + 0.10666666666666667, + 0.10666666666666667, + 0.1292063492063492, + 0.1292063492063492, + 0.1292063492063492, + 0.1292063492063492, + 0.1292063492063492, + 0.1292063492063492, + 0.1292063492063492, + 0.9631746031746031 + ], + "std": [ + 0.3086889840744124, + 0.3086889840744124, + 0.3086889840744124, + 0.3086889840744124, + 0.33542818684647085, + 0.33542818684647085, + 0.33542818684647085, + 0.33542818684647085, + 0.33542818684647085, + 0.33542818684647085, + 0.33542818684647085, + 0.18833291526986548 + ], + "min": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "max": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "count": [ + 3150 + ] + }, + "observation.state": { + "mean": [ + -0.00905991773583176, + 0.0010234985117015655, + -0.02307721155415204, + 0.07543918511775065, + -0.09270370779742404, + 0.659960411588351, + 0.6398714670302376, + 0.7877186086064293, + 0.778892161524485, + 1.647559776419685, + -1.3209564198766437, + -1.322716689942375, + -1.3181281800875588, + -1.3588544260887874, + -1.4790724361321284, + 0.012951363351106188, + 0.8346238533845024, + -0.025612784328272704, + 0.023683224704471373, + -0.02399389660695479, + -0.6386689284774992, + 1.231181939872987, + 1.4431933454753432, + 0.3879822213214541, + -0.02399389660695479, + -0.023683224704471373 + ], + "std": [ + 0.034415157807011806, + 0.03246466344845656, + 0.04060918960871949, + 0.043903905843618175, + 0.45758436928441104, + 0.09742494918674546, + 0.09987070984085165, + 0.10285830561014865, + 0.10457982025449504, + 0.7227485638922596, + 0.1318231077993385, + 0.12809644422363753, + 0.14638134913580733, + 0.15824723516754952, + 0.4805272115328399, + 0.15833593819103745, + 0.24267908323382562, + 0.17080404337896815, + 0.010182548361365937, + 0.009867644658009664, + 1.6270794185774222, + 0.9732349197345469, + 0.8504972068701907, + 0.01737462838734798, + 0.009867644658009664, + 0.010182548361365937 + ], + "min": [ + -0.22334106266498566, + -0.13600893318653107, + -0.24349570274353027, + -0.1586351841688156, + -1.9852012395858765, + 0.49152740836143494, + 0.48079347610473633, + 0.658355176448822, + 0.6168252229690552, + 0.7011715173721313, + -1.567995309829712, + -1.5944031476974487, + -1.6291117668151855, + -1.6660537719726562, + -2.3962669372558594, + -0.830300509929657, + 0.5018386244773865, + -0.7187497019767761, + 0.014345038682222366, + -0.03500000014901161, + -3.5469841957092285, + -2.4208762645721436, + -3.111375570297241, + 0.35306382179260254, + -0.03500000014901161, + -0.03500000014901161 + ], + "max": [ + 0.15317894518375397, + 0.19338883459568024, + 0.2241421341896057, + 0.2504477798938751, + 1.0629247426986694, + 0.9121396541595459, + 0.917162299156189, + 1.056289553642273, + 1.0278043746948242, + 2.770322561264038, + -1.114890456199646, + -1.1404719352722168, + -1.1196000576019287, + -1.121931552886963, + -0.8693286180496216, + 0.8254373073577881, + 1.217090129852295, + 0.8181875348091125, + 0.03500000014901161, + -0.014736359007656574, + 1.2173548936843872, + 2.4753682613372803, + 3.1366519927978516, + 0.41002482175827026, + -0.014736359007656574, + -0.014345038682222366 + ], + "count": [ + 3150 + ] + }, + "observation.joint_vel": { + "mean": [ + -4.534517245672991e-05, + 0.0028094472928482683, + -0.002516269249802477, + -0.008266489185891896, + -0.012766015753292618, + 0.008912353424286324, + 0.0008170129427480066, + 0.0003743598316479678, + 0.008602335245400139, + 0.008749887658111494, + 0.0011924042110654732, + 0.008569939815028597, + 0.010298198803608275, + -0.004062646611216353, + -0.009011871166783546, + 0.0012636986167709682, + -0.0006602994125107273, + -0.06269966726568457, + -0.0006857776669950979, + -0.011867852161043134 + ], + "std": [ + 0.3718127382343017, + 0.3462728628902602, + 0.38690758711093975, + 0.48755989847608444, + 0.22547665589394048, + 0.7388096548098847, + 0.7460484937385509, + 0.6794564674819462, + 0.5507808857786055, + 0.16605719699391613, + 0.4585354636901233, + 0.7378068260079998, + 0.7599326862886092, + 0.7018904587220516, + 0.16607412762157733, + 0.21711807707718575, + 0.1384075837682099, + 0.21508932535656505, + 0.007918339338692775, + 0.01335848097808898 + ], + "min": [ + -2.628739595413208, + -3.9000282287597656, + -2.7509360313415527, + -5.977188587188721, + -2.9905667304992676, + -4.95957088470459, + -4.805860996246338, + -3.4594061374664307, + -3.6055352687835693, + -0.9535468220710754, + -3.893068313598633, + -4.554554462432861, + -4.54827880859375, + -5.510549068450928, + -2.298624038696289, + -2.6626760959625244, + -1.559412956237793, + -2.9992992877960205, + -0.2000928521156311, + -0.2000652402639389 + ], + "max": [ + 4.196052074432373, + 2.3627912998199463, + 6.124467372894287, + 3.2442033290863037, + 2.5547473430633545, + 2.2987093925476074, + 2.360488176345825, + 3.9113519191741943, + 4.979971408843994, + 1.6810024976730347, + 3.1185457706451416, + 4.029915809631348, + 3.7781291007995605, + 3.707153081893921, + 1.552850604057312, + 2.990584135055542, + 1.9187602996826172, + 2.3354697227478027, + 0.20001696050167084, + 0.20035596191883087 + ], + "count": [ + 3150 + ] + }, + "observation.eef_pose": { + "mean": [ + -0.6003266249372372, + 1.5666033026954485, + 0.7745467974647643, + -0.009998908323782777, + -0.13652277138498095, + 0.26005736735368534, + -0.07548276483066499 + ], + "std": [ + 1.5733588681986606, + 0.9355466605181797, + 0.16156429332458166, + 0.28843837567295655, + 0.5972526545461484, + 0.6256538326609167, + 0.27673804674572233 + ], + "min": [ + -3.359208822250366, + -2.094707489013672, + 0.5659364461898804, + -0.5959742069244385, + -0.867098331451416, + -0.8063135743141174, + -0.5908277034759521 + ], + "max": [ + 1.2867975234985352, + 2.8969485759735107, + 1.0791395902633667, + 0.5955257415771484, + 0.8734055161476135, + 0.8588122129440308, + 0.5973538756370544 + ], + "count": [ + 3150 + ] + }, + "observation.environment_state": { + "mean": [ + 0.051032414284963454, + -0.0005325673544124423, + 1.2662700414657593, + 3.1942598819732666, + 0.4300000071525574, + -0.6859574913978577, + -9.313225191043273e-10, + 1.420995979432887e-25, + 0.7276415824890137, + -2.0, + 1.5, + 0.23000000417232513, + 1.0, + 0.0, + 0.0, + 0.0, + 1.2000000476837158, + 3.0, + 0.23000000417232513, + 1.0, + 0.0, + 0.0, + 0.0, + -0.5449956533885635, + 1.8263252455658383, + 0.6582250722627792, + 0.6365714663287029, + 0.16494845884838097, + -0.16660961022852677, + 0.5973422136932375 + ], + "std": [ + 0.007672974022793588, + 0.010413706842522763, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.498691265191489, + 0.6174369372063586, + 0.23646601496361816, + 0.20758073840769034, + 0.21607588162951794, + 0.22133442806948894, + 0.21029693370303743 + ], + "min": [ + 0.005485568195581436, + -0.18647608160972595, + 1.2662700414657593, + 3.1942598819732666, + 0.4300000071525574, + -0.6859574913978577, + -9.313225191043273e-10, + 1.420995979432887e-25, + 0.7276415824890137, + -2.0, + 1.5, + 0.23000000417232513, + 1.0, + 0.0, + 0.0, + 0.0, + 1.2000000476837158, + 3.0, + 0.23000000417232513, + 1.0, + 0.0, + 0.0, + 0.0, + -2.010220766067505, + 0.8242747187614441, + 0.4300000071525574, + -0.5799700021743774, + -0.39065632224082947, + -0.5772976279258728, + -0.5704062581062317 + ], + "max": [ + 0.05235988274216652, + 0.006733062211424112, + 1.2662700414657593, + 3.1942598819732666, + 0.4300000071525574, + -0.6859574913978577, + -9.313225191043273e-10, + 1.420995979432887e-25, + 0.7276415824890137, + -2.0, + 1.5, + 0.23000000417232513, + 1.0, + 0.0, + 0.0, + 0.0, + 1.2000000476837158, + 3.0, + 0.23000000417232513, + 1.0, + 0.0, + 0.0, + 0.0, + 1.4242234230041504, + 2.9085025787353516, + 1.0448627471923828, + 0.8202518820762634, + 0.5781652927398682, + 0.41275736689567566, + 0.8839028477668762 + ], + "count": [ + 3150 + ] + }, + "action.command": { + "mean": [ + -0.7822206125844444, + 0.9620302043183748, + 0.7447206495930395, + 0.6401274487364992, + 0.0, + 0.0, + 0.7340052207071618, + 0.1068173532628509, + -0.680203700930456, + 1.5615222393608077, + 0.7696522716575411, + 0.2104441641788825, + -0.5201971249677297, + 0.6191688474234448, + 0.18535183395041022, + 0.25862068965517243, + -2.7480395073866726, + -0.8605970282051432, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3374609743530428, + 0.3563806062916815, + 0.8287085692087809, + 0.35562479690690735, + -0.3156533728242919, + 0.8127923681708037, + 0.09924323911118747, + 0.0, + -2.7043056757605854, + -0.8446932518901538, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3374609743530428, + 0.3563806062916815, + 0.8287085692087809, + 0.35562479690690735, + -0.3156533728242919, + 0.8127923681708037, + 0.09924323911118747, + 0.0, + -2.6668438689792575, + -0.799262060591923, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3374609743530428, + 0.3563806062916815, + 0.8287085692087809, + 0.35562479690690735, + -0.3156533728242919, + 0.8127923681708037, + 0.09924323911118747, + 0.0, + -2.6165230004631694, + -0.7825290794348597, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3374609743530428, + 0.3563806062916815, + 0.8287085692087809, + 0.35562479690690735, + -0.3156533728242919, + 0.8127923681708037, + 0.09924323911118747, + 0.0, + -2.5850345854783177, + -0.736896497819891, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3374609743530428, + 0.3563806062916815, + 0.8287085692087809, + 0.35562479690690735, + -0.3156533728242919, + 0.8127923681708037, + 0.09924323911118747, + 0.0, + -2.5794883091845104, + -0.7309122322192744, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3374609743530428, + 0.3563806062916815, + 0.8287085692087809, + 0.35562479690690735, + -0.3156533728242919, + 0.8127923681708037, + 0.09924323911118747, + 0.0, + -2.5023657508830928, + -0.6738077665693197, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3374609743530428, + 0.3563806062916815, + 0.8287085692087809, + 0.35562479690690735, + -0.3156533728242919, + 0.8127923681708037, + 0.09924323911118747, + 0.0, + -2.4781264156552414, + -0.6606903163032916, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3374609743530428, + 0.3563806062916815, + 0.8287085692087809, + 0.35562479690690735, + -0.3156533728242919, + 0.8127923681708037, + 0.09924323911118747, + 0.0, + -2.420302170604917, + -0.6107608717889642, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3374609743530428, + 0.3563806062916815, + 0.8287085692087809, + 0.35562479690690735, + -0.3156533728242919, + 0.8127923681708037, + 0.09924323911118747, + 0.0, + -2.380579098984225, + -0.5915401464131609, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3374609743530428, + 0.3563806062916815, + 0.8287085692087809, + 0.35562479690690735, + -0.3156533728242919, + 0.8127923681708037, + 0.09924323911118747, + 0.0, + -2.339964354457568, + -0.5481552385804641, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3374609743530428, + 0.3563806062916815, + 0.8287085692087809, + 0.35562479690690735, + -0.3156533728242919, + 0.8127923681708037, + 0.09924323911118747, + 0.0, + -2.281940553056535, + -0.5217953090691686, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3374609743530428, + 0.3563806062916815, + 0.8287085692087809, + 0.35562479690690735, + -0.3156533728242919, + 0.8127923681708037, + 0.09924323911118747, + 0.0, + -2.2629595521706434, + -0.4864263226039446, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3374609743530428, + 0.3563806062916815, + 0.8287085692087809, + 0.35562479690690735, + -0.3156533728242919, + 0.8127923681708037, + 0.09924323911118747, + 0.0, + -2.2535288609451984, + -0.47076763489737583, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3374609743530428, + 0.3563806062916815, + 0.8287085692087809, + 0.35562479690690735, + -0.3156533728242919, + 0.8127923681708037, + 0.09924323911118747, + 0.0, + -2.1878673257540218, + -0.4252000717661489, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3374609743530428, + 0.3563806062916815, + 0.8287085692087809, + 0.35562479690690735, + -0.3156533728242919, + 0.8127923681708037, + 0.09924323911118747, + 0.0, + -2.156259103636047, + -0.40143961283429785, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3374609743530428, + 0.3563806062916815, + 0.8287085692087809, + 0.35562479690690735, + -0.3156533728242919, + 0.8127923681708037, + 0.09924323911118747, + 0.0, + -2.110481802542605, + -0.3633708792116175, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3374609743530428, + 0.3563806062916815, + 0.8287085692087809, + 0.35562479690690735, + -0.3156533728242919, + 0.8127923681708037, + 0.09924323911118747, + 0.0, + -2.049402694606302, + -0.32972938930568985, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3374609743530428, + 0.3563806062916815, + 0.8287085692087809, + 0.35562479690690735, + -0.3156533728242919, + 0.8127923681708037, + 0.09924323911118747, + 0.0, + -2.0278857970357542, + -0.3001717778306511, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3374609743530428, + 0.3563806062916815, + 0.8287085692087809, + 0.35562479690690735, + -0.3156533728242919, + 0.8127923681708037, + 0.09924323911118747, + 0.0, + -1.998083512387683, + -0.27254017423744775, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3374609743530428, + 0.3563806062916815, + 0.8287085692087809, + 0.35562479690690735, + -0.3156533728242919, + 0.8127923681708037, + 0.09924323911118747, + 0.0, + -1.9456808360377749, + -0.2370753875329866, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3374609743530428, + 0.3563806062916815, + 0.8287085692087809, + 0.35562479690690735, + -0.3156533728242919, + 0.8127923681708037, + 0.09924323911118747, + 0.0, + -1.9154220472029106, + -0.20713488061224397, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3374609743530428, + 0.3563806062916815, + 0.8287085692087809, + 0.35562479690690735, + -0.3156533728242919, + 0.8127923681708037, + 0.09924323911118747, + 0.0, + -1.8634186360105198, + -0.1739640996683782, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3374609743530428, + 0.3563806062916815, + 0.8287085692087809, + 0.35562479690690735, + -0.3156533728242919, + 0.8127923681708037, + 0.09924323911118747, + 0.0, + -1.8109575072724615, + -0.13602877801387153, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3374609743530428, + 0.3563806062916815, + 0.8287085692087809, + 0.35562479690690735, + -0.3156533728242919, + 0.8127923681708037, + 0.09924323911118747, + 0.0, + -1.7817264867188343, + -0.11100250632319618, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3374609743530428, + 0.3563806062916815, + 0.8287085692087809, + 0.35562479690690735, + -0.3156533728242919, + 0.8127923681708037, + 0.09924323911118747, + 0.0, + -1.7135805424733377, + -0.06669727821445945, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3374609743530428, + 0.3563806062916815, + 0.8287085692087809, + 0.35562479690690735, + -0.3156533728242919, + 0.8127923681708037, + 0.09924323911118747, + 0.0, + -1.7006607439050723, + -0.048205689569214484, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3374609743530428, + 0.3563806062916815, + 0.8287085692087809, + 0.35562479690690735, + -0.3156533728242919, + 0.8127923681708037, + 0.09924323911118747, + 0.0, + -1.6821355888591938, + -0.014847323223574078, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3374609743530428, + 0.3563806062916815, + 0.8287085692087809, + 0.35562479690690735, + -0.3156533728242919, + 0.8127923681708037, + 0.09924323911118747, + 0.0, + -1.6195878721960826, + 0.014592953962297296, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3374609743530428, + 0.3563806062916815, + 0.8287085692087809, + 0.35562479690690735, + -0.3156533728242919, + 0.8127923681708037, + 0.09924323911118747, + 0.0, + -1.5795510047344705, + 0.055910146116611346, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3374609743530428, + 0.3563806062916815, + 0.8287085692087809, + 0.35562479690690735, + -0.3156533728242919, + 0.8127923681708037, + 0.09924323911118747, + 0.0, + -1.5385175964341091, + 0.07739094753361228, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3374609743530428, + 0.3563806062916815, + 0.8287085692087809, + 0.35562479690690735, + -0.3156533728242919, + 0.8127923681708037, + 0.09924323911118747, + 0.0, + -1.4771225434451847, + 0.12636705858623562, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3374609743530428, + 0.3563806062916815, + 0.8287085692087809, + 0.35562479690690735, + -0.3156533728242919, + 0.8127923681708037, + 0.09924323911118747, + 0.0, + -1.4574474308958005, + 0.14018900070957202, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3374609743530428, + 0.3563806062916815, + 0.8287085692087809, + 0.35562479690690735, + -0.3156533728242919, + 0.8127923681708037, + 0.09924323911118747, + 0.0, + -1.3959325653823775, + 0.1915561931217136, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3374609743530428, + 0.3563806062916815, + 0.8287085692087809, + 0.35562479690690735, + -0.3156533728242919, + 0.8127923681708037, + 0.09924323911118747, + 0.0, + -1.376428393038673, + 0.20297351075177217, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3374609743530428, + 0.3563806062916815, + 0.8287085692087809, + 0.35562479690690735, + -0.3156533728242919, + 0.8127923681708037, + 0.09924323911118747, + 0.0, + -1.3484426489726982, + 0.24751123171954897, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3374609743530428, + 0.3563806062916815, + 0.8287085692087809, + 0.35562479690690735, + -0.3156533728242919, + 0.8127923681708037, + 0.09924323911118747, + 0.0, + -1.2955405166625378, + 0.2657236465856658, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3374609743530428, + 0.3563806062916815, + 0.8287085692087809, + 0.35562479690690735, + -0.3156533728242919, + 0.8127923681708037, + 0.09924323911118747, + 0.0, + -1.2461256749141756, + 0.3183121381692551, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3374609743530428, + 0.3563806062916815, + 0.8287085692087809, + 0.35562479690690735, + -0.3156533728242919, + 0.8127923681708037, + 0.09924323911118747, + 0.0, + -1.2146525390764427, + 0.32847367219589463, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3374609743530428, + 0.3563806062916815, + 0.8287085692087809, + 0.35562479690690735, + -0.3156533728242919, + 0.8127923681708037, + 0.09924323911118747, + 0.0, + -1.14469403335497, + 0.38740902330408145, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3374609743530428, + 0.3563806062916815, + 0.8287085692087809, + 0.35562479690690735, + -0.3156533728242919, + 0.8127923681708037, + 0.09924323911118747, + 0.0, + -1.1337646977536042, + 0.391223780473872, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3374609743530428, + 0.3563806062916815, + 0.8287085692087809, + 0.35562479690690735, + -0.3156533728242919, + 0.8127923681708037, + 0.09924323911118747, + 0.0, + -1.1047228215327813, + 0.3989036879946838, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3374609743530428, + 0.3563806062916815, + 0.8287085692087809, + 0.35562479690690735, + -0.3156533728242919, + 0.8127923681708037, + 0.09924323911118747, + 0.0, + -1.0527890919890237, + 0.45399689494664947, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3374609743530428, + 0.3563806062916815, + 0.8287085692087809, + 0.35562479690690735, + -0.3156533728242919, + 0.8127923681708037, + 0.09924323911118747, + 0.0, + -1.041608397834864, + 0.4594207786435458, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3374609743530428, + 0.3563806062916815, + 0.8287085692087809, + 0.35562479690690735, + -0.3156533728242919, + 0.8127923681708037, + 0.09924323911118747, + 0.0, + -0.9717188242392324, + 0.516794906788735, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3374609743530428, + 0.3563806062916815, + 0.8287085692087809, + 0.35562479690690735, + -0.3156533728242919, + 0.8127923681708037, + 0.09924323911118747, + 0.0, + -0.9392283868849577, + 0.5297843086060567, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3374609743530428, + 0.3563806062916815, + 0.8287085692087809, + 0.35562479690690735, + -0.3156533728242919, + 0.8127923681708037, + 0.09924323911118747, + 0.0, + -0.8906485645016234, + 0.5795929324087785, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3374609743530428, + 0.3563806062916815, + 0.8287085692087809, + 0.35562479690690735, + -0.3156533728242919, + 0.8127923681708037, + 0.09924323911118747, + 0.0, + -0.8365950819535471, + 0.6006352407249373, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3374609743530428, + 0.3563806062916815, + 0.8287085692087809, + 0.35562479690690735, + -0.3156533728242919, + 0.8127923681708037, + 0.09924323911118747, + 0.0, + -0.8095782566909215, + 0.6423908904868754, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3374609743530428, + 0.3563806062916815, + 0.8287085692087809, + 0.35562479690690735, + -0.3156533728242919, + 0.8127923681708037, + 0.09924323911118747, + 0.0, + -0.7870646068199196, + 0.6571597804376228, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3374609743530428, + 0.3563806062916815, + 0.8287085692087809, + 0.35562479690690735, + -0.3156533728242919, + 0.8127923681708037, + 0.09924323911118747, + 0.0, + -0.7286344131632666, + 0.7051556366097987, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3374609743530428, + 0.3563806062916815, + 0.8287085692087809, + 0.35562479690690735, + -0.3156533728242919, + 0.8127923681708037, + 0.09924323911118747, + 0.0, + -0.7080539905246178, + 0.7217427439725579, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3374609743530428, + 0.3563806062916815, + 0.8287085692087809, + 0.35562479690690735, + -0.3156533728242919, + 0.8127923681708037, + 0.09924323911118747, + 0.0, + -0.6477465087444938, + 0.76790569924829, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3374609743530428, + 0.3563806062916815, + 0.8287085692087809, + 0.35562479690690735, + -0.3156533728242919, + 0.8127923681708037, + 0.09924323911118747, + 0.0, + -0.6059418320655823, + 0.7921495952797895, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3374609743530428, + 0.3563806062916815, + 0.8287085692087809, + 0.35562479690690735, + -0.3156533728242919, + 0.8127923681708037, + 0.09924323911118747, + 0.0, + -0.566858604325721, + 0.8306557386364769, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3374609743530428, + 0.3563806062916815, + 0.8287085692087809, + 0.35562479690690735, + -0.3156533728242919, + 0.8127923681708037, + 0.09924323911118747, + 0.0, + -0.5037132312904051, + 0.8627805092825962, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3374609743530428, + 0.3563806062916815, + 0.8287085692087809, + 0.35562479690690735, + -0.3156533728242919, + 0.8127923681708037, + 0.09924323911118747, + 0.0, + -0.4859706537807407, + 0.893405784913643, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3374609743530428, + 0.3563806062916815, + 0.8287085692087809, + 0.35562479690690735, + -0.3156533728242919, + 0.8127923681708037, + 0.09924323911118747, + 0.0, + -0.46937703277597476, + 0.9154721049208138, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3374609743530428, + 0.3563806062916815, + 0.8287085692087809, + 0.35562479690690735, + -0.3156533728242919, + 0.8127923681708037, + 0.09924323911118747, + 0.0, + -0.40478882178589326, + 0.9564509158158422, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3374609743530428, + 0.3563806062916815, + 0.8287085692087809, + 0.35562479690690735, + -0.3156533728242919, + 0.8127923681708037, + 0.09924323911118747, + 0.0, + -0.37458632160071753, + 0.9846876530192006, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3374609743530428, + 0.3563806062916815, + 0.8287085692087809, + 0.35562479690690735, + -0.3156533728242919, + 0.8127923681708037, + 0.09924323911118747, + 0.0, + -0.3230633124634249, + 1.0205102997209559, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3374609743530428, + 0.3563806062916815, + 0.8287085692087809, + 0.35562479690690735, + -0.3156533728242919, + 0.8127923681708037, + 0.09924323911118747, + 0.0, + -0.27939695928564023, + 1.0570352125407463, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3374609743530428, + 0.3563806062916815, + 0.8287085692087809, + 0.35562479690690735, + -0.3156533728242919, + 0.8127923681708037, + 0.09924323911118747, + 0.0 + ], + "std": [ + 1.8975802259342547, + 1.6936611544358902, + 0.5723110552909998, + 0.1793683250576095, + 0.0, + 0.0, + 0.1389250541784921, + 1.089789973225693, + 1.567607018231039, + 0.9792291855628633, + 0.15943675799156418, + 0.20088019436077423, + 0.31174316734123547, + 0.2933665087885862, + 0.2092418039810102, + 0.43787672755863133, + 0.8221087712237725, + 1.5831955494326866, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4593398444930783, + 1.0643985931143831, + 0.14462732583821408, + 0.23409146150609147, + 0.20286219004045655, + 0.04834329164358439, + 0.07158231181163971, + 0.0, + 0.8573454506615792, + 1.5877102081240364, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4593398444930783, + 1.0643985931143831, + 0.14462732583821408, + 0.23409146150609147, + 0.20286219004045655, + 0.04834329164358439, + 0.07158231181163971, + 0.0, + 0.8491409138350909, + 1.5471805676684567, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4593398444930783, + 1.0643985931143831, + 0.14462732583821408, + 0.23409146150609147, + 0.20286219004045655, + 0.04834329164358439, + 0.07158231181163971, + 0.0, + 0.8915751810337899, + 1.5545612451824071, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4593398444930783, + 1.0643985931143831, + 0.14462732583821408, + 0.23409146150609147, + 0.20286219004045655, + 0.04834329164358439, + 0.07158231181163971, + 0.0, + 0.8756930587688125, + 1.5101019060581147, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4593398444930783, + 1.0643985931143831, + 0.14462732583821408, + 0.23409146150609147, + 0.20286219004045655, + 0.04834329164358439, + 0.07158231181163971, + 0.0, + 0.875373773538006, + 1.5051369375098733, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4593398444930783, + 1.0643985931143831, + 0.14462732583821408, + 0.23409146150609147, + 0.20286219004045655, + 0.04834329164358439, + 0.07158231181163971, + 0.0, + 0.9024422309810385, + 1.4725389080096194, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4593398444930783, + 1.0643985931143831, + 0.14462732583821408, + 0.23409146150609147, + 0.20286219004045655, + 0.04834329164358439, + 0.07158231181163971, + 0.0, + 0.9167792789980188, + 1.4690354182743044, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4593398444930783, + 1.0643985931143831, + 0.14462732583821408, + 0.23409146150609147, + 0.20286219004045655, + 0.04834329164358439, + 0.07158231181163971, + 0.0, + 0.9284884645438358, + 1.4346645295954672, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4593398444930783, + 1.0643985931143831, + 0.14462732583821408, + 0.23409146150609147, + 0.20286219004045655, + 0.04834329164358439, + 0.07158231181163971, + 0.0, + 0.9547303583783608, + 1.432099727740437, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4593398444930783, + 1.0643985931143831, + 0.14462732583821408, + 0.23409146150609147, + 0.20286219004045655, + 0.04834329164358439, + 0.07158231181163971, + 0.0, + 0.9529194310332983, + 1.396352025515097, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4593398444930783, + 1.0643985931143831, + 0.14462732583821408, + 0.23409146150609147, + 0.20286219004045655, + 0.04834329164358439, + 0.07158231181163971, + 0.0, + 0.9933223261883013, + 1.395000709616414, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4593398444930783, + 1.0643985931143831, + 0.14462732583821408, + 0.23409146150609147, + 0.20286219004045655, + 0.04834329164358439, + 0.07158231181163971, + 0.0, + 0.9742604867670945, + 1.3572274599848817, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4593398444930783, + 1.0643985931143831, + 0.14462732583821408, + 0.23409146150609147, + 0.20286219004045655, + 0.04834329164358439, + 0.07158231181163971, + 0.0, + 0.9670998676237802, + 1.341131846925225, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4593398444930783, + 1.0643985931143831, + 0.14462732583821408, + 0.23409146150609147, + 0.20286219004045655, + 0.04834329164358439, + 0.07158231181163971, + 0.0, + 0.9938276432084743, + 1.317636239951745, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4593398444930783, + 1.0643985931143831, + 0.14462732583821408, + 0.23409146150609147, + 0.20286219004045655, + 0.04834329164358439, + 0.07158231181163971, + 0.0, + 1.0044913657591161, + 1.303778535826506, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4593398444930783, + 1.0643985931143831, + 0.14462732583821408, + 0.23409146150609147, + 0.20286219004045655, + 0.04834329164358439, + 0.07158231181163971, + 0.0, + 1.015521505556215, + 1.2786042148355994, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4593398444930783, + 1.0643985931143831, + 0.14462732583821408, + 0.23409146150609147, + 0.20286219004045655, + 0.04834329164358439, + 0.07158231181163971, + 0.0, + 1.0509391053668122, + 1.2689557028261924, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4593398444930783, + 1.0643985931143831, + 0.14462732583821408, + 0.23409146150609147, + 0.20286219004045655, + 0.04834329164358439, + 0.07158231181163971, + 0.0, + 1.0420468452704443, + 1.2408426739141274, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4593398444930783, + 1.0643985931143831, + 0.14462732583821408, + 0.23409146150609147, + 0.20286219004045655, + 0.04834329164358439, + 0.07158231181163971, + 0.0, + 1.0457909579128668, + 1.2204786416849458, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4593398444930783, + 1.0643985931143831, + 0.14462732583821408, + 0.23409146150609147, + 0.20286219004045655, + 0.04834329164358439, + 0.07158231181163971, + 0.0, + 1.068209363560346, + 1.2029855613897065, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4593398444930783, + 1.0643985931143831, + 0.14462732583821408, + 0.23409146150609147, + 0.20286219004045655, + 0.04834329164358439, + 0.07158231181163971, + 0.0, + 1.069734913385728, + 1.1796776206701751, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4593398444930783, + 1.0643985931143831, + 0.14462732583821408, + 0.23409146150609147, + 0.20286219004045655, + 0.04834329164358439, + 0.07158231181163971, + 0.0, + 1.0944249573735485, + 1.1651425944134717, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4593398444930783, + 1.0643985931143831, + 0.14462732583821408, + 0.23409146150609147, + 0.20286219004045655, + 0.04834329164358439, + 0.07158231181163971, + 0.0, + 1.1139346995310615, + 1.1442370194849891, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4593398444930783, + 1.0643985931143831, + 0.14462732583821408, + 0.23409146150609147, + 0.20286219004045655, + 0.04834329164358439, + 0.07158231181163971, + 0.0, + 1.1201119653341178, + 1.1271604899232146, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4593398444930783, + 1.0643985931143831, + 0.14462732583821408, + 0.23409146150609147, + 0.20286219004045655, + 0.04834329164358439, + 0.07158231181163971, + 0.0, + 1.1514552312174096, + 1.1069443024467416, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4593398444930783, + 1.0643985931143831, + 0.14462732583821408, + 0.23409146150609147, + 0.20286219004045655, + 0.04834329164358439, + 0.07158231181163971, + 0.0, + 1.1452183520326351, + 1.0890258155916481, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4593398444930783, + 1.0643985931143831, + 0.14462732583821408, + 0.23409146150609147, + 0.20286219004045655, + 0.04834329164358439, + 0.07158231181163971, + 0.0, + 1.1280155526509037, + 1.05378042891514, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4593398444930783, + 1.0643985931143831, + 0.14462732583821408, + 0.23409146150609147, + 0.20286219004045655, + 0.04834329164358439, + 0.07158231181163971, + 0.0, + 1.170331128001868, + 1.0508928351597782, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4593398444930783, + 1.0643985931143831, + 0.14462732583821408, + 0.23409146150609147, + 0.20286219004045655, + 0.04834329164358439, + 0.07158231181163971, + 0.0, + 1.170296373340913, + 1.0176781964586552, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4593398444930783, + 1.0643985931143831, + 0.14462732583821408, + 0.23409146150609147, + 0.20286219004045655, + 0.04834329164358439, + 0.07158231181163971, + 0.0, + 1.1954414968505076, + 1.0127591415069768, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4593398444930783, + 1.0643985931143831, + 0.14462732583821408, + 0.23409146150609147, + 0.20286219004045655, + 0.04834329164358439, + 0.07158231181163971, + 0.0, + 1.2127456924727273, + 0.981900033756636, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4593398444930783, + 1.0643985931143831, + 0.14462732583821408, + 0.23409146150609147, + 0.20286219004045655, + 0.04834329164358439, + 0.07158231181163971, + 0.0, + 1.220551984569313, + 0.9746254478541821, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4593398444930783, + 1.0643985931143831, + 0.14462732583821408, + 0.23409146150609147, + 0.20286219004045655, + 0.04834329164358439, + 0.07158231181163971, + 0.0, + 1.235119373225161, + 0.9405020765513191, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4593398444930783, + 1.0643985931143831, + 0.14462732583821408, + 0.23409146150609147, + 0.20286219004045655, + 0.04834329164358439, + 0.07158231181163971, + 0.0, + 1.2456148425036757, + 0.9364793619879402, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4593398444930783, + 1.0643985931143831, + 0.14462732583821408, + 0.23409146150609147, + 0.20286219004045655, + 0.04834329164358439, + 0.07158231181163971, + 0.0, + 1.226694852321878, + 0.8914087628196573, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4593398444930783, + 1.0643985931143831, + 0.14462732583821408, + 0.23409146150609147, + 0.20286219004045655, + 0.04834329164358439, + 0.07158231181163971, + 0.0, + 1.2705563005796852, + 0.8983011811804048, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4593398444930783, + 1.0643985931143831, + 0.14462732583821408, + 0.23409146150609147, + 0.20286219004045655, + 0.04834329164358439, + 0.07158231181163971, + 0.0, + 1.268590240255646, + 0.8550824006898021, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4593398444930783, + 1.0643985931143831, + 0.14462732583821408, + 0.23409146150609147, + 0.20286219004045655, + 0.04834329164358439, + 0.07158231181163971, + 0.0, + 1.2954976314274644, + 0.860123119243015, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4593398444930783, + 1.0643985931143831, + 0.14462732583821408, + 0.23409146150609147, + 0.20286219004045655, + 0.04834329164358439, + 0.07158231181163971, + 0.0, + 1.3114403783991273, + 0.8205938602770991, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4593398444930783, + 1.0643985931143831, + 0.14462732583821408, + 0.23409146150609147, + 0.20286219004045655, + 0.04834329164358439, + 0.07158231181163971, + 0.0, + 1.3204390569998972, + 0.8219449681530111, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4593398444930783, + 1.0643985931143831, + 0.14462732583821408, + 0.23409146150609147, + 0.20286219004045655, + 0.04834329164358439, + 0.07158231181163971, + 0.0, + 1.3473156208691635, + 0.8289644141309374, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4593398444930783, + 1.0643985931143831, + 0.14462732583821408, + 0.23409146150609147, + 0.20286219004045655, + 0.04834329164358439, + 0.07158231181163971, + 0.0, + 1.3454618631221338, + 0.7837882879843966, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4593398444930783, + 1.0643985931143831, + 0.14462732583821408, + 0.23409146150609147, + 0.20286219004045655, + 0.04834329164358439, + 0.07158231181163971, + 0.0, + 1.3528312702597212, + 0.783047028569395, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4593398444930783, + 1.0643985931143831, + 0.14462732583821408, + 0.23409146150609147, + 0.20286219004045655, + 0.04834329164358439, + 0.07158231181163971, + 0.0, + 1.3705722245413796, + 0.7456546389078965, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4593398444930783, + 1.0643985931143831, + 0.14462732583821408, + 0.23409146150609147, + 0.20286219004045655, + 0.04834329164358439, + 0.07158231181163971, + 0.0, + 1.3953329368351308, + 0.7473696380395336, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4593398444930783, + 1.0643985931143831, + 0.14462732583821408, + 0.23409146150609147, + 0.20286219004045655, + 0.04834329164358439, + 0.07158231181163971, + 0.0, + 1.3956825785312514, + 0.7075209749726432, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4593398444930783, + 1.0643985931143831, + 0.14462732583821408, + 0.23409146150609147, + 0.20286219004045655, + 0.04834329164358439, + 0.07158231181163971, + 0.0, + 1.43756143979908, + 0.7111666111227324, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4593398444930783, + 1.0643985931143831, + 0.14462732583821408, + 0.23409146150609147, + 0.20286219004045655, + 0.04834329164358439, + 0.07158231181163971, + 0.0, + 1.4207929770974255, + 0.6693872553169962, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4593398444930783, + 1.0643985931143831, + 0.14462732583821408, + 0.23409146150609147, + 0.20286219004045655, + 0.04834329164358439, + 0.07158231181163971, + 0.0, + 1.430989034748831, + 0.6625246325030388, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4593398444930783, + 1.0643985931143831, + 0.14462732583821408, + 0.23409146150609147, + 0.20286219004045655, + 0.04834329164358439, + 0.07158231181163971, + 0.0, + 1.4457861102577205, + 0.6312227585071399, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4593398444930783, + 1.0643985931143831, + 0.14462732583821408, + 0.23409146150609147, + 0.20286219004045655, + 0.04834329164358439, + 0.07158231181163971, + 0.0, + 1.4513818929901163, + 0.620641607065166, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4593398444930783, + 1.0643985931143831, + 0.14462732583821408, + 0.23409146150609147, + 0.20286219004045655, + 0.04834329164358439, + 0.07158231181163971, + 0.0, + 1.4707275943365608, + 0.5930446566368193, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4593398444930783, + 1.0643985931143831, + 0.14462732583821408, + 0.23409146150609147, + 0.20286219004045655, + 0.04834329164358439, + 0.07158231181163971, + 0.0, + 1.493498123094605, + 0.5847400831472329, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4593398444930783, + 1.0643985931143831, + 0.14462732583821408, + 0.23409146150609147, + 0.20286219004045655, + 0.04834329164358439, + 0.07158231181163971, + 0.0, + 1.4956690784154003, + 0.5548665798406625, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4593398444930783, + 1.0643985931143831, + 0.14462732583821408, + 0.23409146150609147, + 0.20286219004045655, + 0.04834329164358439, + 0.07158231181163971, + 0.0, + 1.5354886480123664, + 0.5485970485107537, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4593398444930783, + 1.0643985931143831, + 0.14462732583821408, + 0.23409146150609147, + 0.20286219004045655, + 0.04834329164358439, + 0.07158231181163971, + 0.0, + 1.520610384189015, + 0.5166884956151242, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4593398444930783, + 1.0643985931143831, + 0.14462732583821408, + 0.23409146150609147, + 0.20286219004045655, + 0.04834329164358439, + 0.07158231181163971, + 0.0, + 1.5146317504115094, + 0.4960244648374338, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4593398444930783, + 1.0643985931143831, + 0.14462732583821408, + 0.23409146150609147, + 0.20286219004045655, + 0.04834329164358439, + 0.07158231181163971, + 0.0, + 1.5455615561853309, + 0.478278057387498, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4593398444930783, + 1.0643985931143831, + 0.14462732583821408, + 0.23409146150609147, + 0.20286219004045655, + 0.04834329164358439, + 0.07158231181163971, + 0.0, + 1.54907345598395, + 0.4573139389086988, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4593398444930783, + 1.0643985931143831, + 0.14462732583821408, + 0.23409146150609147, + 0.20286219004045655, + 0.04834329164358439, + 0.07158231181163971, + 0.0, + 1.5699654202799305, + 0.43878408799823543, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4593398444930783, + 1.0643985931143831, + 0.14462732583821408, + 0.23409146150609147, + 0.20286219004045655, + 0.04834329164358439, + 0.07158231181163971, + 0.0, + 1.595448209317734, + 0.4237909361720682, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4593398444930783, + 1.0643985931143831, + 0.14462732583821408, + 0.23409146150609147, + 0.20286219004045655, + 0.04834329164358439, + 0.07158231181163971, + 0.0 + ], + "min": [ + -3.6702070236206055, + -2.636451244354248, + 0.3400000035762787, + -0.010460706427693367, + 0.0, + 0.0, + -0.9999452829360962, + -1.0, + -3.359178304672241, + -2.0946500301361084, + 0.5660436153411865, + -0.0216550063341856, + -0.8516642451286316, + -0.7332175374031067, + -0.5894299149513245, + 0.0, + -3.634638547897339, + -2.567986249923706, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.359178304672241, + -2.0946500301361084, + 0.6496888399124146, + 0.0975959300994873, + -0.5812102556228638, + 0.5975660085678101, + 0.06057226285338402, + 0.0, + -3.6289055347442627, + -2.5569512844085693, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.359178304672241, + -2.0946500301361084, + 0.6496888399124146, + 0.0975959300994873, + -0.5812102556228638, + 0.5975660085678101, + 0.06057226285338402, + 0.0, + -3.5825955867767334, + -2.467811107635498, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.359178304672241, + -2.0946500301361084, + 0.6496888399124146, + 0.0975959300994873, + -0.5812102556228638, + 0.5975660085678101, + 0.06057226285338402, + 0.0, + -3.578037738800049, + -2.4590377807617188, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.359178304672241, + -2.0946500301361084, + 0.6496888399124146, + 0.0975959300994873, + -0.5812102556228638, + 0.5975660085678101, + 0.06057226285338402, + 0.0, + -3.529421329498291, + -2.3654582500457764, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.359178304672241, + -2.0946500301361084, + 0.6496888399124146, + 0.0975959300994873, + -0.5812102556228638, + 0.5975660085678101, + 0.06057226285338402, + 0.0, + -3.5235307216644287, + -2.3541195392608643, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.359178304672241, + -2.0946500301361084, + 0.6496888399124146, + 0.0975959300994873, + -0.5812102556228638, + 0.5975660085678101, + 0.06057226285338402, + 0.0, + -3.475600004196167, + -2.261859893798828, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.359178304672241, + -2.0946500301361084, + 0.6496888399124146, + 0.0975959300994873, + -0.5812102556228638, + 0.5975660085678101, + 0.06057226285338402, + 0.0, + -3.466822385787964, + -2.244964122772217, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.359178304672241, + -2.0946500301361084, + 0.6496888399124146, + 0.0975959300994873, + -0.5812102556228638, + 0.5975660085678101, + 0.06057226285338402, + 0.0, + -3.421625852584839, + -2.1579675674438477, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.359178304672241, + -2.0946500301361084, + 0.6496888399124146, + 0.0975959300994873, + -0.5812102556228638, + 0.5975660085678101, + 0.06057226285338402, + 0.0, + -3.410203218460083, + -2.1359808444976807, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.359178304672241, + -2.0946500301361084, + 0.6496888399124146, + 0.0975959300994873, + -0.5812102556228638, + 0.5975660085678101, + 0.06057226285338402, + 0.0, + -3.367635488510132, + -2.054044008255005, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.359178304672241, + -2.0946500301361084, + 0.6496888399124146, + 0.0975959300994873, + -0.5812102556228638, + 0.5975660085678101, + 0.06057226285338402, + 0.0, + -3.3531839847564697, + -2.026226758956909, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.359178304672241, + -2.0946500301361084, + 0.6496888399124146, + 0.0975959300994873, + -0.5812102556228638, + 0.5975660085678101, + 0.06057226285338402, + 0.0, + -3.313645839691162, + -1.9501214027404785, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.359178304672241, + -2.0946500301361084, + 0.6496888399124146, + 0.0975959300994873, + -0.5812102556228638, + 0.5975660085678101, + 0.06057226285338402, + 0.0, + -3.2964928150177, + -1.9171044826507568, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.359178304672241, + -2.0946500301361084, + 0.6496888399124146, + 0.0975959300994873, + -0.5812102556228638, + 0.5975660085678101, + 0.06057226285338402, + 0.0, + -3.259655714035034, + -1.8461982011795044, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.359178304672241, + -2.0946500301361084, + 0.6496888399124146, + 0.0975959300994873, + -0.5812102556228638, + 0.5975660085678101, + 0.06057226285338402, + 0.0, + -3.2395477294921875, + -1.807492971420288, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.359178304672241, + -2.0946500301361084, + 0.6496888399124146, + 0.0975959300994873, + -0.5812102556228638, + 0.5975660085678101, + 0.06057226285338402, + 0.0, + -3.2056658267974854, + -1.7422751188278198, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.359178304672241, + -2.0946500301361084, + 0.6496888399124146, + 0.0975959300994873, + -0.5812102556228638, + 0.5975660085678101, + 0.06057226285338402, + 0.0, + -3.1827826499938965, + -1.6982282400131226, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.359178304672241, + -2.0946500301361084, + 0.6496888399124146, + 0.0975959300994873, + -0.5812102556228638, + 0.5975660085678101, + 0.06057226285338402, + 0.0, + -3.1516759395599365, + -1.6383522748947144, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.359178304672241, + -2.0946500301361084, + 0.6496888399124146, + 0.0975959300994873, + -0.5812102556228638, + 0.5975660085678101, + 0.06057226285338402, + 0.0, + -3.1259114742279053, + -1.588759183883667, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.359178304672241, + -2.0946500301361084, + 0.6496888399124146, + 0.0975959300994873, + -0.5812102556228638, + 0.5975660085678101, + 0.06057226285338402, + 0.0, + -3.0976858139038086, + -1.5344290733337402, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.359178304672241, + -2.0946500301361084, + 0.6496888399124146, + 0.0975959300994873, + -0.5812102556228638, + 0.5975660085678101, + 0.06057226285338402, + 0.0, + -3.0690722465515137, + -1.4793522357940674, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.359178304672241, + -2.0946500301361084, + 0.6496888399124146, + 0.0975959300994873, + -0.5812102556228638, + 0.5975660085678101, + 0.06057226285338402, + 0.0, + -3.0436956882476807, + -1.4305062294006348, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.359178304672241, + -2.0946500301361084, + 0.6496888399124146, + 0.0975959300994873, + -0.5812102556228638, + 0.5975660085678101, + 0.06057226285338402, + 0.0, + -3.012274742126465, + -1.370025396347046, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.359178304672241, + -2.0946500301361084, + 0.6496888399124146, + 0.0975959300994873, + -0.5812102556228638, + 0.5975660085678101, + 0.06057226285338402, + 0.0, + -2.9897055625915527, + -1.3265830278396606, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.359178304672241, + -2.0946500301361084, + 0.6496888399124146, + 0.0975959300994873, + -0.5812102556228638, + 0.5975660085678101, + 0.06057226285338402, + 0.0, + -2.9553616046905518, + -1.260475754737854, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.359178304672241, + -2.0946500301361084, + 0.6496888399124146, + 0.0975959300994873, + -0.5812102556228638, + 0.5975660085678101, + 0.06057226285338402, + 0.0, + -2.935715675354004, + -1.2226600646972656, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.359178304672241, + -2.0946500301361084, + 0.6496888399124146, + 0.0975959300994873, + -0.5812102556228638, + 0.5975660085678101, + 0.06057226285338402, + 0.0, + -2.8986382484436035, + -1.1512914896011353, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.359178304672241, + -2.0946500301361084, + 0.6496888399124146, + 0.0975959300994873, + -0.5812102556228638, + 0.5975660085678101, + 0.06057226285338402, + 0.0, + -2.881725549697876, + -1.1187371015548706, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.359178304672241, + -2.0946500301361084, + 0.6496888399124146, + 0.0975959300994873, + -0.5812102556228638, + 0.5975660085678101, + 0.06057226285338402, + 0.0, + -2.841651201248169, + -1.0415997505187988, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.359178304672241, + -2.0946500301361084, + 0.6496888399124146, + 0.0975959300994873, + -0.5812102556228638, + 0.5975660085678101, + 0.06057226285338402, + 0.0, + -2.827735424041748, + -1.014814019203186, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.359178304672241, + -2.0946500301361084, + 0.6496888399124146, + 0.0975959300994873, + -0.5812102556228638, + 0.5975660085678101, + 0.06057226285338402, + 0.0, + -2.7850019931793213, + -0.9325580596923828, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.359178304672241, + -2.0946500301361084, + 0.6496888399124146, + 0.0975959300994873, + -0.5812102556228638, + 0.5975660085678101, + 0.06057226285338402, + 0.0, + -2.773745536804199, + -0.9108908772468567, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.359178304672241, + -2.0946500301361084, + 0.6496888399124146, + 0.0975959300994873, + -0.5812102556228638, + 0.5975660085678101, + 0.06057226285338402, + 0.0, + -2.727940797805786, + -0.8227235078811646, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.359178304672241, + -2.0946500301361084, + 0.6496888399124146, + 0.0975959300994873, + -0.5812102556228638, + 0.5975660085678101, + 0.06057226285338402, + 0.0, + -2.7197554111480713, + -0.8069679141044617, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.359178304672241, + -2.0946500301361084, + 0.6496888399124146, + 0.0975959300994873, + -0.5812102556228638, + 0.5975660085678101, + 0.06057226285338402, + 0.0, + -2.67136549949646, + -0.7138240337371826, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.359178304672241, + -2.0946500301361084, + 0.6496888399124146, + 0.0975959300994873, + -0.5812102556228638, + 0.5975660085678101, + 0.06057226285338402, + 0.0, + -2.6657655239105225, + -0.7030447125434875, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.359178304672241, + -2.0946500301361084, + 0.6496888399124146, + 0.0975959300994873, + -0.5812102556228638, + 0.5975660085678101, + 0.06057226285338402, + 0.0, + -2.6142303943634033, + -0.6038471460342407, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.359178304672241, + -2.0946500301361084, + 0.6496888399124146, + 0.0975959300994873, + -0.5812102556228638, + 0.5975660085678101, + 0.06057226285338402, + 0.0, + -2.6117753982543945, + -0.5991217494010925, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.359178304672241, + -2.0946500301361084, + 0.6496888399124146, + 0.0975959300994873, + -0.5812102556228638, + 0.5975660085678101, + 0.06057226285338402, + 0.0, + -2.5590102672576904, + -0.49755626916885376, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.359178304672241, + -2.0946500301361084, + 0.6496888399124146, + 0.0975959300994873, + -0.5812102556228638, + 0.5975660085678101, + 0.06057226285338402, + 0.0, + -2.5577855110168457, + -0.4951986074447632, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.359178304672241, + -2.0946500301361084, + 0.6496888399124146, + 0.0975959300994873, + -0.5812102556228638, + 0.5975660085678101, + 0.06057226285338402, + 0.0, + -2.5577285289764404, + -0.4950887858867645, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.359178304672241, + -2.0946500301361084, + 0.6496888399124146, + 0.0975959300994873, + -0.5812102556228638, + 0.5975660085678101, + 0.06057226285338402, + 0.0, + -2.503795623779297, + -0.3912756145000458, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.359178304672241, + -2.0946500301361084, + 0.6496888399124146, + 0.0975959300994873, + -0.5812102556228638, + 0.5975660085678101, + 0.06057226285338402, + 0.0, + -2.5005624294281006, + -0.38505232334136963, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.359178304672241, + -2.0946500301361084, + 0.6496888399124146, + 0.0975959300994873, + -0.5812102556228638, + 0.5975660085678101, + 0.06057226285338402, + 0.0, + -2.449805498123169, + -0.2873525619506836, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.359178304672241, + -2.0946500301361084, + 0.6496888399124146, + 0.0975959300994873, + -0.5812102556228638, + 0.5975660085678101, + 0.06057226285338402, + 0.0, + -2.4440181255340576, + -0.2762126922607422, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.359178304672241, + -2.0946500301361084, + 0.6496888399124146, + 0.0975959300994873, + -0.5812102556228638, + 0.5975660085678101, + 0.06057226285338402, + 0.0, + -2.395815372467041, + -0.18342947959899902, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.359178304672241, + -2.0946500301361084, + 0.6496888399124146, + 0.0975959300994873, + -0.5812102556228638, + 0.5975660085678101, + 0.06057226285338402, + 0.0, + -2.3869259357452393, + -0.16631878912448883, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.359178304672241, + -2.0946500301361084, + 0.6496888399124146, + 0.0975959300994873, + -0.5812102556228638, + 0.5975660085678101, + 0.06057226285338402, + 0.0, + -2.341825246810913, + -0.07950640469789505, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.359178304672241, + -2.0946500301361084, + 0.6496888399124146, + 0.0975959300994873, + -0.5812102556228638, + 0.5975660085678101, + 0.06057226285338402, + 0.0, + -2.3303074836730957, + -0.05733655393123627, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.359178304672241, + -2.0946500301361084, + 0.6496888399124146, + 0.0975959300994873, + -0.5812102556228638, + 0.5975660085678101, + 0.06057226285338402, + 0.0, + -2.287835121154785, + 0.024416649714112282, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.359178304672241, + -2.0946500301361084, + 0.6496888399124146, + 0.0975959300994873, + -0.5812102556228638, + 0.5975660085678101, + 0.06057226285338402, + 0.0, + -2.273289442062378, + 0.052414946258068085, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.359178304672241, + -2.0946500301361084, + 0.6496888399124146, + 0.0975959300994873, + -0.5812102556228638, + 0.5975660085678101, + 0.06057226285338402, + 0.0, + -2.2338452339172363, + 0.12833969295024872, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.359178304672241, + -2.0946500301361084, + 0.6496888399124146, + 0.0975959300994873, + -0.5812102556228638, + 0.5975660085678101, + 0.06057226285338402, + 0.0, + -2.216597318649292, + 0.16153961420059204, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.359178304672241, + -2.0946500301361084, + 0.6496888399124146, + 0.0975959300994873, + -0.5812102556228638, + 0.5975660085678101, + 0.06057226285338402, + 0.0, + -2.1798553466796875, + 0.23226268589496613, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.359178304672241, + -2.0946500301361084, + 0.6496888399124146, + 0.0975959300994873, + -0.5812102556228638, + 0.5975660085678101, + 0.06057226285338402, + 0.0, + -2.1596531867980957, + 0.27114880084991455, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.359178304672241, + -2.0946500301361084, + 0.6496888399124146, + 0.0975959300994873, + -0.5812102556228638, + 0.5975660085678101, + 0.06057226285338402, + 0.0, + -2.1258652210235596, + 0.3361856937408447, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.359178304672241, + -2.0946500301361084, + 0.6496888399124146, + 0.0975959300994873, + -0.5812102556228638, + 0.5975660085678101, + 0.06057226285338402, + 0.0, + -2.1028239727020264, + 0.3805370330810547, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.359178304672241, + -2.0946500301361084, + 0.6496888399124146, + 0.0975959300994873, + -0.5812102556228638, + 0.5975660085678101, + 0.06057226285338402, + 0.0, + -2.071591854095459, + 0.44065436720848083, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.359178304672241, + -2.0946500301361084, + 0.6496888399124146, + 0.0975959300994873, + -0.5812102556228638, + 0.5975660085678101, + 0.06057226285338402, + 0.0, + -2.0451767444610596, + 0.49149975180625916, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.359178304672241, + -2.0946500301361084, + 0.6496888399124146, + 0.0975959300994873, + -0.5812102556228638, + 0.5975660085678101, + 0.06057226285338402, + 0.0, + -2.0161845684051514, + 0.5473058223724365, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.359178304672241, + -2.0946500301361084, + 0.6496888399124146, + 0.0975959300994873, + -0.5812102556228638, + 0.5975660085678101, + 0.06057226285338402, + 0.0, + -2.0, + 0.6000000238418579, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.359178304672241, + -2.0946500301361084, + 0.6496888399124146, + 0.0975959300994873, + -0.5812102556228638, + 0.5975660085678101, + 0.06057226285338402, + 0.0 + ], + "max": [ + 1.1623514890670776, + 2.4903247356414795, + 1.5707963705062866, + 0.9215816855430603, + 0.0, + 0.0, + 0.9999899864196777, + 2.0, + 1.2832772731781006, + 2.8969485759735107, + 1.0808382034301758, + 0.5952487587928772, + 0.8730600476264954, + 0.858812153339386, + 0.5898195505142212, + 1.0, + -1.9857300519943237, + 0.6074385643005371, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2832772731781006, + 1.5991418361663818, + 0.9909541010856628, + 0.5952487587928772, + -0.07723711431026459, + 0.858812153339386, + 0.4123007357120514, + 0.0, + -1.9093226194381714, + 0.6275286078453064, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2832772731781006, + 1.5991418361663818, + 0.9909541010856628, + 0.5952487587928772, + -0.07723711431026459, + 0.858812153339386, + 0.4123007357120514, + 0.0, + -1.879468560218811, + 0.6353782415390015, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2832772731781006, + 1.5991418361663818, + 0.9909541010856628, + 0.5952487587928772, + -0.07723711431026459, + 0.858812153339386, + 0.4123007357120514, + 0.0, + -1.7898000478744507, + 0.6589550375938416, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2832772731781006, + 1.5991418361663818, + 0.9909541010856628, + 0.5952487587928772, + -0.07723711431026459, + 0.858812153339386, + 0.4123007357120514, + 0.0, + -1.7730385065078735, + 0.6633622050285339, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2832772731781006, + 1.5991418361663818, + 0.9909541010856628, + 0.5952487587928772, + -0.07723711431026459, + 0.858812153339386, + 0.4123007357120514, + 0.0, + -1.767788290977478, + 0.664742648601532, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2832772731781006, + 1.5991418361663818, + 0.9909541010856628, + 0.5952487587928772, + -0.07723711431026459, + 0.858812153339386, + 0.4123007357120514, + 0.0, + -1.6655662059783936, + 0.6916202306747437, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2832772731781006, + 1.5991418361663818, + 0.9909541010856628, + 0.5952487587928772, + -0.07723711431026459, + 0.858812153339386, + 0.4123007357120514, + 0.0, + -1.6280326843261719, + 0.7014890313148499, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2832772731781006, + 1.5991418361663818, + 0.9909541010856628, + 0.5952487587928772, + -0.07723711431026459, + 0.858812153339386, + 0.4123007357120514, + 0.0, + -1.5593509674072266, + 0.719547688961029, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2832772731781006, + 1.5991418361663818, + 0.9909541010856628, + 0.5952487587928772, + -0.07723711431026459, + 0.858812153339386, + 0.4123007357120514, + 0.0, + -1.4952948093414307, + 0.7363901734352112, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2832772731781006, + 1.5991418361663818, + 0.9909541010856628, + 0.5952487587928772, + -0.07723711431026459, + 0.858812153339386, + 0.4123007357120514, + 0.0, + -1.4563592672348022, + 0.7466276288032532, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2832772731781006, + 1.5991418361663818, + 0.9909541010856628, + 0.5952487587928772, + -0.07723711431026459, + 0.858812153339386, + 0.4123007357120514, + 0.0, + -1.360871434211731, + 0.7717345356941223, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2832772731781006, + 1.5991418361663818, + 0.9909541010856628, + 0.5952487587928772, + -0.07723711431026459, + 0.858812153339386, + 0.4123007357120514, + 0.0, + -1.3595657348632812, + 0.7720778584480286, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2832772731781006, + 1.5991418361663818, + 0.9909541010856628, + 0.5952487587928772, + -0.07723711431026459, + 0.858812153339386, + 0.4123007357120514, + 0.0, + -1.3567748069763184, + 0.7728117108345032, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2832772731781006, + 1.5991418361663818, + 0.9909541010856628, + 0.5952487587928772, + -0.07723711431026459, + 0.858812153339386, + 0.4123007357120514, + 0.0, + -1.2663296461105347, + 0.7965927124023438, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2832772731781006, + 1.5991418361663818, + 0.9909541010856628, + 0.5952487587928772, + -0.07723711431026459, + 0.858812153339386, + 0.4123007357120514, + 0.0, + -1.224833369255066, + 0.8075034618377686, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2832772731781006, + 1.5991418361663818, + 0.9909541010856628, + 0.5952487587928772, + -0.07723711431026459, + 0.858812153339386, + 0.4123007357120514, + 0.0, + -1.1688282489776611, + 0.8222290277481079, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2832772731781006, + 1.5991418361663818, + 0.9909541010856628, + 0.5952487587928772, + -0.07723711431026459, + 0.858812153339386, + 0.4123007357120514, + 0.0, + -1.0749077796936035, + 0.846923828125, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2832772731781006, + 1.5991418361663818, + 0.9909541010856628, + 0.5952487587928772, + -0.07723711431026459, + 0.858812153339386, + 0.4123007357120514, + 0.0, + -1.0616363286972046, + 0.8504133224487305, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2832772731781006, + 1.5991418361663818, + 0.9909541010856628, + 0.5952487587928772, + -0.07723711431026459, + 0.858812153339386, + 0.4123007357120514, + 0.0, + -1.0283622741699219, + 0.8591621518135071, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2832772731781006, + 1.5991418361663818, + 0.9909541010856628, + 0.5952487587928772, + -0.07723711431026459, + 0.858812153339386, + 0.4123007357120514, + 0.0, + -0.9551718831062317, + 0.878406286239624, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2832772731781006, + 1.5991418361663818, + 0.9909541010856628, + 0.5952487587928772, + -0.07723711431026459, + 0.858812153339386, + 0.4123007357120514, + 0.0, + -0.9234985113143921, + 0.8867342472076416, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2832772731781006, + 1.5991418361663818, + 0.9909541010856628, + 0.5952487587928772, + -0.07723711431026459, + 0.858812153339386, + 0.4123007357120514, + 0.0, + -0.8486009836196899, + 0.906427264213562, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2832772731781006, + 1.5991418361663818, + 0.9909541010856628, + 0.5952487587928772, + -0.07723711431026459, + 0.858812153339386, + 0.4123007357120514, + 0.0, + -0.7780492305755615, + 0.9249776601791382, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2832772731781006, + 1.5991418361663818, + 0.9909541010856628, + 0.5952487587928772, + -0.07723711431026459, + 0.858812153339386, + 0.4123007357120514, + 0.0, + -0.7430902719497681, + 0.9341695308685303, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2832772731781006, + 1.5991418361663818, + 0.9909541010856628, + 0.5952487587928772, + -0.07723711431026459, + 0.858812153339386, + 0.4123007357120514, + 0.0, + -0.645880937576294, + 0.9597290754318237, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2832772731781006, + 1.5991418361663818, + 0.9909541010856628, + 0.5952487587928772, + -0.07723711431026459, + 0.858812153339386, + 0.4123007357120514, + 0.0, + -0.6387443542480469, + 0.9616055488586426, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2832772731781006, + 1.5991418361663818, + 0.9909541010856628, + 0.5952487587928772, + -0.07723711431026459, + 0.858812153339386, + 0.4123007357120514, + 0.0, + -0.6361706852912903, + 0.9622822403907776, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2832772731781006, + 1.5991418361663818, + 0.9909541010856628, + 0.5952487587928772, + -0.07723711431026459, + 0.858812153339386, + 0.4123007357120514, + 0.0, + -0.5343853831291199, + 0.9890449643135071, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2832772731781006, + 1.5991418361663818, + 0.9909541010856628, + 0.5952487587928772, + -0.07723711431026459, + 0.858812153339386, + 0.4123007357120514, + 0.0, + -0.49438074231147766, + 0.9995635151863098, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2832772731781006, + 1.5991418361663818, + 0.9909541010856628, + 0.5952487587928772, + -0.07723711431026459, + 0.858812153339386, + 0.4123007357120514, + 0.0, + -0.4300312399864197, + 1.0164830684661865, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2832772731781006, + 1.5991418361663818, + 0.9909541010856628, + 0.5952487587928772, + -0.07723711431026459, + 0.858812153339386, + 0.4123007357120514, + 0.0, + -0.3525906801223755, + 1.0368447303771973, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2832772731781006, + 1.5991418361663818, + 0.9909541010856628, + 0.5952487587928772, + -0.07723711431026459, + 0.858812153339386, + 0.4123007357120514, + 0.0, + -0.3256770968437195, + 1.0439212322235107, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2832772731781006, + 1.5991418361663818, + 0.9909541010856628, + 0.5952487587928772, + -0.07723711431026459, + 0.858812153339386, + 0.4123007357120514, + 0.0, + -0.2506544589996338, + 1.0636471509933472, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2832772731781006, + 1.5991418361663818, + 0.9909541010856628, + 0.5952487587928772, + -0.07723711431026459, + 0.858812153339386, + 0.4123007357120514, + 0.0, + -0.22141824662685394, + 1.0713343620300293, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2832772731781006, + 1.5991418361663818, + 0.9909541010856628, + 0.5952487587928772, + -0.07723711431026459, + 0.858812153339386, + 0.4123007357120514, + 0.0, + -0.2109762728214264, + 1.0740798711776733, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2832772731781006, + 1.5991418361663818, + 0.9909541010856628, + 0.5952487587928772, + -0.07723711431026459, + 0.858812153339386, + 0.4123007357120514, + 0.0, + -0.11740312725305557, + 1.0986833572387695, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2832772731781006, + 1.5991418361663818, + 0.9909541010856628, + 0.5952487587928772, + -0.07723711431026459, + 0.858812153339386, + 0.4123007357120514, + 0.0, + -0.06981133669614792, + 1.111196756362915, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2832772731781006, + 1.5991418361663818, + 0.9909541010856628, + 0.5952487587928772, + -0.07723711431026459, + 0.858812153339386, + 0.4123007357120514, + 0.0, + -0.013388024643063545, + 1.1260323524475098, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2832772731781006, + 1.5991418361663818, + 0.9909541010856628, + 0.5952487587928772, + -0.07723711431026459, + 0.858812153339386, + 0.4123007357120514, + 0.0, + 0.07135356962680817, + 1.1483137607574463, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2832772731781006, + 1.5991418361663818, + 0.9909541010856628, + 0.5952487587928772, + -0.07723711431026459, + 0.858812153339386, + 0.4123007357120514, + 0.0, + 0.0906270295381546, + 1.15338134765625, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2832772731781006, + 1.5991418361663818, + 0.9909541010856628, + 0.5952487587928772, + -0.07723711431026459, + 0.858812153339386, + 0.4123007357120514, + 0.0, + 0.14459049701690674, + 1.1675701141357422, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2832772731781006, + 1.5991418361663818, + 0.9909541010856628, + 0.5952487587928772, + -0.07723711431026459, + 0.858812153339386, + 0.4123007357120514, + 0.0, + 0.194805309176445, + 1.1807732582092285, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2832772731781006, + 1.5991418361663818, + 0.9909541010856628, + 0.5952487587928772, + -0.07723711431026459, + 0.858812153339386, + 0.4123007357120514, + 0.0, + 0.21281936764717102, + 1.1855098009109497, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2832772731781006, + 1.5991418361663818, + 0.9909541010856628, + 0.5952487587928772, + -0.07723711431026459, + 0.858812153339386, + 0.4123007357120514, + 0.0, + 0.299159437417984, + 1.2082114219665527, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2832772731781006, + 1.5991418361663818, + 0.9909541010856628, + 0.5952487587928772, + -0.07723711431026459, + 0.858812153339386, + 0.4123007357120514, + 0.0, + 0.35460951924324036, + 1.222791075706482, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2832772731781006, + 1.5991418361663818, + 0.9909541010856628, + 0.5952487587928772, + -0.07723711431026459, + 0.858812153339386, + 0.4123007357120514, + 0.0, + 0.4035135507583618, + 1.235649585723877, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2832772731781006, + 1.5991418361663818, + 0.9909541010856628, + 0.5952487587928772, + -0.07723711431026459, + 0.858812153339386, + 0.4123007357120514, + 0.0, + 0.4963996708393097, + 1.2600723505020142, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2832772731781006, + 1.5991418361663818, + 0.9909541010856628, + 0.5952487587928772, + -0.07723711431026459, + 0.858812153339386, + 0.4123007357120514, + 0.0, + 0.5078677535057068, + 1.2630876302719116, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2832772731781006, + 1.5991418361663818, + 0.9909541010856628, + 0.5952487587928772, + -0.07723711431026459, + 0.858812153339386, + 0.4123007357120514, + 0.0, + 0.5398358106613159, + 1.2714930772781372, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2832772731781006, + 1.5991418361663818, + 0.9909541010856628, + 0.5952487587928772, + -0.07723711431026459, + 0.858812153339386, + 0.4123007357120514, + 0.0, + 0.6119867563247681, + 1.290463924407959, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2832772731781006, + 1.5991418361663818, + 0.9909541010856628, + 0.5952487587928772, + -0.07723711431026459, + 0.858812153339386, + 0.4123007357120514, + 0.0, + 0.6377559304237366, + 1.2972395420074463, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2832772731781006, + 1.5991418361663818, + 0.9909541010856628, + 0.5952487587928772, + -0.07723711431026459, + 0.858812153339386, + 0.4123007357120514, + 0.0, + 0.7160019278526306, + 1.3178129196166992, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2832772731781006, + 1.5991418361663818, + 0.9909541010856628, + 0.5952487587928772, + -0.07723711431026459, + 0.858812153339386, + 0.4123007357120514, + 0.0, + 0.7789208292961121, + 1.3343563079833984, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2832772731781006, + 1.5991418361663818, + 0.9909541010856628, + 0.5952487587928772, + -0.07723711431026459, + 0.858812153339386, + 0.4123007357120514, + 0.0, + 0.8200170993804932, + 1.3451619148254395, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2832772731781006, + 1.5991418361663818, + 0.9909541010856628, + 0.5952487587928772, + -0.07723711431026459, + 0.858812153339386, + 0.4123007357120514, + 0.0, + 0.920085608959198, + 1.3714731931686401, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2832772731781006, + 1.5991418361663818, + 0.9909541010856628, + 0.5952487587928772, + -0.07723711431026459, + 0.858812153339386, + 0.4123007357120514, + 0.0, + 0.9240321516990662, + 1.3725109100341797, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2832772731781006, + 1.5991418361663818, + 0.9909541010856628, + 0.5952487587928772, + -0.07723711431026459, + 0.858812153339386, + 0.4123007357120514, + 0.0, + 0.9350820183753967, + 1.3754162788391113, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2832772731781006, + 1.5991418361663818, + 0.9909541010856628, + 0.5952487587928772, + -0.07723711431026459, + 0.858812153339386, + 0.4123007357120514, + 0.0, + 1.0283502340316772, + 1.3999395370483398, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2832772731781006, + 1.5991418361663818, + 0.9909541010856628, + 0.5952487587928772, + -0.07723711431026459, + 0.858812153339386, + 0.4123007357120514, + 0.0, + 1.0618091821670532, + 1.408737063407898, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2832772731781006, + 1.5991418361663818, + 0.9909541010856628, + 0.5952487587928772, + -0.07723711431026459, + 0.858812153339386, + 0.4123007357120514, + 0.0, + 1.132704496383667, + 1.427377700805664, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2832772731781006, + 1.5991418361663818, + 0.9909541010856628, + 0.5952487587928772, + -0.07723711431026459, + 0.858812153339386, + 0.4123007357120514, + 0.0, + 1.2000000476837158, + 1.4500000476837158, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2832772731781006, + 1.5991418361663818, + 0.9909541010856628, + 0.5952487587928772, + -0.07723711431026459, + 0.858812153339386, + 0.4123007357120514, + 0.0 + ], + "count": [ + 3150 + ] + }, + "action.applied": { + "mean": [ + 0.3308587337084233, + 0.6961602185737519, + -1.078503007718495, + -0.3222332803077168, + 0.6394236998236369, + -1.1236256160054887, + 0.22638953549757837, + 0.7780550665893252, + -1.1970621303528075, + -0.19117815465681137, + 0.7401044487953186, + -1.1910602425772046, + -0.09439072236646849, + 1.6481701994131481, + -1.480157931588945, + 0.012919926699975067, + 0.8353050244043744, + -0.025097003807932478, + 0.007144444474861736, + -0.007144444474861736 + ], + "std": [ + 0.1436255765735921, + 0.14040341741695964, + 0.16916437142097981, + 0.13368197369085433, + 0.11255905750936229, + 0.14117760986839295, + 0.1114239380214283, + 0.15518326888971545, + 0.15406926196371337, + 0.0916226288468346, + 0.11494581708480127, + 0.16402951442076905, + 0.46121675413834395, + 0.7229195424882524, + 0.48004964311259307, + 0.16013400971486436, + 0.24289972792729236, + 0.172533064450034, + 0.01410717798960383, + 0.01410717798960383 + ], + "min": [ + -0.23605406284332275, + 0.4527047276496887, + -1.7264248132705688, + -0.5965147614479065, + 0.3914091885089874, + -1.6676807403564453, + -0.37966644763946533, + 0.46696561574935913, + -1.7484291791915894, + -0.49648985266685486, + 0.5356267690658569, + -1.7356576919555664, + -1.9867794513702393, + 0.6953681707382202, + -2.402679681777954, + -0.8418230414390564, + 0.5018913745880127, + -0.7657144069671631, + 0.0, + -0.03500000014901161 + ], + "max": [ + 0.7058820128440857, + 1.0745773315429688, + -0.8887714743614197, + 0.2689204514026642, + 0.9602505564689636, + -0.9148350358009338, + 0.5479024052619934, + 1.2343623638153076, + -0.9646737575531006, + 0.2889177203178406, + 1.1650587320327759, + -0.899353563785553, + 1.083075761795044, + 2.7732250690460205, + -0.8662735223770142, + 0.8849616050720215, + 1.219680905342102, + 0.8304145336151123, + 0.03500000014901161, + 0.0 + ], + "count": [ + 3150 + ] + }, + "extra.reward": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 3150 + ] + }, + "next.truncated": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 3150 + ] + }, + "sim_step_idx": { + "mean": [ + 3180.0 + ], + "std": [ + 1818.6532563044188 + ], + "min": [ + 31.0 + ], + "max": [ + 6329.0 + ], + "count": [ + 3150 + ] + }, + "timestamp": { + "mean": [ + 62.97999999999527 + ], + "std": [ + 36.37306512290768 + ], + "min": [ + 0.0 + ], + "max": [ + 125.95999908447266 + ], + "count": [ + 3150 + ] + }, + "frame_index": { + "mean": [ + 1574.5 + ], + "std": [ + 909.3266281522094 + ], + "min": [ + 0.0 + ], + "max": [ + 3149.0 + ], + "count": [ + 3150 + ] + }, + "episode_index": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 3150 + ] + }, + "index": { + "mean": [ + 1574.5 + ], + "std": [ + 909.3266281522094 + ], + "min": [ + 0.0 + ], + "max": [ + 3149.0 + ], + "count": [ + 3150 + ] + }, + "task_index": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 3150 + ] + }, + "next.done": { + "mean": [ + 0.00031746031746031746 + ], + "std": [ + 0.017814587741712 + ], + "min": [ + 0.0 + ], + "max": [ + 1.0 + ], + "count": [ + 3150 + ] + }, + "observation.images.head": { + "mean": [ + [ + [ + 0.4488098777204909 + ] + ], + [ + [ + 0.4404096055604703 + ] + ], + [ + [ + 0.4321381888410743 + ] + ] + ], + "std": [ + [ + [ + 0.14516592302090375 + ] + ], + [ + [ + 0.14203791294904738 + ] + ], + [ + [ + 0.14073832190950444 + ] + ] + ], + "min": [ + [ + [ + 0.00392156862745098 + ] + ], + [ + [ + 0.00784313725490196 + ] + ], + [ + [ + 0.0 + ] + ] + ], + "max": [ + [ + [ + 0.9215686274509803 + ] + ], + [ + [ + 0.8901960784313725 + ] + ], + [ + [ + 0.8823529411764706 + ] + ] + ], + "count": [ + 100 + ] + }, + "observation.images.wrist": { + "mean": [ + [ + [ + 0.5638706864943989 + ] + ], + [ + [ + 0.5145949599220258 + ] + ], + [ + [ + 0.45132806871205206 + ] + ] + ], + "std": [ + [ + [ + 0.1589280048157656 + ] + ], + [ + [ + 0.1371072140646794 + ] + ], + [ + [ + 0.18400692209830996 + ] + ] + ], + "min": [ + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ] + ], + "max": [ + [ + [ + 0.9372549019607843 + ] + ], + [ + [ + 0.8980392156862745 + ] + ], + [ + [ + 0.8784313725490196 + ] + ] + ], + "count": [ + 100 + ] + } +} \ No newline at end of file diff --git a/N025/go2_arm/dr_on/seed_2015/stationassembly/000/lerobot_v21/meta/tasks.jsonl b/N025/go2_arm/dr_on/seed_2015/stationassembly/000/lerobot_v21/meta/tasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7ef32cea3933584c053b6f1b17969eee32e6aaa6 --- /dev/null +++ b/N025/go2_arm/dr_on/seed_2015/stationassembly/000/lerobot_v21/meta/tasks.jsonl @@ -0,0 +1 @@ +{"task_index": 0, "task": "Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level."} diff --git a/N025/go2_arm/dr_on/seed_2015/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 b/N025/go2_arm/dr_on/seed_2015/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..efd7fdfdc19b5ebd5d4fbd1775cf56ea85e59676 --- /dev/null +++ b/N025/go2_arm/dr_on/seed_2015/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:097f06978d8c6f40b9179771cbc4a782e2d870a149712f310054f6e4e50ca708 +size 26449043 diff --git a/N025/go2_arm/dr_on/seed_2015/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 b/N025/go2_arm/dr_on/seed_2015/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0dd79b421da3c90028c00206d9f55260c3bc2239 --- /dev/null +++ b/N025/go2_arm/dr_on/seed_2015/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:108556483c87f2230aeec2e4015b41c28af4c23969ce1114b359a171d989f5eb +size 50731606 diff --git a/N025/go2_arm/dr_on/seed_2015/stationassembly/000/run_meta.json b/N025/go2_arm/dr_on/seed_2015/stationassembly/000/run_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..380e598869d07035cbf7ba106d785f3cef31f65d --- /dev/null +++ b/N025/go2_arm/dr_on/seed_2015/stationassembly/000/run_meta.json @@ -0,0 +1,964 @@ +{ + "run_id": "stationassembly/000", + "created": "2026-11-08 02:45:19", + "num_envs": 1, + "session_id": null, + "record_config": { + "output_dir": "/mnt/scratch/xc536_atomic/n025_go2_on_2015_r1/out", + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + }, + "config": { + "env_string": "MobileWedgeSupportEnv-V0", + "env": { + "sim": { + "device": "cpu", + "use_fabric": false, + "decimation": 4, + "dt": 0.005, + "seed": 2015, + "soft_resets": 2, + "scene": { + "num_envs": 1, + "env_spacing": 14 + }, + "render": { + "rendering_mode": "performance", + "enable_reflections": false, + "enable_global_illumination": false, + "enable_translucency": false, + "enable_dl_denoiser": false + } + }, + "robot": { + "Go2Plus": { + "name": "go2plus", + "type": "mobilemanip", + "common": { + "pos": [ + [ + -3.54231, + -2.41628, + 0.45 + ], + [ + -3.54231, + -2.41628, + 0.45 + ] + ], + "ori": [ + [ + 0, + 0, + 59.54883 + ], + [ + 0, + 0, + 59.54883 + ] + ], + "initial_joint_pos": null + }, + "action": { + "base_action": "unified", + "arm_action": "ik_curobo", + "eef_action": "binary" + }, + "reset": "default", + "planner": { + "dual_mode": true, + "base_joint_names": [ + "base_x", + "base_y", + "base_yaw", + "base_height" + ], + "ik": { + "type": "go2plus", + "enable": true, + "ik_num_instances": 1, + "ik_batch_size": 1, + "ik_num_seeds": 64, + "ik_position_threshold": 0.005, + "ik_rotation_threshold": 0.05, + "microbatch_wait_ms": 400.0, + "relative_to_world_frame": false, + "eef_num": 1, + "debug": false, + "seed_use_live_joint_pos": true + }, + "motiongen": { + "type": "go2plus", + "enable": true, + "batch_size": 1, + "debug": false, + "motiongen_num_instances": 1, + "microbatch_wait_ms": 400.0, + "mode": "position", + "relative_to_world_frame": false, + "eef_num": 1, + "seed_use_live_joint_pos": true, + "anchor_ik_seeds_to_current_state": false, + "num_trajopt_seeds": 1, + "num_ik_seeds": 4, + "max_attempts": 6, + "joint_limit_retry_weight": 100000000.0, + "start_state_limit_inset": 0.002 + }, + "body": { + "type": "nav", + "dwb_type": "dwb_quadruped", + "dwb_quadruped": { + "device": "cpu", + "dt": 0.02, + "debug": false, + "num_rollout_steps": 60, + "num_speed_samples": 11, + "num_steer_samples": 11, + "num_vx_samples": 7, + "num_vy_samples": 7, + "num_yaw_samples": 7, + "max_accel": 1.5, + "max_steer_rate": 1.5, + "max_accel_vx": 1.5, + "max_accel_vy": 1.5, + "max_yaw_accel": 1.5, + "w_goal": 6.0, + "w_path": 24.0, + "w_vel": 0.2, + "w_vy": 0.0, + "dilate_radius": 0.2, + "goal_cost_mode": "path", + "room_size": 12.0, + "occupancy_update_interval": 25, + "scan_height": 0.38, + "scan_min_z": 0.15, + "scan_max_z": 0.63, + "goal_pos_threshold": 0.09, + "goal_yaw_threshold": 0.08, + "goal_yaw_hysteresis": 0.02, + "kp_goal_yaw": 4.0, + "heading_reference": "path", + "turn_yaw_threshold": 0.8, + "heading_lookahead": 0.8, + "heading_min_leg": 0.35, + "route_yaw_gain": 2.0, + "min_vx": -0.35, + "max_vx": 0.35, + "min_vy": -0.25, + "max_vy": 0.25, + "min_yaw_rate": -0.8, + "max_yaw_rate": 0.8, + "dynamic_window_source": "command", + "default_height": 0.35, + "safety_min_progress_speed": 0.1, + "safety_stop_distance": 0.2, + "safety_enabled": true, + "safety_deceleration": 0.5, + "safety_reaction_time": 0.5, + "safety_release_distance": 0.35, + "scan_type": "3d", + "robot_type": "quadruped", + "velocity_frame": "body" + }, + "p_controller": { + "velocity_frame": "body", + "nav_upgrade_distance": 0.03, + "nav_heading_target": -1, + "kp_linear_x": 1.5, + "kd_linear_x": 0.4, + "kp_linear_y": 1.5, + "kd_linear_y": 0.4, + "kp_angular": 1.5, + "kd_angular": 0.2, + "kp_angular_turning_only": 1.5, + "kd_angular_turning_only": 0.2, + "min_vel": -0.4, + "max_vel": 0.5, + "linear_dead_zone": 0.03, + "angular_dead_zone": 0.05 + } + }, + "arm": { + "type": "default" + }, + "eef": { + "type": "default" + } + }, + "physics": { + "robot_radius": 0.5 + } + } + }, + "camera": { + "enable_tiled": false, + "colorize_depth": false, + "head": { + "camera": { + "type": "camera", + "mesh": "pinhole", + "resolution": [ + 640, + 480 + ], + "frequency": 25, + "focal_length": 1.8231182098388672, + "horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.4407838582992554, + "clipping_range": [ + 0.05, + 30.0 + ], + "focus_distance": 3.0, + "mode": "RGB", + "mount_link": "Robot_0/Bodies/go2_base", + "pos": [ + 0.332051, + 0.038027, + 0.093559 + ], + "ori": [ + 169.9473, + -88.6452, + 81.5985 + ] + }, + "annotator": { + "enabled": true, + "rgb_capture": { + "type": "rgb", + "device": "cpu" + } + } + }, + "wrist": { + "camera": { + "type": "camera", + "mesh": "pinhole", + "resolution": [ + 640, + 480 + ], + "frequency": 25, + "focal_length": 1.8517500162124634, + "horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.4393036365509033, + "clipping_range": [ + 0.05, + 30.0 + ], + "focus_distance": 3.0, + "mode": "RGB", + "mount_link": "Robot_0/Bodies/piper_link6", + "pos": [ + -0.074987, + 0.005289, + 0.045821 + ], + "ori": [ + 179.3135, + -20.212, + 88.9402 + ] + }, + "annotator": { + "enabled": true, + "rgb_capture": { + "type": "rgb", + "device": "cpu" + } + } + } + }, + "scene": { + "background": { + "intensity": [ + 814.51721, + 814.51721 + ] + }, + "terrain": { + "type": "nav_room", + "collision": true, + "hide_top_walls": true, + "usd": [ + "$MAGICSIM_ASSETS/Room/Collected_SimpleRoom" + ], + "annotation": "Annotation", + "random": false, + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0, + "friction_combine_mode": "multiply", + "restitution_combine_mode": "multiply" + } + }, + "objects": { + "table_A": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "pos": [ + -2.0, + 1.5, + 0.23 + ], + "ori": [ + 0, + 0, + 0 + ], + "scale": [ + 0.9, + 0.6, + 0.4 + ] + }, + "table_A_1": { + "primitive_params": { + "size": [ + 1, + 1, + 1 + ] + }, + "visual": { + "color": [ + 0.78, + 0.72, + 0.62 + ] + }, + "physics": { + "type": "geometry", + "collision": true + } + } + }, + "table_B": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "pos": [ + 1.2, + 3.0, + 0.23 + ], + "ori": [ + 0, + 0, + 0 + ], + "scale": [ + 0.9, + 0.6, + 0.4 + ] + }, + "table_B_1": { + "primitive_params": { + "size": [ + 1, + 1, + 1 + ] + }, + "visual": { + "color": [ + 0.62, + 0.72, + 0.78 + ] + }, + "physics": { + "type": "geometry", + "collision": true + } + } + }, + "shim_board": { + "usd": [ + "$MAGICSIM_ASSETS/Object/MobileAssembly/shim_board_a05/Object.usd" + ], + "random": false, + "num_per_env": 1, + "common": { + "pos": [ + 1.26627, + 3.19426, + 0.43 + ], + "ori": [ + 0.0, + 0.0, + -93.37809 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "shim_board_1": { + "visual": {}, + "physics": { + "type": "articulation", + "collision": true, + "fixed_base": true + } + } + }, + "wedge": { + "usd": [ + "$MAGICSIM_ASSETS/Object/MobileAssembly/wedge_a05/Object.usd" + ], + "random": false, + "num_per_env": 1, + "common": { + "pos": [ + -1.96664, + 1.45666, + 0.431 + ], + "ori": [ + 0.0, + 0.0, + 85.86771 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "wedge_1": { + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.02429, + "physics_material": { + "static_friction": 0.8, + "dynamic_friction": 0.7, + "restitution": 0.0 + } + } + } + } + } + }, + "nav": { + "navmesh": { + "enabled": true, + "visualize": false, + "bake_timeout_s": 180, + "agent_height_cm": 65, + "min_agent_radius_cm": 30.0, + "max_agent_radius_cm": 30.0, + "max_step_height_cm": 20, + "max_floor_slope_deg": 30, + "agent_island_radius_cm": 5, + "auto_exclude_rigid_bodies": true, + "validate_path_clearance": true, + "validate_path_window": true, + "navmesh_offset_z_m": 0, + "verbose": false + }, + "occupancymap": { + "cell_size": 0.05 + } + } + }, + "task": { + "observation": {}, + "reward": {}, + "level": "easy", + "termination": { + "timeout_steps": 9000, + "success_hold_frames": 1 + }, + "station": { + "S": { + "pose": [ + -3.6, + -2.5, + 60.0 + ] + }, + "A": { + "center": [ + -2.0, + 0.6 + ], + "zone_radius": 0.6, + "table": "table_A" + }, + "B": { + "center": [ + 1.2, + 2.1 + ], + "zone_radius": 0.6, + "table": "table_B" + } + }, + "stance": { + "radii_A": [ + 0.6, + 0.62, + 0.58, + 0.64, + 0.59, + 0.61, + 0.56, + 0.55, + 0.57, + 0.54, + 0.52, + 0.49, + 0.45, + 0.4, + 0.35, + 0.3 + ], + "radii_B": [ + 0.48, + 0.47, + 0.49, + 0.46, + 0.5, + 0.45, + 0.44, + 0.51, + 0.43 + ], + "bearings_deg": [ + 0.0 + ], + "yaw_offsets_deg": [ + 0.0, + -4.0, + 4.0 + ], + "include_current": true, + "yaw_offsets_deg_B": [ + 100.0, + 96.0, + 104.0, + 92.0, + 108.0, + 88.0 + ], + "stand_height_m": 0.403 + }, + "assembly": { + "part": { + "name": "wedge", + "id": 0 + }, + "fixture": { + "name": "shim_board", + "id": 0 + }, + "support_z": 0.43, + "part_half_height": 0.014, + "lift_height": 0.03, + "carry_lost": 0.25, + "hold_steps": 30, + "release_clear": 0.06, + "fixture_move_limit": 0.01, + "fall_margin": 0.12, + "target_deg": 0.0, + "tol_deg": 1.5, + "contact_gap": 0.002, + "stop_margin_deg": 0.3, + "board_touch_limit": 20, + "pre_height": 0.03, + "align_height": 0.0015, + "align_x": 0.4, + "insert_x": 0.205, + "umi": { + "table_clearance": 0.002, + "min_approach_down_deg": 65.0, + "max_approach_down_deg": 90.0, + "max_candidates": 64 + }, + "heading_link": "none", + "free_axis_yaw": true, + "approach_axis": "z", + "gap_open": 0.0675, + "hand": { + "wrist_to_gripper_pos": [ + -0.00289, + 0.0, + -0.0528 + ], + "wrist_to_gripper_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "tcp_in_gripper": [ + 0.00289, + 0.0, + 0.1686 + ] + } + }, + "command": { + "StationAssembly": { + "robot_id": 0, + "hand_id": 0, + "init_limit": 30, + "max_attempt": 2, + "tail_steps": 400, + "part": { + "obj_type": "rigid", + "obj_name": "wedge", + "obj_id": 0 + }, + "fixture": { + "obj_type": "articulation", + "obj_name": "shim_board", + "obj_id": 0 + }, + "stages": [ + { + "name": "nav_A", + "type": "nav", + "goal": [ + -2.0, + 0.6, + 90.0 + ] + }, + { + "name": "stance_A", + "type": "stance", + "target": "part" + }, + { + "name": "pick", + "type": "grasp" + }, + { + "name": "carry", + "type": "carry" + }, + { + "name": "nav_B", + "type": "nav", + "goal": [ + 1.2, + 1.45, + 90.0 + ] + }, + { + "name": "stance_B", + "type": "stance", + "target": "fixture" + }, + { + "name": "assemble", + "type": "assemble" + } + ] + } + } + }, + "collect": { + "command": { + "StationAssembly": { + "robot_id": 0, + "hand_id": 0, + "init_limit": 30, + "max_attempt": 2, + "tail_steps": 400, + "part": { + "obj_type": "rigid", + "obj_name": "wedge", + "obj_id": 0 + }, + "fixture": { + "obj_type": "articulation", + "obj_name": "shim_board", + "obj_id": 0 + }, + "stages": [ + { + "name": "nav_A", + "type": "nav", + "goal": [ + -2.0, + 0.6, + 90.0 + ] + }, + { + "name": "stance_A", + "type": "stance", + "target": "part" + }, + { + "name": "pick", + "type": "grasp" + }, + { + "name": "carry", + "type": "carry" + }, + { + "name": "nav_B", + "type": "nav", + "goal": [ + 1.2, + 1.45, + 90.0 + ] + }, + { + "name": "stance_B", + "type": "stance", + "target": "fixture" + }, + { + "name": "assemble", + "type": "assemble" + } + ] + } + }, + "global_planner": { + "NavTo": { + "use_navmesh": true, + "use_absolute": true, + "translation_threshold": 0.2, + "rotation_threshold": 0.3, + "num_path_segments": 30, + "start_forward_offset": -0.25, + "visualize_path": false, + "carry_arm": true + }, + "MobileMoveL": { + "translation_threshold": 0.006, + "rotation_threshold": 0.2, + "motiongen_distance_threshold": 0.05, + "timeout_steps": 3000, + "reactive": false, + "base_pos_threshold": 0.12, + "base_rot_threshold": 0.5, + "eef_pos_threshold": 0.03, + "eef_rot_threshold": 0.3, + "waypoint_max_steps": 8, + "interp_steps": 60, + "retry_mobile_on_locked_plan_failure": true, + "debug": false, + "debug_viz": false, + "stall_release_ticks": 100, + "stall_release_factor": 5.0, + "interp_validate_target": true + }, + "AssemblyServoL": { + "translation_threshold": 0.0003, + "rotation_threshold": 0.005, + "motiongen_distance_threshold": 0.0, + "timeout_steps": 1000000, + "min_steps_before_done": 1000000, + "reactive": false, + "base_pos_threshold": 0.12, + "base_rot_threshold": 0.5, + "eef_pos_threshold": 0.03, + "eef_rot_threshold": 0.3, + "waypoint_max_steps": 1, + "debug": false, + "debug_viz": false + }, + "MobileServoL": { + "translation_threshold": 0.03, + "rotation_threshold": 0.3, + "done_threshold": 0.03, + "timeout_steps": 300, + "stride": 1, + "eef_pos_threshold": 0.03, + "eef_rot_threshold": 0.1, + "base_pos_threshold": 0.12, + "waypoint_max_steps": 20, + "force_free_base_distance": 0.4, + "motiongen_distance_threshold": 0.05, + "embedded_direct_lock_layout": "trailing", + "debug": false, + "debug_viz": false + }, + "ParallelGripper": { + "gripper_threshold": 0.0005, + "timeout_steps": 60 + } + }, + "atomic_skill": { + "NavToPose": { + "robot_id": 0, + "show_marker": false + }, + "HoldPose": { + "robot_id": 0, + "hand_id": 0 + }, + "NavTo": { + "robot_id": 0, + "position_offset": 0.85, + "position_threshold": 0.08, + "angle_threshold": 0.06 + }, + "ReachStance": { + "check_current_first": true, + "stance_margin": 0.0, + "max_reach": 1.0, + "max_walks": 3, + "reject_radius": 0.02, + "obstacle_avoidance": [ + "dynamic" + ], + "walk_planner": "MobileServoL", + "strategy_kwargs": { + "reach_steps": 2 + }, + "pre_grasp_planner": "MobileMoveL", + "pre_grasp_mode": -1, + "goalset_lock_base": true, + "debug": true, + "walk_extra_m": 0.05, + "verify_min_steps": 60 + }, + "AssemblyGrasp": { + "pre_grasp_offset_x": 0.12, + "retrieval_offset_x": 0.05, + "mobile": true, + "pre_grasp_planner": "MobileMoveL", + "pre_grasp_mode": -1, + "grasp_mode": 4, + "retrieval_mode": 4, + "goalset_lock_base": true, + "reactive": false, + "viz_grasp": false, + "close_settle_steps": 10, + "obstacle_ignore": [ + "table_A" + ] + }, + "CarryPose": { + "robot_id": 0, + "hand_id": 0, + "carry_part_pos": [ + 0.3, + 0.0, + 0.55 + ], + "planner_mode": 1, + "carry_down_deg": 20.0, + "carry_fallbacks": [ + [ + 0.25, + 0.0, + 0.45 + ], + [ + 0.35, + 0.0, + 0.5 + ], + [ + 0.3, + 0.0, + 0.65 + ], + [ + 0.2, + 0.0, + 0.5 + ], + [ + 0.3, + 0.15, + 0.55 + ], + [ + 0.3, + -0.15, + 0.55 + ] + ], + "carry_pitch_forward": true + }, + "AssemblyInsert": { + "plan_mode": 1, + "max_lin": 0.002, + "max_rot_deg": 1.0, + "settle_ticks": 3, + "servo_max_steps": 600, + "lateral_gate": 0.002, + "stall_ticks": 60, + "stall_min_progress": 0.8, + "carry_lost": 0.25, + "open_value": 0.0 + } + }, + "auto_collect": { + "task_type": "assembly", + "max_trajectories": 1 + }, + "record": { + "output_dir": "/mnt/scratch/xc536_atomic/n025_go2_on_2015_r1/out", + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + } + }, + "visual_dr": { + "keep": [ + "wedge", + "shim_board" + ] + } + }, + "git_sha": null, + "collect_runtime": { + "max_trajectories": 1 + } +} \ No newline at end of file diff --git a/N025/go2_arm/dr_on/seed_2015/stationassembly/000/sim_info/0/actions.npz b/N025/go2_arm/dr_on/seed_2015/stationassembly/000/sim_info/0/actions.npz new file mode 100644 index 0000000000000000000000000000000000000000..1da030c568e43137297c90dad614e54a5f6f88aa --- /dev/null +++ b/N025/go2_arm/dr_on/seed_2015/stationassembly/000/sim_info/0/actions.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7987cd1232b7bd278dbbc369212597f2d4d13cf0819145154d8480bc9f0a9040 +size 863731 diff --git a/N025/go2_arm/dr_on/seed_2015/stationassembly/000/sim_info/0/device_commands.jsonl b/N025/go2_arm/dr_on/seed_2015/stationassembly/000/sim_info/0/device_commands.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N025/go2_arm/dr_on/seed_2015/stationassembly/000/sim_info/0/device_events.jsonl b/N025/go2_arm/dr_on/seed_2015/stationassembly/000/sim_info/0/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N025/go2_arm/dr_on/seed_2015/stationassembly/000/sim_info/0/scene_snapshot.json b/N025/go2_arm/dr_on/seed_2015/stationassembly/000/sim_info/0/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..cd036281da4401871c7a1a42b3b8be0c5c26e5c6 --- /dev/null +++ b/N025/go2_arm/dr_on/seed_2015/stationassembly/000/sim_info/0/scene_snapshot.json @@ -0,0 +1,348 @@ +{ + "trajectory_id": 0, + "env_id": 0, + "run_id": "stationassembly/000", + "task_type": "StationAssembly", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])", + "avatars": "avatar_manager.set_avatars_state(snapshot['avatars'], env_ids=[env_id]) (present when the scene has animated avatars)" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "table_A": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -2.0, + 1.5, + 0.23 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 0.9, + 0.6, + 0.4 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.78, + 0.72, + 0.62 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 1, + 1, + 1 + ] + } + }, + "type_specific": {} + } + ], + "table_B": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 1.2, + 3.0, + 0.23 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 0.9, + 0.6, + 0.4 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.62, + 0.72, + 0.78 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 1, + 1, + 1 + ] + } + }, + "type_specific": {} + } + ], + "shim_board": [ + { + "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MobileAssembly/shim_board_a05/Object.usd", + "pose": { + "pos": [ + 1.2662700414657593, + 3.1942598819732666, + 0.4300000071525574 + ], + "ori": [ + -0.6859574913978577, + 0.0, + 0.0, + 0.7276416420936584 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "collision": true, + "fixed_base": true, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 0.05235988274216652 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "wedge": [ + { + "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MobileAssembly/wedge_a05/Object.usd", + "pose": { + "pos": [ + -1.9666399955749512, + 1.4566600322723389, + 0.4300000071525574 + ], + "ori": [ + 0.7321407198905945, + 1.389533281326294e-06, + 1.2926757335662842e-06, + 0.6811533570289612 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.02429, + "physics_material": { + "static_friction": 0.8, + "dynamic_friction": 0.7, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 0.00021189545805100352, + 2.1421603833005065e-06, + -0.00010094005119754001 + ], + "angular_velocity": [ + 0.0006597995525225997, + 0.009271183051168919, + -0.00016777787823230028 + ] + } + } + ] + } + ], + "artifacts": [ + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 814.51721, + "texture": null, + "color": [ + 0.85, + 0.85, + 0.85 + ] + } + } + }, + "robots": { + "Go2Plus": { + "root_pose": [ + [ + -3.5464580059051514, + -2.420097589492798, + 0.35306382179260254, + 0.8655661940574646, + 0.0015973560512065887, + -0.0006353706121444702, + 0.500791609287262 + ] + ], + "root_vel": [ + [ + -0.008669527247548103, + -0.014674494042992592, + -0.005295089911669493, + -0.004225865472108126, + 0.0022310756612569094, + 0.002029148396104574 + ] + ], + "joint_pos": [ + [ + 0.03474405035376549, + -0.022809036076068878, + -0.09815940260887146, + 0.08253701031208038, + 1.114123278966872e-05, + 0.7205104231834412, + 0.77937912940979, + 0.99817955493927, + 0.9987071752548218, + 1.705733299255371, + -1.549681305885315, + -1.5638691186904907, + -1.5944128036499023, + -1.5887515544891357, + -0.9956995248794556, + 1.7637867131270468e-05, + 0.699431836605072, + 8.841973340167897e-07, + 0.034999996423721313, + -0.03499982878565788 + ] + ], + "joint_vel": [ + [ + -0.0010557423811405897, + -0.0019881732296198606, + -0.0003432361118029803, + 0.0021012870129197836, + 0.0005252902628853917, + -0.038502760231494904, + -0.034334100782871246, + -0.027435176074504852, + -0.027349140495061874, + -0.037486687302589417, + -0.03928477689623833, + -0.04253224655985832, + -0.04787788540124893, + -0.04981507733464241, + -0.026038045063614845, + 8.35672763059847e-05, + 0.011966763064265251, + -8.12503567431122e-05, + -6.175315320433583e-06, + -4.957245255354792e-05 + ] + ] + } + }, + "cameras": { + "cameras": { + "head": [ + [ + 0.33205100893974304, + 0.038026999682188034, + 0.09355899691581726, + -0.5022302269935608, + -0.499491810798645, + 0.5120040774345398, + 0.4859265089035034 + ] + ], + "wrist": [ + [ + -0.0749870017170906, + 0.005288999993354082, + 0.04582099989056587, + 0.1271296590566635, + 0.701795220375061, + -0.6904057860374451, + -0.12108422070741653 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/N025/go2_arm/dr_on/seed_2015/stationassembly/000/sim_info/0/sim_states.npz b/N025/go2_arm/dr_on/seed_2015/stationassembly/000/sim_info/0/sim_states.npz new file mode 100644 index 0000000000000000000000000000000000000000..c1790823b488dd112e2dcef67011c5623a0ab060 --- /dev/null +++ b/N025/go2_arm/dr_on/seed_2015/stationassembly/000/sim_info/0/sim_states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:94b3be9a4ebe74564d4db71d557f64512529c3e24b99ccce0da07942493fe102 +size 1383007 diff --git a/N025/go2_arm/dr_on/seed_2015/stationassembly/000/sim_info/magicsim_manifest.json b/N025/go2_arm/dr_on/seed_2015/stationassembly/000/sim_info/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..ecd57d945dfd1ff55b38cec4321b6e2659ede3a5 --- /dev/null +++ b/N025/go2_arm/dr_on/seed_2015/stationassembly/000/sim_info/magicsim_manifest.json @@ -0,0 +1,259 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 03:14:52" + }, + "embodiment": { + "robots": [ + { + "name": "Go2Plus", + "cfg": "Go2PlusCfg", + "type": "mobilemanip", + "joint_names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 12, + "nan_policy": "from_raw", + "segments": [ + { + "name": "Go2Plus.base_action", + "start": 0, + "end": 4, + "names": [ + "base_action_0", + "base_action_1", + "base_action_2", + "base_action_3" + ], + "source": "Go2UnifiedLocomotionAction", + "names_source": "fallback" + }, + { + "name": "Go2Plus.arm_action", + "start": 4, + "end": 11, + "names": [ + "eef0.pos_x", + "eef0.pos_y", + "eef0.pos_z", + "eef0.quat_w", + "eef0.quat_x", + "eef0.quat_y", + "eef0.quat_z" + ], + "source": "Go2PlusCuroboIKAction", + "names_source": "pose_layout" + }, + { + "name": "Go2Plus.eef_action", + "start": 11, + "end": 12, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 26, + "segments": [ + { + "name": "Go2Plus.joint_pos", + "start": 0, + "end": 24, + "names": [ + "joint_0", + "joint_1", + "joint_2", + "joint_3", + "joint_4", + "joint_5", + "joint_6", + "joint_7", + "joint_8", + "joint_9", + "joint_10", + "joint_11", + "joint_12", + "joint_13", + "joint_14", + "joint_15", + "joint_16", + "joint_17", + "joint_18", + "joint_19", + "joint_20", + "joint_21", + "joint_22", + "joint_23" + ], + "source": "ObservationManager", + "names_source": "fallback_dim_mismatch(joint_names=20,obs=24)" + }, + { + "name": "Go2Plus.gripper_pos", + "start": 24, + "end": 26, + "names": [ + "gripper_0", + "gripper_1" + ], + "source": "ObservationManager", + "names_source": "generated" + } + ] + }, + "joint_vel_layout": { + "dim": 20, + "segments": [ + { + "name": "Go2Plus.joint_vel", + "start": 0, + "end": 20, + "names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "action_levels": { + "L0": "task command list (collect.auto_collect_info.current_action)", + "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)", + "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)", + "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy", + "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)" + }, + "cameras": { + "head": { + "intrinsics": { + "K": [ + [ + 607.7061061683956, + 0.0, + 320.0 + ], + [ + 0.0, + 607.3754374751866, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 55.53991912549515, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.33205100893974304, + 0.038026999682188034, + 0.09355899691581726 + ], + "quat": [ + -0.5022302269935608, + -0.499491810798645, + 0.5120040774345398, + 0.4859265089035034 + ] + }, + "wrist": { + "intrinsics": { + "K": [ + [ + 617.2500342478374, + 0.0, + 320.0 + ], + [ + 0.0, + 617.548655622722, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 54.807019583348044, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + -0.0749870017170906, + 0.005288999993354082, + 0.04582099989056587 + ], + "quat": [ + 0.1271296590566635, + 0.701795220375061, + -0.6904057860374451, + -0.12108422070741653 + ] + } + }, + "generated_run": { + "run_id": "stationassembly/000", + "task_type": "StationAssembly" + } +} \ No newline at end of file diff --git a/N025/go2_arm/dr_on/seed_2015/stationassembly/000/visual_dr.json b/N025/go2_arm/dr_on/seed_2015/stationassembly/000/visual_dr.json new file mode 100644 index 0000000000000000000000000000000000000000..6ad6429ed4ac9667a12a3b88ae6d653259b7b91c --- /dev/null +++ b/N025/go2_arm/dr_on/seed_2015/stationassembly/000/visual_dr.json @@ -0,0 +1,676 @@ +{ + "version": 1, + "settings": { + "enabled": false, + "keep": [ + "wedge", + "shim_board" + ], + "skip": [ + "*Robot_*", + "*/Camera*", + "*/camera*" + ], + "light_intensity": [ + 0.6, + 1.5 + ], + "light_color_temperature": [ + 3500.0, + 7500.0 + ], + "light_jitter_deg": 5.0, + "dome_swap_prob": 0.5, + "dome_tint_sat": [ + 0.0, + 0.15 + ], + "dome_yaw": true, + "hdr_dir": "$MAGICSIM_ASSETS/Background", + "tint_sat": [ + 0.0, + 0.3 + ], + "tint_val": [ + 0.7, + 1.0 + ], + "roughness_scale": [ + 0.8, + 1.25 + ], + "material_swap": true, + "material_swap_prob": 1.0, + "material_library": "$MAGICSIM_ASSETS/Material" + }, + "episodes": [ + { + "env_ids": [ + 0 + ], + "reset_index": 0, + "episode_seed": 2015, + "seeds": { + "0": 2015 + }, + "lights": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/RectLight", + "type": "RectLight", + "intensity": 15681.695902, + "intensity_base": 15000.0, + "enable_color_temperature": true, + "color_temperature_k": 6613.754693, + "rotate_deg": [ + -2.501, + 0.188, + -1.529 + ] + } + ], + "domes": [ + { + "path": "/World/background", + "type": "DomeLight", + "intensity": 842.385856, + "intensity_base": 814.5172, + "enable_color_temperature": true, + "color_temperature_k": 3620.53805, + "rotate_deg": [ + 0.0, + 0.0, + 1.963 + ], + "dome": { + "path": "/World/background", + "hdr_base": null, + "hdr": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Background/kloppenheim_02_4k.hdr", + "color": [ + 0.810645, + 0.68935, + 0.787015 + ] + } + } + ], + "materials": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light", + "shader": "omnipbr", + "color": [ + 0.7676, + 0.9492, + 0.9928 + ], + "color_base": [ + 1.0, + 1.0, + 1.0 + ], + "roughness": 0.457161, + "roughness_base": 0.5, + "bound_prims": 1 + } + ], + "display_colors": [], + "swapped": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/ParquetFloor", + "role": "ground", + "mdl": "Source/Concrete/Spongy_Concrete_Weathered.mdl", + "material": "/MmbVdrLooks/Source_Concrete_Spongy_Concrete_Weathered", + "bound_prims": 1, + "pool_size": 42, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic", + "role": "wall", + "mdl": "Source/Paint/Chalk_Paint.mdl", + "material": "/MmbVdrLooks/Source_Paint_Chalk_Paint", + "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_Floor_Damage.mdl", + "material": "/MmbVdrLooks/Source_Concrete_Concrete_Floor_Damage", + "bound_prims": 22, + "pool_size": 28, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WoodWall", + "role": "wall", + "mdl": "Source/Concrete/Concrete_Precast.mdl", + "material": "/MmbVdrLooks/Source_Concrete_Concrete_Precast", + "bound_prims": 10, + "pool_size": 28, + "bind_failed": 0 + } + ], + "skipped": { + "unsupported_shader": 1, + "protected_material": 0, + "error": 0, + "instance_proxy": 0, + "no_swap": 2, + "bind_failed": 0 + }, + "keep_hits": { + "wedge": 2, + "shim_board": 4 + }, + "physics_skip": { + "physics_binding": 7, + "rigid_body": 223, + "examples": [ + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calf_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calf_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calf_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calflower_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calflower1_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_foot_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_foot_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_hip/go2_FL_hip_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_hip/go2_FL_hip_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_hip/go2_FL_hip_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_thigh/go2_FL_thigh_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_thigh/go2_FL_thigh_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_thigh/go2_FL_thigh_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calf_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calf_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calf_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calflower_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calflower1_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_foot_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_foot_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_hip/go2_FR_hip_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_hip/go2_FR_hip_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_hip/go2_FR_hip_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_thigh/go2_FR_thigh_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_thigh/go2_FR_thigh_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_thigh/go2_FR_thigh_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calf_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calf_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calf_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calflower_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calflower1_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_foot_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_foot_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_hip/go2_RL_hip_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_hip/go2_RL_hip_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_hip/go2_RL_hip_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_thigh/go2_RL_thigh_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_thigh/go2_RL_thigh_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_thigh/go2_RL_thigh_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RR_calf/go2_RR_calf_geometry/visual_0", + "rigid_body" + ] + ] + }, + "material_library": { + "root": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Material", + "pool_sizes": { + "ground": 42, + "wall": 28, + "furniture": 38, + "object": 54 + } + }, + "no_swap": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass", + "reason": "glass", + "bound_prims": 1 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light", + "reason": "emissive", + "bound_prims": 1 + } + ], + "unsupported": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass", + "mdl": "OmniGlass.mdl", + "bound_prims": 1 + } + ] + }, + { + "env_ids": [ + 0 + ], + "reset_index": 1, + "episode_seed": 2015, + "seeds": { + "0": 2015 + }, + "lights": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/RectLight", + "type": "RectLight", + "intensity": 15681.695902, + "intensity_base": 15000.0, + "enable_color_temperature": true, + "color_temperature_k": 6613.754693, + "rotate_deg": [ + -2.501, + 0.188, + -1.529 + ] + } + ], + "domes": [ + { + "path": "/World/background", + "type": "DomeLight", + "intensity": 842.385856, + "intensity_base": 814.5172, + "enable_color_temperature": true, + "color_temperature_k": 3620.53805, + "rotate_deg": [ + 0.0, + 0.0, + 1.963 + ], + "dome": { + "path": "/World/background", + "hdr_base": null, + "hdr": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Background/kloppenheim_02_4k.hdr", + "color": [ + 0.810645, + 0.68935, + 0.787015 + ] + } + } + ], + "materials": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light", + "shader": "omnipbr", + "color": [ + 0.7676, + 0.9492, + 0.9928 + ], + "color_base": [ + 1.0, + 1.0, + 1.0 + ], + "roughness": 0.457161, + "roughness_base": 0.5, + "bound_prims": 1 + } + ], + "display_colors": [], + "swapped": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/ParquetFloor", + "role": "ground", + "mdl": "Source/Concrete/Spongy_Concrete_Weathered.mdl", + "material": "/MmbVdrLooks/Source_Concrete_Spongy_Concrete_Weathered", + "bound_prims": 1, + "pool_size": 42, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic", + "role": "wall", + "mdl": "Source/Paint/Chalk_Paint.mdl", + "material": "/MmbVdrLooks/Source_Paint_Chalk_Paint", + "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_Floor_Damage.mdl", + "material": "/MmbVdrLooks/Source_Concrete_Concrete_Floor_Damage", + "bound_prims": 22, + "pool_size": 28, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WoodWall", + "role": "wall", + "mdl": "Source/Concrete/Concrete_Precast.mdl", + "material": "/MmbVdrLooks/Source_Concrete_Concrete_Precast", + "bound_prims": 10, + "pool_size": 28, + "bind_failed": 0 + } + ], + "skipped": { + "unsupported_shader": 1, + "protected_material": 0, + "error": 0, + "instance_proxy": 0, + "no_swap": 2, + "bind_failed": 0 + }, + "keep_hits": { + "wedge": 2, + "shim_board": 4 + }, + "physics_skip": { + "physics_binding": 7, + "rigid_body": 223, + "examples": [ + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calf_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calf_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calf_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calflower_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calflower1_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_foot_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_foot_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_hip/go2_FL_hip_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_hip/go2_FL_hip_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_hip/go2_FL_hip_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_thigh/go2_FL_thigh_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_thigh/go2_FL_thigh_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_thigh/go2_FL_thigh_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calf_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calf_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calf_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calflower_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calflower1_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_foot_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_foot_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_hip/go2_FR_hip_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_hip/go2_FR_hip_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_hip/go2_FR_hip_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_thigh/go2_FR_thigh_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_thigh/go2_FR_thigh_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_thigh/go2_FR_thigh_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calf_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calf_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calf_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calflower_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calflower1_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_foot_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_foot_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_hip/go2_RL_hip_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_hip/go2_RL_hip_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_hip/go2_RL_hip_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_thigh/go2_RL_thigh_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_thigh/go2_RL_thigh_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_thigh/go2_RL_thigh_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RR_calf/go2_RR_calf_geometry/visual_0", + "rigid_body" + ] + ] + }, + "material_library": { + "root": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Material", + "pool_sizes": { + "ground": 42, + "wall": 28, + "furniture": 38, + "object": 54 + } + }, + "no_swap": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass", + "reason": "glass", + "bound_prims": 1 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light", + "reason": "emissive", + "bound_prims": 1 + } + ], + "unsupported": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass", + "mdl": "OmniGlass.mdl", + "bound_prims": 1 + } + ] + } + ] +} \ No newline at end of file diff --git a/N025/go2_arm/dr_on/seed_2016/check.json b/N025/go2_arm/dr_on/seed_2016/check.json new file mode 100644 index 0000000000000000000000000000000000000000..e20b6854325c41e85cf9cc866b6aa845b8c90c7a --- /dev/null +++ b/N025/go2_arm/dr_on/seed_2016/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "1738 rows vs ceil(3476/2) = 1738" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 31..3505, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "24.62 MB, 1738 frames at 25 fps, mean luma 52..85, std 62, new picture 1737x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1738 vs 1738" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "38.87 MB, 1738 frames at 25 fps, mean luma 87..155, std 27, new picture 1737x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1738 vs 1738" + }, + "sim_info present": { + "pass": true, + "detail": "stationassembly/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N025/go2_arm/dr_on/seed_2016/check.txt b/N025/go2_arm/dr_on/seed_2016/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..db37296b8ce86b188e3941bcf100dbc49a141705 --- /dev/null +++ b/N025/go2_arm/dr_on/seed_2016/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n025_go2_on_2016_r1/out task=N025 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n025_go2_on_2016_r1/out/stationassembly/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1738 videos 2 robot_type Go2PlusCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 1738 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5'] +[PASS] action shape: parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y'] +[PASS] task text = MobileBench instruction: task_index 0: 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.' +rows 1738 at dataset fps 25 = 69.52 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1738 rows vs ceil(3476/2) = 1738 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..3505, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 24.62 MB, 1738 frames at 25 fps, mean luma 52..85, std 62, new picture 1737x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1738 vs 1738 +[PASS] video observation.images.wrist decodes, 640x480, not black: 38.87 MB, 1738 frames at 25 fps, mean luma 87..155, std 27, new picture 1737x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1738 vs 1738 +parquet size 18.18 MB +[PASS] sim_info present: stationassembly/000/sim_info +dataset size 81.92 MB; whole cell dir 83.4 MB +RESULT: ALL PASS diff --git a/N025/go2_arm/dr_on/seed_2016/report.json b/N025/go2_arm/dr_on/seed_2016/report.json new file mode 100644 index 0000000000000000000000000000000000000000..a8ccc24189fefe17d23561450dc0fe26ef95bf24 --- /dev/null +++ b/N025/go2_arm/dr_on/seed_2016/report.json @@ -0,0 +1,2154 @@ +{ + "task": "N025", + "agent_id": null, + "embodiment": "go2_arm", + "level": "easy", + "scene_seed": 2016, + "execution_mode": "headless_collect_chain(StationAssembly->NavToPose/ReachStance/AssemblyGrasp/CarryPose/AssemblyInsert->NavTo+MobileMoveL+AssemblyServoL->cuRobo)", + "config": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/src/magicsim/Collect/Task/MobileAssembly/Conf/n025_wedge_shim.yaml", + "full_success": true, + "failure_reason": null, + "dr": { + "seed": 2016, + "wedge": { + "dx": 0.01703, + "dy": -0.02274, + "yaw_deg": -6.47631 + }, + "shim_board": { + "dx": -0.06088, + "dy": 0.00439, + "yaw_deg": 1.57529 + }, + "wedge_mass": 0.02102, + "light": 878.2134, + "spawn": { + "dx": 0.102, + "dy": 0.0038, + "yaw_deg": 12.54863 + }, + "overrides": { + "env.scene.objects.wedge.common.pos": [ + -1.98297, + 1.37726, + 0.431 + ], + "env.scene.objects.wedge.common.ori": [ + 0.0, + 0.0, + 83.52369 + ], + "env.scene.objects.shim_board.common.pos": [ + 1.13912, + 3.15439, + 0.43 + ], + "env.scene.objects.shim_board.common.ori": [ + 0.0, + 0.0, + -88.42471 + ], + "env.scene.objects.wedge.wedge_1.physics.mass": 0.02102, + "env.scene.background.intensity": [ + 878.2134, + 878.2134 + ], + "env.robot.RidgebackSawyerUmi.common.pos": [ + [ + -3.498, + -2.4962, + 0.06 + ], + [ + -3.498, + -2.4962, + 0.06 + ] + ], + "env.robot.RidgebackSawyerUmi.common.ori": [ + [ + 0, + 0, + 72.54863 + ], + [ + 0, + 0, + 72.54863 + ] + ] + } + }, + "planner_seeds": { + "label": "lean", + "num_trajopt_seeds": 1, + "num_ik_seeds": 4, + "max_attempts": 6 + }, + "collect": { + "task": "N025", + "robot": "go2_arm", + "visual_dr": true, + "env": { + "MMB_COLLECT": "1", + "MMB_TASK_ID": "N025", + "MMB_CLEAN_VIEW": "1", + "MMB_REAL_ROBOT_LOOK": "1", + "MMB_VISUAL_DR": "1" + }, + "cameras": { + "head": { + "link": "Robot_0/Bodies/go2_base", + "pos": [ + 0.332051, + 0.038027, + 0.093559 + ], + "ori": [ + 169.9473, + -88.6452, + 81.5985 + ], + "focal_length": 1.8231182098388672, + "horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.4407838582992554 + }, + "wrist": { + "link": "Robot_0/Bodies/piper_link6", + "pos": [ + -0.074987, + 0.005289, + 0.045821 + ], + "ori": [ + 179.3135, + -20.212, + 88.9402 + ], + "focal_length": 1.8517500162124634, + "horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.4393036365509033 + } + }, + "resolution": [ + 640, + 480 + ], + "camera_hz": 25, + "record": { + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + } + }, + "steps": 3506, + "task_id": "N025", + "task_version": "EXT60-MobileAvatar-v3", + "family_id": "wedge_support", + "primary_category": "C4", + "env_terminated": true, + "env_truncated": false, + "station_layout": { + "S": { + "pose": [ + -3.6, + -2.5, + 60.0 + ] + }, + "A": { + "center": [ + -2.0, + 0.6 + ], + "zone_radius": 0.6, + "table": "table_A" + }, + "B": { + "center": [ + 1.2, + 2.1 + ], + "zone_radius": 0.6, + "table": "table_B" + } + }, + "spawn_pose": [ + -3.497999906539917, + -2.4962000846862793, + 1.2662125297496447 + ], + "base_path": [ + [ + -3.498, + -2.497, + 1.267 + ], + [ + -3.499, + -2.5, + 1.275 + ], + [ + -3.5, + -2.5, + 1.275 + ], + [ + -3.5, + -2.501, + 1.272 + ], + [ + -3.495, + -2.495, + 1.268 + ], + [ + -3.478, + -2.461, + 1.249 + ], + [ + -3.453, + -2.419, + 1.217 + ], + [ + -3.425, + -2.37, + 1.174 + ], + [ + -3.398, + -2.314, + 1.136 + ], + [ + -3.365, + -2.255, + 1.123 + ], + [ + -3.331, + -2.197, + 1.112 + ], + [ + -3.298, + -2.136, + 1.112 + ], + [ + -3.265, + -2.076, + 1.111 + ], + [ + -3.233, + -2.014, + 1.116 + ], + [ + -3.202, + -1.952, + 1.116 + ], + [ + -3.172, + -1.89, + 1.116 + ], + [ + -3.142, + -1.828, + 1.119 + ], + [ + -3.113, + -1.766, + 1.117 + ], + [ + -3.083, + -1.704, + 1.121 + ], + [ + -3.054, + -1.644, + 1.114 + ], + [ + -3.025, + -1.581, + 1.119 + ], + [ + -2.995, + -1.52, + 1.115 + ], + [ + -2.966, + -1.458, + 1.118 + ], + [ + -2.935, + -1.396, + 1.116 + ], + [ + -2.906, + -1.334, + 1.12 + ], + [ + -2.876, + -1.271, + 1.118 + ], + [ + -2.847, + -1.209, + 1.12 + ], + [ + -2.817, + -1.147, + 1.119 + ], + [ + -2.787, + -1.085, + 1.12 + ], + [ + -2.757, + -1.023, + 1.12 + ], + [ + -2.728, + -0.962, + 1.117 + ], + [ + -2.698, + -0.899, + 1.121 + ], + [ + -2.669, + -0.838, + 1.114 + ], + [ + -2.639, + -0.775, + 1.12 + ], + [ + -2.609, + -0.714, + 1.115 + ], + [ + -2.582, + -0.651, + 1.12 + ], + [ + -2.552, + -0.589, + 1.117 + ], + [ + -2.523, + -0.527, + 1.12 + ], + [ + -2.492, + -0.465, + 1.118 + ], + [ + -2.463, + -0.402, + 1.121 + ], + [ + -2.433, + -0.341, + 1.119 + ], + [ + -2.404, + -0.279, + 1.121 + ], + [ + -2.374, + -0.217, + 1.121 + ], + [ + -2.345, + -0.155, + 1.118 + ], + [ + -2.316, + -0.093, + 1.12 + ], + [ + -2.287, + -0.032, + 1.115 + ], + [ + -2.257, + 0.031, + 1.12 + ], + [ + -2.227, + 0.091, + 1.115 + ], + [ + -2.199, + 0.154, + 1.12 + ], + [ + -2.17, + 0.216, + 1.116 + ], + [ + -2.142, + 0.278, + 1.12 + ], + [ + -2.115, + 0.336, + 1.117 + ], + [ + -2.093, + 0.387, + 1.122 + ], + [ + -2.073, + 0.431, + 1.121 + ], + [ + -2.058, + 0.463, + 1.119 + ], + [ + -2.043, + 0.484, + 1.116 + ], + [ + -2.034, + 0.506, + 1.12 + ], + [ + -2.03, + 0.524, + 1.125 + ], + [ + -2.029, + 0.531, + 1.199 + ], + [ + -2.035, + 0.535, + 1.315 + ], + [ + -2.035, + 0.534, + 1.454 + ], + [ + -2.035, + 0.535, + 1.62 + ], + [ + -2.037, + 0.533, + 1.759 + ], + [ + -2.039, + 0.534, + 1.78 + ], + [ + -2.039, + 0.533, + 1.743 + ], + [ + -2.037, + 0.532, + 1.7 + ], + [ + -2.035, + 0.534, + 1.666 + ], + [ + -2.033, + 0.546, + 1.641 + ], + [ + -2.032, + 0.566, + 1.615 + ], + [ + -2.034, + 0.59, + 1.588 + ], + [ + -2.036, + 0.61, + 1.567 + ], + [ + -2.039, + 0.63, + 1.536 + ], + [ + -2.041, + 0.655, + 1.52 + ], + [ + -2.042, + 0.678, + 1.515 + ], + [ + -2.04, + 0.697, + 1.514 + ], + [ + -2.038, + 0.714, + 1.51 + ], + [ + -2.036, + 0.731, + 1.506 + ], + [ + -2.035, + 0.751, + 1.509 + ], + [ + -2.035, + 0.77, + 1.508 + ], + [ + -2.036, + 0.784, + 1.506 + ], + [ + -2.036, + 0.791, + 1.504 + ], + [ + -2.037, + 0.794, + 1.504 + ], + [ + -2.037, + 0.794, + 1.504 + ], + [ + -2.037, + 0.795, + 1.503 + ], + [ + -2.037, + 0.795, + 1.502 + ], + [ + -2.037, + 0.795, + 1.502 + ], + [ + -2.037, + 0.797, + 1.502 + ], + [ + -2.036, + 0.797, + 1.502 + ], + [ + -2.037, + 0.797, + 1.503 + ], + [ + -2.037, + 0.797, + 1.503 + ], + [ + -2.037, + 0.798, + 1.503 + ], + [ + -2.037, + 0.799, + 1.503 + ], + [ + -2.037, + 0.8, + 1.502 + ], + [ + -2.037, + 0.8, + 1.502 + ], + [ + -2.037, + 0.801, + 1.502 + ], + [ + -2.037, + 0.801, + 1.502 + ], + [ + -2.037, + 0.801, + 1.502 + ], + [ + -2.037, + 0.801, + 1.502 + ], + [ + -2.037, + 0.801, + 1.502 + ], + [ + -2.037, + 0.801, + 1.502 + ], + [ + -2.037, + 0.801, + 1.502 + ], + [ + -2.037, + 0.801, + 1.502 + ], + [ + -2.037, + 0.801, + 1.502 + ], + [ + -2.037, + 0.802, + 1.502 + ], + [ + -2.037, + 0.802, + 1.502 + ], + [ + -2.037, + 0.802, + 1.502 + ], + [ + -2.037, + 0.802, + 1.502 + ], + [ + -2.037, + 0.802, + 1.502 + ], + [ + -2.037, + 0.802, + 1.502 + ], + [ + -2.037, + 0.802, + 1.502 + ], + [ + -2.037, + 0.802, + 1.502 + ], + [ + -2.037, + 0.802, + 1.502 + ], + [ + -2.037, + 0.802, + 1.502 + ], + [ + -2.037, + 0.802, + 1.502 + ], + [ + -2.037, + 0.802, + 1.502 + ], + [ + -2.037, + 0.802, + 1.502 + ], + [ + -2.037, + 0.802, + 1.502 + ], + [ + -2.037, + 0.802, + 1.502 + ], + [ + -2.037, + 0.802, + 1.502 + ], + [ + -2.037, + 0.802, + 1.502 + ], + [ + -2.037, + 0.802, + 1.502 + ], + [ + -2.037, + 0.802, + 1.502 + ], + [ + -2.037, + 0.802, + 1.502 + ], + [ + -2.037, + 0.801, + 1.502 + ], + [ + -2.037, + 0.795, + 1.502 + ], + [ + -2.038, + 0.784, + 1.502 + ], + [ + -2.038, + 0.778, + 1.502 + ], + [ + -2.038, + 0.783, + 1.503 + ], + [ + -2.038, + 0.787, + 1.502 + ], + [ + -2.038, + 0.784, + 1.502 + ], + [ + -2.038, + 0.781, + 1.503 + ], + [ + -2.038, + 0.785, + 1.503 + ], + [ + -2.038, + 0.784, + 1.502 + ], + [ + -2.038, + 0.782, + 1.503 + ], + [ + -2.038, + 0.784, + 1.503 + ], + [ + -2.038, + 0.784, + 1.502 + ], + [ + -2.038, + 0.782, + 1.503 + ], + [ + -2.038, + 0.785, + 1.503 + ], + [ + -2.038, + 0.784, + 1.502 + ], + [ + -2.037, + 0.783, + 1.503 + ], + [ + -2.037, + 0.783, + 1.502 + ], + [ + -2.037, + 0.783, + 1.503 + ], + [ + -2.037, + 0.783, + 1.503 + ], + [ + -2.038, + 0.785, + 1.502 + ], + [ + -2.038, + 0.784, + 1.502 + ], + [ + -2.038, + 0.782, + 1.503 + ], + [ + -2.038, + 0.785, + 1.503 + ], + [ + -2.038, + 0.784, + 1.502 + ], + [ + -2.038, + 0.782, + 1.503 + ], + [ + -2.038, + 0.785, + 1.502 + ], + [ + -2.038, + 0.783, + 1.502 + ], + [ + -2.037, + 0.783, + 1.503 + ], + [ + -2.038, + 0.785, + 1.502 + ], + [ + -2.038, + 0.782, + 1.502 + ], + [ + -2.038, + 0.784, + 1.503 + ], + [ + -2.038, + 0.785, + 1.502 + ], + [ + -2.037, + 0.782, + 1.502 + ], + [ + -2.037, + 0.784, + 1.502 + ], + [ + -2.037, + 0.784, + 1.502 + ], + [ + -2.036, + 0.782, + 1.502 + ], + [ + -2.036, + 0.784, + 1.502 + ], + [ + -2.036, + 0.783, + 1.502 + ], + [ + -2.035, + 0.783, + 1.503 + ], + [ + -2.035, + 0.783, + 1.502 + ], + [ + -2.035, + 0.782, + 1.503 + ], + [ + -2.035, + 0.784, + 1.502 + ], + [ + -2.036, + 0.784, + 1.502 + ], + [ + -2.035, + 0.781, + 1.499 + ], + [ + -2.036, + 0.777, + 1.436 + ], + [ + -2.038, + 0.771, + 1.322 + ], + [ + -2.045, + 0.768, + 1.181 + ], + [ + -2.054, + 0.767, + 1.018 + ], + [ + -2.055, + 0.763, + 0.854 + ], + [ + -2.058, + 0.764, + 0.68 + ], + [ + -2.055, + 0.765, + 0.517 + ], + [ + -2.024, + 0.756, + 0.376 + ], + [ + -1.976, + 0.744, + 0.29 + ], + [ + -1.912, + 0.723, + 0.249 + ], + [ + -1.845, + 0.709, + 0.234 + ], + [ + -1.773, + 0.698, + 0.244 + ], + [ + -1.704, + 0.695, + 0.243 + ], + [ + -1.631, + 0.698, + 0.259 + ], + [ + -1.562, + 0.703, + 0.259 + ], + [ + -1.492, + 0.713, + 0.268 + ], + [ + -1.423, + 0.724, + 0.266 + ], + [ + -1.356, + 0.74, + 0.268 + ], + [ + -1.287, + 0.754, + 0.267 + ], + [ + -1.22, + 0.772, + 0.267 + ], + [ + -1.151, + 0.788, + 0.27 + ], + [ + -1.084, + 0.807, + 0.264 + ], + [ + -1.015, + 0.824, + 0.271 + ], + [ + -0.949, + 0.844, + 0.262 + ], + [ + -0.88, + 0.863, + 0.27 + ], + [ + -0.814, + 0.882, + 0.26 + ], + [ + -0.746, + 0.902, + 0.266 + ], + [ + -0.68, + 0.92, + 0.259 + ], + [ + -0.614, + 0.941, + 0.265 + ], + [ + -0.546, + 0.958, + 0.264 + ], + [ + -0.479, + 0.979, + 0.266 + ], + [ + -0.41, + 0.996, + 0.267 + ], + [ + -0.343, + 1.017, + 0.263 + ], + [ + -0.274, + 1.035, + 0.266 + ], + [ + -0.209, + 1.055, + 0.26 + ], + [ + -0.14, + 1.073, + 0.267 + ], + [ + -0.073, + 1.092, + 0.258 + ], + [ + -0.004, + 1.111, + 0.268 + ], + [ + 0.063, + 1.13, + 0.26 + ], + [ + 0.131, + 1.15, + 0.268 + ], + [ + 0.198, + 1.168, + 0.263 + ], + [ + 0.265, + 1.189, + 0.268 + ], + [ + 0.333, + 1.206, + 0.266 + ], + [ + 0.399, + 1.227, + 0.268 + ], + [ + 0.468, + 1.244, + 0.269 + ], + [ + 0.535, + 1.264, + 0.266 + ], + [ + 0.604, + 1.282, + 0.271 + ], + [ + 0.671, + 1.301, + 0.263 + ], + [ + 0.74, + 1.32, + 0.269 + ], + [ + 0.805, + 1.339, + 0.26 + ], + [ + 0.873, + 1.359, + 0.269 + ], + [ + 0.934, + 1.377, + 0.262 + ], + [ + 0.988, + 1.394, + 0.27 + ], + [ + 1.034, + 1.406, + 0.271 + ], + [ + 1.065, + 1.414, + 0.262 + ], + [ + 1.094, + 1.422, + 0.272 + ], + [ + 1.115, + 1.43, + 0.272 + ], + [ + 1.125, + 1.435, + 0.32 + ], + [ + 1.125, + 1.441, + 0.432 + ], + [ + 1.125, + 1.443, + 0.566 + ], + [ + 1.125, + 1.446, + 0.727 + ], + [ + 1.127, + 1.446, + 0.885 + ], + [ + 1.126, + 1.447, + 1.049 + ], + [ + 1.126, + 1.447, + 1.219 + ], + [ + 1.125, + 1.446, + 1.378 + ], + [ + 1.124, + 1.448, + 1.55 + ], + [ + 1.126, + 1.449, + 1.675 + ], + [ + 1.127, + 1.452, + 1.724 + ], + [ + 1.127, + 1.453, + 1.746 + ], + [ + 1.129, + 1.45, + 1.753 + ], + [ + 1.128, + 1.457, + 1.734 + ], + [ + 1.124, + 1.472, + 1.709 + ], + [ + 1.118, + 1.492, + 1.684 + ], + [ + 1.115, + 1.511, + 1.655 + ], + [ + 1.116, + 1.533, + 1.645 + ], + [ + 1.112, + 1.557, + 1.635 + ], + [ + 1.106, + 1.58, + 1.632 + ], + [ + 1.104, + 1.598, + 1.63 + ], + [ + 1.105, + 1.616, + 1.617 + ], + [ + 1.105, + 1.637, + 1.622 + ], + [ + 1.102, + 1.661, + 1.622 + ], + [ + 1.099, + 1.685, + 1.621 + ], + [ + 1.098, + 1.704, + 1.62 + ], + [ + 1.099, + 1.722, + 1.613 + ], + [ + 1.1, + 1.745, + 1.616 + ], + [ + 1.097, + 1.771, + 1.616 + ], + [ + 1.094, + 1.795, + 1.615 + ], + [ + 1.093, + 1.813, + 1.615 + ], + [ + 1.094, + 1.832, + 1.606 + ], + [ + 1.096, + 1.855, + 1.609 + ], + [ + 1.093, + 1.88, + 1.609 + ], + [ + 1.09, + 1.904, + 1.608 + ], + [ + 1.089, + 1.921, + 1.606 + ], + [ + 1.091, + 1.941, + 1.599 + ], + [ + 1.092, + 1.964, + 1.601 + ], + [ + 1.089, + 1.989, + 1.601 + ], + [ + 1.086, + 2.011, + 1.6 + ], + [ + 1.085, + 2.028, + 1.597 + ], + [ + 1.087, + 2.047, + 1.59 + ], + [ + 1.088, + 2.071, + 1.592 + ], + [ + 1.084, + 2.096, + 1.592 + ], + [ + 1.082, + 2.117, + 1.591 + ], + [ + 1.082, + 2.134, + 1.585 + ], + [ + 1.084, + 2.156, + 1.583 + ], + [ + 1.085, + 2.18, + 1.586 + ], + [ + 1.081, + 2.205, + 1.586 + ], + [ + 1.078, + 2.224, + 1.585 + ], + [ + 1.08, + 2.241, + 1.574 + ], + [ + 1.081, + 2.264, + 1.581 + ], + [ + 1.08, + 2.288, + 1.58 + ], + [ + 1.075, + 2.312, + 1.58 + ], + [ + 1.074, + 2.33, + 1.578 + ], + [ + 1.075, + 2.347, + 1.566 + ], + [ + 1.077, + 2.36, + 1.575 + ], + [ + 1.077, + 2.36, + 1.577 + ], + [ + 1.078, + 2.359, + 1.586 + ], + [ + 1.081, + 2.359, + 1.62 + ], + [ + 1.087, + 2.359, + 1.643 + ], + [ + 1.087, + 2.364, + 1.726 + ], + [ + 1.089, + 2.369, + 1.821 + ], + [ + 1.092, + 2.379, + 1.915 + ], + [ + 1.092, + 2.39, + 2.014 + ], + [ + 1.091, + 2.4, + 2.113 + ], + [ + 1.09, + 2.413, + 2.217 + ], + [ + 1.087, + 2.424, + 2.317 + ], + [ + 1.088, + 2.43, + 2.412 + ], + [ + 1.092, + 2.437, + 2.512 + ], + [ + 1.092, + 2.442, + 2.635 + ], + [ + 1.091, + 2.441, + 2.744 + ], + [ + 1.091, + 2.442, + 2.847 + ], + [ + 1.09, + 2.441, + 2.952 + ], + [ + 1.092, + 2.442, + 3.036 + ], + [ + 1.093, + 2.444, + 3.104 + ], + [ + 1.097, + 2.444, + 3.138 + ], + [ + 1.096, + 2.446, + -3.124 + ], + [ + 1.097, + 2.445, + -3.117 + ], + [ + 1.098, + 2.446, + -3.117 + ], + [ + 1.098, + 2.446, + -3.118 + ], + [ + 1.098, + 2.448, + -3.119 + ], + [ + 1.099, + 2.449, + -3.119 + ], + [ + 1.099, + 2.45, + -3.119 + ], + [ + 1.1, + 2.45, + -3.119 + ], + [ + 1.1, + 2.45, + -3.119 + ], + [ + 1.1, + 2.45, + -3.119 + ], + [ + 1.1, + 2.45, + -3.119 + ], + [ + 1.101, + 2.45, + -3.118 + ], + [ + 1.102, + 2.45, + -3.118 + ], + [ + 1.103, + 2.449, + -3.118 + ], + [ + 1.102, + 2.448, + -3.118 + ], + [ + 1.102, + 2.447, + -3.119 + ], + [ + 1.102, + 2.446, + -3.119 + ], + [ + 1.102, + 2.446, + -3.119 + ], + [ + 1.103, + 2.445, + -3.119 + ], + [ + 1.103, + 2.445, + -3.119 + ], + [ + 1.104, + 2.445, + -3.119 + ], + [ + 1.104, + 2.445, + -3.119 + ], + [ + 1.105, + 2.446, + -3.12 + ], + [ + 1.105, + 2.445, + -3.12 + ], + [ + 1.104, + 2.445, + -3.12 + ], + [ + 1.104, + 2.445, + -3.12 + ], + [ + 1.104, + 2.445, + -3.12 + ], + [ + 1.104, + 2.444, + -3.121 + ], + [ + 1.104, + 2.444, + -3.121 + ], + [ + 1.104, + 2.444, + -3.121 + ], + [ + 1.104, + 2.443, + -3.121 + ], + [ + 1.104, + 2.443, + -3.121 + ], + [ + 1.105, + 2.443, + -3.121 + ], + [ + 1.105, + 2.444, + -3.122 + ], + [ + 1.105, + 2.444, + -3.122 + ], + [ + 1.105, + 2.444, + -3.122 + ], + [ + 1.105, + 2.444, + -3.122 + ], + [ + 1.106, + 2.444, + -3.122 + ], + [ + 1.106, + 2.444, + -3.122 + ], + [ + 1.106, + 2.444, + -3.122 + ], + [ + 1.106, + 2.444, + -3.122 + ], + [ + 1.106, + 2.444, + -3.122 + ], + [ + 1.106, + 2.444, + -3.123 + ], + [ + 1.106, + 2.444, + -3.123 + ], + [ + 1.106, + 2.444, + -3.123 + ], + [ + 1.106, + 2.444, + -3.123 + ], + [ + 1.105, + 2.444, + -3.123 + ], + [ + 1.105, + 2.444, + -3.123 + ], + [ + 1.105, + 2.444, + -3.123 + ] + ], + "stage_events": [ + { + "step": 30, + "event": "stage_start", + "stage": "nav_A" + }, + { + "step": 465, + "event": "enter_zone", + "zone": "A", + "base": [ + -2.245, + 0.055 + ] + }, + { + "step": 588, + "event": "stage_done", + "stage": "nav_A", + "skill_state": "finished: planner reached target" + }, + { + "step": 588, + "event": "stage_start", + "stage": "stance_A" + }, + { + "step": 1220, + "event": "stage_done", + "stage": "stance_A", + "skill_state": "finished" + }, + { + "step": 1220, + "event": "stage_start", + "stage": "pick" + }, + { + "step": 1476, + "event": "picked", + "part": [ + -1.9836, + 1.374, + 0.46 + ], + "gap_mm": 29.6, + "lift_mm": 30.0 + }, + { + "step": 1516, + "event": "stage_done", + "stage": "pick", + "skill_state": "finished" + }, + { + "step": 1516, + "event": "stage_start", + "stage": "carry" + }, + { + "step": 1667, + "event": "stage_done", + "stage": "carry", + "skill_state": "finished" + }, + { + "step": 1667, + "event": "stage_start", + "stage": "nav_B" + }, + { + "step": 2315, + "event": "stage_done", + "stage": "nav_B", + "skill_state": "finished: planner reached target" + }, + { + "step": 2315, + "event": "stage_start", + "stage": "stance_B" + }, + { + "step": 2409, + "event": "enter_zone", + "zone": "B", + "base": [ + 1.115, + 1.507 + ] + }, + { + "step": 3112, + "event": "stage_done", + "stage": "stance_B", + "skill_state": "finished" + }, + { + "step": 3112, + "event": "stage_start", + "stage": "assemble" + }, + { + "step": 3112, + "event": "wp_start", + "name": "pre_insert", + "kind": "plan" + }, + { + "step": 3112, + "event": "assemble_start", + "t_l6_part": [ + -0.0128, + 0.0002, + 0.1409, + 0.0083, + -0.0046, + -0.9999, + -0.0041 + ] + }, + { + "step": 3244, + "event": "wp_done", + "name": "pre_insert" + }, + { + "step": 3244, + "event": "wp_start", + "name": "align", + "kind": "servo" + }, + { + "step": 3275, + "event": "wp_done", + "name": "align" + }, + { + "step": 3275, + "event": "wp_start", + "name": "insert", + "kind": "servo" + }, + { + "step": 3343, + "event": "stop_condition", + "name": "board_level", + "wp": "insert" + }, + { + "step": 3343, + "event": "wp_done", + "name": "insert" + }, + { + "step": 3343, + "event": "release_start" + }, + { + "step": 3427, + "event": "leave_start" + }, + { + "step": 3477, + "event": "released", + "gap_mm": 70.0 + }, + { + "step": 3506, + "event": "success", + "ok": true, + "tilt_deg": -0.33, + "tilt_err_deg": -0.33, + "support_gap_mm": 0.83, + "wedge_on_plate": true, + "wedge_x_mm": 286.5, + "wedge_yaw_deg": 179.9, + "board_touch_steps": 0 + } + ], + "station_transition_order": [ + "S", + "A", + "B" + ], + "interstation_path_lengths": { + "S": 2.856, + "S->A": 4.359, + "A->B": 1.003 + }, + "base_path_length": 8.218, + "distance_to_first_interaction": 3.75, + "regrasp_events": 0, + "violations": [], + "end_state": { + "ok": true, + "tilt_deg": -0.33, + "tilt_err_deg": -0.33, + "support_gap_mm": 0.83, + "wedge_on_plate": true, + "wedge_x_mm": 286.5, + "wedge_yaw_deg": 179.9, + "board_touch_steps": 0 + }, + "manipulation_success": true, + "mobile_success": true, + "transport_state": { + "picked": true, + "released": true + }, + "command_state": null, + "elapsed_s": 1218.7 +} diff --git a/N025/go2_arm/dr_on/seed_2016/stationassembly/000/completed/0.json b/N025/go2_arm/dr_on/seed_2016/stationassembly/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..1db0234d1d09a173dbe0f48b261236e22fe34f76 --- /dev/null +++ b/N025/go2_arm/dr_on/seed_2016/stationassembly/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationassembly/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N025/go2_arm/dr_on/seed_2016/stationassembly/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N025/go2_arm/dr_on/seed_2016/stationassembly/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..6f6567066d60439a2a1e6dbc17e46146e617d831 --- /dev/null +++ b/N025/go2_arm/dr_on/seed_2016/stationassembly/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:75771f67ef22ac9a9dc121f1d9de8a93588c8452fcbe4ee40cc30386b588d725 +size 18184548 diff --git a/N025/go2_arm/dr_on/seed_2016/stationassembly/000/lerobot_v21/meta/episodes.jsonl b/N025/go2_arm/dr_on/seed_2016/stationassembly/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7ae0bb5ec288c336eb57acad59503256a922210c --- /dev/null +++ b/N025/go2_arm/dr_on/seed_2016/stationassembly/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level."], "length": 1738, "magicsim/control_steps": 3476, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a medium shim board and a small wedge. The gray table A is to the left of the wedge. The gray table B is to the right of the shim board. The shim board is on top of the gray table B. The shim board is to the left of the gray table B. The wedge is on top of the gray table A. The wedge is to the right of the gray table A. The scene is viewed from front-right, at table height."} diff --git a/N025/go2_arm/dr_on/seed_2016/stationassembly/000/lerobot_v21/meta/episodes_stats.jsonl b/N025/go2_arm/dr_on/seed_2016/stationassembly/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..be204bc38d4b472183f070dc2097bdd952f4b1c2 --- /dev/null +++ b/N025/go2_arm/dr_on/seed_2016/stationassembly/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.1311090803727662, -0.00534369536462241, 0.033344919499657164, 0.3619907875947217, -0.7221752753903525, 1.3171129722246777, 0.7914740735422755, 0.2043386442878806, -0.5055975522481599, 0.6632469189149661, 0.143271455424461, 0.5713463751438435], "std": [0.13935334271757852, 0.022887929153648304, 0.22650013719725703, 0.02174376560887605, 1.563946529585288, 1.106481045128668, 0.15214475598354896, 0.19405665381161297, 0.3224508156564333, 0.2563775626035291, 0.18663220532294247, 0.49488351634887373], "min": [0.0, -0.2199999839067459, -0.800000011920929, 0.3400000035762787, -3.388568162918091, -2.144691228866577, 0.5678000450134277, -0.048018235713243484, -0.9134658575057983, -0.7291989922523499, -0.5327279567718506, 0.0], "max": [0.3499999940395355, 0.009999996051192284, 0.800000011920929, 0.38999998569488525, 1.2797821760177612, 2.8598806858062744, 1.0796172618865967, 0.5400137305259705, 0.8457071185112, 0.8442680239677429, 0.5333408117294312, 1.0], "count": [1738]}, "action_is_hold": {"mean": [0.059263521288837745, 0.059263521288837745, 0.059263521288837745, 0.059263521288837745, 0.09838895281933256, 0.09838895281933256, 0.09838895281933256, 0.09838895281933256, 0.09838895281933256, 0.09838895281933256, 0.09838895281933256, 0.9436133486766398], "std": [0.2361172512403213, 0.2361172512403213, 0.2361172512403213, 0.2361172512403213, 0.29783983410962783, 0.29783983410962783, 0.29783983410962783, 0.29783983410962783, 0.29783983410962783, 0.29783983410962783, 0.29783983410962783, 0.2306668525729217], "min": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], "count": [1738]}, "observation.state": {"mean": [-0.01598130965851488, 0.009452253240684404, -0.020789114291687446, 0.06525625882891191, -0.05998843910432976, 0.653069026588159, 0.6670969874867086, 0.8136957232573502, 0.8041386180766296, 1.5008519574125287, -1.3373926838879207, -1.325235949904241, -1.3118146670289912, -1.3431943600827998, -1.3190683210129293, -0.1043056143377712, 0.9050354197261249, 0.06867843237312866, 0.02329240918322386, -0.023648387450784857, -0.772930474474949, 1.029777711126589, 0.6461918862028555, 0.38756921479287715, -0.023648387450784857, -0.02329240918322386], "std": [0.030719120304942345, 0.02983191632074438, 0.034629618538341504, 0.03865627682843827, 0.6603693763114499, 0.10218518409909229, 0.09327796308341633, 0.09139996247976728, 0.09710376688418304, 0.585655863304495, 0.12429424049261888, 0.134936415022951, 0.1590068895722064, 0.16476238758211298, 0.3336395130907554, 0.272480527955254, 0.2281771537119088, 0.2853830087793521, 0.01012885267411114, 0.009820142093455355, 1.6126597756849614, 1.1425256099030308, 1.6183676382638073, 0.016852348882543708, 0.009820142093455355, 0.01012885267411114], "min": [-0.16596876084804535, -0.1527635157108307, -0.26360711455345154, -0.07322854548692703, -2.011528968811035, 0.4471374452114105, 0.4703731834888458, 0.6564369797706604, 0.6530535817146301, 0.73294997215271, -1.5453888177871704, -1.6270233392715454, -1.6373097896575928, -1.6506602764129639, -2.219086170196533, -0.6769564151763916, 0.5413408875465393, -0.45082560181617737, 0.014339550398290157, -0.03500000014901161, -3.500053882598877, -2.5014712810516357, -3.1411561965942383, 0.3521033227443695, -0.03500000014901161, -0.03500000014901161], "max": [0.14482660591602325, 0.16122837364673615, 0.17957939207553864, 0.27838948369026184, 1.3710639476776123, 0.9222144484519958, 0.8803341388702393, 1.045130968093872, 1.0326447486877441, 2.681828498840332, -1.1470143795013428, -1.1301701068878174, -1.0705784559249878, -1.0908139944076538, -0.8220677971839905, 0.4198990762233734, 1.2174395322799683, 0.6984414458274841, 0.03500000014901161, -0.01491415686905384, 1.1288326978683472, 2.4502391815185547, 3.134716510772705, 0.410702645778656, -0.01491415686905384, -0.014339550398290157], "count": [1738]}, "observation.joint_vel": {"mean": [-0.004437253917457079, -0.00015378009779658087, -0.0023896667635565573, -0.0024354820584694993, -0.02382174833596225, -0.0029777581152175808, -0.011481328801486152, -0.00733566593140794, -0.004496166800717198, 0.005921600651248091, 0.005899077441879056, 0.017484937150069373, 0.008059096391519686, 0.00479593488509303, -0.014766446752076192, 0.00024616975026786993, 0.006825304188723655, -0.05919296294364416, -0.00023772696369684103, -0.010825572973136332], "std": [0.3733842927785567, 0.35219843737360407, 0.43437724396101685, 0.520912522747376, 0.3047800955874628, 1.008933265357536, 1.053797551634656, 0.814727055036921, 0.6843676031998137, 0.20836048120715267, 0.5828469516807493, 0.9513620622773153, 0.9511533933464285, 0.9534280118790869, 0.23263445907167826, 0.24972787485130854, 0.1634536434085608, 0.2499659551288426, 0.009489557169980553, 0.013388613550722532], "min": [-2.3400962352752686, -4.316644191741943, -2.823378801345825, -4.739124298095703, -2.089597463607788, -4.40548038482666, -5.546690940856934, -4.493005752563477, -3.132772445678711, -0.9264919757843018, -3.101715087890625, -5.989455223083496, -4.597957134246826, -5.510430335998535, -2.8697283267974854, -2.2114884853363037, -1.1292201280593872, -1.754010796546936, -0.20007455348968506, -0.20006655156612396], "max": [3.387424945831299, 2.54494571685791, 5.578767776489258, 2.8709936141967773, 2.0315968990325928, 2.266594886779785, 2.074312686920166, 3.724187135696411, 4.847829341888428, 1.1682296991348267, 2.826254367828369, 6.672074317932129, 4.628411293029785, 3.925891637802124, 1.4923430681228638, 1.7798186540603638, 1.954062819480896, 2.0540707111358643, 0.2000161111354828, 0.20028361678123474], "count": [1738]}, "observation.eef_pose": {"mean": [-0.7230428714901037, 1.316682516017412, 0.7917162274600996, 0.20199152597700973, -0.5588678131512311, 0.677107368570177, 0.16617265362528305], "std": [1.563769929853085, 1.1056638069352374, 0.15261323044789296, 0.1960534395427423, 0.22061061218575687, 0.2144520036917971, 0.16638155221008086], "min": [-3.388568162918091, -2.144706964492798, 0.5695782899856567, -0.062073469161987305, -0.9136874675750732, -0.04739890992641449, -0.014029085636138916], "max": [1.279813528060913, 2.8598806858062744, 1.0782400369644165, 0.5402714610099792, -0.07844465970993042, 0.8443595767021179, 0.5359297394752502], "count": [1738]}, "observation.environment_state": {"mean": [0.04999125933744039, -0.0011200721322461027, 1.1391199827194214, 3.1543900966644287, 0.4300000071525574, 0.7167602777481079, 1.4425684902218036e-25, 9.313224635931761e-10, -0.6973196864128113, -2.0, 1.5, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, 1.2000000476837158, 3.0, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, -0.6181821055837314, 1.710437941914735, 0.6530567166685921, 0.6673304695505821, 0.13272322580665963, -0.16543816521966587, 0.5800199666380951], "std": [0.010104501497551266, 0.014584609178884524, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4470544960333256, 0.6087346015759375, 0.2314957048864696, 0.2081336130570711, 0.18249141574939104, 0.21749734083786262, 0.22211219933408863], "min": [0.005692356266081333, -0.21836049854755402, 1.1391199827194214, 3.1543900966644287, 0.4300000071525574, 0.7167602777481079, 1.4425684902218036e-25, 9.313224635931761e-10, -0.6973196864128113, -2.0, 1.5, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, 1.2000000476837158, 3.0, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, -2.039189338684082, 0.7730562686920166, 0.4300000071525574, -0.04943295940756798, -0.022384393960237503, -0.5339500904083252, 0.08068769425153732], "max": [0.052359890192747116, 0.004571840167045593, 1.1391199827194214, 3.1543900966644287, 0.4300000071525574, 0.7167602777481079, 1.4425684902218036e-25, 9.313224635931761e-10, -0.6973196864128113, -2.0, 1.5, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, 1.2000000476837158, 3.0, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, 1.406107783317566, 2.868037700653076, 1.0394046306610107, 0.8485180735588074, 0.5291778445243835, 0.06515709310770035, 0.9173922538757324], "count": [1738]}, "action.command": {"mean": [-1.47159035008769, 0.3133601144415053, 0.9493478222642957, 0.6081104268354589, 0.0, 0.0, 0.7364724129202249, 0.5571155073388641, -0.7439346116775529, 1.2557013445244372, 0.8007204232127635, 0.22087407668644582, -0.5196472360504686, 0.6712384385519781, 0.16565074163106105, 0.30612244897959184, -2.728423602545439, -0.9712115543991772, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.336692609288305, 0.32193528479011496, 0.8299462201188057, 0.3259260631591131, -0.325654864249439, 0.8284978366412136, 0.0895229026020364, 0.0, -2.705716015687629, -0.9625061554695243, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.336692609288305, 0.32193528479011496, 0.8299462201188057, 0.3259260631591131, -0.325654864249439, 0.8284978366412136, 0.0895229026020364, 0.0, -2.688473146353195, -0.9402979950406658, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.336692609288305, 0.32193528479011496, 0.8299462201188057, 0.3259260631591131, -0.325654864249439, 0.8284978366412136, 0.0895229026020364, 0.0, -2.637371952853986, -0.9219500840599857, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.336692609288305, 0.32193528479011496, 0.8299462201188057, 0.3259260631591131, -0.325654864249439, 0.8284978366412136, 0.0895229026020364, 0.0, -2.6077235848156373, -0.9108719220801965, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.336692609288305, 0.32193528479011496, 0.8299462201188057, 0.3259260631591131, -0.325654864249439, 0.8284978366412136, 0.0895229026020364, 0.0, -2.5606891717483746, -0.8637304804218349, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.336692609288305, 0.32193528479011496, 0.8299462201188057, 0.3259260631591131, -0.325654864249439, 0.8284978366412136, 0.0895229026020364, 0.0, -2.5100626625231843, -0.8448760616245554, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.336692609288305, 0.32193528479011496, 0.8299462201188057, 0.3259260631591131, -0.325654864249439, 0.8284978366412136, 0.0895229026020364, 0.0, -2.480769979419993, -0.7983406906697288, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.336692609288305, 0.32193528479011496, 0.8299462201188057, 0.3259260631591131, -0.325654864249439, 0.8284978366412136, 0.0895229026020364, 0.0, -2.4553875211459486, -0.7883826084990999, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.336692609288305, 0.32193528479011496, 0.8299462201188057, 0.3259260631591131, -0.325654864249439, 0.8284978366412136, 0.0895229026020364, 0.0, -2.4015739604608335, -0.7342970620340376, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.336692609288305, 0.32193528479011496, 0.8299462201188057, 0.3259260631591131, -0.325654864249439, 0.8284978366412136, 0.0895229026020364, 0.0, -2.390391189660599, -0.7284339470649833, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.336692609288305, 0.32193528479011496, 0.8299462201188057, 0.3259260631591131, -0.325654864249439, 0.8284978366412136, 0.0895229026020364, 0.0, -2.3445589827067814, -0.7153648369347871, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.336692609288305, 0.32193528479011496, 0.8299462201188057, 0.3259260631591131, -0.325654864249439, 0.8284978366412136, 0.0895229026020364, 0.0, -2.294160330473487, -0.6596609585320772, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.336692609288305, 0.32193528479011496, 0.8299462201188057, 0.3259260631591131, -0.325654864249439, 0.8284978366412136, 0.0895229026020364, 0.0, -2.2665709808691226, -0.6475987256462894, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.336692609288305, 0.32193528479011496, 0.8299462201188057, 0.3259260631591131, -0.325654864249439, 0.8284978366412136, 0.0895229026020364, 0.0, -2.1951531011666825, -0.5901794255669437, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.336692609288305, 0.32193528479011496, 0.8299462201188057, 0.3259260631591131, -0.325654864249439, 0.8284978366412136, 0.0895229026020364, 0.0, -2.190430456133031, -0.5806469419109288, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.336692609288305, 0.32193528479011496, 0.8299462201188057, 0.3259260631591131, -0.325654864249439, 0.8284978366412136, 0.0895229026020364, 0.0, -2.1720051658687307, -0.541998236926634, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.336692609288305, 0.32193528479011496, 0.8299462201188057, 0.3259260631591131, -0.325654864249439, 0.8284978366412136, 0.0895229026020364, 0.0, -2.1122131703504876, -0.5127719836448555, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.336692609288305, 0.32193528479011496, 0.8299462201188057, 0.3259260631591131, -0.325654864249439, 0.8284978366412136, 0.0895229026020364, 0.0, -2.0716314991908287, -0.4721331934430706, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.336692609288305, 0.32193528479011496, 0.8299462201188057, 0.3259260631591131, -0.325654864249439, 0.8284978366412136, 0.0895229026020364, 0.0, -2.0309179505305504, -0.44426217363841497, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.336692609288305, 0.32193528479011496, 0.8299462201188057, 0.3259260631591131, -0.325654864249439, 0.8284978366412136, 0.0895229026020364, 0.0, -1.967537200272973, -0.40122325206870463, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.336692609288305, 0.32193528479011496, 0.8299462201188057, 0.3259260631591131, -0.325654864249439, 0.8284978366412136, 0.0895229026020364, 0.0, -1.9488719755144261, -0.3754228353500366, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.336692609288305, 0.32193528479011496, 0.8299462201188057, 0.3259260631591131, -0.325654864249439, 0.8284978366412136, 0.0895229026020364, 0.0, -1.9188934333288847, -0.3458832217686212, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.336692609288305, 0.32193528479011496, 0.8299462201188057, 0.3259260631591131, -0.325654864249439, 0.8284978366412136, 0.0895229026020364, 0.0, -1.8676693617407956, -0.3068281056276008, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.336692609288305, 0.32193528479011496, 0.8299462201188057, 0.3259260631591131, -0.325654864249439, 0.8284978366412136, 0.0895229026020364, 0.0, -1.8429192998516026, -0.28286920554602324, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.336692609288305, 0.32193528479011496, 0.8299462201188057, 0.3259260631591131, -0.325654864249439, 0.8284978366412136, 0.0895229026020364, 0.0, -1.7868973461549673, -0.23845742709601103, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.336692609288305, 0.32193528479011496, 0.8299462201188057, 0.3259260631591131, -0.325654864249439, 0.8284978366412136, 0.0895229026020364, 0.0, -1.7429789998638097, -0.21312564166624154, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.336692609288305, 0.32193528479011496, 0.8299462201188057, 0.3259260631591131, -0.325654864249439, 0.8284978366412136, 0.0895229026020364, 0.0, -1.7062923481215293, -0.16991953529528717, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.336692609288305, 0.32193528479011496, 0.8299462201188057, 0.3259260631591131, -0.325654864249439, 0.8284978366412136, 0.0895229026020364, 0.0, -1.6530860929346796, -0.14620335956118, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.336692609288305, 0.32193528479011496, 0.8299462201188057, 0.3259260631591131, -0.325654864249439, 0.8284978366412136, 0.0895229026020364, 0.0, -1.6259466000457308, -0.10177954275216629, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.336692609288305, 0.32193528479011496, 0.8299462201188057, 0.3259260631591131, -0.325654864249439, 0.8284978366412136, 0.0895229026020364, 0.0, -1.6205604005215772, -0.09538910460116258, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.336692609288305, 0.32193528479011496, 0.8299462201188057, 0.3259260631591131, -0.325654864249439, 0.8284978366412136, 0.0895229026020364, 0.0, -1.5451951151463523, -0.033089603950728234, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.336692609288305, 0.32193528479011496, 0.8299462201188057, 0.3259260631591131, -0.325654864249439, 0.8284978366412136, 0.0895229026020364, 0.0, -1.5206218779976688, -0.02564613143009926, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.336692609288305, 0.32193528479011496, 0.8299462201188057, 0.3259260631591131, -0.325654864249439, 0.8284978366412136, 0.0895229026020364, 0.0, -1.4860839043090592, -0.01003458428738722, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.336692609288305, 0.32193528479011496, 0.8299462201188057, 0.3259260631591131, -0.325654864249439, 0.8284978366412136, 0.0895229026020364, 0.0, -1.42068345778024, 0.044096809714587765, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.336692609288305, 0.32193528479011496, 0.8299462201188057, 0.3259260631591131, -0.325654864249439, 0.8284978366412136, 0.0895229026020364, 0.0, -1.4091397968690786, 0.050626406029089174, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.336692609288305, 0.32193528479011496, 0.8299462201188057, 0.3259260631591131, -0.325654864249439, 0.8284978366412136, 0.0895229026020364, 0.0, -1.363014099313252, 0.10197108717107062, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.336692609288305, 0.32193528479011496, 0.8299462201188057, 0.3259260631591131, -0.325654864249439, 0.8284978366412136, 0.0895229026020364, 0.0, -1.3285133598455743, 0.11924406485771065, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.336692609288305, 0.32193528479011496, 0.8299462201188057, 0.3259260631591131, -0.325654864249439, 0.8284978366412136, 0.0895229026020364, 0.0, -1.2981447470721914, 0.16186715328871315, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.336692609288305, 0.32193528479011496, 0.8299462201188057, 0.3259260631591131, -0.325654864249439, 0.8284978366412136, 0.0895229026020364, 0.0, -1.2481712566605254, 0.18742013333448723, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.336692609288305, 0.32193528479011496, 0.8299462201188057, 0.3259260631591131, -0.325654864249439, 0.8284978366412136, 0.0895229026020364, 0.0, -1.1985737912690462, 0.231506933027239, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.336692609288305, 0.32193528479011496, 0.8299462201188057, 0.3259260631591131, -0.325654864249439, 0.8284978366412136, 0.0895229026020364, 0.0, -1.1676918979900985, 0.25588566331721063, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.336692609288305, 0.32193528479011496, 0.8299462201188057, 0.3259260631591131, -0.325654864249439, 0.8284978366412136, 0.0895229026020364, 0.0, -1.099002953785569, 0.3011467679223018, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.336692609288305, 0.32193528479011496, 0.8299462201188057, 0.3259260631591131, -0.325654864249439, 0.8284978366412136, 0.0895229026020364, 0.0, -1.0872891999002714, 0.32418963980318893, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.336692609288305, 0.32193528479011496, 0.8299462201188057, 0.3259260631591131, -0.325654864249439, 0.8284978366412136, 0.0895229026020364, 0.0, -1.0729428903380436, 0.3501455205589978, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.336692609288305, 0.32193528479011496, 0.8299462201188057, 0.3259260631591131, -0.325654864249439, 0.8284978366412136, 0.0895229026020364, 0.0, -1.0066875237137525, 0.3925787148190968, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.336692609288305, 0.32193528479011496, 0.8299462201188057, 0.3259260631591131, -0.325654864249439, 0.8284978366412136, 0.0895229026020364, 0.0, -0.9762785826156388, 0.4189692593332547, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.336692609288305, 0.32193528479011496, 0.8299462201188057, 0.3259260631591131, -0.325654864249439, 0.8284978366412136, 0.0895229026020364, 0.0, -0.9260330840722838, 0.4610642341535483, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.336692609288305, 0.32193528479011496, 0.8299462201188057, 0.3259260631591131, -0.325654864249439, 0.8284978366412136, 0.0895229026020364, 0.0, -0.8763399960389778, 0.48871227831982855, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.336692609288305, 0.32193528479011496, 0.8299462201188057, 0.3259260631591131, -0.325654864249439, 0.8284978366412136, 0.0895229026020364, 0.0, -0.8454838190505753, 0.5293276519028108, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.336692609288305, 0.32193528479011496, 0.8299462201188057, 0.3259260631591131, -0.325654864249439, 0.8284978366412136, 0.0895229026020364, 0.0, -0.8056731010550884, 0.5502361397245037, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.336692609288305, 0.32193528479011496, 0.8299462201188057, 0.3259260631591131, -0.325654864249439, 0.8284978366412136, 0.0895229026020364, 0.0, -0.7648412149343917, 0.5979206119455508, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.336692609288305, 0.32193528479011496, 0.8299462201188057, 0.3259260631591131, -0.325654864249439, 0.8284978366412136, 0.0895229026020364, 0.0, -0.7537394886586204, 0.6064999388225043, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.336692609288305, 0.32193528479011496, 0.8299462201188057, 0.3259260631591131, -0.325654864249439, 0.8284978366412136, 0.0895229026020364, 0.0, -0.6845438338037747, 0.666002559239295, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.336692609288305, 0.32193528479011496, 0.8299462201188057, 0.3259260631591131, -0.325654864249439, 0.8284978366412136, 0.0895229026020364, 0.0, -0.6541686591817372, 0.6761396786392625, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.336692609288305, 0.32193528479011496, 0.8299462201188057, 0.3259260631591131, -0.325654864249439, 0.8284978366412136, 0.0895229026020364, 0.0, -0.6198307115640214, 0.7012201679953888, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.336692609288305, 0.32193528479011496, 0.8299462201188057, 0.3259260631591131, -0.325654864249439, 0.8284978366412136, 0.0895229026020364, 0.0, -0.5545979578103593, 0.745779407252349, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.336692609288305, 0.32193528479011496, 0.8299462201188057, 0.3259260631591131, -0.325654864249439, 0.8284978366412136, 0.0895229026020364, 0.0, -0.5485919411502668, 0.7501993485128702, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.336692609288305, 0.32193528479011496, 0.8299462201188057, 0.3259260631591131, -0.325654864249439, 0.8284978366412136, 0.0895229026020364, 0.0, -0.5156011118817685, 0.7984106805342347, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.336692609288305, 0.32193528479011496, 0.8299462201188057, 0.3259260631591131, -0.325654864249439, 0.8284978366412136, 0.0895229026020364, 0.0, -0.46813534978610366, 0.8183412620825554, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.336692609288305, 0.32193528479011496, 0.8299462201188057, 0.3259260631591131, -0.325654864249439, 0.8284978366412136, 0.0895229026020364, 0.0, -0.4319356057181287, 0.8635843889926796, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.336692609288305, 0.32193528479011496, 0.8299462201188057, 0.3259260631591131, -0.325654864249439, 0.8284978366412136, 0.0895229026020364, 0.0, -0.38742863598154553, 0.8869369359158757, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.336692609288305, 0.32193528479011496, 0.8299462201188057, 0.3259260631591131, -0.325654864249439, 0.8284978366412136, 0.0895229026020364, 0.0, -0.334406713941204, 0.9346531077997008, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.336692609288305, 0.32193528479011496, 0.8299462201188057, 0.3259260631591131, -0.325654864249439, 0.8284978366412136, 0.0895229026020364, 0.0, -2.098707914352417, 0.37328076362609863, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.556161685229202, -0.5857359869505769, 0.6730387960710833, 0.10295968871283274, -0.5311600548819402, 0.8381676045797204, 0.0662735179333704, 0.0, -2.0667591094970703, 0.44065436720848083, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.556161685229202, -0.5857359869505769, 0.6730387960710833, 0.10295968871283274, -0.5311600548819402, 0.8381676045797204, 0.0662735179333704, 0.0, -2.0438125133514404, 0.48904427886009216, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.556161685229202, -0.5857359869505769, 0.6730387960710833, 0.10295968871283274, -0.5311600548819402, 0.8381676045797204, 0.0662735179333704, 0.0, -2.0161845684051514, 0.5473058223724365, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.556161685229202, -0.5857359869505769, 0.6730387960710833, 0.10295968871283274, -0.5311600548819402, 0.8381676045797204, 0.0662735179333704, 0.0, -2.0, 0.6000000238418579, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.556161685229202, -0.5857359869505769, 0.6730387960710833, 0.10295968871283274, -0.5311600548819402, 0.8381676045797204, 0.0662735179333704, 0.0], "std": [1.754435835682933, 1.7793178315485056, 0.6078134637752364, 0.24069750206871493, 0.0, 0.0, 0.17284337519580745, 1.2005737200350477, 1.5671493361436295, 1.123231561562058, 0.14829265369835992, 0.19533692030241398, 0.2721219183019354, 0.25227049937221097, 0.1653263825246903, 0.4608812159443358, 0.7832726148525385, 1.6364026325278156, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4459621600057773, 1.0867042337178423, 0.14568082274095379, 0.2081449180312532, 0.21210895121602835, 0.03633274491357059, 0.06052549002210939, 0.0, 0.8017883423842219, 1.639091419467902, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4459621600057773, 1.0867042337178423, 0.14568082274095379, 0.2081449180312532, 0.21210895121602835, 0.03633274491357059, 0.06052549002210939, 0.0, 0.7987349303408957, 1.619519322281346, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4459621600057773, 1.0867042337178423, 0.14568082274095379, 0.2081449180312532, 0.21210895121602835, 0.03633274491357059, 0.06052549002210939, 0.0, 0.8417666958084836, 1.6272924138441534, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4459621600057773, 1.0867042337178423, 0.14568082274095379, 0.2081449180312532, 0.21210895121602835, 0.03633274491357059, 0.06052549002210939, 0.0, 0.8662583639844472, 1.6312024823877436, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4459621600057773, 1.0867042337178423, 0.14568082274095379, 0.2081449180312532, 0.21210895121602835, 0.03633274491357059, 0.06052549002210939, 0.0, 0.8726727819922645, 1.5964344727958284, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4459621600057773, 1.0867042337178423, 0.14568082274095379, 0.2081449180312532, 0.21210895121602835, 0.03633274491357059, 0.06052549002210939, 0.0, 0.9145624972953604, 1.603197467528448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4459621600057773, 1.0867042337178423, 0.14568082274095379, 0.2081449180312532, 0.21210895121602835, 0.03633274491357059, 0.06052549002210939, 0.0, 0.899712754358023, 1.557743407361468, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4459621600057773, 1.0867042337178423, 0.14568082274095379, 0.2081449180312532, 0.21210895121602835, 0.03633274491357059, 0.06052549002210939, 0.0, 0.9201606472221494, 1.560434215208457, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4459621600057773, 1.0867042337178423, 0.14568082274095379, 0.2081449180312532, 0.21210895121602835, 0.03633274491357059, 0.06052549002210939, 0.0, 0.9273358772475591, 1.5204478970334048, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4459621600057773, 1.0867042337178423, 0.14568082274095379, 0.2081449180312532, 0.21210895121602835, 0.03633274491357059, 0.06052549002210939, 0.0, 0.9347253828450881, 1.5195882983304188, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4459621600057773, 1.0867042337178423, 0.14568082274095379, 0.2081449180312532, 0.21210895121602835, 0.03633274491357059, 0.06052549002210939, 0.0, 0.9770363978029065, 1.5312532999937438, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4459621600057773, 1.0867042337178423, 0.14568082274095379, 0.2081449180312532, 0.21210895121602835, 0.03633274491357059, 0.06052549002210939, 0.0, 0.9782152403610737, 1.486806008104396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4459621600057773, 1.0867042337178423, 0.14568082274095379, 0.2081449180312532, 0.21210895121602835, 0.03633274491357059, 0.06052549002210939, 0.0, 0.9990824714114444, 1.4880148076357367, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4459621600057773, 1.0867042337178423, 0.14568082274095379, 0.2081449180312532, 0.21210895121602835, 0.03633274491357059, 0.06052549002210939, 0.0, 1.0243595591186634, 1.4548456028918797, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4459621600057773, 1.0867042337178423, 0.14568082274095379, 0.2081449180312532, 0.21210895121602835, 0.03633274491357059, 0.06052549002210939, 0.0, 1.019738279934751, 1.444704513643612, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4459621600057773, 1.0867042337178423, 0.14568082274095379, 0.2081449180312532, 0.21210895121602835, 0.03633274491357059, 0.06052549002210939, 0.0, 1.0001092110045313, 1.4031190934283202, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4459621600057773, 1.0867042337178423, 0.14568082274095379, 0.2081449180312532, 0.21210895121602835, 0.03633274491357059, 0.06052549002210939, 0.0, 1.0419482253192645, 1.4014641489747997, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4459621600057773, 1.0867042337178423, 0.14568082274095379, 0.2081449180312532, 0.21210895121602835, 0.03633274491357059, 0.06052549002210939, 0.0, 1.0475215299786012, 1.3715149027799776, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4459621600057773, 1.0867042337178423, 0.14568082274095379, 0.2081449180312532, 0.21210895121602835, 0.03633274491357059, 0.06052549002210939, 0.0, 1.0672661472339942, 1.3593436639327705, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4459621600057773, 1.0867042337178423, 0.14568082274095379, 0.2081449180312532, 0.21210895121602835, 0.03633274491357059, 0.06052549002210939, 0.0, 1.0983864495514777, 1.3408800044735487, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4459621600057773, 1.0867042337178423, 0.14568082274095379, 0.2081449180312532, 0.21210895121602835, 0.03633274491357059, 0.06052549002210939, 0.0, 1.093150428313525, 1.317254294913516, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4459621600057773, 1.0867042337178423, 0.14568082274095379, 0.2081449180312532, 0.21210895121602835, 0.03633274491357059, 0.06052549002210939, 0.0, 1.0977954531537604, 1.2957968401651292, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4459621600057773, 1.0867042337178423, 0.14568082274095379, 0.2081449180312532, 0.21210895121602835, 0.03633274491357059, 0.06052549002210939, 0.0, 1.1182607317612603, 1.2749559700624102, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4459621600057773, 1.0867042337178423, 0.14568082274095379, 0.2081449180312532, 0.21210895121602835, 0.03633274491357059, 0.06052549002210939, 0.0, 1.1225661848002373, 1.2578350546565067, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4459621600057773, 1.0867042337178423, 0.14568082274095379, 0.2081449180312532, 0.21210895121602835, 0.03633274491357059, 0.06052549002210939, 0.0, 1.1430845122144289, 1.2326883451649588, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4459621600057773, 1.0867042337178423, 0.14568082274095379, 0.2081449180312532, 0.21210895121602835, 0.03633274491357059, 0.06052549002210939, 0.0, 1.1695761352623548, 1.2261176932205604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4459621600057773, 1.0867042337178423, 0.14568082274095379, 0.2081449180312532, 0.21210895121602835, 0.03633274491357059, 0.06052549002210939, 0.0, 1.1675183467893566, 1.1900805243626267, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4459621600057773, 1.0867042337178423, 0.14568082274095379, 0.2081449180312532, 0.21210895121602835, 0.03633274491357059, 0.06052549002210939, 0.0, 1.207262720798991, 1.191782514340546, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4459621600057773, 1.0867042337178423, 0.14568082274095379, 0.2081449180312532, 0.21210895121602835, 0.03633274491357059, 0.06052549002210939, 0.0, 1.1920684726699442, 1.147855695141188, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4459621600057773, 1.0867042337178423, 0.14568082274095379, 0.2081449180312532, 0.21210895121602835, 0.03633274491357059, 0.06052549002210939, 0.0, 1.1917147842394311, 1.1424996082566938, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4459621600057773, 1.0867042337178423, 0.14568082274095379, 0.2081449180312532, 0.21210895121602835, 0.03633274491357059, 0.06052549002210939, 0.0, 1.216516557610612, 1.1051323260136916, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4459621600057773, 1.0867042337178423, 0.14568082274095379, 0.2081449180312532, 0.21210895121602835, 0.03633274491357059, 0.06052549002210939, 0.0, 1.2387230852848792, 1.110781919909314, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4459621600057773, 1.0867042337178423, 0.14568082274095379, 0.2081449180312532, 0.21210895121602835, 0.03633274491357059, 0.06052549002210939, 0.0, 1.2642847939566533, 1.111586597494784, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4459621600057773, 1.0867042337178423, 0.14568082274095379, 0.2081449180312532, 0.21210895121602835, 0.03633274491357059, 0.06052549002210939, 0.0, 1.285731512636999, 1.0790642018427208, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4459621600057773, 1.0867042337178423, 0.14568082274095379, 0.2081449180312532, 0.21210895121602835, 0.03633274491357059, 0.06052549002210939, 0.0, 1.2928357657366008, 1.077515414441024, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4459621600057773, 1.0867042337178423, 0.14568082274095379, 0.2081449180312532, 0.21210895121602835, 0.03633274491357059, 0.06052549002210939, 0.0, 1.2935156894686675, 1.0363327193683176, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4459621600057773, 1.0867042337178423, 0.14568082274095379, 0.2081449180312532, 0.21210895121602835, 0.03633274491357059, 0.06052549002210939, 0.0, 1.3172085198857886, 1.0348110358947422, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4459621600057773, 1.0867042337178423, 0.14568082274095379, 0.2081449180312532, 0.21210895121602835, 0.03633274491357059, 0.06052549002210939, 0.0, 1.3079811777582975, 0.9954773220592767, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4459621600057773, 1.0867042337178423, 0.14568082274095379, 0.2081449180312532, 0.21210895121602835, 0.03633274491357059, 0.06052549002210939, 0.0, 1.3417143334814685, 0.992533841408641, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4459621600057773, 1.0867042337178423, 0.14568082274095379, 0.2081449180312532, 0.21210895121602835, 0.03633274491357059, 0.06052549002210939, 0.0, 1.354648391322268, 0.9636638189484364, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4459621600057773, 1.0867042337178423, 0.14568082274095379, 0.2081449180312532, 0.21210895121602835, 0.03633274491357059, 0.06052549002210939, 0.0, 1.3660722883881102, 0.9499447139953444, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4459621600057773, 1.0867042337178423, 0.14568082274095379, 0.2081449180312532, 0.21210895121602835, 0.03633274491357059, 0.06052549002210939, 0.0, 1.4013157163333145, 0.9318502563991624, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4459621600057773, 1.0867042337178423, 0.14568082274095379, 0.2081449180312532, 0.21210895121602835, 0.03633274491357059, 0.06052549002210939, 0.0, 1.390512869225847, 0.9075296817694894, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4459621600057773, 1.0867042337178423, 0.14568082274095379, 0.2081449180312532, 0.21210895121602835, 0.03633274491357059, 0.06052549002210939, 0.0, 1.3797679300174557, 0.8808827460807984, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4459621600057773, 1.0867042337178423, 0.14568082274095379, 0.2081449180312532, 0.21210895121602835, 0.03633274491357059, 0.06052549002210939, 0.0, 1.4151060136765798, 0.8651259725662594, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4459621600057773, 1.0867042337178423, 0.14568082274095379, 0.2081449180312532, 0.21210895121602835, 0.03633274491357059, 0.06052549002210939, 0.0, 1.4237381095579722, 0.8483118783818362, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4459621600057773, 1.0867042337178423, 0.14568082274095379, 0.2081449180312532, 0.21210895121602835, 0.03633274491357059, 0.06052549002210939, 0.0, 1.4396585170947083, 0.8226229565912662, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4459621600057773, 1.0867042337178423, 0.14568082274095379, 0.2081449180312532, 0.21210895121602835, 0.03633274491357059, 0.06052549002210939, 0.0, 1.470746470041853, 0.8165942048940628, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4459621600057773, 1.0867042337178423, 0.14568082274095379, 0.2081449180312532, 0.21210895121602835, 0.03633274491357059, 0.06052549002210939, 0.0, 1.4643244884926718, 0.7803592843500207, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4459621600057773, 1.0867042337178423, 0.14568082274095379, 0.2081449180312532, 0.21210895121602835, 0.03633274491357059, 0.06052549002210939, 0.0, 1.4905918503107267, 0.7772494206493652, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4459621600057773, 1.0867042337178423, 0.14568082274095379, 0.2081449180312532, 0.21210895121602835, 0.03633274491357059, 0.06052549002210939, 0.0, 1.4887443253152506, 0.7376995069223042, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4459621600057773, 1.0867042337178423, 0.14568082274095379, 0.2081449180312532, 0.21210895121602835, 0.03633274491357059, 0.06052549002210939, 0.0, 1.4930537012911964, 0.7330234775063824, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4459621600057773, 1.0867042337178423, 0.14568082274095379, 0.2081449180312532, 0.21210895121602835, 0.03633274491357059, 0.06052549002210939, 0.0, 1.5132984632904736, 0.6955237404172447, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4459621600057773, 1.0867042337178423, 0.14568082274095379, 0.2081449180312532, 0.21210895121602835, 0.03633274491357059, 0.06052549002210939, 0.0, 1.5397210188724373, 0.7012098889527839, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4459621600057773, 1.0867042337178423, 0.14568082274095379, 0.2081449180312532, 0.21210895121602835, 0.03633274491357059, 0.06052549002210939, 0.0, 1.5546466944154083, 0.6887635021422417, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4459621600057773, 1.0867042337178423, 0.14568082274095379, 0.2081449180312532, 0.21210895121602835, 0.03633274491357059, 0.06052549002210939, 0.0, 1.5863882175767898, 0.6693963124726244, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4459621600057773, 1.0867042337178423, 0.14568082274095379, 0.2081449180312532, 0.21210895121602835, 0.03633274491357059, 0.06052549002210939, 0.0, 1.5889626152412457, 0.6671734848155674, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4459621600057773, 1.0867042337178423, 0.14568082274095379, 0.2081449180312532, 0.21210895121602835, 0.03633274491357059, 0.06052549002210939, 0.0, 1.5768452573388791, 0.6217995885281252, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4459621600057773, 1.0867042337178423, 0.14568082274095379, 0.2081449180312532, 0.21210895121602835, 0.03633274491357059, 0.06052549002210939, 0.0, 1.6136474583435505, 0.6250178828008905, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4459621600057773, 1.0867042337178423, 0.14568082274095379, 0.2081449180312532, 0.21210895121602835, 0.03633274491357059, 0.06052549002210939, 0.0, 1.6087530595330062, 0.5858417328370735, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4459621600057773, 1.0867042337178423, 0.14568082274095379, 0.2081449180312532, 0.21210895121602835, 0.03633274491357059, 0.06052549002210939, 0.0, 1.6381438221561646, 0.5823961608336686, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4459621600057773, 1.0867042337178423, 0.14568082274095379, 0.2081449180312532, 0.21210895121602835, 0.03633274491357059, 0.06052549002210939, 0.0, 1.6535255391214068, 0.5553542567186601, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4459621600057773, 1.0867042337178423, 0.14568082274095379, 0.2081449180312532, 0.21210895121602835, 0.03633274491357059, 0.06052549002210939, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4701872540076522, 0.9658282803805905, 0.004618962121284332, 0.004842649661867647, 0.014670003171537856, 0.010111374676494377, 0.003183614374095722, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4701872540076522, 0.9658282803805905, 0.004618962121284332, 0.004842649661867647, 0.014670003171537856, 0.010111374676494377, 0.003183614374095722, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4701872540076522, 0.9658282803805905, 0.004618962121284332, 0.004842649661867647, 0.014670003171537856, 0.010111374676494377, 0.003183614374095722, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4701872540076522, 0.9658282803805905, 0.004618962121284332, 0.004842649661867647, 0.014670003171537856, 0.010111374676494377, 0.003183614374095722, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4701872540076522, 0.9658282803805905, 0.004618962121284332, 0.004842649661867647, 0.014670003171537856, 0.010111374676494377, 0.003183614374095722, 0.0], "min": [-3.573493480682373, -2.7402114868164062, 0.3400000035762787, -0.046213775873184204, 0.0, 0.0, -0.9989315867424011, -1.0, -3.388568162918091, -2.144691228866577, 0.5678000450134277, -0.048018235713243484, -0.9134658575057983, -0.7291989922523499, -0.5327279567718506, 0.0, -3.572503089904785, -2.7346510887145996, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.388568162918091, -2.144691228866577, 0.6522608995437622, 0.08822625875473022, -0.5888692140579224, 0.6302912831306458, 0.05666910484433174, 0.0, -3.569748640060425, -2.7288432121276855, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.388568162918091, -2.144691228866577, 0.6522608995437622, 0.08822625875473022, -0.5888692140579224, 0.6302912831306458, 0.05666910484433174, 0.0, -3.549215316772461, -2.6855435371398926, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.388568162918091, -2.144691228866577, 0.6522608995437622, 0.08822625875473022, -0.5888692140579224, 0.6302912831306458, 0.05666910484433174, 0.0, -3.5444865226745605, -2.675572156906128, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.388568162918091, -2.144691228866577, 0.6522608995437622, 0.08822625875473022, -0.5888692140579224, 0.6302912831306458, 0.05666910484433174, 0.0, -3.541231155395508, -2.6687076091766357, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.388568162918091, -2.144691228866577, 0.6522608995437622, 0.08822625875473022, -0.5888692140579224, 0.6302912831306458, 0.05666910484433174, 0.0, -3.5011091232299805, -2.584099054336548, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.388568162918091, -2.144691228866577, 0.6522608995437622, 0.08822625875473022, -0.5888692140579224, 0.6302912831306458, 0.05666910484433174, 0.0, -3.495624303817749, -2.5725326538085938, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.388568162918091, -2.144691228866577, 0.6522608995437622, 0.08822625875473022, -0.5888692140579224, 0.6302912831306458, 0.05666910484433174, 0.0, -3.450329065322876, -2.4770145416259766, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.388568162918091, -2.144691228866577, 0.6522608995437622, 0.08822625875473022, -0.5888692140579224, 0.6302912831306458, 0.05666910484433174, 0.0, -3.446981906890869, -2.469956159591675, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.388568162918091, -2.144691228866577, 0.6522608995437622, 0.08822625875473022, -0.5888692140579224, 0.6302912831306458, 0.05666910484433174, 0.0, -3.4009006023406982, -2.3727800846099854, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.388568162918091, -2.144691228866577, 0.6522608995437622, 0.08822625875473022, -0.5888692140579224, 0.6302912831306458, 0.05666910484433174, 0.0, -3.3976809978485107, -2.36599063873291, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.388568162918091, -2.144691228866577, 0.6522608995437622, 0.08822625875473022, -0.5888692140579224, 0.6302912831306458, 0.05666910484433174, 0.0, -3.397444486618042, -2.365492105484009, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.388568162918091, -2.144691228866577, 0.6522608995437622, 0.08822625875473022, -0.5888692140579224, 0.6302912831306458, 0.05666910484433174, 0.0, -3.348316192626953, -2.261890411376953, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.388568162918091, -2.144691228866577, 0.6522608995437622, 0.08822625875473022, -0.5888692140579224, 0.6302912831306458, 0.05666910484433174, 0.0, -3.3432140350341797, -2.2511308193206787, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.388568162918091, -2.144691228866577, 0.6522608995437622, 0.08822625875473022, -0.5888692140579224, 0.6302912831306458, 0.05666910484433174, 0.0, -3.2990355491638184, -2.1579673290252686, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.388568162918091, -2.144691228866577, 0.6522608995437622, 0.08822625875473022, -0.5888692140579224, 0.6302912831306458, 0.05666910484433174, 0.0, -3.289332866668701, -2.1375064849853516, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.388568162918091, -2.144691228866577, 0.6522608995437622, 0.08822625875473022, -0.5888692140579224, 0.6302912831306458, 0.05666910484433174, 0.0, -3.2497546672821045, -2.054044008255005, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.388568162918091, -2.144691228866577, 0.6522608995437622, 0.08822625875473022, -0.5888692140579224, 0.6302912831306458, 0.05666910484433174, 0.0, -3.2350497245788574, -2.0230343341827393, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.388568162918091, -2.144691228866577, 0.6522608995437622, 0.08822625875473022, -0.5888692140579224, 0.6302912831306458, 0.05666910484433174, 0.0, -3.2004740238189697, -1.950121283531189, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.388568162918091, -2.144691228866577, 0.6522608995437622, 0.08822625875473022, -0.5888692140579224, 0.6302912831306458, 0.05666910484433174, 0.0, -3.1810379028320312, -1.9091341495513916, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.388568162918091, -2.144691228866577, 0.6522608995437622, 0.08822625875473022, -0.5888692140579224, 0.6302912831306458, 0.05666910484433174, 0.0, -3.151193380355835, -1.8461982011795044, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.388568162918091, -2.144691228866577, 0.6522608995437622, 0.08822625875473022, -0.5888692140579224, 0.6302912831306458, 0.05666910484433174, 0.0, -3.1268856525421143, -1.7949379682540894, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.388568162918091, -2.144691228866577, 0.6522608995437622, 0.08822625875473022, -0.5888692140579224, 0.6302912831306458, 0.05666910484433174, 0.0, -3.1019127368927, -1.7422751188278198, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.388568162918091, -2.144691228866577, 0.6522608995437622, 0.08822625875473022, -0.5888692140579224, 0.6302912831306458, 0.05666910484433174, 0.0, -3.0727427005767822, -1.6807612180709839, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.388568162918091, -2.144691228866577, 0.6522608995437622, 0.08822625875473022, -0.5888692140579224, 0.6302912831306458, 0.05666910484433174, 0.0, -3.0526323318481445, -1.6383522748947144, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.388568162918091, -2.144691228866577, 0.6522608995437622, 0.08822625875473022, -0.5888692140579224, 0.6302912831306458, 0.05666910484433174, 0.0, -3.018721580505371, -1.5668416023254395, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.388568162918091, -2.144691228866577, 0.6522608995437622, 0.08822625875473022, -0.5888692140579224, 0.6302912831306458, 0.05666910484433174, 0.0, -3.0033514499664307, -1.5344290733337402, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.388568162918091, -2.144691228866577, 0.6522608995437622, 0.08822625875473022, -0.5888692140579224, 0.6302912831306458, 0.05666910484433174, 0.0, -2.964447259902954, -1.4523881673812866, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.388568162918091, -2.144691228866577, 0.6522608995437622, 0.08822625875473022, -0.5888692140579224, 0.6302912831306458, 0.05666910484433174, 0.0, -2.954070806503296, -1.4305061101913452, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.388568162918091, -2.144691228866577, 0.6522608995437622, 0.08822625875473022, -0.5888692140579224, 0.6302912831306458, 0.05666910484433174, 0.0, -2.910557508468628, -1.338745355606079, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.388568162918091, -2.144691228866577, 0.6522608995437622, 0.08822625875473022, -0.5888692140579224, 0.6302912831306458, 0.05666910484433174, 0.0, -2.904790163040161, -1.3265830278396606, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.388568162918091, -2.144691228866577, 0.6522608995437622, 0.08822625875473022, -0.5888692140579224, 0.6302912831306458, 0.05666910484433174, 0.0, -2.856152057647705, -1.2240153551101685, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.388568162918091, -2.144691228866577, 0.6522608995437622, 0.08822625875473022, -0.5888692140579224, 0.6302912831306458, 0.05666910484433174, 0.0, -2.8555092811584473, -1.2226600646972656, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.388568162918091, -2.144691228866577, 0.6522608995437622, 0.08822625875473022, -0.5888692140579224, 0.6302912831306458, 0.05666910484433174, 0.0, -2.848517417907715, -1.2079156637191772, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.388568162918091, -2.144691228866577, 0.6522608995437622, 0.08822625875473022, -0.5888692140579224, 0.6302912831306458, 0.05666910484433174, 0.0, -2.8062286376953125, -1.1187371015548706, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.388568162918091, -2.144691228866577, 0.6522608995437622, 0.08822625875473022, -0.5888692140579224, 0.6302912831306458, 0.05666910484433174, 0.0, -2.8023407459259033, -1.1105384826660156, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.388568162918091, -2.144691228866577, 0.6522608995437622, 0.08822625875473022, -0.5888692140579224, 0.6302912831306458, 0.05666910484433174, 0.0, -2.7569477558135986, -1.014814019203186, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.388568162918091, -2.144691228866577, 0.6522608995437622, 0.08822625875473022, -0.5888692140579224, 0.6302912831306458, 0.05666910484433174, 0.0, -2.747979164123535, -0.9959012269973755, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.388568162918091, -2.144691228866577, 0.6522608995437622, 0.08822625875473022, -0.5888692140579224, 0.6302912831306458, 0.05666910484433174, 0.0, -2.7076668739318848, -0.9108908772468567, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.388568162918091, -2.144691228866577, 0.6522608995437622, 0.08822625875473022, -0.5888692140579224, 0.6302912831306458, 0.05666910484433174, 0.0, -2.694045305252075, -0.8821659088134766, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.388568162918091, -2.144691228866577, 0.6522608995437622, 0.08822625875473022, -0.5888692140579224, 0.6302912831306458, 0.05666910484433174, 0.0, -2.658385992050171, -0.8069678544998169, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.388568162918091, -2.144691228866577, 0.6522608995437622, 0.08822625875473022, -0.5888692140579224, 0.6302912831306458, 0.05666910484433174, 0.0, -2.639814853668213, -0.7678049802780151, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.388568162918091, -2.144691228866577, 0.6522608995437622, 0.08822625875473022, -0.5888692140579224, 0.6302912831306458, 0.05666910484433174, 0.0, -2.609105348587036, -0.7030447125434875, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.388568162918091, -2.144691228866577, 0.6522608995437622, 0.08822625875473022, -0.5888692140579224, 0.6302912831306458, 0.05666910484433174, 0.0, -2.585750102996826, -0.653793215751648, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.388568162918091, -2.144691228866577, 0.6522608995437622, 0.08822625875473022, -0.5888692140579224, 0.6302912831306458, 0.05666910484433174, 0.0, -2.5598247051239014, -0.5991217494010925, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.388568162918091, -2.144691228866577, 0.6522608995437622, 0.08822625875473022, -0.5888692140579224, 0.6302912831306458, 0.05666910484433174, 0.0, -2.5316507816314697, -0.5397085547447205, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.388568162918091, -2.144691228866577, 0.6522608995437622, 0.08822625875473022, -0.5888692140579224, 0.6302912831306458, 0.05666910484433174, 0.0, -2.5105440616607666, -0.4951986074447632, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.388568162918091, -2.144691228866577, 0.6522608995437622, 0.08822625875473022, -0.5888692140579224, 0.6302912831306458, 0.05666910484433174, 0.0, -2.477454900741577, -0.4254204332828522, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.388568162918091, -2.144691228866577, 0.6522608995437622, 0.08822625875473022, -0.5888692140579224, 0.6302912831306458, 0.05666910484433174, 0.0, -2.4612631797790527, -0.3912756145000458, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.388568162918091, -2.144691228866577, 0.6522608995437622, 0.08822625875473022, -0.5888692140579224, 0.6302912831306458, 0.05666910484433174, 0.0, -2.4234864711761475, -0.3116123378276825, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.388568162918091, -2.144691228866577, 0.6522608995437622, 0.08822625875473022, -0.5888692140579224, 0.6302912831306458, 0.05666910484433174, 0.0, -2.411982297897339, -0.2873525619506836, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.388568162918091, -2.144691228866577, 0.6522608995437622, 0.08822625875473022, -0.5888692140579224, 0.6302912831306458, 0.05666910484433174, 0.0, -2.369159460067749, -0.19704784452915192, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.388568162918091, -2.144691228866577, 0.6522608995437622, 0.08822625875473022, -0.5888692140579224, 0.6302912831306458, 0.05666910484433174, 0.0, -2.362701654434204, -0.18342947959899902, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.388568162918091, -2.144691228866577, 0.6522608995437622, 0.08822625875473022, -0.5888692140579224, 0.6302912831306458, 0.05666910484433174, 0.0, -2.3153223991394043, -0.0835159495472908, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.388568162918091, -2.144691228866577, 0.6522608995437622, 0.08822625875473022, -0.5888692140579224, 0.6302912831306458, 0.05666910484433174, 0.0, -2.3134210109710693, -0.07950640469789505, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.388568162918091, -2.144691228866577, 0.6522608995437622, 0.08822625875473022, -0.5888692140579224, 0.6302912831306458, 0.05666910484433174, 0.0, -2.2951674461364746, -0.04101329296827316, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.388568162918091, -2.144691228866577, 0.6522608995437622, 0.08822625875473022, -0.5888692140579224, 0.6302912831306458, 0.05666910484433174, 0.0, -2.2641403675079346, 0.024416645988821983, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.388568162918091, -2.144691228866577, 0.6522608995437622, 0.08822625875473022, -0.5888692140579224, 0.6302912831306458, 0.05666910484433174, 0.0, -2.260908603668213, 0.03123197704553604, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.388568162918091, -2.144691228866577, 0.6522608995437622, 0.08822625875473022, -0.5888692140579224, 0.6302912831306458, 0.05666910484433174, 0.0, -2.2148597240448, 0.12833966314792633, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.388568162918091, -2.144691228866577, 0.6522608995437622, 0.08822625875473022, -0.5888692140579224, 0.6302912831306458, 0.05666910484433174, 0.0, -2.2070531845092773, 0.14480210840702057, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.388568162918091, -2.144691228866577, 0.6522608995437622, 0.08822625875473022, -0.5888692140579224, 0.6302912831306458, 0.05666910484433174, 0.0, -2.165579080581665, 0.23226270079612732, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.388568162918091, -2.144691228866577, 0.6522608995437622, 0.08822625875473022, -0.5888692140579224, 0.6302912831306458, 0.05666910484433174, 0.0, -2.1527445316314697, 0.25932830572128296, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.388568162918091, -2.144691228866577, 0.6522608995437622, 0.08822625875473022, -0.5888692140579224, 0.6302912831306458, 0.05666910484433174, 0.0, -2.1162984371185303, 0.3361856937408447, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.388568162918091, -2.144691228866577, 0.6522608995437622, 0.08822625875473022, -0.5888692140579224, 0.6302912831306458, 0.05666910484433174, 0.0, -2.098707914352417, 0.37328076362609863, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.388568162918091, -2.144691228866577, 0.6522608995437622, 0.08822625875473022, -0.5888692140579224, 0.7977062463760376, 0.060272421687841415, 0.0, -2.0667591094970703, 0.44065436720848083, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.388568162918091, -2.144691228866577, 0.6522608995437622, 0.08822625875473022, -0.5888692140579224, 0.7977062463760376, 0.060272421687841415, 0.0, -2.0438125133514404, 0.48904427886009216, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.388568162918091, -2.144691228866577, 0.6522608995437622, 0.08822625875473022, -0.5888692140579224, 0.7977062463760376, 0.060272421687841415, 0.0, -2.0161845684051514, 0.5473058223724365, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.388568162918091, -2.144691228866577, 0.6522608995437622, 0.08822625875473022, -0.5888692140579224, 0.7977062463760376, 0.060272421687841415, 0.0, -2.0, 0.6000000238418579, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.388568162918091, -2.144691228866577, 0.6522608995437622, 0.08822625875473022, -0.5888692140579224, 0.7977062463760376, 0.060272421687841415, 0.0], "max": [1.1236644983291626, 2.4648871421813965, 1.5707963705062866, 0.7300571799278259, 0.0, 0.0, 0.9999985694885254, 2.0, 1.2797821760177612, 2.8598806858062744, 1.0796172618865967, 0.5400137305259705, 0.8457071185112, 0.8442680239677429, 0.5333408117294312, 1.0, -2.001577377319336, 0.5473058223724365, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2797821760177612, 1.6111258268356323, 0.9933118224143982, 0.5400137305259705, -0.07775937765836716, 0.8442680239677429, 0.35842588543891907, 0.0, -1.9616879224777222, 0.5585063099861145, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2797821760177612, 1.6111258268356323, 0.9933118224143982, 0.5400137305259705, -0.07775937765836716, 0.8442680239677429, 0.35842588543891907, 0.0, -1.9472784996032715, 0.5625523328781128, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2797821760177612, 1.6111258268356323, 0.9933118224143982, 0.5400137305259705, -0.07775937765836716, 0.8442680239677429, 0.35842588543891907, 0.0, -1.856245517730713, 0.5881133675575256, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2797821760177612, 1.6111258268356323, 0.9933118224143982, 0.5400137305259705, -0.07775937765836716, 0.8442680239677429, 0.35842588543891907, 0.0, -1.8038698434829712, 0.6028199195861816, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2797821760177612, 1.6111258268356323, 0.9933118224143982, 0.5400137305259705, -0.07775937765836716, 0.8442680239677429, 0.35842588543891907, 0.0, -1.7508831024169922, 0.6176980137825012, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2797821760177612, 1.6111258268356323, 0.9933118224143982, 0.5400137305259705, -0.07775937765836716, 0.8442680239677429, 0.35842588543891907, 0.0, -1.6613845825195312, 0.6428282260894775, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2797821760177612, 1.6111258268356323, 0.9933118224143982, 0.5400137305259705, -0.07775937765836716, 0.8442680239677429, 0.35842588543891907, 0.0, -1.645871877670288, 0.6471840143203735, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2797821760177612, 1.6111258268356323, 0.9933118224143982, 0.5400137305259705, -0.07775937765836716, 0.8442680239677429, 0.35842588543891907, 0.0, -1.6015145778656006, 0.6596390604972839, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2797821760177612, 1.6111258268356323, 0.9933118224143982, 0.5400137305259705, -0.07775937765836716, 0.8442680239677429, 0.35842588543891907, 0.0, -1.541042685508728, 0.6766188740730286, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2797821760177612, 1.6111258268356323, 0.9933118224143982, 0.5400137305259705, -0.07775937765836716, 0.8442680239677429, 0.35842588543891907, 0.0, -1.5230027437210083, 0.6816843152046204, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2797821760177612, 1.6111258268356323, 0.9933118224143982, 0.5400137305259705, -0.07775937765836716, 0.8442680239677429, 0.35842588543891907, 0.0, -1.4379075765609741, 0.705578088760376, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2797821760177612, 1.6111258268356323, 0.9933118224143982, 0.5400137305259705, -0.07775937765836716, 0.8442680239677429, 0.35842588543891907, 0.0, -1.3864150047302246, 0.7200366258621216, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2797821760177612, 1.6111258268356323, 0.9933118224143982, 0.5400137305259705, -0.07775937765836716, 0.8442680239677429, 0.35842588543891907, 0.0, -1.3394616842269897, 0.7332205772399902, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2797821760177612, 1.6111258268356323, 0.9933118224143982, 0.5400137305259705, -0.07775937765836716, 0.8442680239677429, 0.35842588543891907, 0.0, -1.2445876598358154, 0.7598601579666138, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2797821760177612, 1.6111258268356323, 0.9933118224143982, 0.5400137305259705, -0.07775937765836716, 0.8442680239677429, 0.35842588543891907, 0.0, -1.244153380393982, 0.7599821090698242, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2797821760177612, 1.6111258268356323, 0.9933118224143982, 0.5400137305259705, -0.07775937765836716, 0.8442680239677429, 0.35842588543891907, 0.0, -1.2439430952072144, 0.7600411772727966, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2797821760177612, 1.6111258268356323, 0.9933118224143982, 0.5400137305259705, -0.07775937765836716, 0.8442680239677429, 0.35842588543891907, 0.0, -1.1453261375427246, 0.7877317070960999, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2797821760177612, 1.6111258268356323, 0.9933118224143982, 0.5400137305259705, -0.07775937765836716, 0.8442680239677429, 0.35842588543891907, 0.0, -1.0995726585388184, 0.800578773021698, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2797821760177612, 1.6111258268356323, 0.9933118224143982, 0.5400137305259705, -0.07775937765836716, 0.8442680239677429, 0.35842588543891907, 0.0, -1.040536880493164, 0.8171553611755371, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2797821760177612, 1.6111258268356323, 0.9933118224143982, 0.5400137305259705, -0.07775937765836716, 0.8442680239677429, 0.35842588543891907, 0.0, -0.9482777118682861, 0.8430607318878174, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2797821760177612, 1.6111258268356323, 0.9933118224143982, 0.5400137305259705, -0.07775937765836716, 0.8442680239677429, 0.35842588543891907, 0.0, -0.9344713091850281, 0.8469374179840088, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2797821760177612, 1.6111258268356323, 0.9933118224143982, 0.5400137305259705, -0.07775937765836716, 0.8442680239677429, 0.35842588543891907, 0.0, -0.9001823663711548, 0.8565653562545776, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2797821760177612, 1.6111258268356323, 0.9933118224143982, 0.5400137305259705, -0.07775937765836716, 0.8442680239677429, 0.35842588543891907, 0.0, -0.8299673199653625, 0.8762809634208679, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2797821760177612, 1.6111258268356323, 0.9933118224143982, 0.5400137305259705, -0.07775937765836716, 0.8442680239677429, 0.35842588543891907, 0.0, -0.8012219667434692, 0.8843523263931274, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2797821760177612, 1.6111258268356323, 0.9933118224143982, 0.5400137305259705, -0.07775937765836716, 0.8442680239677429, 0.35842588543891907, 0.0, -0.7261598110198975, 0.905428946018219, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2797821760177612, 1.6111258268356323, 0.9933118224143982, 0.5400137305259705, -0.07775937765836716, 0.8442680239677429, 0.35842588543891907, 0.0, -0.6576582789421082, 0.9246634244918823, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2797821760177612, 1.6111258268356323, 0.9933118224143982, 0.5400137305259705, -0.07775937765836716, 0.8442680239677429, 0.35842588543891907, 0.0, -0.6228811740875244, 0.9344284534454346, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2797821760177612, 1.6111258268356323, 0.9933118224143982, 0.5400137305259705, -0.07775937765836716, 0.8442680239677429, 0.35842588543891907, 0.0, -0.5327937006950378, 0.9597240090370178, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2797821760177612, 1.6111258268356323, 0.9933118224143982, 0.5400137305259705, -0.07775937765836716, 0.8442680239677429, 0.35842588543891907, 0.0, -0.5197538733482361, 0.9633854627609253, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2797821760177612, 1.6111258268356323, 0.9933118224143982, 0.5400137305259705, -0.07775937765836716, 0.8442680239677429, 0.35842588543891907, 0.0, -0.5146958827972412, 0.9648056626319885, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2797821760177612, 1.6111258268356323, 0.9933118224143982, 0.5400137305259705, -0.07775937765836716, 0.8442680239677429, 0.35842588543891907, 0.0, -0.4163155257701874, 0.992429792881012, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2797821760177612, 1.6111258268356323, 0.9933118224143982, 0.5400137305259705, -0.07775937765836716, 0.8442680239677429, 0.35842588543891907, 0.0, -0.37113550305366516, 1.0051158666610718, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2797821760177612, 1.6111258268356323, 0.9933118224143982, 0.5400137305259705, -0.07775937765836716, 0.8442680239677429, 0.35842588543891907, 0.0, -0.31287726759910583, 1.0214741230010986, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2797821760177612, 1.6111258268356323, 0.9933118224143982, 0.5400137305259705, -0.07775937765836716, 0.8442680239677429, 0.35842588543891907, 0.0, -0.22757510840892792, 1.0454260110855103, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2797821760177612, 1.6111258268356323, 0.9933118224143982, 0.5400137305259705, -0.07775937765836716, 0.8442680239677429, 0.35842588543891907, 0.0, -0.2094389796257019, 1.0505183935165405, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2797821760177612, 1.6111258268356323, 0.9933118224143982, 0.5400137305259705, -0.07775937765836716, 0.8442680239677429, 0.35842588543891907, 0.0, -0.16268233954906464, 1.0636471509933472, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2797821760177612, 1.6111258268356323, 0.9933118224143982, 0.5400137305259705, -0.07775937765836716, 0.8442680239677429, 0.35842588543891907, 0.0, -0.10619558393955231, 1.0795080661773682, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2797821760177612, 1.6111258268356323, 0.9933118224143982, 0.5400137305259705, -0.07775937765836716, 0.8442680239677429, 0.35842588543891907, 0.0, -0.0843895822763443, 1.085631012916565, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2797821760177612, 1.6111258268356323, 0.9933118224143982, 0.5400137305259705, -0.07775937765836716, 0.8442680239677429, 0.35842588543891907, 0.0, -0.0031130481511354446, 1.108452558517456, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2797821760177612, 1.6111258268356323, 0.9933118224143982, 0.5400137305259705, -0.07775937765836716, 0.8442680239677429, 0.35842588543891907, 0.0, 0.05848671495914459, 1.125749111175537, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2797821760177612, 1.6111258268356323, 0.9933118224143982, 0.5400137305259705, -0.07775937765836716, 0.8442680239677429, 0.35842588543891907, 0.0, 0.0999695360660553, 1.137397050857544, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2797821760177612, 1.6111258268356323, 0.9933118224143982, 0.5400137305259705, -0.07775937765836716, 0.8442680239677429, 0.35842588543891907, 0.0, 0.2013629972934723, 1.1658672094345093, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2797821760177612, 1.6111258268356323, 0.9933118224143982, 0.5400137305259705, -0.07775937765836716, 0.8442680239677429, 0.35842588543891907, 0.0, 0.20305213332176208, 1.1663415431976318, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2797821760177612, 1.6111258268356323, 0.9933118224143982, 0.5400137305259705, -0.07775937765836716, 0.8442680239677429, 0.35842588543891907, 0.0, 0.20742756128311157, 1.1675701141357422, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2797821760177612, 1.6111258268356323, 0.9933118224143982, 0.5400137305259705, -0.07775937765836716, 0.8442680239677429, 0.35842588543891907, 0.0, 0.30647528171539307, 1.1953816413879395, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2797821760177612, 1.6111258268356323, 0.9933118224143982, 0.5400137305259705, -0.07775937765836716, 0.8442680239677429, 0.35842588543891907, 0.0, 0.3448944687843323, 1.2061693668365479, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2797821760177612, 1.6111258268356323, 0.9933118224143982, 0.5400137305259705, -0.07775937765836716, 0.8442680239677429, 0.35842588543891907, 0.0, 0.40991348028182983, 1.224426031112671, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2797821760177612, 1.6111258268356323, 0.9933118224143982, 0.5400137305259705, -0.07775937765836716, 0.8442680239677429, 0.35842588543891907, 0.0, 0.4884549677371979, 1.2464796304702759, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2797821760177612, 1.6111258268356323, 0.9933118224143982, 0.5400137305259705, -0.07775937765836716, 0.8442680239677429, 0.35842588543891907, 0.0, 0.5133517980575562, 1.2534704208374023, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2797821760177612, 1.6111258268356323, 0.9933118224143982, 0.5400137305259705, -0.07775937765836716, 0.8442680239677429, 0.35842588543891907, 0.0, 0.5775375962257385, 1.2714930772781372, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2797821760177612, 1.6111258268356323, 0.9933118224143982, 0.5400137305259705, -0.07775937765836716, 0.8442680239677429, 0.35842588543891907, 0.0, 0.6166550517082214, 1.282476782798767, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2797821760177612, 1.6111258268356323, 0.9933118224143982, 0.5400137305259705, -0.07775937765836716, 0.8442680239677429, 0.35842588543891907, 0.0, 0.6317557096481323, 1.2867169380187988, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2797821760177612, 1.6111258268356323, 0.9933118224143982, 0.5400137305259705, -0.07775937765836716, 0.8442680239677429, 0.35842588543891907, 0.0, 0.719737708568573, 1.311421275138855, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2797821760177612, 1.6111258268356323, 0.9933118224143982, 0.5400137305259705, -0.07775937765836716, 0.8442680239677429, 0.35842588543891907, 0.0, 0.7746319770812988, 1.3268349170684814, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2797821760177612, 1.6111258268356323, 0.9933118224143982, 0.5400137305259705, -0.07775937765836716, 0.8442680239677429, 0.35842588543891907, 0.0, 0.8228203654289246, 1.3403656482696533, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2797821760177612, 1.6111258268356323, 0.9933118224143982, 0.5400137305259705, -0.07775937765836716, 0.8442680239677429, 0.35842588543891907, 0.0, 0.9175080060958862, 1.366952896118164, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2797821760177612, 1.6111258268356323, 0.9933118224143982, 0.5400137305259705, -0.07775937765836716, 0.8442680239677429, 0.35842588543891907, 0.0, 0.9259029626846313, 1.3693101406097412, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2797821760177612, 1.6111258268356323, 0.9933118224143982, 0.5400137305259705, -0.07775937765836716, 0.8442680239677429, 0.35842588543891907, 0.0, 0.947649359703064, 1.3754162788391113, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2797821760177612, 1.6111258268356323, 0.9933118224143982, 0.5400137305259705, -0.07775937765836716, 0.8442680239677429, 0.35842588543891907, 0.0, 1.029266119003296, 1.3983333110809326, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2797821760177612, 1.6111258268356323, 0.9933118224143982, 0.5400137305259705, -0.07775937765836716, 0.8442680239677429, 0.35842588543891907, 0.0, 1.0609240531921387, 1.4072225093841553, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2797821760177612, 1.6111258268356323, 0.9933118224143982, 0.5400137305259705, -0.07775937765836716, 0.8442680239677429, 0.35842588543891907, 0.0, 1.132704496383667, 1.427377700805664, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2797821760177612, 1.6111258268356323, 0.9933118224143982, 0.5400137305259705, -0.07775937765836716, 0.8442680239677429, 0.35842588543891907, 0.0, 1.2000000476837158, 1.4500000476837158, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2797821760177612, 1.6111258268356323, 0.9933118224143982, 0.5400137305259705, -0.07775937765836716, 0.8442680239677429, 0.35842588543891907, 0.0, -2.098707914352417, 0.37328076362609863, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.8688284158706665, 0.8930304050445557, 0.6807841062545776, 0.11040913313627243, -0.5226355195045471, 0.8442680239677429, 0.07950101792812347, 0.0, -2.0667591094970703, 0.44065436720848083, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.8688284158706665, 0.8930304050445557, 0.6807841062545776, 0.11040913313627243, -0.5226355195045471, 0.8442680239677429, 0.07950101792812347, 0.0, -2.0438125133514404, 0.48904427886009216, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.8688284158706665, 0.8930304050445557, 0.6807841062545776, 0.11040913313627243, -0.5226355195045471, 0.8442680239677429, 0.07950101792812347, 0.0, -2.0161845684051514, 0.5473058223724365, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.8688284158706665, 0.8930304050445557, 0.6807841062545776, 0.11040913313627243, -0.5226355195045471, 0.8442680239677429, 0.07950101792812347, 0.0, -2.0, 0.6000000238418579, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.8688284158706665, 0.8930304050445557, 0.6807841062545776, 0.11040913313627243, -0.5226355195045471, 0.8442680239677429, 0.07950101792812347, 0.0], "count": [1738]}, "action.applied": {"mean": [0.31630279869269856, 0.665572930534635, -1.1039786748973903, -0.30731893950908246, 0.6820882325788362, -1.1111005231892417, 0.24440283420462466, 0.7106502056807725, -1.209987684518476, -0.18478900133937562, 0.7228960787536635, -1.208380115148799, -0.06305060175968673, 1.501586572141724, -1.3205215670982906, -0.10433365160545527, 0.9060130693421402, 0.06895806158096926, 0.002879746847703487, -0.002879746847703487], "std": [0.1404040076860731, 0.11889530410912703, 0.17439686552662487, 0.14420692526390835, 0.10172597604650864, 0.15866943003152936, 0.11868475756408879, 0.13178538841223325, 0.17317952202760029, 0.10766274058239979, 0.10896335349937152, 0.17629222110432946, 0.6652312369056048, 0.5863795437209286, 0.33442160278904953, 0.27390410077846433, 0.22846702883541314, 0.2872264517917382, 0.009617598358835926, 0.009617598358835926], "min": [-0.2416110336780548, 0.4172315299510956, -1.736365556716919, -0.5922694206237793, 0.3776923418045044, -1.6285542249679565, -0.20145055651664734, 0.44437140226364136, -1.7316735982894897, -0.5373992323875427, 0.5205428600311279, -1.7577875852584839, -2.014031171798706, 0.710098385810852, -2.22481369972229, -0.7452527284622192, 0.5307276844978333, -0.4535202085971832, 0.0, -0.03500000014901161], "max": [0.699120819568634, 0.9673641920089722, -0.8356940746307373, 0.13718454539775848, 0.9535616040229797, -0.863728404045105, 0.5355109572410583, 1.1996119022369385, -0.9495927691459656, 0.26895320415496826, 1.0999326705932617, -0.9681482911109924, 1.4980851411819458, 2.682781457901001, -0.8186326622962952, 0.45139560103416443, 1.2191450595855713, 0.7595793604850769, 0.03500000014901161, 0.0], "count": [1738]}, "extra.reward": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1738]}, "next.truncated": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1738]}, "sim_step_idx": {"mean": [1768.0], "std": [1003.434601755391], "min": [31.0], "max": [3505.0], "count": [1738]}, "timestamp": {"mean": [34.74000000596149], "std": [20.06869204190868], "min": [0.0], "max": [69.4800033569336], "count": [1738]}, "frame_index": {"mean": [868.5], "std": [501.7173008776955], "min": [0.0], "max": [1737.0], "count": [1738]}, "episode_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1738]}, "index": {"mean": [868.5], "std": [501.7173008776955], "min": [0.0], "max": [1737.0], "count": [1738]}, "task_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1738]}, "next.done": {"mean": [0.0005753739930955121], "std": [0.02398005291619644], "min": [0.0], "max": [1.0], "count": [1738]}, "observation.images.head": {"mean": [[[0.3057756865633741]], [[0.2842781180164221]], [[0.2640027233082255]]], "std": [[[0.2261369731236267]], [[0.21693865329432246]], [[0.20866000181801456]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8431372549019608]], [[0.796078431372549]], [[0.8313725490196079]]], "count": [100]}, "observation.images.wrist": {"mean": [[[0.5399146420334239]], [[0.46738521585999054]], [[0.39162381639082283]]], "std": [[[0.1561936954461964]], [[0.13457663966808728]], [[0.15306796677505244]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9529411764705882]], [[0.9019607843137255]], [[0.8235294117647058]]], "count": [100]}}} diff --git a/N025/go2_arm/dr_on/seed_2016/stationassembly/000/lerobot_v21/meta/extra/episode_000000.json b/N025/go2_arm/dr_on/seed_2016/stationassembly/000/lerobot_v21/meta/extra/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..1b44a5f75df1ad8bd00349e6d364bef72ed84ad5 --- /dev/null +++ b/N025/go2_arm/dr_on/seed_2016/stationassembly/000/lerobot_v21/meta/extra/episode_000000.json @@ -0,0 +1,593 @@ +{ + "episode_index": 0, + "trajectory_id": 0, + "env_id": 0, + "task_type": "StationAssembly", + "subsample_every": 2, + "control_steps": 3476, + "language": { + "scene": { + "objects": [ + { + "id": "table_A_1", + "cat_name": "table_A", + "inst_id": 1, + "noun": "table A", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 4.263755390921779, + -0.2585679549528922, + -0.17196726546122487 + ], + "bbox": { + "extent": [ + 1.0, + 1.0000000000000002, + 1.0 + ], + "center": [ + 0.0, + -1.1102230246251565e-16, + 0.0 + ] + } + }, + { + "id": "table_B_1", + "cat_name": "table_B", + "inst_id": 1, + "noun": "table B", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 6.637967294099886, + -2.8763792243386237, + -0.1854578801419477 + ], + "bbox": { + "extent": [ + 0.9999999999999999, + 1.0, + 1.0 + ], + "center": [ + 5.551115123125783e-17, + 0.0, + 0.0 + ] + } + }, + { + "id": "shim_board_1", + "cat_name": "shim_board", + "inst_id": 1, + "noun": "shim board", + "color": null, + "size": "medium", + "material": null, + "category": "articulation", + "pos": [ + 6.770039808139025, + -2.7716618602185825, + 0.012364782867855681 + ], + "bbox": { + "extent": [ + 0.43428969129017814, + 0.2830833592405761, + 0.04200000036507845 + ], + "center": [ + 0.15000000596046426, + -3.0531133177191805e-16, + 0.021000000182539225 + ] + } + }, + { + "id": "wedge_1", + "cat_name": "wedge", + "inst_id": 1, + "noun": "wedge", + "color": null, + "size": "small", + "material": null, + "category": "rigid", + "pos": [ + 4.153861068459637, + -0.3097625583955983, + 0.029669767568575936 + ], + "bbox": { + "extent": [ + 0.1917244051413517, + 0.07146719074397744, + 0.02800037213925366 + ], + "center": [ + 0.05750000290572637, + 6.938893903907228e-18, + 0.014000000432133675 + ] + } + } + ], + "relations": [ + { + "subject": "table_A_1", + "relation": "left_of", + "object": "wedge_1" + }, + { + "subject": "table_B_1", + "relation": "right_of", + "object": "shim_board_1" + }, + { + "subject": "shim_board_1", + "relation": "on_top_of", + "object": "table_B_1" + }, + { + "subject": "shim_board_1", + "relation": "left_of", + "object": "table_B_1" + }, + { + "subject": "wedge_1", + "relation": "on_top_of", + "object": "table_A_1" + }, + { + "subject": "wedge_1", + "relation": "right_of", + "object": "table_A_1" + } + ], + "cameras": [ + { + "name": "head", + "intrinsics": { + "K": [ + [ + 607.7061061683956, + 0.0, + 320.0 + ], + [ + 0.0, + 607.3754374751866, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 55.53991912549515, + "resolution": [ + 640, + 480 + ] + }, + "pos_robot": [ + 3.5502990266269756, + -2.9180348741914637, + -0.2844787359906775 + ], + "viewpoint": "front-right, at table height", + "extrinsics": { + "R": [ + [ + 0.0034545225363202814, + -0.9995776319673901, + 0.028855223868669955 + ], + [ + -0.02338972540530354, + 0.0287667346071393, + 0.9993124615081647 + ], + [ + -0.9997204544368945, + -0.0041270631819024794, + -0.023280471000004077 + ] + ], + "t": [ + 0.03416419479862187, + -0.08682200219228882, + 0.33429322289826396 + ] + } + }, + { + "name": "wrist", + "intrinsics": { + "K": [ + [ + 617.2500342478374, + 0.0, + 320.0 + ], + [ + 0.0, + 617.548655622722, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 54.807019583348044, + "resolution": [ + 640, + 480 + ] + }, + "pos_robot": [ + 3.3987926489151974, + -2.5388748590548302, + -0.33258419864644584 + ], + "viewpoint": "front-right, at table height", + "extrinsics": { + "R": [ + [ + 0.017356943317221596, + -0.9998337334638687, + 0.005589449560045617 + ], + [ + -0.9382601518788614, + -0.014355819960515381, + 0.34563246061317376 + ], + [ + -0.3454947523696107, + -0.011243480820582297, + -0.9383533237667454 + ] + ], + "t": [ + 0.006333551580298355, + -0.08611861262827436, + 0.017148138726427706 + ] + } + } + ], + "robots": [ + { + "name": "Go2Plus", + "model": "go2plus", + "type": "mobilemanip", + "noun": "Unitree Go2 EDU quadruped with a Piper arm", + "arms": 1, + "arm_layout": null, + "mobile": true, + "dexterous": false, + "base_pose": { + "pos": [ + -3.498, + -2.4962, + 0.45 + ], + "ori": [ + 0.8061935901641846, + 0.0, + 0.0, + 0.5916518568992615 + ] + }, + "facing_yaw_deg": 72.54863392123784, + "gripper": "parallel gripper" + } + ], + "lighting": [], + "background": { + "name": null, + "kind": "background", + "type": "dome", + "pose": null, + "setting": null, + "time_of_day": null, + "indoor": false, + "intensity": 878.2134, + "ambient": "dim" + }, + "effects": [], + "caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a medium shim board and a small wedge. The gray table A is to the left of the wedge. The gray table B is to the right of the shim board. The shim board is on top of the gray table B. The shim board is to the left of the gray table B. The wedge is on top of the gray table A. The wedge is to the right of the gray table A. The scene is viewed from front-right, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n [shim board]\n\n\n [wedge]A]\n\n\n\n\n[robot]" + }, + "task": { + "task_type": "StationAssembly", + "instruction": "Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.", + "template_id": -1, + "slots": { + "obj": 1.5707963267948966, + "support": null + }, + "generic_instruction": "Stationassembly the 1.5707963267948966.", + "task_id": "N025", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_0558": { + "frame_idx": 558, + "caption": "Computing a grasp pose for the small wedge; the right gripper is below and to the left of and in front of the wedge.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "NavTo", + "planner_state": "finished", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0582": { + "frame_idx": 582, + "caption": "Working on the small wedge; the right gripper is below and to the left of and in front of the wedge.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0584": { + "frame_idx": 584, + "caption": "Working on the small wedge; the right gripper is below and in front of the wedge.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "in_front_of" + ] + }, + "frame_0587": { + "frame_idx": 587, + "caption": "Working on the small wedge; the right gripper is below and to the left of and in front of the wedge.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0701": { + "frame_idx": 701, + "caption": "Working on the small wedge; the right gripper is below and in front of the wedge.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "in_front_of" + ] + }, + "frame_1124": { + "frame_idx": 1124, + "caption": "Computing a grasp pose for the small wedge; the right gripper is below and in front of the wedge.", + "skill": "ReachStance", + "phase": "verify", + "skill_state": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "in_front_of" + ] + }, + "frame_1195": { + "frame_idx": 1195, + "caption": "Working on the small wedge; the right gripper is below and in front of the wedge.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "in_front_of" + ] + }, + "frame_1233": { + "frame_idx": 1233, + "caption": "Working on the small wedge; the right gripper is below the wedge.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_1485": { + "frame_idx": 1485, + "caption": "Done — the small wedge is grasped; the right gripper is below the wedge.", + "skill": "Grasp", + "phase": "completed", + "skill_state": "finished", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_1486": { + "frame_idx": 1486, + "caption": "Working on the small wedge; the right gripper is below the wedge.", + "skill": "CarryPose", + "phase": null, + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_1529": { + "frame_idx": 1529, + "caption": "Working on the small wedge; the right gripper is below and in front of the wedge.", + "skill": "CarryPose", + "phase": null, + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "in_front_of" + ] + }, + "frame_1598": { + "frame_idx": 1598, + "caption": "Working on the small wedge; the right gripper is below and to the left of and in front of the wedge.", + "skill": "CarryPose", + "phase": null, + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_2285": { + "frame_idx": 2285, + "caption": "Computing a grasp pose for the medium shim board; the right gripper is below and to the left of and in front of the shim board.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "NavTo", + "planner_state": "finished", + "target": "shim_board_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_2300": { + "frame_idx": 2300, + "caption": "Working on the medium shim board; the right gripper is below and to the left of and in front of the shim board.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "shim_board_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_2800": { + "frame_idx": 2800, + "caption": "Working on the medium shim board; the right gripper is below and in front of the shim board.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "shim_board_1", + "hand_id": 0, + "eef_relation": [ + "below", + "in_front_of" + ] + }, + "frame_3016": { + "frame_idx": 3016, + "caption": "Computing a grasp pose for the medium shim board; the right gripper is below and in front of the shim board.", + "skill": "ReachStance", + "phase": "verify", + "skill_state": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "shim_board_1", + "hand_id": 0, + "eef_relation": [ + "below", + "in_front_of" + ] + }, + "frame_3082": { + "frame_idx": 3082, + "caption": "Working on the small wedge; the right gripper is below and to the left of and behind the wedge.", + "skill": "AssemblyInsert", + "phase": "wp:pre_insert", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "behind" + ] + } + } + }, + "depth_range": [ + 0.1, + 20.0 + ], + "annotation_sidecar": null, + "annotation_sidecar_keys": [], + "terminated": true, + "truncated": false +} \ No newline at end of file diff --git a/N025/go2_arm/dr_on/seed_2016/stationassembly/000/lerobot_v21/meta/info.json b/N025/go2_arm/dr_on/seed_2016/stationassembly/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..381ba5cfdec90e877fd68c40041287bc48c33b5b --- /dev/null +++ b/N025/go2_arm/dr_on/seed_2016/stationassembly/000/lerobot_v21/meta/info.json @@ -0,0 +1,296 @@ +{ + "codebase_version": "v2.1", + "robot_type": "Go2PlusCfg", + "total_episodes": 1, + "total_frames": 1738, + "total_tasks": 1, + "total_videos": 2, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 25, + "splits": { + "train": "0:1" + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", + "features": { + "action": { + "dtype": "float32", + "shape": [ + 12 + ], + "names": [ + "base_action_0", + "base_action_1", + "base_action_2", + "base_action_3", + "eef0.pos_x", + "eef0.pos_y", + "eef0.pos_z", + "eef0.quat_w", + "eef0.quat_x", + "eef0.quat_y", + "eef0.quat_z", + "gripper" + ] + }, + "action_is_hold": { + "dtype": "bool", + "shape": [ + 12 + ], + "names": null + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 26 + ], + "names": [ + "joint_0", + "joint_1", + "joint_2", + "joint_3", + "joint_4", + "joint_5", + "joint_6", + "joint_7", + "joint_8", + "joint_9", + "joint_10", + "joint_11", + "joint_12", + "joint_13", + "joint_14", + "joint_15", + "joint_16", + "joint_17", + "joint_18", + "joint_19", + "joint_20", + "joint_21", + "joint_22", + "joint_23", + "gripper_0", + "gripper_1" + ] + }, + "observation.joint_vel": { + "dtype": "float32", + "shape": [ + 20 + ], + "names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ] + }, + "observation.eef_pose": { + "dtype": "float32", + "shape": [ + 7 + ], + "names": null + }, + "observation.environment_state": { + "dtype": "float32", + "shape": [ + 30 + ], + "names": [ + "articulation_joint_pos.shim_board.0", + "articulation_joint_vel.shim_board.0", + "articulation_pose.shim_board.0", + "articulation_pose.shim_board.1", + "articulation_pose.shim_board.2", + "articulation_pose.shim_board.3", + "articulation_pose.shim_board.4", + "articulation_pose.shim_board.5", + "articulation_pose.shim_board.6", + "object_pose.table_A.0", + "object_pose.table_A.1", + "object_pose.table_A.2", + "object_pose.table_A.3", + "object_pose.table_A.4", + "object_pose.table_A.5", + "object_pose.table_A.6", + "object_pose.table_B.0", + "object_pose.table_B.1", + "object_pose.table_B.2", + "object_pose.table_B.3", + "object_pose.table_B.4", + "object_pose.table_B.5", + "object_pose.table_B.6", + "object_pose.wedge.0", + "object_pose.wedge.1", + "object_pose.wedge.2", + "object_pose.wedge.3", + "object_pose.wedge.4", + "object_pose.wedge.5", + "object_pose.wedge.6" + ] + }, + "action.command": { + "dtype": "float32", + "shape": [ + 1104 + ], + "names": null + }, + "action.applied": { + "dtype": "float32", + "shape": [ + 20 + ], + "names": null + }, + "narration": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "collect_info": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "extra.reward": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "extra.action_info": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "next.truncated": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "sim_step_idx": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "next.done": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "observation.images.head": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25, + "video.codec": "libsvtav1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.wrist": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25, + "video.codec": "libsvtav1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + } + } +} \ No newline at end of file diff --git a/N025/go2_arm/dr_on/seed_2016/stationassembly/000/lerobot_v21/meta/magicsim_manifest.json b/N025/go2_arm/dr_on/seed_2016/stationassembly/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..6787395ae9d35200bdb8a0fa7776c1f7c3fa9c56 --- /dev/null +++ b/N025/go2_arm/dr_on/seed_2016/stationassembly/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,290 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 03:14:45" + }, + "embodiment": { + "robots": [ + { + "name": "Go2Plus", + "cfg": "Go2PlusCfg", + "type": "mobilemanip", + "joint_names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 12, + "nan_policy": "from_raw", + "segments": [ + { + "name": "Go2Plus.base_action", + "start": 0, + "end": 4, + "names": [ + "base_action_0", + "base_action_1", + "base_action_2", + "base_action_3" + ], + "source": "Go2UnifiedLocomotionAction", + "names_source": "fallback" + }, + { + "name": "Go2Plus.arm_action", + "start": 4, + "end": 11, + "names": [ + "eef0.pos_x", + "eef0.pos_y", + "eef0.pos_z", + "eef0.quat_w", + "eef0.quat_x", + "eef0.quat_y", + "eef0.quat_z" + ], + "source": "Go2PlusCuroboIKAction", + "names_source": "pose_layout" + }, + { + "name": "Go2Plus.eef_action", + "start": 11, + "end": 12, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 26, + "segments": [ + { + "name": "Go2Plus.joint_pos", + "start": 0, + "end": 24, + "names": [ + "joint_0", + "joint_1", + "joint_2", + "joint_3", + "joint_4", + "joint_5", + "joint_6", + "joint_7", + "joint_8", + "joint_9", + "joint_10", + "joint_11", + "joint_12", + "joint_13", + "joint_14", + "joint_15", + "joint_16", + "joint_17", + "joint_18", + "joint_19", + "joint_20", + "joint_21", + "joint_22", + "joint_23" + ], + "source": "ObservationManager", + "names_source": "fallback_dim_mismatch(joint_names=20,obs=24)" + }, + { + "name": "Go2Plus.gripper_pos", + "start": 24, + "end": 26, + "names": [ + "gripper_0", + "gripper_1" + ], + "source": "ObservationManager", + "names_source": "generated" + } + ] + }, + "joint_vel_layout": { + "dim": 20, + "segments": [ + { + "name": "Go2Plus.joint_vel", + "start": 0, + "end": 20, + "names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "action_levels": { + "L0": "task command list (collect.auto_collect_info.current_action)", + "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)", + "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)", + "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy", + "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)" + }, + "cameras": { + "head": { + "intrinsics": { + "K": [ + [ + 607.7061061683956, + 0.0, + 320.0 + ], + [ + 0.0, + 607.3754374751866, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 55.53991912549515, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.33205100893974304, + 0.038026999682188034, + 0.09355899691581726 + ], + "quat": [ + -0.5022302269935608, + -0.499491810798645, + 0.5120040774345398, + 0.4859265089035034 + ] + }, + "wrist": { + "intrinsics": { + "K": [ + [ + 617.2500342478374, + 0.0, + 320.0 + ], + [ + 0.0, + 617.548655622722, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 54.807019583348044, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + -0.0749870017170906, + 0.005288999993354082, + 0.04582099989056587 + ], + "quat": [ + 0.1271296590566635, + 0.701795220375061, + -0.6904057860374451, + -0.12108422070741653 + ] + } + }, + "lerobot": { + "codebase_version": "v2.1", + "video_keys": [ + "observation.images.head", + "observation.images.wrist" + ], + "columns": [ + "action", + "action.applied", + "action.command", + "action_is_hold", + "collect_info", + "episode_index", + "extra.action_info", + "extra.reward", + "frame_index", + "index", + "narration", + "next.done", + "next.truncated", + "observation.eef_pose", + "observation.environment_state", + "observation.images.head", + "observation.images.wrist", + "observation.joint_vel", + "observation.state", + "sim_step_idx", + "task_index", + "timestamp" + ] + }, + "generated_run": { + "run_id": "stationassembly/000", + "task_type": "StationAssembly" + } +} \ No newline at end of file diff --git a/N025/go2_arm/dr_on/seed_2016/stationassembly/000/lerobot_v21/meta/stats.json b/N025/go2_arm/dr_on/seed_2016/stationassembly/000/lerobot_v21/meta/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..4429797d999911034fadd7828fbb34c56808b690 --- /dev/null +++ b/N025/go2_arm/dr_on/seed_2016/stationassembly/000/lerobot_v21/meta/stats.json @@ -0,0 +1,5329 @@ +{ + "action": { + "mean": [ + 0.1311090803727662, + -0.00534369536462241, + 0.033344919499657164, + 0.3619907875947217, + -0.7221752753903525, + 1.3171129722246777, + 0.7914740735422755, + 0.2043386442878806, + -0.5055975522481599, + 0.6632469189149661, + 0.143271455424461, + 0.5713463751438435 + ], + "std": [ + 0.13935334271757852, + 0.022887929153648304, + 0.22650013719725703, + 0.02174376560887605, + 1.563946529585288, + 1.106481045128668, + 0.15214475598354896, + 0.19405665381161297, + 0.32245081565643324, + 0.2563775626035291, + 0.18663220532294247, + 0.49488351634887373 + ], + "min": [ + 0.0, + -0.2199999839067459, + -0.800000011920929, + 0.3400000035762787, + -3.388568162918091, + -2.144691228866577, + 0.5678000450134277, + -0.048018235713243484, + -0.9134658575057983, + -0.7291989922523499, + -0.5327279567718506, + 0.0 + ], + "max": [ + 0.3499999940395355, + 0.009999996051192284, + 0.800000011920929, + 0.38999998569488525, + 1.2797821760177612, + 2.8598806858062744, + 1.0796172618865967, + 0.5400137305259705, + 0.8457071185112, + 0.8442680239677429, + 0.5333408117294312, + 1.0 + ], + "count": [ + 1738 + ] + }, + "action_is_hold": { + "mean": [ + 0.059263521288837745, + 0.059263521288837745, + 0.059263521288837745, + 0.059263521288837745, + 0.09838895281933256, + 0.09838895281933256, + 0.09838895281933256, + 0.09838895281933256, + 0.09838895281933256, + 0.09838895281933256, + 0.09838895281933256, + 0.9436133486766398 + ], + "std": [ + 0.2361172512403213, + 0.2361172512403213, + 0.2361172512403213, + 0.2361172512403213, + 0.29783983410962783, + 0.29783983410962783, + 0.29783983410962783, + 0.29783983410962783, + 0.29783983410962783, + 0.29783983410962783, + 0.29783983410962783, + 0.2306668525729217 + ], + "min": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "max": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "count": [ + 1738 + ] + }, + "observation.state": { + "mean": [ + -0.01598130965851488, + 0.009452253240684404, + -0.020789114291687446, + 0.06525625882891191, + -0.05998843910432976, + 0.653069026588159, + 0.6670969874867086, + 0.8136957232573502, + 0.8041386180766296, + 1.5008519574125287, + -1.3373926838879207, + -1.325235949904241, + -1.3118146670289912, + -1.3431943600827998, + -1.3190683210129293, + -0.1043056143377712, + 0.9050354197261249, + 0.06867843237312866, + 0.02329240918322386, + -0.023648387450784857, + -0.772930474474949, + 1.029777711126589, + 0.6461918862028555, + 0.38756921479287715, + -0.023648387450784857, + -0.02329240918322386 + ], + "std": [ + 0.030719120304942345, + 0.02983191632074438, + 0.034629618538341504, + 0.03865627682843827, + 0.6603693763114499, + 0.10218518409909229, + 0.09327796308341633, + 0.09139996247976728, + 0.09710376688418304, + 0.585655863304495, + 0.12429424049261888, + 0.134936415022951, + 0.1590068895722064, + 0.16476238758211298, + 0.3336395130907554, + 0.272480527955254, + 0.2281771537119088, + 0.2853830087793521, + 0.01012885267411114, + 0.009820142093455355, + 1.6126597756849614, + 1.1425256099030308, + 1.6183676382638073, + 0.016852348882543708, + 0.009820142093455355, + 0.01012885267411114 + ], + "min": [ + -0.16596876084804535, + -0.1527635157108307, + -0.26360711455345154, + -0.07322854548692703, + -2.011528968811035, + 0.4471374452114105, + 0.4703731834888458, + 0.6564369797706604, + 0.6530535817146301, + 0.73294997215271, + -1.5453888177871704, + -1.6270233392715454, + -1.6373097896575928, + -1.6506602764129639, + -2.219086170196533, + -0.6769564151763916, + 0.5413408875465393, + -0.45082560181617737, + 0.014339550398290157, + -0.03500000014901161, + -3.500053882598877, + -2.5014712810516357, + -3.1411561965942383, + 0.3521033227443695, + -0.03500000014901161, + -0.03500000014901161 + ], + "max": [ + 0.14482660591602325, + 0.16122837364673615, + 0.17957939207553864, + 0.27838948369026184, + 1.3710639476776123, + 0.9222144484519958, + 0.8803341388702393, + 1.045130968093872, + 1.0326447486877441, + 2.681828498840332, + -1.1470143795013428, + -1.1301701068878174, + -1.0705784559249878, + -1.0908139944076538, + -0.8220677971839905, + 0.4198990762233734, + 1.2174395322799683, + 0.6984414458274841, + 0.03500000014901161, + -0.01491415686905384, + 1.1288326978683472, + 2.4502391815185547, + 3.134716510772705, + 0.410702645778656, + -0.01491415686905384, + -0.014339550398290157 + ], + "count": [ + 1738 + ] + }, + "observation.joint_vel": { + "mean": [ + -0.004437253917457079, + -0.00015378009779658087, + -0.0023896667635565573, + -0.0024354820584694993, + -0.02382174833596225, + -0.0029777581152175808, + -0.011481328801486152, + -0.00733566593140794, + -0.004496166800717198, + 0.005921600651248091, + 0.005899077441879056, + 0.017484937150069373, + 0.008059096391519686, + 0.00479593488509303, + -0.014766446752076192, + 0.00024616975026786993, + 0.006825304188723655, + -0.05919296294364416, + -0.00023772696369684103, + -0.010825572973136332 + ], + "std": [ + 0.3733842927785567, + 0.35219843737360407, + 0.43437724396101685, + 0.520912522747376, + 0.3047800955874628, + 1.008933265357536, + 1.053797551634656, + 0.814727055036921, + 0.6843676031998137, + 0.20836048120715267, + 0.5828469516807493, + 0.9513620622773153, + 0.9511533933464285, + 0.9534280118790869, + 0.23263445907167826, + 0.24972787485130854, + 0.1634536434085608, + 0.2499659551288426, + 0.009489557169980553, + 0.013388613550722532 + ], + "min": [ + -2.3400962352752686, + -4.316644191741943, + -2.823378801345825, + -4.739124298095703, + -2.089597463607788, + -4.40548038482666, + -5.546690940856934, + -4.493005752563477, + -3.132772445678711, + -0.9264919757843018, + -3.101715087890625, + -5.989455223083496, + -4.597957134246826, + -5.510430335998535, + -2.8697283267974854, + -2.2114884853363037, + -1.1292201280593872, + -1.754010796546936, + -0.20007455348968506, + -0.20006655156612396 + ], + "max": [ + 3.387424945831299, + 2.54494571685791, + 5.578767776489258, + 2.8709936141967773, + 2.0315968990325928, + 2.266594886779785, + 2.074312686920166, + 3.724187135696411, + 4.847829341888428, + 1.1682296991348267, + 2.826254367828369, + 6.672074317932129, + 4.628411293029785, + 3.925891637802124, + 1.4923430681228638, + 1.7798186540603638, + 1.954062819480896, + 2.0540707111358643, + 0.2000161111354828, + 0.20028361678123474 + ], + "count": [ + 1738 + ] + }, + "observation.eef_pose": { + "mean": [ + -0.7230428714901037, + 1.316682516017412, + 0.7917162274600996, + 0.20199152597700973, + -0.5588678131512311, + 0.677107368570177, + 0.16617265362528305 + ], + "std": [ + 1.563769929853085, + 1.1056638069352374, + 0.15261323044789296, + 0.1960534395427423, + 0.22061061218575687, + 0.2144520036917971, + 0.16638155221008086 + ], + "min": [ + -3.388568162918091, + -2.144706964492798, + 0.5695782899856567, + -0.062073469161987305, + -0.9136874675750732, + -0.04739890992641449, + -0.014029085636138916 + ], + "max": [ + 1.279813528060913, + 2.8598806858062744, + 1.0782400369644165, + 0.5402714610099792, + -0.07844465970993042, + 0.8443595767021179, + 0.5359297394752502 + ], + "count": [ + 1738 + ] + }, + "observation.environment_state": { + "mean": [ + 0.04999125933744039, + -0.0011200721322461027, + 1.1391199827194214, + 3.1543900966644287, + 0.4300000071525574, + 0.7167602777481079, + 1.4425684902218036e-25, + 9.313224635931761e-10, + -0.6973196864128113, + -2.0, + 1.5, + 0.23000000417232513, + 1.0, + 0.0, + 0.0, + 0.0, + 1.2000000476837158, + 3.0, + 0.23000000417232513, + 1.0, + 0.0, + 0.0, + 0.0, + -0.6181821055837314, + 1.710437941914735, + 0.6530567166685921, + 0.6673304695505821, + 0.13272322580665963, + -0.16543816521966587, + 0.5800199666380951 + ], + "std": [ + 0.010104501497551266, + 0.014584609178884524, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4470544960333256, + 0.6087346015759375, + 0.2314957048864696, + 0.2081336130570711, + 0.18249141574939104, + 0.21749734083786262, + 0.22211219933408863 + ], + "min": [ + 0.005692356266081333, + -0.21836049854755402, + 1.1391199827194214, + 3.1543900966644287, + 0.4300000071525574, + 0.7167602777481079, + 1.4425684902218036e-25, + 9.313224635931761e-10, + -0.6973196864128113, + -2.0, + 1.5, + 0.23000000417232513, + 1.0, + 0.0, + 0.0, + 0.0, + 1.2000000476837158, + 3.0, + 0.23000000417232513, + 1.0, + 0.0, + 0.0, + 0.0, + -2.039189338684082, + 0.7730562686920166, + 0.4300000071525574, + -0.04943295940756798, + -0.022384393960237503, + -0.5339500904083252, + 0.08068769425153732 + ], + "max": [ + 0.052359890192747116, + 0.004571840167045593, + 1.1391199827194214, + 3.1543900966644287, + 0.4300000071525574, + 0.7167602777481079, + 1.4425684902218036e-25, + 9.313224635931761e-10, + -0.6973196864128113, + -2.0, + 1.5, + 0.23000000417232513, + 1.0, + 0.0, + 0.0, + 0.0, + 1.2000000476837158, + 3.0, + 0.23000000417232513, + 1.0, + 0.0, + 0.0, + 0.0, + 1.406107783317566, + 2.868037700653076, + 1.0394046306610107, + 0.8485180735588074, + 0.5291778445243835, + 0.06515709310770035, + 0.9173922538757324 + ], + "count": [ + 1738 + ] + }, + "action.command": { + "mean": [ + -1.47159035008769, + 0.3133601144415053, + 0.9493478222642957, + 0.6081104268354589, + 0.0, + 0.0, + 0.7364724129202249, + 0.5571155073388641, + -0.7439346116775529, + 1.2557013445244372, + 0.8007204232127635, + 0.22087407668644582, + -0.5196472360504686, + 0.6712384385519781, + 0.16565074163106105, + 0.30612244897959184, + -2.728423602545439, + -0.9712115543991772, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.336692609288305, + 0.32193528479011496, + 0.8299462201188057, + 0.3259260631591131, + -0.325654864249439, + 0.8284978366412136, + 0.0895229026020364, + 0.0, + -2.705716015687629, + -0.9625061554695243, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.336692609288305, + 0.32193528479011496, + 0.8299462201188057, + 0.3259260631591131, + -0.325654864249439, + 0.8284978366412136, + 0.0895229026020364, + 0.0, + -2.688473146353195, + -0.9402979950406658, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.336692609288305, + 0.32193528479011496, + 0.8299462201188057, + 0.3259260631591131, + -0.325654864249439, + 0.8284978366412136, + 0.0895229026020364, + 0.0, + -2.637371952853986, + -0.9219500840599857, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.336692609288305, + 0.32193528479011496, + 0.8299462201188057, + 0.3259260631591131, + -0.325654864249439, + 0.8284978366412136, + 0.0895229026020364, + 0.0, + -2.6077235848156373, + -0.9108719220801965, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.336692609288305, + 0.32193528479011496, + 0.8299462201188057, + 0.3259260631591131, + -0.325654864249439, + 0.8284978366412136, + 0.0895229026020364, + 0.0, + -2.5606891717483746, + -0.8637304804218349, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.336692609288305, + 0.32193528479011496, + 0.8299462201188057, + 0.3259260631591131, + -0.325654864249439, + 0.8284978366412136, + 0.0895229026020364, + 0.0, + -2.5100626625231843, + -0.8448760616245554, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.336692609288305, + 0.32193528479011496, + 0.8299462201188057, + 0.3259260631591131, + -0.325654864249439, + 0.8284978366412136, + 0.0895229026020364, + 0.0, + -2.480769979419993, + -0.7983406906697288, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.336692609288305, + 0.32193528479011496, + 0.8299462201188057, + 0.3259260631591131, + -0.325654864249439, + 0.8284978366412136, + 0.0895229026020364, + 0.0, + -2.4553875211459486, + -0.7883826084990999, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.336692609288305, + 0.32193528479011496, + 0.8299462201188057, + 0.3259260631591131, + -0.325654864249439, + 0.8284978366412136, + 0.0895229026020364, + 0.0, + -2.4015739604608335, + -0.7342970620340376, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.336692609288305, + 0.32193528479011496, + 0.8299462201188057, + 0.3259260631591131, + -0.325654864249439, + 0.8284978366412136, + 0.0895229026020364, + 0.0, + -2.390391189660599, + -0.7284339470649833, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.336692609288305, + 0.32193528479011496, + 0.8299462201188057, + 0.3259260631591131, + -0.325654864249439, + 0.8284978366412136, + 0.0895229026020364, + 0.0, + -2.3445589827067814, + -0.7153648369347871, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.336692609288305, + 0.32193528479011496, + 0.8299462201188057, + 0.3259260631591131, + -0.325654864249439, + 0.8284978366412136, + 0.0895229026020364, + 0.0, + -2.294160330473487, + -0.6596609585320772, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.336692609288305, + 0.32193528479011496, + 0.8299462201188057, + 0.3259260631591131, + -0.325654864249439, + 0.8284978366412136, + 0.0895229026020364, + 0.0, + -2.2665709808691226, + -0.6475987256462894, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.336692609288305, + 0.32193528479011496, + 0.8299462201188057, + 0.3259260631591131, + -0.325654864249439, + 0.8284978366412136, + 0.0895229026020364, + 0.0, + -2.1951531011666825, + -0.5901794255669437, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.336692609288305, + 0.32193528479011496, + 0.8299462201188057, + 0.3259260631591131, + -0.325654864249439, + 0.8284978366412136, + 0.0895229026020364, + 0.0, + -2.190430456133031, + -0.5806469419109288, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.336692609288305, + 0.32193528479011496, + 0.8299462201188057, + 0.3259260631591131, + -0.325654864249439, + 0.8284978366412136, + 0.0895229026020364, + 0.0, + -2.1720051658687307, + -0.541998236926634, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.336692609288305, + 0.32193528479011496, + 0.8299462201188057, + 0.3259260631591131, + -0.325654864249439, + 0.8284978366412136, + 0.0895229026020364, + 0.0, + -2.1122131703504876, + -0.5127719836448555, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.336692609288305, + 0.32193528479011496, + 0.8299462201188057, + 0.3259260631591131, + -0.325654864249439, + 0.8284978366412136, + 0.0895229026020364, + 0.0, + -2.0716314991908287, + -0.4721331934430706, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.336692609288305, + 0.32193528479011496, + 0.8299462201188057, + 0.3259260631591131, + -0.325654864249439, + 0.8284978366412136, + 0.0895229026020364, + 0.0, + -2.0309179505305504, + -0.44426217363841497, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.336692609288305, + 0.32193528479011496, + 0.8299462201188057, + 0.3259260631591131, + -0.325654864249439, + 0.8284978366412136, + 0.0895229026020364, + 0.0, + -1.967537200272973, + -0.40122325206870463, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.336692609288305, + 0.32193528479011496, + 0.8299462201188057, + 0.3259260631591131, + -0.325654864249439, + 0.8284978366412136, + 0.0895229026020364, + 0.0, + -1.9488719755144261, + -0.3754228353500366, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.336692609288305, + 0.32193528479011496, + 0.8299462201188057, + 0.3259260631591131, + -0.325654864249439, + 0.8284978366412136, + 0.0895229026020364, + 0.0, + -1.9188934333288847, + -0.3458832217686212, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.336692609288305, + 0.32193528479011496, + 0.8299462201188057, + 0.3259260631591131, + -0.325654864249439, + 0.8284978366412136, + 0.0895229026020364, + 0.0, + -1.8676693617407956, + -0.3068281056276008, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.336692609288305, + 0.32193528479011496, + 0.8299462201188057, + 0.3259260631591131, + -0.325654864249439, + 0.8284978366412136, + 0.0895229026020364, + 0.0, + -1.8429192998516026, + -0.28286920554602324, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.336692609288305, + 0.32193528479011496, + 0.8299462201188057, + 0.3259260631591131, + -0.325654864249439, + 0.8284978366412136, + 0.0895229026020364, + 0.0, + -1.7868973461549673, + -0.23845742709601103, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.336692609288305, + 0.32193528479011496, + 0.8299462201188057, + 0.3259260631591131, + -0.325654864249439, + 0.8284978366412136, + 0.0895229026020364, + 0.0, + -1.7429789998638097, + -0.21312564166624154, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.336692609288305, + 0.32193528479011496, + 0.8299462201188057, + 0.3259260631591131, + -0.325654864249439, + 0.8284978366412136, + 0.0895229026020364, + 0.0, + -1.7062923481215293, + -0.16991953529528717, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.336692609288305, + 0.32193528479011496, + 0.8299462201188057, + 0.3259260631591131, + -0.325654864249439, + 0.8284978366412136, + 0.0895229026020364, + 0.0, + -1.6530860929346796, + -0.14620335956118, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.336692609288305, + 0.32193528479011496, + 0.8299462201188057, + 0.3259260631591131, + -0.325654864249439, + 0.8284978366412136, + 0.0895229026020364, + 0.0, + -1.6259466000457308, + -0.10177954275216629, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.336692609288305, + 0.32193528479011496, + 0.8299462201188057, + 0.3259260631591131, + -0.325654864249439, + 0.8284978366412136, + 0.0895229026020364, + 0.0, + -1.6205604005215772, + -0.09538910460116258, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.336692609288305, + 0.32193528479011496, + 0.8299462201188057, + 0.3259260631591131, + -0.325654864249439, + 0.8284978366412136, + 0.0895229026020364, + 0.0, + -1.5451951151463523, + -0.033089603950728234, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.336692609288305, + 0.32193528479011496, + 0.8299462201188057, + 0.3259260631591131, + -0.325654864249439, + 0.8284978366412136, + 0.0895229026020364, + 0.0, + -1.5206218779976688, + -0.02564613143009926, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.336692609288305, + 0.32193528479011496, + 0.8299462201188057, + 0.3259260631591131, + -0.325654864249439, + 0.8284978366412136, + 0.0895229026020364, + 0.0, + -1.4860839043090592, + -0.01003458428738722, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.336692609288305, + 0.32193528479011496, + 0.8299462201188057, + 0.3259260631591131, + -0.325654864249439, + 0.8284978366412136, + 0.0895229026020364, + 0.0, + -1.42068345778024, + 0.044096809714587765, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.336692609288305, + 0.32193528479011496, + 0.8299462201188057, + 0.3259260631591131, + -0.325654864249439, + 0.8284978366412136, + 0.0895229026020364, + 0.0, + -1.4091397968690786, + 0.050626406029089174, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.336692609288305, + 0.32193528479011496, + 0.8299462201188057, + 0.3259260631591131, + -0.325654864249439, + 0.8284978366412136, + 0.0895229026020364, + 0.0, + -1.363014099313252, + 0.10197108717107062, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.336692609288305, + 0.32193528479011496, + 0.8299462201188057, + 0.3259260631591131, + -0.325654864249439, + 0.8284978366412136, + 0.0895229026020364, + 0.0, + -1.3285133598455743, + 0.11924406485771065, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.336692609288305, + 0.32193528479011496, + 0.8299462201188057, + 0.3259260631591131, + -0.325654864249439, + 0.8284978366412136, + 0.0895229026020364, + 0.0, + -1.2981447470721914, + 0.16186715328871315, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.336692609288305, + 0.32193528479011496, + 0.8299462201188057, + 0.3259260631591131, + -0.325654864249439, + 0.8284978366412136, + 0.0895229026020364, + 0.0, + -1.2481712566605254, + 0.18742013333448723, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.336692609288305, + 0.32193528479011496, + 0.8299462201188057, + 0.3259260631591131, + -0.325654864249439, + 0.8284978366412136, + 0.0895229026020364, + 0.0, + -1.1985737912690462, + 0.231506933027239, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.336692609288305, + 0.32193528479011496, + 0.8299462201188057, + 0.3259260631591131, + -0.325654864249439, + 0.8284978366412136, + 0.0895229026020364, + 0.0, + -1.1676918979900985, + 0.25588566331721063, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.336692609288305, + 0.32193528479011496, + 0.8299462201188057, + 0.3259260631591131, + -0.325654864249439, + 0.8284978366412136, + 0.0895229026020364, + 0.0, + -1.099002953785569, + 0.3011467679223018, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.336692609288305, + 0.32193528479011496, + 0.8299462201188057, + 0.3259260631591131, + -0.325654864249439, + 0.8284978366412136, + 0.0895229026020364, + 0.0, + -1.0872891999002714, + 0.32418963980318893, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.336692609288305, + 0.32193528479011496, + 0.8299462201188057, + 0.3259260631591131, + -0.325654864249439, + 0.8284978366412136, + 0.0895229026020364, + 0.0, + -1.0729428903380436, + 0.3501455205589978, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.336692609288305, + 0.32193528479011496, + 0.8299462201188057, + 0.3259260631591131, + -0.325654864249439, + 0.8284978366412136, + 0.0895229026020364, + 0.0, + -1.0066875237137525, + 0.3925787148190968, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.336692609288305, + 0.32193528479011496, + 0.8299462201188057, + 0.3259260631591131, + -0.325654864249439, + 0.8284978366412136, + 0.0895229026020364, + 0.0, + -0.9762785826156388, + 0.4189692593332547, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.336692609288305, + 0.32193528479011496, + 0.8299462201188057, + 0.3259260631591131, + -0.325654864249439, + 0.8284978366412136, + 0.0895229026020364, + 0.0, + -0.9260330840722838, + 0.4610642341535483, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.336692609288305, + 0.32193528479011496, + 0.8299462201188057, + 0.3259260631591131, + -0.325654864249439, + 0.8284978366412136, + 0.0895229026020364, + 0.0, + -0.8763399960389778, + 0.48871227831982855, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.336692609288305, + 0.32193528479011496, + 0.8299462201188057, + 0.3259260631591131, + -0.325654864249439, + 0.8284978366412136, + 0.0895229026020364, + 0.0, + -0.8454838190505753, + 0.5293276519028108, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.336692609288305, + 0.32193528479011496, + 0.8299462201188057, + 0.3259260631591131, + -0.325654864249439, + 0.8284978366412136, + 0.0895229026020364, + 0.0, + -0.8056731010550884, + 0.5502361397245037, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.336692609288305, + 0.32193528479011496, + 0.8299462201188057, + 0.3259260631591131, + -0.325654864249439, + 0.8284978366412136, + 0.0895229026020364, + 0.0, + -0.7648412149343917, + 0.5979206119455508, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.336692609288305, + 0.32193528479011496, + 0.8299462201188057, + 0.3259260631591131, + -0.325654864249439, + 0.8284978366412136, + 0.0895229026020364, + 0.0, + -0.7537394886586204, + 0.6064999388225043, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.336692609288305, + 0.32193528479011496, + 0.8299462201188057, + 0.3259260631591131, + -0.325654864249439, + 0.8284978366412136, + 0.0895229026020364, + 0.0, + -0.6845438338037747, + 0.666002559239295, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.336692609288305, + 0.32193528479011496, + 0.8299462201188057, + 0.3259260631591131, + -0.325654864249439, + 0.8284978366412136, + 0.0895229026020364, + 0.0, + -0.6541686591817372, + 0.6761396786392625, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.336692609288305, + 0.32193528479011496, + 0.8299462201188057, + 0.3259260631591131, + -0.325654864249439, + 0.8284978366412136, + 0.0895229026020364, + 0.0, + -0.6198307115640214, + 0.7012201679953888, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.336692609288305, + 0.32193528479011496, + 0.8299462201188057, + 0.3259260631591131, + -0.325654864249439, + 0.8284978366412136, + 0.0895229026020364, + 0.0, + -0.5545979578103593, + 0.745779407252349, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.336692609288305, + 0.32193528479011496, + 0.8299462201188057, + 0.3259260631591131, + -0.325654864249439, + 0.8284978366412136, + 0.0895229026020364, + 0.0, + -0.5485919411502668, + 0.7501993485128702, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.336692609288305, + 0.32193528479011496, + 0.8299462201188057, + 0.3259260631591131, + -0.325654864249439, + 0.8284978366412136, + 0.0895229026020364, + 0.0, + -0.5156011118817685, + 0.7984106805342347, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.336692609288305, + 0.32193528479011496, + 0.8299462201188057, + 0.3259260631591131, + -0.325654864249439, + 0.8284978366412136, + 0.0895229026020364, + 0.0, + -0.46813534978610366, + 0.8183412620825554, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.336692609288305, + 0.32193528479011496, + 0.8299462201188057, + 0.3259260631591131, + -0.325654864249439, + 0.8284978366412136, + 0.0895229026020364, + 0.0, + -0.4319356057181287, + 0.8635843889926796, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.336692609288305, + 0.32193528479011496, + 0.8299462201188057, + 0.3259260631591131, + -0.325654864249439, + 0.8284978366412136, + 0.0895229026020364, + 0.0, + -0.38742863598154553, + 0.8869369359158757, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.336692609288305, + 0.32193528479011496, + 0.8299462201188057, + 0.3259260631591131, + -0.325654864249439, + 0.8284978366412136, + 0.0895229026020364, + 0.0, + -0.334406713941204, + 0.9346531077997008, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.336692609288305, + 0.32193528479011496, + 0.8299462201188057, + 0.3259260631591131, + -0.325654864249439, + 0.8284978366412136, + 0.0895229026020364, + 0.0, + -2.098707914352417, + 0.37328076362609863, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.556161685229202, + -0.5857359869505769, + 0.6730387960710833, + 0.10295968871283274, + -0.5311600548819402, + 0.8381676045797204, + 0.0662735179333704, + 0.0, + -2.0667591094970703, + 0.44065436720848083, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.556161685229202, + -0.5857359869505769, + 0.6730387960710833, + 0.10295968871283274, + -0.5311600548819402, + 0.8381676045797204, + 0.0662735179333704, + 0.0, + -2.0438125133514404, + 0.48904427886009216, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.556161685229202, + -0.5857359869505769, + 0.6730387960710833, + 0.10295968871283274, + -0.5311600548819402, + 0.8381676045797204, + 0.0662735179333704, + 0.0, + -2.0161845684051514, + 0.5473058223724365, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.556161685229202, + -0.5857359869505769, + 0.6730387960710833, + 0.10295968871283274, + -0.5311600548819402, + 0.8381676045797204, + 0.0662735179333704, + 0.0, + -2.0, + 0.6000000238418579, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.556161685229202, + -0.5857359869505769, + 0.6730387960710833, + 0.10295968871283274, + -0.5311600548819402, + 0.8381676045797204, + 0.0662735179333704, + 0.0 + ], + "std": [ + 1.754435835682933, + 1.7793178315485056, + 0.6078134637752364, + 0.24069750206871493, + 0.0, + 0.0, + 0.17284337519580745, + 1.2005737200350477, + 1.5671493361436295, + 1.123231561562058, + 0.14829265369835992, + 0.19533692030241398, + 0.2721219183019354, + 0.25227049937221097, + 0.1653263825246903, + 0.4608812159443358, + 0.7832726148525385, + 1.6364026325278154, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4459621600057773, + 1.0867042337178423, + 0.14568082274095379, + 0.2081449180312532, + 0.21210895121602835, + 0.03633274491357059, + 0.06052549002210939, + 0.0, + 0.8017883423842219, + 1.639091419467902, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4459621600057773, + 1.0867042337178423, + 0.14568082274095379, + 0.2081449180312532, + 0.21210895121602835, + 0.03633274491357059, + 0.06052549002210939, + 0.0, + 0.7987349303408957, + 1.619519322281346, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4459621600057773, + 1.0867042337178423, + 0.14568082274095379, + 0.2081449180312532, + 0.21210895121602835, + 0.03633274491357059, + 0.06052549002210939, + 0.0, + 0.8417666958084836, + 1.6272924138441536, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4459621600057773, + 1.0867042337178423, + 0.14568082274095379, + 0.2081449180312532, + 0.21210895121602835, + 0.03633274491357059, + 0.06052549002210939, + 0.0, + 0.8662583639844472, + 1.6312024823877436, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4459621600057773, + 1.0867042337178423, + 0.14568082274095379, + 0.2081449180312532, + 0.21210895121602835, + 0.03633274491357059, + 0.06052549002210939, + 0.0, + 0.8726727819922645, + 1.5964344727958284, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4459621600057773, + 1.0867042337178423, + 0.14568082274095379, + 0.2081449180312532, + 0.21210895121602835, + 0.03633274491357059, + 0.06052549002210939, + 0.0, + 0.9145624972953604, + 1.603197467528448, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4459621600057773, + 1.0867042337178423, + 0.14568082274095379, + 0.2081449180312532, + 0.21210895121602835, + 0.03633274491357059, + 0.06052549002210939, + 0.0, + 0.899712754358023, + 1.557743407361468, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4459621600057773, + 1.0867042337178423, + 0.14568082274095379, + 0.2081449180312532, + 0.21210895121602835, + 0.03633274491357059, + 0.06052549002210939, + 0.0, + 0.9201606472221494, + 1.560434215208457, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4459621600057773, + 1.0867042337178423, + 0.14568082274095379, + 0.2081449180312532, + 0.21210895121602835, + 0.03633274491357059, + 0.06052549002210939, + 0.0, + 0.9273358772475591, + 1.5204478970334048, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4459621600057773, + 1.0867042337178423, + 0.14568082274095379, + 0.2081449180312532, + 0.21210895121602835, + 0.03633274491357059, + 0.06052549002210939, + 0.0, + 0.9347253828450881, + 1.5195882983304188, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4459621600057773, + 1.0867042337178423, + 0.14568082274095379, + 0.2081449180312532, + 0.21210895121602835, + 0.03633274491357059, + 0.06052549002210939, + 0.0, + 0.9770363978029065, + 1.5312532999937438, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4459621600057773, + 1.0867042337178423, + 0.14568082274095379, + 0.2081449180312532, + 0.21210895121602835, + 0.03633274491357059, + 0.06052549002210939, + 0.0, + 0.9782152403610737, + 1.486806008104396, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4459621600057773, + 1.0867042337178423, + 0.14568082274095379, + 0.2081449180312532, + 0.21210895121602835, + 0.03633274491357059, + 0.06052549002210939, + 0.0, + 0.9990824714114444, + 1.4880148076357367, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4459621600057773, + 1.0867042337178423, + 0.14568082274095379, + 0.2081449180312532, + 0.21210895121602835, + 0.03633274491357059, + 0.06052549002210939, + 0.0, + 1.0243595591186634, + 1.4548456028918797, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4459621600057773, + 1.0867042337178423, + 0.14568082274095379, + 0.2081449180312532, + 0.21210895121602835, + 0.03633274491357059, + 0.06052549002210939, + 0.0, + 1.019738279934751, + 1.444704513643612, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4459621600057773, + 1.0867042337178423, + 0.14568082274095379, + 0.2081449180312532, + 0.21210895121602835, + 0.03633274491357059, + 0.06052549002210939, + 0.0, + 1.0001092110045313, + 1.4031190934283202, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4459621600057773, + 1.0867042337178423, + 0.14568082274095379, + 0.2081449180312532, + 0.21210895121602835, + 0.03633274491357059, + 0.06052549002210939, + 0.0, + 1.0419482253192645, + 1.4014641489747997, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4459621600057773, + 1.0867042337178423, + 0.14568082274095379, + 0.2081449180312532, + 0.21210895121602835, + 0.03633274491357059, + 0.06052549002210939, + 0.0, + 1.0475215299786012, + 1.3715149027799776, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4459621600057773, + 1.0867042337178423, + 0.14568082274095379, + 0.2081449180312532, + 0.21210895121602835, + 0.03633274491357059, + 0.06052549002210939, + 0.0, + 1.0672661472339942, + 1.3593436639327705, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4459621600057773, + 1.0867042337178423, + 0.14568082274095379, + 0.2081449180312532, + 0.21210895121602835, + 0.03633274491357059, + 0.06052549002210939, + 0.0, + 1.0983864495514777, + 1.3408800044735487, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4459621600057773, + 1.0867042337178423, + 0.14568082274095379, + 0.2081449180312532, + 0.21210895121602835, + 0.03633274491357059, + 0.06052549002210939, + 0.0, + 1.093150428313525, + 1.317254294913516, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4459621600057773, + 1.0867042337178423, + 0.14568082274095379, + 0.2081449180312532, + 0.21210895121602835, + 0.03633274491357059, + 0.06052549002210939, + 0.0, + 1.0977954531537604, + 1.2957968401651292, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4459621600057773, + 1.0867042337178423, + 0.14568082274095379, + 0.2081449180312532, + 0.21210895121602835, + 0.03633274491357059, + 0.06052549002210939, + 0.0, + 1.1182607317612603, + 1.2749559700624102, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4459621600057773, + 1.0867042337178423, + 0.14568082274095379, + 0.2081449180312532, + 0.21210895121602835, + 0.03633274491357059, + 0.06052549002210939, + 0.0, + 1.1225661848002373, + 1.2578350546565067, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4459621600057773, + 1.0867042337178423, + 0.14568082274095379, + 0.2081449180312532, + 0.21210895121602835, + 0.03633274491357059, + 0.06052549002210939, + 0.0, + 1.1430845122144289, + 1.2326883451649588, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4459621600057773, + 1.0867042337178423, + 0.14568082274095379, + 0.2081449180312532, + 0.21210895121602835, + 0.03633274491357059, + 0.06052549002210939, + 0.0, + 1.1695761352623548, + 1.2261176932205604, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4459621600057773, + 1.0867042337178423, + 0.14568082274095379, + 0.2081449180312532, + 0.21210895121602835, + 0.03633274491357059, + 0.06052549002210939, + 0.0, + 1.1675183467893566, + 1.1900805243626267, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4459621600057773, + 1.0867042337178423, + 0.14568082274095379, + 0.2081449180312532, + 0.21210895121602835, + 0.03633274491357059, + 0.06052549002210939, + 0.0, + 1.207262720798991, + 1.191782514340546, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4459621600057773, + 1.0867042337178423, + 0.14568082274095379, + 0.2081449180312532, + 0.21210895121602835, + 0.03633274491357059, + 0.06052549002210939, + 0.0, + 1.1920684726699442, + 1.147855695141188, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4459621600057773, + 1.0867042337178423, + 0.14568082274095379, + 0.2081449180312532, + 0.21210895121602835, + 0.03633274491357059, + 0.06052549002210939, + 0.0, + 1.1917147842394311, + 1.1424996082566938, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4459621600057773, + 1.0867042337178423, + 0.14568082274095379, + 0.2081449180312532, + 0.21210895121602835, + 0.03633274491357059, + 0.06052549002210939, + 0.0, + 1.216516557610612, + 1.1051323260136916, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4459621600057773, + 1.0867042337178423, + 0.14568082274095379, + 0.2081449180312532, + 0.21210895121602835, + 0.03633274491357059, + 0.06052549002210939, + 0.0, + 1.2387230852848792, + 1.110781919909314, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4459621600057773, + 1.0867042337178423, + 0.14568082274095379, + 0.2081449180312532, + 0.21210895121602835, + 0.03633274491357059, + 0.06052549002210939, + 0.0, + 1.2642847939566533, + 1.111586597494784, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4459621600057773, + 1.0867042337178423, + 0.14568082274095379, + 0.2081449180312532, + 0.21210895121602835, + 0.03633274491357059, + 0.06052549002210939, + 0.0, + 1.285731512636999, + 1.0790642018427208, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4459621600057773, + 1.0867042337178423, + 0.14568082274095379, + 0.2081449180312532, + 0.21210895121602835, + 0.03633274491357059, + 0.06052549002210939, + 0.0, + 1.2928357657366008, + 1.077515414441024, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4459621600057773, + 1.0867042337178423, + 0.14568082274095379, + 0.2081449180312532, + 0.21210895121602835, + 0.03633274491357059, + 0.06052549002210939, + 0.0, + 1.2935156894686675, + 1.0363327193683176, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4459621600057773, + 1.0867042337178423, + 0.14568082274095379, + 0.2081449180312532, + 0.21210895121602835, + 0.03633274491357059, + 0.06052549002210939, + 0.0, + 1.3172085198857886, + 1.0348110358947422, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4459621600057773, + 1.0867042337178423, + 0.14568082274095379, + 0.2081449180312532, + 0.21210895121602835, + 0.03633274491357059, + 0.06052549002210939, + 0.0, + 1.3079811777582975, + 0.9954773220592767, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4459621600057773, + 1.0867042337178423, + 0.14568082274095379, + 0.2081449180312532, + 0.21210895121602835, + 0.03633274491357059, + 0.06052549002210939, + 0.0, + 1.3417143334814685, + 0.992533841408641, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4459621600057773, + 1.0867042337178423, + 0.14568082274095379, + 0.2081449180312532, + 0.21210895121602835, + 0.03633274491357059, + 0.06052549002210939, + 0.0, + 1.354648391322268, + 0.9636638189484364, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4459621600057773, + 1.0867042337178423, + 0.14568082274095379, + 0.2081449180312532, + 0.21210895121602835, + 0.03633274491357059, + 0.06052549002210939, + 0.0, + 1.3660722883881102, + 0.9499447139953444, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4459621600057773, + 1.0867042337178423, + 0.14568082274095379, + 0.2081449180312532, + 0.21210895121602835, + 0.03633274491357059, + 0.06052549002210939, + 0.0, + 1.4013157163333145, + 0.9318502563991624, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4459621600057773, + 1.0867042337178423, + 0.14568082274095379, + 0.2081449180312532, + 0.21210895121602835, + 0.03633274491357059, + 0.06052549002210939, + 0.0, + 1.390512869225847, + 0.9075296817694894, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4459621600057773, + 1.0867042337178423, + 0.14568082274095379, + 0.2081449180312532, + 0.21210895121602835, + 0.03633274491357059, + 0.06052549002210939, + 0.0, + 1.3797679300174557, + 0.8808827460807984, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4459621600057773, + 1.0867042337178423, + 0.14568082274095379, + 0.2081449180312532, + 0.21210895121602835, + 0.03633274491357059, + 0.06052549002210939, + 0.0, + 1.4151060136765798, + 0.8651259725662594, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4459621600057773, + 1.0867042337178423, + 0.14568082274095379, + 0.2081449180312532, + 0.21210895121602835, + 0.03633274491357059, + 0.06052549002210939, + 0.0, + 1.4237381095579722, + 0.8483118783818362, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4459621600057773, + 1.0867042337178423, + 0.14568082274095379, + 0.2081449180312532, + 0.21210895121602835, + 0.03633274491357059, + 0.06052549002210939, + 0.0, + 1.4396585170947083, + 0.8226229565912662, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4459621600057773, + 1.0867042337178423, + 0.14568082274095379, + 0.2081449180312532, + 0.21210895121602835, + 0.03633274491357059, + 0.06052549002210939, + 0.0, + 1.470746470041853, + 0.8165942048940628, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4459621600057773, + 1.0867042337178423, + 0.14568082274095379, + 0.2081449180312532, + 0.21210895121602835, + 0.03633274491357059, + 0.06052549002210939, + 0.0, + 1.4643244884926718, + 0.7803592843500207, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4459621600057773, + 1.0867042337178423, + 0.14568082274095379, + 0.2081449180312532, + 0.21210895121602835, + 0.03633274491357059, + 0.06052549002210939, + 0.0, + 1.4905918503107267, + 0.7772494206493651, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4459621600057773, + 1.0867042337178423, + 0.14568082274095379, + 0.2081449180312532, + 0.21210895121602835, + 0.03633274491357059, + 0.06052549002210939, + 0.0, + 1.4887443253152506, + 0.7376995069223042, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4459621600057773, + 1.0867042337178423, + 0.14568082274095379, + 0.2081449180312532, + 0.21210895121602835, + 0.03633274491357059, + 0.06052549002210939, + 0.0, + 1.4930537012911964, + 0.7330234775063824, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4459621600057773, + 1.0867042337178423, + 0.14568082274095379, + 0.2081449180312532, + 0.21210895121602835, + 0.03633274491357059, + 0.06052549002210939, + 0.0, + 1.5132984632904736, + 0.6955237404172447, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4459621600057773, + 1.0867042337178423, + 0.14568082274095379, + 0.2081449180312532, + 0.21210895121602835, + 0.03633274491357059, + 0.06052549002210939, + 0.0, + 1.5397210188724373, + 0.7012098889527839, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4459621600057773, + 1.0867042337178423, + 0.14568082274095379, + 0.2081449180312532, + 0.21210895121602835, + 0.03633274491357059, + 0.06052549002210939, + 0.0, + 1.5546466944154083, + 0.6887635021422417, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4459621600057773, + 1.0867042337178423, + 0.14568082274095379, + 0.2081449180312532, + 0.21210895121602835, + 0.03633274491357059, + 0.06052549002210939, + 0.0, + 1.5863882175767898, + 0.6693963124726244, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4459621600057773, + 1.0867042337178423, + 0.14568082274095379, + 0.2081449180312532, + 0.21210895121602835, + 0.03633274491357059, + 0.06052549002210939, + 0.0, + 1.5889626152412457, + 0.6671734848155674, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4459621600057773, + 1.0867042337178423, + 0.14568082274095379, + 0.2081449180312532, + 0.21210895121602835, + 0.03633274491357059, + 0.06052549002210939, + 0.0, + 1.5768452573388791, + 0.6217995885281252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4459621600057773, + 1.0867042337178423, + 0.14568082274095379, + 0.2081449180312532, + 0.21210895121602835, + 0.03633274491357059, + 0.06052549002210939, + 0.0, + 1.6136474583435505, + 0.6250178828008905, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4459621600057773, + 1.0867042337178423, + 0.14568082274095379, + 0.2081449180312532, + 0.21210895121602835, + 0.03633274491357059, + 0.06052549002210939, + 0.0, + 1.6087530595330062, + 0.5858417328370735, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4459621600057773, + 1.0867042337178423, + 0.14568082274095379, + 0.2081449180312532, + 0.21210895121602835, + 0.03633274491357059, + 0.06052549002210939, + 0.0, + 1.6381438221561646, + 0.5823961608336686, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4459621600057773, + 1.0867042337178423, + 0.14568082274095379, + 0.2081449180312532, + 0.21210895121602835, + 0.03633274491357059, + 0.06052549002210939, + 0.0, + 1.6535255391214068, + 0.5553542567186601, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4459621600057773, + 1.0867042337178423, + 0.14568082274095379, + 0.2081449180312532, + 0.21210895121602835, + 0.03633274491357059, + 0.06052549002210939, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.4701872540076522, + 0.9658282803805905, + 0.004618962121284332, + 0.004842649661867647, + 0.014670003171537856, + 0.010111374676494377, + 0.003183614374095722, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.4701872540076522, + 0.9658282803805905, + 0.004618962121284332, + 0.004842649661867647, + 0.014670003171537856, + 0.010111374676494377, + 0.003183614374095722, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.4701872540076522, + 0.9658282803805905, + 0.004618962121284332, + 0.004842649661867647, + 0.014670003171537856, + 0.010111374676494377, + 0.003183614374095722, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.4701872540076522, + 0.9658282803805905, + 0.004618962121284332, + 0.004842649661867647, + 0.014670003171537856, + 0.010111374676494377, + 0.003183614374095722, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.4701872540076522, + 0.9658282803805905, + 0.004618962121284332, + 0.004842649661867647, + 0.014670003171537856, + 0.010111374676494377, + 0.003183614374095722, + 0.0 + ], + "min": [ + -3.573493480682373, + -2.7402114868164062, + 0.3400000035762787, + -0.046213775873184204, + 0.0, + 0.0, + -0.9989315867424011, + -1.0, + -3.388568162918091, + -2.144691228866577, + 0.5678000450134277, + -0.048018235713243484, + -0.9134658575057983, + -0.7291989922523499, + -0.5327279567718506, + 0.0, + -3.572503089904785, + -2.7346510887145996, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.388568162918091, + -2.144691228866577, + 0.6522608995437622, + 0.08822625875473022, + -0.5888692140579224, + 0.6302912831306458, + 0.05666910484433174, + 0.0, + -3.569748640060425, + -2.7288432121276855, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.388568162918091, + -2.144691228866577, + 0.6522608995437622, + 0.08822625875473022, + -0.5888692140579224, + 0.6302912831306458, + 0.05666910484433174, + 0.0, + -3.549215316772461, + -2.6855435371398926, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.388568162918091, + -2.144691228866577, + 0.6522608995437622, + 0.08822625875473022, + -0.5888692140579224, + 0.6302912831306458, + 0.05666910484433174, + 0.0, + -3.5444865226745605, + -2.675572156906128, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.388568162918091, + -2.144691228866577, + 0.6522608995437622, + 0.08822625875473022, + -0.5888692140579224, + 0.6302912831306458, + 0.05666910484433174, + 0.0, + -3.541231155395508, + -2.6687076091766357, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.388568162918091, + -2.144691228866577, + 0.6522608995437622, + 0.08822625875473022, + -0.5888692140579224, + 0.6302912831306458, + 0.05666910484433174, + 0.0, + -3.5011091232299805, + -2.584099054336548, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.388568162918091, + -2.144691228866577, + 0.6522608995437622, + 0.08822625875473022, + -0.5888692140579224, + 0.6302912831306458, + 0.05666910484433174, + 0.0, + -3.495624303817749, + -2.5725326538085938, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.388568162918091, + -2.144691228866577, + 0.6522608995437622, + 0.08822625875473022, + -0.5888692140579224, + 0.6302912831306458, + 0.05666910484433174, + 0.0, + -3.450329065322876, + -2.4770145416259766, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.388568162918091, + -2.144691228866577, + 0.6522608995437622, + 0.08822625875473022, + -0.5888692140579224, + 0.6302912831306458, + 0.05666910484433174, + 0.0, + -3.446981906890869, + -2.469956159591675, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.388568162918091, + -2.144691228866577, + 0.6522608995437622, + 0.08822625875473022, + -0.5888692140579224, + 0.6302912831306458, + 0.05666910484433174, + 0.0, + -3.4009006023406982, + -2.3727800846099854, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.388568162918091, + -2.144691228866577, + 0.6522608995437622, + 0.08822625875473022, + -0.5888692140579224, + 0.6302912831306458, + 0.05666910484433174, + 0.0, + -3.3976809978485107, + -2.36599063873291, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.388568162918091, + -2.144691228866577, + 0.6522608995437622, + 0.08822625875473022, + -0.5888692140579224, + 0.6302912831306458, + 0.05666910484433174, + 0.0, + -3.397444486618042, + -2.365492105484009, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.388568162918091, + -2.144691228866577, + 0.6522608995437622, + 0.08822625875473022, + -0.5888692140579224, + 0.6302912831306458, + 0.05666910484433174, + 0.0, + -3.348316192626953, + -2.261890411376953, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.388568162918091, + -2.144691228866577, + 0.6522608995437622, + 0.08822625875473022, + -0.5888692140579224, + 0.6302912831306458, + 0.05666910484433174, + 0.0, + -3.3432140350341797, + -2.2511308193206787, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.388568162918091, + -2.144691228866577, + 0.6522608995437622, + 0.08822625875473022, + -0.5888692140579224, + 0.6302912831306458, + 0.05666910484433174, + 0.0, + -3.2990355491638184, + -2.1579673290252686, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.388568162918091, + -2.144691228866577, + 0.6522608995437622, + 0.08822625875473022, + -0.5888692140579224, + 0.6302912831306458, + 0.05666910484433174, + 0.0, + -3.289332866668701, + -2.1375064849853516, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.388568162918091, + -2.144691228866577, + 0.6522608995437622, + 0.08822625875473022, + -0.5888692140579224, + 0.6302912831306458, + 0.05666910484433174, + 0.0, + -3.2497546672821045, + -2.054044008255005, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.388568162918091, + -2.144691228866577, + 0.6522608995437622, + 0.08822625875473022, + -0.5888692140579224, + 0.6302912831306458, + 0.05666910484433174, + 0.0, + -3.2350497245788574, + -2.0230343341827393, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.388568162918091, + -2.144691228866577, + 0.6522608995437622, + 0.08822625875473022, + -0.5888692140579224, + 0.6302912831306458, + 0.05666910484433174, + 0.0, + -3.2004740238189697, + -1.950121283531189, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.388568162918091, + -2.144691228866577, + 0.6522608995437622, + 0.08822625875473022, + -0.5888692140579224, + 0.6302912831306458, + 0.05666910484433174, + 0.0, + -3.1810379028320312, + -1.9091341495513916, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.388568162918091, + -2.144691228866577, + 0.6522608995437622, + 0.08822625875473022, + -0.5888692140579224, + 0.6302912831306458, + 0.05666910484433174, + 0.0, + -3.151193380355835, + -1.8461982011795044, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.388568162918091, + -2.144691228866577, + 0.6522608995437622, + 0.08822625875473022, + -0.5888692140579224, + 0.6302912831306458, + 0.05666910484433174, + 0.0, + -3.1268856525421143, + -1.7949379682540894, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.388568162918091, + -2.144691228866577, + 0.6522608995437622, + 0.08822625875473022, + -0.5888692140579224, + 0.6302912831306458, + 0.05666910484433174, + 0.0, + -3.1019127368927, + -1.7422751188278198, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.388568162918091, + -2.144691228866577, + 0.6522608995437622, + 0.08822625875473022, + -0.5888692140579224, + 0.6302912831306458, + 0.05666910484433174, + 0.0, + -3.0727427005767822, + -1.6807612180709839, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.388568162918091, + -2.144691228866577, + 0.6522608995437622, + 0.08822625875473022, + -0.5888692140579224, + 0.6302912831306458, + 0.05666910484433174, + 0.0, + -3.0526323318481445, + -1.6383522748947144, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.388568162918091, + -2.144691228866577, + 0.6522608995437622, + 0.08822625875473022, + -0.5888692140579224, + 0.6302912831306458, + 0.05666910484433174, + 0.0, + -3.018721580505371, + -1.5668416023254395, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.388568162918091, + -2.144691228866577, + 0.6522608995437622, + 0.08822625875473022, + -0.5888692140579224, + 0.6302912831306458, + 0.05666910484433174, + 0.0, + -3.0033514499664307, + -1.5344290733337402, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.388568162918091, + -2.144691228866577, + 0.6522608995437622, + 0.08822625875473022, + -0.5888692140579224, + 0.6302912831306458, + 0.05666910484433174, + 0.0, + -2.964447259902954, + -1.4523881673812866, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.388568162918091, + -2.144691228866577, + 0.6522608995437622, + 0.08822625875473022, + -0.5888692140579224, + 0.6302912831306458, + 0.05666910484433174, + 0.0, + -2.954070806503296, + -1.4305061101913452, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.388568162918091, + -2.144691228866577, + 0.6522608995437622, + 0.08822625875473022, + -0.5888692140579224, + 0.6302912831306458, + 0.05666910484433174, + 0.0, + -2.910557508468628, + -1.338745355606079, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.388568162918091, + -2.144691228866577, + 0.6522608995437622, + 0.08822625875473022, + -0.5888692140579224, + 0.6302912831306458, + 0.05666910484433174, + 0.0, + -2.904790163040161, + -1.3265830278396606, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.388568162918091, + -2.144691228866577, + 0.6522608995437622, + 0.08822625875473022, + -0.5888692140579224, + 0.6302912831306458, + 0.05666910484433174, + 0.0, + -2.856152057647705, + -1.2240153551101685, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.388568162918091, + -2.144691228866577, + 0.6522608995437622, + 0.08822625875473022, + -0.5888692140579224, + 0.6302912831306458, + 0.05666910484433174, + 0.0, + -2.8555092811584473, + -1.2226600646972656, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.388568162918091, + -2.144691228866577, + 0.6522608995437622, + 0.08822625875473022, + -0.5888692140579224, + 0.6302912831306458, + 0.05666910484433174, + 0.0, + -2.848517417907715, + -1.2079156637191772, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.388568162918091, + -2.144691228866577, + 0.6522608995437622, + 0.08822625875473022, + -0.5888692140579224, + 0.6302912831306458, + 0.05666910484433174, + 0.0, + -2.8062286376953125, + -1.1187371015548706, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.388568162918091, + -2.144691228866577, + 0.6522608995437622, + 0.08822625875473022, + -0.5888692140579224, + 0.6302912831306458, + 0.05666910484433174, + 0.0, + -2.8023407459259033, + -1.1105384826660156, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.388568162918091, + -2.144691228866577, + 0.6522608995437622, + 0.08822625875473022, + -0.5888692140579224, + 0.6302912831306458, + 0.05666910484433174, + 0.0, + -2.7569477558135986, + -1.014814019203186, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.388568162918091, + -2.144691228866577, + 0.6522608995437622, + 0.08822625875473022, + -0.5888692140579224, + 0.6302912831306458, + 0.05666910484433174, + 0.0, + -2.747979164123535, + -0.9959012269973755, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.388568162918091, + -2.144691228866577, + 0.6522608995437622, + 0.08822625875473022, + -0.5888692140579224, + 0.6302912831306458, + 0.05666910484433174, + 0.0, + -2.7076668739318848, + -0.9108908772468567, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.388568162918091, + -2.144691228866577, + 0.6522608995437622, + 0.08822625875473022, + -0.5888692140579224, + 0.6302912831306458, + 0.05666910484433174, + 0.0, + -2.694045305252075, + -0.8821659088134766, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.388568162918091, + -2.144691228866577, + 0.6522608995437622, + 0.08822625875473022, + -0.5888692140579224, + 0.6302912831306458, + 0.05666910484433174, + 0.0, + -2.658385992050171, + -0.8069678544998169, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.388568162918091, + -2.144691228866577, + 0.6522608995437622, + 0.08822625875473022, + -0.5888692140579224, + 0.6302912831306458, + 0.05666910484433174, + 0.0, + -2.639814853668213, + -0.7678049802780151, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.388568162918091, + -2.144691228866577, + 0.6522608995437622, + 0.08822625875473022, + -0.5888692140579224, + 0.6302912831306458, + 0.05666910484433174, + 0.0, + -2.609105348587036, + -0.7030447125434875, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.388568162918091, + -2.144691228866577, + 0.6522608995437622, + 0.08822625875473022, + -0.5888692140579224, + 0.6302912831306458, + 0.05666910484433174, + 0.0, + -2.585750102996826, + -0.653793215751648, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.388568162918091, + -2.144691228866577, + 0.6522608995437622, + 0.08822625875473022, + -0.5888692140579224, + 0.6302912831306458, + 0.05666910484433174, + 0.0, + -2.5598247051239014, + -0.5991217494010925, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.388568162918091, + -2.144691228866577, + 0.6522608995437622, + 0.08822625875473022, + -0.5888692140579224, + 0.6302912831306458, + 0.05666910484433174, + 0.0, + -2.5316507816314697, + -0.5397085547447205, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.388568162918091, + -2.144691228866577, + 0.6522608995437622, + 0.08822625875473022, + -0.5888692140579224, + 0.6302912831306458, + 0.05666910484433174, + 0.0, + -2.5105440616607666, + -0.4951986074447632, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.388568162918091, + -2.144691228866577, + 0.6522608995437622, + 0.08822625875473022, + -0.5888692140579224, + 0.6302912831306458, + 0.05666910484433174, + 0.0, + -2.477454900741577, + -0.4254204332828522, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.388568162918091, + -2.144691228866577, + 0.6522608995437622, + 0.08822625875473022, + -0.5888692140579224, + 0.6302912831306458, + 0.05666910484433174, + 0.0, + -2.4612631797790527, + -0.3912756145000458, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.388568162918091, + -2.144691228866577, + 0.6522608995437622, + 0.08822625875473022, + -0.5888692140579224, + 0.6302912831306458, + 0.05666910484433174, + 0.0, + -2.4234864711761475, + -0.3116123378276825, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.388568162918091, + -2.144691228866577, + 0.6522608995437622, + 0.08822625875473022, + -0.5888692140579224, + 0.6302912831306458, + 0.05666910484433174, + 0.0, + -2.411982297897339, + -0.2873525619506836, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.388568162918091, + -2.144691228866577, + 0.6522608995437622, + 0.08822625875473022, + -0.5888692140579224, + 0.6302912831306458, + 0.05666910484433174, + 0.0, + -2.369159460067749, + -0.19704784452915192, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.388568162918091, + -2.144691228866577, + 0.6522608995437622, + 0.08822625875473022, + -0.5888692140579224, + 0.6302912831306458, + 0.05666910484433174, + 0.0, + -2.362701654434204, + -0.18342947959899902, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.388568162918091, + -2.144691228866577, + 0.6522608995437622, + 0.08822625875473022, + -0.5888692140579224, + 0.6302912831306458, + 0.05666910484433174, + 0.0, + -2.3153223991394043, + -0.0835159495472908, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.388568162918091, + -2.144691228866577, + 0.6522608995437622, + 0.08822625875473022, + -0.5888692140579224, + 0.6302912831306458, + 0.05666910484433174, + 0.0, + -2.3134210109710693, + -0.07950640469789505, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.388568162918091, + -2.144691228866577, + 0.6522608995437622, + 0.08822625875473022, + -0.5888692140579224, + 0.6302912831306458, + 0.05666910484433174, + 0.0, + -2.2951674461364746, + -0.04101329296827316, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.388568162918091, + -2.144691228866577, + 0.6522608995437622, + 0.08822625875473022, + -0.5888692140579224, + 0.6302912831306458, + 0.05666910484433174, + 0.0, + -2.2641403675079346, + 0.024416645988821983, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.388568162918091, + -2.144691228866577, + 0.6522608995437622, + 0.08822625875473022, + -0.5888692140579224, + 0.6302912831306458, + 0.05666910484433174, + 0.0, + -2.260908603668213, + 0.03123197704553604, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.388568162918091, + -2.144691228866577, + 0.6522608995437622, + 0.08822625875473022, + -0.5888692140579224, + 0.6302912831306458, + 0.05666910484433174, + 0.0, + -2.2148597240448, + 0.12833966314792633, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.388568162918091, + -2.144691228866577, + 0.6522608995437622, + 0.08822625875473022, + -0.5888692140579224, + 0.6302912831306458, + 0.05666910484433174, + 0.0, + -2.2070531845092773, + 0.14480210840702057, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.388568162918091, + -2.144691228866577, + 0.6522608995437622, + 0.08822625875473022, + -0.5888692140579224, + 0.6302912831306458, + 0.05666910484433174, + 0.0, + -2.165579080581665, + 0.23226270079612732, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.388568162918091, + -2.144691228866577, + 0.6522608995437622, + 0.08822625875473022, + -0.5888692140579224, + 0.6302912831306458, + 0.05666910484433174, + 0.0, + -2.1527445316314697, + 0.25932830572128296, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.388568162918091, + -2.144691228866577, + 0.6522608995437622, + 0.08822625875473022, + -0.5888692140579224, + 0.6302912831306458, + 0.05666910484433174, + 0.0, + -2.1162984371185303, + 0.3361856937408447, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.388568162918091, + -2.144691228866577, + 0.6522608995437622, + 0.08822625875473022, + -0.5888692140579224, + 0.6302912831306458, + 0.05666910484433174, + 0.0, + -2.098707914352417, + 0.37328076362609863, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.388568162918091, + -2.144691228866577, + 0.6522608995437622, + 0.08822625875473022, + -0.5888692140579224, + 0.7977062463760376, + 0.060272421687841415, + 0.0, + -2.0667591094970703, + 0.44065436720848083, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.388568162918091, + -2.144691228866577, + 0.6522608995437622, + 0.08822625875473022, + -0.5888692140579224, + 0.7977062463760376, + 0.060272421687841415, + 0.0, + -2.0438125133514404, + 0.48904427886009216, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.388568162918091, + -2.144691228866577, + 0.6522608995437622, + 0.08822625875473022, + -0.5888692140579224, + 0.7977062463760376, + 0.060272421687841415, + 0.0, + -2.0161845684051514, + 0.5473058223724365, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.388568162918091, + -2.144691228866577, + 0.6522608995437622, + 0.08822625875473022, + -0.5888692140579224, + 0.7977062463760376, + 0.060272421687841415, + 0.0, + -2.0, + 0.6000000238418579, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.388568162918091, + -2.144691228866577, + 0.6522608995437622, + 0.08822625875473022, + -0.5888692140579224, + 0.7977062463760376, + 0.060272421687841415, + 0.0 + ], + "max": [ + 1.1236644983291626, + 2.4648871421813965, + 1.5707963705062866, + 0.7300571799278259, + 0.0, + 0.0, + 0.9999985694885254, + 2.0, + 1.2797821760177612, + 2.8598806858062744, + 1.0796172618865967, + 0.5400137305259705, + 0.8457071185112, + 0.8442680239677429, + 0.5333408117294312, + 1.0, + -2.001577377319336, + 0.5473058223724365, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2797821760177612, + 1.6111258268356323, + 0.9933118224143982, + 0.5400137305259705, + -0.07775937765836716, + 0.8442680239677429, + 0.35842588543891907, + 0.0, + -1.9616879224777222, + 0.5585063099861145, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2797821760177612, + 1.6111258268356323, + 0.9933118224143982, + 0.5400137305259705, + -0.07775937765836716, + 0.8442680239677429, + 0.35842588543891907, + 0.0, + -1.9472784996032715, + 0.5625523328781128, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2797821760177612, + 1.6111258268356323, + 0.9933118224143982, + 0.5400137305259705, + -0.07775937765836716, + 0.8442680239677429, + 0.35842588543891907, + 0.0, + -1.856245517730713, + 0.5881133675575256, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2797821760177612, + 1.6111258268356323, + 0.9933118224143982, + 0.5400137305259705, + -0.07775937765836716, + 0.8442680239677429, + 0.35842588543891907, + 0.0, + -1.8038698434829712, + 0.6028199195861816, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2797821760177612, + 1.6111258268356323, + 0.9933118224143982, + 0.5400137305259705, + -0.07775937765836716, + 0.8442680239677429, + 0.35842588543891907, + 0.0, + -1.7508831024169922, + 0.6176980137825012, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2797821760177612, + 1.6111258268356323, + 0.9933118224143982, + 0.5400137305259705, + -0.07775937765836716, + 0.8442680239677429, + 0.35842588543891907, + 0.0, + -1.6613845825195312, + 0.6428282260894775, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2797821760177612, + 1.6111258268356323, + 0.9933118224143982, + 0.5400137305259705, + -0.07775937765836716, + 0.8442680239677429, + 0.35842588543891907, + 0.0, + -1.645871877670288, + 0.6471840143203735, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2797821760177612, + 1.6111258268356323, + 0.9933118224143982, + 0.5400137305259705, + -0.07775937765836716, + 0.8442680239677429, + 0.35842588543891907, + 0.0, + -1.6015145778656006, + 0.6596390604972839, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2797821760177612, + 1.6111258268356323, + 0.9933118224143982, + 0.5400137305259705, + -0.07775937765836716, + 0.8442680239677429, + 0.35842588543891907, + 0.0, + -1.541042685508728, + 0.6766188740730286, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2797821760177612, + 1.6111258268356323, + 0.9933118224143982, + 0.5400137305259705, + -0.07775937765836716, + 0.8442680239677429, + 0.35842588543891907, + 0.0, + -1.5230027437210083, + 0.6816843152046204, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2797821760177612, + 1.6111258268356323, + 0.9933118224143982, + 0.5400137305259705, + -0.07775937765836716, + 0.8442680239677429, + 0.35842588543891907, + 0.0, + -1.4379075765609741, + 0.705578088760376, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2797821760177612, + 1.6111258268356323, + 0.9933118224143982, + 0.5400137305259705, + -0.07775937765836716, + 0.8442680239677429, + 0.35842588543891907, + 0.0, + -1.3864150047302246, + 0.7200366258621216, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2797821760177612, + 1.6111258268356323, + 0.9933118224143982, + 0.5400137305259705, + -0.07775937765836716, + 0.8442680239677429, + 0.35842588543891907, + 0.0, + -1.3394616842269897, + 0.7332205772399902, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2797821760177612, + 1.6111258268356323, + 0.9933118224143982, + 0.5400137305259705, + -0.07775937765836716, + 0.8442680239677429, + 0.35842588543891907, + 0.0, + -1.2445876598358154, + 0.7598601579666138, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2797821760177612, + 1.6111258268356323, + 0.9933118224143982, + 0.5400137305259705, + -0.07775937765836716, + 0.8442680239677429, + 0.35842588543891907, + 0.0, + -1.244153380393982, + 0.7599821090698242, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2797821760177612, + 1.6111258268356323, + 0.9933118224143982, + 0.5400137305259705, + -0.07775937765836716, + 0.8442680239677429, + 0.35842588543891907, + 0.0, + -1.2439430952072144, + 0.7600411772727966, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2797821760177612, + 1.6111258268356323, + 0.9933118224143982, + 0.5400137305259705, + -0.07775937765836716, + 0.8442680239677429, + 0.35842588543891907, + 0.0, + -1.1453261375427246, + 0.7877317070960999, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2797821760177612, + 1.6111258268356323, + 0.9933118224143982, + 0.5400137305259705, + -0.07775937765836716, + 0.8442680239677429, + 0.35842588543891907, + 0.0, + -1.0995726585388184, + 0.800578773021698, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2797821760177612, + 1.6111258268356323, + 0.9933118224143982, + 0.5400137305259705, + -0.07775937765836716, + 0.8442680239677429, + 0.35842588543891907, + 0.0, + -1.040536880493164, + 0.8171553611755371, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2797821760177612, + 1.6111258268356323, + 0.9933118224143982, + 0.5400137305259705, + -0.07775937765836716, + 0.8442680239677429, + 0.35842588543891907, + 0.0, + -0.9482777118682861, + 0.8430607318878174, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2797821760177612, + 1.6111258268356323, + 0.9933118224143982, + 0.5400137305259705, + -0.07775937765836716, + 0.8442680239677429, + 0.35842588543891907, + 0.0, + -0.9344713091850281, + 0.8469374179840088, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2797821760177612, + 1.6111258268356323, + 0.9933118224143982, + 0.5400137305259705, + -0.07775937765836716, + 0.8442680239677429, + 0.35842588543891907, + 0.0, + -0.9001823663711548, + 0.8565653562545776, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2797821760177612, + 1.6111258268356323, + 0.9933118224143982, + 0.5400137305259705, + -0.07775937765836716, + 0.8442680239677429, + 0.35842588543891907, + 0.0, + -0.8299673199653625, + 0.8762809634208679, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2797821760177612, + 1.6111258268356323, + 0.9933118224143982, + 0.5400137305259705, + -0.07775937765836716, + 0.8442680239677429, + 0.35842588543891907, + 0.0, + -0.8012219667434692, + 0.8843523263931274, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2797821760177612, + 1.6111258268356323, + 0.9933118224143982, + 0.5400137305259705, + -0.07775937765836716, + 0.8442680239677429, + 0.35842588543891907, + 0.0, + -0.7261598110198975, + 0.905428946018219, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2797821760177612, + 1.6111258268356323, + 0.9933118224143982, + 0.5400137305259705, + -0.07775937765836716, + 0.8442680239677429, + 0.35842588543891907, + 0.0, + -0.6576582789421082, + 0.9246634244918823, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2797821760177612, + 1.6111258268356323, + 0.9933118224143982, + 0.5400137305259705, + -0.07775937765836716, + 0.8442680239677429, + 0.35842588543891907, + 0.0, + -0.6228811740875244, + 0.9344284534454346, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2797821760177612, + 1.6111258268356323, + 0.9933118224143982, + 0.5400137305259705, + -0.07775937765836716, + 0.8442680239677429, + 0.35842588543891907, + 0.0, + -0.5327937006950378, + 0.9597240090370178, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2797821760177612, + 1.6111258268356323, + 0.9933118224143982, + 0.5400137305259705, + -0.07775937765836716, + 0.8442680239677429, + 0.35842588543891907, + 0.0, + -0.5197538733482361, + 0.9633854627609253, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2797821760177612, + 1.6111258268356323, + 0.9933118224143982, + 0.5400137305259705, + -0.07775937765836716, + 0.8442680239677429, + 0.35842588543891907, + 0.0, + -0.5146958827972412, + 0.9648056626319885, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2797821760177612, + 1.6111258268356323, + 0.9933118224143982, + 0.5400137305259705, + -0.07775937765836716, + 0.8442680239677429, + 0.35842588543891907, + 0.0, + -0.4163155257701874, + 0.992429792881012, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2797821760177612, + 1.6111258268356323, + 0.9933118224143982, + 0.5400137305259705, + -0.07775937765836716, + 0.8442680239677429, + 0.35842588543891907, + 0.0, + -0.37113550305366516, + 1.0051158666610718, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2797821760177612, + 1.6111258268356323, + 0.9933118224143982, + 0.5400137305259705, + -0.07775937765836716, + 0.8442680239677429, + 0.35842588543891907, + 0.0, + -0.31287726759910583, + 1.0214741230010986, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2797821760177612, + 1.6111258268356323, + 0.9933118224143982, + 0.5400137305259705, + -0.07775937765836716, + 0.8442680239677429, + 0.35842588543891907, + 0.0, + -0.22757510840892792, + 1.0454260110855103, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2797821760177612, + 1.6111258268356323, + 0.9933118224143982, + 0.5400137305259705, + -0.07775937765836716, + 0.8442680239677429, + 0.35842588543891907, + 0.0, + -0.2094389796257019, + 1.0505183935165405, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2797821760177612, + 1.6111258268356323, + 0.9933118224143982, + 0.5400137305259705, + -0.07775937765836716, + 0.8442680239677429, + 0.35842588543891907, + 0.0, + -0.16268233954906464, + 1.0636471509933472, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2797821760177612, + 1.6111258268356323, + 0.9933118224143982, + 0.5400137305259705, + -0.07775937765836716, + 0.8442680239677429, + 0.35842588543891907, + 0.0, + -0.10619558393955231, + 1.0795080661773682, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2797821760177612, + 1.6111258268356323, + 0.9933118224143982, + 0.5400137305259705, + -0.07775937765836716, + 0.8442680239677429, + 0.35842588543891907, + 0.0, + -0.0843895822763443, + 1.085631012916565, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2797821760177612, + 1.6111258268356323, + 0.9933118224143982, + 0.5400137305259705, + -0.07775937765836716, + 0.8442680239677429, + 0.35842588543891907, + 0.0, + -0.0031130481511354446, + 1.108452558517456, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2797821760177612, + 1.6111258268356323, + 0.9933118224143982, + 0.5400137305259705, + -0.07775937765836716, + 0.8442680239677429, + 0.35842588543891907, + 0.0, + 0.05848671495914459, + 1.125749111175537, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2797821760177612, + 1.6111258268356323, + 0.9933118224143982, + 0.5400137305259705, + -0.07775937765836716, + 0.8442680239677429, + 0.35842588543891907, + 0.0, + 0.0999695360660553, + 1.137397050857544, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2797821760177612, + 1.6111258268356323, + 0.9933118224143982, + 0.5400137305259705, + -0.07775937765836716, + 0.8442680239677429, + 0.35842588543891907, + 0.0, + 0.2013629972934723, + 1.1658672094345093, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2797821760177612, + 1.6111258268356323, + 0.9933118224143982, + 0.5400137305259705, + -0.07775937765836716, + 0.8442680239677429, + 0.35842588543891907, + 0.0, + 0.20305213332176208, + 1.1663415431976318, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2797821760177612, + 1.6111258268356323, + 0.9933118224143982, + 0.5400137305259705, + -0.07775937765836716, + 0.8442680239677429, + 0.35842588543891907, + 0.0, + 0.20742756128311157, + 1.1675701141357422, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2797821760177612, + 1.6111258268356323, + 0.9933118224143982, + 0.5400137305259705, + -0.07775937765836716, + 0.8442680239677429, + 0.35842588543891907, + 0.0, + 0.30647528171539307, + 1.1953816413879395, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2797821760177612, + 1.6111258268356323, + 0.9933118224143982, + 0.5400137305259705, + -0.07775937765836716, + 0.8442680239677429, + 0.35842588543891907, + 0.0, + 0.3448944687843323, + 1.2061693668365479, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2797821760177612, + 1.6111258268356323, + 0.9933118224143982, + 0.5400137305259705, + -0.07775937765836716, + 0.8442680239677429, + 0.35842588543891907, + 0.0, + 0.40991348028182983, + 1.224426031112671, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2797821760177612, + 1.6111258268356323, + 0.9933118224143982, + 0.5400137305259705, + -0.07775937765836716, + 0.8442680239677429, + 0.35842588543891907, + 0.0, + 0.4884549677371979, + 1.2464796304702759, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2797821760177612, + 1.6111258268356323, + 0.9933118224143982, + 0.5400137305259705, + -0.07775937765836716, + 0.8442680239677429, + 0.35842588543891907, + 0.0, + 0.5133517980575562, + 1.2534704208374023, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2797821760177612, + 1.6111258268356323, + 0.9933118224143982, + 0.5400137305259705, + -0.07775937765836716, + 0.8442680239677429, + 0.35842588543891907, + 0.0, + 0.5775375962257385, + 1.2714930772781372, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2797821760177612, + 1.6111258268356323, + 0.9933118224143982, + 0.5400137305259705, + -0.07775937765836716, + 0.8442680239677429, + 0.35842588543891907, + 0.0, + 0.6166550517082214, + 1.282476782798767, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2797821760177612, + 1.6111258268356323, + 0.9933118224143982, + 0.5400137305259705, + -0.07775937765836716, + 0.8442680239677429, + 0.35842588543891907, + 0.0, + 0.6317557096481323, + 1.2867169380187988, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2797821760177612, + 1.6111258268356323, + 0.9933118224143982, + 0.5400137305259705, + -0.07775937765836716, + 0.8442680239677429, + 0.35842588543891907, + 0.0, + 0.719737708568573, + 1.311421275138855, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2797821760177612, + 1.6111258268356323, + 0.9933118224143982, + 0.5400137305259705, + -0.07775937765836716, + 0.8442680239677429, + 0.35842588543891907, + 0.0, + 0.7746319770812988, + 1.3268349170684814, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2797821760177612, + 1.6111258268356323, + 0.9933118224143982, + 0.5400137305259705, + -0.07775937765836716, + 0.8442680239677429, + 0.35842588543891907, + 0.0, + 0.8228203654289246, + 1.3403656482696533, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2797821760177612, + 1.6111258268356323, + 0.9933118224143982, + 0.5400137305259705, + -0.07775937765836716, + 0.8442680239677429, + 0.35842588543891907, + 0.0, + 0.9175080060958862, + 1.366952896118164, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2797821760177612, + 1.6111258268356323, + 0.9933118224143982, + 0.5400137305259705, + -0.07775937765836716, + 0.8442680239677429, + 0.35842588543891907, + 0.0, + 0.9259029626846313, + 1.3693101406097412, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2797821760177612, + 1.6111258268356323, + 0.9933118224143982, + 0.5400137305259705, + -0.07775937765836716, + 0.8442680239677429, + 0.35842588543891907, + 0.0, + 0.947649359703064, + 1.3754162788391113, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2797821760177612, + 1.6111258268356323, + 0.9933118224143982, + 0.5400137305259705, + -0.07775937765836716, + 0.8442680239677429, + 0.35842588543891907, + 0.0, + 1.029266119003296, + 1.3983333110809326, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2797821760177612, + 1.6111258268356323, + 0.9933118224143982, + 0.5400137305259705, + -0.07775937765836716, + 0.8442680239677429, + 0.35842588543891907, + 0.0, + 1.0609240531921387, + 1.4072225093841553, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2797821760177612, + 1.6111258268356323, + 0.9933118224143982, + 0.5400137305259705, + -0.07775937765836716, + 0.8442680239677429, + 0.35842588543891907, + 0.0, + 1.132704496383667, + 1.427377700805664, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2797821760177612, + 1.6111258268356323, + 0.9933118224143982, + 0.5400137305259705, + -0.07775937765836716, + 0.8442680239677429, + 0.35842588543891907, + 0.0, + 1.2000000476837158, + 1.4500000476837158, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2797821760177612, + 1.6111258268356323, + 0.9933118224143982, + 0.5400137305259705, + -0.07775937765836716, + 0.8442680239677429, + 0.35842588543891907, + 0.0, + -2.098707914352417, + 0.37328076362609863, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.8688284158706665, + 0.8930304050445557, + 0.6807841062545776, + 0.11040913313627243, + -0.5226355195045471, + 0.8442680239677429, + 0.07950101792812347, + 0.0, + -2.0667591094970703, + 0.44065436720848083, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.8688284158706665, + 0.8930304050445557, + 0.6807841062545776, + 0.11040913313627243, + -0.5226355195045471, + 0.8442680239677429, + 0.07950101792812347, + 0.0, + -2.0438125133514404, + 0.48904427886009216, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.8688284158706665, + 0.8930304050445557, + 0.6807841062545776, + 0.11040913313627243, + -0.5226355195045471, + 0.8442680239677429, + 0.07950101792812347, + 0.0, + -2.0161845684051514, + 0.5473058223724365, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.8688284158706665, + 0.8930304050445557, + 0.6807841062545776, + 0.11040913313627243, + -0.5226355195045471, + 0.8442680239677429, + 0.07950101792812347, + 0.0, + -2.0, + 0.6000000238418579, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.8688284158706665, + 0.8930304050445557, + 0.6807841062545776, + 0.11040913313627243, + -0.5226355195045471, + 0.8442680239677429, + 0.07950101792812347, + 0.0 + ], + "count": [ + 1738 + ] + }, + "action.applied": { + "mean": [ + 0.31630279869269856, + 0.665572930534635, + -1.1039786748973903, + -0.30731893950908246, + 0.6820882325788362, + -1.1111005231892417, + 0.24440283420462466, + 0.7106502056807725, + -1.209987684518476, + -0.18478900133937562, + 0.7228960787536635, + -1.208380115148799, + -0.06305060175968673, + 1.501586572141724, + -1.3205215670982906, + -0.10433365160545527, + 0.9060130693421402, + 0.06895806158096926, + 0.002879746847703487, + -0.002879746847703487 + ], + "std": [ + 0.1404040076860731, + 0.11889530410912703, + 0.17439686552662487, + 0.14420692526390835, + 0.10172597604650864, + 0.15866943003152936, + 0.11868475756408879, + 0.13178538841223325, + 0.17317952202760029, + 0.10766274058239979, + 0.10896335349937152, + 0.17629222110432946, + 0.6652312369056048, + 0.5863795437209286, + 0.33442160278904953, + 0.27390410077846433, + 0.22846702883541314, + 0.2872264517917382, + 0.009617598358835926, + 0.009617598358835926 + ], + "min": [ + -0.2416110336780548, + 0.4172315299510956, + -1.736365556716919, + -0.5922694206237793, + 0.3776923418045044, + -1.6285542249679565, + -0.20145055651664734, + 0.44437140226364136, + -1.7316735982894897, + -0.5373992323875427, + 0.5205428600311279, + -1.7577875852584839, + -2.014031171798706, + 0.710098385810852, + -2.22481369972229, + -0.7452527284622192, + 0.5307276844978333, + -0.4535202085971832, + 0.0, + -0.03500000014901161 + ], + "max": [ + 0.699120819568634, + 0.9673641920089722, + -0.8356940746307373, + 0.13718454539775848, + 0.9535616040229797, + -0.863728404045105, + 0.5355109572410583, + 1.1996119022369385, + -0.9495927691459656, + 0.26895320415496826, + 1.0999326705932617, + -0.9681482911109924, + 1.4980851411819458, + 2.682781457901001, + -0.8186326622962952, + 0.45139560103416443, + 1.2191450595855713, + 0.7595793604850769, + 0.03500000014901161, + 0.0 + ], + "count": [ + 1738 + ] + }, + "extra.reward": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 1738 + ] + }, + "next.truncated": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 1738 + ] + }, + "sim_step_idx": { + "mean": [ + 1768.0 + ], + "std": [ + 1003.434601755391 + ], + "min": [ + 31.0 + ], + "max": [ + 3505.0 + ], + "count": [ + 1738 + ] + }, + "timestamp": { + "mean": [ + 34.74000000596149 + ], + "std": [ + 20.06869204190868 + ], + "min": [ + 0.0 + ], + "max": [ + 69.4800033569336 + ], + "count": [ + 1738 + ] + }, + "frame_index": { + "mean": [ + 868.5 + ], + "std": [ + 501.7173008776955 + ], + "min": [ + 0.0 + ], + "max": [ + 1737.0 + ], + "count": [ + 1738 + ] + }, + "episode_index": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 1738 + ] + }, + "index": { + "mean": [ + 868.5 + ], + "std": [ + 501.7173008776955 + ], + "min": [ + 0.0 + ], + "max": [ + 1737.0 + ], + "count": [ + 1738 + ] + }, + "task_index": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 1738 + ] + }, + "next.done": { + "mean": [ + 0.0005753739930955121 + ], + "std": [ + 0.02398005291619644 + ], + "min": [ + 0.0 + ], + "max": [ + 1.0 + ], + "count": [ + 1738 + ] + }, + "observation.images.head": { + "mean": [ + [ + [ + 0.3057756865633741 + ] + ], + [ + [ + 0.2842781180164221 + ] + ], + [ + [ + 0.2640027233082255 + ] + ] + ], + "std": [ + [ + [ + 0.2261369731236267 + ] + ], + [ + [ + 0.21693865329432246 + ] + ], + [ + [ + 0.20866000181801453 + ] + ] + ], + "min": [ + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ] + ], + "max": [ + [ + [ + 0.8431372549019608 + ] + ], + [ + [ + 0.796078431372549 + ] + ], + [ + [ + 0.8313725490196079 + ] + ] + ], + "count": [ + 100 + ] + }, + "observation.images.wrist": { + "mean": [ + [ + [ + 0.5399146420334239 + ] + ], + [ + [ + 0.46738521585999054 + ] + ], + [ + [ + 0.39162381639082283 + ] + ] + ], + "std": [ + [ + [ + 0.1561936954461964 + ] + ], + [ + [ + 0.13457663966808728 + ] + ], + [ + [ + 0.15306796677505244 + ] + ] + ], + "min": [ + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ] + ], + "max": [ + [ + [ + 0.9529411764705882 + ] + ], + [ + [ + 0.9019607843137255 + ] + ], + [ + [ + 0.8235294117647058 + ] + ] + ], + "count": [ + 100 + ] + } +} \ No newline at end of file diff --git a/N025/go2_arm/dr_on/seed_2016/stationassembly/000/lerobot_v21/meta/tasks.jsonl b/N025/go2_arm/dr_on/seed_2016/stationassembly/000/lerobot_v21/meta/tasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7ef32cea3933584c053b6f1b17969eee32e6aaa6 --- /dev/null +++ b/N025/go2_arm/dr_on/seed_2016/stationassembly/000/lerobot_v21/meta/tasks.jsonl @@ -0,0 +1 @@ +{"task_index": 0, "task": "Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level."} diff --git a/N025/go2_arm/dr_on/seed_2016/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 b/N025/go2_arm/dr_on/seed_2016/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9489ccdc4caf6b0a12a8e494d51416493573c508 --- /dev/null +++ b/N025/go2_arm/dr_on/seed_2016/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8feee659b7f6dd96e2c811a5f8048f97e396af934ef406b6639da2c049fc9f71 +size 24621448 diff --git a/N025/go2_arm/dr_on/seed_2016/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 b/N025/go2_arm/dr_on/seed_2016/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3fac721a8f958b31d7df1466a1d8c2173b9ec2a5 --- /dev/null +++ b/N025/go2_arm/dr_on/seed_2016/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:16c42d2b6de365dc8b72ae89326fd805a6fed732e50677346d1594b7bd3869bb +size 38868798 diff --git a/N025/go2_arm/dr_on/seed_2016/stationassembly/000/run_meta.json b/N025/go2_arm/dr_on/seed_2016/stationassembly/000/run_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..19d7e6d754d82702a410db1e2bb3a7c4a5952322 --- /dev/null +++ b/N025/go2_arm/dr_on/seed_2016/stationassembly/000/run_meta.json @@ -0,0 +1,964 @@ +{ + "run_id": "stationassembly/000", + "created": "2026-11-08 02:55:04", + "num_envs": 1, + "session_id": null, + "record_config": { + "output_dir": "/mnt/scratch/xc536_atomic/n025_go2_on_2016_r1/out", + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + }, + "config": { + "env_string": "MobileWedgeSupportEnv-V0", + "env": { + "sim": { + "device": "cpu", + "use_fabric": false, + "decimation": 4, + "dt": 0.005, + "seed": 2016, + "soft_resets": 2, + "scene": { + "num_envs": 1, + "env_spacing": 14 + }, + "render": { + "rendering_mode": "performance", + "enable_reflections": false, + "enable_global_illumination": false, + "enable_translucency": false, + "enable_dl_denoiser": false + } + }, + "robot": { + "Go2Plus": { + "name": "go2plus", + "type": "mobilemanip", + "common": { + "pos": [ + [ + -3.498, + -2.4962, + 0.45 + ], + [ + -3.498, + -2.4962, + 0.45 + ] + ], + "ori": [ + [ + 0, + 0, + 72.54863 + ], + [ + 0, + 0, + 72.54863 + ] + ], + "initial_joint_pos": null + }, + "action": { + "base_action": "unified", + "arm_action": "ik_curobo", + "eef_action": "binary" + }, + "reset": "default", + "planner": { + "dual_mode": true, + "base_joint_names": [ + "base_x", + "base_y", + "base_yaw", + "base_height" + ], + "ik": { + "type": "go2plus", + "enable": true, + "ik_num_instances": 1, + "ik_batch_size": 1, + "ik_num_seeds": 64, + "ik_position_threshold": 0.005, + "ik_rotation_threshold": 0.05, + "microbatch_wait_ms": 400.0, + "relative_to_world_frame": false, + "eef_num": 1, + "debug": false, + "seed_use_live_joint_pos": true + }, + "motiongen": { + "type": "go2plus", + "enable": true, + "batch_size": 1, + "debug": false, + "motiongen_num_instances": 1, + "microbatch_wait_ms": 400.0, + "mode": "position", + "relative_to_world_frame": false, + "eef_num": 1, + "seed_use_live_joint_pos": true, + "anchor_ik_seeds_to_current_state": false, + "num_trajopt_seeds": 1, + "num_ik_seeds": 4, + "max_attempts": 6, + "joint_limit_retry_weight": 100000000.0, + "start_state_limit_inset": 0.002 + }, + "body": { + "type": "nav", + "dwb_type": "dwb_quadruped", + "dwb_quadruped": { + "device": "cpu", + "dt": 0.02, + "debug": false, + "num_rollout_steps": 60, + "num_speed_samples": 11, + "num_steer_samples": 11, + "num_vx_samples": 7, + "num_vy_samples": 7, + "num_yaw_samples": 7, + "max_accel": 1.5, + "max_steer_rate": 1.5, + "max_accel_vx": 1.5, + "max_accel_vy": 1.5, + "max_yaw_accel": 1.5, + "w_goal": 6.0, + "w_path": 24.0, + "w_vel": 0.2, + "w_vy": 0.0, + "dilate_radius": 0.2, + "goal_cost_mode": "path", + "room_size": 12.0, + "occupancy_update_interval": 25, + "scan_height": 0.38, + "scan_min_z": 0.15, + "scan_max_z": 0.63, + "goal_pos_threshold": 0.09, + "goal_yaw_threshold": 0.08, + "goal_yaw_hysteresis": 0.02, + "kp_goal_yaw": 4.0, + "heading_reference": "path", + "turn_yaw_threshold": 0.8, + "heading_lookahead": 0.8, + "heading_min_leg": 0.35, + "route_yaw_gain": 2.0, + "min_vx": -0.35, + "max_vx": 0.35, + "min_vy": -0.25, + "max_vy": 0.25, + "min_yaw_rate": -0.8, + "max_yaw_rate": 0.8, + "dynamic_window_source": "command", + "default_height": 0.35, + "safety_min_progress_speed": 0.1, + "safety_stop_distance": 0.2, + "safety_enabled": true, + "safety_deceleration": 0.5, + "safety_reaction_time": 0.5, + "safety_release_distance": 0.35, + "scan_type": "3d", + "robot_type": "quadruped", + "velocity_frame": "body" + }, + "p_controller": { + "velocity_frame": "body", + "nav_upgrade_distance": 0.03, + "nav_heading_target": -1, + "kp_linear_x": 1.5, + "kd_linear_x": 0.4, + "kp_linear_y": 1.5, + "kd_linear_y": 0.4, + "kp_angular": 1.5, + "kd_angular": 0.2, + "kp_angular_turning_only": 1.5, + "kd_angular_turning_only": 0.2, + "min_vel": -0.4, + "max_vel": 0.5, + "linear_dead_zone": 0.03, + "angular_dead_zone": 0.05 + } + }, + "arm": { + "type": "default" + }, + "eef": { + "type": "default" + } + }, + "physics": { + "robot_radius": 0.5 + } + } + }, + "camera": { + "enable_tiled": false, + "colorize_depth": false, + "head": { + "camera": { + "type": "camera", + "mesh": "pinhole", + "resolution": [ + 640, + 480 + ], + "frequency": 25, + "focal_length": 1.8231182098388672, + "horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.4407838582992554, + "clipping_range": [ + 0.05, + 30.0 + ], + "focus_distance": 3.0, + "mode": "RGB", + "mount_link": "Robot_0/Bodies/go2_base", + "pos": [ + 0.332051, + 0.038027, + 0.093559 + ], + "ori": [ + 169.9473, + -88.6452, + 81.5985 + ] + }, + "annotator": { + "enabled": true, + "rgb_capture": { + "type": "rgb", + "device": "cpu" + } + } + }, + "wrist": { + "camera": { + "type": "camera", + "mesh": "pinhole", + "resolution": [ + 640, + 480 + ], + "frequency": 25, + "focal_length": 1.8517500162124634, + "horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.4393036365509033, + "clipping_range": [ + 0.05, + 30.0 + ], + "focus_distance": 3.0, + "mode": "RGB", + "mount_link": "Robot_0/Bodies/piper_link6", + "pos": [ + -0.074987, + 0.005289, + 0.045821 + ], + "ori": [ + 179.3135, + -20.212, + 88.9402 + ] + }, + "annotator": { + "enabled": true, + "rgb_capture": { + "type": "rgb", + "device": "cpu" + } + } + } + }, + "scene": { + "background": { + "intensity": [ + 878.2134, + 878.2134 + ] + }, + "terrain": { + "type": "nav_room", + "collision": true, + "hide_top_walls": true, + "usd": [ + "$MAGICSIM_ASSETS/Room/Collected_SimpleRoom" + ], + "annotation": "Annotation", + "random": false, + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0, + "friction_combine_mode": "multiply", + "restitution_combine_mode": "multiply" + } + }, + "objects": { + "table_A": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "pos": [ + -2.0, + 1.5, + 0.23 + ], + "ori": [ + 0, + 0, + 0 + ], + "scale": [ + 0.9, + 0.6, + 0.4 + ] + }, + "table_A_1": { + "primitive_params": { + "size": [ + 1, + 1, + 1 + ] + }, + "visual": { + "color": [ + 0.78, + 0.72, + 0.62 + ] + }, + "physics": { + "type": "geometry", + "collision": true + } + } + }, + "table_B": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "pos": [ + 1.2, + 3.0, + 0.23 + ], + "ori": [ + 0, + 0, + 0 + ], + "scale": [ + 0.9, + 0.6, + 0.4 + ] + }, + "table_B_1": { + "primitive_params": { + "size": [ + 1, + 1, + 1 + ] + }, + "visual": { + "color": [ + 0.62, + 0.72, + 0.78 + ] + }, + "physics": { + "type": "geometry", + "collision": true + } + } + }, + "shim_board": { + "usd": [ + "$MAGICSIM_ASSETS/Object/MobileAssembly/shim_board_a05/Object.usd" + ], + "random": false, + "num_per_env": 1, + "common": { + "pos": [ + 1.13912, + 3.15439, + 0.43 + ], + "ori": [ + 0.0, + 0.0, + -88.42471 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "shim_board_1": { + "visual": {}, + "physics": { + "type": "articulation", + "collision": true, + "fixed_base": true + } + } + }, + "wedge": { + "usd": [ + "$MAGICSIM_ASSETS/Object/MobileAssembly/wedge_a05/Object.usd" + ], + "random": false, + "num_per_env": 1, + "common": { + "pos": [ + -1.98297, + 1.37726, + 0.431 + ], + "ori": [ + 0.0, + 0.0, + 83.52369 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "wedge_1": { + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.02102, + "physics_material": { + "static_friction": 0.8, + "dynamic_friction": 0.7, + "restitution": 0.0 + } + } + } + } + } + }, + "nav": { + "navmesh": { + "enabled": true, + "visualize": false, + "bake_timeout_s": 180, + "agent_height_cm": 65, + "min_agent_radius_cm": 30.0, + "max_agent_radius_cm": 30.0, + "max_step_height_cm": 20, + "max_floor_slope_deg": 30, + "agent_island_radius_cm": 5, + "auto_exclude_rigid_bodies": true, + "validate_path_clearance": true, + "validate_path_window": true, + "navmesh_offset_z_m": 0, + "verbose": false + }, + "occupancymap": { + "cell_size": 0.05 + } + } + }, + "task": { + "observation": {}, + "reward": {}, + "level": "easy", + "termination": { + "timeout_steps": 9000, + "success_hold_frames": 1 + }, + "station": { + "S": { + "pose": [ + -3.6, + -2.5, + 60.0 + ] + }, + "A": { + "center": [ + -2.0, + 0.6 + ], + "zone_radius": 0.6, + "table": "table_A" + }, + "B": { + "center": [ + 1.2, + 2.1 + ], + "zone_radius": 0.6, + "table": "table_B" + } + }, + "stance": { + "radii_A": [ + 0.6, + 0.62, + 0.58, + 0.64, + 0.59, + 0.61, + 0.56, + 0.55, + 0.57, + 0.54, + 0.52, + 0.49, + 0.45, + 0.4, + 0.35, + 0.3 + ], + "radii_B": [ + 0.48, + 0.47, + 0.49, + 0.46, + 0.5, + 0.45, + 0.44, + 0.51, + 0.43 + ], + "bearings_deg": [ + 0.0 + ], + "yaw_offsets_deg": [ + 0.0, + -4.0, + 4.0 + ], + "include_current": true, + "yaw_offsets_deg_B": [ + 100.0, + 96.0, + 104.0, + 92.0, + 108.0, + 88.0 + ], + "stand_height_m": 0.403 + }, + "assembly": { + "part": { + "name": "wedge", + "id": 0 + }, + "fixture": { + "name": "shim_board", + "id": 0 + }, + "support_z": 0.43, + "part_half_height": 0.014, + "lift_height": 0.03, + "carry_lost": 0.25, + "hold_steps": 30, + "release_clear": 0.06, + "fixture_move_limit": 0.01, + "fall_margin": 0.12, + "target_deg": 0.0, + "tol_deg": 1.5, + "contact_gap": 0.002, + "stop_margin_deg": 0.3, + "board_touch_limit": 20, + "pre_height": 0.03, + "align_height": 0.0015, + "align_x": 0.4, + "insert_x": 0.205, + "umi": { + "table_clearance": 0.002, + "min_approach_down_deg": 65.0, + "max_approach_down_deg": 90.0, + "max_candidates": 64 + }, + "heading_link": "none", + "free_axis_yaw": true, + "approach_axis": "z", + "gap_open": 0.0675, + "hand": { + "wrist_to_gripper_pos": [ + -0.00289, + 0.0, + -0.0528 + ], + "wrist_to_gripper_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "tcp_in_gripper": [ + 0.00289, + 0.0, + 0.1686 + ] + } + }, + "command": { + "StationAssembly": { + "robot_id": 0, + "hand_id": 0, + "init_limit": 30, + "max_attempt": 2, + "tail_steps": 400, + "part": { + "obj_type": "rigid", + "obj_name": "wedge", + "obj_id": 0 + }, + "fixture": { + "obj_type": "articulation", + "obj_name": "shim_board", + "obj_id": 0 + }, + "stages": [ + { + "name": "nav_A", + "type": "nav", + "goal": [ + -2.0, + 0.6, + 90.0 + ] + }, + { + "name": "stance_A", + "type": "stance", + "target": "part" + }, + { + "name": "pick", + "type": "grasp" + }, + { + "name": "carry", + "type": "carry" + }, + { + "name": "nav_B", + "type": "nav", + "goal": [ + 1.2, + 1.45, + 90.0 + ] + }, + { + "name": "stance_B", + "type": "stance", + "target": "fixture" + }, + { + "name": "assemble", + "type": "assemble" + } + ] + } + } + }, + "collect": { + "command": { + "StationAssembly": { + "robot_id": 0, + "hand_id": 0, + "init_limit": 30, + "max_attempt": 2, + "tail_steps": 400, + "part": { + "obj_type": "rigid", + "obj_name": "wedge", + "obj_id": 0 + }, + "fixture": { + "obj_type": "articulation", + "obj_name": "shim_board", + "obj_id": 0 + }, + "stages": [ + { + "name": "nav_A", + "type": "nav", + "goal": [ + -2.0, + 0.6, + 90.0 + ] + }, + { + "name": "stance_A", + "type": "stance", + "target": "part" + }, + { + "name": "pick", + "type": "grasp" + }, + { + "name": "carry", + "type": "carry" + }, + { + "name": "nav_B", + "type": "nav", + "goal": [ + 1.2, + 1.45, + 90.0 + ] + }, + { + "name": "stance_B", + "type": "stance", + "target": "fixture" + }, + { + "name": "assemble", + "type": "assemble" + } + ] + } + }, + "global_planner": { + "NavTo": { + "use_navmesh": true, + "use_absolute": true, + "translation_threshold": 0.2, + "rotation_threshold": 0.3, + "num_path_segments": 30, + "start_forward_offset": -0.25, + "visualize_path": false, + "carry_arm": true + }, + "MobileMoveL": { + "translation_threshold": 0.006, + "rotation_threshold": 0.2, + "motiongen_distance_threshold": 0.05, + "timeout_steps": 3000, + "reactive": false, + "base_pos_threshold": 0.12, + "base_rot_threshold": 0.5, + "eef_pos_threshold": 0.03, + "eef_rot_threshold": 0.3, + "waypoint_max_steps": 8, + "interp_steps": 60, + "retry_mobile_on_locked_plan_failure": true, + "debug": false, + "debug_viz": false, + "stall_release_ticks": 100, + "stall_release_factor": 5.0, + "interp_validate_target": true + }, + "AssemblyServoL": { + "translation_threshold": 0.0003, + "rotation_threshold": 0.005, + "motiongen_distance_threshold": 0.0, + "timeout_steps": 1000000, + "min_steps_before_done": 1000000, + "reactive": false, + "base_pos_threshold": 0.12, + "base_rot_threshold": 0.5, + "eef_pos_threshold": 0.03, + "eef_rot_threshold": 0.3, + "waypoint_max_steps": 1, + "debug": false, + "debug_viz": false + }, + "MobileServoL": { + "translation_threshold": 0.03, + "rotation_threshold": 0.3, + "done_threshold": 0.03, + "timeout_steps": 300, + "stride": 1, + "eef_pos_threshold": 0.03, + "eef_rot_threshold": 0.1, + "base_pos_threshold": 0.12, + "waypoint_max_steps": 20, + "force_free_base_distance": 0.4, + "motiongen_distance_threshold": 0.05, + "embedded_direct_lock_layout": "trailing", + "debug": false, + "debug_viz": false + }, + "ParallelGripper": { + "gripper_threshold": 0.0005, + "timeout_steps": 60 + } + }, + "atomic_skill": { + "NavToPose": { + "robot_id": 0, + "show_marker": false + }, + "HoldPose": { + "robot_id": 0, + "hand_id": 0 + }, + "NavTo": { + "robot_id": 0, + "position_offset": 0.85, + "position_threshold": 0.08, + "angle_threshold": 0.06 + }, + "ReachStance": { + "check_current_first": true, + "stance_margin": 0.0, + "max_reach": 1.0, + "max_walks": 3, + "reject_radius": 0.02, + "obstacle_avoidance": [ + "dynamic" + ], + "walk_planner": "MobileServoL", + "strategy_kwargs": { + "reach_steps": 2 + }, + "pre_grasp_planner": "MobileMoveL", + "pre_grasp_mode": -1, + "goalset_lock_base": true, + "debug": true, + "walk_extra_m": 0.05, + "verify_min_steps": 60 + }, + "AssemblyGrasp": { + "pre_grasp_offset_x": 0.12, + "retrieval_offset_x": 0.05, + "mobile": true, + "pre_grasp_planner": "MobileMoveL", + "pre_grasp_mode": -1, + "grasp_mode": 4, + "retrieval_mode": 4, + "goalset_lock_base": true, + "reactive": false, + "viz_grasp": false, + "close_settle_steps": 10, + "obstacle_ignore": [ + "table_A" + ] + }, + "CarryPose": { + "robot_id": 0, + "hand_id": 0, + "carry_part_pos": [ + 0.3, + 0.0, + 0.55 + ], + "planner_mode": 1, + "carry_down_deg": 20.0, + "carry_fallbacks": [ + [ + 0.25, + 0.0, + 0.45 + ], + [ + 0.35, + 0.0, + 0.5 + ], + [ + 0.3, + 0.0, + 0.65 + ], + [ + 0.2, + 0.0, + 0.5 + ], + [ + 0.3, + 0.15, + 0.55 + ], + [ + 0.3, + -0.15, + 0.55 + ] + ], + "carry_pitch_forward": true + }, + "AssemblyInsert": { + "plan_mode": 1, + "max_lin": 0.002, + "max_rot_deg": 1.0, + "settle_ticks": 3, + "servo_max_steps": 600, + "lateral_gate": 0.002, + "stall_ticks": 60, + "stall_min_progress": 0.8, + "carry_lost": 0.25, + "open_value": 0.0 + } + }, + "auto_collect": { + "task_type": "assembly", + "max_trajectories": 1 + }, + "record": { + "output_dir": "/mnt/scratch/xc536_atomic/n025_go2_on_2016_r1/out", + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + } + }, + "visual_dr": { + "keep": [ + "wedge", + "shim_board" + ] + } + }, + "git_sha": null, + "collect_runtime": { + "max_trajectories": 1 + } +} \ No newline at end of file diff --git a/N025/go2_arm/dr_on/seed_2016/stationassembly/000/sim_info/0/actions.npz b/N025/go2_arm/dr_on/seed_2016/stationassembly/000/sim_info/0/actions.npz new file mode 100644 index 0000000000000000000000000000000000000000..54a8173f8710e47140b855a891084a6d72007662 --- /dev/null +++ b/N025/go2_arm/dr_on/seed_2016/stationassembly/000/sim_info/0/actions.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ce545b998175266ea8cd8eb03a130ba21d7b4396d5f25b0100352f2ab1f43b21 +size 655214 diff --git a/N025/go2_arm/dr_on/seed_2016/stationassembly/000/sim_info/0/device_commands.jsonl b/N025/go2_arm/dr_on/seed_2016/stationassembly/000/sim_info/0/device_commands.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N025/go2_arm/dr_on/seed_2016/stationassembly/000/sim_info/0/device_events.jsonl b/N025/go2_arm/dr_on/seed_2016/stationassembly/000/sim_info/0/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N025/go2_arm/dr_on/seed_2016/stationassembly/000/sim_info/0/scene_snapshot.json b/N025/go2_arm/dr_on/seed_2016/stationassembly/000/sim_info/0/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..4eed25b79fc5a28d18a89b99d5e4142ba23d0f50 --- /dev/null +++ b/N025/go2_arm/dr_on/seed_2016/stationassembly/000/sim_info/0/scene_snapshot.json @@ -0,0 +1,348 @@ +{ + "trajectory_id": 0, + "env_id": 0, + "run_id": "stationassembly/000", + "task_type": "StationAssembly", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])", + "avatars": "avatar_manager.set_avatars_state(snapshot['avatars'], env_ids=[env_id]) (present when the scene has animated avatars)" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "table_A": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -2.0, + 1.5, + 0.23 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 0.9, + 0.6, + 0.4 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.78, + 0.72, + 0.62 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 1, + 1, + 1 + ] + } + }, + "type_specific": {} + } + ], + "table_B": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 1.2, + 3.0, + 0.23 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 0.9, + 0.6, + 0.4 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.62, + 0.72, + 0.78 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 1, + 1, + 1 + ] + } + }, + "type_specific": {} + } + ], + "shim_board": [ + { + "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MobileAssembly/shim_board_a05/Object.usd", + "pose": { + "pos": [ + 1.1391199827194214, + 3.1543900966644287, + 0.4300000071525574 + ], + "ori": [ + 0.7167602777481079, + 0.0, + 0.0, + -0.6973196864128113 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "collision": true, + "fixed_base": true, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 0.05235988274216652 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "wedge": [ + { + "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MobileAssembly/wedge_a05/Object.usd", + "pose": { + "pos": [ + -1.9829702377319336, + 1.3772599697113037, + 0.43000003695487976 + ], + "ori": [ + 0.7459198236465454, + -1.1883676052093506e-06, + -1.166015863418579e-06, + 0.6660357117652893 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.02102, + "physics_material": { + "static_friction": 0.8, + "dynamic_friction": 0.7, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.861796565412078e-05, + 4.5391811909212265e-06, + -6.011908772052266e-05 + ], + "angular_velocity": [ + 0.00017871956515591592, + -0.0022977027110755444, + -4.362655454315245e-05 + ] + } + } + ] + } + ], + "artifacts": [ + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 878.2134, + "texture": null, + "color": [ + 0.85, + 0.85, + 0.85 + ] + } + } + }, + "robots": { + "Go2Plus": { + "root_pose": [ + [ + -3.5000345706939697, + -2.5012474060058594, + 0.3521033227443695, + 0.8042839169502258, + 0.005877571180462837, + -0.0031609144061803818, + 0.5942076444625854 + ] + ], + "root_vel": [ + [ + -0.0019435015274211764, + -0.006108899135142565, + -0.003048809478059411, + -0.010390417650341988, + 0.008011394180357456, + -0.006672450341284275 + ] + ], + "joint_pos": [ + [ + 0.042101796716451645, + -0.03638000786304474, + -0.07291235774755478, + 0.08243794739246368, + -7.412547711282969e-05, + 0.6629128456115723, + 0.7445787191390991, + 1.026299238204956, + 1.0197097063064575, + 1.7056255340576172, + -1.5264068841934204, + -1.5517617464065552, + -1.5877965688705444, + -1.6098295450210571, + -0.9956569075584412, + 3.907147765858099e-05, + 0.6994938254356384, + -4.252692815498449e-05, + 0.034999996423721313, + -0.03499891608953476 + ] + ], + "joint_vel": [ + [ + -0.0007904066005721688, + -0.001449670409783721, + -0.010055376216769218, + -0.010604931972920895, + -0.00040124935912899673, + -0.01641707681119442, + -0.013965414837002754, + -0.02316279336810112, + -0.028050193563103676, + -0.03666280210018158, + -0.026404526084661484, + -0.039386309683322906, + -0.013488013297319412, + -0.010743769817054272, + -0.026301410049200058, + -7.222776184789836e-05, + 0.01125823799520731, + -0.00018893266678787768, + -2.490459394266509e-07, + 4.818533125217073e-05 + ] + ] + } + }, + "cameras": { + "cameras": { + "head": [ + [ + 0.33205100893974304, + 0.038026999682188034, + 0.09355899691581726, + -0.5022302269935608, + -0.499491810798645, + 0.5120040774345398, + 0.4859265089035034 + ] + ], + "wrist": [ + [ + -0.0749870017170906, + 0.005288999993354082, + 0.04582099989056587, + 0.1271296590566635, + 0.701795220375061, + -0.6904057860374451, + -0.12108422070741653 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/N025/go2_arm/dr_on/seed_2016/stationassembly/000/sim_info/0/sim_states.npz b/N025/go2_arm/dr_on/seed_2016/stationassembly/000/sim_info/0/sim_states.npz new file mode 100644 index 0000000000000000000000000000000000000000..a32fb187b5988c889ff1c286c4f1818c2c6e88c5 --- /dev/null +++ b/N025/go2_arm/dr_on/seed_2016/stationassembly/000/sim_info/0/sim_states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b9ffefb52653b2851c566f368799686522a295618855262ba7f0563d45bfff6e +size 768460 diff --git a/N025/go2_arm/dr_on/seed_2016/stationassembly/000/sim_info/magicsim_manifest.json b/N025/go2_arm/dr_on/seed_2016/stationassembly/000/sim_info/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..805a9b2ce26d163c257a71b12d786710bc26eb23 --- /dev/null +++ b/N025/go2_arm/dr_on/seed_2016/stationassembly/000/sim_info/magicsim_manifest.json @@ -0,0 +1,259 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 03:15:08" + }, + "embodiment": { + "robots": [ + { + "name": "Go2Plus", + "cfg": "Go2PlusCfg", + "type": "mobilemanip", + "joint_names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 12, + "nan_policy": "from_raw", + "segments": [ + { + "name": "Go2Plus.base_action", + "start": 0, + "end": 4, + "names": [ + "base_action_0", + "base_action_1", + "base_action_2", + "base_action_3" + ], + "source": "Go2UnifiedLocomotionAction", + "names_source": "fallback" + }, + { + "name": "Go2Plus.arm_action", + "start": 4, + "end": 11, + "names": [ + "eef0.pos_x", + "eef0.pos_y", + "eef0.pos_z", + "eef0.quat_w", + "eef0.quat_x", + "eef0.quat_y", + "eef0.quat_z" + ], + "source": "Go2PlusCuroboIKAction", + "names_source": "pose_layout" + }, + { + "name": "Go2Plus.eef_action", + "start": 11, + "end": 12, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 26, + "segments": [ + { + "name": "Go2Plus.joint_pos", + "start": 0, + "end": 24, + "names": [ + "joint_0", + "joint_1", + "joint_2", + "joint_3", + "joint_4", + "joint_5", + "joint_6", + "joint_7", + "joint_8", + "joint_9", + "joint_10", + "joint_11", + "joint_12", + "joint_13", + "joint_14", + "joint_15", + "joint_16", + "joint_17", + "joint_18", + "joint_19", + "joint_20", + "joint_21", + "joint_22", + "joint_23" + ], + "source": "ObservationManager", + "names_source": "fallback_dim_mismatch(joint_names=20,obs=24)" + }, + { + "name": "Go2Plus.gripper_pos", + "start": 24, + "end": 26, + "names": [ + "gripper_0", + "gripper_1" + ], + "source": "ObservationManager", + "names_source": "generated" + } + ] + }, + "joint_vel_layout": { + "dim": 20, + "segments": [ + { + "name": "Go2Plus.joint_vel", + "start": 0, + "end": 20, + "names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "action_levels": { + "L0": "task command list (collect.auto_collect_info.current_action)", + "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)", + "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)", + "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy", + "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)" + }, + "cameras": { + "head": { + "intrinsics": { + "K": [ + [ + 607.7061061683956, + 0.0, + 320.0 + ], + [ + 0.0, + 607.3754374751866, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 55.53991912549515, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.33205100893974304, + 0.038026999682188034, + 0.09355899691581726 + ], + "quat": [ + -0.5022302269935608, + -0.499491810798645, + 0.5120040774345398, + 0.4859265089035034 + ] + }, + "wrist": { + "intrinsics": { + "K": [ + [ + 617.2500342478374, + 0.0, + 320.0 + ], + [ + 0.0, + 617.548655622722, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 54.807019583348044, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + -0.0749870017170906, + 0.005288999993354082, + 0.04582099989056587 + ], + "quat": [ + 0.1271296590566635, + 0.701795220375061, + -0.6904057860374451, + -0.12108422070741653 + ] + } + }, + "generated_run": { + "run_id": "stationassembly/000", + "task_type": "StationAssembly" + } +} \ No newline at end of file diff --git a/N025/go2_arm/dr_on/seed_2016/stationassembly/000/visual_dr.json b/N025/go2_arm/dr_on/seed_2016/stationassembly/000/visual_dr.json new file mode 100644 index 0000000000000000000000000000000000000000..df1640bc91cbf91833f29b6d97e55643875a3fcd --- /dev/null +++ b/N025/go2_arm/dr_on/seed_2016/stationassembly/000/visual_dr.json @@ -0,0 +1,676 @@ +{ + "version": 1, + "settings": { + "enabled": false, + "keep": [ + "wedge", + "shim_board" + ], + "skip": [ + "*Robot_*", + "*/Camera*", + "*/camera*" + ], + "light_intensity": [ + 0.6, + 1.5 + ], + "light_color_temperature": [ + 3500.0, + 7500.0 + ], + "light_jitter_deg": 5.0, + "dome_swap_prob": 0.5, + "dome_tint_sat": [ + 0.0, + 0.15 + ], + "dome_yaw": true, + "hdr_dir": "$MAGICSIM_ASSETS/Background", + "tint_sat": [ + 0.0, + 0.3 + ], + "tint_val": [ + 0.7, + 1.0 + ], + "roughness_scale": [ + 0.8, + 1.25 + ], + "material_swap": true, + "material_swap_prob": 1.0, + "material_library": "$MAGICSIM_ASSETS/Material" + }, + "episodes": [ + { + "env_ids": [ + 0 + ], + "reset_index": 0, + "episode_seed": 2016, + "seeds": { + "0": 2016 + }, + "lights": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/RectLight", + "type": "RectLight", + "intensity": 19555.838171, + "intensity_base": 15000.0, + "enable_color_temperature": true, + "color_temperature_k": 4432.659188, + "rotate_deg": [ + -4.501, + 4.158, + 2.508 + ] + } + ], + "domes": [ + { + "path": "/World/background", + "type": "DomeLight", + "intensity": 604.134296, + "intensity_base": 878.2134, + "enable_color_temperature": true, + "color_temperature_k": 6989.900936, + "rotate_deg": [ + 0.0, + 0.0, + 104.734 + ], + "dome": { + "path": "/World/background", + "hdr_base": null, + "hdr": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Background/evening_road_01_4k.hdr", + "color": [ + 0.75106, + 0.702525, + 0.78421 + ] + } + } + ], + "materials": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light", + "shader": "omnipbr", + "color": [ + 0.7607, + 0.7935, + 0.834 + ], + "color_base": [ + 1.0, + 1.0, + 1.0 + ], + "roughness": 0.508665, + "roughness_base": 0.5, + "bound_prims": 1 + } + ], + "display_colors": [], + "swapped": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/ParquetFloor", + "role": "ground", + "mdl": "Source/Concrete/Concrete_Wall_Aged_Scratched.mdl", + "material": "/MmbVdrLooks/Source_Concrete_Concrete_Wall_Aged_Scratched", + "bound_prims": 1, + "pool_size": 42, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic", + "role": "wall", + "mdl": "Source/Concrete/Concrete_Formed.mdl", + "material": "/MmbVdrLooks/Source_Concrete_Concrete_Formed", + "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/Stone/Stone_Natural_Black.mdl", + "material": "/MmbVdrLooks/Source_Stone_Stone_Natural_Black", + "bound_prims": 10, + "pool_size": 28, + "bind_failed": 0 + } + ], + "skipped": { + "unsupported_shader": 1, + "protected_material": 0, + "error": 0, + "instance_proxy": 0, + "no_swap": 2, + "bind_failed": 0 + }, + "keep_hits": { + "wedge": 2, + "shim_board": 4 + }, + "physics_skip": { + "physics_binding": 7, + "rigid_body": 223, + "examples": [ + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calf_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calf_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calf_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calflower_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calflower1_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_foot_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_foot_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_hip/go2_FL_hip_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_hip/go2_FL_hip_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_hip/go2_FL_hip_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_thigh/go2_FL_thigh_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_thigh/go2_FL_thigh_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_thigh/go2_FL_thigh_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calf_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calf_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calf_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calflower_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calflower1_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_foot_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_foot_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_hip/go2_FR_hip_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_hip/go2_FR_hip_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_hip/go2_FR_hip_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_thigh/go2_FR_thigh_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_thigh/go2_FR_thigh_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_thigh/go2_FR_thigh_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calf_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calf_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calf_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calflower_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calflower1_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_foot_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_foot_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_hip/go2_RL_hip_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_hip/go2_RL_hip_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_hip/go2_RL_hip_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_thigh/go2_RL_thigh_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_thigh/go2_RL_thigh_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_thigh/go2_RL_thigh_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RR_calf/go2_RR_calf_geometry/visual_0", + "rigid_body" + ] + ] + }, + "material_library": { + "root": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Material", + "pool_sizes": { + "ground": 42, + "wall": 28, + "furniture": 38, + "object": 54 + } + }, + "no_swap": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass", + "reason": "glass", + "bound_prims": 1 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light", + "reason": "emissive", + "bound_prims": 1 + } + ], + "unsupported": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass", + "mdl": "OmniGlass.mdl", + "bound_prims": 1 + } + ] + }, + { + "env_ids": [ + 0 + ], + "reset_index": 1, + "episode_seed": 2016, + "seeds": { + "0": 2016 + }, + "lights": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/RectLight", + "type": "RectLight", + "intensity": 19555.838171, + "intensity_base": 15000.0, + "enable_color_temperature": true, + "color_temperature_k": 4432.659188, + "rotate_deg": [ + -4.501, + 4.158, + 2.508 + ] + } + ], + "domes": [ + { + "path": "/World/background", + "type": "DomeLight", + "intensity": 604.134296, + "intensity_base": 878.2134, + "enable_color_temperature": true, + "color_temperature_k": 6989.900936, + "rotate_deg": [ + 0.0, + 0.0, + 104.734 + ], + "dome": { + "path": "/World/background", + "hdr_base": null, + "hdr": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Background/evening_road_01_4k.hdr", + "color": [ + 0.75106, + 0.702525, + 0.78421 + ] + } + } + ], + "materials": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light", + "shader": "omnipbr", + "color": [ + 0.7607, + 0.7935, + 0.834 + ], + "color_base": [ + 1.0, + 1.0, + 1.0 + ], + "roughness": 0.508665, + "roughness_base": 0.5, + "bound_prims": 1 + } + ], + "display_colors": [], + "swapped": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/ParquetFloor", + "role": "ground", + "mdl": "Source/Concrete/Concrete_Wall_Aged_Scratched.mdl", + "material": "/MmbVdrLooks/Source_Concrete_Concrete_Wall_Aged_Scratched", + "bound_prims": 1, + "pool_size": 42, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic", + "role": "wall", + "mdl": "Source/Concrete/Concrete_Formed.mdl", + "material": "/MmbVdrLooks/Source_Concrete_Concrete_Formed", + "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/Stone/Stone_Natural_Black.mdl", + "material": "/MmbVdrLooks/Source_Stone_Stone_Natural_Black", + "bound_prims": 10, + "pool_size": 28, + "bind_failed": 0 + } + ], + "skipped": { + "unsupported_shader": 1, + "protected_material": 0, + "error": 0, + "instance_proxy": 0, + "no_swap": 2, + "bind_failed": 0 + }, + "keep_hits": { + "wedge": 2, + "shim_board": 4 + }, + "physics_skip": { + "physics_binding": 7, + "rigid_body": 223, + "examples": [ + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calf_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calf_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calf_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calflower_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calflower1_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_foot_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_foot_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_hip/go2_FL_hip_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_hip/go2_FL_hip_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_hip/go2_FL_hip_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_thigh/go2_FL_thigh_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_thigh/go2_FL_thigh_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_thigh/go2_FL_thigh_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calf_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calf_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calf_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calflower_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calflower1_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_foot_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_foot_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_hip/go2_FR_hip_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_hip/go2_FR_hip_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_hip/go2_FR_hip_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_thigh/go2_FR_thigh_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_thigh/go2_FR_thigh_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_thigh/go2_FR_thigh_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calf_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calf_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calf_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calflower_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calflower1_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_foot_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_foot_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_hip/go2_RL_hip_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_hip/go2_RL_hip_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_hip/go2_RL_hip_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_thigh/go2_RL_thigh_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_thigh/go2_RL_thigh_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_thigh/go2_RL_thigh_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RR_calf/go2_RR_calf_geometry/visual_0", + "rigid_body" + ] + ] + }, + "material_library": { + "root": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Material", + "pool_sizes": { + "ground": 42, + "wall": 28, + "furniture": 38, + "object": 54 + } + }, + "no_swap": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass", + "reason": "glass", + "bound_prims": 1 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light", + "reason": "emissive", + "bound_prims": 1 + } + ], + "unsupported": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass", + "mdl": "OmniGlass.mdl", + "bound_prims": 1 + } + ] + } + ] +} \ No newline at end of file diff --git a/N025/sawyer_umi/dr_off/seed_1016/check.json b/N025/sawyer_umi/dr_off/seed_1016/check.json new file mode 100644 index 0000000000000000000000000000000000000000..62afb832cbd47cd93c840b85f031ea310fa32314 --- /dev/null +++ b/N025/sawyer_umi/dr_off/seed_1016/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "1366 rows vs ceil(2731/2) = 1366" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 31..2761, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "14.63 MB, 1366 frames at 25 fps, mean luma 90..141, std 37, new picture 1365x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1366 vs 1366" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "24.07 MB, 1366 frames at 25 fps, mean luma 96..175, std 40, new picture 1365x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1366 vs 1366" + }, + "sim_info present": { + "pass": true, + "detail": "stationassembly/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N025/sawyer_umi/dr_off/seed_1016/check.txt b/N025/sawyer_umi/dr_off/seed_1016/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..56d13b066efd7338248c65edce6ee2b88b4707d3 --- /dev/null +++ b/N025/sawyer_umi/dr_off/seed_1016/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n025_saw_off_1016/out task=N025 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n025_saw_off_1016/out/stationassembly/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1366 videos 2 robot_type RidgebackSawyerUmiCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 1366 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1'] +[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z'] +[PASS] task text = MobileBench instruction: task_index 0: 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.' +rows 1366 at dataset fps 25 = 54.64 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1366 rows vs ceil(2731/2) = 1366 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..2761, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 14.63 MB, 1366 frames at 25 fps, mean luma 90..141, std 37, new picture 1365x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1366 vs 1366 +[PASS] video observation.images.wrist decodes, 640x480, not black: 24.07 MB, 1366 frames at 25 fps, mean luma 96..175, std 40, new picture 1365x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1366 vs 1366 +parquet size 2.04 MB +[PASS] sim_info present: stationassembly/000/sim_info +dataset size 40.91 MB; whole cell dir 41.8 MB +RESULT: ALL PASS diff --git a/N025/sawyer_umi/dr_off/seed_1016/report.json b/N025/sawyer_umi/dr_off/seed_1016/report.json new file mode 100644 index 0000000000000000000000000000000000000000..1708bc8b6b2c783d5698ee3822c4567646f0e518 --- /dev/null +++ b/N025/sawyer_umi/dr_off/seed_1016/report.json @@ -0,0 +1,1780 @@ +{ + "task": "N025", + "agent_id": null, + "embodiment": "sawyer_umi", + "level": "easy", + "scene_seed": 1016, + "execution_mode": "headless_collect_chain(StationAssembly->NavToPose/ReachStance/AssemblyGrasp/CarryPose/AssemblyInsert->NavTo+MobileMoveL+AssemblyServoL->cuRobo)", + "config": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/src/magicsim/Collect/Task/MobileAssembly/Conf/n025_wedge_shim.yaml", + "full_success": true, + "failure_reason": null, + "dr": { + "seed": 1016, + "wedge": { + "dx": 0.03759, + "dy": 0.03336, + "yaw_deg": 1.84245 + }, + "shim_board": { + "dx": 0.02613, + "dy": -0.00444, + "yaw_deg": -1.50917 + }, + "wedge_mass": 0.03701, + "light": 1153.61472, + "spawn": { + "dx": -0.02411, + "dy": 0.03449, + "yaw_deg": -1.33464 + }, + "overrides": { + "env.scene.objects.wedge.common.pos": [ + -1.96241, + 1.43336, + 0.431 + ], + "env.scene.objects.wedge.common.ori": [ + 0.0, + 0.0, + 91.84245 + ], + "env.scene.objects.shim_board.common.pos": [ + 1.22613, + 3.14556, + 0.43 + ], + "env.scene.objects.shim_board.common.ori": [ + 0.0, + 0.0, + -91.50917 + ], + "env.scene.objects.wedge.wedge_1.physics.mass": 0.03701, + "env.scene.background.intensity": [ + 1153.61472, + 1153.61472 + ], + "env.robot.RidgebackSawyerUmi.common.pos": [ + [ + -3.62411, + -2.46551, + 0.06 + ], + [ + -3.62411, + -2.46551, + 0.06 + ] + ], + "env.robot.RidgebackSawyerUmi.common.ori": [ + [ + 0, + 0, + 58.66536 + ], + [ + 0, + 0, + 58.66536 + ] + ] + } + }, + "planner_seeds": { + "label": "default", + "num_trajopt_seeds": null, + "num_ik_seeds": null, + "max_attempts": 6 + }, + "collect": { + "task": "N025", + "robot": "sawyer_umi", + "visual_dr": false, + "env": { + "MMB_COLLECT": "1", + "MMB_TASK_ID": "N025", + "MMB_CLEAN_VIEW": "1", + "MMB_REAL_ROBOT_LOOK": "1", + "MMB_VISUAL_DR": "0" + }, + "cameras": { + "head": { + "link": "Robot_0/head", + "pos": [ + 0.2166, + 0.0, + -0.045 + ], + "ori": [ + -0.0, + 35.0, + -90.0 + ], + "focal_length": 2.0, + "horizontal_aperture": 3.6, + "vertical_aperture": 2.7 + }, + "wrist": { + "link": "Robot_0/right_electric_gripper_base", + "pos": [ + 0.0598, + 0.0, + 0.03 + ], + "ori": [ + 180.0, + 0.0, + -90.0 + ], + "focal_length": 1.8, + "horizontal_aperture": 3.6, + "vertical_aperture": 2.7 + } + }, + "resolution": [ + 640, + 480 + ], + "camera_hz": 25, + "record": { + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + } + }, + "steps": 2761, + "task_id": "N025", + "task_version": "EXT60-MobileAvatar-v3", + "family_id": "wedge_support", + "primary_category": "C4", + "env_terminated": true, + "env_truncated": false, + "station_layout": { + "S": { + "pose": [ + -3.6, + -2.5, + 60.0 + ] + }, + "A": { + "center": [ + -2.0, + 0.6 + ], + "zone_radius": 0.6, + "table": "table_A" + }, + "B": { + "center": [ + 1.2, + 2.1 + ], + "zone_radius": 0.6, + "table": "table_B" + } + }, + "spawn_pose": [ + -3.6241097450256348, + -2.4655096530914307, + 1.0239037095098025 + ], + "base_path": [ + [ + -3.624, + -2.466, + 1.024 + ], + [ + -3.624, + -2.466, + 1.024 + ], + [ + -3.624, + -2.466, + 1.024 + ], + [ + -3.624, + -2.465, + 1.025 + ], + [ + -3.612, + -2.445, + 1.049 + ], + [ + -3.584, + -2.395, + 1.068 + ], + [ + -3.557, + -2.342, + 1.081 + ], + [ + -3.529, + -2.289, + 1.089 + ], + [ + -3.502, + -2.235, + 1.095 + ], + [ + -3.476, + -2.181, + 1.099 + ], + [ + -3.451, + -2.127, + 1.101 + ], + [ + -3.424, + -2.073, + 1.103 + ], + [ + -3.397, + -2.02, + 1.104 + ], + [ + -3.37, + -1.966, + 1.105 + ], + [ + -3.343, + -1.912, + 1.105 + ], + [ + -3.318, + -1.858, + 1.106 + ], + [ + -3.29, + -1.805, + 1.106 + ], + [ + -3.263, + -1.751, + 1.106 + ], + [ + -3.236, + -1.698, + 1.106 + ], + [ + -3.209, + -1.644, + 1.106 + ], + [ + -3.182, + -1.591, + 1.106 + ], + [ + -3.156, + -1.537, + 1.106 + ], + [ + -3.129, + -1.483, + 1.106 + ], + [ + -3.102, + -1.429, + 1.106 + ], + [ + -3.075, + -1.376, + 1.106 + ], + [ + -3.048, + -1.322, + 1.106 + ], + [ + -3.021, + -1.269, + 1.106 + ], + [ + -2.994, + -1.215, + 1.106 + ], + [ + -2.968, + -1.161, + 1.106 + ], + [ + -2.941, + -1.107, + 1.106 + ], + [ + -2.914, + -1.054, + 1.106 + ], + [ + -2.887, + -1.0, + 1.106 + ], + [ + -2.86, + -0.947, + 1.106 + ], + [ + -2.833, + -0.893, + 1.106 + ], + [ + -2.806, + -0.84, + 1.106 + ], + [ + -2.78, + -0.786, + 1.106 + ], + [ + -2.753, + -0.732, + 1.106 + ], + [ + -2.726, + -0.678, + 1.106 + ], + [ + -2.699, + -0.625, + 1.106 + ], + [ + -2.672, + -0.571, + 1.106 + ], + [ + -2.644, + -0.518, + 1.106 + ], + [ + -2.618, + -0.464, + 1.106 + ], + [ + -2.592, + -0.41, + 1.106 + ], + [ + -2.565, + -0.356, + 1.106 + ], + [ + -2.538, + -0.303, + 1.106 + ], + [ + -2.51, + -0.249, + 1.106 + ], + [ + -2.483, + -0.196, + 1.106 + ], + [ + -2.456, + -0.142, + 1.106 + ], + [ + -2.43, + -0.088, + 1.106 + ], + [ + -2.403, + -0.034, + 1.106 + ], + [ + -2.376, + 0.019, + 1.106 + ], + [ + -2.349, + 0.073, + 1.106 + ], + [ + -2.322, + 0.126, + 1.106 + ], + [ + -2.295, + 0.18, + 1.106 + ], + [ + -2.268, + 0.233, + 1.106 + ], + [ + -2.241, + 0.287, + 1.106 + ], + [ + -2.211, + 0.338, + 1.106 + ], + [ + -2.177, + 0.38, + 1.106 + ], + [ + -2.149, + 0.415, + 1.106 + ], + [ + -2.125, + 0.445, + 1.106 + ], + [ + -2.105, + 0.469, + 1.106 + ], + [ + -2.088, + 0.49, + 1.106 + ], + [ + -2.074, + 0.508, + 1.106 + ], + [ + -2.062, + 0.523, + 1.106 + ], + [ + -2.06, + 0.526, + 1.228 + ], + [ + -2.06, + 0.526, + 1.318 + ], + [ + -2.06, + 0.526, + 1.384 + ], + [ + -2.06, + 0.526, + 1.434 + ], + [ + -2.06, + 0.526, + 1.461 + ], + [ + -2.06, + 0.526, + 1.461 + ], + [ + -2.06, + 0.526, + 1.461 + ], + [ + -2.06, + 0.526, + 1.461 + ], + [ + -2.06, + 0.526, + 1.461 + ], + [ + -2.06, + 0.526, + 1.461 + ], + [ + -2.06, + 0.526, + 1.461 + ], + [ + -2.06, + 0.526, + 1.461 + ], + [ + -2.06, + 0.526, + 1.461 + ], + [ + -2.06, + 0.526, + 1.461 + ], + [ + -2.06, + 0.526, + 1.461 + ], + [ + -2.06, + 0.526, + 1.461 + ], + [ + -2.06, + 0.526, + 1.461 + ], + [ + -2.06, + 0.526, + 1.461 + ], + [ + -2.06, + 0.526, + 1.461 + ], + [ + -2.06, + 0.526, + 1.461 + ], + [ + -2.06, + 0.526, + 1.461 + ], + [ + -2.06, + 0.526, + 1.461 + ], + [ + -2.06, + 0.526, + 1.461 + ], + [ + -2.06, + 0.526, + 1.461 + ], + [ + -2.06, + 0.526, + 1.461 + ], + [ + -2.06, + 0.526, + 1.461 + ], + [ + -2.06, + 0.526, + 1.461 + ], + [ + -2.06, + 0.526, + 1.461 + ], + [ + -2.06, + 0.526, + 1.461 + ], + [ + -2.06, + 0.526, + 1.461 + ], + [ + -2.06, + 0.526, + 1.461 + ], + [ + -2.06, + 0.526, + 1.461 + ], + [ + -2.06, + 0.526, + 1.461 + ], + [ + -2.06, + 0.526, + 1.461 + ], + [ + -2.06, + 0.526, + 1.461 + ], + [ + -2.06, + 0.526, + 1.461 + ], + [ + -2.06, + 0.526, + 1.461 + ], + [ + -2.06, + 0.526, + 1.461 + ], + [ + -2.06, + 0.526, + 1.461 + ], + [ + -2.06, + 0.526, + 1.461 + ], + [ + -2.06, + 0.526, + 1.461 + ], + [ + -2.06, + 0.526, + 1.461 + ], + [ + -2.06, + 0.526, + 1.461 + ], + [ + -2.06, + 0.526, + 1.461 + ], + [ + -2.06, + 0.526, + 1.461 + ], + [ + -2.06, + 0.526, + 1.461 + ], + [ + -2.06, + 0.526, + 1.461 + ], + [ + -2.06, + 0.526, + 1.461 + ], + [ + -2.06, + 0.526, + 1.461 + ], + [ + -2.06, + 0.526, + 1.461 + ], + [ + -2.06, + 0.526, + 1.461 + ], + [ + -2.06, + 0.526, + 1.461 + ], + [ + -2.06, + 0.526, + 1.461 + ], + [ + -2.06, + 0.526, + 1.461 + ], + [ + -2.06, + 0.526, + 1.461 + ], + [ + -2.06, + 0.526, + 1.461 + ], + [ + -2.06, + 0.526, + 1.461 + ], + [ + -2.06, + 0.526, + 1.461 + ], + [ + -2.06, + 0.526, + 1.461 + ], + [ + -2.06, + 0.526, + 1.461 + ], + [ + -2.06, + 0.526, + 1.461 + ], + [ + -2.06, + 0.526, + 1.461 + ], + [ + -2.06, + 0.526, + 1.461 + ], + [ + -2.06, + 0.526, + 1.461 + ], + [ + -2.06, + 0.526, + 1.461 + ], + [ + -2.06, + 0.526, + 1.461 + ], + [ + -2.06, + 0.526, + 1.461 + ], + [ + -2.06, + 0.526, + 1.461 + ], + [ + -2.059, + 0.526, + 1.35 + ], + [ + -2.059, + 0.526, + 1.19 + ], + [ + -2.059, + 0.526, + 1.03 + ], + [ + -2.059, + 0.526, + 0.87 + ], + [ + -2.059, + 0.526, + 0.723 + ], + [ + -2.048, + 0.533, + 0.593 + ], + [ + -2.005, + 0.559, + 0.497 + ], + [ + -1.96, + 0.58, + 0.433 + ], + [ + -1.92, + 0.594, + 0.391 + ], + [ + -1.872, + 0.609, + 0.363 + ], + [ + -1.83, + 0.621, + 0.344 + ], + [ + -1.788, + 0.632, + 0.331 + ], + [ + -1.743, + 0.644, + 0.323 + ], + [ + -1.705, + 0.653, + 0.317 + ], + [ + -1.659, + 0.666, + 0.314 + ], + [ + -1.618, + 0.677, + 0.311 + ], + [ + -1.577, + 0.688, + 0.31 + ], + [ + -1.534, + 0.701, + 0.309 + ], + [ + -1.498, + 0.711, + 0.308 + ], + [ + -1.452, + 0.725, + 0.308 + ], + [ + -1.413, + 0.736, + 0.307 + ], + [ + -1.373, + 0.748, + 0.307 + ], + [ + -1.331, + 0.76, + 0.303 + ], + [ + -1.295, + 0.772, + 0.289 + ], + [ + -1.25, + 0.785, + 0.278 + ], + [ + -1.212, + 0.796, + 0.27 + ], + [ + -1.172, + 0.806, + 0.264 + ], + [ + -1.13, + 0.817, + 0.26 + ], + [ + -1.094, + 0.827, + 0.257 + ], + [ + -1.05, + 0.838, + 0.255 + ], + [ + -1.011, + 0.848, + 0.254 + ], + [ + -0.971, + 0.859, + 0.253 + ], + [ + -0.929, + 0.87, + 0.253 + ], + [ + -0.893, + 0.879, + 0.253 + ], + [ + -0.849, + 0.89, + 0.252 + ], + [ + -0.811, + 0.9, + 0.252 + ], + [ + -0.771, + 0.91, + 0.252 + ], + [ + -0.729, + 0.921, + 0.252 + ], + [ + -0.693, + 0.93, + 0.252 + ], + [ + -0.648, + 0.942, + 0.252 + ], + [ + -0.61, + 0.952, + 0.252 + ], + [ + -0.57, + 0.962, + 0.252 + ], + [ + -0.528, + 0.973, + 0.252 + ], + [ + -0.493, + 0.982, + 0.252 + ], + [ + -0.448, + 0.994, + 0.252 + ], + [ + -0.41, + 1.003, + 0.252 + ], + [ + -0.37, + 1.013, + 0.252 + ], + [ + -0.328, + 1.024, + 0.252 + ], + [ + -0.293, + 1.033, + 0.252 + ], + [ + -0.249, + 1.045, + 0.252 + ], + [ + -0.21, + 1.055, + 0.252 + ], + [ + -0.17, + 1.065, + 0.252 + ], + [ + -0.128, + 1.076, + 0.252 + ], + [ + -0.092, + 1.085, + 0.252 + ], + [ + -0.048, + 1.096, + 0.252 + ], + [ + -0.01, + 1.106, + 0.252 + ], + [ + 0.03, + 1.116, + 0.252 + ], + [ + 0.072, + 1.127, + 0.252 + ], + [ + 0.108, + 1.136, + 0.252 + ], + [ + 0.152, + 1.148, + 0.252 + ], + [ + 0.19, + 1.158, + 0.252 + ], + [ + 0.23, + 1.168, + 0.252 + ], + [ + 0.272, + 1.178, + 0.252 + ], + [ + 0.307, + 1.187, + 0.252 + ], + [ + 0.352, + 1.199, + 0.252 + ], + [ + 0.39, + 1.208, + 0.252 + ], + [ + 0.43, + 1.218, + 0.252 + ], + [ + 0.472, + 1.229, + 0.252 + ], + [ + 0.507, + 1.238, + 0.252 + ], + [ + 0.552, + 1.25, + 0.252 + ], + [ + 0.59, + 1.26, + 0.252 + ], + [ + 0.63, + 1.27, + 0.252 + ], + [ + 0.672, + 1.28, + 0.252 + ], + [ + 0.707, + 1.289, + 0.252 + ], + [ + 0.752, + 1.301, + 0.252 + ], + [ + 0.79, + 1.31, + 0.252 + ], + [ + 0.83, + 1.321, + 0.252 + ], + [ + 0.872, + 1.331, + 0.252 + ], + [ + 0.907, + 1.34, + 0.252 + ], + [ + 0.952, + 1.356, + 0.252 + ], + [ + 0.99, + 1.37, + 0.252 + ], + [ + 1.024, + 1.382, + 0.252 + ], + [ + 1.052, + 1.393, + 0.252 + ], + [ + 1.075, + 1.402, + 0.252 + ], + [ + 1.096, + 1.409, + 0.252 + ], + [ + 1.11, + 1.416, + 0.299 + ], + [ + 1.111, + 1.417, + 0.459 + ], + [ + 1.111, + 1.417, + 0.619 + ], + [ + 1.111, + 1.417, + 0.779 + ], + [ + 1.111, + 1.417, + 0.939 + ], + [ + 1.111, + 1.417, + 1.097 + ], + [ + 1.111, + 1.417, + 1.221 + ], + [ + 1.111, + 1.417, + 1.313 + ], + [ + 1.111, + 1.417, + 1.381 + ], + [ + 1.111, + 1.417, + 1.431 + ], + [ + 1.109, + 1.426, + 1.44 + ], + [ + 1.111, + 1.463, + 1.44 + ], + [ + 1.115, + 1.5, + 1.44 + ], + [ + 1.118, + 1.539, + 1.44 + ], + [ + 1.122, + 1.577, + 1.44 + ], + [ + 1.125, + 1.615, + 1.443 + ], + [ + 1.128, + 1.653, + 1.447 + ], + [ + 1.13, + 1.691, + 1.45 + ], + [ + 1.133, + 1.728, + 1.452 + ], + [ + 1.136, + 1.767, + 1.455 + ], + [ + 1.139, + 1.804, + 1.458 + ], + [ + 1.142, + 1.843, + 1.46 + ], + [ + 1.144, + 1.881, + 1.463 + ], + [ + 1.147, + 1.919, + 1.465 + ], + [ + 1.15, + 1.956, + 1.468 + ], + [ + 1.153, + 1.994, + 1.47 + ], + [ + 1.155, + 2.032, + 1.474 + ], + [ + 1.159, + 2.066, + 1.475 + ], + [ + 1.161, + 2.091, + 1.475 + ], + [ + 1.163, + 2.11, + 1.475 + ], + [ + 1.164, + 2.124, + 1.475 + ], + [ + 1.165, + 2.134, + 1.475 + ], + [ + 1.165, + 2.136, + 1.475 + ], + [ + 1.165, + 2.136, + 1.475 + ], + [ + 1.165, + 2.136, + 1.475 + ], + [ + 1.165, + 2.136, + 1.475 + ], + [ + 1.165, + 2.136, + 1.475 + ], + [ + 1.165, + 2.136, + 1.475 + ], + [ + 1.165, + 2.136, + 1.475 + ], + [ + 1.165, + 2.136, + 1.475 + ], + [ + 1.165, + 2.136, + 1.475 + ], + [ + 1.165, + 2.136, + 1.474 + ], + [ + 1.165, + 2.136, + 1.475 + ], + [ + 1.165, + 2.136, + 1.475 + ], + [ + 1.165, + 2.136, + 1.475 + ], + [ + 1.165, + 2.136, + 1.475 + ], + [ + 1.165, + 2.136, + 1.475 + ], + [ + 1.165, + 2.136, + 1.475 + ], + [ + 1.165, + 2.136, + 1.475 + ], + [ + 1.165, + 2.136, + 1.475 + ], + [ + 1.165, + 2.136, + 1.475 + ], + [ + 1.165, + 2.136, + 1.475 + ], + [ + 1.165, + 2.136, + 1.475 + ], + [ + 1.165, + 2.136, + 1.475 + ], + [ + 1.165, + 2.136, + 1.475 + ], + [ + 1.165, + 2.136, + 1.475 + ], + [ + 1.165, + 2.136, + 1.475 + ], + [ + 1.165, + 2.136, + 1.475 + ], + [ + 1.165, + 2.136, + 1.475 + ], + [ + 1.165, + 2.136, + 1.475 + ] + ], + "stage_events": [ + { + "step": 30, + "event": "stage_start", + "stage": "nav_A" + }, + { + "step": 517, + "event": "enter_zone", + "zone": "A", + "base": [ + -2.333, + 0.105 + ] + }, + { + "step": 669, + "event": "stage_done", + "stage": "nav_A", + "skill_state": "finished: planner reached target" + }, + { + "step": 669, + "event": "stage_start", + "stage": "stance_A" + }, + { + "step": 676, + "event": "stage_done", + "stage": "stance_A", + "skill_state": "finished" + }, + { + "step": 676, + "event": "stage_start", + "stage": "pick" + }, + { + "step": 1107, + "event": "picked", + "part": [ + -1.9596, + 1.4359, + 0.4611 + ], + "gap_mm": 32.3, + "lift_mm": 31.1 + }, + { + "step": 1154, + "event": "stage_done", + "stage": "pick", + "skill_state": "finished" + }, + { + "step": 1154, + "event": "stage_start", + "stage": "carry" + }, + { + "step": 1314, + "event": "stage_done", + "stage": "carry", + "skill_state": "finished" + }, + { + "step": 1314, + "event": "stage_start", + "stage": "nav_B" + }, + { + "step": 2259, + "event": "stage_done", + "stage": "nav_B", + "skill_state": "finished: planner reached target" + }, + { + "step": 2259, + "event": "stage_start", + "stage": "stance_B" + }, + { + "step": 2293, + "event": "enter_zone", + "zone": "B", + "base": [ + 1.116, + 1.508 + ] + }, + { + "step": 2482, + "event": "stage_done", + "stage": "stance_B", + "skill_state": "finished" + }, + { + "step": 2482, + "event": "stage_start", + "stage": "assemble" + }, + { + "step": 2482, + "event": "wp_start", + "name": "pre_insert", + "kind": "plan" + }, + { + "step": 2482, + "event": "assemble_start", + "t_l6_part": [ + 0.2346, + -0.0128, + -0.0047, + 0.4941, + 0.4945, + -0.5055, + -0.5058 + ] + }, + { + "step": 2572, + "event": "wp_done", + "name": "pre_insert" + }, + { + "step": 2572, + "event": "wp_start", + "name": "align", + "kind": "servo" + }, + { + "step": 2644, + "event": "wp_done", + "name": "align" + }, + { + "step": 2644, + "event": "wp_start", + "name": "insert", + "kind": "servo" + }, + { + "step": 2728, + "event": "stop_condition", + "name": "board_level", + "wp": "insert" + }, + { + "step": 2728, + "event": "wp_done", + "name": "insert" + }, + { + "step": 2728, + "event": "release_start" + }, + { + "step": 2732, + "event": "released", + "gap_mm": 39.3 + }, + { + "step": 2761, + "event": "success", + "ok": true, + "tilt_deg": -0.24, + "tilt_err_deg": -0.24, + "support_gap_mm": 1.15, + "wedge_on_plate": true, + "wedge_x_mm": 285.1, + "wedge_yaw_deg": -180.0, + "board_touch_steps": 0 + } + ], + "station_transition_order": [ + "S", + "A", + "B" + ], + "interstation_path_lengths": { + "S": 2.877, + "S->A": 3.898, + "A->B": 0.629 + }, + "base_path_length": 7.404, + "distance_to_first_interaction": 3.382, + "regrasp_events": 0, + "violations": [], + "end_state": { + "ok": true, + "tilt_deg": -0.24, + "tilt_err_deg": -0.24, + "support_gap_mm": 1.15, + "wedge_on_plate": true, + "wedge_x_mm": 285.1, + "wedge_yaw_deg": -180.0, + "board_touch_steps": 0 + }, + "manipulation_success": true, + "mobile_success": true, + "transport_state": { + "picked": true, + "released": true + }, + "command_state": null, + "elapsed_s": 809.4 +} diff --git a/N025/sawyer_umi/dr_off/seed_1016/stationassembly/000/completed/0.json b/N025/sawyer_umi/dr_off/seed_1016/stationassembly/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..1db0234d1d09a173dbe0f48b261236e22fe34f76 --- /dev/null +++ b/N025/sawyer_umi/dr_off/seed_1016/stationassembly/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationassembly/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N025/sawyer_umi/dr_off/seed_1016/stationassembly/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N025/sawyer_umi/dr_off/seed_1016/stationassembly/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..b14fa234565ad4f15d073fae403bee3437d4e584 --- /dev/null +++ b/N025/sawyer_umi/dr_off/seed_1016/stationassembly/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e4e127767f2cefe58dc676aeea3fbc042b14de7a8c471d11d47cdeca5b197e66 +size 2037558 diff --git a/N025/sawyer_umi/dr_off/seed_1016/stationassembly/000/lerobot_v21/meta/episodes.jsonl b/N025/sawyer_umi/dr_off/seed_1016/stationassembly/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8b4182d96436844f9b3925a91b87a7821ed15127 --- /dev/null +++ b/N025/sawyer_umi/dr_off/seed_1016/stationassembly/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level."], "length": 1366, "magicsim/control_steps": 2731, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a medium shim board and a small wedge. The gray table A is to the left of the wedge. The gray table B is to the right of the shim board. The shim board is on top of the gray table B. The shim board is to the left of the gray table B. The wedge is on top of the gray table A. The wedge is to the right of the gray table A. The scene is viewed from front-right, at table height."} diff --git a/N025/sawyer_umi/dr_off/seed_1016/stationassembly/000/lerobot_v21/meta/episodes_stats.jsonl b/N025/sawyer_umi/dr_off/seed_1016/stationassembly/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3c5f706620906c89f72e9e658bb00dc5de4954eb --- /dev/null +++ b/N025/sawyer_umi/dr_off/seed_1016/stationassembly/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.1360377347544054, -0.0008922143386592366, 0.007972070078009612, -0.8162085274738937, 1.16584938522401, 0.9206704371670155, -0.004253342563477665, 0.283559871431151, -0.047105380721897495, -0.3110024580625629, 0.6251830161054173], "std": [0.12159253316859661, 0.00817609897391392, 0.17931451294304343, 1.6350656852916579, 1.0748908239443908, 0.23467517553664116, 0.2911896810694096, 0.5427611788373149, 0.32623375732990334, 0.5786401624695875, 0.4840756268174973], "min": [0.0, -0.061760157346725464, -0.800000011920929, -3.484562635421753, -1.92300546169281, 0.6645000576972961, -0.49433112144470215, -0.7145462036132812, -0.4497080445289612, -0.714329719543457, 0.0], "max": [0.30000001192092896, 0.025014834478497505, 0.800000011920929, 1.699584722518921, 2.8608696460723877, 1.3033586740493774, 0.5232038497924805, 0.7132243514060974, 0.5095844268798828, 0.7759466171264648, 1.0], "count": [1366]}, "action_is_hold": {"mean": [0.008784773060029283, 0.008784773060029283, 0.008784773060029283, 0.04758418740849195, 0.04758418740849195, 0.04758418740849195, 0.04758418740849195, 0.04758418740849195, 0.04758418740849195, 0.04758418740849195, 0.8645680819912153], "std": [0.0933145263199322, 0.0933145263199322, 0.0933145263199322, 0.21288478695568488, 0.21288478695568488, 0.21288478695568488, 0.21288478695568488, 0.21288478695568488, 0.21288478695568488, 0.21288478695568488, 0.3421843269251951], "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": [1366]}, "observation.state": {"mean": [0.36819178049246704, -3.0407700348389097, 1.0074387311848156, 0.030329820427544008, 7.820394540414139e-08, -1.4977336568678805, -0.35359276816876206, 1.4823413462886699, -0.059205630896326834, 1.7333399637726354, 0.8151323517481561, 0.009993026954041145, -0.015787736108072145, -0.015787736108072145, -0.009993026954041145], "std": [1.669928723456286, 0.8844451534718344, 0.5040554781145722, 0.12278232678680488, 2.201146094101168e-05, 0.20762926616323657, 0.27434222633288996, 0.6406528955388895, 0.13360523120983475, 0.630735743856325, 0.5012603021330232, 0.006396032179970383, 0.008874843984014938, 0.008874843984014938, 0.006396032179970383], "min": [-3.624109983444214, -4.490960121154785, 0.2519364356994629, -0.36447814106941223, -0.00013688822218682617, -1.6672205924987793, -0.8841615915298462, 0.49216553568840027, -0.26984667778015137, 0.8237057328224182, -0.016222238540649414, 0.0, -0.020833000540733337, -0.020833000540733337, -0.020833000540733337], "max": [2.7965428829193115, -2.2123193740844727, 1.4745256900787354, 0.3633838891983032, 0.0003623889060690999, -0.9409329295158386, 0.11134760081768036, 2.2651259899139404, 0.25712865591049194, 2.703890562057495, 1.2205395698547363, 0.020833000540733337, 0.0, 0.0, -0.0], "count": [1366]}, "observation.joint_vel": {"mean": [0.11758624395250636, -0.0310632931219028, 0.008577935548095023, 0.0019365527571842697, -9.471955288589895e-05, 0.006575706465899124, -0.00976415596221481, 0.027534944102644527, 0.013253071788937268, -0.019160971010383155, 0.038542770401661194, -0.01917891307013823, 0.00021826793511324093], "std": [0.11270088745143639, 0.0745864261779759, 0.17844185158337042, 0.07608016082798962, 0.0009465782030103543, 0.07448079319116314, 0.09159449551255425, 0.08549539279397746, 0.08395937805353534, 0.11259812094866227, 0.07841405698905883, 0.025506741739574484, 0.007983073644174558], "min": [-0.00030000307015143335, -0.17693261802196503, -0.8000425696372986, -0.23759235441684723, -0.020225394517183304, -0.16396480798721313, -0.19334742426872253, -0.2050410807132721, -0.3361954987049103, -0.3298071026802063, -0.3378252685070038, -0.09999535232782364, -0.10011183470487595], "max": [0.3038162291049957, 0.09998400509357452, 0.8001261949539185, 0.18775460124015808, 0.008882264606654644, 0.17426976561546326, 0.24312014877796173, 0.203372985124588, 0.33243757486343384, 0.2892153263092041, 0.3464248478412628, 0.10001599788665771, 0.09957137703895569], "count": [1366]}, "observation.eef_pose": {"mean": [-0.8166171371354551, 1.1650832324271059, 0.9237293416026047, 0.06413453334729742, 0.6083953231573105, -0.03742180274196765, -0.6525060060607217], "std": [1.6352827217330008, 1.0742474337157568, 0.23507236700070525, 0.28700078974283744, 0.07204556353847989, 0.32828116711521804, 0.056997977159025055], "min": [-3.487123966217041, -1.92300546169281, 0.6649414300918579, -0.30670279264450073, 0.47523367404937744, -0.449939489364624, -0.7596597075462341], "max": [1.699709415435791, 2.8608639240264893, 1.3055216073989868, 0.5232037305831909, 0.7126371264457703, 0.509584367275238, -0.49064701795578003], "count": [1366]}, "observation.environment_state": {"mean": [0.05143972042208949, -0.0014446795051258957, 1.2261300086975098, 3.1455600261688232, 0.4300000071525574, -0.6977331638336182, 0.0, -9.313225746154785e-10, 0.7163577675819397, -2.0, 1.5, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, 1.2000000476837158, 3.0, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, -0.6541285771606585, 1.5621366729935302, 0.5006396532669598, 0.7818994144656822, -0.018300158322786086, 0.05057309162321472, 0.5624871419996329], "std": [0.006144570206749808, 0.01358891724764904, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4286088279083036, 0.5553125111042696, 0.06394030585708503, 0.1249824930424179, 0.026054800271813807, 0.051975996081015226, 0.22438360735649646], "min": [0.004119853489100933, -0.16355182230472565, 1.2261300086975098, 3.1455600261688232, 0.4300000071525574, -0.6977331638336182, 0.0, -9.313225746154785e-10, 0.7163577675819397, -2.0, 1.5, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, 1.2000000476837158, 3.0, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, -1.9897608757019043, 0.801275908946991, 0.429999977350235, 0.6620221734046936, -0.09066798537969589, -0.010521458461880684, 0.21300089359283447], "max": [0.05235988274216652, 0.006686046719551086, 1.2261300086975098, 3.1455600261688232, 0.4300000071525574, -0.6977331638336182, 0.0, -9.313225746154785e-10, 0.7163577675819397, -2.0, 1.5, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, 1.2000000476837158, 3.0, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, 1.6589704751968384, 2.8605923652648926, 0.5808077454566956, 0.9705235362052917, 0.025523614138364792, 0.14299291372299194, 0.7405480146408081], "count": [1366]}, "action.command": {"mean": [-2.231147189516074, -0.370376323621625, 1.3897020222741148, 0.7382036872484066, 0.0, 0.0, 0.6745340454357641, 0.9116064565718678, -0.8118158938516387, 1.1316649610725025, 0.9295705539460003, -0.007953011581889331, 0.2820043012923593, -0.05212601339108068, -0.3105915292101031, 0.16216216216216217, -2.6608798894725862, -0.6657296170352537, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9852075323481277, 0.6216148757769211, 0.9983962240615979, 0.017129920376053674, 0.5595864758064587, -0.07504407798432161, -0.6217318559053717, 0.0, -2.628889848575616, -0.627857564677206, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9852075323481277, 0.6216148757769211, 0.9983962240615979, 0.017129920376053674, 0.5595864758064587, -0.07504407798432161, -0.6217318559053717, 0.0, -2.5695127522359127, -0.5778694541427256, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9852075323481277, 0.6216148757769211, 0.9983962240615979, 0.017129920376053674, 0.5595864758064587, -0.07504407798432161, -0.6217318559053717, 0.0, -2.5027065195923046, -0.5270516725085572, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9852075323481277, 0.6216148757769211, 0.9983962240615979, 0.017129920376053674, 0.5595864758064587, -0.07504407798432161, -0.6217318559053717, 0.0, -2.4700597947061738, -0.4915870850504121, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9852075323481277, 0.6216148757769211, 0.9983962240615979, 0.017129920376053674, 0.5595864758064587, -0.07504407798432161, -0.6217318559053717, 0.0, -2.3774463910924233, -0.42773302716836054, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9852075323481277, 0.6216148757769211, 0.9983962240615979, 0.017129920376053674, 0.5595864758064587, -0.07504407798432161, -0.6217318559053717, 0.0, -2.3163593273896437, -0.3896427854313075, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9852075323481277, 0.6216148757769211, 0.9983962240615979, 0.017129920376053674, 0.5595864758064587, -0.07504407798432161, -0.6217318559053717, 0.0, -2.253208686093815, -0.330212447186286, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9852075323481277, 0.6216148757769211, 0.9983962240615979, 0.017129920376053674, 0.5595864758064587, -0.07504407798432161, -0.6217318559053717, 0.0, -2.179564945183666, -0.2934134578494376, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9852075323481277, 0.6216148757769211, 0.9983962240615979, 0.017129920376053674, 0.5595864758064587, -0.07504407798432161, -0.6217318559053717, 0.0, -2.1332027943708556, -0.23431201540356475, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9852075323481277, 0.6216148757769211, 0.9983962240615979, 0.017129920376053674, 0.5595864758064587, -0.07504407798432161, -0.6217318559053717, 0.0, -2.098195385211353, -0.21473135691122028, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9852075323481277, 0.6216148757769211, 0.9983962240615979, 0.017129920376053674, 0.5595864758064587, -0.07504407798432161, -0.6217318559053717, 0.0, -1.9900475935857804, -0.1321584374125939, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9852075323481277, 0.6216148757769211, 0.9983962240615979, 0.017129920376053674, 0.5595864758064587, -0.07504407798432161, -0.6217318559053717, 0.0, -1.924356233276906, -0.11050238540163557, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9852075323481277, 0.6216148757769211, 0.9983962240615979, 0.017129920376053674, 0.5595864758064587, -0.07504407798432161, -0.6217318559053717, 0.0, -1.8827639398779275, -0.04546395722133064, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9852075323481277, 0.6216148757769211, 0.9983962240615979, 0.017129920376053674, 0.5595864758064587, -0.07504407798432161, -0.6217318559053717, 0.0, -1.83491048912082, -0.03268991953788459, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9852075323481277, 0.6216148757769211, 0.9983962240615979, 0.017129920376053674, 0.5595864758064587, -0.07504407798432161, -0.6217318559053717, 0.0, -1.7917318420031332, -0.014489304974280571, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9852075323481277, 0.6216148757769211, 0.9983962240615979, 0.017129920376053674, 0.5595864758064587, -0.07504407798432161, -0.6217318559053717, 0.0, -1.7558936756315628, 0.04243818026923893, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9852075323481277, 0.6216148757769211, 0.9983962240615979, 0.017129920376053674, 0.5595864758064587, -0.07504407798432161, -0.6217318559053717, 0.0, -1.6613608528807065, 0.06984469095364795, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9852075323481277, 0.6216148757769211, 0.9983962240615979, 0.017129920376053674, 0.5595864758064587, -0.07504407798432161, -0.6217318559053717, 0.0, -1.5805424935880856, 0.14236242977096636, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9852075323481277, 0.6216148757769211, 0.9983962240615979, 0.017129920376053674, 0.5595864758064587, -0.07504407798432161, -0.6217318559053717, 0.0, -1.5269244763469336, 0.16340108349224056, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9852075323481277, 0.6216148757769211, 0.9983962240615979, 0.017129920376053674, 0.5595864758064587, -0.07504407798432161, -0.6217318559053717, 0.0, -1.4142097537634803, 0.2399654447055254, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9852075323481277, 0.6216148757769211, 0.9983962240615979, 0.017129920376053674, 0.5595864758064587, -0.07504407798432161, -0.6217318559053717, 0.0, -1.3965633306346956, 0.25537221218267875, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9852075323481277, 0.6216148757769211, 0.9983962240615979, 0.017129920376053674, 0.5595864758064587, -0.07504407798432161, -0.6217318559053717, 0.0, -1.3396491225324993, 0.3139465793234403, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9852075323481277, 0.6216148757769211, 0.9983962240615979, 0.017129920376053674, 0.5595864758064587, -0.07504407798432161, -0.6217318559053717, 0.0, -1.2683943300725231, 0.34721308007065915, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9852075323481277, 0.6216148757769211, 0.9983962240615979, 0.017129920376053674, 0.5595864758064587, -0.07504407798432161, -0.6217318559053717, 0.0, -1.223205127864888, 0.39870834185226267, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9852075323481277, 0.6216148757769211, 0.9983962240615979, 0.017129920376053674, 0.5595864758064587, -0.07504407798432161, -0.6217318559053717, 0.0, -1.1410297425592983, 0.4385150828848571, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9852075323481277, 0.6216148757769211, 0.9983962240615979, 0.017129920376053674, 0.5595864758064587, -0.07504407798432161, -0.6217318559053717, 0.0, -1.0652537200867678, 0.49415399387835857, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9852075323481277, 0.6216148757769211, 0.9983962240615979, 0.017129920376053674, 0.5595864758064587, -0.07504407798432161, -0.6217318559053717, 0.0, -1.0136024156564196, 0.5300627085480083, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9852075323481277, 0.6216148757769211, 0.9983962240615979, 0.017129920376053674, 0.5595864758064587, -0.07504407798432161, -0.6217318559053717, 0.0, -0.9073504990467057, 0.5895871965761894, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9852075323481277, 0.6216148757769211, 0.9983962240615979, 0.017129920376053674, 0.5595864758064587, -0.07504407798432161, -0.6217318559053717, 0.0, -0.8862483957676689, 0.6214642634457929, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9852075323481277, 0.6216148757769211, 0.9983962240615979, 0.017129920376053674, 0.5595864758064587, -0.07504407798432161, -0.6217318559053717, 0.0, -0.8531167593233823, 0.658336305227436, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9852075323481277, 0.6216148757769211, 0.9983962240615979, 0.017129920376053674, 0.5595864758064587, -0.07504407798432161, -0.6217318559053717, 0.0, -0.75906716781336, 0.7129466895948894, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9852075323481277, 0.6216148757769211, 0.9983962240615979, 0.017129920376053674, 0.5595864758064587, -0.07504407798432161, -0.6217318559053717, 0.0, -0.7182176749387575, 0.748107610554593, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9852075323481277, 0.6216148757769211, 0.9983962240615979, 0.017129920376053674, 0.5595864758064587, -0.07504407798432161, -0.6217318559053717, 0.0, -0.631889655716332, 0.8045149351579395, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9852075323481277, 0.6216148757769211, 0.9983962240615979, 0.017129920376053674, 0.5595864758064587, -0.07504407798432161, -0.6217318559053717, 0.0, -0.5601282579751514, 0.8448568731358493, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9852075323481277, 0.6216148757769211, 0.9983962240615979, 0.017129920376053674, 0.5595864758064587, -0.07504407798432161, -0.6217318559053717, 0.0, -0.5049575556722595, 0.8955934023646659, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9852075323481277, 0.6216148757769211, 0.9983962240615979, 0.017129920376053674, 0.5595864758064587, -0.07504407798432161, -0.6217318559053717, 0.0, -0.4007900625580046, 0.9440977692153084, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9852075323481277, 0.6216148757769211, 0.9983962240615979, 0.017129920376053674, 0.5595864758064587, -0.07504407798432161, -0.6217318559053717, 0.0, -0.37852847320585503, 0.9856683118045706, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9852075323481277, 0.6216148757769211, 0.9983962240615979, 0.017129920376053674, 0.5595864758064587, -0.07504407798432161, -0.6217318559053717, 0.0, -0.3593067069823324, 1.0158455601856957, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9852075323481277, 0.6216148757769211, 0.9983962240615979, 0.017129920376053674, 0.5595864758064587, -0.07504407798432161, -0.6217318559053717, 0.0, -0.25208684189472946, 1.0750529743533719, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9852075323481277, 0.6216148757769211, 0.9983962240615979, 0.017129920376053674, 0.5595864758064587, -0.07504407798432161, -0.6217318559053717, 0.0, -0.1980722222622827, 1.058763438936741, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9852075323481277, 0.6216148757769211, 0.9983962240615979, 0.017129920376053674, 0.5595864758064587, -0.07504407798432161, -0.6217318559053717, 0.0, 1.126704216003418, 1.396342158317566, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 0.1723649004045047, 1.2247028030754397, 0.7920792102813721, -0.2616098247484223, 0.5620599055139005, -0.40982045686900237, -0.6537923454986314, 0.0, 1.2000000476837158, 1.4500000476837158, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 0.1723649004045047, 1.2247028030754397, 0.7920792102813721, -0.2616098247484223, 0.5620599055139005, -0.40982045686900237, -0.6537923454986314, 0.0], "std": [1.4394960141832895, 1.6156914022800695, 0.49071531526432727, 0.005181169346403569, 0.0, 0.0, 0.005683714171429664, 1.38367409138318, 1.6407444451610944, 1.0795211754696645, 0.23341123110940853, 0.296155193184605, 0.5390750482926379, 0.331937107369904, 0.5768308334621186, 0.36859950532394214, 0.7851253022843163, 1.4660257024583647, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.65433570095439, 0.9791425517681253, 0.2508364376993533, 0.34751142193503765, 0.03506851702090182, 0.4129637462390571, 0.04305823157814058, 0.0, 0.7777492669161005, 1.4299582001505244, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.65433570095439, 0.9791425517681253, 0.2508364376993533, 0.34751142193503765, 0.03506851702090182, 0.4129637462390571, 0.04305823157814058, 0.0, 0.7887146854752317, 1.395506279959683, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.65433570095439, 0.9791425517681253, 0.2508364376993533, 0.34751142193503765, 0.03506851702090182, 0.4129637462390571, 0.04305823157814058, 0.0, 0.8076387642595275, 1.3654241046809819, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.65433570095439, 0.9791425517681253, 0.2508364376993533, 0.34751142193503765, 0.03506851702090182, 0.4129637462390571, 0.04305823157814058, 0.0, 0.8039785560634296, 1.3337125156471925, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.65433570095439, 0.9791425517681253, 0.2508364376993533, 0.34751142193503765, 0.03506851702090182, 0.4129637462390571, 0.04305823157814058, 0.0, 0.8382200774464909, 1.3025617951517057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.65433570095439, 0.9791425517681253, 0.2508364376993533, 0.34751142193503765, 0.03506851702090182, 0.4129637462390571, 0.04305823157814058, 0.0, 0.8656954422014104, 1.2884593435278195, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.65433570095439, 0.9791425517681253, 0.2508364376993533, 0.34751142193503765, 0.03506851702090182, 0.4129637462390571, 0.04305823157814058, 0.0, 0.8697506562481555, 1.2417925662984395, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.65433570095439, 0.9791425517681253, 0.2508364376993533, 0.34751142193503765, 0.03506851702090182, 0.4129637462390571, 0.04305823157814058, 0.0, 0.9139480328214086, 1.2393859197550747, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.65433570095439, 0.9791425517681253, 0.2508364376993533, 0.34751142193503765, 0.03506851702090182, 0.4129637462390571, 0.04305823157814058, 0.0, 0.8981411315368395, 1.1803705309149644, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.65433570095439, 0.9791425517681253, 0.2508364376993533, 0.34751142193503765, 0.03506851702090182, 0.4129637462390571, 0.04305823157814058, 0.0, 0.9166157551890537, 1.1758856003317177, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.65433570095439, 0.9791425517681253, 0.2508364376993533, 0.34751142193503765, 0.03506851702090182, 0.4129637462390571, 0.04305823157814058, 0.0, 0.9468771569156986, 1.1266954702849217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.65433570095439, 0.9791425517681253, 0.2508364376993533, 0.34751142193503765, 0.03506851702090182, 0.4129637462390571, 0.04305823157814058, 0.0, 0.9953414037650838, 1.1333982879529925, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.65433570095439, 0.9791425517681253, 0.2508364376993533, 0.34751142193503765, 0.03506851702090182, 0.4129637462390571, 0.04305823157814058, 0.0, 0.9658274368579881, 1.0597447858682953, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.65433570095439, 0.9791425517681253, 0.2508364376993533, 0.34751142193503765, 0.03506851702090182, 0.4129637462390571, 0.04305823157814058, 0.0, 1.004652113924419, 1.0691828757644781, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.65433570095439, 0.9791425517681253, 0.2508364376993533, 0.34751142193503765, 0.03506851702090182, 0.4129637462390571, 0.04305823157814058, 0.0, 1.0318556124228093, 1.0675692236435184, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.65433570095439, 0.9791425517681253, 0.2508364376993533, 0.34751142193503765, 0.03506851702090182, 0.4129637462390571, 0.04305823157814058, 0.0, 1.0053846643807638, 1.0027594311677777, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.65433570095439, 0.9791425517681253, 0.2508364376993533, 0.34751142193503765, 0.03506851702090182, 0.4129637462390571, 0.04305823157814058, 0.0, 1.0795338830171304, 1.0181077829450724, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.65433570095439, 0.9791425517681253, 0.2508364376993533, 0.34751142193503765, 0.03506851702090182, 0.4129637462390571, 0.04305823157814058, 0.0, 1.0853537859940199, 0.9567312194373853, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.65433570095439, 0.9791425517681253, 0.2508364376993533, 0.34751142193503765, 0.03506851702090182, 0.4129637462390571, 0.04305823157814058, 0.0, 1.1209669496949726, 0.9570986204965658, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.65433570095439, 0.9791425517681253, 0.2508364376993533, 0.34751142193503765, 0.03506851702090182, 0.4129637462390571, 0.04305823157814058, 0.0, 1.1579052895977047, 0.9087936568029498, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.65433570095439, 0.9791425517681253, 0.2508364376993533, 0.34751142193503765, 0.03506851702090182, 0.4129637462390571, 0.04305823157814058, 0.0, 1.1596771721493737, 0.8960407110275266, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.65433570095439, 0.9791425517681253, 0.2508364376993533, 0.34751142193503765, 0.03506851702090182, 0.4129637462390571, 0.04305823157814058, 0.0, 1.1549725583078425, 0.8414267658219282, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.65433570095439, 0.9791425517681253, 0.2508364376993533, 0.34751142193503765, 0.03506851702090182, 0.4129637462390571, 0.04305823157814058, 0.0, 1.19607504006256, 0.8338598947873498, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.65433570095439, 0.9791425517681253, 0.2508364376993533, 0.34751142193503765, 0.03506851702090182, 0.4129637462390571, 0.04305823157814058, 0.0, 1.186489568652667, 0.7829270660679931, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.65433570095439, 0.9791425517681253, 0.2508364376993533, 0.34751142193503765, 0.03506851702090182, 0.4129637462390571, 0.04305823157814058, 0.0, 1.2322005299778631, 0.7720124707372298, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.65433570095439, 0.9791425517681253, 0.2508364376993533, 0.34751142193503765, 0.03506851702090182, 0.4129637462390571, 0.04305823157814058, 0.0, 1.2521470954282738, 0.7332150621750705, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.65433570095439, 0.9791425517681253, 0.2508364376993533, 0.34751142193503765, 0.03506851702090182, 0.4129637462390571, 0.04305823157814058, 0.0, 1.2681083744620831, 0.7098298999552067, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.65433570095439, 0.9791425517681253, 0.2508364376993533, 0.34751142193503765, 0.03506851702090182, 0.4129637462390571, 0.04305823157814058, 0.0, 1.3177649878349653, 0.6834928307653956, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.65433570095439, 0.9791425517681253, 0.2508364376993533, 0.34751142193503765, 0.03506851702090182, 0.4129637462390571, 0.04305823157814058, 0.0, 1.3041053533265814, 0.6478250642605804, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.65433570095439, 0.9791425517681253, 0.2508364376993533, 0.34751142193503765, 0.03506851702090182, 0.4129637462390571, 0.04305823157814058, 0.0, 1.2981132566902571, 0.6118225202087167, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.65433570095439, 0.9791425517681253, 0.2508364376993533, 0.34751142193503765, 0.03506851702090182, 0.4129637462390571, 0.04305823157814058, 0.0, 1.33981313069572, 0.5855933516861437, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.65433570095439, 0.9791425517681253, 0.2508364376993533, 0.34751142193503765, 0.03506851702090182, 0.4129637462390571, 0.04305823157814058, 0.0, 1.3445059160010955, 0.5568365499951602, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.65433570095439, 0.9791425517681253, 0.2508364376993533, 0.34751142193503765, 0.03506851702090182, 0.4129637462390571, 0.04305823157814058, 0.0, 1.375416074190499, 0.5232290396129238, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.65433570095439, 0.9791425517681253, 0.2508364376993533, 0.34751142193503765, 0.03506851702090182, 0.4129637462390571, 0.04305823157814058, 0.0, 1.4087897114573829, 0.5052291949798914, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.65433570095439, 0.9791425517681253, 0.2508364376993533, 0.34751142193503765, 0.03506851702090182, 0.4129637462390571, 0.04305823157814058, 0.0, 1.411317421387009, 0.4614603360062298, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.65433570095439, 0.9791425517681253, 0.2508364376993533, 0.34751142193503765, 0.03506851702090182, 0.4129637462390571, 0.04305823157814058, 0.0, 1.4715552287624094, 0.4505925576999537, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.65433570095439, 0.9791425517681253, 0.2508364376993533, 0.34751142193503765, 0.03506851702090182, 0.4129637462390571, 0.04305823157814058, 0.0, 1.447830255653643, 0.40091159457624337, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.65433570095439, 0.9791425517681253, 0.2508364376993533, 0.34751142193503765, 0.03506851702090182, 0.4129637462390571, 0.04305823157814058, 0.0, 1.4340498794249599, 0.3666908498926777, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.65433570095439, 0.9791425517681253, 0.2508364376993533, 0.34751142193503765, 0.03506851702090182, 0.4129637462390571, 0.04305823157814058, 0.0, 1.485166847309362, 0.34141813695102835, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.65433570095439, 0.9791425517681253, 0.2508364376993533, 0.34751142193503765, 0.03506851702090182, 0.4129637462390571, 0.04305823157814058, 0.0, 1.482114646342052, 0.3773403047105906, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.65433570095439, 0.9791425517681253, 0.2508364376993533, 0.34751142193503765, 0.03506851702090182, 0.4129637462390571, 0.04305823157814058, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.055647671827426, 0.3029158084910192, 0.0, 0.09892380554561919, 0.04420161005968986, 0.08970850258366761, 0.021539026291460855, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.055647671827426, 0.3029158084910192, 0.0, 0.09892380554561919, 0.04420161005968986, 0.08970850258366761, 0.021539026291460855, 0.0], "min": [-3.624124526977539, -2.4654629230499268, 0.06000000238418579, 0.7320742607116699, 0.0, 0.0, 0.6618897914886475, -1.0, -3.484562635421753, -1.92300546169281, 0.6645000576972961, -0.49433112144470215, -0.7145462036132812, -0.4497080445289612, -0.714329719543457, 0.0, -3.6154208183288574, -2.448096752166748, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.484562635421753, -1.92300546169281, 0.7920792102813721, -0.3062458634376526, 0.4855332672595978, -0.4497080445289612, -0.7114309072494507, 0.0, -3.574463129043579, -2.3663744926452637, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.484562635421753, -1.92300546169281, 0.7920792102813721, -0.3062458634376526, 0.4855332672595978, -0.4497080445289612, -0.7114309072494507, 0.0, -3.5284175872802734, -2.2745003700256348, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.484562635421753, -1.92300546169281, 0.7920792102813721, -0.3062458634376526, 0.4855332672595978, -0.4497080445289612, -0.7114309072494507, 0.0, -3.484618902206421, -2.1871092319488525, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.484562635421753, -1.92300546169281, 0.7920792102813721, -0.3062458634376526, 0.4855332672595978, -0.4497080445289612, -0.7114309072494507, 0.0, -3.4475221633911133, -2.1130902767181396, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.484562635421753, -1.92300546169281, 0.7920792102813721, -0.3062458634376526, 0.4855332672595978, -0.4497080445289612, -0.7114309072494507, 0.0, -3.3965389728546143, -2.0113637447357178, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.484562635421753, -1.92300546169281, 0.7920792102813721, -0.3062458634376526, 0.4855332672595978, -0.4497080445289612, -0.7114309072494507, 0.0, -3.3688559532165527, -1.9561280012130737, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.484562635421753, -1.92300546169281, 0.7920792102813721, -0.3062458634376526, 0.4855332672595978, -0.4497080445289612, -0.7114309072494507, 0.0, -3.310635566711426, -1.839961051940918, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.484562635421753, -1.92300546169281, 0.7920792102813721, -0.3062458634376526, 0.4855332672595978, -0.4497080445289612, -0.7114309072494507, 0.0, -3.2907261848449707, -1.8002361059188843, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.484562635421753, -1.92300546169281, 0.7920792102813721, -0.3062458634376526, 0.4855332672595978, -0.4497080445289612, -0.7114309072494507, 0.0, -3.2251462936401367, -1.6693848371505737, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.484562635421753, -1.92300546169281, 0.7920792102813721, -0.3062458634376526, 0.4855332672595978, -0.4497080445289612, -0.7114309072494507, 0.0, -3.212599992752075, -1.6443514823913574, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.484562635421753, -1.92300546169281, 0.7920792102813721, -0.3062458634376526, 0.4855332672595978, -0.4497080445289612, -0.7114309072494507, 0.0, -3.1412434577941895, -1.501974105834961, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.484562635421753, -1.92300546169281, 0.7920792102813721, -0.3062458634376526, 0.4855332672595978, -0.4497080445289612, -0.7114309072494507, 0.0, -3.134474039077759, -1.4884672164916992, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.484562635421753, -1.92300546169281, 0.7920792102813721, -0.3062458634376526, 0.4855332672595978, -0.4497080445289612, -0.7114309072494507, 0.0, -3.0569992065429688, -1.333882212638855, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.484562635421753, -1.92300546169281, 0.7920792102813721, -0.3062458634376526, 0.4855332672595978, -0.4497080445289612, -0.7114309072494507, 0.0, -3.0563480854034424, -1.3325828313827515, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.484562635421753, -1.92300546169281, 0.7920792102813721, -0.3062458634376526, 0.4855332672595978, -0.4497080445289612, -0.7114309072494507, 0.0, -3.0462429523468018, -1.31242036819458, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.484562635421753, -1.92300546169281, 0.7920792102813721, -0.3062458634376526, 0.4855332672595978, -0.4497080445289612, -0.7114309072494507, 0.0, -2.978221893310547, -1.1766983270645142, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.484562635421753, -1.92300546169281, 0.7920792102813721, -0.3062458634376526, 0.4855332672595978, -0.4497080445289612, -0.7114309072494507, 0.0, -2.9738383293151855, -1.167952060699463, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.484562635421753, -1.92300546169281, 0.7920792102813721, -0.3062458634376526, 0.4855332672595978, -0.4497080445289612, -0.7114309072494507, 0.0, -2.9000957012176514, -1.0208138227462769, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.484562635421753, -1.92300546169281, 0.7920792102813721, -0.3062458634376526, 0.4855332672595978, -0.4497080445289612, -0.7114309072494507, 0.0, -2.889775514602661, -1.000221848487854, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.484562635421753, -1.92300546169281, 0.7920792102813721, -0.3062458634376526, 0.4855332672595978, -0.4497080445289612, -0.7114309072494507, 0.0, -2.821969747543335, -0.86492919921875, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.484562635421753, -1.92300546169281, 0.7920792102813721, -0.3062458634376526, 0.4855332672595978, -0.4497080445289612, -0.7114309072494507, 0.0, -2.8064775466918945, -0.8340176343917847, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.484562635421753, -1.92300546169281, 0.7920792102813721, -0.3062458634376526, 0.4855332672595978, -0.4497080445289612, -0.7114309072494507, 0.0, -2.7438435554504395, -0.7090446352958679, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.484562635421753, -1.92300546169281, 0.7920792102813721, -0.3062458634376526, 0.4855332672595978, -0.4497080445289612, -0.7114309072494507, 0.0, -2.722560405731201, -0.666578471660614, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.484562635421753, -1.92300546169281, 0.7920792102813721, -0.3062458634376526, 0.4855332672595978, -0.4497080445289612, -0.7114309072494507, 0.0, -2.665717363357544, -0.5531600117683411, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.484562635421753, -1.92300546169281, 0.7920792102813721, -0.3062458634376526, 0.4855332672595978, -0.4497080445289612, -0.7114309072494507, 0.0, -2.6391165256500244, -0.5000835061073303, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.484562635421753, -1.92300546169281, 0.7920792102813721, -0.3062458634376526, 0.4855332672595978, -0.4497080445289612, -0.7114309072494507, 0.0, -2.5875911712646484, -0.3972754180431366, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.484562635421753, -1.92300546169281, 0.7920792102813721, -0.3062458634376526, 0.4855332672595978, -0.4497080445289612, -0.7114309072494507, 0.0, -2.555345296859741, -0.3329354524612427, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.484562635421753, -1.92300546169281, 0.7920792102813721, -0.3062458634376526, 0.4855332672595978, -0.4497080445289612, -0.7114309072494507, 0.0, -2.509464979171753, -0.24139083921909332, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.484562635421753, -1.92300546169281, 0.7920792102813721, -0.3062458634376526, 0.4855332672595978, -0.4497080445289612, -0.7114309072494507, 0.0, -2.4717557430267334, -0.1661495566368103, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.484562635421753, -1.92300546169281, 0.7920792102813721, -0.3062458634376526, 0.4855332672595978, -0.4497080445289612, -0.7114309072494507, 0.0, -2.4313390254974365, -0.08550628274679184, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.484562635421753, -1.92300546169281, 0.7920792102813721, -0.3062458634376526, 0.4855332672595978, -0.4497080445289612, -0.7114309072494507, 0.0, -2.3879873752593994, 0.0009930431842803955, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.484562635421753, -1.92300546169281, 0.7920792102813721, -0.3062458634376526, 0.4855332672595978, -0.4497080445289612, -0.7114309072494507, 0.0, -2.3528432846069336, 0.07111595571041107, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.484562635421753, -1.92300546169281, 0.7920792102813721, -0.3062458634376526, 0.4855332672595978, -0.4497080445289612, -0.7114309072494507, 0.0, -2.3040952682495117, 0.1683826744556427, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.484562635421753, -1.92300546169281, 0.7920792102813721, -0.3062458634376526, 0.4855332672595978, -0.4497080445289612, -0.7114309072494507, 0.0, -2.272908926010132, 0.2306084930896759, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.484562635421753, -1.92300546169281, 0.7920792102813721, -0.3062458634376526, 0.4855332672595978, -0.4497080445289612, -0.7114309072494507, 0.0, -2.220811367034912, 0.3345583975315094, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.484562635421753, -1.92300546169281, 0.7920792102813721, -0.3062458634376526, 0.4855332672595978, -0.4497080445289612, -0.7114309072494507, 0.0, -2.189879894256592, 0.3962756097316742, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.484562635421753, -1.92300546169281, 0.7920792102813721, -0.3062458634376526, 0.4855332672595978, -0.4497080445289612, -0.7114309072494507, 0.0, -2.1387739181518555, 0.498247355222702, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.484562635421753, -1.92300546169281, 0.7920792102813721, -0.3062458634376526, 0.4855332672595978, -0.4497080445289612, -0.7114309072494507, 0.0, -2.1027982234954834, 0.5700295567512512, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.484562635421753, -1.92300546169281, 0.7920792102813721, -0.3062458634376526, 0.4855332672595978, -0.4497080445289612, -0.7114309072494507, 0.0, -2.057725429534912, 0.659963071346283, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.484562635421753, -1.92300546169281, 0.7920792102813721, -0.3062458634376526, 0.4855332672595978, -0.4497080445289612, -0.7114309072494507, 0.0, -2.0, 0.6000000238418579, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.484562635421753, -1.92300546169281, 0.7920792102813721, -0.3062458634376526, 0.4855332672595978, -0.4497080445289612, -0.7114309072494507, 0.0, 1.126704216003418, 1.396342158317566, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.994781255722046, 0.8272741436958313, 0.7920792102813721, -0.3062458634376526, 0.5400261282920837, -0.4497080445289612, -0.7114309072494507, 0.0, 1.2000000476837158, 1.4500000476837158, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.994781255722046, 0.8272741436958313, 0.7920792102813721, -0.3062458634376526, 0.5400261282920837, -0.4497080445289612, -0.7114309072494507, 0.0], "max": [1.1646759510040283, 2.1626479625701904, 1.5707963705062866, 0.7496011853218079, 0.0, 0.0, 0.6812248826026917, 2.0, 1.699584722518921, 2.8596088886260986, 1.3033586740493774, 0.5232038497924805, 0.7132243514060974, 0.5095844268798828, 0.7759466171264648, 1.0, -2.015101671218872, 0.5401001572608948, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.699584722518921, 2.021233320236206, 1.3033586740493774, 0.5119245052337646, 0.6999189853668213, 0.4998756945133209, -0.5023095607757568, 0.0, -1.9891785383224487, 0.5483061075210571, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.699584722518921, 2.021233320236206, 1.3033586740493774, 0.5119245052337646, 0.6999189853668213, 0.4998756945133209, -0.5023095607757568, 0.0, -1.920782208442688, 0.5699569582939148, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.699584722518921, 2.021233320236206, 1.3033586740493774, 0.5119245052337646, 0.6999189853668213, 0.4998756945133209, -0.5023095607757568, 0.0, -1.8384106159210205, 0.596031665802002, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.699584722518921, 2.021233320236206, 1.3033586740493774, 0.5119245052337646, 0.6999189853668213, 0.4998756945133209, -0.5023095607757568, 0.0, -1.808774471282959, 0.6054129600524902, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.699584722518921, 2.021233320236206, 1.3033586740493774, 0.5119245052337646, 0.6999189853668213, 0.4998756945133209, -0.5023095607757568, 0.0, -1.6879968643188477, 0.6436450481414795, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.699584722518921, 2.021233320236206, 1.3033586740493774, 0.5119245052337646, 0.6999189853668213, 0.4998756945133209, -0.5023095607757568, 0.0, -1.6043108701705933, 0.6701357960700989, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.699584722518921, 2.021233320236206, 1.3033586740493774, 0.5119245052337646, 0.6999189853668213, 0.4998756945133209, -0.5023095607757568, 0.0, -1.5378247499465942, 0.6911819577217102, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.699584722518921, 2.021233320236206, 1.3033586740493774, 0.5119245052337646, 0.6999189853668213, 0.4998756945133209, -0.5023095607757568, 0.0, -1.4278279542922974, 0.7260014414787292, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.699584722518921, 2.021233320236206, 1.3033586740493774, 0.5119245052337646, 0.6999189853668213, 0.4998756945133209, -0.5023095607757568, 0.0, -1.3944672346115112, 0.7365617752075195, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.699584722518921, 2.021233320236206, 1.3033586740493774, 0.5119245052337646, 0.6999189853668213, 0.4998756945133209, -0.5023095607757568, 0.0, -1.3442641496658325, 0.7524535059928894, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.699584722518921, 2.021233320236206, 1.3033586740493774, 0.5119245052337646, 0.6999189853668213, 0.4998756945133209, -0.5023095607757568, 0.0, -1.2112258672714233, 0.7945667505264282, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.699584722518921, 2.021233320236206, 1.3033586740493774, 0.5119245052337646, 0.6999189853668213, 0.4998756945133209, -0.5023095607757568, 0.0, -1.1056718826293945, 0.8217359781265259, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.699584722518921, 2.021233320236206, 1.3033586740493774, 0.5119245052337646, 0.6999189853668213, 0.4998756945133209, -0.5023095607757568, 0.0, -1.088355302810669, 0.8261932134628296, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.699584722518921, 2.021233320236206, 1.3033586740493774, 0.5119245052337646, 0.6999189853668213, 0.4998756945133209, -0.5023095607757568, 0.0, -1.0085679292678833, 0.8467302322387695, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.699584722518921, 2.021233320236206, 1.3033586740493774, 0.5119245052337646, 0.6999189853668213, 0.4998756945133209, -0.5023095607757568, 0.0, -0.9430139660835266, 0.8636035919189453, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.699584722518921, 2.021233320236206, 1.3033586740493774, 0.5119245052337646, 0.6999189853668213, 0.4998756945133209, -0.5023095607757568, 0.0, -0.9289485812187195, 0.8672239780426025, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.699584722518921, 2.021233320236206, 1.3033586740493774, 0.5119245052337646, 0.6999189853668213, 0.4998756945133209, -0.5023095607757568, 0.0, -0.7734268307685852, 0.9072547554969788, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.699584722518921, 2.021233320236206, 1.3033586740493774, 0.5119245052337646, 0.6999189853668213, 0.4998756945133209, -0.5023095607757568, 0.0, -0.6878215074539185, 0.9292892813682556, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.699584722518921, 2.021233320236206, 1.3033586740493774, 0.5119245052337646, 0.6999189853668213, 0.4998756945133209, -0.5023095607757568, 0.0, -0.6049110889434814, 0.9506301283836365, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.699584722518921, 2.021233320236206, 1.3033586740493774, 0.5119245052337646, 0.6999189853668213, 0.4998756945133209, -0.5023095607757568, 0.0, -0.4618139863014221, 0.9874628782272339, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.699584722518921, 2.021233320236206, 1.3033586740493774, 0.5119245052337646, 0.6999189853668213, 0.4998756945133209, -0.5023095607757568, 0.0, -0.44271016120910645, 0.9923801422119141, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.699584722518921, 2.021233320236206, 1.3033586740493774, 0.5119245052337646, 0.6999189853668213, 0.4998756945133209, -0.5023095607757568, 0.0, -0.3896655738353729, 1.0060336589813232, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.699584722518921, 2.021233320236206, 1.3033586740493774, 0.5119245052337646, 0.6999189853668213, 0.4998756945133209, -0.5023095607757568, 0.0, -0.2846033275127411, 1.033076286315918, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.699584722518921, 2.021233320236206, 1.3033586740493774, 0.5119245052337646, 0.6999189853668213, 0.4998756945133209, -0.5023095607757568, 0.0, -0.24729833006858826, 1.0426784753799438, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.699584722518921, 2.021233320236206, 1.3033586740493774, 0.5119245052337646, 0.6999189853668213, 0.4998756945133209, -0.5023095607757568, 0.0, -0.1275249421596527, 1.0735077857971191, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.699584722518921, 2.021233320236206, 1.3033586740493774, 0.5119245052337646, 0.6999189853668213, 0.4998756945133209, -0.5023095607757568, 0.0, -0.03534254804253578, 1.0972352027893066, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.699584722518921, 2.021233320236206, 1.3033586740493774, 0.5119245052337646, 0.6999189853668213, 0.4998756945133209, -0.5023095607757568, 0.0, 0.029437165707349777, 1.1139092445373535, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.699584722518921, 2.021233320236206, 1.3033586740493774, 0.5119245052337646, 0.6999189853668213, 0.4998756945133209, -0.5023095607757568, 0.0, 0.17653244733810425, 1.151771068572998, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.699584722518921, 2.021233320236206, 1.3033586740493774, 0.5119245052337646, 0.6999189853668213, 0.4998756945133209, -0.5023095607757568, 0.0, 0.18639928102493286, 1.1543108224868774, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.699584722518921, 2.021233320236206, 1.3033586740493774, 0.5119245052337646, 0.6999189853668213, 0.4998756945133209, -0.5023095607757568, 0.0, 0.21460232138633728, 1.1615701913833618, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.699584722518921, 2.021233320236206, 1.3033586740493774, 0.5119245052337646, 0.6999189853668213, 0.4998756945133209, -0.5023095607757568, 0.0, 0.3429507315158844, 1.1946066617965698, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.699584722518921, 2.021233320236206, 1.3033586740493774, 0.5119245052337646, 0.6999189853668213, 0.4998756945133209, -0.5023095607757568, 0.0, 0.38766011595726013, 1.206114649772644, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.699584722518921, 2.021233320236206, 1.3033586740493774, 0.5119245052337646, 0.6999189853668213, 0.4998756945133209, -0.5023095607757568, 0.0, 0.4994122385978699, 1.2348792552947998, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.699584722518921, 2.021233320236206, 1.3033586740493774, 0.5119245052337646, 0.6999189853668213, 0.4998756945133209, -0.5023095607757568, 0.0, 0.5986239910125732, 1.260416030883789, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.699584722518921, 2.021233320236206, 1.3033586740493774, 0.5119245052337646, 0.6999189853668213, 0.4998756945133209, -0.5023095607757568, 0.0, 0.6558737754821777, 1.2751519680023193, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.699584722518921, 2.021233320236206, 1.3033586740493774, 0.5119245052337646, 0.6999189853668213, 0.4998756945133209, -0.5023095607757568, 0.0, 0.809587836265564, 1.314717411994934, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.699584722518921, 2.021233320236206, 1.3033586740493774, 0.5119245052337646, 0.6999189853668213, 0.4998756945133209, -0.5023095607757568, 0.0, 0.8123352527618408, 1.3154245615005493, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.699584722518921, 2.021233320236206, 1.3033586740493774, 0.5119245052337646, 0.6999189853668213, 0.4998756945133209, -0.5023095607757568, 0.0, 0.8202224373817444, 1.3174546957015991, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.699584722518921, 2.021233320236206, 1.3033586740493774, 0.5119245052337646, 0.6999189853668213, 0.4998756945133209, -0.5023095607757568, 0.0, 0.9694868326187134, 1.3558748960494995, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.699584722518921, 2.021233320236206, 1.3033586740493774, 0.5119245052337646, 0.6999189853668213, 0.4998756945133209, -0.5023095607757568, 0.0, 1.0209909677505493, 1.3691319227218628, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.699584722518921, 2.021233320236206, 1.3033586740493774, 0.5119245052337646, 0.6999189853668213, 0.4998756945133209, -0.5023095607757568, 0.0, 1.126704216003418, 1.396342158317566, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.699584722518921, 2.021233320236206, 0.7920792102813721, 0.11299824714660645, 0.6999189853668213, -0.0630786120891571, -0.6421428918838501, 0.0, 1.2000000476837158, 1.4500000476837158, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.699584722518921, 2.021233320236206, 0.7920792102813721, 0.11299824714660645, 0.6999189853668213, -0.0630786120891571, -0.6421428918838501, 0.0], "count": [1366]}, "action.applied": {"mean": [0.1360377347544054, -0.0008922143386592366, 0.007972070078009612, 0.030461706604421827, -1.4974606143607925, -0.3542666412982672, 1.4841749051566704, -0.058867369470786635, 1.7310221029410076, 0.8165179472293694, -0.003415125701712829, 0.003415125701712829], "std": [0.12159253316859661, 0.00817609897391392, 0.17931451294304343, 0.12277117586945602, 0.20773790377516868, 0.2741432406737835, 0.639988788487899, 0.13389392008916642, 0.6306763437173345, 0.5005989751271306, 0.010485813172159332, 0.010485813172159332], "min": [0.0, -0.061760157346725464, -0.800000011920929, -0.36630263924598694, -1.6664029359817505, -0.8860970139503479, 0.4890082776546478, -0.27417775988578796, 0.8219862580299377, -0.0296478271484375, -0.009999999776482582, -0.020833000540733337], "max": [0.30000001192092896, 0.025014834478497505, 0.800000011920929, 0.3645038604736328, -0.9411967396736145, 0.11471503227949142, 2.2662529945373535, 0.2571988105773926, 2.7058815956115723, 1.2225489616394043, 0.020833000540733337, 0.009999999776482582], "count": [1366]}, "extra.reward": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1366]}, "next.truncated": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1366]}, "sim_step_idx": {"mean": [1396.0], "std": [788.660256384205], "min": [31.0], "max": [2761.0], "count": [1366]}, "timestamp": {"mean": [27.300000002223175], "std": [15.773205127965738], "min": [0.0], "max": [54.599998474121094], "count": [1366]}, "frame_index": {"mean": [682.5], "std": [394.3301281921025], "min": [0.0], "max": [1365.0], "count": [1366]}, "episode_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1366]}, "index": {"mean": [682.5], "std": [394.3301281921025], "min": [0.0], "max": [1365.0], "count": [1366]}, "task_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1366]}, "next.done": {"mean": [0.0007320644216691069], "std": [0.02704678360455515], "min": [0.0], "max": [1.0], "count": [1366]}, "observation.images.head": {"mean": [[[0.5302740909440122]], [[0.4657914848841411]], [[0.41626933491954193]]], "std": [[[0.141682508091844]], [[0.1795031014613286]], [[0.175625715734383]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8627450980392157]], [[0.8470588235294118]], [[0.8274509803921568]]], "count": [100]}, "observation.images.wrist": {"mean": [[[0.5346320092709076]], [[0.4399532197150883]], [[0.3702995154278658]]], "std": [[[0.17023299128590985]], [[0.20211674874273258]], [[0.1918970675580666]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9098039215686274]], [[0.8745098039215686]], [[0.8901960784313725]]], "count": [100]}}} diff --git a/N025/sawyer_umi/dr_off/seed_1016/stationassembly/000/lerobot_v21/meta/extra/episode_000000.json b/N025/sawyer_umi/dr_off/seed_1016/stationassembly/000/lerobot_v21/meta/extra/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..9b0a51d3029925bf76d38d76e3337c36717a9db7 --- /dev/null +++ b/N025/sawyer_umi/dr_off/seed_1016/stationassembly/000/lerobot_v21/meta/extra/episode_000000.json @@ -0,0 +1,532 @@ +{ + "episode_index": 0, + "trajectory_id": 0, + "env_id": 0, + "task_type": "StationAssembly", + "subsample_every": 2, + "control_steps": 2731, + "language": { + "scene": { + "objects": [ + { + "id": "table_A_1", + "cat_name": "table_A", + "inst_id": 1, + "noun": "table A", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 4.2318920888077045, + 0.6724408824256949, + 0.17000006456344852 + ], + "bbox": { + "extent": [ + 1.0, + 1.0000000000000002, + 1.0 + ], + "center": [ + 0.0, + -1.1102230246251565e-16, + 0.0 + ] + } + }, + { + "id": "table_B_1", + "cat_name": "table_B", + "inst_id": 1, + "noun": "table B", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 7.176056998749694, + -1.2825253533610708, + 0.17000012727018207 + ], + "bbox": { + "extent": [ + 0.9999999999999999, + 1.0, + 1.0 + ], + "center": [ + 5.551115123125783e-17, + 0.0, + 0.0 + ] + } + }, + { + "id": "shim_board_1", + "cat_name": "shim_board", + "inst_id": 1, + "noun": "shim board", + "color": null, + "size": "medium", + "material": null, + "category": "articulation", + "pos": [ + 7.3140066615148625, + -1.2292300585368647, + 0.3700001360861832 + ], + "bbox": { + "extent": [ + 0.4336904052380932, + 0.28211528176653916, + 0.04200000036507845 + ], + "center": [ + 0.1500000059604636, + 1.3877787807814457e-16, + 0.021000000182539225 + ] + } + }, + { + "id": "wedge_1", + "cat_name": "wedge", + "inst_id": 1, + "noun": "wedge", + "color": null, + "size": "small", + "material": null, + "category": "rigid", + "pos": [ + 4.194480199429527, + 0.6057006933603375, + 0.37000010152718554 + ], + "bbox": { + "extent": [ + 0.18692810004787158, + 0.04188972976074135, + 0.02800044319229361 + ], + "center": [ + 0.057500002905726384, + -1.97758476261356e-16, + 0.014000000432133647 + ] + } + } + ], + "relations": [ + { + "subject": "table_A_1", + "relation": "left_of", + "object": "wedge_1" + }, + { + "subject": "table_B_1", + "relation": "right_of", + "object": "shim_board_1" + }, + { + "subject": "shim_board_1", + "relation": "on_top_of", + "object": "table_B_1" + }, + { + "subject": "shim_board_1", + "relation": "left_of", + "object": "table_B_1" + }, + { + "subject": "wedge_1", + "relation": "on_top_of", + "object": "table_A_1" + }, + { + "subject": "wedge_1", + "relation": "right_of", + "object": "table_A_1" + } + ], + "cameras": [ + { + "name": "head", + "intrinsics": { + "K": [ + [ + 355.55555555555554, + 0.0, + 320.0 + ], + [ + 0.0, + 355.55555555555554, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 83.97442499163331, + "resolution": [ + 640, + 480 + ] + }, + "pos_robot": [ + 4.101791115881768, + -2.0008322634532405, + -0.10499991571797702 + ], + "viewpoint": "front-right, at table height", + "extrinsics": { + "R": [ + [ + -8.039232568535226e-08, + -0.9999999999999964, + 2.5347603738179458e-08 + ], + [ + 0.8191520331270514, + -8.039232568535226e-08, + -0.5735764522919431 + ], + [ + 0.5735764522919431, + -2.5347603738179458e-08, + 0.819152033127055 + ] + ], + "t": [ + 1.855362002599171e-08, + -0.2032392724571752, + -0.08737481710326404 + ] + } + }, + { + "name": "wrist", + "intrinsics": { + "K": [ + [ + 320.0, + 0.0, + 320.0 + ], + [ + 0.0, + 320.0, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 90.0, + "resolution": [ + 640, + 480 + ] + }, + "pos_robot": [ + 4.020329454304345, + -1.8668537627827657, + -0.029999917038204944 + ], + "viewpoint": "front-right, at table height", + "extrinsics": { + "R": [ + [ + 0.0, + 1.0, + -1.4782795217992896e-16 + ], + [ + 1.0, + 0.0, + 2.5363269588459423e-17 + ], + [ + 2.5363269588459423e-17, + -1.4782795217992896e-16, + -1.0 + ] + ], + "t": [ + 4.4348384662715026e-18, + -0.05979999899864197, + 0.029999999329447746 + ] + } + } + ], + "robots": [ + { + "name": "RidgebackSawyerUmi", + "model": "ridgebacksawyer_umi", + "type": "mobilemanip", + "noun": "Ridgeback-Sawyer mobile manipulator with a UMI gripper", + "arms": 1, + "arm_layout": null, + "mobile": true, + "dexterous": false, + "base_pose": { + "pos": [ + -3.62411, + -2.46551, + 0.06 + ], + "ori": [ + 0.8717899918556213, + 0.0, + 0.0, + 0.4898797869682312 + ] + }, + "facing_yaw_deg": 58.665361182700735, + "gripper": "parallel gripper" + } + ], + "lighting": [], + "background": { + "name": null, + "kind": "background", + "type": "dome", + "pose": null, + "setting": null, + "time_of_day": null, + "indoor": false, + "intensity": 1153.61472, + "ambient": "dim" + }, + "effects": [], + "caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a medium shim board and a small wedge. The gray table A is to the left of the wedge. The gray table B is to the right of the shim board. The shim board is on top of the gray table B. The shim board is to the left of the gray table B. The wedge is on top of the gray table A. The wedge is to the right of the gray table A. The scene is viewed from front-right, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n [shim board]\n\n\n[[wedge]]\n\n\n\n\n [robot]" + }, + "task": { + "task_type": "StationAssembly", + "instruction": "Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.", + "template_id": -1, + "slots": { + "obj": 1.5707963267948966, + "support": null + }, + "generic_instruction": "Stationassembly the 1.5707963267948966.", + "task_id": "N025", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_0639": { + "frame_idx": 639, + "caption": "Computing a grasp pose for the small wedge; the right gripper is below and in front of the wedge.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "NavTo", + "planner_state": "finished", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "in_front_of" + ] + }, + "frame_0647": { + "frame_idx": 647, + "caption": "Working on the small wedge; the right gripper is below and in front of the wedge.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "in_front_of" + ] + }, + "frame_0770": { + "frame_idx": 770, + "caption": "Working on the small wedge; the right gripper is below and to the left of and in front of the wedge.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0772": { + "frame_idx": 772, + "caption": "Working on the small wedge; the right gripper is below and to the left of the wedge.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_0866": { + "frame_idx": 866, + "caption": "Working on the small wedge; the right gripper is below the wedge.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_1123": { + "frame_idx": 1123, + "caption": "Done — the small wedge is grasped; the right gripper is below the wedge.", + "skill": "Grasp", + "phase": "completed", + "skill_state": "finished", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_1124": { + "frame_idx": 1124, + "caption": "Working on the small wedge; the right gripper is below the wedge.", + "skill": "CarryPose", + "phase": null, + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_1156": { + "frame_idx": 1156, + "caption": "Working on the small wedge; the right gripper is below and in front of the wedge.", + "skill": "CarryPose", + "phase": null, + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "in_front_of" + ] + }, + "frame_1177": { + "frame_idx": 1177, + "caption": "Working on the small wedge; the right gripper is below and to the left of and in front of the wedge.", + "skill": "CarryPose", + "phase": null, + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_2229": { + "frame_idx": 2229, + "caption": "Computing a grasp pose for the medium shim board; the right gripper is below and to the left of and in front of the shim board.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "NavTo", + "planner_state": "finished", + "target": "shim_board_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_2234": { + "frame_idx": 2234, + "caption": "Working on the medium shim board; the right gripper is below and to the left of and in front of the shim board.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "shim_board_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_2449": { + "frame_idx": 2449, + "caption": "Computing a grasp pose for the medium shim board; the right gripper is below and to the left of and in front of the shim board.", + "skill": "ReachStance", + "phase": "verify", + "skill_state": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "shim_board_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_2452": { + "frame_idx": 2452, + "caption": "Working on the small wedge; the right gripper is below and to the left of and behind the wedge.", + "skill": "AssemblyInsert", + "phase": "wp:pre_insert", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "behind" + ] + } + } + }, + "depth_range": [ + 0.1, + 20.0 + ], + "annotation_sidecar": null, + "annotation_sidecar_keys": [], + "terminated": true, + "truncated": false +} \ No newline at end of file diff --git a/N025/sawyer_umi/dr_off/seed_1016/stationassembly/000/lerobot_v21/meta/info.json b/N025/sawyer_umi/dr_off/seed_1016/stationassembly/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..1e996748558ce3e42b531314591efdedf37dc2d6 --- /dev/null +++ b/N025/sawyer_umi/dr_off/seed_1016/stationassembly/000/lerobot_v21/meta/info.json @@ -0,0 +1,277 @@ +{ + "codebase_version": "v2.1", + "robot_type": "RidgebackSawyerUmiCfg", + "total_episodes": 1, + "total_frames": 1366, + "total_tasks": 1, + "total_videos": 2, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 25, + "splits": { + "train": "0:1" + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", + "features": { + "action": { + "dtype": "float32", + "shape": [ + 11 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "frame0.pos_x", + "frame0.pos_y", + "frame0.pos_z", + "frame0.quat_w", + "frame0.quat_x", + "frame0.quat_y", + "frame0.quat_z", + "gripper" + ] + }, + "action_is_hold": { + "dtype": "bool", + "shape": [ + 11 + ], + "names": null + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 15 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint", + "gripper_0", + "gripper_1" + ] + }, + "observation.joint_vel": { + "dtype": "float32", + "shape": [ + 13 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ] + }, + "observation.eef_pose": { + "dtype": "float32", + "shape": [ + 7 + ], + "names": null + }, + "observation.environment_state": { + "dtype": "float32", + "shape": [ + 30 + ], + "names": [ + "articulation_joint_pos.shim_board.0", + "articulation_joint_vel.shim_board.0", + "articulation_pose.shim_board.0", + "articulation_pose.shim_board.1", + "articulation_pose.shim_board.2", + "articulation_pose.shim_board.3", + "articulation_pose.shim_board.4", + "articulation_pose.shim_board.5", + "articulation_pose.shim_board.6", + "object_pose.table_A.0", + "object_pose.table_A.1", + "object_pose.table_A.2", + "object_pose.table_A.3", + "object_pose.table_A.4", + "object_pose.table_A.5", + "object_pose.table_A.6", + "object_pose.table_B.0", + "object_pose.table_B.1", + "object_pose.table_B.2", + "object_pose.table_B.3", + "object_pose.table_B.4", + "object_pose.table_B.5", + "object_pose.table_B.6", + "object_pose.wedge.0", + "object_pose.wedge.1", + "object_pose.wedge.2", + "object_pose.wedge.3", + "object_pose.wedge.4", + "object_pose.wedge.5", + "object_pose.wedge.6" + ] + }, + "action.command": { + "dtype": "float32", + "shape": [ + 704 + ], + "names": null + }, + "action.applied": { + "dtype": "float32", + "shape": [ + 12 + ], + "names": null + }, + "narration": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "collect_info": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "extra.reward": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "extra.action_info": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "next.truncated": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "sim_step_idx": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "next.done": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "observation.images.head": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25, + "video.codec": "libsvtav1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.wrist": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25, + "video.codec": "libsvtav1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + } + } +} \ No newline at end of file diff --git a/N025/sawyer_umi/dr_off/seed_1016/stationassembly/000/lerobot_v21/meta/magicsim_manifest.json b/N025/sawyer_umi/dr_off/seed_1016/stationassembly/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..3d27fa180ca28cef17bd89e9b815bd283d411d2d --- /dev/null +++ b/N025/sawyer_umi/dr_off/seed_1016/stationassembly/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,264 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 03:08:14" + }, + "embodiment": { + "robots": [ + { + "name": "RidgebackSawyerUmi", + "cfg": "RidgebackSawyerUmiCfg", + "type": "mobilemanip", + "joint_names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 11, + "nan_policy": "from_raw", + "segments": [ + { + "name": "RidgebackSawyerUmi.base_action", + "start": 0, + "end": 3, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint" + ], + "source": "HolonomicAction", + "names_source": "_joint_names" + }, + { + "name": "RidgebackSawyerUmi.arm_action", + "start": 3, + "end": 10, + "names": [ + "frame0.pos_x", + "frame0.pos_y", + "frame0.pos_z", + "frame0.quat_w", + "frame0.quat_x", + "frame0.quat_y", + "frame0.quat_z" + ], + "source": "PinkInverseKinematicsAction", + "names_source": "pink_layout" + }, + { + "name": "RidgebackSawyerUmi.eef_action", + "start": 10, + "end": 11, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 15, + "segments": [ + { + "name": "RidgebackSawyerUmi.joint_pos", + "start": 0, + "end": 13, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ], + "source": "ObservationManager", + "names_source": "joint_names" + }, + { + "name": "RidgebackSawyerUmi.gripper_pos", + "start": 13, + "end": 15, + "names": [ + "gripper_0", + "gripper_1" + ], + "source": "ObservationManager", + "names_source": "generated" + } + ] + }, + "joint_vel_layout": { + "dim": 13, + "segments": [ + { + "name": "RidgebackSawyerUmi.joint_vel", + "start": 0, + "end": 13, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "action_levels": { + "L0": "task command list (collect.auto_collect_info.current_action)", + "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)", + "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)", + "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy", + "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)" + }, + "cameras": { + "head": { + "intrinsics": { + "K": [ + [ + 355.55555555555554, + 0.0, + 320.0 + ], + [ + 0.0, + 355.55555555555554, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 83.97442499163331, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.21660000085830688, + 0.0, + -0.04500000178813934 + ], + "quat": [ + -0.6743797063827515, + 0.21263112127780914, + -0.21263112127780914, + 0.6743797659873962 + ] + }, + "wrist": { + "intrinsics": { + "K": [ + [ + 320.0, + 0.0, + 320.0 + ], + [ + 0.0, + 320.0, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 90.0, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.05979999899864197, + 0.0, + 0.029999999329447746 + ], + "quat": [ + 6.123234262925839e-17, + 0.7071067690849304, + 0.7071067690849304, + -4.329780301713277e-17 + ] + } + }, + "lerobot": { + "codebase_version": "v2.1", + "video_keys": [ + "observation.images.head", + "observation.images.wrist" + ], + "columns": [ + "action", + "action.applied", + "action.command", + "action_is_hold", + "collect_info", + "episode_index", + "extra.action_info", + "extra.reward", + "frame_index", + "index", + "narration", + "next.done", + "next.truncated", + "observation.eef_pose", + "observation.environment_state", + "observation.images.head", + "observation.images.wrist", + "observation.joint_vel", + "observation.state", + "sim_step_idx", + "task_index", + "timestamp" + ] + }, + "generated_run": { + "run_id": "stationassembly/000", + "task_type": "StationAssembly" + } +} \ No newline at end of file diff --git a/N025/sawyer_umi/dr_off/seed_1016/stationassembly/000/lerobot_v21/meta/stats.json b/N025/sawyer_umi/dr_off/seed_1016/stationassembly/000/lerobot_v21/meta/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..e73da155e924fefe9585cb5b8c8aa7f7d8eb7cc6 --- /dev/null +++ b/N025/sawyer_umi/dr_off/seed_1016/stationassembly/000/lerobot_v21/meta/stats.json @@ -0,0 +1,3617 @@ +{ + "action": { + "mean": [ + 0.1360377347544054, + -0.0008922143386592366, + 0.007972070078009612, + -0.8162085274738937, + 1.16584938522401, + 0.9206704371670155, + -0.004253342563477665, + 0.283559871431151, + -0.047105380721897495, + -0.3110024580625629, + 0.6251830161054173 + ], + "std": [ + 0.1215925331685966, + 0.00817609897391392, + 0.17931451294304343, + 1.6350656852916579, + 1.0748908239443908, + 0.23467517553664116, + 0.2911896810694096, + 0.5427611788373149, + 0.32623375732990334, + 0.5786401624695875, + 0.4840756268174973 + ], + "min": [ + 0.0, + -0.061760157346725464, + -0.800000011920929, + -3.484562635421753, + -1.92300546169281, + 0.6645000576972961, + -0.49433112144470215, + -0.7145462036132812, + -0.4497080445289612, + -0.714329719543457, + 0.0 + ], + "max": [ + 0.30000001192092896, + 0.025014834478497505, + 0.800000011920929, + 1.699584722518921, + 2.8608696460723877, + 1.3033586740493774, + 0.5232038497924805, + 0.7132243514060974, + 0.5095844268798828, + 0.7759466171264648, + 1.0 + ], + "count": [ + 1366 + ] + }, + "action_is_hold": { + "mean": [ + 0.008784773060029283, + 0.008784773060029283, + 0.008784773060029283, + 0.04758418740849195, + 0.04758418740849195, + 0.04758418740849195, + 0.04758418740849195, + 0.04758418740849195, + 0.04758418740849195, + 0.04758418740849195, + 0.8645680819912153 + ], + "std": [ + 0.0933145263199322, + 0.0933145263199322, + 0.0933145263199322, + 0.21288478695568488, + 0.21288478695568488, + 0.21288478695568488, + 0.21288478695568488, + 0.21288478695568488, + 0.21288478695568488, + 0.21288478695568488, + 0.3421843269251951 + ], + "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": [ + 1366 + ] + }, + "observation.state": { + "mean": [ + 0.36819178049246704, + -3.0407700348389097, + 1.0074387311848156, + 0.030329820427544008, + 7.820394540414139e-08, + -1.4977336568678805, + -0.35359276816876206, + 1.4823413462886699, + -0.059205630896326834, + 1.7333399637726354, + 0.8151323517481561, + 0.009993026954041145, + -0.015787736108072145, + -0.015787736108072145, + -0.009993026954041145 + ], + "std": [ + 1.669928723456286, + 0.8844451534718344, + 0.5040554781145722, + 0.12278232678680488, + 2.201146094101168e-05, + 0.20762926616323657, + 0.27434222633288996, + 0.6406528955388895, + 0.13360523120983475, + 0.630735743856325, + 0.5012603021330232, + 0.006396032179970383, + 0.008874843984014938, + 0.008874843984014938, + 0.006396032179970383 + ], + "min": [ + -3.624109983444214, + -4.490960121154785, + 0.2519364356994629, + -0.36447814106941223, + -0.00013688822218682617, + -1.6672205924987793, + -0.8841615915298462, + 0.49216553568840027, + -0.26984667778015137, + 0.8237057328224182, + -0.016222238540649414, + 0.0, + -0.020833000540733337, + -0.020833000540733337, + -0.020833000540733337 + ], + "max": [ + 2.7965428829193115, + -2.2123193740844727, + 1.4745256900787354, + 0.3633838891983032, + 0.0003623889060690999, + -0.9409329295158386, + 0.11134760081768036, + 2.2651259899139404, + 0.25712865591049194, + 2.703890562057495, + 1.2205395698547363, + 0.020833000540733337, + 0.0, + 0.0, + -0.0 + ], + "count": [ + 1366 + ] + }, + "observation.joint_vel": { + "mean": [ + 0.11758624395250636, + -0.0310632931219028, + 0.008577935548095023, + 0.0019365527571842697, + -9.471955288589895e-05, + 0.006575706465899124, + -0.00976415596221481, + 0.027534944102644527, + 0.013253071788937268, + -0.019160971010383155, + 0.038542770401661194, + -0.01917891307013823, + 0.00021826793511324093 + ], + "std": [ + 0.11270088745143639, + 0.0745864261779759, + 0.17844185158337042, + 0.07608016082798962, + 0.0009465782030103543, + 0.07448079319116314, + 0.09159449551255425, + 0.08549539279397746, + 0.08395937805353534, + 0.11259812094866227, + 0.07841405698905883, + 0.025506741739574484, + 0.007983073644174558 + ], + "min": [ + -0.00030000307015143335, + -0.17693261802196503, + -0.8000425696372986, + -0.23759235441684723, + -0.020225394517183304, + -0.16396480798721313, + -0.19334742426872253, + -0.2050410807132721, + -0.3361954987049103, + -0.3298071026802063, + -0.3378252685070038, + -0.09999535232782364, + -0.10011183470487595 + ], + "max": [ + 0.3038162291049957, + 0.09998400509357452, + 0.8001261949539185, + 0.18775460124015808, + 0.008882264606654644, + 0.17426976561546326, + 0.24312014877796173, + 0.203372985124588, + 0.33243757486343384, + 0.2892153263092041, + 0.3464248478412628, + 0.10001599788665771, + 0.09957137703895569 + ], + "count": [ + 1366 + ] + }, + "observation.eef_pose": { + "mean": [ + -0.8166171371354551, + 1.1650832324271059, + 0.9237293416026047, + 0.06413453334729742, + 0.6083953231573105, + -0.03742180274196765, + -0.6525060060607217 + ], + "std": [ + 1.6352827217330008, + 1.0742474337157568, + 0.23507236700070525, + 0.28700078974283744, + 0.07204556353847989, + 0.32828116711521804, + 0.056997977159025055 + ], + "min": [ + -3.487123966217041, + -1.92300546169281, + 0.6649414300918579, + -0.30670279264450073, + 0.47523367404937744, + -0.449939489364624, + -0.7596597075462341 + ], + "max": [ + 1.699709415435791, + 2.8608639240264893, + 1.3055216073989868, + 0.5232037305831909, + 0.7126371264457703, + 0.509584367275238, + -0.49064701795578003 + ], + "count": [ + 1366 + ] + }, + "observation.environment_state": { + "mean": [ + 0.05143972042208949, + -0.0014446795051258957, + 1.2261300086975098, + 3.1455600261688232, + 0.4300000071525574, + -0.6977331638336182, + 0.0, + -9.313225746154785e-10, + 0.7163577675819397, + -2.0, + 1.5, + 0.23000000417232513, + 1.0, + 0.0, + 0.0, + 0.0, + 1.2000000476837158, + 3.0, + 0.23000000417232513, + 1.0, + 0.0, + 0.0, + 0.0, + -0.6541285771606585, + 1.5621366729935302, + 0.5006396532669598, + 0.7818994144656822, + -0.018300158322786086, + 0.05057309162321472, + 0.5624871419996329 + ], + "std": [ + 0.006144570206749808, + 0.01358891724764904, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4286088279083036, + 0.5553125111042696, + 0.06394030585708503, + 0.1249824930424179, + 0.026054800271813807, + 0.051975996081015226, + 0.22438360735649646 + ], + "min": [ + 0.004119853489100933, + -0.16355182230472565, + 1.2261300086975098, + 3.1455600261688232, + 0.4300000071525574, + -0.6977331638336182, + 0.0, + -9.313225746154785e-10, + 0.7163577675819397, + -2.0, + 1.5, + 0.23000000417232513, + 1.0, + 0.0, + 0.0, + 0.0, + 1.2000000476837158, + 3.0, + 0.23000000417232513, + 1.0, + 0.0, + 0.0, + 0.0, + -1.9897608757019043, + 0.801275908946991, + 0.429999977350235, + 0.6620221734046936, + -0.09066798537969589, + -0.010521458461880684, + 0.21300089359283447 + ], + "max": [ + 0.05235988274216652, + 0.006686046719551086, + 1.2261300086975098, + 3.1455600261688232, + 0.4300000071525574, + -0.6977331638336182, + 0.0, + -9.313225746154785e-10, + 0.7163577675819397, + -2.0, + 1.5, + 0.23000000417232513, + 1.0, + 0.0, + 0.0, + 0.0, + 1.2000000476837158, + 3.0, + 0.23000000417232513, + 1.0, + 0.0, + 0.0, + 0.0, + 1.6589704751968384, + 2.8605923652648926, + 0.5808077454566956, + 0.9705235362052917, + 0.025523614138364792, + 0.14299291372299194, + 0.7405480146408081 + ], + "count": [ + 1366 + ] + }, + "action.command": { + "mean": [ + -2.231147189516074, + -0.370376323621625, + 1.3897020222741148, + 0.7382036872484066, + 0.0, + 0.0, + 0.6745340454357641, + 0.9116064565718678, + -0.8118158938516387, + 1.1316649610725025, + 0.9295705539460003, + -0.007953011581889331, + 0.2820043012923593, + -0.05212601339108068, + -0.3105915292101031, + 0.16216216216216217, + -2.6608798894725862, + -0.6657296170352537, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9852075323481277, + 0.6216148757769211, + 0.9983962240615979, + 0.017129920376053674, + 0.5595864758064587, + -0.07504407798432161, + -0.6217318559053717, + 0.0, + -2.628889848575616, + -0.627857564677206, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9852075323481277, + 0.6216148757769211, + 0.9983962240615979, + 0.017129920376053674, + 0.5595864758064587, + -0.07504407798432161, + -0.6217318559053717, + 0.0, + -2.5695127522359127, + -0.5778694541427256, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9852075323481277, + 0.6216148757769211, + 0.9983962240615979, + 0.017129920376053674, + 0.5595864758064587, + -0.07504407798432161, + -0.6217318559053717, + 0.0, + -2.5027065195923046, + -0.5270516725085572, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9852075323481277, + 0.6216148757769211, + 0.9983962240615979, + 0.017129920376053674, + 0.5595864758064587, + -0.07504407798432161, + -0.6217318559053717, + 0.0, + -2.4700597947061738, + -0.4915870850504121, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9852075323481277, + 0.6216148757769211, + 0.9983962240615979, + 0.017129920376053674, + 0.5595864758064587, + -0.07504407798432161, + -0.6217318559053717, + 0.0, + -2.3774463910924233, + -0.42773302716836054, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9852075323481277, + 0.6216148757769211, + 0.9983962240615979, + 0.017129920376053674, + 0.5595864758064587, + -0.07504407798432161, + -0.6217318559053717, + 0.0, + -2.3163593273896437, + -0.3896427854313075, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9852075323481277, + 0.6216148757769211, + 0.9983962240615979, + 0.017129920376053674, + 0.5595864758064587, + -0.07504407798432161, + -0.6217318559053717, + 0.0, + -2.253208686093815, + -0.330212447186286, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9852075323481277, + 0.6216148757769211, + 0.9983962240615979, + 0.017129920376053674, + 0.5595864758064587, + -0.07504407798432161, + -0.6217318559053717, + 0.0, + -2.179564945183666, + -0.2934134578494376, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9852075323481277, + 0.6216148757769211, + 0.9983962240615979, + 0.017129920376053674, + 0.5595864758064587, + -0.07504407798432161, + -0.6217318559053717, + 0.0, + -2.1332027943708556, + -0.23431201540356475, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9852075323481277, + 0.6216148757769211, + 0.9983962240615979, + 0.017129920376053674, + 0.5595864758064587, + -0.07504407798432161, + -0.6217318559053717, + 0.0, + -2.098195385211353, + -0.21473135691122028, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9852075323481277, + 0.6216148757769211, + 0.9983962240615979, + 0.017129920376053674, + 0.5595864758064587, + -0.07504407798432161, + -0.6217318559053717, + 0.0, + -1.9900475935857804, + -0.1321584374125939, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9852075323481277, + 0.6216148757769211, + 0.9983962240615979, + 0.017129920376053674, + 0.5595864758064587, + -0.07504407798432161, + -0.6217318559053717, + 0.0, + -1.924356233276906, + -0.11050238540163557, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9852075323481277, + 0.6216148757769211, + 0.9983962240615979, + 0.017129920376053674, + 0.5595864758064587, + -0.07504407798432161, + -0.6217318559053717, + 0.0, + -1.8827639398779275, + -0.04546395722133064, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9852075323481277, + 0.6216148757769211, + 0.9983962240615979, + 0.017129920376053674, + 0.5595864758064587, + -0.07504407798432161, + -0.6217318559053717, + 0.0, + -1.83491048912082, + -0.03268991953788459, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9852075323481277, + 0.6216148757769211, + 0.9983962240615979, + 0.017129920376053674, + 0.5595864758064587, + -0.07504407798432161, + -0.6217318559053717, + 0.0, + -1.7917318420031332, + -0.014489304974280571, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9852075323481277, + 0.6216148757769211, + 0.9983962240615979, + 0.017129920376053674, + 0.5595864758064587, + -0.07504407798432161, + -0.6217318559053717, + 0.0, + -1.7558936756315628, + 0.04243818026923893, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9852075323481277, + 0.6216148757769211, + 0.9983962240615979, + 0.017129920376053674, + 0.5595864758064587, + -0.07504407798432161, + -0.6217318559053717, + 0.0, + -1.6613608528807065, + 0.06984469095364795, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9852075323481277, + 0.6216148757769211, + 0.9983962240615979, + 0.017129920376053674, + 0.5595864758064587, + -0.07504407798432161, + -0.6217318559053717, + 0.0, + -1.5805424935880856, + 0.14236242977096636, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9852075323481277, + 0.6216148757769211, + 0.9983962240615979, + 0.017129920376053674, + 0.5595864758064587, + -0.07504407798432161, + -0.6217318559053717, + 0.0, + -1.5269244763469336, + 0.16340108349224056, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9852075323481277, + 0.6216148757769211, + 0.9983962240615979, + 0.017129920376053674, + 0.5595864758064587, + -0.07504407798432161, + -0.6217318559053717, + 0.0, + -1.4142097537634803, + 0.2399654447055254, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9852075323481277, + 0.6216148757769211, + 0.9983962240615979, + 0.017129920376053674, + 0.5595864758064587, + -0.07504407798432161, + -0.6217318559053717, + 0.0, + -1.3965633306346956, + 0.25537221218267875, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9852075323481277, + 0.6216148757769211, + 0.9983962240615979, + 0.017129920376053674, + 0.5595864758064587, + -0.07504407798432161, + -0.6217318559053717, + 0.0, + -1.3396491225324993, + 0.3139465793234403, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9852075323481277, + 0.6216148757769211, + 0.9983962240615979, + 0.017129920376053674, + 0.5595864758064587, + -0.07504407798432161, + -0.6217318559053717, + 0.0, + -1.2683943300725231, + 0.34721308007065915, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9852075323481277, + 0.6216148757769211, + 0.9983962240615979, + 0.017129920376053674, + 0.5595864758064587, + -0.07504407798432161, + -0.6217318559053717, + 0.0, + -1.223205127864888, + 0.39870834185226267, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9852075323481277, + 0.6216148757769211, + 0.9983962240615979, + 0.017129920376053674, + 0.5595864758064587, + -0.07504407798432161, + -0.6217318559053717, + 0.0, + -1.1410297425592983, + 0.4385150828848571, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9852075323481277, + 0.6216148757769211, + 0.9983962240615979, + 0.017129920376053674, + 0.5595864758064587, + -0.07504407798432161, + -0.6217318559053717, + 0.0, + -1.0652537200867678, + 0.49415399387835857, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9852075323481277, + 0.6216148757769211, + 0.9983962240615979, + 0.017129920376053674, + 0.5595864758064587, + -0.07504407798432161, + -0.6217318559053717, + 0.0, + -1.0136024156564196, + 0.5300627085480083, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9852075323481277, + 0.6216148757769211, + 0.9983962240615979, + 0.017129920376053674, + 0.5595864758064587, + -0.07504407798432161, + -0.6217318559053717, + 0.0, + -0.9073504990467057, + 0.5895871965761894, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9852075323481277, + 0.6216148757769211, + 0.9983962240615979, + 0.017129920376053674, + 0.5595864758064587, + -0.07504407798432161, + -0.6217318559053717, + 0.0, + -0.8862483957676689, + 0.6214642634457929, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9852075323481277, + 0.6216148757769211, + 0.9983962240615979, + 0.017129920376053674, + 0.5595864758064587, + -0.07504407798432161, + -0.6217318559053717, + 0.0, + -0.8531167593233823, + 0.658336305227436, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9852075323481277, + 0.6216148757769211, + 0.9983962240615979, + 0.017129920376053674, + 0.5595864758064587, + -0.07504407798432161, + -0.6217318559053717, + 0.0, + -0.75906716781336, + 0.7129466895948894, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9852075323481277, + 0.6216148757769211, + 0.9983962240615979, + 0.017129920376053674, + 0.5595864758064587, + -0.07504407798432161, + -0.6217318559053717, + 0.0, + -0.7182176749387575, + 0.748107610554593, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9852075323481277, + 0.6216148757769211, + 0.9983962240615979, + 0.017129920376053674, + 0.5595864758064587, + -0.07504407798432161, + -0.6217318559053717, + 0.0, + -0.631889655716332, + 0.8045149351579395, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9852075323481277, + 0.6216148757769211, + 0.9983962240615979, + 0.017129920376053674, + 0.5595864758064587, + -0.07504407798432161, + -0.6217318559053717, + 0.0, + -0.5601282579751514, + 0.8448568731358493, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9852075323481277, + 0.6216148757769211, + 0.9983962240615979, + 0.017129920376053674, + 0.5595864758064587, + -0.07504407798432161, + -0.6217318559053717, + 0.0, + -0.5049575556722595, + 0.8955934023646659, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9852075323481277, + 0.6216148757769211, + 0.9983962240615979, + 0.017129920376053674, + 0.5595864758064587, + -0.07504407798432161, + -0.6217318559053717, + 0.0, + -0.4007900625580046, + 0.9440977692153084, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9852075323481277, + 0.6216148757769211, + 0.9983962240615979, + 0.017129920376053674, + 0.5595864758064587, + -0.07504407798432161, + -0.6217318559053717, + 0.0, + -0.37852847320585503, + 0.9856683118045706, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9852075323481277, + 0.6216148757769211, + 0.9983962240615979, + 0.017129920376053674, + 0.5595864758064587, + -0.07504407798432161, + -0.6217318559053717, + 0.0, + -0.3593067069823324, + 1.0158455601856957, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9852075323481277, + 0.6216148757769211, + 0.9983962240615979, + 0.017129920376053674, + 0.5595864758064587, + -0.07504407798432161, + -0.6217318559053717, + 0.0, + -0.25208684189472946, + 1.0750529743533719, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9852075323481277, + 0.6216148757769211, + 0.9983962240615979, + 0.017129920376053674, + 0.5595864758064587, + -0.07504407798432161, + -0.6217318559053717, + 0.0, + -0.1980722222622827, + 1.058763438936741, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9852075323481277, + 0.6216148757769211, + 0.9983962240615979, + 0.017129920376053674, + 0.5595864758064587, + -0.07504407798432161, + -0.6217318559053717, + 0.0, + 1.126704216003418, + 1.396342158317566, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.1723649004045047, + 1.2247028030754397, + 0.7920792102813721, + -0.2616098247484223, + 0.5620599055139005, + -0.40982045686900237, + -0.6537923454986314, + 0.0, + 1.2000000476837158, + 1.4500000476837158, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.1723649004045047, + 1.2247028030754397, + 0.7920792102813721, + -0.2616098247484223, + 0.5620599055139005, + -0.40982045686900237, + -0.6537923454986314, + 0.0 + ], + "std": [ + 1.4394960141832895, + 1.6156914022800695, + 0.4907153152643272, + 0.005181169346403569, + 0.0, + 0.0, + 0.005683714171429664, + 1.38367409138318, + 1.6407444451610944, + 1.0795211754696645, + 0.23341123110940853, + 0.296155193184605, + 0.5390750482926379, + 0.331937107369904, + 0.5768308334621186, + 0.36859950532394214, + 0.7851253022843163, + 1.4660257024583647, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.65433570095439, + 0.9791425517681253, + 0.2508364376993533, + 0.34751142193503765, + 0.03506851702090182, + 0.4129637462390571, + 0.04305823157814058, + 0.0, + 0.7777492669161005, + 1.4299582001505244, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.65433570095439, + 0.9791425517681253, + 0.2508364376993533, + 0.34751142193503765, + 0.03506851702090182, + 0.4129637462390571, + 0.04305823157814058, + 0.0, + 0.7887146854752317, + 1.395506279959683, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.65433570095439, + 0.9791425517681253, + 0.2508364376993533, + 0.34751142193503765, + 0.03506851702090182, + 0.4129637462390571, + 0.04305823157814058, + 0.0, + 0.8076387642595275, + 1.3654241046809819, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.65433570095439, + 0.9791425517681253, + 0.2508364376993533, + 0.34751142193503765, + 0.03506851702090182, + 0.4129637462390571, + 0.04305823157814058, + 0.0, + 0.8039785560634296, + 1.3337125156471925, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.65433570095439, + 0.9791425517681253, + 0.2508364376993533, + 0.34751142193503765, + 0.03506851702090182, + 0.4129637462390571, + 0.04305823157814058, + 0.0, + 0.8382200774464909, + 1.3025617951517057, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.65433570095439, + 0.9791425517681253, + 0.2508364376993533, + 0.34751142193503765, + 0.03506851702090182, + 0.4129637462390571, + 0.04305823157814058, + 0.0, + 0.8656954422014104, + 1.2884593435278195, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.65433570095439, + 0.9791425517681253, + 0.2508364376993533, + 0.34751142193503765, + 0.03506851702090182, + 0.4129637462390571, + 0.04305823157814058, + 0.0, + 0.8697506562481554, + 1.2417925662984395, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.65433570095439, + 0.9791425517681253, + 0.2508364376993533, + 0.34751142193503765, + 0.03506851702090182, + 0.4129637462390571, + 0.04305823157814058, + 0.0, + 0.9139480328214086, + 1.239385919755075, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.65433570095439, + 0.9791425517681253, + 0.2508364376993533, + 0.34751142193503765, + 0.03506851702090182, + 0.4129637462390571, + 0.04305823157814058, + 0.0, + 0.8981411315368395, + 1.1803705309149644, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.65433570095439, + 0.9791425517681253, + 0.2508364376993533, + 0.34751142193503765, + 0.03506851702090182, + 0.4129637462390571, + 0.04305823157814058, + 0.0, + 0.9166157551890537, + 1.1758856003317177, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.65433570095439, + 0.9791425517681253, + 0.2508364376993533, + 0.34751142193503765, + 0.03506851702090182, + 0.4129637462390571, + 0.04305823157814058, + 0.0, + 0.9468771569156986, + 1.1266954702849217, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.65433570095439, + 0.9791425517681253, + 0.2508364376993533, + 0.34751142193503765, + 0.03506851702090182, + 0.4129637462390571, + 0.04305823157814058, + 0.0, + 0.9953414037650838, + 1.1333982879529925, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.65433570095439, + 0.9791425517681253, + 0.2508364376993533, + 0.34751142193503765, + 0.03506851702090182, + 0.4129637462390571, + 0.04305823157814058, + 0.0, + 0.9658274368579881, + 1.0597447858682953, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.65433570095439, + 0.9791425517681253, + 0.2508364376993533, + 0.34751142193503765, + 0.03506851702090182, + 0.4129637462390571, + 0.04305823157814058, + 0.0, + 1.004652113924419, + 1.0691828757644781, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.65433570095439, + 0.9791425517681253, + 0.2508364376993533, + 0.34751142193503765, + 0.03506851702090182, + 0.4129637462390571, + 0.04305823157814058, + 0.0, + 1.0318556124228093, + 1.0675692236435184, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.65433570095439, + 0.9791425517681253, + 0.2508364376993533, + 0.34751142193503765, + 0.03506851702090182, + 0.4129637462390571, + 0.04305823157814058, + 0.0, + 1.0053846643807638, + 1.0027594311677777, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.65433570095439, + 0.9791425517681253, + 0.2508364376993533, + 0.34751142193503765, + 0.03506851702090182, + 0.4129637462390571, + 0.04305823157814058, + 0.0, + 1.0795338830171304, + 1.0181077829450724, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.65433570095439, + 0.9791425517681253, + 0.2508364376993533, + 0.34751142193503765, + 0.03506851702090182, + 0.4129637462390571, + 0.04305823157814058, + 0.0, + 1.0853537859940199, + 0.9567312194373853, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.65433570095439, + 0.9791425517681253, + 0.2508364376993533, + 0.34751142193503765, + 0.03506851702090182, + 0.4129637462390571, + 0.04305823157814058, + 0.0, + 1.1209669496949726, + 0.9570986204965658, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.65433570095439, + 0.9791425517681253, + 0.2508364376993533, + 0.34751142193503765, + 0.03506851702090182, + 0.4129637462390571, + 0.04305823157814058, + 0.0, + 1.1579052895977047, + 0.9087936568029498, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.65433570095439, + 0.9791425517681253, + 0.2508364376993533, + 0.34751142193503765, + 0.03506851702090182, + 0.4129637462390571, + 0.04305823157814058, + 0.0, + 1.1596771721493737, + 0.8960407110275266, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.65433570095439, + 0.9791425517681253, + 0.2508364376993533, + 0.34751142193503765, + 0.03506851702090182, + 0.4129637462390571, + 0.04305823157814058, + 0.0, + 1.1549725583078425, + 0.8414267658219282, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.65433570095439, + 0.9791425517681253, + 0.2508364376993533, + 0.34751142193503765, + 0.03506851702090182, + 0.4129637462390571, + 0.04305823157814058, + 0.0, + 1.19607504006256, + 0.8338598947873498, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.65433570095439, + 0.9791425517681253, + 0.2508364376993533, + 0.34751142193503765, + 0.03506851702090182, + 0.4129637462390571, + 0.04305823157814058, + 0.0, + 1.186489568652667, + 0.7829270660679931, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.65433570095439, + 0.9791425517681253, + 0.2508364376993533, + 0.34751142193503765, + 0.03506851702090182, + 0.4129637462390571, + 0.04305823157814058, + 0.0, + 1.2322005299778631, + 0.7720124707372298, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.65433570095439, + 0.9791425517681253, + 0.2508364376993533, + 0.34751142193503765, + 0.03506851702090182, + 0.4129637462390571, + 0.04305823157814058, + 0.0, + 1.2521470954282738, + 0.7332150621750705, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.65433570095439, + 0.9791425517681253, + 0.2508364376993533, + 0.34751142193503765, + 0.03506851702090182, + 0.4129637462390571, + 0.04305823157814058, + 0.0, + 1.2681083744620831, + 0.7098298999552067, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.65433570095439, + 0.9791425517681253, + 0.2508364376993533, + 0.34751142193503765, + 0.03506851702090182, + 0.4129637462390571, + 0.04305823157814058, + 0.0, + 1.3177649878349653, + 0.6834928307653956, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.65433570095439, + 0.9791425517681253, + 0.2508364376993533, + 0.34751142193503765, + 0.03506851702090182, + 0.4129637462390571, + 0.04305823157814058, + 0.0, + 1.3041053533265814, + 0.6478250642605804, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.65433570095439, + 0.9791425517681253, + 0.2508364376993533, + 0.34751142193503765, + 0.03506851702090182, + 0.4129637462390571, + 0.04305823157814058, + 0.0, + 1.2981132566902571, + 0.6118225202087167, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.65433570095439, + 0.9791425517681253, + 0.2508364376993533, + 0.34751142193503765, + 0.03506851702090182, + 0.4129637462390571, + 0.04305823157814058, + 0.0, + 1.33981313069572, + 0.5855933516861437, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.65433570095439, + 0.9791425517681253, + 0.2508364376993533, + 0.34751142193503765, + 0.03506851702090182, + 0.4129637462390571, + 0.04305823157814058, + 0.0, + 1.3445059160010955, + 0.5568365499951602, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.65433570095439, + 0.9791425517681253, + 0.2508364376993533, + 0.34751142193503765, + 0.03506851702090182, + 0.4129637462390571, + 0.04305823157814058, + 0.0, + 1.375416074190499, + 0.5232290396129238, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.65433570095439, + 0.9791425517681253, + 0.2508364376993533, + 0.34751142193503765, + 0.03506851702090182, + 0.4129637462390571, + 0.04305823157814058, + 0.0, + 1.4087897114573829, + 0.5052291949798914, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.65433570095439, + 0.9791425517681253, + 0.2508364376993533, + 0.34751142193503765, + 0.03506851702090182, + 0.4129637462390571, + 0.04305823157814058, + 0.0, + 1.411317421387009, + 0.4614603360062298, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.65433570095439, + 0.9791425517681253, + 0.2508364376993533, + 0.34751142193503765, + 0.03506851702090182, + 0.4129637462390571, + 0.04305823157814058, + 0.0, + 1.4715552287624094, + 0.4505925576999537, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.65433570095439, + 0.9791425517681253, + 0.2508364376993533, + 0.34751142193503765, + 0.03506851702090182, + 0.4129637462390571, + 0.04305823157814058, + 0.0, + 1.447830255653643, + 0.40091159457624337, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.65433570095439, + 0.9791425517681253, + 0.2508364376993533, + 0.34751142193503765, + 0.03506851702090182, + 0.4129637462390571, + 0.04305823157814058, + 0.0, + 1.4340498794249599, + 0.3666908498926777, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.65433570095439, + 0.9791425517681253, + 0.2508364376993533, + 0.34751142193503765, + 0.03506851702090182, + 0.4129637462390571, + 0.04305823157814058, + 0.0, + 1.485166847309362, + 0.34141813695102835, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.65433570095439, + 0.9791425517681253, + 0.2508364376993533, + 0.34751142193503765, + 0.03506851702090182, + 0.4129637462390571, + 0.04305823157814058, + 0.0, + 1.482114646342052, + 0.3773403047105906, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.65433570095439, + 0.9791425517681253, + 0.2508364376993533, + 0.34751142193503765, + 0.03506851702090182, + 0.4129637462390571, + 0.04305823157814058, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.055647671827426, + 0.3029158084910192, + 0.0, + 0.09892380554561919, + 0.04420161005968986, + 0.08970850258366761, + 0.021539026291460855, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.055647671827426, + 0.3029158084910192, + 0.0, + 0.09892380554561919, + 0.04420161005968986, + 0.08970850258366761, + 0.021539026291460855, + 0.0 + ], + "min": [ + -3.624124526977539, + -2.4654629230499268, + 0.06000000238418579, + 0.7320742607116699, + 0.0, + 0.0, + 0.6618897914886475, + -1.0, + -3.484562635421753, + -1.92300546169281, + 0.6645000576972961, + -0.49433112144470215, + -0.7145462036132812, + -0.4497080445289612, + -0.714329719543457, + 0.0, + -3.6154208183288574, + -2.448096752166748, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.484562635421753, + -1.92300546169281, + 0.7920792102813721, + -0.3062458634376526, + 0.4855332672595978, + -0.4497080445289612, + -0.7114309072494507, + 0.0, + -3.574463129043579, + -2.3663744926452637, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.484562635421753, + -1.92300546169281, + 0.7920792102813721, + -0.3062458634376526, + 0.4855332672595978, + -0.4497080445289612, + -0.7114309072494507, + 0.0, + -3.5284175872802734, + -2.2745003700256348, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.484562635421753, + -1.92300546169281, + 0.7920792102813721, + -0.3062458634376526, + 0.4855332672595978, + -0.4497080445289612, + -0.7114309072494507, + 0.0, + -3.484618902206421, + -2.1871092319488525, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.484562635421753, + -1.92300546169281, + 0.7920792102813721, + -0.3062458634376526, + 0.4855332672595978, + -0.4497080445289612, + -0.7114309072494507, + 0.0, + -3.4475221633911133, + -2.1130902767181396, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.484562635421753, + -1.92300546169281, + 0.7920792102813721, + -0.3062458634376526, + 0.4855332672595978, + -0.4497080445289612, + -0.7114309072494507, + 0.0, + -3.3965389728546143, + -2.0113637447357178, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.484562635421753, + -1.92300546169281, + 0.7920792102813721, + -0.3062458634376526, + 0.4855332672595978, + -0.4497080445289612, + -0.7114309072494507, + 0.0, + -3.3688559532165527, + -1.9561280012130737, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.484562635421753, + -1.92300546169281, + 0.7920792102813721, + -0.3062458634376526, + 0.4855332672595978, + -0.4497080445289612, + -0.7114309072494507, + 0.0, + -3.310635566711426, + -1.839961051940918, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.484562635421753, + -1.92300546169281, + 0.7920792102813721, + -0.3062458634376526, + 0.4855332672595978, + -0.4497080445289612, + -0.7114309072494507, + 0.0, + -3.2907261848449707, + -1.8002361059188843, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.484562635421753, + -1.92300546169281, + 0.7920792102813721, + -0.3062458634376526, + 0.4855332672595978, + -0.4497080445289612, + -0.7114309072494507, + 0.0, + -3.2251462936401367, + -1.6693848371505737, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.484562635421753, + -1.92300546169281, + 0.7920792102813721, + -0.3062458634376526, + 0.4855332672595978, + -0.4497080445289612, + -0.7114309072494507, + 0.0, + -3.212599992752075, + -1.6443514823913574, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.484562635421753, + -1.92300546169281, + 0.7920792102813721, + -0.3062458634376526, + 0.4855332672595978, + -0.4497080445289612, + -0.7114309072494507, + 0.0, + -3.1412434577941895, + -1.501974105834961, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.484562635421753, + -1.92300546169281, + 0.7920792102813721, + -0.3062458634376526, + 0.4855332672595978, + -0.4497080445289612, + -0.7114309072494507, + 0.0, + -3.134474039077759, + -1.4884672164916992, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.484562635421753, + -1.92300546169281, + 0.7920792102813721, + -0.3062458634376526, + 0.4855332672595978, + -0.4497080445289612, + -0.7114309072494507, + 0.0, + -3.0569992065429688, + -1.333882212638855, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.484562635421753, + -1.92300546169281, + 0.7920792102813721, + -0.3062458634376526, + 0.4855332672595978, + -0.4497080445289612, + -0.7114309072494507, + 0.0, + -3.0563480854034424, + -1.3325828313827515, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.484562635421753, + -1.92300546169281, + 0.7920792102813721, + -0.3062458634376526, + 0.4855332672595978, + -0.4497080445289612, + -0.7114309072494507, + 0.0, + -3.0462429523468018, + -1.31242036819458, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.484562635421753, + -1.92300546169281, + 0.7920792102813721, + -0.3062458634376526, + 0.4855332672595978, + -0.4497080445289612, + -0.7114309072494507, + 0.0, + -2.978221893310547, + -1.1766983270645142, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.484562635421753, + -1.92300546169281, + 0.7920792102813721, + -0.3062458634376526, + 0.4855332672595978, + -0.4497080445289612, + -0.7114309072494507, + 0.0, + -2.9738383293151855, + -1.167952060699463, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.484562635421753, + -1.92300546169281, + 0.7920792102813721, + -0.3062458634376526, + 0.4855332672595978, + -0.4497080445289612, + -0.7114309072494507, + 0.0, + -2.9000957012176514, + -1.0208138227462769, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.484562635421753, + -1.92300546169281, + 0.7920792102813721, + -0.3062458634376526, + 0.4855332672595978, + -0.4497080445289612, + -0.7114309072494507, + 0.0, + -2.889775514602661, + -1.000221848487854, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.484562635421753, + -1.92300546169281, + 0.7920792102813721, + -0.3062458634376526, + 0.4855332672595978, + -0.4497080445289612, + -0.7114309072494507, + 0.0, + -2.821969747543335, + -0.86492919921875, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.484562635421753, + -1.92300546169281, + 0.7920792102813721, + -0.3062458634376526, + 0.4855332672595978, + -0.4497080445289612, + -0.7114309072494507, + 0.0, + -2.8064775466918945, + -0.8340176343917847, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.484562635421753, + -1.92300546169281, + 0.7920792102813721, + -0.3062458634376526, + 0.4855332672595978, + -0.4497080445289612, + -0.7114309072494507, + 0.0, + -2.7438435554504395, + -0.7090446352958679, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.484562635421753, + -1.92300546169281, + 0.7920792102813721, + -0.3062458634376526, + 0.4855332672595978, + -0.4497080445289612, + -0.7114309072494507, + 0.0, + -2.722560405731201, + -0.666578471660614, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.484562635421753, + -1.92300546169281, + 0.7920792102813721, + -0.3062458634376526, + 0.4855332672595978, + -0.4497080445289612, + -0.7114309072494507, + 0.0, + -2.665717363357544, + -0.5531600117683411, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.484562635421753, + -1.92300546169281, + 0.7920792102813721, + -0.3062458634376526, + 0.4855332672595978, + -0.4497080445289612, + -0.7114309072494507, + 0.0, + -2.6391165256500244, + -0.5000835061073303, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.484562635421753, + -1.92300546169281, + 0.7920792102813721, + -0.3062458634376526, + 0.4855332672595978, + -0.4497080445289612, + -0.7114309072494507, + 0.0, + -2.5875911712646484, + -0.3972754180431366, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.484562635421753, + -1.92300546169281, + 0.7920792102813721, + -0.3062458634376526, + 0.4855332672595978, + -0.4497080445289612, + -0.7114309072494507, + 0.0, + -2.555345296859741, + -0.3329354524612427, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.484562635421753, + -1.92300546169281, + 0.7920792102813721, + -0.3062458634376526, + 0.4855332672595978, + -0.4497080445289612, + -0.7114309072494507, + 0.0, + -2.509464979171753, + -0.24139083921909332, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.484562635421753, + -1.92300546169281, + 0.7920792102813721, + -0.3062458634376526, + 0.4855332672595978, + -0.4497080445289612, + -0.7114309072494507, + 0.0, + -2.4717557430267334, + -0.1661495566368103, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.484562635421753, + -1.92300546169281, + 0.7920792102813721, + -0.3062458634376526, + 0.4855332672595978, + -0.4497080445289612, + -0.7114309072494507, + 0.0, + -2.4313390254974365, + -0.08550628274679184, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.484562635421753, + -1.92300546169281, + 0.7920792102813721, + -0.3062458634376526, + 0.4855332672595978, + -0.4497080445289612, + -0.7114309072494507, + 0.0, + -2.3879873752593994, + 0.0009930431842803955, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.484562635421753, + -1.92300546169281, + 0.7920792102813721, + -0.3062458634376526, + 0.4855332672595978, + -0.4497080445289612, + -0.7114309072494507, + 0.0, + -2.3528432846069336, + 0.07111595571041107, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.484562635421753, + -1.92300546169281, + 0.7920792102813721, + -0.3062458634376526, + 0.4855332672595978, + -0.4497080445289612, + -0.7114309072494507, + 0.0, + -2.3040952682495117, + 0.1683826744556427, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.484562635421753, + -1.92300546169281, + 0.7920792102813721, + -0.3062458634376526, + 0.4855332672595978, + -0.4497080445289612, + -0.7114309072494507, + 0.0, + -2.272908926010132, + 0.2306084930896759, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.484562635421753, + -1.92300546169281, + 0.7920792102813721, + -0.3062458634376526, + 0.4855332672595978, + -0.4497080445289612, + -0.7114309072494507, + 0.0, + -2.220811367034912, + 0.3345583975315094, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.484562635421753, + -1.92300546169281, + 0.7920792102813721, + -0.3062458634376526, + 0.4855332672595978, + -0.4497080445289612, + -0.7114309072494507, + 0.0, + -2.189879894256592, + 0.3962756097316742, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.484562635421753, + -1.92300546169281, + 0.7920792102813721, + -0.3062458634376526, + 0.4855332672595978, + -0.4497080445289612, + -0.7114309072494507, + 0.0, + -2.1387739181518555, + 0.498247355222702, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.484562635421753, + -1.92300546169281, + 0.7920792102813721, + -0.3062458634376526, + 0.4855332672595978, + -0.4497080445289612, + -0.7114309072494507, + 0.0, + -2.1027982234954834, + 0.5700295567512512, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.484562635421753, + -1.92300546169281, + 0.7920792102813721, + -0.3062458634376526, + 0.4855332672595978, + -0.4497080445289612, + -0.7114309072494507, + 0.0, + -2.057725429534912, + 0.659963071346283, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.484562635421753, + -1.92300546169281, + 0.7920792102813721, + -0.3062458634376526, + 0.4855332672595978, + -0.4497080445289612, + -0.7114309072494507, + 0.0, + -2.0, + 0.6000000238418579, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.484562635421753, + -1.92300546169281, + 0.7920792102813721, + -0.3062458634376526, + 0.4855332672595978, + -0.4497080445289612, + -0.7114309072494507, + 0.0, + 1.126704216003418, + 1.396342158317566, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.994781255722046, + 0.8272741436958313, + 0.7920792102813721, + -0.3062458634376526, + 0.5400261282920837, + -0.4497080445289612, + -0.7114309072494507, + 0.0, + 1.2000000476837158, + 1.4500000476837158, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.994781255722046, + 0.8272741436958313, + 0.7920792102813721, + -0.3062458634376526, + 0.5400261282920837, + -0.4497080445289612, + -0.7114309072494507, + 0.0 + ], + "max": [ + 1.1646759510040283, + 2.1626479625701904, + 1.5707963705062866, + 0.7496011853218079, + 0.0, + 0.0, + 0.6812248826026917, + 2.0, + 1.699584722518921, + 2.8596088886260986, + 1.3033586740493774, + 0.5232038497924805, + 0.7132243514060974, + 0.5095844268798828, + 0.7759466171264648, + 1.0, + -2.015101671218872, + 0.5401001572608948, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.699584722518921, + 2.021233320236206, + 1.3033586740493774, + 0.5119245052337646, + 0.6999189853668213, + 0.4998756945133209, + -0.5023095607757568, + 0.0, + -1.9891785383224487, + 0.5483061075210571, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.699584722518921, + 2.021233320236206, + 1.3033586740493774, + 0.5119245052337646, + 0.6999189853668213, + 0.4998756945133209, + -0.5023095607757568, + 0.0, + -1.920782208442688, + 0.5699569582939148, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.699584722518921, + 2.021233320236206, + 1.3033586740493774, + 0.5119245052337646, + 0.6999189853668213, + 0.4998756945133209, + -0.5023095607757568, + 0.0, + -1.8384106159210205, + 0.596031665802002, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.699584722518921, + 2.021233320236206, + 1.3033586740493774, + 0.5119245052337646, + 0.6999189853668213, + 0.4998756945133209, + -0.5023095607757568, + 0.0, + -1.808774471282959, + 0.6054129600524902, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.699584722518921, + 2.021233320236206, + 1.3033586740493774, + 0.5119245052337646, + 0.6999189853668213, + 0.4998756945133209, + -0.5023095607757568, + 0.0, + -1.6879968643188477, + 0.6436450481414795, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.699584722518921, + 2.021233320236206, + 1.3033586740493774, + 0.5119245052337646, + 0.6999189853668213, + 0.4998756945133209, + -0.5023095607757568, + 0.0, + -1.6043108701705933, + 0.6701357960700989, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.699584722518921, + 2.021233320236206, + 1.3033586740493774, + 0.5119245052337646, + 0.6999189853668213, + 0.4998756945133209, + -0.5023095607757568, + 0.0, + -1.5378247499465942, + 0.6911819577217102, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.699584722518921, + 2.021233320236206, + 1.3033586740493774, + 0.5119245052337646, + 0.6999189853668213, + 0.4998756945133209, + -0.5023095607757568, + 0.0, + -1.4278279542922974, + 0.7260014414787292, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.699584722518921, + 2.021233320236206, + 1.3033586740493774, + 0.5119245052337646, + 0.6999189853668213, + 0.4998756945133209, + -0.5023095607757568, + 0.0, + -1.3944672346115112, + 0.7365617752075195, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.699584722518921, + 2.021233320236206, + 1.3033586740493774, + 0.5119245052337646, + 0.6999189853668213, + 0.4998756945133209, + -0.5023095607757568, + 0.0, + -1.3442641496658325, + 0.7524535059928894, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.699584722518921, + 2.021233320236206, + 1.3033586740493774, + 0.5119245052337646, + 0.6999189853668213, + 0.4998756945133209, + -0.5023095607757568, + 0.0, + -1.2112258672714233, + 0.7945667505264282, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.699584722518921, + 2.021233320236206, + 1.3033586740493774, + 0.5119245052337646, + 0.6999189853668213, + 0.4998756945133209, + -0.5023095607757568, + 0.0, + -1.1056718826293945, + 0.8217359781265259, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.699584722518921, + 2.021233320236206, + 1.3033586740493774, + 0.5119245052337646, + 0.6999189853668213, + 0.4998756945133209, + -0.5023095607757568, + 0.0, + -1.088355302810669, + 0.8261932134628296, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.699584722518921, + 2.021233320236206, + 1.3033586740493774, + 0.5119245052337646, + 0.6999189853668213, + 0.4998756945133209, + -0.5023095607757568, + 0.0, + -1.0085679292678833, + 0.8467302322387695, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.699584722518921, + 2.021233320236206, + 1.3033586740493774, + 0.5119245052337646, + 0.6999189853668213, + 0.4998756945133209, + -0.5023095607757568, + 0.0, + -0.9430139660835266, + 0.8636035919189453, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.699584722518921, + 2.021233320236206, + 1.3033586740493774, + 0.5119245052337646, + 0.6999189853668213, + 0.4998756945133209, + -0.5023095607757568, + 0.0, + -0.9289485812187195, + 0.8672239780426025, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.699584722518921, + 2.021233320236206, + 1.3033586740493774, + 0.5119245052337646, + 0.6999189853668213, + 0.4998756945133209, + -0.5023095607757568, + 0.0, + -0.7734268307685852, + 0.9072547554969788, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.699584722518921, + 2.021233320236206, + 1.3033586740493774, + 0.5119245052337646, + 0.6999189853668213, + 0.4998756945133209, + -0.5023095607757568, + 0.0, + -0.6878215074539185, + 0.9292892813682556, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.699584722518921, + 2.021233320236206, + 1.3033586740493774, + 0.5119245052337646, + 0.6999189853668213, + 0.4998756945133209, + -0.5023095607757568, + 0.0, + -0.6049110889434814, + 0.9506301283836365, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.699584722518921, + 2.021233320236206, + 1.3033586740493774, + 0.5119245052337646, + 0.6999189853668213, + 0.4998756945133209, + -0.5023095607757568, + 0.0, + -0.4618139863014221, + 0.9874628782272339, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.699584722518921, + 2.021233320236206, + 1.3033586740493774, + 0.5119245052337646, + 0.6999189853668213, + 0.4998756945133209, + -0.5023095607757568, + 0.0, + -0.44271016120910645, + 0.9923801422119141, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.699584722518921, + 2.021233320236206, + 1.3033586740493774, + 0.5119245052337646, + 0.6999189853668213, + 0.4998756945133209, + -0.5023095607757568, + 0.0, + -0.3896655738353729, + 1.0060336589813232, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.699584722518921, + 2.021233320236206, + 1.3033586740493774, + 0.5119245052337646, + 0.6999189853668213, + 0.4998756945133209, + -0.5023095607757568, + 0.0, + -0.2846033275127411, + 1.033076286315918, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.699584722518921, + 2.021233320236206, + 1.3033586740493774, + 0.5119245052337646, + 0.6999189853668213, + 0.4998756945133209, + -0.5023095607757568, + 0.0, + -0.24729833006858826, + 1.0426784753799438, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.699584722518921, + 2.021233320236206, + 1.3033586740493774, + 0.5119245052337646, + 0.6999189853668213, + 0.4998756945133209, + -0.5023095607757568, + 0.0, + -0.1275249421596527, + 1.0735077857971191, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.699584722518921, + 2.021233320236206, + 1.3033586740493774, + 0.5119245052337646, + 0.6999189853668213, + 0.4998756945133209, + -0.5023095607757568, + 0.0, + -0.03534254804253578, + 1.0972352027893066, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.699584722518921, + 2.021233320236206, + 1.3033586740493774, + 0.5119245052337646, + 0.6999189853668213, + 0.4998756945133209, + -0.5023095607757568, + 0.0, + 0.029437165707349777, + 1.1139092445373535, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.699584722518921, + 2.021233320236206, + 1.3033586740493774, + 0.5119245052337646, + 0.6999189853668213, + 0.4998756945133209, + -0.5023095607757568, + 0.0, + 0.17653244733810425, + 1.151771068572998, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.699584722518921, + 2.021233320236206, + 1.3033586740493774, + 0.5119245052337646, + 0.6999189853668213, + 0.4998756945133209, + -0.5023095607757568, + 0.0, + 0.18639928102493286, + 1.1543108224868774, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.699584722518921, + 2.021233320236206, + 1.3033586740493774, + 0.5119245052337646, + 0.6999189853668213, + 0.4998756945133209, + -0.5023095607757568, + 0.0, + 0.21460232138633728, + 1.1615701913833618, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.699584722518921, + 2.021233320236206, + 1.3033586740493774, + 0.5119245052337646, + 0.6999189853668213, + 0.4998756945133209, + -0.5023095607757568, + 0.0, + 0.3429507315158844, + 1.1946066617965698, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.699584722518921, + 2.021233320236206, + 1.3033586740493774, + 0.5119245052337646, + 0.6999189853668213, + 0.4998756945133209, + -0.5023095607757568, + 0.0, + 0.38766011595726013, + 1.206114649772644, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.699584722518921, + 2.021233320236206, + 1.3033586740493774, + 0.5119245052337646, + 0.6999189853668213, + 0.4998756945133209, + -0.5023095607757568, + 0.0, + 0.4994122385978699, + 1.2348792552947998, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.699584722518921, + 2.021233320236206, + 1.3033586740493774, + 0.5119245052337646, + 0.6999189853668213, + 0.4998756945133209, + -0.5023095607757568, + 0.0, + 0.5986239910125732, + 1.260416030883789, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.699584722518921, + 2.021233320236206, + 1.3033586740493774, + 0.5119245052337646, + 0.6999189853668213, + 0.4998756945133209, + -0.5023095607757568, + 0.0, + 0.6558737754821777, + 1.2751519680023193, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.699584722518921, + 2.021233320236206, + 1.3033586740493774, + 0.5119245052337646, + 0.6999189853668213, + 0.4998756945133209, + -0.5023095607757568, + 0.0, + 0.809587836265564, + 1.314717411994934, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.699584722518921, + 2.021233320236206, + 1.3033586740493774, + 0.5119245052337646, + 0.6999189853668213, + 0.4998756945133209, + -0.5023095607757568, + 0.0, + 0.8123352527618408, + 1.3154245615005493, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.699584722518921, + 2.021233320236206, + 1.3033586740493774, + 0.5119245052337646, + 0.6999189853668213, + 0.4998756945133209, + -0.5023095607757568, + 0.0, + 0.8202224373817444, + 1.3174546957015991, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.699584722518921, + 2.021233320236206, + 1.3033586740493774, + 0.5119245052337646, + 0.6999189853668213, + 0.4998756945133209, + -0.5023095607757568, + 0.0, + 0.9694868326187134, + 1.3558748960494995, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.699584722518921, + 2.021233320236206, + 1.3033586740493774, + 0.5119245052337646, + 0.6999189853668213, + 0.4998756945133209, + -0.5023095607757568, + 0.0, + 1.0209909677505493, + 1.3691319227218628, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.699584722518921, + 2.021233320236206, + 1.3033586740493774, + 0.5119245052337646, + 0.6999189853668213, + 0.4998756945133209, + -0.5023095607757568, + 0.0, + 1.126704216003418, + 1.396342158317566, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.699584722518921, + 2.021233320236206, + 0.7920792102813721, + 0.11299824714660645, + 0.6999189853668213, + -0.0630786120891571, + -0.6421428918838501, + 0.0, + 1.2000000476837158, + 1.4500000476837158, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.699584722518921, + 2.021233320236206, + 0.7920792102813721, + 0.11299824714660645, + 0.6999189853668213, + -0.0630786120891571, + -0.6421428918838501, + 0.0 + ], + "count": [ + 1366 + ] + }, + "action.applied": { + "mean": [ + 0.1360377347544054, + -0.0008922143386592366, + 0.007972070078009612, + 0.030461706604421827, + -1.4974606143607925, + -0.3542666412982672, + 1.4841749051566704, + -0.058867369470786635, + 1.7310221029410076, + 0.8165179472293694, + -0.003415125701712829, + 0.003415125701712829 + ], + "std": [ + 0.1215925331685966, + 0.00817609897391392, + 0.17931451294304343, + 0.122771175869456, + 0.20773790377516868, + 0.2741432406737835, + 0.639988788487899, + 0.13389392008916642, + 0.6306763437173345, + 0.5005989751271306, + 0.010485813172159332, + 0.010485813172159332 + ], + "min": [ + 0.0, + -0.061760157346725464, + -0.800000011920929, + -0.36630263924598694, + -1.6664029359817505, + -0.8860970139503479, + 0.4890082776546478, + -0.27417775988578796, + 0.8219862580299377, + -0.0296478271484375, + -0.009999999776482582, + -0.020833000540733337 + ], + "max": [ + 0.30000001192092896, + 0.025014834478497505, + 0.800000011920929, + 0.3645038604736328, + -0.9411967396736145, + 0.11471503227949142, + 2.2662529945373535, + 0.2571988105773926, + 2.7058815956115723, + 1.2225489616394043, + 0.020833000540733337, + 0.009999999776482582 + ], + "count": [ + 1366 + ] + }, + "extra.reward": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 1366 + ] + }, + "next.truncated": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 1366 + ] + }, + "sim_step_idx": { + "mean": [ + 1396.0 + ], + "std": [ + 788.660256384205 + ], + "min": [ + 31.0 + ], + "max": [ + 2761.0 + ], + "count": [ + 1366 + ] + }, + "timestamp": { + "mean": [ + 27.300000002223175 + ], + "std": [ + 15.773205127965738 + ], + "min": [ + 0.0 + ], + "max": [ + 54.599998474121094 + ], + "count": [ + 1366 + ] + }, + "frame_index": { + "mean": [ + 682.5 + ], + "std": [ + 394.3301281921025 + ], + "min": [ + 0.0 + ], + "max": [ + 1365.0 + ], + "count": [ + 1366 + ] + }, + "episode_index": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 1366 + ] + }, + "index": { + "mean": [ + 682.5 + ], + "std": [ + 394.3301281921025 + ], + "min": [ + 0.0 + ], + "max": [ + 1365.0 + ], + "count": [ + 1366 + ] + }, + "task_index": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 1366 + ] + }, + "next.done": { + "mean": [ + 0.0007320644216691069 + ], + "std": [ + 0.02704678360455515 + ], + "min": [ + 0.0 + ], + "max": [ + 1.0 + ], + "count": [ + 1366 + ] + }, + "observation.images.head": { + "mean": [ + [ + [ + 0.5302740909440122 + ] + ], + [ + [ + 0.4657914848841411 + ] + ], + [ + [ + 0.41626933491954193 + ] + ] + ], + "std": [ + [ + [ + 0.141682508091844 + ] + ], + [ + [ + 0.1795031014613286 + ] + ], + [ + [ + 0.175625715734383 + ] + ] + ], + "min": [ + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ] + ], + "max": [ + [ + [ + 0.8627450980392157 + ] + ], + [ + [ + 0.8470588235294118 + ] + ], + [ + [ + 0.8274509803921568 + ] + ] + ], + "count": [ + 100 + ] + }, + "observation.images.wrist": { + "mean": [ + [ + [ + 0.5346320092709076 + ] + ], + [ + [ + 0.4399532197150883 + ] + ], + [ + [ + 0.3702995154278658 + ] + ] + ], + "std": [ + [ + [ + 0.17023299128590985 + ] + ], + [ + [ + 0.20211674874273258 + ] + ], + [ + [ + 0.1918970675580666 + ] + ] + ], + "min": [ + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ] + ], + "max": [ + [ + [ + 0.9098039215686274 + ] + ], + [ + [ + 0.8745098039215686 + ] + ], + [ + [ + 0.8901960784313725 + ] + ] + ], + "count": [ + 100 + ] + } +} \ No newline at end of file diff --git a/N025/sawyer_umi/dr_off/seed_1016/stationassembly/000/lerobot_v21/meta/tasks.jsonl b/N025/sawyer_umi/dr_off/seed_1016/stationassembly/000/lerobot_v21/meta/tasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7ef32cea3933584c053b6f1b17969eee32e6aaa6 --- /dev/null +++ b/N025/sawyer_umi/dr_off/seed_1016/stationassembly/000/lerobot_v21/meta/tasks.jsonl @@ -0,0 +1 @@ +{"task_index": 0, "task": "Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level."} diff --git a/N025/sawyer_umi/dr_off/seed_1016/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 b/N025/sawyer_umi/dr_off/seed_1016/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8a50f9d1937e9e314505b3407b15157c73a0a5bc --- /dev/null +++ b/N025/sawyer_umi/dr_off/seed_1016/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:91a7081ccb5a88452fa541a639b288837cfd9508134b33f64e479add04078aae +size 14632447 diff --git a/N025/sawyer_umi/dr_off/seed_1016/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 b/N025/sawyer_umi/dr_off/seed_1016/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..eb5178c19cd1aee3076788957cb7514f325b78f8 --- /dev/null +++ b/N025/sawyer_umi/dr_off/seed_1016/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:813e90ab2e1106a50207d1f19d364874582470116024fe41cc59a6b61326925f +size 24066174 diff --git a/N025/sawyer_umi/dr_off/seed_1016/stationassembly/000/run_meta.json b/N025/sawyer_umi/dr_off/seed_1016/stationassembly/000/run_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c8270e913e62c98c2a88b1db44e4f1bb7ca417d3 --- /dev/null +++ b/N025/sawyer_umi/dr_off/seed_1016/stationassembly/000/run_meta.json @@ -0,0 +1,873 @@ +{ + "run_id": "stationassembly/000", + "created": "2026-11-08 02:56:51", + "num_envs": 1, + "session_id": null, + "record_config": { + "output_dir": "/mnt/scratch/xc536_atomic/n025_saw_off_1016/out", + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + }, + "config": { + "env_string": "MobileWedgeSupportEnv-V0", + "env": { + "sim": { + "device": "cpu", + "use_fabric": false, + "decimation": 4, + "dt": 0.005, + "seed": 1016, + "soft_resets": 2, + "scene": { + "num_envs": 1, + "env_spacing": 14 + }, + "render": { + "rendering_mode": "performance", + "enable_reflections": false, + "enable_global_illumination": false, + "enable_translucency": false, + "enable_dl_denoiser": false + } + }, + "robot": { + "RidgebackSawyerUmi": { + "name": "ridgebacksawyer_umi", + "type": "mobilemanip", + "common": { + "pos": [ + [ + -3.62411, + -2.46551, + 0.06 + ], + [ + -3.62411, + -2.46551, + 0.06 + ] + ], + "ori": [ + [ + 0, + 0, + 58.66536 + ], + [ + 0, + 0, + 58.66536 + ] + ], + "initial_joint_pos": { + "dummy_base_.*": 0.0, + "head_pan": 0.0, + "right_j0": 0.0, + "right_j1": -1.6, + "right_j2": 0.0, + "right_j3": 0.5, + "right_j4": 0.0, + "right_j5": 2.7, + "right_j6": 0.0, + "right_gripper_l_finger_joint": 0.0, + "right_gripper_r_finger_joint": 0.0 + } + }, + "action": { + "base_action": "holonomic_action", + "arm_action": "ik_pink", + "eef_action": "binary" + }, + "planner": { + "dual_mode": true, + "base_joint_names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint" + ], + "ik": { + "type": "ridgebacksawyer_umi", + "model_tuning": "ridgeback_sawyer_umi", + "enable": true, + "ik_num_instances": 1, + "ik_batch_size": 1, + "ik_num_seeds": 32, + "ik_max_goalset": 64, + "ik_position_threshold": 0.005, + "ik_rotation_threshold": 0.05, + "microbatch_wait_ms": 20.0, + "relative_to_world_frame": false + }, + "motiongen": { + "type": "ridgebacksawyer_umi", + "model_tuning": "ridgeback_sawyer_umi", + "enable": true, + "motiongen_num_instances": 1, + "max_attempts": 6, + "batch_size": 1, + "microbatch_wait_ms": 20.0, + "mode": "position", + "relative_to_world_frame": false, + "start_state_limit_inset": 0.002 + }, + "body": { + "type": "nav", + "dwb_type": "dwb_holonomic", + "dwb_holonomic": { + "device": "cpu", + "dt": 0.02, + "debug": false, + "num_rollout_steps": 60, + "num_speed_samples": 11, + "num_steer_samples": 11, + "num_vx_samples": 7, + "num_vy_samples": 7, + "num_yaw_samples": 7, + "max_accel": 1.5, + "max_steer_rate": 1.5, + "max_accel_vx": 1.5, + "max_accel_vy": 1.5, + "max_yaw_accel": 1.5, + "w_goal": 6.0, + "w_path": 8.0, + "w_vel": 0.2, + "w_vy": 0.0, + "goal_cost_mode": "path", + "dilate_radius": 0.36, + "room_size": 12.0, + "occupancy_update_interval": 25, + "scan_height": 0.38, + "scan_min_z": 0.15, + "scan_max_z": 1.68, + "goal_pos_threshold": 0.1, + "goal_yaw_threshold": 0.08, + "kp_goal_yaw": 1.5, + "heading_reference": "path", + "turn_yaw_threshold": 0.8, + "heading_lookahead": 0.8, + "heading_min_leg": 0.35, + "route_yaw_gain": 2.0, + "goal_yaw_hysteresis": 0.02, + "min_vx": -0.3, + "max_vx": 0.3, + "min_vy": -0.3, + "max_vy": 0.3, + "min_yaw_rate": -0.8, + "max_yaw_rate": 0.8, + "safety_enabled": true, + "safety_deceleration": 0.5, + "safety_reaction_time": 0.5, + "scan_type": "3d" + }, + "p_controller": { + "kp_angular_turning_only": 2.0, + "kd_angular_turning_only": 1.0, + "kp_linear_x": 3.0, + "kp_linear_y": 3.0, + "kp_angular": 2.0, + "kd_linear_x": 1.0, + "kd_linear_y": 1.0, + "min_vel": -0.4, + "max_vel": 0.5, + "linear_dead_zone": 0.01, + "angular_dead_zone": 0.05, + "nav_heading_target": -1, + "nav_upgrade_distance": 0.03 + } + }, + "arm": { + "type": "default" + }, + "eef": { + "type": "default" + } + }, + "physics": { + "robot_radius": 0.66, + "wheel_base": 0.01 + }, + "reset": "default" + } + }, + "camera": { + "enable_tiled": false, + "colorize_depth": false, + "head": { + "camera": { + "type": "camera", + "mesh": "pinhole", + "resolution": [ + 640, + 480 + ], + "frequency": 25, + "focal_length": 2.0, + "horizontal_aperture": 3.6, + "vertical_aperture": 2.7, + "clipping_range": [ + 0.05, + 30.0 + ], + "focus_distance": 3.0, + "mode": "RGB", + "mount_link": "Robot_0/head", + "pos": [ + 0.2166, + 0.0, + -0.045 + ], + "ori": [ + -0.0, + 35.0, + -90.0 + ] + }, + "annotator": { + "enabled": true, + "rgb_capture": { + "type": "rgb", + "device": "cpu" + } + } + }, + "wrist": { + "camera": { + "type": "camera", + "mesh": "pinhole", + "resolution": [ + 640, + 480 + ], + "frequency": 25, + "focal_length": 1.8, + "horizontal_aperture": 3.6, + "vertical_aperture": 2.7, + "clipping_range": [ + 0.05, + 30.0 + ], + "focus_distance": 3.0, + "mode": "RGB", + "mount_link": "Robot_0/right_electric_gripper_base", + "pos": [ + 0.0598, + 0.0, + 0.03 + ], + "ori": [ + 180.0, + 0.0, + -90.0 + ] + }, + "annotator": { + "enabled": true, + "rgb_capture": { + "type": "rgb", + "device": "cpu" + } + } + } + }, + "scene": { + "background": { + "intensity": [ + 1153.61472, + 1153.61472 + ] + }, + "terrain": { + "type": "nav_room", + "collision": true, + "hide_top_walls": true, + "usd": [ + "$MAGICSIM_ASSETS/Room/Collected_SimpleRoom" + ], + "annotation": "Annotation", + "random": false, + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0, + "friction_combine_mode": "multiply", + "restitution_combine_mode": "multiply" + } + }, + "objects": { + "table_A": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "pos": [ + -2.0, + 1.5, + 0.23 + ], + "ori": [ + 0, + 0, + 0 + ], + "scale": [ + 0.9, + 0.6, + 0.4 + ] + }, + "table_A_1": { + "primitive_params": { + "size": [ + 1, + 1, + 1 + ] + }, + "visual": { + "color": [ + 0.78, + 0.72, + 0.62 + ] + }, + "physics": { + "type": "geometry", + "collision": true + } + } + }, + "table_B": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "pos": [ + 1.2, + 3.0, + 0.23 + ], + "ori": [ + 0, + 0, + 0 + ], + "scale": [ + 0.9, + 0.6, + 0.4 + ] + }, + "table_B_1": { + "primitive_params": { + "size": [ + 1, + 1, + 1 + ] + }, + "visual": { + "color": [ + 0.62, + 0.72, + 0.78 + ] + }, + "physics": { + "type": "geometry", + "collision": true + } + } + }, + "shim_board": { + "usd": [ + "$MAGICSIM_ASSETS/Object/MobileAssembly/shim_board_a05/Object.usd" + ], + "random": false, + "num_per_env": 1, + "common": { + "pos": [ + 1.22613, + 3.14556, + 0.43 + ], + "ori": [ + 0.0, + 0.0, + -91.50917 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "shim_board_1": { + "visual": {}, + "physics": { + "type": "articulation", + "collision": true, + "fixed_base": true + } + } + }, + "wedge": { + "usd": [ + "$MAGICSIM_ASSETS/Object/MobileAssembly/wedge_a05/Object.usd" + ], + "random": false, + "num_per_env": 1, + "common": { + "pos": [ + -1.96241, + 1.43336, + 0.431 + ], + "ori": [ + 0.0, + 0.0, + 91.84245 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "wedge_1": { + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.03701, + "physics_material": { + "static_friction": 0.8, + "dynamic_friction": 0.7, + "restitution": 0.0 + } + } + } + } + } + }, + "nav": { + "navmesh": { + "enabled": true, + "visualize": false, + "bake_timeout_s": 180, + "agent_height_cm": 150, + "min_agent_radius_cm": 45.0, + "max_agent_radius_cm": 45.0, + "max_step_height_cm": 20, + "max_floor_slope_deg": 30, + "agent_island_radius_cm": 5, + "auto_exclude_rigid_bodies": true, + "validate_path_clearance": true, + "validate_path_window": true, + "navmesh_offset_z_m": 0, + "verbose": false + }, + "occupancymap": { + "cell_size": 0.05 + } + } + }, + "task": { + "observation": {}, + "reward": {}, + "level": "easy", + "termination": { + "timeout_steps": 9000, + "success_hold_frames": 1 + }, + "station": { + "S": { + "pose": [ + -3.6, + -2.5, + 60.0 + ] + }, + "A": { + "center": [ + -2.0, + 0.6 + ], + "zone_radius": 0.6, + "table": "table_A" + }, + "B": { + "center": [ + 1.2, + 2.1 + ], + "zone_radius": 0.6, + "table": "table_B" + } + }, + "stance": { + "radii_A": [ + 0.76, + 0.84, + 0.7, + 0.92 + ], + "radii_B": [ + 0.78, + 0.85, + 0.92, + 0.72 + ], + "bearings_deg": [ + 0.0, + -25.0, + 25.0 + ], + "yaw_offsets_deg": [ + 0.0 + ], + "include_current": true + }, + "assembly": { + "part": { + "name": "wedge", + "id": 0 + }, + "fixture": { + "name": "shim_board", + "id": 0 + }, + "support_z": 0.43, + "part_half_height": 0.014, + "lift_height": 0.03, + "carry_lost": 0.25, + "hold_steps": 30, + "release_clear": 0.06, + "fixture_move_limit": 0.01, + "fall_margin": 0.12, + "target_deg": 0.0, + "tol_deg": 1.5, + "contact_gap": 0.002, + "stop_margin_deg": 0.3, + "board_touch_limit": 20, + "pre_height": 0.03, + "align_height": 0.0015, + "align_x": 0.4, + "insert_x": 0.205, + "umi": { + "table_clearance": 0.002, + "min_approach_down_deg": 65.0, + "max_approach_down_deg": 90.0, + "max_candidates": 64 + } + }, + "command": { + "StationAssembly": { + "robot_id": 0, + "hand_id": 0, + "init_limit": 30, + "max_attempt": 2, + "tail_steps": 400, + "part": { + "obj_type": "rigid", + "obj_name": "wedge", + "obj_id": 0 + }, + "fixture": { + "obj_type": "articulation", + "obj_name": "shim_board", + "obj_id": 0 + }, + "stages": [ + { + "name": "nav_A", + "type": "nav", + "goal": [ + -2.0, + 0.6, + 90.0 + ] + }, + { + "name": "stance_A", + "type": "stance", + "target": "part" + }, + { + "name": "pick", + "type": "grasp" + }, + { + "name": "carry", + "type": "carry" + }, + { + "name": "nav_B", + "type": "nav", + "goal": [ + 1.2, + 1.45, + 90.0 + ] + }, + { + "name": "stance_B", + "type": "stance", + "target": "fixture" + }, + { + "name": "assemble", + "type": "assemble" + } + ] + } + } + }, + "collect": { + "command": { + "StationAssembly": { + "robot_id": 0, + "hand_id": 0, + "init_limit": 30, + "max_attempt": 2, + "tail_steps": 400, + "part": { + "obj_type": "rigid", + "obj_name": "wedge", + "obj_id": 0 + }, + "fixture": { + "obj_type": "articulation", + "obj_name": "shim_board", + "obj_id": 0 + }, + "stages": [ + { + "name": "nav_A", + "type": "nav", + "goal": [ + -2.0, + 0.6, + 90.0 + ] + }, + { + "name": "stance_A", + "type": "stance", + "target": "part" + }, + { + "name": "pick", + "type": "grasp" + }, + { + "name": "carry", + "type": "carry" + }, + { + "name": "nav_B", + "type": "nav", + "goal": [ + 1.2, + 1.45, + 90.0 + ] + }, + { + "name": "stance_B", + "type": "stance", + "target": "fixture" + }, + { + "name": "assemble", + "type": "assemble" + } + ] + } + }, + "global_planner": { + "NavTo": { + "use_navmesh": true, + "use_absolute": true, + "translation_threshold": 0.2, + "rotation_threshold": 0.15, + "num_path_segments": 30, + "start_forward_offset": 0.0, + "visualize_path": false, + "carry_arm": true + }, + "MobileMoveL": { + "translation_threshold": 0.006, + "rotation_threshold": 0.2, + "motiongen_distance_threshold": 0.05, + "timeout_steps": 1800, + "reactive": false, + "base_pos_threshold": 0.12, + "base_rot_threshold": 0.5, + "eef_pos_threshold": 0.03, + "eef_rot_threshold": 0.3, + "waypoint_max_steps": 20, + "interp_steps": 60, + "retry_mobile_on_locked_plan_failure": true, + "debug": false, + "debug_viz": false + }, + "AssemblyServoL": { + "translation_threshold": 0.0003, + "rotation_threshold": 0.005, + "motiongen_distance_threshold": 0.0, + "timeout_steps": 1000000, + "min_steps_before_done": 1000000, + "reactive": false, + "base_pos_threshold": 0.12, + "base_rot_threshold": 0.5, + "eef_pos_threshold": 0.03, + "eef_rot_threshold": 0.3, + "waypoint_max_steps": 1, + "debug": false, + "debug_viz": false + }, + "MobileServoL": { + "translation_threshold": 0.03, + "rotation_threshold": 0.3, + "done_threshold": 0.03, + "timeout_steps": 300, + "stride": 1, + "eef_pos_threshold": 0.03, + "eef_rot_threshold": 0.1, + "base_pos_threshold": 0.12, + "waypoint_max_steps": 20, + "force_free_base_distance": 0.4, + "motiongen_distance_threshold": 0.05, + "embedded_direct_lock_layout": "trailing", + "debug": false, + "debug_viz": false + }, + "ParallelGripper": { + "gripper_threshold": 0.0005, + "timeout_steps": 60 + } + }, + "atomic_skill": { + "NavToPose": { + "robot_id": 0, + "show_marker": false + }, + "HoldPose": { + "robot_id": 0, + "hand_id": 0 + }, + "NavTo": { + "robot_id": 0, + "position_offset": 0.85, + "position_threshold": 0.08, + "angle_threshold": 0.06 + }, + "ReachStance": { + "check_current_first": true, + "stance_margin": 0.03, + "max_reach": 1.0, + "max_walks": 2, + "reject_radius": 0.05, + "obstacle_avoidance": [ + "dynamic" + ], + "walk_planner": "MobileServoL", + "strategy_kwargs": { + "reach_steps": 2 + }, + "pre_grasp_planner": "MobileMoveL", + "pre_grasp_mode": -1, + "goalset_lock_base": true, + "debug": true + }, + "AssemblyGrasp": { + "pre_grasp_offset_x": 0.12, + "retrieval_offset_x": 0.15, + "mobile": true, + "pre_grasp_planner": "MobileMoveL", + "pre_grasp_mode": -1, + "grasp_mode": 4, + "retrieval_mode": 4, + "goalset_lock_base": true, + "reactive": false, + "viz_grasp": false, + "close_settle_steps": 10, + "obstacle_ignore": [ + "table_A" + ] + }, + "CarryPose": { + "robot_id": 0, + "hand_id": 0, + "carry_part_pos": [ + 0.62, + 0.0, + 0.5 + ], + "planner_mode": 1 + }, + "AssemblyInsert": { + "plan_mode": 1, + "max_lin": 0.002, + "max_rot_deg": 1.0, + "settle_ticks": 3, + "servo_max_steps": 600, + "lateral_gate": 0.002, + "stall_ticks": 60, + "stall_min_progress": 0.8, + "carry_lost": 0.25, + "open_value": 0.0 + } + }, + "auto_collect": { + "task_type": "assembly", + "max_trajectories": 1 + }, + "record": { + "output_dir": "/mnt/scratch/xc536_atomic/n025_saw_off_1016/out", + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + } + }, + "visual_dr": { + "keep": [ + "wedge", + "shim_board" + ] + } + }, + "git_sha": null, + "collect_runtime": { + "max_trajectories": 1 + } +} \ No newline at end of file diff --git a/N025/sawyer_umi/dr_off/seed_1016/stationassembly/000/sim_info/0/actions.npz b/N025/sawyer_umi/dr_off/seed_1016/stationassembly/000/sim_info/0/actions.npz new file mode 100644 index 0000000000000000000000000000000000000000..a83bbdbc55ce20e9529cd1fad960140bba35d3da --- /dev/null +++ b/N025/sawyer_umi/dr_off/seed_1016/stationassembly/000/sim_info/0/actions.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aa9c5ba20d7dc77f7d23f6363e21456ef9df6eb67b7bad2ffe0a7a207bea0746 +size 426792 diff --git a/N025/sawyer_umi/dr_off/seed_1016/stationassembly/000/sim_info/0/device_commands.jsonl b/N025/sawyer_umi/dr_off/seed_1016/stationassembly/000/sim_info/0/device_commands.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N025/sawyer_umi/dr_off/seed_1016/stationassembly/000/sim_info/0/device_events.jsonl b/N025/sawyer_umi/dr_off/seed_1016/stationassembly/000/sim_info/0/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N025/sawyer_umi/dr_off/seed_1016/stationassembly/000/sim_info/0/scene_snapshot.json b/N025/sawyer_umi/dr_off/seed_1016/stationassembly/000/sim_info/0/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..18d1f9d3938e3d8c7d3e412e1518242b4bcc84bd --- /dev/null +++ b/N025/sawyer_umi/dr_off/seed_1016/stationassembly/000/sim_info/0/scene_snapshot.json @@ -0,0 +1,334 @@ +{ + "trajectory_id": 0, + "env_id": 0, + "run_id": "stationassembly/000", + "task_type": "StationAssembly", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])", + "avatars": "avatar_manager.set_avatars_state(snapshot['avatars'], env_ids=[env_id]) (present when the scene has animated avatars)" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "table_A": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -2.0, + 1.5, + 0.23 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 0.9, + 0.6, + 0.4 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.78, + 0.72, + 0.62 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 1, + 1, + 1 + ] + } + }, + "type_specific": {} + } + ], + "table_B": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 1.2, + 3.0, + 0.23 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 0.9, + 0.6, + 0.4 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.62, + 0.72, + 0.78 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 1, + 1, + 1 + ] + } + }, + "type_specific": {} + } + ], + "shim_board": [ + { + "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MobileAssembly/shim_board_a05/Object.usd", + "pose": { + "pos": [ + 1.2261300086975098, + 3.1455600261688232, + 0.4300000071525574 + ], + "ori": [ + -0.6977331638336182, + 0.0, + 0.0, + 0.7163577675819397 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "collision": true, + "fixed_base": true, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 0.05235988274216652 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "wedge": [ + { + "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MobileAssembly/wedge_a05/Object.usd", + "pose": { + "pos": [ + -1.9624099731445312, + 1.4333598613739014, + 0.43000003695487976 + ], + "ori": [ + 0.6956468820571899, + -1.819804310798645e-06, + -1.1995434761047363e-06, + 0.7183837294578552 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.03701, + "physics_material": { + "static_friction": 0.8, + "dynamic_friction": 0.7, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 0.00013152099563740194, + -5.188420345803024e-06, + -3.12783922709059e-05 + ], + "angular_velocity": [ + 0.0001899381895782426, + 0.0009165508090518415, + 0.00025886899675242603 + ] + } + } + ] + } + ], + "artifacts": [ + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1153.61472, + "texture": null, + "color": [ + 0.85, + 0.85, + 0.85 + ] + } + } + }, + "robots": { + "RidgebackSawyerUmi": { + "root_pose": [ + [ + -3.624109983444214, + -2.4655098915100098, + 0.05999999865889549, + 0.8717899918556213, + 0.0, + 0.0, + 0.4898797869682312 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.600000023841858, + 0.0, + 0.5, + 0.0, + 2.700000047683716, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "head": [ + [ + 0.21660000085830688, + 0.0, + -0.04500000178813934, + -0.6743797063827515, + 0.21263112127780914, + -0.21263112127780914, + 0.6743797659873962 + ] + ], + "wrist": [ + [ + 0.05979999899864197, + 0.0, + 0.029999999329447746, + 6.123234262925839e-17, + 0.7071067690849304, + 0.7071067690849304, + -4.329780301713277e-17 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/N025/sawyer_umi/dr_off/seed_1016/stationassembly/000/sim_info/0/sim_states.npz b/N025/sawyer_umi/dr_off/seed_1016/stationassembly/000/sim_info/0/sim_states.npz new file mode 100644 index 0000000000000000000000000000000000000000..4ca496e94a47f4c9828a0fe7dc570a0b5ac9d09b --- /dev/null +++ b/N025/sawyer_umi/dr_off/seed_1016/stationassembly/000/sim_info/0/sim_states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1ee09e777cda12d7777f946205722aad9f35b249606aa803c70f28017761cc37 +size 386461 diff --git a/N025/sawyer_umi/dr_off/seed_1016/stationassembly/000/sim_info/magicsim_manifest.json b/N025/sawyer_umi/dr_off/seed_1016/stationassembly/000/sim_info/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..bd117264f90522040c9e5723e923d90f3046ac58 --- /dev/null +++ b/N025/sawyer_umi/dr_off/seed_1016/stationassembly/000/sim_info/magicsim_manifest.json @@ -0,0 +1,233 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 03:08:33" + }, + "embodiment": { + "robots": [ + { + "name": "RidgebackSawyerUmi", + "cfg": "RidgebackSawyerUmiCfg", + "type": "mobilemanip", + "joint_names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 11, + "nan_policy": "from_raw", + "segments": [ + { + "name": "RidgebackSawyerUmi.base_action", + "start": 0, + "end": 3, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint" + ], + "source": "HolonomicAction", + "names_source": "_joint_names" + }, + { + "name": "RidgebackSawyerUmi.arm_action", + "start": 3, + "end": 10, + "names": [ + "frame0.pos_x", + "frame0.pos_y", + "frame0.pos_z", + "frame0.quat_w", + "frame0.quat_x", + "frame0.quat_y", + "frame0.quat_z" + ], + "source": "PinkInverseKinematicsAction", + "names_source": "pink_layout" + }, + { + "name": "RidgebackSawyerUmi.eef_action", + "start": 10, + "end": 11, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 15, + "segments": [ + { + "name": "RidgebackSawyerUmi.joint_pos", + "start": 0, + "end": 13, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ], + "source": "ObservationManager", + "names_source": "joint_names" + }, + { + "name": "RidgebackSawyerUmi.gripper_pos", + "start": 13, + "end": 15, + "names": [ + "gripper_0", + "gripper_1" + ], + "source": "ObservationManager", + "names_source": "generated" + } + ] + }, + "joint_vel_layout": { + "dim": 13, + "segments": [ + { + "name": "RidgebackSawyerUmi.joint_vel", + "start": 0, + "end": 13, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "action_levels": { + "L0": "task command list (collect.auto_collect_info.current_action)", + "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)", + "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)", + "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy", + "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)" + }, + "cameras": { + "head": { + "intrinsics": { + "K": [ + [ + 355.55555555555554, + 0.0, + 320.0 + ], + [ + 0.0, + 355.55555555555554, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 83.97442499163331, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.21660000085830688, + 0.0, + -0.04500000178813934 + ], + "quat": [ + -0.6743797063827515, + 0.21263112127780914, + -0.21263112127780914, + 0.6743797659873962 + ] + }, + "wrist": { + "intrinsics": { + "K": [ + [ + 320.0, + 0.0, + 320.0 + ], + [ + 0.0, + 320.0, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 90.0, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.05979999899864197, + 0.0, + 0.029999999329447746 + ], + "quat": [ + 6.123234262925839e-17, + 0.7071067690849304, + 0.7071067690849304, + -4.329780301713277e-17 + ] + } + }, + "generated_run": { + "run_id": "stationassembly/000", + "task_type": "StationAssembly" + } +} \ No newline at end of file diff --git a/N025/sawyer_umi/dr_on/seed_2016/check.json b/N025/sawyer_umi/dr_on/seed_2016/check.json new file mode 100644 index 0000000000000000000000000000000000000000..ea4f07dd374c7dcaf0dafd9070f411370d962824 --- /dev/null +++ b/N025/sawyer_umi/dr_on/seed_2016/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "1354 rows vs ceil(2707/2) = 1354" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 31..2737, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "23.78 MB, 1354 frames at 25 fps, mean luma 74..113, std 40, new picture 1353x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1354 vs 1354" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "27.54 MB, 1354 frames at 25 fps, mean luma 85..145, std 33, new picture 1353x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1354 vs 1354" + }, + "sim_info present": { + "pass": true, + "detail": "stationassembly/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N025/sawyer_umi/dr_on/seed_2016/check.txt b/N025/sawyer_umi/dr_on/seed_2016/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..b329beaeca5f41601b5205cf56b0d9d6669528e6 --- /dev/null +++ b/N025/sawyer_umi/dr_on/seed_2016/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n025_saw_on_2016/out task=N025 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n025_saw_on_2016/out/stationassembly/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1354 videos 2 robot_type RidgebackSawyerUmiCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 1354 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1'] +[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z'] +[PASS] task text = MobileBench instruction: task_index 0: 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.' +rows 1354 at dataset fps 25 = 54.16 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1354 rows vs ceil(2707/2) = 1354 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..2737, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 23.78 MB, 1354 frames at 25 fps, mean luma 74..113, std 40, new picture 1353x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1354 vs 1354 +[PASS] video observation.images.wrist decodes, 640x480, not black: 27.54 MB, 1354 frames at 25 fps, mean luma 85..145, std 33, new picture 1353x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1354 vs 1354 +parquet size 2.04 MB +[PASS] sim_info present: stationassembly/000/sim_info +dataset size 53.53 MB; whole cell dir 54.4 MB +RESULT: ALL PASS diff --git a/N025/sawyer_umi/dr_on/seed_2016/report.json b/N025/sawyer_umi/dr_on/seed_2016/report.json new file mode 100644 index 0000000000000000000000000000000000000000..5a5dc3fee7609f8842f2fcdde7f4abeec07010cb --- /dev/null +++ b/N025/sawyer_umi/dr_on/seed_2016/report.json @@ -0,0 +1,1765 @@ +{ + "task": "N025", + "agent_id": null, + "embodiment": "sawyer_umi", + "level": "easy", + "scene_seed": 2016, + "execution_mode": "headless_collect_chain(StationAssembly->NavToPose/ReachStance/AssemblyGrasp/CarryPose/AssemblyInsert->NavTo+MobileMoveL+AssemblyServoL->cuRobo)", + "config": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/src/magicsim/Collect/Task/MobileAssembly/Conf/n025_wedge_shim.yaml", + "full_success": true, + "failure_reason": null, + "dr": { + "seed": 2016, + "wedge": { + "dx": 0.01703, + "dy": -0.02274, + "yaw_deg": -6.47631 + }, + "shim_board": { + "dx": -0.06088, + "dy": 0.00439, + "yaw_deg": 1.57529 + }, + "wedge_mass": 0.02102, + "light": 878.2134, + "spawn": { + "dx": 0.102, + "dy": 0.0038, + "yaw_deg": 12.54863 + }, + "overrides": { + "env.scene.objects.wedge.common.pos": [ + -1.98297, + 1.37726, + 0.431 + ], + "env.scene.objects.wedge.common.ori": [ + 0.0, + 0.0, + 83.52369 + ], + "env.scene.objects.shim_board.common.pos": [ + 1.13912, + 3.15439, + 0.43 + ], + "env.scene.objects.shim_board.common.ori": [ + 0.0, + 0.0, + -88.42471 + ], + "env.scene.objects.wedge.wedge_1.physics.mass": 0.02102, + "env.scene.background.intensity": [ + 878.2134, + 878.2134 + ], + "env.robot.RidgebackSawyerUmi.common.pos": [ + [ + -3.498, + -2.4962, + 0.06 + ], + [ + -3.498, + -2.4962, + 0.06 + ] + ], + "env.robot.RidgebackSawyerUmi.common.ori": [ + [ + 0, + 0, + 72.54863 + ], + [ + 0, + 0, + 72.54863 + ] + ] + } + }, + "planner_seeds": { + "label": "default", + "num_trajopt_seeds": null, + "num_ik_seeds": null, + "max_attempts": 6 + }, + "collect": { + "task": "N025", + "robot": "sawyer_umi", + "visual_dr": true, + "env": { + "MMB_COLLECT": "1", + "MMB_TASK_ID": "N025", + "MMB_CLEAN_VIEW": "1", + "MMB_REAL_ROBOT_LOOK": "1", + "MMB_VISUAL_DR": "1" + }, + "cameras": { + "head": { + "link": "Robot_0/head", + "pos": [ + 0.2166, + 0.0, + -0.045 + ], + "ori": [ + -0.0, + 35.0, + -90.0 + ], + "focal_length": 2.0, + "horizontal_aperture": 3.6, + "vertical_aperture": 2.7 + }, + "wrist": { + "link": "Robot_0/right_electric_gripper_base", + "pos": [ + 0.0598, + 0.0, + 0.03 + ], + "ori": [ + 180.0, + 0.0, + -90.0 + ], + "focal_length": 1.8, + "horizontal_aperture": 3.6, + "vertical_aperture": 2.7 + } + }, + "resolution": [ + 640, + 480 + ], + "camera_hz": 25, + "record": { + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + } + }, + "steps": 2737, + "task_id": "N025", + "task_version": "EXT60-MobileAvatar-v3", + "family_id": "wedge_support", + "primary_category": "C4", + "env_terminated": true, + "env_truncated": false, + "station_layout": { + "S": { + "pose": [ + -3.6, + -2.5, + 60.0 + ] + }, + "A": { + "center": [ + -2.0, + 0.6 + ], + "zone_radius": 0.6, + "table": "table_A" + }, + "B": { + "center": [ + 1.2, + 2.1 + ], + "zone_radius": 0.6, + "table": "table_B" + } + }, + "spawn_pose": [ + -3.497999668121338, + -2.496199607849121, + 1.266212550901438 + ], + "base_path": [ + [ + -3.498, + -2.496, + 1.266 + ], + [ + -3.498, + -2.496, + 1.266 + ], + [ + -3.498, + -2.496, + 1.266 + ], + [ + -3.498, + -2.496, + 1.266 + ], + [ + -3.49, + -2.474, + 1.233 + ], + [ + -3.47, + -2.421, + 1.203 + ], + [ + -3.447, + -2.365, + 1.183 + ], + [ + -3.423, + -2.311, + 1.169 + ], + [ + -3.398, + -2.256, + 1.16 + ], + [ + -3.373, + -2.201, + 1.154 + ], + [ + -3.347, + -2.147, + 1.15 + ], + [ + -3.321, + -2.093, + 1.148 + ], + [ + -3.296, + -2.039, + 1.146 + ], + [ + -3.271, + -1.984, + 1.145 + ], + [ + -3.245, + -1.93, + 1.144 + ], + [ + -3.22, + -1.876, + 1.144 + ], + [ + -3.195, + -1.821, + 1.143 + ], + [ + -3.17, + -1.767, + 1.143 + ], + [ + -3.145, + -1.712, + 1.143 + ], + [ + -3.12, + -1.658, + 1.143 + ], + [ + -3.094, + -1.603, + 1.143 + ], + [ + -3.069, + -1.549, + 1.143 + ], + [ + -3.044, + -1.494, + 1.143 + ], + [ + -3.019, + -1.44, + 1.143 + ], + [ + -2.994, + -1.385, + 1.143 + ], + [ + -2.969, + -1.331, + 1.143 + ], + [ + -2.943, + -1.276, + 1.143 + ], + [ + -2.918, + -1.222, + 1.143 + ], + [ + -2.893, + -1.167, + 1.143 + ], + [ + -2.868, + -1.113, + 1.143 + ], + [ + -2.843, + -1.059, + 1.143 + ], + [ + -2.818, + -1.004, + 1.143 + ], + [ + -2.792, + -0.95, + 1.143 + ], + [ + -2.767, + -0.895, + 1.143 + ], + [ + -2.742, + -0.841, + 1.143 + ], + [ + -2.717, + -0.786, + 1.143 + ], + [ + -2.692, + -0.732, + 1.143 + ], + [ + -2.666, + -0.677, + 1.143 + ], + [ + -2.641, + -0.623, + 1.143 + ], + [ + -2.616, + -0.568, + 1.143 + ], + [ + -2.591, + -0.514, + 1.143 + ], + [ + -2.566, + -0.459, + 1.143 + ], + [ + -2.541, + -0.405, + 1.143 + ], + [ + -2.515, + -0.35, + 1.143 + ], + [ + -2.49, + -0.296, + 1.143 + ], + [ + -2.467, + -0.241, + 1.143 + ], + [ + -2.442, + -0.186, + 1.143 + ], + [ + -2.416, + -0.132, + 1.143 + ], + [ + -2.391, + -0.077, + 1.143 + ], + [ + -2.366, + -0.023, + 1.143 + ], + [ + -2.341, + 0.032, + 1.143 + ], + [ + -2.316, + 0.086, + 1.143 + ], + [ + -2.292, + 0.142, + 1.143 + ], + [ + -2.267, + 0.196, + 1.143 + ], + [ + -2.242, + 0.25, + 1.143 + ], + [ + -2.215, + 0.304, + 1.143 + ], + [ + -2.181, + 0.351, + 1.143 + ], + [ + -2.153, + 0.391, + 1.143 + ], + [ + -2.129, + 0.424, + 1.143 + ], + [ + -2.108, + 0.452, + 1.143 + ], + [ + -2.09, + 0.476, + 1.143 + ], + [ + -2.076, + 0.496, + 1.143 + ], + [ + -2.063, + 0.513, + 1.143 + ], + [ + -2.057, + 0.524, + 1.203 + ], + [ + -2.057, + 0.524, + 1.3 + ], + [ + -2.056, + 0.524, + 1.371 + ], + [ + -2.056, + 0.524, + 1.423 + ], + [ + -2.056, + 0.524, + 1.46 + ], + [ + -2.056, + 0.524, + 1.46 + ], + [ + -2.056, + 0.524, + 1.46 + ], + [ + -2.056, + 0.524, + 1.46 + ], + [ + -2.056, + 0.524, + 1.46 + ], + [ + -2.056, + 0.524, + 1.46 + ], + [ + -2.056, + 0.524, + 1.46 + ], + [ + -2.056, + 0.524, + 1.46 + ], + [ + -2.056, + 0.524, + 1.46 + ], + [ + -2.056, + 0.524, + 1.46 + ], + [ + -2.056, + 0.524, + 1.46 + ], + [ + -2.056, + 0.524, + 1.46 + ], + [ + -2.056, + 0.524, + 1.46 + ], + [ + -2.056, + 0.524, + 1.46 + ], + [ + -2.056, + 0.524, + 1.46 + ], + [ + -2.056, + 0.524, + 1.46 + ], + [ + -2.056, + 0.524, + 1.46 + ], + [ + -2.056, + 0.524, + 1.46 + ], + [ + -2.056, + 0.524, + 1.46 + ], + [ + -2.056, + 0.524, + 1.46 + ], + [ + -2.056, + 0.524, + 1.46 + ], + [ + -2.056, + 0.524, + 1.46 + ], + [ + -2.056, + 0.524, + 1.46 + ], + [ + -2.056, + 0.524, + 1.46 + ], + [ + -2.056, + 0.524, + 1.46 + ], + [ + -2.056, + 0.524, + 1.46 + ], + [ + -2.056, + 0.524, + 1.46 + ], + [ + -2.056, + 0.524, + 1.46 + ], + [ + -2.056, + 0.524, + 1.46 + ], + [ + -2.056, + 0.524, + 1.46 + ], + [ + -2.056, + 0.524, + 1.46 + ], + [ + -2.056, + 0.524, + 1.46 + ], + [ + -2.056, + 0.524, + 1.46 + ], + [ + -2.056, + 0.524, + 1.46 + ], + [ + -2.056, + 0.524, + 1.46 + ], + [ + -2.056, + 0.524, + 1.46 + ], + [ + -2.056, + 0.524, + 1.46 + ], + [ + -2.056, + 0.524, + 1.46 + ], + [ + -2.056, + 0.524, + 1.46 + ], + [ + -2.056, + 0.524, + 1.46 + ], + [ + -2.056, + 0.524, + 1.46 + ], + [ + -2.056, + 0.524, + 1.46 + ], + [ + -2.056, + 0.524, + 1.46 + ], + [ + -2.056, + 0.524, + 1.46 + ], + [ + -2.056, + 0.524, + 1.46 + ], + [ + -2.056, + 0.524, + 1.46 + ], + [ + -2.056, + 0.524, + 1.46 + ], + [ + -2.056, + 0.524, + 1.46 + ], + [ + -2.056, + 0.524, + 1.46 + ], + [ + -2.056, + 0.524, + 1.46 + ], + [ + -2.056, + 0.524, + 1.46 + ], + [ + -2.056, + 0.524, + 1.46 + ], + [ + -2.056, + 0.524, + 1.46 + ], + [ + -2.056, + 0.524, + 1.46 + ], + [ + -2.056, + 0.524, + 1.46 + ], + [ + -2.056, + 0.524, + 1.46 + ], + [ + -2.056, + 0.524, + 1.46 + ], + [ + -2.056, + 0.524, + 1.46 + ], + [ + -2.056, + 0.524, + 1.46 + ], + [ + -2.056, + 0.524, + 1.46 + ], + [ + -2.056, + 0.524, + 1.46 + ], + [ + -2.056, + 0.524, + 1.46 + ], + [ + -2.056, + 0.524, + 1.46 + ], + [ + -2.055, + 0.523, + 1.349 + ], + [ + -2.055, + 0.523, + 1.189 + ], + [ + -2.055, + 0.523, + 1.029 + ], + [ + -2.055, + 0.523, + 0.869 + ], + [ + -2.055, + 0.523, + 0.723 + ], + [ + -2.043, + 0.532, + 0.594 + ], + [ + -1.999, + 0.559, + 0.499 + ], + [ + -1.947, + 0.583, + 0.436 + ], + [ + -1.891, + 0.604, + 0.394 + ], + [ + -1.835, + 0.622, + 0.371 + ], + [ + -1.791, + 0.634, + 0.351 + ], + [ + -1.754, + 0.643, + 0.337 + ], + [ + -1.712, + 0.654, + 0.328 + ], + [ + -1.672, + 0.665, + 0.322 + ], + [ + -1.635, + 0.675, + 0.318 + ], + [ + -1.591, + 0.687, + 0.316 + ], + [ + -1.554, + 0.697, + 0.314 + ], + [ + -1.512, + 0.709, + 0.313 + ], + [ + -1.471, + 0.72, + 0.312 + ], + [ + -1.434, + 0.731, + 0.311 + ], + [ + -1.39, + 0.744, + 0.311 + ], + [ + -1.353, + 0.755, + 0.311 + ], + [ + -1.312, + 0.767, + 0.3 + ], + [ + -1.272, + 0.78, + 0.286 + ], + [ + -1.235, + 0.79, + 0.276 + ], + [ + -1.191, + 0.802, + 0.268 + ], + [ + -1.153, + 0.813, + 0.262 + ], + [ + -1.112, + 0.824, + 0.259 + ], + [ + -1.071, + 0.834, + 0.257 + ], + [ + -1.035, + 0.844, + 0.255 + ], + [ + -0.991, + 0.855, + 0.254 + ], + [ + -0.953, + 0.864, + 0.253 + ], + [ + -0.912, + 0.875, + 0.253 + ], + [ + -0.871, + 0.885, + 0.253 + ], + [ + -0.834, + 0.893, + 0.252 + ], + [ + -0.79, + 0.904, + 0.252 + ], + [ + -0.753, + 0.914, + 0.252 + ], + [ + -0.711, + 0.925, + 0.252 + ], + [ + -0.671, + 0.936, + 0.252 + ], + [ + -0.634, + 0.945, + 0.252 + ], + [ + -0.59, + 0.957, + 0.252 + ], + [ + -0.553, + 0.966, + 0.252 + ], + [ + -0.511, + 0.977, + 0.252 + ], + [ + -0.471, + 0.987, + 0.252 + ], + [ + -0.435, + 0.996, + 0.252 + ], + [ + -0.39, + 1.008, + 0.252 + ], + [ + -0.353, + 1.018, + 0.252 + ], + [ + -0.312, + 1.029, + 0.252 + ], + [ + -0.271, + 1.039, + 0.252 + ], + [ + -0.234, + 1.049, + 0.252 + ], + [ + -0.19, + 1.059, + 0.252 + ], + [ + -0.153, + 1.068, + 0.252 + ], + [ + -0.111, + 1.079, + 0.252 + ], + [ + -0.071, + 1.09, + 0.252 + ], + [ + -0.034, + 1.1, + 0.252 + ], + [ + 0.01, + 1.111, + 0.252 + ], + [ + 0.047, + 1.121, + 0.252 + ], + [ + 0.089, + 1.131, + 0.252 + ], + [ + 0.129, + 1.141, + 0.252 + ], + [ + 0.166, + 1.15, + 0.252 + ], + [ + 0.21, + 1.161, + 0.252 + ], + [ + 0.247, + 1.171, + 0.252 + ], + [ + 0.289, + 1.182, + 0.252 + ], + [ + 0.329, + 1.193, + 0.252 + ], + [ + 0.366, + 1.202, + 0.252 + ], + [ + 0.41, + 1.213, + 0.252 + ], + [ + 0.447, + 1.222, + 0.252 + ], + [ + 0.489, + 1.233, + 0.252 + ], + [ + 0.529, + 1.244, + 0.252 + ], + [ + 0.566, + 1.254, + 0.252 + ], + [ + 0.61, + 1.266, + 0.252 + ], + [ + 0.647, + 1.275, + 0.252 + ], + [ + 0.689, + 1.286, + 0.252 + ], + [ + 0.729, + 1.296, + 0.252 + ], + [ + 0.766, + 1.305, + 0.252 + ], + [ + 0.81, + 1.317, + 0.252 + ], + [ + 0.847, + 1.327, + 0.252 + ], + [ + 0.889, + 1.338, + 0.252 + ], + [ + 0.929, + 1.349, + 0.252 + ], + [ + 0.966, + 1.36, + 0.252 + ], + [ + 1.003, + 1.374, + 0.252 + ], + [ + 1.035, + 1.386, + 0.252 + ], + [ + 1.061, + 1.396, + 0.252 + ], + [ + 1.084, + 1.405, + 0.252 + ], + [ + 1.103, + 1.411, + 0.252 + ], + [ + 1.11, + 1.416, + 0.363 + ], + [ + 1.11, + 1.416, + 0.523 + ], + [ + 1.11, + 1.416, + 0.683 + ], + [ + 1.11, + 1.416, + 0.843 + ], + [ + 1.11, + 1.416, + 1.003 + ], + [ + 1.11, + 1.416, + 1.151 + ], + [ + 1.111, + 1.416, + 1.261 + ], + [ + 1.111, + 1.416, + 1.343 + ], + [ + 1.111, + 1.416, + 1.403 + ], + [ + 1.111, + 1.416, + 1.44 + ], + [ + 1.108, + 1.438, + 1.44 + ], + [ + 1.11, + 1.475, + 1.445 + ], + [ + 1.111, + 1.513, + 1.449 + ], + [ + 1.113, + 1.551, + 1.454 + ], + [ + 1.114, + 1.589, + 1.46 + ], + [ + 1.115, + 1.627, + 1.465 + ], + [ + 1.116, + 1.665, + 1.47 + ], + [ + 1.117, + 1.703, + 1.476 + ], + [ + 1.118, + 1.74, + 1.481 + ], + [ + 1.119, + 1.779, + 1.486 + ], + [ + 1.12, + 1.816, + 1.492 + ], + [ + 1.121, + 1.854, + 1.497 + ], + [ + 1.121, + 1.892, + 1.501 + ], + [ + 1.122, + 1.93, + 1.507 + ], + [ + 1.123, + 1.968, + 1.513 + ], + [ + 1.124, + 2.006, + 1.517 + ], + [ + 1.125, + 2.044, + 1.523 + ], + [ + 1.126, + 2.077, + 1.524 + ], + [ + 1.127, + 2.101, + 1.524 + ], + [ + 1.128, + 2.119, + 1.524 + ], + [ + 1.129, + 2.132, + 1.524 + ], + [ + 1.129, + 2.142, + 1.524 + ], + [ + 1.129, + 2.143, + 1.524 + ], + [ + 1.129, + 2.143, + 1.524 + ], + [ + 1.129, + 2.143, + 1.524 + ], + [ + 1.129, + 2.143, + 1.524 + ], + [ + 1.129, + 2.143, + 1.524 + ], + [ + 1.129, + 2.143, + 1.524 + ], + [ + 1.129, + 2.143, + 1.524 + ], + [ + 1.129, + 2.143, + 1.524 + ], + [ + 1.129, + 2.143, + 1.524 + ], + [ + 1.129, + 2.143, + 1.524 + ], + [ + 1.129, + 2.143, + 1.524 + ], + [ + 1.129, + 2.143, + 1.524 + ], + [ + 1.129, + 2.143, + 1.524 + ], + [ + 1.129, + 2.143, + 1.524 + ], + [ + 1.129, + 2.143, + 1.524 + ], + [ + 1.129, + 2.143, + 1.524 + ], + [ + 1.129, + 2.143, + 1.524 + ], + [ + 1.129, + 2.143, + 1.524 + ], + [ + 1.129, + 2.143, + 1.524 + ], + [ + 1.129, + 2.143, + 1.524 + ], + [ + 1.129, + 2.143, + 1.524 + ], + [ + 1.129, + 2.143, + 1.524 + ], + [ + 1.129, + 2.143, + 1.524 + ], + [ + 1.129, + 2.143, + 1.524 + ], + [ + 1.129, + 2.143, + 1.524 + ], + [ + 1.129, + 2.143, + 1.524 + ], + [ + 1.129, + 2.143, + 1.524 + ] + ], + "stage_events": [ + { + "step": 30, + "event": "stage_start", + "stage": "nav_A" + }, + { + "step": 512, + "event": "enter_zone", + "zone": "A", + "base": [ + -2.314, + 0.092 + ] + }, + { + "step": 661, + "event": "stage_done", + "stage": "nav_A", + "skill_state": "finished: planner reached target" + }, + { + "step": 661, + "event": "stage_start", + "stage": "stance_A" + }, + { + "step": 668, + "event": "stage_done", + "stage": "stance_A", + "skill_state": "finished" + }, + { + "step": 668, + "event": "stage_start", + "stage": "pick" + }, + { + "step": 1121, + "event": "picked", + "part": [ + -1.9805, + 1.3794, + 0.4605 + ], + "gap_mm": 32.3, + "lift_mm": 30.5 + }, + { + "step": 1168, + "event": "stage_done", + "stage": "pick", + "skill_state": "finished" + }, + { + "step": 1168, + "event": "stage_start", + "stage": "carry" + }, + { + "step": 1294, + "event": "stage_done", + "stage": "carry", + "skill_state": "finished" + }, + { + "step": 1294, + "event": "stage_start", + "stage": "nav_B" + }, + { + "step": 2235, + "event": "stage_done", + "stage": "nav_B", + "skill_state": "finished: planner reached target" + }, + { + "step": 2235, + "event": "stage_start", + "stage": "stance_B" + }, + { + "step": 2270, + "event": "enter_zone", + "zone": "B", + "base": [ + 1.111, + 1.509 + ] + }, + { + "step": 2461, + "event": "stage_done", + "stage": "stance_B", + "skill_state": "finished" + }, + { + "step": 2461, + "event": "stage_start", + "stage": "assemble" + }, + { + "step": 2461, + "event": "wp_start", + "name": "pre_insert", + "kind": "plan" + }, + { + "step": 2461, + "event": "assemble_start", + "t_l6_part": [ + 0.2371, + -0.0147, + -0.0012, + 0.4927, + 0.4925, + -0.5071, + -0.5075 + ] + }, + { + "step": 2550, + "event": "wp_done", + "name": "pre_insert" + }, + { + "step": 2550, + "event": "wp_start", + "name": "align", + "kind": "servo" + }, + { + "step": 2622, + "event": "wp_done", + "name": "align" + }, + { + "step": 2622, + "event": "wp_start", + "name": "insert", + "kind": "servo" + }, + { + "step": 2704, + "event": "stop_condition", + "name": "board_level", + "wp": "insert" + }, + { + "step": 2704, + "event": "wp_done", + "name": "insert" + }, + { + "step": 2704, + "event": "release_start" + }, + { + "step": 2708, + "event": "released", + "gap_mm": 39.8 + }, + { + "step": 2737, + "event": "success", + "ok": true, + "tilt_deg": -0.28, + "tilt_err_deg": -0.28, + "support_gap_mm": 1.0, + "wedge_on_plate": true, + "wedge_x_mm": 285.7, + "wedge_yaw_deg": 179.9, + "board_touch_steps": 0 + } + ], + "station_transition_order": [ + "S", + "A", + "B" + ], + "interstation_path_lengths": { + "S": 2.847, + "S->A": 3.897, + "A->B": 0.634 + }, + "base_path_length": 7.377, + "distance_to_first_interaction": 3.352, + "regrasp_events": 0, + "violations": [], + "end_state": { + "ok": true, + "tilt_deg": -0.28, + "tilt_err_deg": -0.28, + "support_gap_mm": 1.0, + "wedge_on_plate": true, + "wedge_x_mm": 285.7, + "wedge_yaw_deg": 179.9, + "board_touch_steps": 0 + }, + "manipulation_success": true, + "mobile_success": true, + "transport_state": { + "picked": true, + "released": true + }, + "command_state": null, + "elapsed_s": 835.7 +} diff --git a/N025/sawyer_umi/dr_on/seed_2016/stationassembly/000/completed/0.json b/N025/sawyer_umi/dr_on/seed_2016/stationassembly/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..1db0234d1d09a173dbe0f48b261236e22fe34f76 --- /dev/null +++ b/N025/sawyer_umi/dr_on/seed_2016/stationassembly/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationassembly/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N025/sawyer_umi/dr_on/seed_2016/stationassembly/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N025/sawyer_umi/dr_on/seed_2016/stationassembly/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..aebdeb14d046b059d72031b794db163cc8629e5a --- /dev/null +++ b/N025/sawyer_umi/dr_on/seed_2016/stationassembly/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1a7972dcbdb537ddfc3d269753e3b27eb4a60d979148f8c1950dc1e56d264b51 +size 2037340 diff --git a/N025/sawyer_umi/dr_on/seed_2016/stationassembly/000/lerobot_v21/meta/episodes.jsonl b/N025/sawyer_umi/dr_on/seed_2016/stationassembly/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ac045edcdce5b811675330a928e9c6f97e6b3aa0 --- /dev/null +++ b/N025/sawyer_umi/dr_on/seed_2016/stationassembly/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level."], "length": 1354, "magicsim/control_steps": 2707, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a medium shim board and a small wedge. The gray table A is to the left of the wedge. The gray table B is to the right of the shim board. The shim board is on top of the gray table B. The shim board is to the left of the gray table B. The wedge is on top of the gray table A. The wedge is to the right of the gray table A. The scene is viewed from front-right, at table height."} diff --git a/N025/sawyer_umi/dr_on/seed_2016/stationassembly/000/lerobot_v21/meta/episodes_stats.jsonl b/N025/sawyer_umi/dr_on/seed_2016/stationassembly/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..950b47cfc228cdfa5b29409a6877ec41340327d6 --- /dev/null +++ b/N025/sawyer_umi/dr_on/seed_2016/stationassembly/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.1367356492553121, -0.0010859692597175719, 0.0046920481602131, -0.8087168372232065, 1.1592383987574317, 0.9220705643362274, -0.018521120918929206, 0.3622970588098072, -0.06450905480007613, -0.3851821902627607, 0.6166912850812407], "std": [0.12192268103061975, 0.00866341987755664, 0.179719253684457, 1.6158446176799355, 1.0808522119091126, 0.23360829132887354, 0.30524646174280645, 0.4849937825462139, 0.34977142598528393, 0.5149141066510361, 0.4861924968426548], "min": [0.0, -0.060992512851953506, -0.800000011920929, -3.489713430404663, -1.9353218078613281, 0.6646828651428223, -0.4890702962875366, -0.7116351127624512, -0.4980764091014862, -0.7251235842704773, 0.0], "max": [0.31347721815109253, 0.0295656006783247, 0.800000011920929, 1.6986448764801025, 2.868180513381958, 1.303362250328064, 0.5229367613792419, 0.7128689289093018, 0.5093433856964111, 0.7718295454978943, 1.0], "count": [1354]}, "action_is_hold": {"mean": [0.008862629246676515, 0.008862629246676515, 0.008862629246676515, 0.047267355982274745, 0.047267355982274745, 0.047267355982274745, 0.047267355982274745, 0.047267355982274745, 0.047267355982274745, 0.047267355982274745, 0.8567208271787297], "std": [0.09372343916818554, 0.09372343916818554, 0.09372343916818554, 0.21221016243507618, 0.21221016243507618, 0.21221016243507618, 0.21221016243507618, 0.21221016243507618, 0.21221016243507618, 0.21221016243507618, 0.350357319685104], "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": [1354]}, "observation.state": {"mean": [0.23764439312358726, -3.901958960550046, 1.0238553686631484, 0.04623492595472992, -6.930248413466694e-07, -1.5062723106084228, -0.3772124656670842, 1.4923369535623308, -0.057583383498257985, 1.7360280233172583, 0.9010148846921048, 0.0122028987886181, -0.013660892483530189, -0.013660892483530189, -0.0122028987886181], "std": [1.4455042612181297, 1.1963825788748488, 0.513314044866558, 0.10714371516174724, 2.0112091132738078e-05, 0.195149061490709, 0.2655014481361556, 0.6407406298436152, 0.13680684898743972, 0.6326886752973485, 0.5560265995667565, 0.007124685491338527, 0.007753783526677423, 0.007753783526677423, 0.007124685491338527], "min": [-3.497999906539917, -5.7192840576171875, 0.2519538402557373, -0.30564579367637634, -0.00012026112381136045, -1.6699378490447998, -0.8674908876419067, 0.49051547050476074, -0.27377820014953613, 0.8399724960327148, -0.023173049092292786, 0.0, -0.020833000540733337, -0.020833000540733337, -0.020833000540733337], "max": [2.3153622150421143, -2.4962000846862793, 1.5235880613327026, 0.35260337591171265, 0.00020141020650044084, -1.0183424949645996, 0.04106210544705391, 2.2552132606506348, 0.26898977160453796, 2.704961061477661, 1.3789464235305786, 0.020833000540733337, 0.0, 0.0, -0.0], "count": [1354]}, "observation.joint_vel": {"mean": [0.10733667045053744, -0.055925870157950024, 0.004746134151190573, 0.00169406574707056, -1.6105386840286755e-05, 0.00581643696261785, -0.009677368940817686, 0.028890134166838603, 0.005033309483870327, -0.033039846774818284, 0.02013091717266889, -0.0008882444297036593, -0.00584414278997298], "std": [0.11039418400102192, 0.08023042586771258, 0.17792908224626885, 0.07526793574028419, 0.0007517372854179375, 0.07336288795575548, 0.090954435210981, 0.08634944896151553, 0.0839562966054197, 0.10894802411319142, 0.0819372907699309, 0.017191902633335615, 0.013409531036056056], "min": [-0.00032184645533561707, -0.24689973890781403, -0.8000107407569885, -0.1963324248790741, -0.009734808467328548, -0.16518476605415344, -0.19312213361263275, -0.2075733095407486, -0.3257750868797302, -0.3213195204734802, -0.3298569321632385, -0.09975708276033401, -0.10009213536977768], "max": [0.2991824448108673, 0.06656258553266525, 0.8000286221504211, 0.1904994249343872, 0.00894815381616354, 0.1841786950826645, 0.23240652680397034, 0.1996249109506607, 0.32748404145240784, 0.26463189721107483, 0.352859228849411, 0.10001445561647415, 0.09999972581863403], "count": [1354]}, "observation.eef_pose": {"mean": [-0.8089453074950422, 1.1589491752898349, 0.9254739699634879, 0.0412050201812074, 0.600359197645455, -0.06539689366770372, -0.6378893688915399], "std": [1.6159356070477187, 1.0802536226651978, 0.23404653556908958, 0.3055940394642427, 0.08233585759025387, 0.3504700930994038, 0.06078720859151278], "min": [-3.489713430404663, -1.9353517293930054, 0.665434718132019, -0.3479451537132263, 0.4755139946937561, -0.4982866942882538, -0.754757821559906], "max": [1.698777198791504, 2.868178129196167, 1.3055624961853027, 0.5229366421699524, 0.7117003202438354, 0.5093433260917664, -0.49091047048568726], "count": [1354]}, "observation.environment_state": {"mean": [0.05145916945687557, -0.0018789682808451876, 1.1391199827194214, 3.1543900966644287, 0.4300000071525574, 0.7167602777481079, 1.4425684902218036e-25, 9.313224635931761e-10, -0.6973196864128113, -2.0, 1.5, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, 1.2000000476837158, 3.0, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, -0.6620263810141598, 1.5429344689212134, 0.4992311958724322, 0.8146286347504028, -0.021671752267372998, 0.04664195172146458, 0.5097135706547444], "std": [0.006048946616274702, 0.0151610518507608, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4248434417493092, 0.5636766272067991, 0.06370113450083688, 0.11403050677446075, 0.027756550352327842, 0.04939312697915117, 0.2402375081938122], "min": [0.00452794972807169, -0.196759894490242, 1.1391199827194214, 3.1543900966644287, 0.4300000071525574, 0.7167602777481079, 1.4425684902218036e-25, 9.313224635931761e-10, -0.6973196864128113, -2.0, 1.5, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, 1.2000000476837158, 3.0, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, -1.9857933521270752, 0.8136820197105408, 0.4300000071525574, 0.6933192014694214, -0.09753973037004471, -0.014121625572443008, 0.13741780817508698], "max": [0.05235988274216652, 0.007511155679821968, 1.1391199827194214, 3.1543900966644287, 0.4300000071525574, 0.7167602777481079, 1.4425684902218036e-25, 9.313224635931761e-10, -0.6973196864128113, -2.0, 1.5, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, 1.2000000476837158, 3.0, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, 1.6580889225006104, 2.8687267303466797, 0.5791969299316406, 0.9844823479652405, 0.023304859176278114, 0.13553102314472198, 0.720599889755249], "count": [1354]}, "action.command": {"mean": [-2.174469030421713, -0.3694523102463687, 1.3855259119633714, 0.726966180042787, 0.0, 0.0, 0.6865132310173728, 0.9155038759689923, -0.8007468139709428, 1.1271934576505838, 0.9309190498766049, -0.02160395782495273, 0.34621261127235353, -0.06852085685135986, -0.370254472221515, 0.15463917525773196, -2.6098222226623964, -0.677535905695628, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9625680395502602, 0.6189363281108827, 0.9989954637602596, -0.004839965810921171, 0.5423939378773545, -0.10127917471728755, -0.5983571934275888, 0.0, -2.5860344256348955, -0.6580488063025808, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9625680395502602, 0.6189363281108827, 0.9989954637602596, -0.004839965810921171, 0.5423939378773545, -0.10127917471728755, -0.5983571934275888, 0.0, -2.512710213509721, -0.5822273115645218, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9625680395502602, 0.6189363281108827, 0.9989954637602596, -0.004839965810921171, 0.5423939378773545, -0.10127917471728755, -0.5983571934275888, 0.0, -2.4635946985424093, -0.5582322613862751, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9625680395502602, 0.6189363281108827, 0.9989954637602596, -0.004839965810921171, 0.5423939378773545, -0.10127917471728755, -0.5983571934275888, 0.0, -2.4192166534433523, -0.49151853457793804, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9625680395502602, 0.6189363281108827, 0.9989954637602596, -0.004839965810921171, 0.5423939378773545, -0.10127917471728755, -0.5983571934275888, 0.0, -2.3440362952715863, -0.46429033049179913, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9625680395502602, 0.6189363281108827, 0.9989954637602596, -0.004839965810921171, 0.5423939378773545, -0.10127917471728755, -0.5983571934275888, 0.0, -2.281995589275675, -0.42013289505826473, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9625680395502602, 0.6189363281108827, 0.9989954637602596, -0.004839965810921171, 0.5423939378773545, -0.10127917471728755, -0.5983571934275888, 0.0, -2.2255586859837573, -0.3724399387003354, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9625680395502602, 0.6189363281108827, 0.9989954637602596, -0.004839965810921171, 0.5423939378773545, -0.10127917471728755, -0.5983571934275888, 0.0, -2.15822077872944, -0.3470182150715945, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9625680395502602, 0.6189363281108827, 0.9989954637602596, -0.004839965810921171, 0.5423939378773545, -0.10127917471728755, -0.5983571934275888, 0.0, -2.111353512488902, -0.2823915428551816, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9625680395502602, 0.6189363281108827, 0.9989954637602596, -0.004839965810921171, 0.5423939378773545, -0.10127917471728755, -0.5983571934275888, 0.0, -2.075446654911114, -0.26052778792653936, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9625680395502602, 0.6189363281108827, 0.9989954637602596, -0.004839965810921171, 0.5423939378773545, -0.10127917471728755, -0.5983571934275888, 0.0, -1.9733677136095233, -0.18471949421617248, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9625680395502602, 0.6189363281108827, 0.9989954637602596, -0.004839965810921171, 0.5423939378773545, -0.10127917471728755, -0.5983571934275888, 0.0, -1.9011286319892622, -0.14859037462910674, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9625680395502602, 0.6189363281108827, 0.9989954637602596, -0.004839965810921171, 0.5423939378773545, -0.10127917471728755, -0.5983571934275888, 0.0, -1.8712678491842034, -0.10320034884437067, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9625680395502602, 0.6189363281108827, 0.9989954637602596, -0.004839965810921171, 0.5423939378773545, -0.10127917471728755, -0.5983571934275888, 0.0, -1.8111378245311287, -0.06378393888170565, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9625680395502602, 0.6189363281108827, 0.9989954637602596, -0.004839965810921171, 0.5423939378773545, -0.10127917471728755, -0.5983571934275888, 0.0, -1.7557197843300796, -0.018219625480293166, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9625680395502602, 0.6189363281108827, 0.9989954637602596, -0.004839965810921171, 0.5423939378773545, -0.10127917471728755, -0.5983571934275888, 0.0, -1.7315764655151997, 0.018404873080901905, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9625680395502602, 0.6189363281108827, 0.9989954637602596, -0.004839965810921171, 0.5423939378773545, -0.10127917471728755, -0.5983571934275888, 0.0, -1.6256612097747445, 0.07049595741637932, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9625680395502602, 0.6189363281108827, 0.9989954637602596, -0.004839965810921171, 0.5423939378773545, -0.10127917471728755, -0.5983571934275888, 0.0, -1.5553167188940085, 0.12556106533755795, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9625680395502602, 0.6189363281108827, 0.9989954637602596, -0.004839965810921171, 0.5423939378773545, -0.10127917471728755, -0.5983571934275888, 0.0, -1.4962438376764784, 0.15904653428318843, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9625680395502602, 0.6189363281108827, 0.9989954637602596, -0.004839965810921171, 0.5423939378773545, -0.10127917471728755, -0.5983571934275888, 0.0, -1.3882378543498708, 0.2300982943332483, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9625680395502602, 0.6189363281108827, 0.9989954637602596, -0.004839965810921171, 0.5423939378773545, -0.10127917471728755, -0.5983571934275888, 0.0, -1.370605725345345, 0.2466244218915966, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9625680395502602, 0.6189363281108827, 0.9989954637602596, -0.004839965810921171, 0.5423939378773545, -0.10127917471728755, -0.5983571934275888, 0.0, -1.313015275792215, 0.31142622845902984, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9625680395502602, 0.6189363281108827, 0.9989954637602596, -0.004839965810921171, 0.5423939378773545, -0.10127917471728755, -0.5983571934275888, 0.0, -1.2474178090180346, 0.3335715706496863, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9625680395502602, 0.6189363281108827, 0.9989954637602596, -0.004839965810921171, 0.5423939378773545, -0.10127917471728755, -0.5983571934275888, 0.0, -1.200561565016852, 0.3930690268852205, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9625680395502602, 0.6189363281108827, 0.9989954637602596, -0.004839965810921171, 0.5423939378773545, -0.10127917471728755, -0.5983571934275888, 0.0, -1.1248454381315347, 0.42036036009103855, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9625680395502602, 0.6189363281108827, 0.9989954637602596, -0.004839965810921171, 0.5423939378773545, -0.10127917471728755, -0.5983571934275888, 0.0, -1.0692291105452456, 0.4355410838823912, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9625680395502602, 0.6189363281108827, 0.9989954637602596, -0.004839965810921171, 0.5423939378773545, -0.10127917471728755, -0.5983571934275888, 0.0, -1.002342620767473, 0.5071311589268899, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9625680395502602, 0.6189363281108827, 0.9989954637602596, -0.004839965810921171, 0.5423939378773545, -0.10127917471728755, -0.5983571934275888, 0.0, -0.910352604134716, 0.5384613667843151, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9625680395502602, 0.6189363281108827, 0.9989954637602596, -0.004839965810921171, 0.5423939378773545, -0.10127917471728755, -0.5983571934275888, 0.0, -0.8798398078623993, 0.5939020231233618, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9625680395502602, 0.6189363281108827, 0.9989954637602596, -0.004839965810921171, 0.5423939378773545, -0.10127917471728755, -0.5983571934275888, 0.0, -0.8557809730269857, 0.613979457369905, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9625680395502602, 0.6189363281108827, 0.9989954637602596, -0.004839965810921171, 0.5423939378773545, -0.10127917471728755, -0.5983571934275888, 0.0, -0.7575827676807607, 0.6806095933974774, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9625680395502602, 0.6189363281108827, 0.9989954637602596, -0.004839965810921171, 0.5423939378773545, -0.10127917471728755, -0.5983571934275888, 0.0, -0.720191225882861, 0.7107982500308351, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9625680395502602, 0.6189363281108827, 0.9989954637602596, -0.004839965810921171, 0.5423939378773545, -0.10127917471728755, -0.5983571934275888, 0.0, -0.6352452458541609, 0.7675975405882093, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9625680395502602, 0.6189363281108827, 0.9989954637602596, -0.004839965810921171, 0.5423939378773545, -0.10127917471728755, -0.5983571934275888, 0.0, -0.5619846508190925, 0.8133052198223419, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9625680395502602, 0.6189363281108827, 0.9989954637602596, -0.004839965810921171, 0.5423939378773545, -0.10127917471728755, -0.5983571934275888, 0.0, -0.5123834834165464, 0.8557343187598746, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9625680395502602, 0.6189363281108827, 0.9989954637602596, -0.004839965810921171, 0.5423939378773545, -0.10127917471728755, -0.5983571934275888, 0.0, -0.4039015865386517, 0.9155415850945925, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9625680395502602, 0.6189363281108827, 0.9989954637602596, -0.004839965810921171, 0.5423939378773545, -0.10127917471728755, -0.5983571934275888, 0.0, -0.3883881105401161, 0.9463551065670338, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9625680395502602, 0.6189363281108827, 0.9989954637602596, -0.004839965810921171, 0.5423939378773545, -0.10127917471728755, -0.5983571934275888, 0.0, -0.3662370357761843, 0.9857646293531076, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9625680395502602, 0.6189363281108827, 0.9989954637602596, -0.004839965810921171, 0.5423939378773545, -0.10127917471728755, -0.5983571934275888, 0.0, -0.26249446241798063, 1.040336869571836, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9625680395502602, 0.6189363281108827, 0.9989954637602596, -0.004839965810921171, 0.5423939378773545, -0.10127917471728755, -0.5983571934275888, 0.0, -0.2151899490756334, 1.0843830573664839, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9625680395502602, 0.6189363281108827, 0.9989954637602596, -0.004839965810921171, 0.5423939378773545, -0.10127917471728755, -0.5983571934275888, 0.0, -0.1287449990627575, 1.076591059849556, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9625680395502602, 0.6189363281108827, 0.9989954637602596, -0.004839965810921171, 0.5423939378773545, -0.10127917471728755, -0.5983571934275888, 0.0, 1.2000000476837158, 1.4500000476837158, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 0.18119233954231198, 1.2264323630656913, 0.7947943210601807, -0.30434765083015347, 0.5394992792935381, -0.45895159829827126, -0.620794501653902, 0.0], "std": [1.3988810057935295, 1.6304169225842713, 0.49556109054144204, 0.010153835852506862, 0.0, 0.0, 0.010800566257675217, 1.3808743220857707, 1.6217786762524646, 1.0863537442427125, 0.2322598782357491, 0.31054699571259065, 0.4911301566937836, 0.3561390219379352, 0.5228797427207856, 0.3615603694175296, 0.7240667671015669, 1.4819464932490338, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.640588360468933, 0.9857213244847123, 0.24930160833543383, 0.3731149586555814, 0.04071689543977281, 0.44198678799854557, 0.03565766620065292, 0.0, 0.7306163494909025, 1.4695660475328947, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.640588360468933, 0.9857213244847123, 0.24930160833543383, 0.3731149586555814, 0.04071689543977281, 0.44198678799854557, 0.03565766620065292, 0.0, 0.7336259234756206, 1.4066632280790385, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.640588360468933, 0.9857213244847123, 0.24930160833543383, 0.3731149586555814, 0.04071689543977281, 0.44198678799854557, 0.03565766620065292, 0.0, 0.7648607795667903, 1.406606894622985, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.640588360468933, 0.9857213244847123, 0.24930160833543383, 0.3731149586555814, 0.04071689543977281, 0.44198678799854557, 0.03565766620065292, 0.0, 0.7439726963651947, 1.3358319129617835, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.640588360468933, 0.9857213244847123, 0.24930160833543383, 0.3731149586555814, 0.04071689543977281, 0.44198678799854557, 0.03565766620065292, 0.0, 0.802144235973745, 1.3506663702488386, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.640588360468933, 0.9857213244847123, 0.24930160833543383, 0.3731149586555814, 0.04071689543977281, 0.44198678799854557, 0.03565766620065292, 0.0, 0.8264974110958587, 1.3288472948735472, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.640588360468933, 0.9857213244847123, 0.24930160833543383, 0.3731149586555814, 0.04071689543977281, 0.44198678799854557, 0.03565766620065292, 0.0, 0.8404454930077031, 1.2971825455566068, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.640588360468933, 0.9857213244847123, 0.24930160833543383, 0.3731149586555814, 0.04071689543977281, 0.44198678799854557, 0.03565766620065292, 0.0, 0.8914213685979244, 1.3088458500145366, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.640588360468933, 0.9857213244847123, 0.24930160833543383, 0.3731149586555814, 0.04071689543977281, 0.44198678799854557, 0.03565766620065292, 0.0, 0.8757186514660849, 1.2432555916139496, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.640588360468933, 0.9857213244847123, 0.24930160833543383, 0.3731149586555814, 0.04071689543977281, 0.44198678799854557, 0.03565766620065292, 0.0, 0.8938405516005731, 1.236427234585414, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.640588360468933, 0.9857213244847123, 0.24930160833543383, 0.3731149586555814, 0.04071689543977281, 0.44198678799854557, 0.03565766620065292, 0.0, 0.930470738603526, 1.195574288208938, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.640588360468933, 0.9857213244847123, 0.24930160833543383, 0.3731149586555814, 0.04071689543977281, 0.44198678799854557, 0.03565766620065292, 0.0, 0.9711436692005134, 1.1846354880958425, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.640588360468933, 0.9857213244847123, 0.24930160833543383, 0.3731149586555814, 0.04071689543977281, 0.44198678799854557, 0.03565766620065292, 0.0, 0.955828916606939, 1.1346621610247072, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.640588360468933, 0.9857213244847123, 0.24930160833543383, 0.3731149586555814, 0.04071689543977281, 0.44198678799854557, 0.03565766620065292, 0.0, 0.979827845452352, 1.1116130119111869, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.640588360468933, 0.9857213244847123, 0.24930160833543383, 0.3731149586555814, 0.04071689543977281, 0.44198678799854557, 0.03565766620065292, 0.0, 0.9922024182303963, 1.0765852896722015, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.640588360468933, 0.9857213244847123, 0.24930160833543383, 0.3731149586555814, 0.04071689543977281, 0.44198678799854557, 0.03565766620065292, 0.0, 0.9798986421142301, 1.036291791782967, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.640588360468933, 0.9857213244847123, 0.24930160833543383, 0.3731149586555814, 0.04071689543977281, 0.44198678799854557, 0.03565766620065292, 0.0, 1.0404613733089596, 1.021567810013236, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.640588360468933, 0.9857213244847123, 0.24930160833543383, 0.3731149586555814, 0.04071689543977281, 0.44198678799854557, 0.03565766620065292, 0.0, 1.0590927581289202, 0.9812419963551136, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.640588360468933, 0.9857213244847123, 0.24930160833543383, 0.3731149586555814, 0.04071689543977281, 0.44198678799854557, 0.03565766620065292, 0.0, 1.0881951240966066, 0.9664150774661989, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.640588360468933, 0.9857213244847123, 0.24930160833543383, 0.3731149586555814, 0.04071689543977281, 0.44198678799854557, 0.03565766620065292, 0.0, 1.1310365713478656, 0.9246383559096208, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.640588360468933, 0.9857213244847123, 0.24930160833543383, 0.3731149586555814, 0.04071689543977281, 0.44198678799854557, 0.03565766620065292, 0.0, 1.1328333105669166, 0.9104655245454447, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.640588360468933, 0.9857213244847123, 0.24930160833543383, 0.3731149586555814, 0.04071689543977281, 0.44198678799854557, 0.03565766620065292, 0.0, 1.1272836178043004, 0.8480204728594063, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.640588360468933, 0.9857213244847123, 0.24930160833543383, 0.3731149586555814, 0.04071689543977281, 0.44198678799854557, 0.03565766620065292, 0.0, 1.1754645592274224, 0.8539993868200015, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.640588360468933, 0.9857213244847123, 0.24930160833543383, 0.3731149586555814, 0.04071689543977281, 0.44198678799854557, 0.03565766620065292, 0.0, 1.163803650694496, 0.7930841040272248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.640588360468933, 0.9857213244847123, 0.24930160833543383, 0.3731149586555814, 0.04071689543977281, 0.44198678799854557, 0.03565766620065292, 0.0, 1.217591619073262, 0.7974034893028535, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.640588360468933, 0.9857213244847123, 0.24930160833543383, 0.3731149586555814, 0.04071689543977281, 0.44198678799854557, 0.03565766620065292, 0.0, 1.2622337792728462, 0.807837830329292, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.640588360468933, 0.9857213244847123, 0.24930160833543383, 0.3731149586555814, 0.04071689543977281, 0.44198678799854557, 0.03565766620065292, 0.0, 1.2596617081323864, 0.7407928802218603, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.640588360468933, 0.9857213244847123, 0.24930160833543383, 0.3731149586555814, 0.04071689543977281, 0.44198678799854557, 0.03565766620065292, 0.0, 1.3269376842121359, 0.7487670883811736, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.640588360468933, 0.9857213244847123, 0.24930160833543383, 0.3731149586555814, 0.04071689543977281, 0.44198678799854557, 0.03565766620065292, 0.0, 1.301731793539179, 0.6841823368826927, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.640588360468933, 0.9857213244847123, 0.24930160833543383, 0.3731149586555814, 0.04071689543977281, 0.44198678799854557, 0.03565766620065292, 0.0, 1.3067913005000016, 0.6685332358773542, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.640588360468933, 0.9857213244847123, 0.24930160833543383, 0.3731149586555814, 0.04071689543977281, 0.44198678799854557, 0.03565766620065292, 0.0, 1.3436005682873269, 0.6275199743607667, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.640588360468933, 0.9857213244847123, 0.24930160833543383, 0.3731149586555814, 0.04071689543977281, 0.44198678799854557, 0.03565766620065292, 0.0, 1.352534651203995, 0.604713438219668, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.640588360468933, 0.9857213244847123, 0.24930160833543383, 0.3731149586555814, 0.04071689543977281, 0.44198678799854557, 0.03565766620065292, 0.0, 1.3852612774023547, 0.5704869301010338, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.640588360468933, 0.9857213244847123, 0.24930160833543383, 0.3731149586555814, 0.04071689543977281, 0.44198678799854557, 0.03565766620065292, 0.0, 1.4169440838125573, 0.545861021284763, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.640588360468933, 0.9857213244847123, 0.24930160833543383, 0.3731149586555814, 0.04071689543977281, 0.44198678799854557, 0.03565766620065292, 0.0, 1.4262819969659648, 0.5120514662054727, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.640588360468933, 0.9857213244847123, 0.24930160833543383, 0.3731149586555814, 0.04071689543977281, 0.44198678799854557, 0.03565766620065292, 0.0, 1.481504269775157, 0.48733897537999993, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.640588360468933, 0.9857213244847123, 0.24930160833543383, 0.3731149586555814, 0.04071689543977281, 0.44198678799854557, 0.03565766620065292, 0.0, 1.4659186607822936, 0.45058322145408963, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.640588360468933, 0.9857213244847123, 0.24930160833543383, 0.3731149586555814, 0.04071689543977281, 0.44198678799854557, 0.03565766620065292, 0.0, 1.4485044058618262, 0.404948111044695, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.640588360468933, 0.9857213244847123, 0.24930160833543383, 0.3731149586555814, 0.04071689543977281, 0.44198678799854557, 0.03565766620065292, 0.0, 1.5040803113571488, 0.38522868408924016, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.640588360468933, 0.9857213244847123, 0.24930160833543383, 0.3731149586555814, 0.04071689543977281, 0.44198678799854557, 0.03565766620065292, 0.0, 1.5092074739806172, 0.3476393381845634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.640588360468933, 0.9857213244847123, 0.24930160833543383, 0.3731149586555814, 0.04071689543977281, 0.44198678799854557, 0.03565766620065292, 0.0, 1.532731425304304, 0.3903722675645236, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.640588360468933, 0.9857213244847123, 0.24930160833543383, 0.3731149586555814, 0.04071689543977281, 0.44198678799854557, 0.03565766620065292, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0505979931034686, 0.300536564332526, 0.0, 0.09541263274005231, 0.05175243380133524, 0.08781893959014334, 0.028220982775327585, 0.0], "min": [-3.4980721473693848, -2.496131658554077, 0.059999994933605194, 0.7149487733840942, 0.0, 0.0, 0.6624628901481628, -1.0, -3.489713430404663, -1.9353218078613281, 0.6646828651428223, -0.4890702962875366, -0.7116351127624512, -0.4980764091014862, -0.7251235842704773, 0.0, -3.4938085079193115, -2.4867894649505615, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.489713430404663, -1.9353218078613281, 0.7947943210601807, -0.34753936529159546, 0.48588767647743225, -0.4980764091014862, -0.6985056400299072, 0.0, -3.4780168533325195, -2.4521875381469727, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.489713430404663, -1.9353218078613281, 0.7947943210601807, -0.34753936529159546, 0.48588767647743225, -0.4980764091014862, -0.6985056400299072, 0.0, -3.4083669185638428, -2.299570322036743, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.489713430404663, -1.9353218078613281, 0.7947943210601807, -0.34753936529159546, 0.48588767647743225, -0.4980764091014862, -0.6985056400299072, 0.0, -3.3973848819732666, -2.2755064964294434, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.489713430404663, -1.9353218078613281, 0.7947943210601807, -0.34753936529159546, 0.48588767647743225, -0.4980764091014862, -0.6985056400299072, 0.0, -3.327505350112915, -2.1223862171173096, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.489713430404663, -1.9353218078613281, 0.7947943210601807, -0.34753936529159546, 0.48588767647743225, -0.4980764091014862, -0.6985056400299072, 0.0, -3.3233444690704346, -2.1132688522338867, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.489713430404663, -1.9353218078613281, 0.7947943210601807, -0.34753936529159546, 0.48588767647743225, -0.4980764091014862, -0.6985056400299072, 0.0, -3.2910356521606445, -2.042473316192627, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.489713430404663, -1.9353218078613281, 0.7947943210601807, -0.34753936529159546, 0.48588767647743225, -0.4980764091014862, -0.6985056400299072, 0.0, -3.2516274452209473, -1.9561220407485962, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.489713430404663, -1.9353218078613281, 0.7947943210601807, -0.34753936529159546, 0.48588767647743225, -0.4980764091014862, -0.6985056400299072, 0.0, -3.2465240955352783, -1.9449396133422852, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.489713430404663, -1.9353218078613281, 0.7947943210601807, -0.34753936529159546, 0.48588767647743225, -0.4980764091014862, -0.6985056400299072, 0.0, -3.180485963821411, -1.8002362251281738, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.489713430404663, -1.9353218078613281, 0.7947943210601807, -0.34753936529159546, 0.48588767647743225, -0.4980764091014862, -0.6985056400299072, 0.0, -3.166703462600708, -1.770035982131958, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.489713430404663, -1.9353218078613281, 0.7947943210601807, -0.34753936529159546, 0.48588767647743225, -0.4980764091014862, -0.6985056400299072, 0.0, -3.109344959259033, -1.644351840019226, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.489713430404663, -1.9353218078613281, 0.7947943210601807, -0.34753936529159546, 0.48588767647743225, -0.4980764091014862, -0.6985056400299072, 0.0, -3.086761951446533, -1.5948679447174072, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.489713430404663, -1.9353218078613281, 0.7947943210601807, -0.34753936529159546, 0.48588767647743225, -0.4980764091014862, -0.6985056400299072, 0.0, -3.0382039546966553, -1.4884673357009888, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.489713430404663, -1.9353218078613281, 0.7947943210601807, -0.34753936529159546, 0.48588767647743225, -0.4980764091014862, -0.6985056400299072, 0.0, -3.007373332977295, -1.4209110736846924, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.489713430404663, -1.9353218078613281, 0.7947943210601807, -0.34753936529159546, 0.48588767647743225, -0.4980764091014862, -0.6985056400299072, 0.0, -2.9670629501342773, -1.332582712173462, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.489713430404663, -1.9353218078613281, 0.7947943210601807, -0.34753936529159546, 0.48588767647743225, -0.4980764091014862, -0.6985056400299072, 0.0, -2.927898406982422, -1.246765375137329, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.489713430404663, -1.9353218078613281, 0.7947943210601807, -0.34753936529159546, 0.48588767647743225, -0.4980764091014862, -0.6985056400299072, 0.0, -2.8959219455718994, -1.1766983270645142, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.489713430404663, -1.9353218078613281, 0.7947943210601807, -0.34753936529159546, 0.48588767647743225, -0.4980764091014862, -0.6985056400299072, 0.0, -2.8483238220214844, -1.0724009275436401, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.489713430404663, -1.9353218078613281, 0.7947943210601807, -0.34753936529159546, 0.48588767647743225, -0.4980764091014862, -0.6985056400299072, 0.0, -2.8247809410095215, -1.0208138227462769, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.489713430404663, -1.9353218078613281, 0.7947943210601807, -0.34753936529159546, 0.48588767647743225, -0.4980764091014862, -0.6985056400299072, 0.0, -2.769078493118286, -0.8987584114074707, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.489713430404663, -1.9353218078613281, 0.7947943210601807, -0.34753936529159546, 0.48588767647743225, -0.4980764091014862, -0.6985056400299072, 0.0, -2.7536399364471436, -0.86492919921875, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.489713430404663, -1.9353218078613281, 0.7947943210601807, -0.34753936529159546, 0.48588767647743225, -0.4980764091014862, -0.6985056400299072, 0.0, -2.6892740726470947, -0.7238905429840088, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.489713430404663, -1.9353218078613281, 0.7947943210601807, -0.34753936529159546, 0.48588767647743225, -0.4980764091014862, -0.6985056400299072, 0.0, -2.6824989318847656, -0.7090446352958679, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.489713430404663, -1.9353218078613281, 0.7947943210601807, -0.34753936529159546, 0.48588767647743225, -0.4980764091014862, -0.6985056400299072, 0.0, -2.621406316757202, -0.5751779675483704, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.489713430404663, -1.9353218078613281, 0.7947943210601807, -0.34753936529159546, 0.48588767647743225, -0.4980764091014862, -0.6985056400299072, 0.0, -2.6113579273223877, -0.5531600117683411, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.489713430404663, -1.9353218078613281, 0.7947943210601807, -0.34753936529159546, 0.48588767647743225, -0.4980764091014862, -0.6985056400299072, 0.0, -2.610243558883667, -0.5507181882858276, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.489713430404663, -1.9353218078613281, 0.7947943210601807, -0.34753936529159546, 0.48588767647743225, -0.4980764091014862, -0.6985056400299072, 0.0, -2.5402169227600098, -0.3972754180431366, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.489713430404663, -1.9353218078613281, 0.7947943210601807, -0.34753936529159546, 0.48588767647743225, -0.4980764091014862, -0.6985056400299072, 0.0, -2.5303616523742676, -0.3756806254386902, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.489713430404663, -1.9353218078613281, 0.7947943210601807, -0.34753936529159546, 0.48588767647743225, -0.4980764091014862, -0.6985056400299072, 0.0, -2.469075918197632, -0.24139083921909332, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.489713430404663, -1.9353218078613281, 0.7947943210601807, -0.34753936529159546, 0.48588767647743225, -0.4980764091014862, -0.6985056400299072, 0.0, -2.4511940479278564, -0.2022079974412918, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.489713430404663, -1.9353218078613281, 0.7947943210601807, -0.34753936529159546, 0.48588767647743225, -0.4980764091014862, -0.6985056400299072, 0.0, -2.397934913635254, -0.08550629019737244, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.489713430404663, -1.9353218078613281, 0.7947943210601807, -0.34753936529159546, 0.48588767647743225, -0.4980764091014862, -0.6985056400299072, 0.0, -2.371450662612915, -0.02747397869825363, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.489713430404663, -1.9353218078613281, 0.7947943210601807, -0.34753936529159546, 0.48588767647743225, -0.4980764091014862, -0.6985056400299072, 0.0, -2.3264594078063965, 0.07111118733882904, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.489713430404663, -1.9353218078613281, 0.7947943210601807, -0.34753936529159546, 0.48588767647743225, -0.4980764091014862, -0.6985056400299072, 0.0, -2.291879177093506, 0.14688372611999512, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.489713430404663, -1.9353218078613281, 0.7947943210601807, -0.34753936529159546, 0.48588767647743225, -0.4980764091014862, -0.6985056400299072, 0.0, -2.253678321838379, 0.23058965802192688, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.489713430404663, -1.9353218078613281, 0.7947943210601807, -0.34753936529159546, 0.48588767647743225, -0.4980764091014862, -0.6985056400299072, 0.0, -2.2126152515411377, 0.3205674886703491, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.489713430404663, -1.9353218078613281, 0.7947943210601807, -0.34753936529159546, 0.48588767647743225, -0.4980764091014862, -0.6985056400299072, 0.0, -2.1780738830566406, 0.3962547481060028, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.489713430404663, -1.9353218078613281, 0.7947943210601807, -0.34753936529159546, 0.48588767647743225, -0.4980764091014862, -0.6985056400299072, 0.0, -2.134662389755249, 0.4913784861564636, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.489713430404663, -1.9353218078613281, 0.7947943210601807, -0.34753936529159546, 0.48588767647743225, -0.4980764091014862, -0.6985056400299072, 0.0, -2.0987703800201416, 0.5700254440307617, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.489713430404663, -1.9353218078613281, 0.7947943210601807, -0.34753936529159546, 0.48588767647743225, -0.4980764091014862, -0.6985056400299072, 0.0, -2.057725429534912, 0.659963071346283, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.489713430404663, -1.9353218078613281, 0.7947943210601807, -0.34753936529159546, 0.48588767647743225, -0.4980764091014862, -0.6985056400299072, 0.0, -2.0, 0.6000000238418579, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.489713430404663, -1.9353218078613281, 0.7947943210601807, -0.34753936529159546, 0.48588767647743225, -0.4980764091014862, -0.6985056400299072, 0.0, 1.2000000476837158, 1.4500000476837158, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.989296317100525, 0.8388102054595947, 0.7947943210601807, -0.34753936529159546, 0.5138156414031982, -0.4980764091014862, -0.6985056400299072, 0.0], "max": [1.1273589134216309, 2.169661521911621, 1.5707963705062866, 0.7490947246551514, 0.0, 0.0, 0.6991768479347229, 2.0, 1.6986448764801025, 2.8670387268066406, 1.303362250328064, 0.5229367613792419, 0.7128689289093018, 0.5093433856964111, 0.7718295454978943, 1.0, -2.016744375228882, 0.5363157391548157, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6986448764801025, 2.0190987586975098, 1.3033586740493774, 0.5115681886672974, 0.7057813405990601, 0.49953117966651917, -0.5026724934577942, 0.0, -1.9875918626785278, 0.5456621050834656, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6986448764801025, 2.0190987586975098, 1.3033586740493774, 0.5115681886672974, 0.7057813405990601, 0.49953117966651917, -0.5026724934577942, 0.0, -1.9118025302886963, 0.569960355758667, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6986448764801025, 2.0190987586975098, 1.3033586740493774, 0.5115681886672974, 0.7057813405990601, 0.49953117966651917, -0.5026724934577942, 0.0, -1.8371027708053589, 0.5939092636108398, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6986448764801025, 2.0190987586975098, 1.3033586740493774, 0.5115681886672974, 0.7057813405990601, 0.49953117966651917, -0.5026724934577942, 0.0, -1.8098340034484863, 0.6026517152786255, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6986448764801025, 2.0190987586975098, 1.3033586740493774, 0.5115681886672974, 0.7057813405990601, 0.49953117966651917, -0.5026724934577942, 0.0, -1.6870057582855225, 0.6420307159423828, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6986448764801025, 2.0190987586975098, 1.3033586740493774, 0.5115681886672974, 0.7057813405990601, 0.49953117966651917, -0.5026724934577942, 0.0, -1.6050175428390503, 0.6683163046836853, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6986448764801025, 2.0190987586975098, 1.3033586740493774, 0.5115681886672974, 0.7057813405990601, 0.49953117966651917, -0.5026724934577942, 0.0, -1.5371558666229248, 0.6900728940963745, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6986448764801025, 2.0190987586975098, 1.3033586740493774, 0.5115681886672974, 0.7057813405990601, 0.49953117966651917, -0.5026724934577942, 0.0, -1.428063988685608, 0.7250479459762573, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6986448764801025, 2.0190987586975098, 1.3033586740493774, 0.5115681886672974, 0.7057813405990601, 0.49953117966651917, -0.5026724934577942, 0.0, -1.3940587043762207, 0.7359501123428345, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6986448764801025, 2.0190987586975098, 1.3033586740493774, 0.5115681886672974, 0.7057813405990601, 0.49953117966651917, -0.5026724934577942, 0.0, -1.3433083295822144, 0.7522208094596863, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6986448764801025, 2.0190987586975098, 1.3033586740493774, 0.5115681886672974, 0.7057813405990601, 0.49953117966651917, -0.5026724934577942, 0.0, -1.2112258672714233, 0.7945667505264282, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6986448764801025, 2.0190987586975098, 1.3033586740493774, 0.5115681886672974, 0.7057813405990601, 0.49953117966651917, -0.5026724934577942, 0.0, -1.1056718826293945, 0.8217359781265259, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6986448764801025, 2.0190987586975098, 1.3033586740493774, 0.5115681886672974, 0.7057813405990601, 0.49953117966651917, -0.5026724934577942, 0.0, -1.088355302810669, 0.8261932134628296, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6986448764801025, 2.0190987586975098, 1.3033586740493774, 0.5115681886672974, 0.7057813405990601, 0.49953117966651917, -0.5026724934577942, 0.0, -1.0085679292678833, 0.8467302322387695, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6986448764801025, 2.0190987586975098, 1.3033586740493774, 0.5115681886672974, 0.7057813405990601, 0.49953117966651917, -0.5026724934577942, 0.0, -0.9430139660835266, 0.8636035919189453, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6986448764801025, 2.0190987586975098, 1.3033586740493774, 0.5115681886672974, 0.7057813405990601, 0.49953117966651917, -0.5026724934577942, 0.0, -0.9289485812187195, 0.8672239780426025, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6986448764801025, 2.0190987586975098, 1.3033586740493774, 0.5115681886672974, 0.7057813405990601, 0.49953117966651917, -0.5026724934577942, 0.0, -0.7734268307685852, 0.9072547554969788, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6986448764801025, 2.0190987586975098, 1.3033586740493774, 0.5115681886672974, 0.7057813405990601, 0.49953117966651917, -0.5026724934577942, 0.0, -0.6878215074539185, 0.9292892813682556, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6986448764801025, 2.0190987586975098, 1.3033586740493774, 0.5115681886672974, 0.7057813405990601, 0.49953117966651917, -0.5026724934577942, 0.0, -0.6049110889434814, 0.9506301283836365, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6986448764801025, 2.0190987586975098, 1.3033586740493774, 0.5115681886672974, 0.7057813405990601, 0.49953117966651917, -0.5026724934577942, 0.0, -0.4618139863014221, 0.9874628782272339, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6986448764801025, 2.0190987586975098, 1.3033586740493774, 0.5115681886672974, 0.7057813405990601, 0.49953117966651917, -0.5026724934577942, 0.0, -0.44271016120910645, 0.9923801422119141, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6986448764801025, 2.0190987586975098, 1.3033586740493774, 0.5115681886672974, 0.7057813405990601, 0.49953117966651917, -0.5026724934577942, 0.0, -0.389665424823761, 1.0060336589813232, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6986448764801025, 2.0190987586975098, 1.3033586740493774, 0.5115681886672974, 0.7057813405990601, 0.49953117966651917, -0.5026724934577942, 0.0, -0.2846032977104187, 1.033076286315918, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6986448764801025, 2.0190987586975098, 1.3033586740493774, 0.5115681886672974, 0.7057813405990601, 0.49953117966651917, -0.5026724934577942, 0.0, -0.24729841947555542, 1.0426784753799438, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6986448764801025, 2.0190987586975098, 1.3033586740493774, 0.5115681886672974, 0.7057813405990601, 0.49953117966651917, -0.5026724934577942, 0.0, -0.1275249570608139, 1.0735077857971191, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6986448764801025, 2.0190987586975098, 1.3033586740493774, 0.5115681886672974, 0.7057813405990601, 0.49953117966651917, -0.5026724934577942, 0.0, -0.03534255921840668, 1.0972352027893066, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6986448764801025, 2.0190987586975098, 1.3033586740493774, 0.5115681886672974, 0.7057813405990601, 0.49953117966651917, -0.5026724934577942, 0.0, 0.029437165707349777, 1.1139092445373535, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6986448764801025, 2.0190987586975098, 1.3033586740493774, 0.5115681886672974, 0.7057813405990601, 0.49953117966651917, -0.5026724934577942, 0.0, 0.17653244733810425, 1.151771068572998, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6986448764801025, 2.0190987586975098, 1.3033586740493774, 0.5115681886672974, 0.7057813405990601, 0.49953117966651917, -0.5026724934577942, 0.0, 0.18639928102493286, 1.1543108224868774, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6986448764801025, 2.0190987586975098, 1.3033586740493774, 0.5115681886672974, 0.7057813405990601, 0.49953117966651917, -0.5026724934577942, 0.0, 0.21460232138633728, 1.1615701913833618, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6986448764801025, 2.0190987586975098, 1.3033586740493774, 0.5115681886672974, 0.7057813405990601, 0.49953117966651917, -0.5026724934577942, 0.0, 0.3429507315158844, 1.1946066617965698, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6986448764801025, 2.0190987586975098, 1.3033586740493774, 0.5115681886672974, 0.7057813405990601, 0.49953117966651917, -0.5026724934577942, 0.0, 0.38766011595726013, 1.206114649772644, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6986448764801025, 2.0190987586975098, 1.3033586740493774, 0.5115681886672974, 0.7057813405990601, 0.49953117966651917, -0.5026724934577942, 0.0, 0.4994122385978699, 1.2348792552947998, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6986448764801025, 2.0190987586975098, 1.3033586740493774, 0.5115681886672974, 0.7057813405990601, 0.49953117966651917, -0.5026724934577942, 0.0, 0.5986239910125732, 1.260416030883789, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6986448764801025, 2.0190987586975098, 1.3033586740493774, 0.5115681886672974, 0.7057813405990601, 0.49953117966651917, -0.5026724934577942, 0.0, 0.6558737754821777, 1.2751519680023193, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6986448764801025, 2.0190987586975098, 1.3033586740493774, 0.5115681886672974, 0.7057813405990601, 0.49953117966651917, -0.5026724934577942, 0.0, 0.809587836265564, 1.314717411994934, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6986448764801025, 2.0190987586975098, 1.3033586740493774, 0.5115681886672974, 0.7057813405990601, 0.49953117966651917, -0.5026724934577942, 0.0, 0.8123352527618408, 1.3154245615005493, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6986448764801025, 2.0190987586975098, 1.3033586740493774, 0.5115681886672974, 0.7057813405990601, 0.49953117966651917, -0.5026724934577942, 0.0, 0.8202224373817444, 1.3174546957015991, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6986448764801025, 2.0190987586975098, 1.3033586740493774, 0.5115681886672974, 0.7057813405990601, 0.49953117966651917, -0.5026724934577942, 0.0, 0.9694868326187134, 1.3558748960494995, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6986448764801025, 2.0190987586975098, 1.3033586740493774, 0.5115681886672974, 0.7057813405990601, 0.49953117966651917, -0.5026724934577942, 0.0, 1.0209909677505493, 1.3691319227218628, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6986448764801025, 2.0190987586975098, 1.3033586740493774, 0.5115681886672974, 0.7057813405990601, 0.49953117966651917, -0.5026724934577942, 0.0, 1.126704216003418, 1.396342158317566, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6986448764801025, 2.0190987586975098, 1.3033586740493774, 0.5115681886672974, 0.7057813405990601, 0.49953117966651917, -0.5026724934577942, 0.0, 1.2000000476837158, 1.4500000476837158, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.6986448764801025, 2.0190987586975098, 0.7947943210601807, 0.05805861949920654, 0.7057813405990601, -0.11814948916435242, -0.6059123277664185, 0.0], "count": [1354]}, "action.applied": {"mean": [0.1367356492553121, -0.0010859692597175719, 0.0046920481602131, 0.04634354966332508, -1.50597445933118, -0.37786353076902957, 1.4942284426933905, -0.05723834944684008, 1.733719224855854, 0.9024137834539022, -0.0031358188381377314, 0.0031358188381377314], "std": [0.12192268103061975, 0.00866341987755664, 0.179719253684457, 0.10707127049710187, 0.19527120646800158, 0.26523860422487655, 0.6400608273160453, 0.13699553065660938, 0.632607099466164, 0.5552273130147647, 0.010722991480883275, 0.010722991480883275], "min": [0.0, -0.060992512851953506, -0.800000011920929, -0.30849143862724304, -1.669084072113037, -0.8695657253265381, 0.4888549745082855, -0.28081831336021423, 0.8381505012512207, -0.02967710793018341, -0.009999999776482582, -0.020833000540733337], "max": [0.31347721815109253, 0.0295656006783247, 0.800000011920929, 0.35109513998031616, -1.0184768438339233, 0.043319713324308395, 2.2558629512786865, 0.26901519298553467, 2.7059574127197266, 1.3813220262527466, 0.020833000540733337, 0.009999999776482582], "count": [1354]}, "extra.reward": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1354]}, "next.truncated": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1354]}, "sim_step_idx": {"mean": [1384.0], "std": [781.7320512809999], "min": [31.0], "max": [2737.0], "count": [1354]}, "timestamp": {"mean": [27.06000000122863], "std": [15.634641024184495], "min": [0.0], "max": [54.119998931884766], "count": [1354]}, "frame_index": {"mean": [676.5], "std": [390.86602564049997], "min": [0.0], "max": [1353.0], "count": [1354]}, "episode_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1354]}, "index": {"mean": [676.5], "std": [390.86602564049997], "min": [0.0], "max": [1353.0], "count": [1354]}, "task_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1354]}, "next.done": {"mean": [0.0007385524372230429], "std": [0.02716628383714848], "min": [0.0], "max": [1.0], "count": [1354]}, "observation.images.head": {"mean": [[[0.4473978354616458]], [[0.3657863975783834]], [[0.32655973245438896]]], "std": [[[0.170880585217171]], [[0.1783487884660004]], [[0.16585190604361527]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9333333333333333]], [[0.8901960784313725]], [[0.803921568627451]]], "count": [100]}, "observation.images.wrist": {"mean": [[[0.47441928409408024]], [[0.3597724811185205]], [[0.2901898884514408]]], "std": [[[0.16980357734599857]], [[0.17244591625411787]], [[0.1514693359775749]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9490196078431372]], [[0.9215686274509803]], [[0.8666666666666667]]], "count": [100]}}} diff --git a/N025/sawyer_umi/dr_on/seed_2016/stationassembly/000/lerobot_v21/meta/extra/episode_000000.json b/N025/sawyer_umi/dr_on/seed_2016/stationassembly/000/lerobot_v21/meta/extra/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..637ccd1251c33b1c458e5f7408d65c3ebcbe7c16 --- /dev/null +++ b/N025/sawyer_umi/dr_on/seed_2016/stationassembly/000/lerobot_v21/meta/extra/episode_000000.json @@ -0,0 +1,547 @@ +{ + "episode_index": 0, + "trajectory_id": 0, + "env_id": 0, + "task_type": "StationAssembly", + "subsample_every": 2, + "control_steps": 2707, + "language": { + "scene": { + "objects": [ + { + "id": "table_A_1", + "cat_name": "table_A", + "inst_id": 1, + "noun": "table A", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 4.261422196848817, + -0.22805079292728, + 0.1700000095990242 + ], + "bbox": { + "extent": [ + 1.0, + 1.0000000000000002, + 1.0 + ], + "center": [ + 0.0, + -1.1102230246251565e-16, + 0.0 + ] + } + }, + { + "id": "table_B_1", + "cat_name": "table_B", + "inst_id": 1, + "noun": "table B", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 6.653597464854283, + -2.8294922178190602, + 0.1699999450466622 + ], + "bbox": { + "extent": [ + 0.9999999999999999, + 1.0, + 1.0 + ], + "center": [ + 5.551115123125783e-17, + 0.0, + 0.0 + ] + } + }, + { + "id": "shim_board_1", + "cat_name": "shim_board", + "inst_id": 1, + "noun": "shim board", + "color": null, + "size": "medium", + "material": null, + "category": "articulation", + "pos": [ + 6.782561398949779, + -2.72503657703523, + 0.36999995535718677 + ], + "bbox": { + "extent": [ + 0.43428969129017814, + 0.2830833592405761, + 0.04200000036507845 + ], + "center": [ + 0.15000000596046426, + -3.0531133177191805e-16, + 0.021000000182539225 + ] + } + }, + { + "id": "wedge_1", + "cat_name": "wedge", + "inst_id": 1, + "noun": "wedge", + "color": null, + "size": "small", + "material": null, + "category": "rigid", + "pos": [ + 4.149470512582203, + -0.28117288849573774, + 0.37000007463358064 + ], + "bbox": { + "extent": [ + 0.19172441500046944, + 0.07146693090739711, + 0.0280002885461359 + ], + "center": [ + 0.05750000290572648, + -1.491862189340054e-16, + 0.014000000432133675 + ] + } + } + ], + "relations": [ + { + "subject": "table_A_1", + "relation": "left_of", + "object": "wedge_1" + }, + { + "subject": "table_B_1", + "relation": "right_of", + "object": "shim_board_1" + }, + { + "subject": "shim_board_1", + "relation": "on_top_of", + "object": "table_B_1" + }, + { + "subject": "shim_board_1", + "relation": "left_of", + "object": "table_B_1" + }, + { + "subject": "wedge_1", + "relation": "on_top_of", + "object": "table_A_1" + }, + { + "subject": "wedge_1", + "relation": "right_of", + "object": "table_A_1" + } + ], + "cameras": [ + { + "name": "head", + "intrinsics": { + "K": [ + [ + 355.55555555555554, + 0.0, + 320.0 + ], + [ + 0.0, + 355.55555555555554, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 83.97442499163331, + "resolution": [ + 640, + 480 + ] + }, + "pos_robot": [ + 3.4967416894621124, + -2.792924911885616, + -0.10500006369012085 + ], + "viewpoint": "front-right, at table height", + "extrinsics": { + "R": [ + [ + -8.039232568535226e-08, + -0.9999999999999964, + 2.5347603738179458e-08 + ], + [ + 0.8191520331270514, + -8.039232568535226e-08, + -0.5735764522919431 + ], + [ + 0.5735764522919431, + -2.5347603738179458e-08, + 0.819152033127055 + ] + ], + "t": [ + 1.855362002599171e-08, + -0.2032392724571752, + -0.08737481710326404 + ] + } + }, + { + "name": "wrist", + "intrinsics": { + "K": [ + [ + 320.0, + 0.0, + 320.0 + ], + [ + 0.0, + 320.0, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 90.0, + "resolution": [ + 640, + 480 + ] + }, + "pos_robot": [ + 3.4496288913296, + -2.6433701585524503, + -0.030000058634054246 + ], + "viewpoint": "front-right, at table height", + "extrinsics": { + "R": [ + [ + 0.0, + 1.0, + -1.4782795217992896e-16 + ], + [ + 1.0, + 0.0, + 2.5363269588459423e-17 + ], + [ + 2.5363269588459423e-17, + -1.4782795217992896e-16, + -1.0 + ] + ], + "t": [ + 4.4348384662715026e-18, + -0.05979999899864197, + 0.029999999329447746 + ] + } + } + ], + "robots": [ + { + "name": "RidgebackSawyerUmi", + "model": "ridgebacksawyer_umi", + "type": "mobilemanip", + "noun": "Ridgeback-Sawyer mobile manipulator with a UMI gripper", + "arms": 1, + "arm_layout": null, + "mobile": true, + "dexterous": false, + "base_pose": { + "pos": [ + -3.498, + -2.4962, + 0.06 + ], + "ori": [ + 0.8061935901641846, + 0.0, + 0.0, + 0.5916518568992615 + ] + }, + "facing_yaw_deg": 72.54863392123784, + "gripper": "parallel gripper" + } + ], + "lighting": [], + "background": { + "name": null, + "kind": "background", + "type": "dome", + "pose": null, + "setting": null, + "time_of_day": null, + "indoor": false, + "intensity": 878.2134, + "ambient": "dim" + }, + "effects": [], + "caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a medium shim board and a small wedge. The gray table A is to the left of the wedge. The gray table B is to the right of the shim board. The shim board is on top of the gray table B. The shim board is to the left of the gray table B. The wedge is on top of the gray table A. The wedge is to the right of the gray table A. The scene is viewed from front-right, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n [shim board]\n\n\n [[wedge]]\n\n\n\n\n[robot]" + }, + "task": { + "task_type": "StationAssembly", + "instruction": "Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.", + "template_id": -1, + "slots": { + "obj": 1.5707963267948966, + "support": null + }, + "generic_instruction": "Stationassembly the 1.5707963267948966.", + "task_id": "N025", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_0631": { + "frame_idx": 631, + "caption": "Computing a grasp pose for the small wedge; the right gripper is below and to the right of and in front of the wedge.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "NavTo", + "planner_state": "finished", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "right_of", + "in_front_of" + ] + }, + "frame_0639": { + "frame_idx": 639, + "caption": "Working on the small wedge; the right gripper is below and to the right of and in front of the wedge.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "right_of", + "in_front_of" + ] + }, + "frame_0681": { + "frame_idx": 681, + "caption": "Working on the small wedge; the right gripper is below and in front of the wedge.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "in_front_of" + ] + }, + "frame_0745": { + "frame_idx": 745, + "caption": "Working on the small wedge; the right gripper is below the wedge.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_0761": { + "frame_idx": 761, + "caption": "Working on the small wedge; the right gripper is below and to the left of the wedge.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_0884": { + "frame_idx": 884, + "caption": "Working on the small wedge; the right gripper is below the wedge.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_1137": { + "frame_idx": 1137, + "caption": "Done — the small wedge is grasped; the right gripper is below the wedge.", + "skill": "Grasp", + "phase": "completed", + "skill_state": "finished", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_1138": { + "frame_idx": 1138, + "caption": "Working on the small wedge; the right gripper is below the wedge.", + "skill": "CarryPose", + "phase": null, + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_1164": { + "frame_idx": 1164, + "caption": "Working on the small wedge; the right gripper is below and in front of the wedge.", + "skill": "CarryPose", + "phase": null, + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "in_front_of" + ] + }, + "frame_1208": { + "frame_idx": 1208, + "caption": "Working on the small wedge; the right gripper is below and to the left of and in front of the wedge.", + "skill": "CarryPose", + "phase": null, + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_2205": { + "frame_idx": 2205, + "caption": "Computing a grasp pose for the medium shim board; the right gripper is below and to the left of and in front of the shim board.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "NavTo", + "planner_state": "finished", + "target": "shim_board_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_2210": { + "frame_idx": 2210, + "caption": "Working on the medium shim board; the right gripper is below and to the left of and in front of the shim board.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "shim_board_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_2428": { + "frame_idx": 2428, + "caption": "Computing a grasp pose for the medium shim board; the right gripper is below and to the left of and in front of the shim board.", + "skill": "ReachStance", + "phase": "verify", + "skill_state": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "shim_board_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_2431": { + "frame_idx": 2431, + "caption": "Working on the small wedge; the right gripper is below and to the left of and behind the wedge.", + "skill": "AssemblyInsert", + "phase": "wp:pre_insert", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "behind" + ] + } + } + }, + "depth_range": [ + 0.1, + 20.0 + ], + "annotation_sidecar": null, + "annotation_sidecar_keys": [], + "terminated": true, + "truncated": false +} \ No newline at end of file diff --git a/N025/sawyer_umi/dr_on/seed_2016/stationassembly/000/lerobot_v21/meta/info.json b/N025/sawyer_umi/dr_on/seed_2016/stationassembly/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..49388c42cd669682342169a98d910db4a331f710 --- /dev/null +++ b/N025/sawyer_umi/dr_on/seed_2016/stationassembly/000/lerobot_v21/meta/info.json @@ -0,0 +1,277 @@ +{ + "codebase_version": "v2.1", + "robot_type": "RidgebackSawyerUmiCfg", + "total_episodes": 1, + "total_frames": 1354, + "total_tasks": 1, + "total_videos": 2, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 25, + "splits": { + "train": "0:1" + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", + "features": { + "action": { + "dtype": "float32", + "shape": [ + 11 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "frame0.pos_x", + "frame0.pos_y", + "frame0.pos_z", + "frame0.quat_w", + "frame0.quat_x", + "frame0.quat_y", + "frame0.quat_z", + "gripper" + ] + }, + "action_is_hold": { + "dtype": "bool", + "shape": [ + 11 + ], + "names": null + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 15 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint", + "gripper_0", + "gripper_1" + ] + }, + "observation.joint_vel": { + "dtype": "float32", + "shape": [ + 13 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ] + }, + "observation.eef_pose": { + "dtype": "float32", + "shape": [ + 7 + ], + "names": null + }, + "observation.environment_state": { + "dtype": "float32", + "shape": [ + 30 + ], + "names": [ + "articulation_joint_pos.shim_board.0", + "articulation_joint_vel.shim_board.0", + "articulation_pose.shim_board.0", + "articulation_pose.shim_board.1", + "articulation_pose.shim_board.2", + "articulation_pose.shim_board.3", + "articulation_pose.shim_board.4", + "articulation_pose.shim_board.5", + "articulation_pose.shim_board.6", + "object_pose.table_A.0", + "object_pose.table_A.1", + "object_pose.table_A.2", + "object_pose.table_A.3", + "object_pose.table_A.4", + "object_pose.table_A.5", + "object_pose.table_A.6", + "object_pose.table_B.0", + "object_pose.table_B.1", + "object_pose.table_B.2", + "object_pose.table_B.3", + "object_pose.table_B.4", + "object_pose.table_B.5", + "object_pose.table_B.6", + "object_pose.wedge.0", + "object_pose.wedge.1", + "object_pose.wedge.2", + "object_pose.wedge.3", + "object_pose.wedge.4", + "object_pose.wedge.5", + "object_pose.wedge.6" + ] + }, + "action.command": { + "dtype": "float32", + "shape": [ + 704 + ], + "names": null + }, + "action.applied": { + "dtype": "float32", + "shape": [ + 12 + ], + "names": null + }, + "narration": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "collect_info": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "extra.reward": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "extra.action_info": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "next.truncated": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "sim_step_idx": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "next.done": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "observation.images.head": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25, + "video.codec": "libsvtav1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.wrist": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25, + "video.codec": "libsvtav1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + } + } +} \ No newline at end of file diff --git a/N025/sawyer_umi/dr_on/seed_2016/stationassembly/000/lerobot_v21/meta/magicsim_manifest.json b/N025/sawyer_umi/dr_on/seed_2016/stationassembly/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..7c484000174a79ae6e1d1bf50d2fcbd85a2e2c93 --- /dev/null +++ b/N025/sawyer_umi/dr_on/seed_2016/stationassembly/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,264 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 03:09:41" + }, + "embodiment": { + "robots": [ + { + "name": "RidgebackSawyerUmi", + "cfg": "RidgebackSawyerUmiCfg", + "type": "mobilemanip", + "joint_names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 11, + "nan_policy": "from_raw", + "segments": [ + { + "name": "RidgebackSawyerUmi.base_action", + "start": 0, + "end": 3, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint" + ], + "source": "HolonomicAction", + "names_source": "_joint_names" + }, + { + "name": "RidgebackSawyerUmi.arm_action", + "start": 3, + "end": 10, + "names": [ + "frame0.pos_x", + "frame0.pos_y", + "frame0.pos_z", + "frame0.quat_w", + "frame0.quat_x", + "frame0.quat_y", + "frame0.quat_z" + ], + "source": "PinkInverseKinematicsAction", + "names_source": "pink_layout" + }, + { + "name": "RidgebackSawyerUmi.eef_action", + "start": 10, + "end": 11, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 15, + "segments": [ + { + "name": "RidgebackSawyerUmi.joint_pos", + "start": 0, + "end": 13, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ], + "source": "ObservationManager", + "names_source": "joint_names" + }, + { + "name": "RidgebackSawyerUmi.gripper_pos", + "start": 13, + "end": 15, + "names": [ + "gripper_0", + "gripper_1" + ], + "source": "ObservationManager", + "names_source": "generated" + } + ] + }, + "joint_vel_layout": { + "dim": 13, + "segments": [ + { + "name": "RidgebackSawyerUmi.joint_vel", + "start": 0, + "end": 13, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "action_levels": { + "L0": "task command list (collect.auto_collect_info.current_action)", + "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)", + "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)", + "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy", + "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)" + }, + "cameras": { + "head": { + "intrinsics": { + "K": [ + [ + 355.55555555555554, + 0.0, + 320.0 + ], + [ + 0.0, + 355.55555555555554, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 83.97442499163331, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.21660000085830688, + 0.0, + -0.04500000178813934 + ], + "quat": [ + -0.6743797063827515, + 0.21263112127780914, + -0.21263112127780914, + 0.6743797659873962 + ] + }, + "wrist": { + "intrinsics": { + "K": [ + [ + 320.0, + 0.0, + 320.0 + ], + [ + 0.0, + 320.0, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 90.0, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.05979999899864197, + 0.0, + 0.029999999329447746 + ], + "quat": [ + 6.123234262925839e-17, + 0.7071067690849304, + 0.7071067690849304, + -4.329780301713277e-17 + ] + } + }, + "lerobot": { + "codebase_version": "v2.1", + "video_keys": [ + "observation.images.head", + "observation.images.wrist" + ], + "columns": [ + "action", + "action.applied", + "action.command", + "action_is_hold", + "collect_info", + "episode_index", + "extra.action_info", + "extra.reward", + "frame_index", + "index", + "narration", + "next.done", + "next.truncated", + "observation.eef_pose", + "observation.environment_state", + "observation.images.head", + "observation.images.wrist", + "observation.joint_vel", + "observation.state", + "sim_step_idx", + "task_index", + "timestamp" + ] + }, + "generated_run": { + "run_id": "stationassembly/000", + "task_type": "StationAssembly" + } +} \ No newline at end of file diff --git a/N025/sawyer_umi/dr_on/seed_2016/stationassembly/000/lerobot_v21/meta/stats.json b/N025/sawyer_umi/dr_on/seed_2016/stationassembly/000/lerobot_v21/meta/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..4ea915534a6279957ba72c12eaa64e0804c479b8 --- /dev/null +++ b/N025/sawyer_umi/dr_on/seed_2016/stationassembly/000/lerobot_v21/meta/stats.json @@ -0,0 +1,3617 @@ +{ + "action": { + "mean": [ + 0.1367356492553121, + -0.0010859692597175719, + 0.0046920481602131, + -0.8087168372232065, + 1.1592383987574317, + 0.9220705643362274, + -0.018521120918929206, + 0.3622970588098072, + -0.06450905480007613, + -0.3851821902627607, + 0.6166912850812407 + ], + "std": [ + 0.12192268103061975, + 0.00866341987755664, + 0.179719253684457, + 1.6158446176799355, + 1.0808522119091126, + 0.23360829132887354, + 0.30524646174280645, + 0.48499378254621384, + 0.34977142598528393, + 0.5149141066510361, + 0.4861924968426548 + ], + "min": [ + 0.0, + -0.060992512851953506, + -0.800000011920929, + -3.489713430404663, + -1.9353218078613281, + 0.6646828651428223, + -0.4890702962875366, + -0.7116351127624512, + -0.4980764091014862, + -0.7251235842704773, + 0.0 + ], + "max": [ + 0.31347721815109253, + 0.0295656006783247, + 0.800000011920929, + 1.6986448764801025, + 2.868180513381958, + 1.303362250328064, + 0.5229367613792419, + 0.7128689289093018, + 0.5093433856964111, + 0.7718295454978943, + 1.0 + ], + "count": [ + 1354 + ] + }, + "action_is_hold": { + "mean": [ + 0.008862629246676515, + 0.008862629246676515, + 0.008862629246676515, + 0.047267355982274745, + 0.047267355982274745, + 0.047267355982274745, + 0.047267355982274745, + 0.047267355982274745, + 0.047267355982274745, + 0.047267355982274745, + 0.8567208271787297 + ], + "std": [ + 0.09372343916818554, + 0.09372343916818554, + 0.09372343916818554, + 0.21221016243507618, + 0.21221016243507618, + 0.21221016243507618, + 0.21221016243507618, + 0.21221016243507618, + 0.21221016243507618, + 0.21221016243507618, + 0.350357319685104 + ], + "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": [ + 1354 + ] + }, + "observation.state": { + "mean": [ + 0.23764439312358726, + -3.901958960550046, + 1.0238553686631484, + 0.04623492595472992, + -6.930248413466694e-07, + -1.5062723106084228, + -0.3772124656670842, + 1.4923369535623308, + -0.057583383498257985, + 1.7360280233172583, + 0.9010148846921048, + 0.0122028987886181, + -0.013660892483530189, + -0.013660892483530189, + -0.0122028987886181 + ], + "std": [ + 1.4455042612181297, + 1.1963825788748488, + 0.513314044866558, + 0.10714371516174724, + 2.0112091132738078e-05, + 0.195149061490709, + 0.2655014481361556, + 0.6407406298436152, + 0.13680684898743972, + 0.6326886752973485, + 0.5560265995667565, + 0.007124685491338527, + 0.007753783526677423, + 0.007753783526677423, + 0.007124685491338527 + ], + "min": [ + -3.497999906539917, + -5.7192840576171875, + 0.2519538402557373, + -0.30564579367637634, + -0.00012026112381136045, + -1.6699378490447998, + -0.8674908876419067, + 0.49051547050476074, + -0.27377820014953613, + 0.8399724960327148, + -0.023173049092292786, + 0.0, + -0.020833000540733337, + -0.020833000540733337, + -0.020833000540733337 + ], + "max": [ + 2.3153622150421143, + -2.4962000846862793, + 1.5235880613327026, + 0.35260337591171265, + 0.00020141020650044084, + -1.0183424949645996, + 0.04106210544705391, + 2.2552132606506348, + 0.26898977160453796, + 2.704961061477661, + 1.3789464235305786, + 0.020833000540733337, + 0.0, + 0.0, + -0.0 + ], + "count": [ + 1354 + ] + }, + "observation.joint_vel": { + "mean": [ + 0.10733667045053744, + -0.055925870157950024, + 0.004746134151190573, + 0.00169406574707056, + -1.6105386840286755e-05, + 0.00581643696261785, + -0.009677368940817686, + 0.028890134166838603, + 0.005033309483870327, + -0.033039846774818284, + 0.02013091717266889, + -0.0008882444297036593, + -0.00584414278997298 + ], + "std": [ + 0.11039418400102192, + 0.08023042586771258, + 0.17792908224626885, + 0.07526793574028419, + 0.0007517372854179375, + 0.07336288795575548, + 0.090954435210981, + 0.08634944896151553, + 0.0839562966054197, + 0.10894802411319142, + 0.0819372907699309, + 0.017191902633335615, + 0.013409531036056056 + ], + "min": [ + -0.00032184645533561707, + -0.24689973890781403, + -0.8000107407569885, + -0.1963324248790741, + -0.009734808467328548, + -0.16518476605415344, + -0.19312213361263275, + -0.2075733095407486, + -0.3257750868797302, + -0.3213195204734802, + -0.3298569321632385, + -0.09975708276033401, + -0.10009213536977768 + ], + "max": [ + 0.2991824448108673, + 0.06656258553266525, + 0.8000286221504211, + 0.1904994249343872, + 0.00894815381616354, + 0.1841786950826645, + 0.23240652680397034, + 0.1996249109506607, + 0.32748404145240784, + 0.26463189721107483, + 0.352859228849411, + 0.10001445561647415, + 0.09999972581863403 + ], + "count": [ + 1354 + ] + }, + "observation.eef_pose": { + "mean": [ + -0.8089453074950422, + 1.1589491752898349, + 0.9254739699634879, + 0.0412050201812074, + 0.600359197645455, + -0.06539689366770372, + -0.6378893688915399 + ], + "std": [ + 1.6159356070477187, + 1.0802536226651978, + 0.23404653556908958, + 0.3055940394642427, + 0.08233585759025386, + 0.3504700930994038, + 0.06078720859151278 + ], + "min": [ + -3.489713430404663, + -1.9353517293930054, + 0.665434718132019, + -0.3479451537132263, + 0.4755139946937561, + -0.4982866942882538, + -0.754757821559906 + ], + "max": [ + 1.698777198791504, + 2.868178129196167, + 1.3055624961853027, + 0.5229366421699524, + 0.7117003202438354, + 0.5093433260917664, + -0.49091047048568726 + ], + "count": [ + 1354 + ] + }, + "observation.environment_state": { + "mean": [ + 0.05145916945687557, + -0.0018789682808451876, + 1.1391199827194214, + 3.1543900966644287, + 0.4300000071525574, + 0.7167602777481079, + 1.4425684902218036e-25, + 9.313224635931761e-10, + -0.6973196864128113, + -2.0, + 1.5, + 0.23000000417232513, + 1.0, + 0.0, + 0.0, + 0.0, + 1.2000000476837158, + 3.0, + 0.23000000417232513, + 1.0, + 0.0, + 0.0, + 0.0, + -0.6620263810141598, + 1.5429344689212134, + 0.4992311958724322, + 0.8146286347504028, + -0.021671752267372998, + 0.04664195172146458, + 0.5097135706547444 + ], + "std": [ + 0.006048946616274702, + 0.0151610518507608, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4248434417493092, + 0.5636766272067991, + 0.06370113450083688, + 0.11403050677446075, + 0.027756550352327842, + 0.04939312697915117, + 0.2402375081938122 + ], + "min": [ + 0.00452794972807169, + -0.196759894490242, + 1.1391199827194214, + 3.1543900966644287, + 0.4300000071525574, + 0.7167602777481079, + 1.4425684902218036e-25, + 9.313224635931761e-10, + -0.6973196864128113, + -2.0, + 1.5, + 0.23000000417232513, + 1.0, + 0.0, + 0.0, + 0.0, + 1.2000000476837158, + 3.0, + 0.23000000417232513, + 1.0, + 0.0, + 0.0, + 0.0, + -1.9857933521270752, + 0.8136820197105408, + 0.4300000071525574, + 0.6933192014694214, + -0.09753973037004471, + -0.014121625572443008, + 0.13741780817508698 + ], + "max": [ + 0.05235988274216652, + 0.007511155679821968, + 1.1391199827194214, + 3.1543900966644287, + 0.4300000071525574, + 0.7167602777481079, + 1.4425684902218036e-25, + 9.313224635931761e-10, + -0.6973196864128113, + -2.0, + 1.5, + 0.23000000417232513, + 1.0, + 0.0, + 0.0, + 0.0, + 1.2000000476837158, + 3.0, + 0.23000000417232513, + 1.0, + 0.0, + 0.0, + 0.0, + 1.6580889225006104, + 2.8687267303466797, + 0.5791969299316406, + 0.9844823479652405, + 0.023304859176278114, + 0.13553102314472198, + 0.720599889755249 + ], + "count": [ + 1354 + ] + }, + "action.command": { + "mean": [ + -2.174469030421713, + -0.3694523102463687, + 1.3855259119633714, + 0.726966180042787, + 0.0, + 0.0, + 0.6865132310173728, + 0.9155038759689923, + -0.8007468139709428, + 1.1271934576505838, + 0.9309190498766049, + -0.02160395782495273, + 0.34621261127235353, + -0.06852085685135986, + -0.370254472221515, + 0.15463917525773196, + -2.6098222226623964, + -0.677535905695628, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9625680395502602, + 0.6189363281108827, + 0.9989954637602596, + -0.004839965810921171, + 0.5423939378773545, + -0.10127917471728755, + -0.5983571934275888, + 0.0, + -2.5860344256348955, + -0.6580488063025808, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9625680395502602, + 0.6189363281108827, + 0.9989954637602596, + -0.004839965810921171, + 0.5423939378773545, + -0.10127917471728755, + -0.5983571934275888, + 0.0, + -2.512710213509721, + -0.5822273115645218, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9625680395502602, + 0.6189363281108827, + 0.9989954637602596, + -0.004839965810921171, + 0.5423939378773545, + -0.10127917471728755, + -0.5983571934275888, + 0.0, + -2.4635946985424093, + -0.5582322613862751, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9625680395502602, + 0.6189363281108827, + 0.9989954637602596, + -0.004839965810921171, + 0.5423939378773545, + -0.10127917471728755, + -0.5983571934275888, + 0.0, + -2.4192166534433523, + -0.49151853457793804, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9625680395502602, + 0.6189363281108827, + 0.9989954637602596, + -0.004839965810921171, + 0.5423939378773545, + -0.10127917471728755, + -0.5983571934275888, + 0.0, + -2.3440362952715863, + -0.46429033049179913, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9625680395502602, + 0.6189363281108827, + 0.9989954637602596, + -0.004839965810921171, + 0.5423939378773545, + -0.10127917471728755, + -0.5983571934275888, + 0.0, + -2.281995589275675, + -0.42013289505826473, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9625680395502602, + 0.6189363281108827, + 0.9989954637602596, + -0.004839965810921171, + 0.5423939378773545, + -0.10127917471728755, + -0.5983571934275888, + 0.0, + -2.2255586859837573, + -0.3724399387003354, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9625680395502602, + 0.6189363281108827, + 0.9989954637602596, + -0.004839965810921171, + 0.5423939378773545, + -0.10127917471728755, + -0.5983571934275888, + 0.0, + -2.15822077872944, + -0.3470182150715945, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9625680395502602, + 0.6189363281108827, + 0.9989954637602596, + -0.004839965810921171, + 0.5423939378773545, + -0.10127917471728755, + -0.5983571934275888, + 0.0, + -2.111353512488902, + -0.2823915428551816, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9625680395502602, + 0.6189363281108827, + 0.9989954637602596, + -0.004839965810921171, + 0.5423939378773545, + -0.10127917471728755, + -0.5983571934275888, + 0.0, + -2.075446654911114, + -0.26052778792653936, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9625680395502602, + 0.6189363281108827, + 0.9989954637602596, + -0.004839965810921171, + 0.5423939378773545, + -0.10127917471728755, + -0.5983571934275888, + 0.0, + -1.9733677136095233, + -0.18471949421617248, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9625680395502602, + 0.6189363281108827, + 0.9989954637602596, + -0.004839965810921171, + 0.5423939378773545, + -0.10127917471728755, + -0.5983571934275888, + 0.0, + -1.9011286319892622, + -0.14859037462910674, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9625680395502602, + 0.6189363281108827, + 0.9989954637602596, + -0.004839965810921171, + 0.5423939378773545, + -0.10127917471728755, + -0.5983571934275888, + 0.0, + -1.8712678491842034, + -0.10320034884437067, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9625680395502602, + 0.6189363281108827, + 0.9989954637602596, + -0.004839965810921171, + 0.5423939378773545, + -0.10127917471728755, + -0.5983571934275888, + 0.0, + -1.8111378245311287, + -0.06378393888170565, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9625680395502602, + 0.6189363281108827, + 0.9989954637602596, + -0.004839965810921171, + 0.5423939378773545, + -0.10127917471728755, + -0.5983571934275888, + 0.0, + -1.7557197843300796, + -0.018219625480293166, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9625680395502602, + 0.6189363281108827, + 0.9989954637602596, + -0.004839965810921171, + 0.5423939378773545, + -0.10127917471728755, + -0.5983571934275888, + 0.0, + -1.7315764655151997, + 0.018404873080901905, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9625680395502602, + 0.6189363281108827, + 0.9989954637602596, + -0.004839965810921171, + 0.5423939378773545, + -0.10127917471728755, + -0.5983571934275888, + 0.0, + -1.6256612097747445, + 0.07049595741637932, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9625680395502602, + 0.6189363281108827, + 0.9989954637602596, + -0.004839965810921171, + 0.5423939378773545, + -0.10127917471728755, + -0.5983571934275888, + 0.0, + -1.5553167188940085, + 0.12556106533755795, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9625680395502602, + 0.6189363281108827, + 0.9989954637602596, + -0.004839965810921171, + 0.5423939378773545, + -0.10127917471728755, + -0.5983571934275888, + 0.0, + -1.4962438376764784, + 0.15904653428318843, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9625680395502602, + 0.6189363281108827, + 0.9989954637602596, + -0.004839965810921171, + 0.5423939378773545, + -0.10127917471728755, + -0.5983571934275888, + 0.0, + -1.3882378543498708, + 0.2300982943332483, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9625680395502602, + 0.6189363281108827, + 0.9989954637602596, + -0.004839965810921171, + 0.5423939378773545, + -0.10127917471728755, + -0.5983571934275888, + 0.0, + -1.370605725345345, + 0.2466244218915966, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9625680395502602, + 0.6189363281108827, + 0.9989954637602596, + -0.004839965810921171, + 0.5423939378773545, + -0.10127917471728755, + -0.5983571934275888, + 0.0, + -1.313015275792215, + 0.31142622845902984, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9625680395502602, + 0.6189363281108827, + 0.9989954637602596, + -0.004839965810921171, + 0.5423939378773545, + -0.10127917471728755, + -0.5983571934275888, + 0.0, + -1.2474178090180346, + 0.3335715706496863, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9625680395502602, + 0.6189363281108827, + 0.9989954637602596, + -0.004839965810921171, + 0.5423939378773545, + -0.10127917471728755, + -0.5983571934275888, + 0.0, + -1.200561565016852, + 0.3930690268852205, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9625680395502602, + 0.6189363281108827, + 0.9989954637602596, + -0.004839965810921171, + 0.5423939378773545, + -0.10127917471728755, + -0.5983571934275888, + 0.0, + -1.1248454381315347, + 0.42036036009103855, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9625680395502602, + 0.6189363281108827, + 0.9989954637602596, + -0.004839965810921171, + 0.5423939378773545, + -0.10127917471728755, + -0.5983571934275888, + 0.0, + -1.0692291105452456, + 0.4355410838823912, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9625680395502602, + 0.6189363281108827, + 0.9989954637602596, + -0.004839965810921171, + 0.5423939378773545, + -0.10127917471728755, + -0.5983571934275888, + 0.0, + -1.002342620767473, + 0.5071311589268899, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9625680395502602, + 0.6189363281108827, + 0.9989954637602596, + -0.004839965810921171, + 0.5423939378773545, + -0.10127917471728755, + -0.5983571934275888, + 0.0, + -0.910352604134716, + 0.5384613667843151, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9625680395502602, + 0.6189363281108827, + 0.9989954637602596, + -0.004839965810921171, + 0.5423939378773545, + -0.10127917471728755, + -0.5983571934275888, + 0.0, + -0.8798398078623993, + 0.5939020231233618, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9625680395502602, + 0.6189363281108827, + 0.9989954637602596, + -0.004839965810921171, + 0.5423939378773545, + -0.10127917471728755, + -0.5983571934275888, + 0.0, + -0.8557809730269857, + 0.613979457369905, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9625680395502602, + 0.6189363281108827, + 0.9989954637602596, + -0.004839965810921171, + 0.5423939378773545, + -0.10127917471728755, + -0.5983571934275888, + 0.0, + -0.7575827676807607, + 0.6806095933974774, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9625680395502602, + 0.6189363281108827, + 0.9989954637602596, + -0.004839965810921171, + 0.5423939378773545, + -0.10127917471728755, + -0.5983571934275888, + 0.0, + -0.720191225882861, + 0.7107982500308351, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9625680395502602, + 0.6189363281108827, + 0.9989954637602596, + -0.004839965810921171, + 0.5423939378773545, + -0.10127917471728755, + -0.5983571934275888, + 0.0, + -0.6352452458541609, + 0.7675975405882093, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9625680395502602, + 0.6189363281108827, + 0.9989954637602596, + -0.004839965810921171, + 0.5423939378773545, + -0.10127917471728755, + -0.5983571934275888, + 0.0, + -0.5619846508190925, + 0.8133052198223419, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9625680395502602, + 0.6189363281108827, + 0.9989954637602596, + -0.004839965810921171, + 0.5423939378773545, + -0.10127917471728755, + -0.5983571934275888, + 0.0, + -0.5123834834165464, + 0.8557343187598746, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9625680395502602, + 0.6189363281108827, + 0.9989954637602596, + -0.004839965810921171, + 0.5423939378773545, + -0.10127917471728755, + -0.5983571934275888, + 0.0, + -0.4039015865386517, + 0.9155415850945925, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9625680395502602, + 0.6189363281108827, + 0.9989954637602596, + -0.004839965810921171, + 0.5423939378773545, + -0.10127917471728755, + -0.5983571934275888, + 0.0, + -0.3883881105401161, + 0.9463551065670338, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9625680395502602, + 0.6189363281108827, + 0.9989954637602596, + -0.004839965810921171, + 0.5423939378773545, + -0.10127917471728755, + -0.5983571934275888, + 0.0, + -0.3662370357761843, + 0.9857646293531076, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9625680395502602, + 0.6189363281108827, + 0.9989954637602596, + -0.004839965810921171, + 0.5423939378773545, + -0.10127917471728755, + -0.5983571934275888, + 0.0, + -0.26249446241798063, + 1.040336869571836, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9625680395502602, + 0.6189363281108827, + 0.9989954637602596, + -0.004839965810921171, + 0.5423939378773545, + -0.10127917471728755, + -0.5983571934275888, + 0.0, + -0.2151899490756334, + 1.0843830573664839, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9625680395502602, + 0.6189363281108827, + 0.9989954637602596, + -0.004839965810921171, + 0.5423939378773545, + -0.10127917471728755, + -0.5983571934275888, + 0.0, + -0.1287449990627575, + 1.076591059849556, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9625680395502602, + 0.6189363281108827, + 0.9989954637602596, + -0.004839965810921171, + 0.5423939378773545, + -0.10127917471728755, + -0.5983571934275888, + 0.0, + 1.2000000476837158, + 1.4500000476837158, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.18119233954231198, + 1.2264323630656913, + 0.7947943210601807, + -0.30434765083015347, + 0.5394992792935381, + -0.45895159829827126, + -0.620794501653902, + 0.0 + ], + "std": [ + 1.3988810057935295, + 1.6304169225842713, + 0.49556109054144204, + 0.010153835852506862, + 0.0, + 0.0, + 0.010800566257675217, + 1.3808743220857707, + 1.6217786762524646, + 1.0863537442427125, + 0.2322598782357491, + 0.31054699571259065, + 0.4911301566937836, + 0.3561390219379352, + 0.5228797427207856, + 0.3615603694175296, + 0.7240667671015669, + 1.4819464932490338, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.640588360468933, + 0.9857213244847123, + 0.2493016083354338, + 0.3731149586555814, + 0.04071689543977281, + 0.4419867879985455, + 0.03565766620065292, + 0.0, + 0.7306163494909025, + 1.4695660475328947, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.640588360468933, + 0.9857213244847123, + 0.2493016083354338, + 0.3731149586555814, + 0.04071689543977281, + 0.4419867879985455, + 0.03565766620065292, + 0.0, + 0.7336259234756206, + 1.4066632280790385, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.640588360468933, + 0.9857213244847123, + 0.2493016083354338, + 0.3731149586555814, + 0.04071689543977281, + 0.4419867879985455, + 0.03565766620065292, + 0.0, + 0.7648607795667903, + 1.406606894622985, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.640588360468933, + 0.9857213244847123, + 0.2493016083354338, + 0.3731149586555814, + 0.04071689543977281, + 0.4419867879985455, + 0.03565766620065292, + 0.0, + 0.7439726963651947, + 1.3358319129617835, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.640588360468933, + 0.9857213244847123, + 0.2493016083354338, + 0.3731149586555814, + 0.04071689543977281, + 0.4419867879985455, + 0.03565766620065292, + 0.0, + 0.802144235973745, + 1.3506663702488386, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.640588360468933, + 0.9857213244847123, + 0.2493016083354338, + 0.3731149586555814, + 0.04071689543977281, + 0.4419867879985455, + 0.03565766620065292, + 0.0, + 0.8264974110958587, + 1.3288472948735472, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.640588360468933, + 0.9857213244847123, + 0.2493016083354338, + 0.3731149586555814, + 0.04071689543977281, + 0.4419867879985455, + 0.03565766620065292, + 0.0, + 0.8404454930077031, + 1.2971825455566068, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.640588360468933, + 0.9857213244847123, + 0.2493016083354338, + 0.3731149586555814, + 0.04071689543977281, + 0.4419867879985455, + 0.03565766620065292, + 0.0, + 0.8914213685979244, + 1.3088458500145366, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.640588360468933, + 0.9857213244847123, + 0.2493016083354338, + 0.3731149586555814, + 0.04071689543977281, + 0.4419867879985455, + 0.03565766620065292, + 0.0, + 0.8757186514660849, + 1.2432555916139496, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.640588360468933, + 0.9857213244847123, + 0.2493016083354338, + 0.3731149586555814, + 0.04071689543977281, + 0.4419867879985455, + 0.03565766620065292, + 0.0, + 0.8938405516005731, + 1.236427234585414, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.640588360468933, + 0.9857213244847123, + 0.2493016083354338, + 0.3731149586555814, + 0.04071689543977281, + 0.4419867879985455, + 0.03565766620065292, + 0.0, + 0.930470738603526, + 1.195574288208938, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.640588360468933, + 0.9857213244847123, + 0.2493016083354338, + 0.3731149586555814, + 0.04071689543977281, + 0.4419867879985455, + 0.03565766620065292, + 0.0, + 0.9711436692005133, + 1.1846354880958425, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.640588360468933, + 0.9857213244847123, + 0.2493016083354338, + 0.3731149586555814, + 0.04071689543977281, + 0.4419867879985455, + 0.03565766620065292, + 0.0, + 0.955828916606939, + 1.1346621610247072, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.640588360468933, + 0.9857213244847123, + 0.2493016083354338, + 0.3731149586555814, + 0.04071689543977281, + 0.4419867879985455, + 0.03565766620065292, + 0.0, + 0.979827845452352, + 1.1116130119111869, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.640588360468933, + 0.9857213244847123, + 0.2493016083354338, + 0.3731149586555814, + 0.04071689543977281, + 0.4419867879985455, + 0.03565766620065292, + 0.0, + 0.9922024182303963, + 1.0765852896722015, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.640588360468933, + 0.9857213244847123, + 0.2493016083354338, + 0.3731149586555814, + 0.04071689543977281, + 0.4419867879985455, + 0.03565766620065292, + 0.0, + 0.9798986421142301, + 1.036291791782967, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.640588360468933, + 0.9857213244847123, + 0.2493016083354338, + 0.3731149586555814, + 0.04071689543977281, + 0.4419867879985455, + 0.03565766620065292, + 0.0, + 1.0404613733089596, + 1.021567810013236, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.640588360468933, + 0.9857213244847123, + 0.2493016083354338, + 0.3731149586555814, + 0.04071689543977281, + 0.4419867879985455, + 0.03565766620065292, + 0.0, + 1.0590927581289202, + 0.9812419963551136, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.640588360468933, + 0.9857213244847123, + 0.2493016083354338, + 0.3731149586555814, + 0.04071689543977281, + 0.4419867879985455, + 0.03565766620065292, + 0.0, + 1.0881951240966066, + 0.9664150774661989, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.640588360468933, + 0.9857213244847123, + 0.2493016083354338, + 0.3731149586555814, + 0.04071689543977281, + 0.4419867879985455, + 0.03565766620065292, + 0.0, + 1.1310365713478656, + 0.9246383559096208, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.640588360468933, + 0.9857213244847123, + 0.2493016083354338, + 0.3731149586555814, + 0.04071689543977281, + 0.4419867879985455, + 0.03565766620065292, + 0.0, + 1.1328333105669166, + 0.9104655245454447, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.640588360468933, + 0.9857213244847123, + 0.2493016083354338, + 0.3731149586555814, + 0.04071689543977281, + 0.4419867879985455, + 0.03565766620065292, + 0.0, + 1.1272836178043004, + 0.8480204728594063, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.640588360468933, + 0.9857213244847123, + 0.2493016083354338, + 0.3731149586555814, + 0.04071689543977281, + 0.4419867879985455, + 0.03565766620065292, + 0.0, + 1.1754645592274224, + 0.8539993868200015, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.640588360468933, + 0.9857213244847123, + 0.2493016083354338, + 0.3731149586555814, + 0.04071689543977281, + 0.4419867879985455, + 0.03565766620065292, + 0.0, + 1.163803650694496, + 0.7930841040272248, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.640588360468933, + 0.9857213244847123, + 0.2493016083354338, + 0.3731149586555814, + 0.04071689543977281, + 0.4419867879985455, + 0.03565766620065292, + 0.0, + 1.217591619073262, + 0.7974034893028535, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.640588360468933, + 0.9857213244847123, + 0.2493016083354338, + 0.3731149586555814, + 0.04071689543977281, + 0.4419867879985455, + 0.03565766620065292, + 0.0, + 1.2622337792728462, + 0.807837830329292, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.640588360468933, + 0.9857213244847123, + 0.2493016083354338, + 0.3731149586555814, + 0.04071689543977281, + 0.4419867879985455, + 0.03565766620065292, + 0.0, + 1.2596617081323864, + 0.7407928802218603, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.640588360468933, + 0.9857213244847123, + 0.2493016083354338, + 0.3731149586555814, + 0.04071689543977281, + 0.4419867879985455, + 0.03565766620065292, + 0.0, + 1.3269376842121359, + 0.7487670883811736, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.640588360468933, + 0.9857213244847123, + 0.2493016083354338, + 0.3731149586555814, + 0.04071689543977281, + 0.4419867879985455, + 0.03565766620065292, + 0.0, + 1.301731793539179, + 0.6841823368826927, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.640588360468933, + 0.9857213244847123, + 0.2493016083354338, + 0.3731149586555814, + 0.04071689543977281, + 0.4419867879985455, + 0.03565766620065292, + 0.0, + 1.3067913005000016, + 0.6685332358773542, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.640588360468933, + 0.9857213244847123, + 0.2493016083354338, + 0.3731149586555814, + 0.04071689543977281, + 0.4419867879985455, + 0.03565766620065292, + 0.0, + 1.3436005682873269, + 0.6275199743607668, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.640588360468933, + 0.9857213244847123, + 0.2493016083354338, + 0.3731149586555814, + 0.04071689543977281, + 0.4419867879985455, + 0.03565766620065292, + 0.0, + 1.352534651203995, + 0.604713438219668, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.640588360468933, + 0.9857213244847123, + 0.2493016083354338, + 0.3731149586555814, + 0.04071689543977281, + 0.4419867879985455, + 0.03565766620065292, + 0.0, + 1.3852612774023547, + 0.5704869301010338, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.640588360468933, + 0.9857213244847123, + 0.2493016083354338, + 0.3731149586555814, + 0.04071689543977281, + 0.4419867879985455, + 0.03565766620065292, + 0.0, + 1.4169440838125573, + 0.545861021284763, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.640588360468933, + 0.9857213244847123, + 0.2493016083354338, + 0.3731149586555814, + 0.04071689543977281, + 0.4419867879985455, + 0.03565766620065292, + 0.0, + 1.4262819969659648, + 0.5120514662054727, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.640588360468933, + 0.9857213244847123, + 0.2493016083354338, + 0.3731149586555814, + 0.04071689543977281, + 0.4419867879985455, + 0.03565766620065292, + 0.0, + 1.481504269775157, + 0.48733897537999993, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.640588360468933, + 0.9857213244847123, + 0.2493016083354338, + 0.3731149586555814, + 0.04071689543977281, + 0.4419867879985455, + 0.03565766620065292, + 0.0, + 1.4659186607822936, + 0.45058322145408963, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.640588360468933, + 0.9857213244847123, + 0.2493016083354338, + 0.3731149586555814, + 0.04071689543977281, + 0.4419867879985455, + 0.03565766620065292, + 0.0, + 1.4485044058618262, + 0.404948111044695, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.640588360468933, + 0.9857213244847123, + 0.2493016083354338, + 0.3731149586555814, + 0.04071689543977281, + 0.4419867879985455, + 0.03565766620065292, + 0.0, + 1.5040803113571488, + 0.38522868408924016, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.640588360468933, + 0.9857213244847123, + 0.2493016083354338, + 0.3731149586555814, + 0.04071689543977281, + 0.4419867879985455, + 0.03565766620065292, + 0.0, + 1.5092074739806172, + 0.3476393381845634, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.640588360468933, + 0.9857213244847123, + 0.2493016083354338, + 0.3731149586555814, + 0.04071689543977281, + 0.4419867879985455, + 0.03565766620065292, + 0.0, + 1.532731425304304, + 0.3903722675645236, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.640588360468933, + 0.9857213244847123, + 0.2493016083354338, + 0.3731149586555814, + 0.04071689543977281, + 0.4419867879985455, + 0.03565766620065292, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0505979931034686, + 0.300536564332526, + 0.0, + 0.09541263274005231, + 0.05175243380133524, + 0.08781893959014334, + 0.028220982775327585, + 0.0 + ], + "min": [ + -3.4980721473693848, + -2.496131658554077, + 0.059999994933605194, + 0.7149487733840942, + 0.0, + 0.0, + 0.6624628901481628, + -1.0, + -3.489713430404663, + -1.9353218078613281, + 0.6646828651428223, + -0.4890702962875366, + -0.7116351127624512, + -0.4980764091014862, + -0.7251235842704773, + 0.0, + -3.4938085079193115, + -2.4867894649505615, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.489713430404663, + -1.9353218078613281, + 0.7947943210601807, + -0.34753936529159546, + 0.48588767647743225, + -0.4980764091014862, + -0.6985056400299072, + 0.0, + -3.4780168533325195, + -2.4521875381469727, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.489713430404663, + -1.9353218078613281, + 0.7947943210601807, + -0.34753936529159546, + 0.48588767647743225, + -0.4980764091014862, + -0.6985056400299072, + 0.0, + -3.4083669185638428, + -2.299570322036743, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.489713430404663, + -1.9353218078613281, + 0.7947943210601807, + -0.34753936529159546, + 0.48588767647743225, + -0.4980764091014862, + -0.6985056400299072, + 0.0, + -3.3973848819732666, + -2.2755064964294434, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.489713430404663, + -1.9353218078613281, + 0.7947943210601807, + -0.34753936529159546, + 0.48588767647743225, + -0.4980764091014862, + -0.6985056400299072, + 0.0, + -3.327505350112915, + -2.1223862171173096, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.489713430404663, + -1.9353218078613281, + 0.7947943210601807, + -0.34753936529159546, + 0.48588767647743225, + -0.4980764091014862, + -0.6985056400299072, + 0.0, + -3.3233444690704346, + -2.1132688522338867, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.489713430404663, + -1.9353218078613281, + 0.7947943210601807, + -0.34753936529159546, + 0.48588767647743225, + -0.4980764091014862, + -0.6985056400299072, + 0.0, + -3.2910356521606445, + -2.042473316192627, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.489713430404663, + -1.9353218078613281, + 0.7947943210601807, + -0.34753936529159546, + 0.48588767647743225, + -0.4980764091014862, + -0.6985056400299072, + 0.0, + -3.2516274452209473, + -1.9561220407485962, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.489713430404663, + -1.9353218078613281, + 0.7947943210601807, + -0.34753936529159546, + 0.48588767647743225, + -0.4980764091014862, + -0.6985056400299072, + 0.0, + -3.2465240955352783, + -1.9449396133422852, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.489713430404663, + -1.9353218078613281, + 0.7947943210601807, + -0.34753936529159546, + 0.48588767647743225, + -0.4980764091014862, + -0.6985056400299072, + 0.0, + -3.180485963821411, + -1.8002362251281738, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.489713430404663, + -1.9353218078613281, + 0.7947943210601807, + -0.34753936529159546, + 0.48588767647743225, + -0.4980764091014862, + -0.6985056400299072, + 0.0, + -3.166703462600708, + -1.770035982131958, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.489713430404663, + -1.9353218078613281, + 0.7947943210601807, + -0.34753936529159546, + 0.48588767647743225, + -0.4980764091014862, + -0.6985056400299072, + 0.0, + -3.109344959259033, + -1.644351840019226, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.489713430404663, + -1.9353218078613281, + 0.7947943210601807, + -0.34753936529159546, + 0.48588767647743225, + -0.4980764091014862, + -0.6985056400299072, + 0.0, + -3.086761951446533, + -1.5948679447174072, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.489713430404663, + -1.9353218078613281, + 0.7947943210601807, + -0.34753936529159546, + 0.48588767647743225, + -0.4980764091014862, + -0.6985056400299072, + 0.0, + -3.0382039546966553, + -1.4884673357009888, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.489713430404663, + -1.9353218078613281, + 0.7947943210601807, + -0.34753936529159546, + 0.48588767647743225, + -0.4980764091014862, + -0.6985056400299072, + 0.0, + -3.007373332977295, + -1.4209110736846924, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.489713430404663, + -1.9353218078613281, + 0.7947943210601807, + -0.34753936529159546, + 0.48588767647743225, + -0.4980764091014862, + -0.6985056400299072, + 0.0, + -2.9670629501342773, + -1.332582712173462, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.489713430404663, + -1.9353218078613281, + 0.7947943210601807, + -0.34753936529159546, + 0.48588767647743225, + -0.4980764091014862, + -0.6985056400299072, + 0.0, + -2.927898406982422, + -1.246765375137329, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.489713430404663, + -1.9353218078613281, + 0.7947943210601807, + -0.34753936529159546, + 0.48588767647743225, + -0.4980764091014862, + -0.6985056400299072, + 0.0, + -2.8959219455718994, + -1.1766983270645142, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.489713430404663, + -1.9353218078613281, + 0.7947943210601807, + -0.34753936529159546, + 0.48588767647743225, + -0.4980764091014862, + -0.6985056400299072, + 0.0, + -2.8483238220214844, + -1.0724009275436401, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.489713430404663, + -1.9353218078613281, + 0.7947943210601807, + -0.34753936529159546, + 0.48588767647743225, + -0.4980764091014862, + -0.6985056400299072, + 0.0, + -2.8247809410095215, + -1.0208138227462769, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.489713430404663, + -1.9353218078613281, + 0.7947943210601807, + -0.34753936529159546, + 0.48588767647743225, + -0.4980764091014862, + -0.6985056400299072, + 0.0, + -2.769078493118286, + -0.8987584114074707, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.489713430404663, + -1.9353218078613281, + 0.7947943210601807, + -0.34753936529159546, + 0.48588767647743225, + -0.4980764091014862, + -0.6985056400299072, + 0.0, + -2.7536399364471436, + -0.86492919921875, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.489713430404663, + -1.9353218078613281, + 0.7947943210601807, + -0.34753936529159546, + 0.48588767647743225, + -0.4980764091014862, + -0.6985056400299072, + 0.0, + -2.6892740726470947, + -0.7238905429840088, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.489713430404663, + -1.9353218078613281, + 0.7947943210601807, + -0.34753936529159546, + 0.48588767647743225, + -0.4980764091014862, + -0.6985056400299072, + 0.0, + -2.6824989318847656, + -0.7090446352958679, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.489713430404663, + -1.9353218078613281, + 0.7947943210601807, + -0.34753936529159546, + 0.48588767647743225, + -0.4980764091014862, + -0.6985056400299072, + 0.0, + -2.621406316757202, + -0.5751779675483704, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.489713430404663, + -1.9353218078613281, + 0.7947943210601807, + -0.34753936529159546, + 0.48588767647743225, + -0.4980764091014862, + -0.6985056400299072, + 0.0, + -2.6113579273223877, + -0.5531600117683411, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.489713430404663, + -1.9353218078613281, + 0.7947943210601807, + -0.34753936529159546, + 0.48588767647743225, + -0.4980764091014862, + -0.6985056400299072, + 0.0, + -2.610243558883667, + -0.5507181882858276, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.489713430404663, + -1.9353218078613281, + 0.7947943210601807, + -0.34753936529159546, + 0.48588767647743225, + -0.4980764091014862, + -0.6985056400299072, + 0.0, + -2.5402169227600098, + -0.3972754180431366, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.489713430404663, + -1.9353218078613281, + 0.7947943210601807, + -0.34753936529159546, + 0.48588767647743225, + -0.4980764091014862, + -0.6985056400299072, + 0.0, + -2.5303616523742676, + -0.3756806254386902, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.489713430404663, + -1.9353218078613281, + 0.7947943210601807, + -0.34753936529159546, + 0.48588767647743225, + -0.4980764091014862, + -0.6985056400299072, + 0.0, + -2.469075918197632, + -0.24139083921909332, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.489713430404663, + -1.9353218078613281, + 0.7947943210601807, + -0.34753936529159546, + 0.48588767647743225, + -0.4980764091014862, + -0.6985056400299072, + 0.0, + -2.4511940479278564, + -0.2022079974412918, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.489713430404663, + -1.9353218078613281, + 0.7947943210601807, + -0.34753936529159546, + 0.48588767647743225, + -0.4980764091014862, + -0.6985056400299072, + 0.0, + -2.397934913635254, + -0.08550629019737244, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.489713430404663, + -1.9353218078613281, + 0.7947943210601807, + -0.34753936529159546, + 0.48588767647743225, + -0.4980764091014862, + -0.6985056400299072, + 0.0, + -2.371450662612915, + -0.02747397869825363, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.489713430404663, + -1.9353218078613281, + 0.7947943210601807, + -0.34753936529159546, + 0.48588767647743225, + -0.4980764091014862, + -0.6985056400299072, + 0.0, + -2.3264594078063965, + 0.07111118733882904, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.489713430404663, + -1.9353218078613281, + 0.7947943210601807, + -0.34753936529159546, + 0.48588767647743225, + -0.4980764091014862, + -0.6985056400299072, + 0.0, + -2.291879177093506, + 0.14688372611999512, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.489713430404663, + -1.9353218078613281, + 0.7947943210601807, + -0.34753936529159546, + 0.48588767647743225, + -0.4980764091014862, + -0.6985056400299072, + 0.0, + -2.253678321838379, + 0.23058965802192688, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.489713430404663, + -1.9353218078613281, + 0.7947943210601807, + -0.34753936529159546, + 0.48588767647743225, + -0.4980764091014862, + -0.6985056400299072, + 0.0, + -2.2126152515411377, + 0.3205674886703491, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.489713430404663, + -1.9353218078613281, + 0.7947943210601807, + -0.34753936529159546, + 0.48588767647743225, + -0.4980764091014862, + -0.6985056400299072, + 0.0, + -2.1780738830566406, + 0.3962547481060028, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.489713430404663, + -1.9353218078613281, + 0.7947943210601807, + -0.34753936529159546, + 0.48588767647743225, + -0.4980764091014862, + -0.6985056400299072, + 0.0, + -2.134662389755249, + 0.4913784861564636, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.489713430404663, + -1.9353218078613281, + 0.7947943210601807, + -0.34753936529159546, + 0.48588767647743225, + -0.4980764091014862, + -0.6985056400299072, + 0.0, + -2.0987703800201416, + 0.5700254440307617, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.489713430404663, + -1.9353218078613281, + 0.7947943210601807, + -0.34753936529159546, + 0.48588767647743225, + -0.4980764091014862, + -0.6985056400299072, + 0.0, + -2.057725429534912, + 0.659963071346283, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.489713430404663, + -1.9353218078613281, + 0.7947943210601807, + -0.34753936529159546, + 0.48588767647743225, + -0.4980764091014862, + -0.6985056400299072, + 0.0, + -2.0, + 0.6000000238418579, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.489713430404663, + -1.9353218078613281, + 0.7947943210601807, + -0.34753936529159546, + 0.48588767647743225, + -0.4980764091014862, + -0.6985056400299072, + 0.0, + 1.2000000476837158, + 1.4500000476837158, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.989296317100525, + 0.8388102054595947, + 0.7947943210601807, + -0.34753936529159546, + 0.5138156414031982, + -0.4980764091014862, + -0.6985056400299072, + 0.0 + ], + "max": [ + 1.1273589134216309, + 2.169661521911621, + 1.5707963705062866, + 0.7490947246551514, + 0.0, + 0.0, + 0.6991768479347229, + 2.0, + 1.6986448764801025, + 2.8670387268066406, + 1.303362250328064, + 0.5229367613792419, + 0.7128689289093018, + 0.5093433856964111, + 0.7718295454978943, + 1.0, + -2.016744375228882, + 0.5363157391548157, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.6986448764801025, + 2.0190987586975098, + 1.3033586740493774, + 0.5115681886672974, + 0.7057813405990601, + 0.49953117966651917, + -0.5026724934577942, + 0.0, + -1.9875918626785278, + 0.5456621050834656, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.6986448764801025, + 2.0190987586975098, + 1.3033586740493774, + 0.5115681886672974, + 0.7057813405990601, + 0.49953117966651917, + -0.5026724934577942, + 0.0, + -1.9118025302886963, + 0.569960355758667, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.6986448764801025, + 2.0190987586975098, + 1.3033586740493774, + 0.5115681886672974, + 0.7057813405990601, + 0.49953117966651917, + -0.5026724934577942, + 0.0, + -1.8371027708053589, + 0.5939092636108398, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.6986448764801025, + 2.0190987586975098, + 1.3033586740493774, + 0.5115681886672974, + 0.7057813405990601, + 0.49953117966651917, + -0.5026724934577942, + 0.0, + -1.8098340034484863, + 0.6026517152786255, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.6986448764801025, + 2.0190987586975098, + 1.3033586740493774, + 0.5115681886672974, + 0.7057813405990601, + 0.49953117966651917, + -0.5026724934577942, + 0.0, + -1.6870057582855225, + 0.6420307159423828, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.6986448764801025, + 2.0190987586975098, + 1.3033586740493774, + 0.5115681886672974, + 0.7057813405990601, + 0.49953117966651917, + -0.5026724934577942, + 0.0, + -1.6050175428390503, + 0.6683163046836853, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.6986448764801025, + 2.0190987586975098, + 1.3033586740493774, + 0.5115681886672974, + 0.7057813405990601, + 0.49953117966651917, + -0.5026724934577942, + 0.0, + -1.5371558666229248, + 0.6900728940963745, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.6986448764801025, + 2.0190987586975098, + 1.3033586740493774, + 0.5115681886672974, + 0.7057813405990601, + 0.49953117966651917, + -0.5026724934577942, + 0.0, + -1.428063988685608, + 0.7250479459762573, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.6986448764801025, + 2.0190987586975098, + 1.3033586740493774, + 0.5115681886672974, + 0.7057813405990601, + 0.49953117966651917, + -0.5026724934577942, + 0.0, + -1.3940587043762207, + 0.7359501123428345, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.6986448764801025, + 2.0190987586975098, + 1.3033586740493774, + 0.5115681886672974, + 0.7057813405990601, + 0.49953117966651917, + -0.5026724934577942, + 0.0, + -1.3433083295822144, + 0.7522208094596863, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.6986448764801025, + 2.0190987586975098, + 1.3033586740493774, + 0.5115681886672974, + 0.7057813405990601, + 0.49953117966651917, + -0.5026724934577942, + 0.0, + -1.2112258672714233, + 0.7945667505264282, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.6986448764801025, + 2.0190987586975098, + 1.3033586740493774, + 0.5115681886672974, + 0.7057813405990601, + 0.49953117966651917, + -0.5026724934577942, + 0.0, + -1.1056718826293945, + 0.8217359781265259, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.6986448764801025, + 2.0190987586975098, + 1.3033586740493774, + 0.5115681886672974, + 0.7057813405990601, + 0.49953117966651917, + -0.5026724934577942, + 0.0, + -1.088355302810669, + 0.8261932134628296, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.6986448764801025, + 2.0190987586975098, + 1.3033586740493774, + 0.5115681886672974, + 0.7057813405990601, + 0.49953117966651917, + -0.5026724934577942, + 0.0, + -1.0085679292678833, + 0.8467302322387695, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.6986448764801025, + 2.0190987586975098, + 1.3033586740493774, + 0.5115681886672974, + 0.7057813405990601, + 0.49953117966651917, + -0.5026724934577942, + 0.0, + -0.9430139660835266, + 0.8636035919189453, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.6986448764801025, + 2.0190987586975098, + 1.3033586740493774, + 0.5115681886672974, + 0.7057813405990601, + 0.49953117966651917, + -0.5026724934577942, + 0.0, + -0.9289485812187195, + 0.8672239780426025, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.6986448764801025, + 2.0190987586975098, + 1.3033586740493774, + 0.5115681886672974, + 0.7057813405990601, + 0.49953117966651917, + -0.5026724934577942, + 0.0, + -0.7734268307685852, + 0.9072547554969788, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.6986448764801025, + 2.0190987586975098, + 1.3033586740493774, + 0.5115681886672974, + 0.7057813405990601, + 0.49953117966651917, + -0.5026724934577942, + 0.0, + -0.6878215074539185, + 0.9292892813682556, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.6986448764801025, + 2.0190987586975098, + 1.3033586740493774, + 0.5115681886672974, + 0.7057813405990601, + 0.49953117966651917, + -0.5026724934577942, + 0.0, + -0.6049110889434814, + 0.9506301283836365, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.6986448764801025, + 2.0190987586975098, + 1.3033586740493774, + 0.5115681886672974, + 0.7057813405990601, + 0.49953117966651917, + -0.5026724934577942, + 0.0, + -0.4618139863014221, + 0.9874628782272339, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.6986448764801025, + 2.0190987586975098, + 1.3033586740493774, + 0.5115681886672974, + 0.7057813405990601, + 0.49953117966651917, + -0.5026724934577942, + 0.0, + -0.44271016120910645, + 0.9923801422119141, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.6986448764801025, + 2.0190987586975098, + 1.3033586740493774, + 0.5115681886672974, + 0.7057813405990601, + 0.49953117966651917, + -0.5026724934577942, + 0.0, + -0.389665424823761, + 1.0060336589813232, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.6986448764801025, + 2.0190987586975098, + 1.3033586740493774, + 0.5115681886672974, + 0.7057813405990601, + 0.49953117966651917, + -0.5026724934577942, + 0.0, + -0.2846032977104187, + 1.033076286315918, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.6986448764801025, + 2.0190987586975098, + 1.3033586740493774, + 0.5115681886672974, + 0.7057813405990601, + 0.49953117966651917, + -0.5026724934577942, + 0.0, + -0.24729841947555542, + 1.0426784753799438, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.6986448764801025, + 2.0190987586975098, + 1.3033586740493774, + 0.5115681886672974, + 0.7057813405990601, + 0.49953117966651917, + -0.5026724934577942, + 0.0, + -0.1275249570608139, + 1.0735077857971191, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.6986448764801025, + 2.0190987586975098, + 1.3033586740493774, + 0.5115681886672974, + 0.7057813405990601, + 0.49953117966651917, + -0.5026724934577942, + 0.0, + -0.03534255921840668, + 1.0972352027893066, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.6986448764801025, + 2.0190987586975098, + 1.3033586740493774, + 0.5115681886672974, + 0.7057813405990601, + 0.49953117966651917, + -0.5026724934577942, + 0.0, + 0.029437165707349777, + 1.1139092445373535, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.6986448764801025, + 2.0190987586975098, + 1.3033586740493774, + 0.5115681886672974, + 0.7057813405990601, + 0.49953117966651917, + -0.5026724934577942, + 0.0, + 0.17653244733810425, + 1.151771068572998, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.6986448764801025, + 2.0190987586975098, + 1.3033586740493774, + 0.5115681886672974, + 0.7057813405990601, + 0.49953117966651917, + -0.5026724934577942, + 0.0, + 0.18639928102493286, + 1.1543108224868774, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.6986448764801025, + 2.0190987586975098, + 1.3033586740493774, + 0.5115681886672974, + 0.7057813405990601, + 0.49953117966651917, + -0.5026724934577942, + 0.0, + 0.21460232138633728, + 1.1615701913833618, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.6986448764801025, + 2.0190987586975098, + 1.3033586740493774, + 0.5115681886672974, + 0.7057813405990601, + 0.49953117966651917, + -0.5026724934577942, + 0.0, + 0.3429507315158844, + 1.1946066617965698, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.6986448764801025, + 2.0190987586975098, + 1.3033586740493774, + 0.5115681886672974, + 0.7057813405990601, + 0.49953117966651917, + -0.5026724934577942, + 0.0, + 0.38766011595726013, + 1.206114649772644, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.6986448764801025, + 2.0190987586975098, + 1.3033586740493774, + 0.5115681886672974, + 0.7057813405990601, + 0.49953117966651917, + -0.5026724934577942, + 0.0, + 0.4994122385978699, + 1.2348792552947998, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.6986448764801025, + 2.0190987586975098, + 1.3033586740493774, + 0.5115681886672974, + 0.7057813405990601, + 0.49953117966651917, + -0.5026724934577942, + 0.0, + 0.5986239910125732, + 1.260416030883789, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.6986448764801025, + 2.0190987586975098, + 1.3033586740493774, + 0.5115681886672974, + 0.7057813405990601, + 0.49953117966651917, + -0.5026724934577942, + 0.0, + 0.6558737754821777, + 1.2751519680023193, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.6986448764801025, + 2.0190987586975098, + 1.3033586740493774, + 0.5115681886672974, + 0.7057813405990601, + 0.49953117966651917, + -0.5026724934577942, + 0.0, + 0.809587836265564, + 1.314717411994934, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.6986448764801025, + 2.0190987586975098, + 1.3033586740493774, + 0.5115681886672974, + 0.7057813405990601, + 0.49953117966651917, + -0.5026724934577942, + 0.0, + 0.8123352527618408, + 1.3154245615005493, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.6986448764801025, + 2.0190987586975098, + 1.3033586740493774, + 0.5115681886672974, + 0.7057813405990601, + 0.49953117966651917, + -0.5026724934577942, + 0.0, + 0.8202224373817444, + 1.3174546957015991, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.6986448764801025, + 2.0190987586975098, + 1.3033586740493774, + 0.5115681886672974, + 0.7057813405990601, + 0.49953117966651917, + -0.5026724934577942, + 0.0, + 0.9694868326187134, + 1.3558748960494995, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.6986448764801025, + 2.0190987586975098, + 1.3033586740493774, + 0.5115681886672974, + 0.7057813405990601, + 0.49953117966651917, + -0.5026724934577942, + 0.0, + 1.0209909677505493, + 1.3691319227218628, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.6986448764801025, + 2.0190987586975098, + 1.3033586740493774, + 0.5115681886672974, + 0.7057813405990601, + 0.49953117966651917, + -0.5026724934577942, + 0.0, + 1.126704216003418, + 1.396342158317566, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.6986448764801025, + 2.0190987586975098, + 1.3033586740493774, + 0.5115681886672974, + 0.7057813405990601, + 0.49953117966651917, + -0.5026724934577942, + 0.0, + 1.2000000476837158, + 1.4500000476837158, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.6986448764801025, + 2.0190987586975098, + 0.7947943210601807, + 0.05805861949920654, + 0.7057813405990601, + -0.11814948916435242, + -0.6059123277664185, + 0.0 + ], + "count": [ + 1354 + ] + }, + "action.applied": { + "mean": [ + 0.1367356492553121, + -0.0010859692597175719, + 0.0046920481602131, + 0.04634354966332508, + -1.50597445933118, + -0.37786353076902957, + 1.4942284426933905, + -0.05723834944684008, + 1.733719224855854, + 0.9024137834539022, + -0.0031358188381377314, + 0.0031358188381377314 + ], + "std": [ + 0.12192268103061975, + 0.00866341987755664, + 0.179719253684457, + 0.10707127049710187, + 0.19527120646800158, + 0.26523860422487655, + 0.6400608273160453, + 0.13699553065660938, + 0.632607099466164, + 0.5552273130147647, + 0.010722991480883275, + 0.010722991480883275 + ], + "min": [ + 0.0, + -0.060992512851953506, + -0.800000011920929, + -0.30849143862724304, + -1.669084072113037, + -0.8695657253265381, + 0.4888549745082855, + -0.28081831336021423, + 0.8381505012512207, + -0.02967710793018341, + -0.009999999776482582, + -0.020833000540733337 + ], + "max": [ + 0.31347721815109253, + 0.0295656006783247, + 0.800000011920929, + 0.35109513998031616, + -1.0184768438339233, + 0.043319713324308395, + 2.2558629512786865, + 0.26901519298553467, + 2.7059574127197266, + 1.3813220262527466, + 0.020833000540733337, + 0.009999999776482582 + ], + "count": [ + 1354 + ] + }, + "extra.reward": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 1354 + ] + }, + "next.truncated": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 1354 + ] + }, + "sim_step_idx": { + "mean": [ + 1384.0 + ], + "std": [ + 781.7320512809999 + ], + "min": [ + 31.0 + ], + "max": [ + 2737.0 + ], + "count": [ + 1354 + ] + }, + "timestamp": { + "mean": [ + 27.06000000122863 + ], + "std": [ + 15.634641024184495 + ], + "min": [ + 0.0 + ], + "max": [ + 54.119998931884766 + ], + "count": [ + 1354 + ] + }, + "frame_index": { + "mean": [ + 676.5 + ], + "std": [ + 390.86602564049997 + ], + "min": [ + 0.0 + ], + "max": [ + 1353.0 + ], + "count": [ + 1354 + ] + }, + "episode_index": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 1354 + ] + }, + "index": { + "mean": [ + 676.5 + ], + "std": [ + 390.86602564049997 + ], + "min": [ + 0.0 + ], + "max": [ + 1353.0 + ], + "count": [ + 1354 + ] + }, + "task_index": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 1354 + ] + }, + "next.done": { + "mean": [ + 0.0007385524372230429 + ], + "std": [ + 0.02716628383714848 + ], + "min": [ + 0.0 + ], + "max": [ + 1.0 + ], + "count": [ + 1354 + ] + }, + "observation.images.head": { + "mean": [ + [ + [ + 0.4473978354616458 + ] + ], + [ + [ + 0.3657863975783834 + ] + ], + [ + [ + 0.32655973245438896 + ] + ] + ], + "std": [ + [ + [ + 0.170880585217171 + ] + ], + [ + [ + 0.1783487884660004 + ] + ], + [ + [ + 0.16585190604361527 + ] + ] + ], + "min": [ + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ] + ], + "max": [ + [ + [ + 0.9333333333333333 + ] + ], + [ + [ + 0.8901960784313725 + ] + ], + [ + [ + 0.803921568627451 + ] + ] + ], + "count": [ + 100 + ] + }, + "observation.images.wrist": { + "mean": [ + [ + [ + 0.47441928409408024 + ] + ], + [ + [ + 0.3597724811185205 + ] + ], + [ + [ + 0.2901898884514408 + ] + ] + ], + "std": [ + [ + [ + 0.16980357734599857 + ] + ], + [ + [ + 0.17244591625411787 + ] + ], + [ + [ + 0.1514693359775749 + ] + ] + ], + "min": [ + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ] + ], + "max": [ + [ + [ + 0.9490196078431372 + ] + ], + [ + [ + 0.9215686274509803 + ] + ], + [ + [ + 0.8666666666666667 + ] + ] + ], + "count": [ + 100 + ] + } +} \ No newline at end of file diff --git a/N025/sawyer_umi/dr_on/seed_2016/stationassembly/000/lerobot_v21/meta/tasks.jsonl b/N025/sawyer_umi/dr_on/seed_2016/stationassembly/000/lerobot_v21/meta/tasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7ef32cea3933584c053b6f1b17969eee32e6aaa6 --- /dev/null +++ b/N025/sawyer_umi/dr_on/seed_2016/stationassembly/000/lerobot_v21/meta/tasks.jsonl @@ -0,0 +1 @@ +{"task_index": 0, "task": "Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level."} diff --git a/N025/sawyer_umi/dr_on/seed_2016/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 b/N025/sawyer_umi/dr_on/seed_2016/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a1bf40b4f32815dff0ac20270d643a32071315bc --- /dev/null +++ b/N025/sawyer_umi/dr_on/seed_2016/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d00ab800928149d400d994325f168c4b14b3675bc9884d304fa0989e553aaee5 +size 23781866 diff --git a/N025/sawyer_umi/dr_on/seed_2016/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 b/N025/sawyer_umi/dr_on/seed_2016/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..317d279939b15e13bfb92d99422fd0da0d448174 --- /dev/null +++ b/N025/sawyer_umi/dr_on/seed_2016/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5d496f5f030fcb8e1ac4d1e66ee9a97b9202afaa0e84fe76803ed7042e838bd6 +size 27543202 diff --git a/N025/sawyer_umi/dr_on/seed_2016/stationassembly/000/run_meta.json b/N025/sawyer_umi/dr_on/seed_2016/stationassembly/000/run_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ca05def2646180ed2d7dc75d3d3b69259439a94a --- /dev/null +++ b/N025/sawyer_umi/dr_on/seed_2016/stationassembly/000/run_meta.json @@ -0,0 +1,873 @@ +{ + "run_id": "stationassembly/000", + "created": "2026-11-08 02:56:35", + "num_envs": 1, + "session_id": null, + "record_config": { + "output_dir": "/mnt/scratch/xc536_atomic/n025_saw_on_2016/out", + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + }, + "config": { + "env_string": "MobileWedgeSupportEnv-V0", + "env": { + "sim": { + "device": "cpu", + "use_fabric": false, + "decimation": 4, + "dt": 0.005, + "seed": 2016, + "soft_resets": 2, + "scene": { + "num_envs": 1, + "env_spacing": 14 + }, + "render": { + "rendering_mode": "performance", + "enable_reflections": false, + "enable_global_illumination": false, + "enable_translucency": false, + "enable_dl_denoiser": false + } + }, + "robot": { + "RidgebackSawyerUmi": { + "name": "ridgebacksawyer_umi", + "type": "mobilemanip", + "common": { + "pos": [ + [ + -3.498, + -2.4962, + 0.06 + ], + [ + -3.498, + -2.4962, + 0.06 + ] + ], + "ori": [ + [ + 0, + 0, + 72.54863 + ], + [ + 0, + 0, + 72.54863 + ] + ], + "initial_joint_pos": { + "dummy_base_.*": 0.0, + "head_pan": 0.0, + "right_j0": 0.0, + "right_j1": -1.6, + "right_j2": 0.0, + "right_j3": 0.5, + "right_j4": 0.0, + "right_j5": 2.7, + "right_j6": 0.0, + "right_gripper_l_finger_joint": 0.0, + "right_gripper_r_finger_joint": 0.0 + } + }, + "action": { + "base_action": "holonomic_action", + "arm_action": "ik_pink", + "eef_action": "binary" + }, + "planner": { + "dual_mode": true, + "base_joint_names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint" + ], + "ik": { + "type": "ridgebacksawyer_umi", + "model_tuning": "ridgeback_sawyer_umi", + "enable": true, + "ik_num_instances": 1, + "ik_batch_size": 1, + "ik_num_seeds": 32, + "ik_max_goalset": 64, + "ik_position_threshold": 0.005, + "ik_rotation_threshold": 0.05, + "microbatch_wait_ms": 20.0, + "relative_to_world_frame": false + }, + "motiongen": { + "type": "ridgebacksawyer_umi", + "model_tuning": "ridgeback_sawyer_umi", + "enable": true, + "motiongen_num_instances": 1, + "max_attempts": 6, + "batch_size": 1, + "microbatch_wait_ms": 20.0, + "mode": "position", + "relative_to_world_frame": false, + "start_state_limit_inset": 0.002 + }, + "body": { + "type": "nav", + "dwb_type": "dwb_holonomic", + "dwb_holonomic": { + "device": "cpu", + "dt": 0.02, + "debug": false, + "num_rollout_steps": 60, + "num_speed_samples": 11, + "num_steer_samples": 11, + "num_vx_samples": 7, + "num_vy_samples": 7, + "num_yaw_samples": 7, + "max_accel": 1.5, + "max_steer_rate": 1.5, + "max_accel_vx": 1.5, + "max_accel_vy": 1.5, + "max_yaw_accel": 1.5, + "w_goal": 6.0, + "w_path": 8.0, + "w_vel": 0.2, + "w_vy": 0.0, + "goal_cost_mode": "path", + "dilate_radius": 0.36, + "room_size": 12.0, + "occupancy_update_interval": 25, + "scan_height": 0.38, + "scan_min_z": 0.15, + "scan_max_z": 1.68, + "goal_pos_threshold": 0.1, + "goal_yaw_threshold": 0.08, + "kp_goal_yaw": 1.5, + "heading_reference": "path", + "turn_yaw_threshold": 0.8, + "heading_lookahead": 0.8, + "heading_min_leg": 0.35, + "route_yaw_gain": 2.0, + "goal_yaw_hysteresis": 0.02, + "min_vx": -0.3, + "max_vx": 0.3, + "min_vy": -0.3, + "max_vy": 0.3, + "min_yaw_rate": -0.8, + "max_yaw_rate": 0.8, + "safety_enabled": true, + "safety_deceleration": 0.5, + "safety_reaction_time": 0.5, + "scan_type": "3d" + }, + "p_controller": { + "kp_angular_turning_only": 2.0, + "kd_angular_turning_only": 1.0, + "kp_linear_x": 3.0, + "kp_linear_y": 3.0, + "kp_angular": 2.0, + "kd_linear_x": 1.0, + "kd_linear_y": 1.0, + "min_vel": -0.4, + "max_vel": 0.5, + "linear_dead_zone": 0.01, + "angular_dead_zone": 0.05, + "nav_heading_target": -1, + "nav_upgrade_distance": 0.03 + } + }, + "arm": { + "type": "default" + }, + "eef": { + "type": "default" + } + }, + "physics": { + "robot_radius": 0.66, + "wheel_base": 0.01 + }, + "reset": "default" + } + }, + "camera": { + "enable_tiled": false, + "colorize_depth": false, + "head": { + "camera": { + "type": "camera", + "mesh": "pinhole", + "resolution": [ + 640, + 480 + ], + "frequency": 25, + "focal_length": 2.0, + "horizontal_aperture": 3.6, + "vertical_aperture": 2.7, + "clipping_range": [ + 0.05, + 30.0 + ], + "focus_distance": 3.0, + "mode": "RGB", + "mount_link": "Robot_0/head", + "pos": [ + 0.2166, + 0.0, + -0.045 + ], + "ori": [ + -0.0, + 35.0, + -90.0 + ] + }, + "annotator": { + "enabled": true, + "rgb_capture": { + "type": "rgb", + "device": "cpu" + } + } + }, + "wrist": { + "camera": { + "type": "camera", + "mesh": "pinhole", + "resolution": [ + 640, + 480 + ], + "frequency": 25, + "focal_length": 1.8, + "horizontal_aperture": 3.6, + "vertical_aperture": 2.7, + "clipping_range": [ + 0.05, + 30.0 + ], + "focus_distance": 3.0, + "mode": "RGB", + "mount_link": "Robot_0/right_electric_gripper_base", + "pos": [ + 0.0598, + 0.0, + 0.03 + ], + "ori": [ + 180.0, + 0.0, + -90.0 + ] + }, + "annotator": { + "enabled": true, + "rgb_capture": { + "type": "rgb", + "device": "cpu" + } + } + } + }, + "scene": { + "background": { + "intensity": [ + 878.2134, + 878.2134 + ] + }, + "terrain": { + "type": "nav_room", + "collision": true, + "hide_top_walls": true, + "usd": [ + "$MAGICSIM_ASSETS/Room/Collected_SimpleRoom" + ], + "annotation": "Annotation", + "random": false, + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0, + "friction_combine_mode": "multiply", + "restitution_combine_mode": "multiply" + } + }, + "objects": { + "table_A": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "pos": [ + -2.0, + 1.5, + 0.23 + ], + "ori": [ + 0, + 0, + 0 + ], + "scale": [ + 0.9, + 0.6, + 0.4 + ] + }, + "table_A_1": { + "primitive_params": { + "size": [ + 1, + 1, + 1 + ] + }, + "visual": { + "color": [ + 0.78, + 0.72, + 0.62 + ] + }, + "physics": { + "type": "geometry", + "collision": true + } + } + }, + "table_B": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "pos": [ + 1.2, + 3.0, + 0.23 + ], + "ori": [ + 0, + 0, + 0 + ], + "scale": [ + 0.9, + 0.6, + 0.4 + ] + }, + "table_B_1": { + "primitive_params": { + "size": [ + 1, + 1, + 1 + ] + }, + "visual": { + "color": [ + 0.62, + 0.72, + 0.78 + ] + }, + "physics": { + "type": "geometry", + "collision": true + } + } + }, + "shim_board": { + "usd": [ + "$MAGICSIM_ASSETS/Object/MobileAssembly/shim_board_a05/Object.usd" + ], + "random": false, + "num_per_env": 1, + "common": { + "pos": [ + 1.13912, + 3.15439, + 0.43 + ], + "ori": [ + 0.0, + 0.0, + -88.42471 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "shim_board_1": { + "visual": {}, + "physics": { + "type": "articulation", + "collision": true, + "fixed_base": true + } + } + }, + "wedge": { + "usd": [ + "$MAGICSIM_ASSETS/Object/MobileAssembly/wedge_a05/Object.usd" + ], + "random": false, + "num_per_env": 1, + "common": { + "pos": [ + -1.98297, + 1.37726, + 0.431 + ], + "ori": [ + 0.0, + 0.0, + 83.52369 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "wedge_1": { + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.02102, + "physics_material": { + "static_friction": 0.8, + "dynamic_friction": 0.7, + "restitution": 0.0 + } + } + } + } + } + }, + "nav": { + "navmesh": { + "enabled": true, + "visualize": false, + "bake_timeout_s": 180, + "agent_height_cm": 150, + "min_agent_radius_cm": 45.0, + "max_agent_radius_cm": 45.0, + "max_step_height_cm": 20, + "max_floor_slope_deg": 30, + "agent_island_radius_cm": 5, + "auto_exclude_rigid_bodies": true, + "validate_path_clearance": true, + "validate_path_window": true, + "navmesh_offset_z_m": 0, + "verbose": false + }, + "occupancymap": { + "cell_size": 0.05 + } + } + }, + "task": { + "observation": {}, + "reward": {}, + "level": "easy", + "termination": { + "timeout_steps": 9000, + "success_hold_frames": 1 + }, + "station": { + "S": { + "pose": [ + -3.6, + -2.5, + 60.0 + ] + }, + "A": { + "center": [ + -2.0, + 0.6 + ], + "zone_radius": 0.6, + "table": "table_A" + }, + "B": { + "center": [ + 1.2, + 2.1 + ], + "zone_radius": 0.6, + "table": "table_B" + } + }, + "stance": { + "radii_A": [ + 0.76, + 0.84, + 0.7, + 0.92 + ], + "radii_B": [ + 0.78, + 0.85, + 0.92, + 0.72 + ], + "bearings_deg": [ + 0.0, + -25.0, + 25.0 + ], + "yaw_offsets_deg": [ + 0.0 + ], + "include_current": true + }, + "assembly": { + "part": { + "name": "wedge", + "id": 0 + }, + "fixture": { + "name": "shim_board", + "id": 0 + }, + "support_z": 0.43, + "part_half_height": 0.014, + "lift_height": 0.03, + "carry_lost": 0.25, + "hold_steps": 30, + "release_clear": 0.06, + "fixture_move_limit": 0.01, + "fall_margin": 0.12, + "target_deg": 0.0, + "tol_deg": 1.5, + "contact_gap": 0.002, + "stop_margin_deg": 0.3, + "board_touch_limit": 20, + "pre_height": 0.03, + "align_height": 0.0015, + "align_x": 0.4, + "insert_x": 0.205, + "umi": { + "table_clearance": 0.002, + "min_approach_down_deg": 65.0, + "max_approach_down_deg": 90.0, + "max_candidates": 64 + } + }, + "command": { + "StationAssembly": { + "robot_id": 0, + "hand_id": 0, + "init_limit": 30, + "max_attempt": 2, + "tail_steps": 400, + "part": { + "obj_type": "rigid", + "obj_name": "wedge", + "obj_id": 0 + }, + "fixture": { + "obj_type": "articulation", + "obj_name": "shim_board", + "obj_id": 0 + }, + "stages": [ + { + "name": "nav_A", + "type": "nav", + "goal": [ + -2.0, + 0.6, + 90.0 + ] + }, + { + "name": "stance_A", + "type": "stance", + "target": "part" + }, + { + "name": "pick", + "type": "grasp" + }, + { + "name": "carry", + "type": "carry" + }, + { + "name": "nav_B", + "type": "nav", + "goal": [ + 1.2, + 1.45, + 90.0 + ] + }, + { + "name": "stance_B", + "type": "stance", + "target": "fixture" + }, + { + "name": "assemble", + "type": "assemble" + } + ] + } + } + }, + "collect": { + "command": { + "StationAssembly": { + "robot_id": 0, + "hand_id": 0, + "init_limit": 30, + "max_attempt": 2, + "tail_steps": 400, + "part": { + "obj_type": "rigid", + "obj_name": "wedge", + "obj_id": 0 + }, + "fixture": { + "obj_type": "articulation", + "obj_name": "shim_board", + "obj_id": 0 + }, + "stages": [ + { + "name": "nav_A", + "type": "nav", + "goal": [ + -2.0, + 0.6, + 90.0 + ] + }, + { + "name": "stance_A", + "type": "stance", + "target": "part" + }, + { + "name": "pick", + "type": "grasp" + }, + { + "name": "carry", + "type": "carry" + }, + { + "name": "nav_B", + "type": "nav", + "goal": [ + 1.2, + 1.45, + 90.0 + ] + }, + { + "name": "stance_B", + "type": "stance", + "target": "fixture" + }, + { + "name": "assemble", + "type": "assemble" + } + ] + } + }, + "global_planner": { + "NavTo": { + "use_navmesh": true, + "use_absolute": true, + "translation_threshold": 0.2, + "rotation_threshold": 0.15, + "num_path_segments": 30, + "start_forward_offset": 0.0, + "visualize_path": false, + "carry_arm": true + }, + "MobileMoveL": { + "translation_threshold": 0.006, + "rotation_threshold": 0.2, + "motiongen_distance_threshold": 0.05, + "timeout_steps": 1800, + "reactive": false, + "base_pos_threshold": 0.12, + "base_rot_threshold": 0.5, + "eef_pos_threshold": 0.03, + "eef_rot_threshold": 0.3, + "waypoint_max_steps": 20, + "interp_steps": 60, + "retry_mobile_on_locked_plan_failure": true, + "debug": false, + "debug_viz": false + }, + "AssemblyServoL": { + "translation_threshold": 0.0003, + "rotation_threshold": 0.005, + "motiongen_distance_threshold": 0.0, + "timeout_steps": 1000000, + "min_steps_before_done": 1000000, + "reactive": false, + "base_pos_threshold": 0.12, + "base_rot_threshold": 0.5, + "eef_pos_threshold": 0.03, + "eef_rot_threshold": 0.3, + "waypoint_max_steps": 1, + "debug": false, + "debug_viz": false + }, + "MobileServoL": { + "translation_threshold": 0.03, + "rotation_threshold": 0.3, + "done_threshold": 0.03, + "timeout_steps": 300, + "stride": 1, + "eef_pos_threshold": 0.03, + "eef_rot_threshold": 0.1, + "base_pos_threshold": 0.12, + "waypoint_max_steps": 20, + "force_free_base_distance": 0.4, + "motiongen_distance_threshold": 0.05, + "embedded_direct_lock_layout": "trailing", + "debug": false, + "debug_viz": false + }, + "ParallelGripper": { + "gripper_threshold": 0.0005, + "timeout_steps": 60 + } + }, + "atomic_skill": { + "NavToPose": { + "robot_id": 0, + "show_marker": false + }, + "HoldPose": { + "robot_id": 0, + "hand_id": 0 + }, + "NavTo": { + "robot_id": 0, + "position_offset": 0.85, + "position_threshold": 0.08, + "angle_threshold": 0.06 + }, + "ReachStance": { + "check_current_first": true, + "stance_margin": 0.03, + "max_reach": 1.0, + "max_walks": 2, + "reject_radius": 0.05, + "obstacle_avoidance": [ + "dynamic" + ], + "walk_planner": "MobileServoL", + "strategy_kwargs": { + "reach_steps": 2 + }, + "pre_grasp_planner": "MobileMoveL", + "pre_grasp_mode": -1, + "goalset_lock_base": true, + "debug": true + }, + "AssemblyGrasp": { + "pre_grasp_offset_x": 0.12, + "retrieval_offset_x": 0.15, + "mobile": true, + "pre_grasp_planner": "MobileMoveL", + "pre_grasp_mode": -1, + "grasp_mode": 4, + "retrieval_mode": 4, + "goalset_lock_base": true, + "reactive": false, + "viz_grasp": false, + "close_settle_steps": 10, + "obstacle_ignore": [ + "table_A" + ] + }, + "CarryPose": { + "robot_id": 0, + "hand_id": 0, + "carry_part_pos": [ + 0.62, + 0.0, + 0.5 + ], + "planner_mode": 1 + }, + "AssemblyInsert": { + "plan_mode": 1, + "max_lin": 0.002, + "max_rot_deg": 1.0, + "settle_ticks": 3, + "servo_max_steps": 600, + "lateral_gate": 0.002, + "stall_ticks": 60, + "stall_min_progress": 0.8, + "carry_lost": 0.25, + "open_value": 0.0 + } + }, + "auto_collect": { + "task_type": "assembly", + "max_trajectories": 1 + }, + "record": { + "output_dir": "/mnt/scratch/xc536_atomic/n025_saw_on_2016/out", + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + } + }, + "visual_dr": { + "keep": [ + "wedge", + "shim_board" + ] + } + }, + "git_sha": null, + "collect_runtime": { + "max_trajectories": 1 + } +} \ No newline at end of file diff --git a/N025/sawyer_umi/dr_on/seed_2016/stationassembly/000/sim_info/0/actions.npz b/N025/sawyer_umi/dr_on/seed_2016/stationassembly/000/sim_info/0/actions.npz new file mode 100644 index 0000000000000000000000000000000000000000..ca1dea315cde2dc699f6e104698751277b471460 --- /dev/null +++ b/N025/sawyer_umi/dr_on/seed_2016/stationassembly/000/sim_info/0/actions.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:07d8835bcbdc65e3f5cce4882048cf38a957207155ac4e230382bd9048ec9dfa +size 424476 diff --git a/N025/sawyer_umi/dr_on/seed_2016/stationassembly/000/sim_info/0/device_commands.jsonl b/N025/sawyer_umi/dr_on/seed_2016/stationassembly/000/sim_info/0/device_commands.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N025/sawyer_umi/dr_on/seed_2016/stationassembly/000/sim_info/0/device_events.jsonl b/N025/sawyer_umi/dr_on/seed_2016/stationassembly/000/sim_info/0/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N025/sawyer_umi/dr_on/seed_2016/stationassembly/000/sim_info/0/scene_snapshot.json b/N025/sawyer_umi/dr_on/seed_2016/stationassembly/000/sim_info/0/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..3dfd04cd2c8d4e0d610b889dc95f58ef74e2df29 --- /dev/null +++ b/N025/sawyer_umi/dr_on/seed_2016/stationassembly/000/sim_info/0/scene_snapshot.json @@ -0,0 +1,334 @@ +{ + "trajectory_id": 0, + "env_id": 0, + "run_id": "stationassembly/000", + "task_type": "StationAssembly", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])", + "avatars": "avatar_manager.set_avatars_state(snapshot['avatars'], env_ids=[env_id]) (present when the scene has animated avatars)" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "table_A": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -2.0, + 1.5, + 0.23 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 0.9, + 0.6, + 0.4 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.78, + 0.72, + 0.62 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 1, + 1, + 1 + ] + } + }, + "type_specific": {} + } + ], + "table_B": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 1.2, + 3.0, + 0.23 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 0.9, + 0.6, + 0.4 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.62, + 0.72, + 0.78 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 1, + 1, + 1 + ] + } + }, + "type_specific": {} + } + ], + "shim_board": [ + { + "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MobileAssembly/shim_board_a05/Object.usd", + "pose": { + "pos": [ + 1.1391199827194214, + 3.1543900966644287, + 0.4300000071525574 + ], + "ori": [ + 0.7167602777481079, + 0.0, + 0.0, + -0.6973196864128113 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "collision": true, + "fixed_base": true, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 0.05235988274216652 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "wedge": [ + { + "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MobileAssembly/wedge_a05/Object.usd", + "pose": { + "pos": [ + -1.9829699993133545, + 1.3772599697113037, + 0.43000003695487976 + ], + "ori": [ + 0.7459196448326111, + -2.5704503059387207e-07, + 2.980232238769531e-07, + 0.6660358905792236 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.02102, + "physics_material": { + "static_friction": 0.8, + "dynamic_friction": 0.7, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -8.506834274157882e-05, + -3.946674951293971e-06, + 2.8790352644136874e-06 + ], + "angular_velocity": [ + -3.9787420973880216e-05, + -0.0015388051979243755, + 2.5243456548196264e-05 + ] + } + } + ] + } + ], + "artifacts": [ + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 878.2134, + "texture": null, + "color": [ + 0.85, + 0.85, + 0.85 + ] + } + } + }, + "robots": { + "RidgebackSawyerUmi": { + "root_pose": [ + [ + -3.497999906539917, + -2.4962000846862793, + 0.05999999865889549, + 0.8061935901641846, + 0.0, + 0.0, + 0.5916518568992615 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.600000023841858, + 0.0, + 0.5, + 0.0, + 2.700000047683716, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "head": [ + [ + 0.21660000085830688, + 0.0, + -0.04500000178813934, + -0.6743797063827515, + 0.21263112127780914, + -0.21263112127780914, + 0.6743797659873962 + ] + ], + "wrist": [ + [ + 0.05979999899864197, + 0.0, + 0.029999999329447746, + 6.123234262925839e-17, + 0.7071067690849304, + 0.7071067690849304, + -4.329780301713277e-17 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/N025/sawyer_umi/dr_on/seed_2016/stationassembly/000/sim_info/0/sim_states.npz b/N025/sawyer_umi/dr_on/seed_2016/stationassembly/000/sim_info/0/sim_states.npz new file mode 100644 index 0000000000000000000000000000000000000000..5db4574e9289c26099980ade29d5160bb12bba7c --- /dev/null +++ b/N025/sawyer_umi/dr_on/seed_2016/stationassembly/000/sim_info/0/sim_states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4bbc28012b10254932347168ce51a3c0d4a74b8ffff39136d760d8b6a8b1fcf2 +size 380396 diff --git a/N025/sawyer_umi/dr_on/seed_2016/stationassembly/000/sim_info/magicsim_manifest.json b/N025/sawyer_umi/dr_on/seed_2016/stationassembly/000/sim_info/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..feacf6801838658593ffcc5b34cbd36ccccc013f --- /dev/null +++ b/N025/sawyer_umi/dr_on/seed_2016/stationassembly/000/sim_info/magicsim_manifest.json @@ -0,0 +1,233 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 03:09:59" + }, + "embodiment": { + "robots": [ + { + "name": "RidgebackSawyerUmi", + "cfg": "RidgebackSawyerUmiCfg", + "type": "mobilemanip", + "joint_names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 11, + "nan_policy": "from_raw", + "segments": [ + { + "name": "RidgebackSawyerUmi.base_action", + "start": 0, + "end": 3, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint" + ], + "source": "HolonomicAction", + "names_source": "_joint_names" + }, + { + "name": "RidgebackSawyerUmi.arm_action", + "start": 3, + "end": 10, + "names": [ + "frame0.pos_x", + "frame0.pos_y", + "frame0.pos_z", + "frame0.quat_w", + "frame0.quat_x", + "frame0.quat_y", + "frame0.quat_z" + ], + "source": "PinkInverseKinematicsAction", + "names_source": "pink_layout" + }, + { + "name": "RidgebackSawyerUmi.eef_action", + "start": 10, + "end": 11, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 15, + "segments": [ + { + "name": "RidgebackSawyerUmi.joint_pos", + "start": 0, + "end": 13, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ], + "source": "ObservationManager", + "names_source": "joint_names" + }, + { + "name": "RidgebackSawyerUmi.gripper_pos", + "start": 13, + "end": 15, + "names": [ + "gripper_0", + "gripper_1" + ], + "source": "ObservationManager", + "names_source": "generated" + } + ] + }, + "joint_vel_layout": { + "dim": 13, + "segments": [ + { + "name": "RidgebackSawyerUmi.joint_vel", + "start": 0, + "end": 13, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "action_levels": { + "L0": "task command list (collect.auto_collect_info.current_action)", + "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)", + "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)", + "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy", + "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)" + }, + "cameras": { + "head": { + "intrinsics": { + "K": [ + [ + 355.55555555555554, + 0.0, + 320.0 + ], + [ + 0.0, + 355.55555555555554, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 83.97442499163331, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.21660000085830688, + 0.0, + -0.04500000178813934 + ], + "quat": [ + -0.6743797063827515, + 0.21263112127780914, + -0.21263112127780914, + 0.6743797659873962 + ] + }, + "wrist": { + "intrinsics": { + "K": [ + [ + 320.0, + 0.0, + 320.0 + ], + [ + 0.0, + 320.0, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 90.0, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.05979999899864197, + 0.0, + 0.029999999329447746 + ], + "quat": [ + 6.123234262925839e-17, + 0.7071067690849304, + 0.7071067690849304, + -4.329780301713277e-17 + ] + } + }, + "generated_run": { + "run_id": "stationassembly/000", + "task_type": "StationAssembly" + } +} \ No newline at end of file diff --git a/N025/sawyer_umi/dr_on/seed_2016/stationassembly/000/visual_dr.json b/N025/sawyer_umi/dr_on/seed_2016/stationassembly/000/visual_dr.json new file mode 100644 index 0000000000000000000000000000000000000000..2e45fe2256313ea20be6ba2615fff487210b3208 --- /dev/null +++ b/N025/sawyer_umi/dr_on/seed_2016/stationassembly/000/visual_dr.json @@ -0,0 +1,676 @@ +{ + "version": 1, + "settings": { + "enabled": false, + "keep": [ + "wedge", + "shim_board" + ], + "skip": [ + "*Robot_*", + "*/Camera*", + "*/camera*" + ], + "light_intensity": [ + 0.6, + 1.5 + ], + "light_color_temperature": [ + 3500.0, + 7500.0 + ], + "light_jitter_deg": 5.0, + "dome_swap_prob": 0.5, + "dome_tint_sat": [ + 0.0, + 0.15 + ], + "dome_yaw": true, + "hdr_dir": "$MAGICSIM_ASSETS/Background", + "tint_sat": [ + 0.0, + 0.3 + ], + "tint_val": [ + 0.7, + 1.0 + ], + "roughness_scale": [ + 0.8, + 1.25 + ], + "material_swap": true, + "material_swap_prob": 1.0, + "material_library": "$MAGICSIM_ASSETS/Material" + }, + "episodes": [ + { + "env_ids": [ + 0 + ], + "reset_index": 0, + "episode_seed": 2016, + "seeds": { + "0": 2016 + }, + "lights": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/RectLight", + "type": "RectLight", + "intensity": 19555.838171, + "intensity_base": 15000.0, + "enable_color_temperature": true, + "color_temperature_k": 4432.659188, + "rotate_deg": [ + -4.501, + 4.158, + 2.508 + ] + } + ], + "domes": [ + { + "path": "/World/background", + "type": "DomeLight", + "intensity": 604.134296, + "intensity_base": 878.2134, + "enable_color_temperature": true, + "color_temperature_k": 6989.900936, + "rotate_deg": [ + 0.0, + 0.0, + 104.734 + ], + "dome": { + "path": "/World/background", + "hdr_base": null, + "hdr": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Background/evening_road_01_4k.hdr", + "color": [ + 0.75106, + 0.702525, + 0.78421 + ] + } + } + ], + "materials": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light", + "shader": "omnipbr", + "color": [ + 0.7607, + 0.7935, + 0.834 + ], + "color_base": [ + 1.0, + 1.0, + 1.0 + ], + "roughness": 0.508665, + "roughness_base": 0.5, + "bound_prims": 1 + } + ], + "display_colors": [], + "swapped": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/ParquetFloor", + "role": "ground", + "mdl": "Source/Concrete/Concrete_Wall_Aged_Scratched.mdl", + "material": "/MmbVdrLooks/Source_Concrete_Concrete_Wall_Aged_Scratched", + "bound_prims": 1, + "pool_size": 42, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic", + "role": "wall", + "mdl": "Source/Concrete/Concrete_Formed.mdl", + "material": "/MmbVdrLooks/Source_Concrete_Concrete_Formed", + "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/Stone/Stone_Natural_Black.mdl", + "material": "/MmbVdrLooks/Source_Stone_Stone_Natural_Black", + "bound_prims": 10, + "pool_size": 28, + "bind_failed": 0 + } + ], + "skipped": { + "unsupported_shader": 1, + "protected_material": 0, + "error": 0, + "instance_proxy": 0, + "no_swap": 2, + "bind_failed": 0 + }, + "keep_hits": { + "wedge": 2, + "shim_board": 4 + }, + "physics_skip": { + "physics_binding": 7, + "rigid_body": 96, + "examples": [ + [ + "/World/envs/env_0/Robot_0/base_link/visuals/base_link_visuals_mesh_0/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/base_link_visuals_mesh_1/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_2/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_3/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_4/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_5/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_6/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_7/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/collisions/base_link_collisions_mesh_0/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/collisions/base_link_collisions_mesh_1/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/front_laser/visuals/front_laser_visuals/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/front_laser/collisions/mesh_0/box", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/rear_laser/visuals/rear_laser_visuals/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/rear_laser/collisions/mesh_0/box", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_arm_base_link/visuals/right_arm_base_link_visuals_mesh_0/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_arm_base_link/visuals/right_arm_base_link_visuals_mesh_0/World/mesh/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_arm_base_link/visuals/right_arm_base_link_visuals_mesh_0/World/mesh/mesh1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_arm_base_link/collisions/mesh_0/cylinder", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh2", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh3", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh4", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh5", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh6", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/collisions/mesh_0/sphere", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh3", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh5", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh2", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh6", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh4", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh7", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh8", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh9", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/collisions/mesh_0/sphere", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/screen/visuals/mesh_0/box", + "rigid_body" + ] + ] + }, + "material_library": { + "root": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Material", + "pool_sizes": { + "ground": 42, + "wall": 28, + "furniture": 38, + "object": 54 + } + }, + "no_swap": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass", + "reason": "glass", + "bound_prims": 1 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light", + "reason": "emissive", + "bound_prims": 1 + } + ], + "unsupported": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass", + "mdl": "OmniGlass.mdl", + "bound_prims": 1 + } + ] + }, + { + "env_ids": [ + 0 + ], + "reset_index": 1, + "episode_seed": 2016, + "seeds": { + "0": 2016 + }, + "lights": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/RectLight", + "type": "RectLight", + "intensity": 19555.838171, + "intensity_base": 15000.0, + "enable_color_temperature": true, + "color_temperature_k": 4432.659188, + "rotate_deg": [ + -4.501, + 4.158, + 2.508 + ] + } + ], + "domes": [ + { + "path": "/World/background", + "type": "DomeLight", + "intensity": 604.134296, + "intensity_base": 878.2134, + "enable_color_temperature": true, + "color_temperature_k": 6989.900936, + "rotate_deg": [ + 0.0, + 0.0, + 104.734 + ], + "dome": { + "path": "/World/background", + "hdr_base": null, + "hdr": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Background/evening_road_01_4k.hdr", + "color": [ + 0.75106, + 0.702525, + 0.78421 + ] + } + } + ], + "materials": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light", + "shader": "omnipbr", + "color": [ + 0.7607, + 0.7935, + 0.834 + ], + "color_base": [ + 1.0, + 1.0, + 1.0 + ], + "roughness": 0.508665, + "roughness_base": 0.5, + "bound_prims": 1 + } + ], + "display_colors": [], + "swapped": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/ParquetFloor", + "role": "ground", + "mdl": "Source/Concrete/Concrete_Wall_Aged_Scratched.mdl", + "material": "/MmbVdrLooks/Source_Concrete_Concrete_Wall_Aged_Scratched", + "bound_prims": 1, + "pool_size": 42, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic", + "role": "wall", + "mdl": "Source/Concrete/Concrete_Formed.mdl", + "material": "/MmbVdrLooks/Source_Concrete_Concrete_Formed", + "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/Stone/Stone_Natural_Black.mdl", + "material": "/MmbVdrLooks/Source_Stone_Stone_Natural_Black", + "bound_prims": 10, + "pool_size": 28, + "bind_failed": 0 + } + ], + "skipped": { + "unsupported_shader": 1, + "protected_material": 0, + "error": 0, + "instance_proxy": 0, + "no_swap": 2, + "bind_failed": 0 + }, + "keep_hits": { + "wedge": 2, + "shim_board": 4 + }, + "physics_skip": { + "physics_binding": 7, + "rigid_body": 96, + "examples": [ + [ + "/World/envs/env_0/Robot_0/base_link/visuals/base_link_visuals_mesh_0/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/base_link_visuals_mesh_1/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_2/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_3/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_4/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_5/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_6/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_7/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/collisions/base_link_collisions_mesh_0/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/collisions/base_link_collisions_mesh_1/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/front_laser/visuals/front_laser_visuals/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/front_laser/collisions/mesh_0/box", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/rear_laser/visuals/rear_laser_visuals/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/rear_laser/collisions/mesh_0/box", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_arm_base_link/visuals/right_arm_base_link_visuals_mesh_0/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_arm_base_link/visuals/right_arm_base_link_visuals_mesh_0/World/mesh/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_arm_base_link/visuals/right_arm_base_link_visuals_mesh_0/World/mesh/mesh1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_arm_base_link/collisions/mesh_0/cylinder", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh2", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh3", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh4", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh5", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh6", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/collisions/mesh_0/sphere", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh3", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh5", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh2", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh6", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh4", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh7", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh8", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh9", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/collisions/mesh_0/sphere", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/screen/visuals/mesh_0/box", + "rigid_body" + ] + ] + }, + "material_library": { + "root": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Material", + "pool_sizes": { + "ground": 42, + "wall": 28, + "furniture": 38, + "object": 54 + } + }, + "no_swap": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass", + "reason": "glass", + "bound_prims": 1 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light", + "reason": "emissive", + "bound_prims": 1 + } + ], + "unsupported": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass", + "mdl": "OmniGlass.mdl", + "bound_prims": 1 + } + ] + } + ] +} \ No newline at end of file diff --git a/N025/sawyer_umi/dr_on/seed_2017/check.json b/N025/sawyer_umi/dr_on/seed_2017/check.json new file mode 100644 index 0000000000000000000000000000000000000000..bc8c888c9820417b8ee8c5b653b19bc5e485ff65 --- /dev/null +++ b/N025/sawyer_umi/dr_on/seed_2017/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "1364 rows vs ceil(2727/2) = 1364" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 31..2757, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "40.11 MB, 1364 frames at 25 fps, mean luma 81..133, std 45, new picture 1363x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1364 vs 1364" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "34.80 MB, 1364 frames at 25 fps, mean luma 97..183, std 41, new picture 1363x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1364 vs 1364" + }, + "sim_info present": { + "pass": true, + "detail": "stationassembly/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N025/sawyer_umi/dr_on/seed_2017/check.txt b/N025/sawyer_umi/dr_on/seed_2017/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..64f336abf6f4f43ea580df2e693f2ea8fdb5e9ec --- /dev/null +++ b/N025/sawyer_umi/dr_on/seed_2017/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n025_saw_on_2017/out task=N025 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n025_saw_on_2017/out/stationassembly/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1364 videos 2 robot_type RidgebackSawyerUmiCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 1364 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1'] +[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z'] +[PASS] task text = MobileBench instruction: task_index 0: 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.' +rows 1364 at dataset fps 25 = 54.56 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1364 rows vs ceil(2727/2) = 1364 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..2757, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 40.11 MB, 1364 frames at 25 fps, mean luma 81..133, std 45, new picture 1363x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1364 vs 1364 +[PASS] video observation.images.wrist decodes, 640x480, not black: 34.80 MB, 1364 frames at 25 fps, mean luma 97..183, std 41, new picture 1363x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1364 vs 1364 +parquet size 2.02 MB +[PASS] sim_info present: stationassembly/000/sim_info +dataset size 77.09 MB; whole cell dir 78.0 MB +RESULT: ALL PASS diff --git a/N025/sawyer_umi/dr_on/seed_2017/report.json b/N025/sawyer_umi/dr_on/seed_2017/report.json new file mode 100644 index 0000000000000000000000000000000000000000..52c9fede5354f19907de9f6ca9143d33f1af6c98 --- /dev/null +++ b/N025/sawyer_umi/dr_on/seed_2017/report.json @@ -0,0 +1,1775 @@ +{ + "task": "N025", + "agent_id": null, + "embodiment": "sawyer_umi", + "level": "easy", + "scene_seed": 2017, + "execution_mode": "headless_collect_chain(StationAssembly->NavToPose/ReachStance/AssemblyGrasp/CarryPose/AssemblyInsert->NavTo+MobileMoveL+AssemblyServoL->cuRobo)", + "config": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/src/magicsim/Collect/Task/MobileAssembly/Conf/n025_wedge_shim.yaml", + "full_success": true, + "failure_reason": null, + "dr": { + "seed": 2017, + "wedge": { + "dx": 0.06735, + "dy": 0.05097, + "yaw_deg": 2.1014 + }, + "shim_board": { + "dx": 0.04404, + "dy": -0.02863, + "yaw_deg": -3.46316 + }, + "wedge_mass": 0.02739, + "light": 1023.08567, + "spawn": { + "dx": 0.0839, + "dy": 0.0255, + "yaw_deg": -8.7521 + }, + "overrides": { + "env.scene.objects.wedge.common.pos": [ + -1.93265, + 1.45097, + 0.431 + ], + "env.scene.objects.wedge.common.ori": [ + 0.0, + 0.0, + 92.1014 + ], + "env.scene.objects.shim_board.common.pos": [ + 1.24404, + 3.12137, + 0.43 + ], + "env.scene.objects.shim_board.common.ori": [ + 0.0, + 0.0, + -93.46316 + ], + "env.scene.objects.wedge.wedge_1.physics.mass": 0.02739, + "env.scene.background.intensity": [ + 1023.08567, + 1023.08567 + ], + "env.robot.RidgebackSawyerUmi.common.pos": [ + [ + -3.5161, + -2.4745, + 0.06 + ], + [ + -3.5161, + -2.4745, + 0.06 + ] + ], + "env.robot.RidgebackSawyerUmi.common.ori": [ + [ + 0, + 0, + 51.2479 + ], + [ + 0, + 0, + 51.2479 + ] + ] + } + }, + "planner_seeds": { + "label": "default", + "num_trajopt_seeds": null, + "num_ik_seeds": null, + "max_attempts": 6 + }, + "collect": { + "task": "N025", + "robot": "sawyer_umi", + "visual_dr": true, + "env": { + "MMB_COLLECT": "1", + "MMB_TASK_ID": "N025", + "MMB_CLEAN_VIEW": "1", + "MMB_REAL_ROBOT_LOOK": "1", + "MMB_VISUAL_DR": "1" + }, + "cameras": { + "head": { + "link": "Robot_0/head", + "pos": [ + 0.2166, + 0.0, + -0.045 + ], + "ori": [ + -0.0, + 35.0, + -90.0 + ], + "focal_length": 2.0, + "horizontal_aperture": 3.6, + "vertical_aperture": 2.7 + }, + "wrist": { + "link": "Robot_0/right_electric_gripper_base", + "pos": [ + 0.0598, + 0.0, + 0.03 + ], + "ori": [ + 180.0, + 0.0, + -90.0 + ], + "focal_length": 1.8, + "horizontal_aperture": 3.6, + "vertical_aperture": 2.7 + } + }, + "resolution": [ + 640, + 480 + ], + "camera_hz": 25, + "record": { + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + } + }, + "steps": 2757, + "task_id": "N025", + "task_version": "EXT60-MobileAvatar-v3", + "family_id": "wedge_support", + "primary_category": "C4", + "env_terminated": true, + "env_truncated": false, + "station_layout": { + "S": { + "pose": [ + -3.6, + -2.5, + 60.0 + ] + }, + "A": { + "center": [ + -2.0, + 0.6 + ], + "zone_radius": 0.6, + "table": "table_A" + }, + "B": { + "center": [ + 1.2, + 2.1 + ], + "zone_radius": 0.6, + "table": "table_B" + } + }, + "spawn_pose": [ + -3.516099691390991, + -2.4744997024536133, + 0.8944445536165523 + ], + "base_path": [ + [ + -3.516, + -2.474, + 0.894 + ], + [ + -3.516, + -2.474, + 0.894 + ], + [ + -3.516, + -2.474, + 0.894 + ], + [ + -3.516, + -2.474, + 0.895 + ], + [ + -3.504, + -2.453, + 0.934 + ], + [ + -3.472, + -2.407, + 1.001 + ], + [ + -3.442, + -2.355, + 1.046 + ], + [ + -3.415, + -2.301, + 1.076 + ], + [ + -3.39, + -2.247, + 1.096 + ], + [ + -3.366, + -2.192, + 1.109 + ], + [ + -3.341, + -2.137, + 1.118 + ], + [ + -3.317, + -2.082, + 1.124 + ], + [ + -3.293, + -2.027, + 1.128 + ], + [ + -3.269, + -1.972, + 1.13 + ], + [ + -3.245, + -1.917, + 1.132 + ], + [ + -3.222, + -1.862, + 1.133 + ], + [ + -3.198, + -1.806, + 1.134 + ], + [ + -3.174, + -1.751, + 1.134 + ], + [ + -3.15, + -1.696, + 1.135 + ], + [ + -3.125, + -1.642, + 1.135 + ], + [ + -3.1, + -1.587, + 1.135 + ], + [ + -3.074, + -1.533, + 1.135 + ], + [ + -3.049, + -1.478, + 1.135 + ], + [ + -3.024, + -1.424, + 1.135 + ], + [ + -2.998, + -1.37, + 1.135 + ], + [ + -2.973, + -1.315, + 1.135 + ], + [ + -2.948, + -1.261, + 1.135 + ], + [ + -2.922, + -1.206, + 1.135 + ], + [ + -2.897, + -1.152, + 1.135 + ], + [ + -2.872, + -1.098, + 1.135 + ], + [ + -2.846, + -1.043, + 1.135 + ], + [ + -2.821, + -0.989, + 1.135 + ], + [ + -2.796, + -0.934, + 1.135 + ], + [ + -2.77, + -0.88, + 1.135 + ], + [ + -2.745, + -0.825, + 1.135 + ], + [ + -2.72, + -0.771, + 1.135 + ], + [ + -2.694, + -0.717, + 1.135 + ], + [ + -2.669, + -0.662, + 1.135 + ], + [ + -2.644, + -0.608, + 1.135 + ], + [ + -2.618, + -0.553, + 1.135 + ], + [ + -2.593, + -0.499, + 1.135 + ], + [ + -2.568, + -0.445, + 1.135 + ], + [ + -2.542, + -0.39, + 1.135 + ], + [ + -2.517, + -0.336, + 1.135 + ], + [ + -2.492, + -0.281, + 1.135 + ], + [ + -2.466, + -0.227, + 1.135 + ], + [ + -2.441, + -0.173, + 1.135 + ], + [ + -2.416, + -0.118, + 1.135 + ], + [ + -2.39, + -0.064, + 1.135 + ], + [ + -2.365, + -0.01, + 1.135 + ], + [ + -2.34, + 0.045, + 1.135 + ], + [ + -2.314, + 0.099, + 1.135 + ], + [ + -2.289, + 0.154, + 1.135 + ], + [ + -2.263, + 0.208, + 1.135 + ], + [ + -2.238, + 0.262, + 1.135 + ], + [ + -2.209, + 0.315, + 1.135 + ], + [ + -2.176, + 0.36, + 1.135 + ], + [ + -2.148, + 0.399, + 1.135 + ], + [ + -2.124, + 0.431, + 1.135 + ], + [ + -2.105, + 0.458, + 1.135 + ], + [ + -2.088, + 0.481, + 1.135 + ], + [ + -2.074, + 0.5, + 1.135 + ], + [ + -2.061, + 0.516, + 1.135 + ], + [ + -2.057, + 0.523, + 1.219 + ], + [ + -2.057, + 0.523, + 1.311 + ], + [ + -2.056, + 0.523, + 1.379 + ], + [ + -2.056, + 0.523, + 1.43 + ], + [ + -2.056, + 0.523, + 1.458 + ], + [ + -2.056, + 0.523, + 1.458 + ], + [ + -2.056, + 0.523, + 1.458 + ], + [ + -2.056, + 0.523, + 1.458 + ], + [ + -2.056, + 0.523, + 1.458 + ], + [ + -2.056, + 0.523, + 1.458 + ], + [ + -2.056, + 0.523, + 1.458 + ], + [ + -2.056, + 0.523, + 1.458 + ], + [ + -2.056, + 0.523, + 1.458 + ], + [ + -2.056, + 0.523, + 1.458 + ], + [ + -2.056, + 0.523, + 1.458 + ], + [ + -2.056, + 0.523, + 1.458 + ], + [ + -2.056, + 0.523, + 1.458 + ], + [ + -2.056, + 0.523, + 1.458 + ], + [ + -2.056, + 0.523, + 1.458 + ], + [ + -2.056, + 0.523, + 1.458 + ], + [ + -2.056, + 0.523, + 1.458 + ], + [ + -2.056, + 0.523, + 1.458 + ], + [ + -2.056, + 0.523, + 1.458 + ], + [ + -2.056, + 0.523, + 1.458 + ], + [ + -2.056, + 0.523, + 1.458 + ], + [ + -2.056, + 0.523, + 1.458 + ], + [ + -2.056, + 0.523, + 1.458 + ], + [ + -2.056, + 0.523, + 1.458 + ], + [ + -2.056, + 0.523, + 1.458 + ], + [ + -2.056, + 0.523, + 1.458 + ], + [ + -2.056, + 0.523, + 1.458 + ], + [ + -2.056, + 0.523, + 1.458 + ], + [ + -2.056, + 0.523, + 1.458 + ], + [ + -2.056, + 0.523, + 1.458 + ], + [ + -2.056, + 0.523, + 1.458 + ], + [ + -2.056, + 0.523, + 1.458 + ], + [ + -2.056, + 0.523, + 1.458 + ], + [ + -2.056, + 0.523, + 1.458 + ], + [ + -2.056, + 0.523, + 1.458 + ], + [ + -2.056, + 0.523, + 1.458 + ], + [ + -2.056, + 0.523, + 1.458 + ], + [ + -2.056, + 0.523, + 1.458 + ], + [ + -2.056, + 0.523, + 1.458 + ], + [ + -2.056, + 0.523, + 1.458 + ], + [ + -2.056, + 0.523, + 1.458 + ], + [ + -2.056, + 0.523, + 1.458 + ], + [ + -2.056, + 0.523, + 1.458 + ], + [ + -2.056, + 0.523, + 1.458 + ], + [ + -2.056, + 0.523, + 1.458 + ], + [ + -2.056, + 0.523, + 1.458 + ], + [ + -2.056, + 0.523, + 1.458 + ], + [ + -2.056, + 0.523, + 1.458 + ], + [ + -2.056, + 0.523, + 1.458 + ], + [ + -2.056, + 0.523, + 1.458 + ], + [ + -2.056, + 0.523, + 1.458 + ], + [ + -2.056, + 0.523, + 1.458 + ], + [ + -2.056, + 0.523, + 1.458 + ], + [ + -2.056, + 0.523, + 1.458 + ], + [ + -2.056, + 0.523, + 1.458 + ], + [ + -2.056, + 0.523, + 1.458 + ], + [ + -2.056, + 0.523, + 1.458 + ], + [ + -2.056, + 0.523, + 1.458 + ], + [ + -2.056, + 0.523, + 1.458 + ], + [ + -2.056, + 0.523, + 1.458 + ], + [ + -2.056, + 0.523, + 1.458 + ], + [ + -2.056, + 0.523, + 1.458 + ], + [ + -2.056, + 0.523, + 1.458 + ], + [ + -2.056, + 0.523, + 1.458 + ], + [ + -2.056, + 0.523, + 1.458 + ], + [ + -2.056, + 0.523, + 1.458 + ], + [ + -2.055, + 0.523, + 1.363 + ], + [ + -2.055, + 0.523, + 1.203 + ], + [ + -2.055, + 0.523, + 1.043 + ], + [ + -2.055, + 0.523, + 0.883 + ], + [ + -2.056, + 0.523, + 0.734 + ], + [ + -2.045, + 0.531, + 0.602 + ], + [ + -2.004, + 0.556, + 0.505 + ], + [ + -1.954, + 0.579, + 0.44 + ], + [ + -1.898, + 0.601, + 0.396 + ], + [ + -1.841, + 0.619, + 0.368 + ], + [ + -1.795, + 0.632, + 0.352 + ], + [ + -1.758, + 0.642, + 0.338 + ], + [ + -1.72, + 0.65, + 0.329 + ], + [ + -1.671, + 0.659, + 0.323 + ], + [ + -1.633, + 0.667, + 0.319 + ], + [ + -1.587, + 0.679, + 0.316 + ], + [ + -1.543, + 0.69, + 0.314 + ], + [ + -1.501, + 0.702, + 0.313 + ], + [ + -1.454, + 0.716, + 0.312 + ], + [ + -1.415, + 0.729, + 0.312 + ], + [ + -1.369, + 0.744, + 0.311 + ], + [ + -1.327, + 0.758, + 0.306 + ], + [ + -1.287, + 0.771, + 0.29 + ], + [ + -1.243, + 0.785, + 0.279 + ], + [ + -1.205, + 0.796, + 0.27 + ], + [ + -1.16, + 0.808, + 0.264 + ], + [ + -1.12, + 0.819, + 0.26 + ], + [ + -1.08, + 0.829, + 0.257 + ], + [ + -1.036, + 0.84, + 0.255 + ], + [ + -0.999, + 0.85, + 0.254 + ], + [ + -0.955, + 0.861, + 0.254 + ], + [ + -0.915, + 0.871, + 0.253 + ], + [ + -0.876, + 0.88, + 0.253 + ], + [ + -0.833, + 0.892, + 0.252 + ], + [ + -0.797, + 0.902, + 0.252 + ], + [ + -0.753, + 0.913, + 0.252 + ], + [ + -0.714, + 0.924, + 0.252 + ], + [ + -0.676, + 0.934, + 0.252 + ], + [ + -0.633, + 0.945, + 0.252 + ], + [ + -0.597, + 0.954, + 0.252 + ], + [ + -0.553, + 0.964, + 0.252 + ], + [ + -0.513, + 0.975, + 0.252 + ], + [ + -0.474, + 0.984, + 0.252 + ], + [ + -0.432, + 0.995, + 0.252 + ], + [ + -0.396, + 1.004, + 0.252 + ], + [ + -0.352, + 1.015, + 0.252 + ], + [ + -0.313, + 1.026, + 0.252 + ], + [ + -0.274, + 1.036, + 0.252 + ], + [ + -0.231, + 1.047, + 0.252 + ], + [ + -0.195, + 1.056, + 0.252 + ], + [ + -0.151, + 1.068, + 0.252 + ], + [ + -0.112, + 1.078, + 0.252 + ], + [ + -0.074, + 1.088, + 0.252 + ], + [ + -0.032, + 1.099, + 0.252 + ], + [ + 0.004, + 1.109, + 0.252 + ], + [ + 0.048, + 1.119, + 0.252 + ], + [ + 0.087, + 1.129, + 0.252 + ], + [ + 0.126, + 1.139, + 0.252 + ], + [ + 0.169, + 1.15, + 0.252 + ], + [ + 0.205, + 1.159, + 0.252 + ], + [ + 0.248, + 1.17, + 0.252 + ], + [ + 0.287, + 1.181, + 0.252 + ], + [ + 0.326, + 1.191, + 0.252 + ], + [ + 0.368, + 1.201, + 0.252 + ], + [ + 0.404, + 1.21, + 0.252 + ], + [ + 0.448, + 1.222, + 0.252 + ], + [ + 0.487, + 1.233, + 0.252 + ], + [ + 0.526, + 1.242, + 0.252 + ], + [ + 0.568, + 1.253, + 0.252 + ], + [ + 0.604, + 1.262, + 0.252 + ], + [ + 0.648, + 1.273, + 0.252 + ], + [ + 0.687, + 1.284, + 0.252 + ], + [ + 0.726, + 1.294, + 0.252 + ], + [ + 0.769, + 1.305, + 0.252 + ], + [ + 0.805, + 1.314, + 0.252 + ], + [ + 0.848, + 1.324, + 0.252 + ], + [ + 0.887, + 1.334, + 0.252 + ], + [ + 0.925, + 1.345, + 0.252 + ], + [ + 0.968, + 1.361, + 0.252 + ], + [ + 1.004, + 1.375, + 0.252 + ], + [ + 1.035, + 1.386, + 0.252 + ], + [ + 1.062, + 1.396, + 0.252 + ], + [ + 1.084, + 1.404, + 0.252 + ], + [ + 1.103, + 1.412, + 0.252 + ], + [ + 1.112, + 1.418, + 0.363 + ], + [ + 1.112, + 1.418, + 0.523 + ], + [ + 1.112, + 1.418, + 0.683 + ], + [ + 1.112, + 1.418, + 0.843 + ], + [ + 1.112, + 1.418, + 1.003 + ], + [ + 1.112, + 1.418, + 1.151 + ], + [ + 1.112, + 1.418, + 1.261 + ], + [ + 1.112, + 1.418, + 1.343 + ], + [ + 1.112, + 1.418, + 1.403 + ], + [ + 1.112, + 1.418, + 1.44 + ], + [ + 1.111, + 1.443, + 1.44 + ], + [ + 1.115, + 1.48, + 1.44 + ], + [ + 1.119, + 1.519, + 1.44 + ], + [ + 1.122, + 1.556, + 1.44 + ], + [ + 1.126, + 1.594, + 1.44 + ], + [ + 1.129, + 1.632, + 1.442 + ], + [ + 1.132, + 1.67, + 1.444 + ], + [ + 1.135, + 1.708, + 1.447 + ], + [ + 1.138, + 1.746, + 1.449 + ], + [ + 1.141, + 1.784, + 1.452 + ], + [ + 1.144, + 1.822, + 1.454 + ], + [ + 1.147, + 1.86, + 1.457 + ], + [ + 1.15, + 1.898, + 1.459 + ], + [ + 1.153, + 1.936, + 1.462 + ], + [ + 1.157, + 1.974, + 1.463 + ], + [ + 1.16, + 2.012, + 1.466 + ], + [ + 1.163, + 2.045, + 1.466 + ], + [ + 1.166, + 2.07, + 1.466 + ], + [ + 1.168, + 2.088, + 1.466 + ], + [ + 1.169, + 2.101, + 1.466 + ], + [ + 1.17, + 2.111, + 1.466 + ], + [ + 1.17, + 2.112, + 1.466 + ], + [ + 1.17, + 2.112, + 1.466 + ], + [ + 1.17, + 2.112, + 1.466 + ], + [ + 1.17, + 2.112, + 1.466 + ], + [ + 1.17, + 2.112, + 1.466 + ], + [ + 1.17, + 2.112, + 1.466 + ], + [ + 1.17, + 2.112, + 1.466 + ], + [ + 1.17, + 2.112, + 1.466 + ], + [ + 1.17, + 2.112, + 1.466 + ], + [ + 1.17, + 2.112, + 1.466 + ], + [ + 1.17, + 2.112, + 1.466 + ], + [ + 1.17, + 2.112, + 1.466 + ], + [ + 1.17, + 2.112, + 1.466 + ], + [ + 1.17, + 2.112, + 1.466 + ], + [ + 1.17, + 2.112, + 1.466 + ], + [ + 1.17, + 2.112, + 1.466 + ], + [ + 1.17, + 2.112, + 1.466 + ], + [ + 1.17, + 2.112, + 1.466 + ], + [ + 1.17, + 2.112, + 1.466 + ], + [ + 1.17, + 2.112, + 1.466 + ], + [ + 1.17, + 2.112, + 1.466 + ], + [ + 1.17, + 2.112, + 1.466 + ], + [ + 1.17, + 2.112, + 1.466 + ], + [ + 1.17, + 2.112, + 1.466 + ], + [ + 1.17, + 2.112, + 1.466 + ], + [ + 1.17, + 2.112, + 1.466 + ], + [ + 1.17, + 2.112, + 1.466 + ], + [ + 1.17, + 2.112, + 1.466 + ] + ], + "stage_events": [ + { + "step": 30, + "event": "stage_start", + "stage": "nav_A" + }, + { + "step": 510, + "event": "enter_zone", + "zone": "A", + "base": [ + -2.317, + 0.094 + ] + }, + { + "step": 659, + "event": "stage_done", + "stage": "nav_A", + "skill_state": "finished: planner reached target" + }, + { + "step": 659, + "event": "stage_start", + "stage": "stance_A" + }, + { + "step": 666, + "event": "stage_done", + "stage": "stance_A", + "skill_state": "finished" + }, + { + "step": 666, + "event": "stage_start", + "stage": "pick" + }, + { + "step": 1109, + "event": "picked", + "part": [ + -1.9326, + 1.451, + 0.4605 + ], + "gap_mm": 32.3, + "lift_mm": 30.5 + }, + { + "step": 1155, + "event": "stage_done", + "stage": "pick", + "skill_state": "finished" + }, + { + "step": 1155, + "event": "stage_start", + "stage": "carry" + }, + { + "step": 1325, + "event": "stage_done", + "stage": "carry", + "skill_state": "finished" + }, + { + "step": 1325, + "event": "stage_start", + "stage": "nav_B" + }, + { + "step": 2255, + "event": "stage_done", + "stage": "nav_B", + "skill_state": "finished: planner reached target" + }, + { + "step": 2255, + "event": "stage_start", + "stage": "stance_B" + }, + { + "step": 2288, + "event": "enter_zone", + "zone": "B", + "base": [ + 1.118, + 1.507 + ] + }, + { + "step": 2471, + "event": "stage_done", + "stage": "stance_B", + "skill_state": "finished" + }, + { + "step": 2471, + "event": "stage_start", + "stage": "assemble" + }, + { + "step": 2471, + "event": "wp_start", + "name": "pre_insert", + "kind": "plan" + }, + { + "step": 2471, + "event": "assemble_start", + "t_l6_part": [ + 0.2371, + -0.0079, + -0.0002, + 0.5001, + 0.5003, + -0.4998, + -0.4998 + ] + }, + { + "step": 2567, + "event": "wp_done", + "name": "pre_insert" + }, + { + "step": 2567, + "event": "wp_start", + "name": "align", + "kind": "servo" + }, + { + "step": 2641, + "event": "wp_done", + "name": "align" + }, + { + "step": 2641, + "event": "wp_start", + "name": "insert", + "kind": "servo" + }, + { + "step": 2724, + "event": "stop_condition", + "name": "board_level", + "wp": "insert" + }, + { + "step": 2724, + "event": "wp_done", + "name": "insert" + }, + { + "step": 2724, + "event": "release_start" + }, + { + "step": 2728, + "event": "released", + "gap_mm": 39.8 + }, + { + "step": 2757, + "event": "success", + "ok": true, + "tilt_deg": -0.29, + "tilt_err_deg": -0.29, + "support_gap_mm": 0.97, + "wedge_on_plate": true, + "wedge_x_mm": 285.9, + "wedge_yaw_deg": 180.0, + "board_touch_steps": 0 + } + ], + "station_transition_order": [ + "S", + "A", + "B" + ], + "interstation_path_lengths": { + "S": 2.836, + "S->A": 3.895, + "A->B": 0.607 + }, + "base_path_length": 7.338, + "distance_to_first_interaction": 3.341, + "regrasp_events": 0, + "violations": [], + "end_state": { + "ok": true, + "tilt_deg": -0.29, + "tilt_err_deg": -0.29, + "support_gap_mm": 0.97, + "wedge_on_plate": true, + "wedge_x_mm": 285.9, + "wedge_yaw_deg": 180.0, + "board_touch_steps": 0 + }, + "manipulation_success": true, + "mobile_success": true, + "transport_state": { + "picked": true, + "released": true + }, + "command_state": null, + "elapsed_s": 966.5 +} diff --git a/N025/sawyer_umi/dr_on/seed_2017/stationassembly/000/completed/0.json b/N025/sawyer_umi/dr_on/seed_2017/stationassembly/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..1db0234d1d09a173dbe0f48b261236e22fe34f76 --- /dev/null +++ b/N025/sawyer_umi/dr_on/seed_2017/stationassembly/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationassembly/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N025/sawyer_umi/dr_on/seed_2017/stationassembly/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N025/sawyer_umi/dr_on/seed_2017/stationassembly/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..08baa2411e6cd0656ea29150546447238a6d95a4 --- /dev/null +++ b/N025/sawyer_umi/dr_on/seed_2017/stationassembly/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8c825c3d5bd8f679c83653a8bd384d6b56c305939bff115be06e31ef38c88130 +size 2016031 diff --git a/N025/sawyer_umi/dr_on/seed_2017/stationassembly/000/lerobot_v21/meta/episodes.jsonl b/N025/sawyer_umi/dr_on/seed_2017/stationassembly/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0278d1b062e455b1a81c6357ac03da6eadca00b0 --- /dev/null +++ b/N025/sawyer_umi/dr_on/seed_2017/stationassembly/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level."], "length": 1364, "magicsim/control_steps": 2727, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a medium shim board and a small wedge. The gray table A is to the left of the wedge. The gray table B is behind the shim board. The shim board is on top of the gray table B. The shim board is in front of the gray table B. The wedge is on top of the gray table A. The wedge is to the right of the gray table A. The scene is viewed from front, at table height."} diff --git a/N025/sawyer_umi/dr_on/seed_2017/stationassembly/000/lerobot_v21/meta/episodes_stats.jsonl b/N025/sawyer_umi/dr_on/seed_2017/stationassembly/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..88c7037f6083b93acf0cc796a74c3def87e71c38 --- /dev/null +++ b/N025/sawyer_umi/dr_on/seed_2017/stationassembly/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.135021055009369, -0.0004059684184950686, 0.010817155582592016, -0.7981995897602475, 1.1705771369362508, 0.9201425696310759, -0.0021491514742811406, 0.2640536134062974, -0.043338176498020235, -0.28842015774194096, 0.623900293255132], "std": [0.12294909430389042, 0.009149400417693063, 0.18009481042613348, 1.6218642587989358, 1.071258658144998, 0.23357775562901928, 0.2915750238535782, 0.5537572281546586, 0.3260231523164767, 0.5892811985308828, 0.48440552983145224], "min": [0.0, -0.060796286910772324, -0.800000011920929, -3.3174219131469727, -1.954947829246521, 0.6645001173019409, -0.4933546781539917, -0.7160618305206299, -0.44938382506370544, -0.7148150205612183, 0.0], "max": [0.30000001192092896, 0.031358592212200165, 0.800000011920929, 1.7057838439941406, 2.835360288619995, 1.3033634424209595, 0.5224514603614807, 0.706986665725708, 0.5088796019554138, 0.7771069407463074, 1.0], "count": [1364]}, "action_is_hold": {"mean": [0.008797653958944282, 0.008797653958944282, 0.008797653958944282, 0.04618768328445748, 0.04618768328445748, 0.04618768328445748, 0.04618768328445748, 0.04618768328445748, 0.04618768328445748, 0.04618768328445748, 0.8651026392961877], "std": [0.09338230690962154, 0.09338230690962154, 0.09338230690962154, 0.20989135569926087, 0.20989135569926087, 0.20989135569926087, 0.20989135569926087, 0.20989135569926087, 0.20989135569926087, 0.20989135569926087, 0.3416139089366113], "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": [1364]}, "observation.state": {"mean": [0.4644404981842489, -2.453111264450459, 1.017017458759445, 0.018407281170807706, -4.4257341150748323e-07, -1.485757985510085, -0.34786798590580104, 1.471044221210165, -0.05666517790937108, 1.7260290521942625, 0.8141727139123673, 0.012845351998634817, -0.01305141512464311, -0.01305141512464311, -0.012845351998634817], "std": [1.7380812753856647, 0.7022440325205934, 0.5021885422346629, 0.13608131245815047, 2.1149341618920086e-05, 0.21509892803817413, 0.2812756715994632, 0.6333254337552098, 0.1339170327825125, 0.6318297959955189, 0.4983334747273447, 0.007334254719676368, 0.007422821142202552, 0.007422821142202552, 0.007334254719676368], "min": [-3.5160999298095703, -3.6471800804138184, 0.2519146203994751, -0.4119328558444977, -0.0003320894611533731, -1.6561466455459595, -0.891791582107544, 0.490312397480011, -0.2724456787109375, 0.8076245188713074, -0.023158354684710503, 0.0, -0.020833000540733337, -0.020833000540733337, -0.020833000540733337], "max": [2.9940271377563477, -1.736194372177124, 1.4662119150161743, 0.3582990765571594, 0.0001755044359015301, -0.9073939919471741, 0.1275714933872223, 2.2687411308288574, 0.2524135708808899, 2.7050530910491943, 1.232120156288147, 0.020833000540733337, 0.0, 0.0, -0.0], "count": [1364]}, "observation.joint_vel": {"mean": [0.1193371523863123, -0.014383128281219378, 0.01013691555718992, 0.001963606072403152, 5.822311370757655e-05, 0.005943876849961428, -0.010377987202664371, 0.028090717368179977, 0.005300336520973688, -0.033085393149787076, 0.018827492420697332, -0.004167792980018631, 0.010812165326833989], "std": [0.11295440030521955, 0.07655425745000127, 0.1795861638128621, 0.07816885547574172, 0.0008822230824146892, 0.07525709701125222, 0.09272711888234537, 0.08547231400946938, 0.08375112657985555, 0.10749868519635872, 0.08150369185894173, 0.007627942926262883, 0.011424493450185367], "min": [-0.0002996010589413345, -0.17651648819446564, -0.8000171184539795, -0.18588651716709137, -0.010886705480515957, -0.1636018455028534, -0.18996721506118774, -0.20076768100261688, -0.32524344325065613, -0.321433424949646, -0.336029589176178, -0.09955766797065735, -0.10009235888719559], "max": [0.30499267578125, 0.12264961004257202, 0.8000215291976929, 0.19238628447055817, 0.01729068160057068, 0.1739993840456009, 0.403316468000412, 0.19470369815826416, 0.3233678638935089, 0.27985161542892456, 0.35587596893310547, 0.10001447796821594, 0.08471070230007172], "count": [1364]}, "observation.eef_pose": {"mean": [-0.7986358924252678, 1.169714985181314, 0.9230666038664904, 0.062998227623518, 0.6095474645757605, -0.034931446808660706, -0.6514796977562289], "std": [1.622126412588629, 1.0706282228827486, 0.23385718269714875, 0.28747563225820105, 0.07274952210680932, 0.3278394944303573, 0.05851102065336436], "min": [-3.3211188316345215, -1.954947829246521, 0.6653013229370117, -0.3071539103984833, 0.47601908445358276, -0.4496075212955475, -0.7610360383987427], "max": [1.7058558464050293, 2.835357904434204, 1.305168867111206, 0.5224513411521912, 0.7138835191726685, 0.5088797211647034, -0.4914182126522064], "count": [1364]}, "observation.environment_state": {"mean": [0.0514667315464576, -0.0014538117788730673, 1.2440400123596191, 3.1213700771331787, 0.4300000071525574, -0.685417115688324, 9.313225191043273e-10, 0.0, 0.7281506657600403, -2.0, 1.5, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, 1.2000000476837158, 3.0, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, -0.6421022067485579, 1.568971559623819, 0.5009053240030392, 0.7809572760398087, -0.021664725826577007, 0.05392331171729647, 0.5639092571530874], "std": [0.0060127520599316765, 0.013019343092089923, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4213815461053145, 0.5462998240499525, 0.06449736174853424, 0.12361921736411785, 0.028876937790436555, 0.055242145228179176, 0.22263809739192808], "min": [0.004758737049996853, -0.1477959305047989, 1.2440400123596191, 3.1213700771331787, 0.4300000071525574, -0.685417115688324, 9.313225191043273e-10, 0.0, 0.7281506657600403, -2.0, 1.5, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, 1.2000000476837158, 3.0, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, -1.9828630685806274, 0.8101718425750732, 0.4300000071525574, 0.6637798547744751, -0.09887122362852097, -0.003301514545455575, 0.21315936744213104], "max": [0.05235988274216652, 0.00517447292804718, 1.2440400123596191, 3.1213700771331787, 0.4300000071525574, -0.685417115688324, 9.313225191043273e-10, 0.0, 0.7281506657600403, -2.0, 1.5, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, 1.2000000476837158, 3.0, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, 1.6599512100219727, 2.8360726833343506, 0.580037534236908, 0.9693942070007324, 0.026911184191703796, 0.14823348820209503, 0.7372387051582336], "count": [1364]}, "action.command": {"mean": [-2.1954248493000614, -0.380216461521084, 1.391549343337952, 0.7398269397871835, 0.0, 0.0, 0.6727651068142482, 0.8793235972328978, -0.7933138432317656, 1.1379411658766085, 0.9287491770637301, -0.005608819351373362, 0.2621175030348028, -0.04816842320332909, -0.2875763659840085, 0.16304347826086957, -2.620031686929556, -0.6747469924963437, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9526593706928767, 0.6187689463679608, 1.0001271643699743, 0.019310612365221365, 0.5596444330536402, -0.07229897234684382, -0.6188709454658704, 0.0, -2.600622298625799, -0.665283630673702, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9526593706928767, 0.6187689463679608, 1.0001271643699743, 0.019310612365221365, 0.5596444330536402, -0.07229897234684382, -0.6188709454658704, 0.0, -2.5222027553961825, -0.5804238273547246, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9526593706928767, 0.6187689463679608, 1.0001271643699743, 0.019310612365221365, 0.5596444330536402, -0.07229897234684382, -0.6188709454658704, 0.0, -2.4776964967067423, -0.5650551078411249, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9526593706928767, 0.6187689463679608, 1.0001271643699743, 0.019310612365221365, 0.5596444330536402, -0.07229897234684382, -0.6188709454658704, 0.0, -2.461602591551267, -0.5598311183544306, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9526593706928767, 0.6187689463679608, 1.0001271643699743, 0.019310612365221365, 0.5596444330536402, -0.07229897234684382, -0.6188709454658704, 0.0, -2.3577552300233107, -0.470807304749122, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9526593706928767, 0.6187689463679608, 1.0001271643699743, 0.019310612365221365, 0.5596444330536402, -0.07229897234684382, -0.6188709454658704, 0.0, -2.306429569537823, -0.44959608293496645, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9526593706928767, 0.6187689463679608, 1.0001271643699743, 0.019310612365221365, 0.5596444330536402, -0.07229897234684382, -0.6188709454658704, 0.0, -2.2389232080716353, -0.37867338267656475, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9526593706928767, 0.6187689463679608, 1.0001271643699743, 0.019310612365221365, 0.5596444330536402, -0.07229897234684382, -0.6188709454658704, 0.0, -2.1677955962144413, -0.34455942190610445, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9526593706928767, 0.6187689463679608, 1.0001271643699743, 0.019310612365221365, 0.5596444330536402, -0.07229897234684382, -0.6188709454658704, 0.0, -2.1243435625846567, -0.2883286258349052, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9526593706928767, 0.6187689463679608, 1.0001271643699743, 0.019310612365221365, 0.5596444330536402, -0.07229897234684382, -0.6188709454658704, 0.0, -2.084469247322816, -0.25801932697112745, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9526593706928767, 0.6187689463679608, 1.0001271643699743, 0.019310612365221365, 0.5596444330536402, -0.07229897234684382, -0.6188709454658704, 0.0, -1.9860878334595606, -0.19038114180931678, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9526593706928767, 0.6187689463679608, 1.0001271643699743, 0.019310612365221365, 0.5596444330536402, -0.07229897234684382, -0.6188709454658704, 0.0, -1.910263831798847, -0.14646550095998323, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9526593706928767, 0.6187689463679608, 1.0001271643699743, 0.019310612365221365, 0.5596444330536402, -0.07229897234684382, -0.6188709454658704, 0.0, -1.883545655470628, -0.10857354677640475, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9526593706928767, 0.6187689463679608, 1.0001271643699743, 0.019310612365221365, 0.5596444330536402, -0.07229897234684382, -0.6188709454658704, 0.0, -1.819911968249541, -0.061797770170065075, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9526593706928767, 0.6187689463679608, 1.0001271643699743, 0.019310612365221365, 0.5596444330536402, -0.07229897234684382, -0.6188709454658704, 0.0, -1.767607440169041, -0.02331784826058608, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9526593706928767, 0.6187689463679608, 1.0001271643699743, 0.019310612365221365, 0.5596444330536402, -0.07229897234684382, -0.6188709454658704, 0.0, -1.7400469745580966, 0.020050770961321317, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9526593706928767, 0.6187689463679608, 1.0001271643699743, 0.019310612365221365, 0.5596444330536402, -0.07229897234684382, -0.6188709454658704, 0.0, -1.6372149025018399, 0.06565836645089664, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9526593706928767, 0.6187689463679608, 1.0001271643699743, 0.019310612365221365, 0.5596444330536402, -0.07229897234684382, -0.6188709454658704, 0.0, -1.5637738406658173, 0.12695026741578028, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9526593706928767, 0.6187689463679608, 1.0001271643699743, 0.019310612365221365, 0.5596444330536402, -0.07229897234684382, -0.6188709454658704, 0.0, -1.5074611764687758, 0.1544700711965561, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9526593706928767, 0.6187689463679608, 1.0001271643699743, 0.019310612365221365, 0.5596444330536402, -0.07229897234684382, -0.6188709454658704, 0.0, -1.396725052824387, 0.23107678615129912, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9526593706928767, 0.6187689463679608, 1.0001271643699743, 0.019310612365221365, 0.5596444330536402, -0.07229897234684382, -0.6188709454658704, 0.0, -1.3814720511436462, 0.24231290817260742, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9526593706928767, 0.6187689463679608, 1.0001271643699743, 0.019310612365221365, 0.5596444330536402, -0.07229897234684382, -0.6188709454658704, 0.0, -1.3211031195062857, 0.3122319865685243, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9526593706928767, 0.6187689463679608, 1.0001271643699743, 0.019310612365221365, 0.5596444330536402, -0.07229897234684382, -0.6188709454658704, 0.0, -1.2579236534925609, 0.32952745258808136, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9526593706928767, 0.6187689463679608, 1.0001271643699743, 0.019310612365221365, 0.5596444330536402, -0.07229897234684382, -0.6188709454658704, 0.0, -1.2302930744794698, 0.34683805245619553, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9526593706928767, 0.6187689463679608, 1.0001271643699743, 0.019310612365221365, 0.5596444330536402, -0.07229897234684382, -0.6188709454658704, 0.0, -1.1349883426267366, 0.41658425216491407, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9526593706928767, 0.6187689463679608, 1.0001271643699743, 0.019310612365221365, 0.5596444330536402, -0.07229897234684382, -0.6188709454658704, 0.0, -1.0776117997817123, 0.4359338810810676, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9526593706928767, 0.6187689463679608, 1.0001271643699743, 0.019310612365221365, 0.5596444330536402, -0.07229897234684382, -0.6188709454658704, 0.0, -1.0121223488106177, 0.5036231308029249, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9526593706928767, 0.6187689463679608, 1.0001271643699743, 0.019310612365221365, 0.5596444330536402, -0.07229897234684382, -0.6188709454658704, 0.0, -0.9187167501793458, 0.5384750675696593, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9526593706928767, 0.6187689463679608, 1.0001271643699743, 0.019310612365221365, 0.5596444330536402, -0.07229897234684382, -0.6188709454658704, 0.0, -0.8892562675934571, 0.5906620744902354, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9526593706928767, 0.6187689463679608, 1.0001271643699743, 0.019310612365221365, 0.5596444330536402, -0.07229897234684382, -0.6188709454658704, 0.0, -0.8636822855243316, 0.6138175568328454, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9526593706928767, 0.6187689463679608, 1.0001271643699743, 0.019310612365221365, 0.5596444330536402, -0.07229897234684382, -0.6188709454658704, 0.0, -0.7666350998557531, 0.6776379726540583, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9526593706928767, 0.6187689463679608, 1.0001271643699743, 0.019310612365221365, 0.5596444330536402, -0.07229897234684382, -0.6188709454658704, 0.0, -0.7279734124357884, 0.7103052726731851, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9526593706928767, 0.6187689463679608, 1.0001271643699743, 0.019310612365221365, 0.5596444330536402, -0.07229897234684382, -0.6188709454658704, 0.0, -0.6439295766445307, 0.764896379210628, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9526593706928767, 0.6187689463679608, 1.0001271643699743, 0.019310612365221365, 0.5596444330536402, -0.07229897234684382, -0.6188709454658704, 0.0, -0.5697123224918659, 0.8125114595660796, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9526593706928767, 0.6187689463679608, 1.0001271643699743, 0.019310612365221365, 0.5596444330536402, -0.07229897234684382, -0.6188709454658704, 0.0, -0.5206860945774958, 0.8533110071260196, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9526593706928767, 0.6187689463679608, 1.0001271643699743, 0.019310612365221365, 0.5596444330536402, -0.07229897234684382, -0.6188709454658704, 0.0, -0.41159972089987534, 0.9143987584572572, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9526593706928767, 0.6187689463679608, 1.0001271643699743, 0.019310612365221365, 0.5596444330536402, -0.07229897234684382, -0.6188709454658704, 0.0, -0.3962806875889118, 0.9442230646426861, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9526593706928767, 0.6187689463679608, 1.0001271643699743, 0.019310612365221365, 0.5596444330536402, -0.07229897234684382, -0.6188709454658704, 0.0, -0.3734386299665158, 0.9844188048289373, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9526593706928767, 0.6187689463679608, 1.0001271643699743, 0.019310612365221365, 0.5596444330536402, -0.07229897234684382, -0.6188709454658704, 0.0, -0.2699413276635684, 1.0385129543451161, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9526593706928767, 0.6187689463679608, 1.0001271643699743, 0.019310612365221365, 0.5596444330536402, -0.07229897234684382, -0.6188709454658704, 0.0, -0.22233680807627165, 1.0827368096663401, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9526593706928767, 0.6187689463679608, 1.0001271643699743, 0.019310612365221365, 0.5596444330536402, -0.07229897234684382, -0.6188709454658704, 0.0, -0.1360032558441162, 1.0747424501639147, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9526593706928767, 0.6187689463679608, 1.0001271643699743, 0.019310612365221365, 0.5596444330536402, -0.07229897234684382, -0.6188709454658704, 0.0, 1.2000000476837158, 1.4500000476837158, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 0.20143000432240066, 1.2281220055395556, 0.7947121858596802, -0.2618675633784263, 0.5648535878427567, -0.40909044934857275, -0.6517893049024767, 0.0], "std": [1.3998049342740175, 1.6163574526052837, 0.48854504558092177, 0.004416917214789731, 0.0, 0.0, 0.0048677633718459965, 1.394524762020171, 1.6272680202545886, 1.0764777608673386, 0.23223901971118768, 0.29640083159871405, 0.5503817074692445, 0.3315361188196944, 0.5878373182599083, 0.3694053362601398, 0.7327123488641918, 1.4707943314526677, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6427175814439352, 0.9857319220911808, 0.24957628047475794, 0.3501510407183238, 0.03563530974041539, 0.4151706657827977, 0.04420673635733967, 0.0, 0.7450862951690598, 1.4708440204957671, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6427175814439352, 0.9857319220911808, 0.24957628047475794, 0.3501510407183238, 0.03563530974041539, 0.4151706657827977, 0.04420673635733967, 0.0, 0.7430969786805559, 1.397701017850976, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6427175814439352, 0.9857319220911808, 0.24957628047475794, 0.3501510407183238, 0.03563530974041539, 0.4151706657827977, 0.04420673635733967, 0.0, 0.7785290976680712, 1.4077737970099329, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6427175814439352, 0.9857319220911808, 0.24957628047475794, 0.3501510407183238, 0.03563530974041539, 0.4151706657827977, 0.04420673635733967, 0.0, 0.7917134520866951, 1.411940774564816, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6427175814439352, 0.9857319220911808, 0.24957628047475794, 0.3501510407183238, 0.03563530974041539, 0.4151706657827977, 0.04420673635733967, 0.0, 0.81511532437789, 1.3518150143948948, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6427175814439352, 0.9857319220911808, 0.24957628047475794, 0.3501510407183238, 0.03563530974041539, 0.4151706657827977, 0.04420673635733967, 0.0, 0.8520881839012557, 1.3579449577450033, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6427175814439352, 0.9857319220911808, 0.24957628047475794, 0.3501510407183238, 0.03563530974041539, 0.4151706657827977, 0.04420673635733967, 0.0, 0.8527481503211345, 1.298327815673453, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6427175814439352, 0.9857319220911808, 0.24957628047475794, 0.3501510407183238, 0.03563530974041539, 0.4151706657827977, 0.04420673635733967, 0.0, 0.8987239976504119, 1.2993993032975066, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6427175814439352, 0.9857319220911808, 0.24957628047475794, 0.3501510407183238, 0.03563530974041539, 0.4151706657827977, 0.04420673635733967, 0.0, 0.887353366421332, 1.2443829454770252, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6427175814439352, 0.9857319220911808, 0.24957628047475794, 0.3501510407183238, 0.03563530974041539, 0.4151706657827977, 0.04420673635733967, 0.0, 0.9006572787024023, 1.2273891757409279, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6427175814439352, 0.9857319220911808, 0.24957628047475794, 0.3501510407183238, 0.03563530974041539, 0.4151706657827977, 0.04420673635733967, 0.0, 0.9414462801353207, 1.196697695627333, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6427175814439352, 0.9857319220911808, 0.24957628047475794, 0.3501510407183238, 0.03563530974041539, 0.4151706657827977, 0.04420673635733967, 0.0, 0.9775677870714966, 1.1763510414527079, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6427175814439352, 0.9857319220911808, 0.24957628047475794, 0.3501510407183238, 0.03563530974041539, 0.4151706657827977, 0.04420673635733967, 0.0, 0.9661449808848119, 1.1357283330741004, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6427175814439352, 0.9857319220911808, 0.24957628047475794, 0.3501510407183238, 0.03563530974041539, 0.4151706657827977, 0.04420673635733967, 0.0, 0.9857714802636053, 1.1038486150950022, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6427175814439352, 0.9857319220911808, 0.24957628047475794, 0.3501510407183238, 0.03563530974041539, 0.4151706657827977, 0.04420673635733967, 0.0, 1.0018693556746012, 1.0775969489597397, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6427175814439352, 0.9857319220911808, 0.24957628047475794, 0.3501510407183238, 0.03563530974041539, 0.4151706657827977, 0.04420673635733967, 0.0, 0.9854730242982355, 1.0293034104648986, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6427175814439352, 0.9857319220911808, 0.24957628047475794, 0.3501510407183238, 0.03563530974041539, 0.4151706657827977, 0.04420673635733967, 0.0, 1.0494902349628046, 1.0225276557842895, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6427175814439352, 0.9857319220911808, 0.24957628047475794, 0.3501510407183238, 0.03563530974041539, 0.4151706657827977, 0.04420673635733967, 0.0, 1.064269639836697, 0.9748305027912454, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6427175814439352, 0.9857319220911808, 0.24957628047475794, 0.3501510407183238, 0.03563530974041539, 0.4151706657827977, 0.04420673635733967, 0.0, 1.096585533442213, 0.967323158108276, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6427175814439352, 0.9857319220911808, 0.24957628047475794, 0.3501510407183238, 0.03563530974041539, 0.4151706657827977, 0.04420673635733967, 0.0, 1.1359036631586237, 0.9189983555833527, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6427175814439352, 0.9857319220911808, 0.24957628047475794, 0.3501510407183238, 0.03563530974041539, 0.4151706657827977, 0.04420673635733967, 0.0, 1.1405823588934354, 0.9113210328434697, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6427175814439352, 0.9857319220911808, 0.24957628047475794, 0.3501510407183238, 0.03563530974041539, 0.4151706657827977, 0.04420673635733967, 0.0, 1.1316833846731131, 0.8429591748552879, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6427175814439352, 0.9857319220911808, 0.24957628047475794, 0.3501510407183238, 0.03563530974041539, 0.4151706657827977, 0.04420673635733967, 0.0, 1.1825703314931095, 0.8548018373711158, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6427175814439352, 0.9857319220911808, 0.24957628047475794, 0.3501510407183238, 0.03563530974041539, 0.4151706657827977, 0.04420673635733967, 0.0, 1.194324612438421, 0.8454362277607267, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6427175814439352, 0.9857319220911808, 0.24957628047475794, 0.3501510407183238, 0.03563530974041539, 0.4151706657827977, 0.04420673635733967, 0.0, 1.224053700015112, 0.7981527601797842, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6427175814439352, 0.9857319220911808, 0.24957628047475794, 0.3501510407183238, 0.03563530974041539, 0.4151706657827977, 0.04420673635733967, 0.0, 1.2663423238619957, 0.8034717104951253, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6427175814439352, 0.9857319220911808, 0.24957628047475794, 0.3501510407183238, 0.03563530974041539, 0.4151706657827977, 0.04420673635733967, 0.0, 1.265480016800279, 0.7414889576010137, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6427175814439352, 0.9857319220911808, 0.24957628047475794, 0.3501510407183238, 0.03563530974041539, 0.4151706657827977, 0.04420673635733967, 0.0, 1.3307121962223074, 0.7451459278700302, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6427175814439352, 0.9857319220911808, 0.24957628047475794, 0.3501510407183238, 0.03563530974041539, 0.4151706657827977, 0.04420673635733967, 0.0, 1.3069062092897084, 0.6848252208258755, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6427175814439352, 0.9857319220911808, 0.24957628047475794, 0.3501510407183238, 0.03563530974041539, 0.4151706657827977, 0.04420673635733967, 0.0, 1.3101004777627197, 0.6655116688314691, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6427175814439352, 0.9857319220911808, 0.24957628047475794, 0.3501510407183238, 0.03563530974041539, 0.4151706657827977, 0.04420673635733967, 0.0, 1.3481310207733845, 0.6281096125209492, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6427175814439352, 0.9857319220911808, 0.24957628047475794, 0.3501510407183238, 0.03563530974041539, 0.4151706657827977, 0.04420673635733967, 0.0, 1.3554788867322858, 0.6024013490077009, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6427175814439352, 0.9857319220911808, 0.24957628047475794, 0.3501510407183238, 0.03563530974041539, 0.4151706657827977, 0.04420673635733967, 0.0, 1.389144061591196, 0.5710225172018651, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6427175814439352, 0.9857319220911808, 0.24957628047475794, 0.3501510407183238, 0.03563530974041539, 0.4151706657827977, 0.04420673635733967, 0.0, 1.4195120218724335, 0.5441976905861948, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6427175814439352, 0.9857319220911808, 0.24957628047475794, 0.3501510407183238, 0.03563530974041539, 0.4151706657827977, 0.04420673635733967, 0.0, 1.4295035262515736, 0.5125307741963294, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6427175814439352, 0.9857319220911808, 0.24957628047475794, 0.3501510407183238, 0.03563530974041539, 0.4151706657827977, 0.04420673635733967, 0.0, 1.4837255320411633, 0.48638147655620384, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6427175814439352, 0.9857319220911808, 0.24957628047475794, 0.3501510407183238, 0.03563530974041539, 0.4151706657827977, 0.04420673635733967, 0.0, 1.4684511962214324, 0.4510045448696702, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6427175814439352, 0.9857319220911808, 0.24957628047475794, 0.3501510407183238, 0.03563530974041539, 0.4151706657827977, 0.04420673635733967, 0.0, 1.450281237993474, 0.40463387583214383, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6427175814439352, 0.9857319220911808, 0.24957628047475794, 0.3501510407183238, 0.03563530974041539, 0.4151706657827977, 0.04420673635733967, 0.0, 1.5058876056763628, 0.38559025027893995, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6427175814439352, 0.9857319220911808, 0.24957628047475794, 0.3501510407183238, 0.03563530974041539, 0.4151706657827977, 0.04420673635733967, 0.0, 1.5106255831595197, 0.34796599342907075, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6427175814439352, 0.9857319220911808, 0.24957628047475794, 0.3501510407183238, 0.03563530974041539, 0.4151706657827977, 0.04420673635733967, 0.0, 1.5341716384893396, 0.3907390763071079, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6427175814439352, 0.9857319220911808, 0.24957628047475794, 0.3501510407183238, 0.03563530974041539, 0.4151706657827977, 0.04420673635733967, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0491592805095844, 0.3029162870884556, 0.0, 0.0984347104480436, 0.044120499978601874, 0.08984448317923033, 0.02175354493063071, 0.0], "min": [-3.516172170639038, -2.4744322299957275, 0.05999999865889549, 0.7346923351287842, 0.0, 0.0, 0.661814272403717, -1.0, -3.3174219131469727, -1.954947829246521, 0.6645001173019409, -0.4933546781539917, -0.7160618305206299, -0.44938382506370544, -0.7148150205612183, 0.0, -3.5102667808532715, -2.4617412090301514, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3174219131469727, -1.954947829246521, 0.7947121858596802, -0.30665498971939087, 0.48654112219810486, -0.44938382506370544, -0.7096192240715027, 0.0, -3.5058915615081787, -2.452338218688965, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3174219131469727, -1.954947829246521, 0.7947121858596802, -0.30665498971939087, 0.48654112219810486, -0.44938382506370544, -0.7096192240715027, 0.0, -3.4250550270080566, -2.2786107063293457, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3174219131469727, -1.954947829246521, 0.7947121858596802, -0.30665498971939087, 0.48654112219810486, -0.44938382506370544, -0.7096192240715027, 0.0, -3.423598289489746, -2.275480270385742, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3174219131469727, -1.954947829246521, 0.7947121858596802, -0.30665498971939087, 0.48654112219810486, -0.44938382506370544, -0.7096192240715027, 0.0, -3.423523187637329, -2.2753190994262695, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3174219131469727, -1.954947829246521, 0.7947121858596802, -0.30665498971939087, 0.48654112219810486, -0.44938382506370544, -0.7096192240715027, 0.0, -3.3481087684631348, -2.113243341445923, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3174219131469727, -1.954947829246521, 0.7947121858596802, -0.30665498971939087, 0.48654112219810486, -0.44938382506370544, -0.7096192240715027, 0.0, -3.3417046070098877, -2.099479913711548, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3174219131469727, -1.954947829246521, 0.7947121858596802, -0.30665498971939087, 0.48654112219810486, -0.44938382506370544, -0.7096192240715027, 0.0, -3.2750000953674316, -1.9561232328414917, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3174219131469727, -1.954947829246521, 0.7947121858596802, -0.30665498971939087, 0.48654112219810486, -0.44938382506370544, -0.7096192240715027, 0.0, -3.259732484817505, -1.9233111143112183, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3174219131469727, -1.954947829246521, 0.7947121858596802, -0.30665498971939087, 0.48654112219810486, -0.44938382506370544, -0.7096192240715027, 0.0, -3.202465295791626, -1.8002362251281738, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3174219131469727, -1.954947829246521, 0.7947121858596802, -0.30665498971939087, 0.48654112219810486, -0.44938382506370544, -0.7096192240715027, 0.0, -3.178755044937134, -1.7492797374725342, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3174219131469727, -1.954947829246521, 0.7947121858596802, -0.30665498971939087, 0.48654112219810486, -0.44938382506370544, -0.7096192240715027, 0.0, -3.129931688308716, -1.644351840019226, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3174219131469727, -1.954947829246521, 0.7947121858596802, -0.30665498971939087, 0.48654112219810486, -0.44938382506370544, -0.7096192240715027, 0.0, -3.097994804382324, -1.5757153034210205, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3174219131469727, -1.954947829246521, 0.7947121858596802, -0.30665498971939087, 0.48654112219810486, -0.44938382506370544, -0.7096192240715027, 0.0, -3.0573980808258057, -1.4884673357009888, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3174219131469727, -1.954947829246521, 0.7947121858596802, -0.30665498971939087, 0.48654112219810486, -0.44938382506370544, -0.7096192240715027, 0.0, -3.0176103115081787, -1.4029581546783447, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3174219131469727, -1.954947829246521, 0.7947121858596802, -0.30665498971939087, 0.48654112219810486, -0.44938382506370544, -0.7096192240715027, 0.0, -2.9848644733428955, -1.3325828313827515, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3174219131469727, -1.954947829246521, 0.7947121858596802, -0.30665498971939087, 0.48654112219810486, -0.44938382506370544, -0.7096192240715027, 0.0, -2.937382698059082, -1.230538249015808, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3174219131469727, -1.954947829246521, 0.7947121858596802, -0.30665498971939087, 0.48654112219810486, -0.44938382506370544, -0.7096192240715027, 0.0, -2.9123306274414062, -1.1766982078552246, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3174219131469727, -1.954947829246521, 0.7947121858596802, -0.30665498971939087, 0.48654112219810486, -0.44938382506370544, -0.7096192240715027, 0.0, -2.856846332550049, -1.0574549436569214, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3174219131469727, -1.954947829246521, 0.7947121858596802, -0.30665498971939087, 0.48654112219810486, -0.44938382506370544, -0.7096192240715027, 0.0, -2.839797019958496, -1.0208138227462769, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3174219131469727, -1.954947829246521, 0.7947121858596802, -0.30665498971939087, 0.48654112219810486, -0.44938382506370544, -0.7096192240715027, 0.0, -2.776831865310669, -0.8854931592941284, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3174219131469727, -1.954947829246521, 0.7947121858596802, -0.30665498971939087, 0.48654112219810486, -0.44938382506370544, -0.7096192240715027, 0.0, -2.767263412475586, -0.86492919921875, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3174219131469727, -1.954947829246521, 0.7947121858596802, -0.30665498971939087, 0.48654112219810486, -0.44938382506370544, -0.7096192240715027, 0.0, -2.696082353591919, -0.7119514346122742, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3174219131469727, -1.954947829246521, 0.7947121858596802, -0.30665498971939087, 0.48654112219810486, -0.44938382506370544, -0.7096192240715027, 0.0, -2.694729804992676, -0.7090446352958679, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3174219131469727, -1.954947829246521, 0.7947121858596802, -0.30665498971939087, 0.48654112219810486, -0.44938382506370544, -0.7096192240715027, 0.0, -2.6813805103302, -0.6803549528121948, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3174219131469727, -1.954947829246521, 0.7947121858596802, -0.30665498971939087, 0.48654112219810486, -0.44938382506370544, -0.7096192240715027, 0.0, -2.6221961975097656, -0.5531600117683411, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3174219131469727, -1.954947829246521, 0.7947121858596802, -0.30665498971939087, 0.48654112219810486, -0.44938382506370544, -0.7096192240715027, 0.0, -2.6161997318267822, -0.5402728319168091, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3174219131469727, -1.954947829246521, 0.7947121858596802, -0.30665498971939087, 0.48654112219810486, -0.44938382506370544, -0.7096192240715027, 0.0, -2.5496625900268555, -0.3972754180431366, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3174219131469727, -1.954947829246521, 0.7947121858596802, -0.30665498971939087, 0.48654112219810486, -0.44938382506370544, -0.7096192240715027, 0.0, -2.535513162612915, -0.3668666481971741, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3174219131469727, -1.954947829246521, 0.7947121858596802, -0.30665498971939087, 0.48654112219810486, -0.44938382506370544, -0.7096192240715027, 0.0, -2.477128744125366, -0.24139083921909332, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3174219131469727, -1.954947829246521, 0.7947121858596802, -0.30665498971939087, 0.48654112219810486, -0.44938382506370544, -0.7096192240715027, 0.0, -2.4554357528686523, -0.19476966559886932, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3174219131469727, -1.954947829246521, 0.7947121858596802, -0.30665498971939087, 0.48654112219810486, -0.44938382506370544, -0.7096192240715027, 0.0, -2.404595136642456, -0.08550628274679184, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3174219131469727, -1.954947829246521, 0.7947121858596802, -0.30665498971939087, 0.48654112219810486, -0.44938382506370544, -0.7096192240715027, 0.0, -2.374861001968384, -0.02160380780696869, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3174219131469727, -1.954947829246521, 0.7947121858596802, -0.30665498971939087, 0.48654112219810486, -0.44938382506370544, -0.7096192240715027, 0.0, -2.3317198753356934, 0.07111213356256485, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3174219131469727, -1.954947829246521, 0.7947121858596802, -0.30665498971939087, 0.48654112219810486, -0.44938382506370544, -0.7096192240715027, 0.0, -2.2943992614746094, 0.1513189971446991, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3174219131469727, -1.954947829246521, 0.7947121858596802, -0.30665498971939087, 0.48654112219810486, -0.44938382506370544, -0.7096192240715027, 0.0, -2.2575125694274902, 0.23059339821338654, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3174219131469727, -1.954947829246521, 0.7947121858596802, -0.30665498971939087, 0.48654112219810486, -0.44938382506370544, -0.7096192240715027, 0.0, -2.2143051624298096, 0.3234521746635437, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3174219131469727, -1.954947829246521, 0.7947121858596802, -0.30665498971939087, 0.48654112219810486, -0.44938382506370544, -0.7096192240715027, 0.0, -2.1804280281066895, 0.3962589502334595, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3174219131469727, -1.954947829246521, 0.7947121858596802, -0.30665498971939087, 0.48654112219810486, -0.44938382506370544, -0.7096192240715027, 0.0, -2.135509729385376, 0.492794394493103, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3174219131469727, -1.954947829246521, 0.7947121858596802, -0.30665498971939087, 0.48654112219810486, -0.44938382506370544, -0.7096192240715027, 0.0, -2.0995733737945557, 0.5700262784957886, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3174219131469727, -1.954947829246521, 0.7947121858596802, -0.30665498971939087, 0.48654112219810486, -0.44938382506370544, -0.7096192240715027, 0.0, -2.057725429534912, 0.659963071346283, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3174219131469727, -1.954947829246521, 0.7947121858596802, -0.30665498971939087, 0.48654112219810486, -0.44938382506370544, -0.7096192240715027, 0.0, -2.0, 0.6000000238418579, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3174219131469727, -1.954947829246521, 0.7947121858596802, -0.30665498971939087, 0.48654112219810486, -0.44938382506370544, -0.7096192240715027, 0.0, 1.2000000476837158, 1.4500000476837158, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9748889207839966, 0.8369402885437012, 0.7947121858596802, -0.30665498971939087, 0.5426669120788574, -0.44938382506370544, -0.7096192240715027, 0.0], "max": [1.1696110963821411, 2.139216184616089, 1.5707963705062866, 0.7496678233146667, 0.0, 0.0, 0.678400456905365, 2.0, 1.7057838439941406, 2.8342409133911133, 1.3033634424209595, 0.5224514603614807, 0.706986665725708, 0.5088796019554138, 0.7771069407463074, 1.0, -2.0169692039489746, 0.5357974767684937, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7057838439941406, 2.0272583961486816, 1.3033589124679565, 0.5109097361564636, 0.7013205289840698, 0.4988946318626404, -0.5033416152000427, 0.0, -1.9873753786087036, 0.5453017354011536, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7057838439941406, 2.0272583961486816, 1.3033589124679565, 0.5109097361564636, 0.7013205289840698, 0.4988946318626404, -0.5033416152000427, 0.0, -1.9105931520462036, 0.5699608325958252, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7057838439941406, 2.0272583961486816, 1.3033589124679565, 0.5109097361564636, 0.7013205289840698, 0.4988946318626404, -0.5033416152000427, 0.0, -1.8369243144989014, 0.5936200022697449, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7057838439941406, 2.0272583961486816, 1.3033589124679565, 0.5109097361564636, 0.7013205289840698, 0.4988946318626404, -0.5033416152000427, 0.0, -1.80997896194458, 0.6022736430168152, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7057838439941406, 2.0272583961486816, 1.3033589124679565, 0.5109097361564636, 0.7013205289840698, 0.4988946318626404, -0.5033416152000427, 0.0, -1.6868705749511719, 0.6418106555938721, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7057838439941406, 2.0272583961486816, 1.3033589124679565, 0.5109097361564636, 0.7013205289840698, 0.4988946318626404, -0.5033416152000427, 0.0, -1.605114221572876, 0.6680671572685242, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7057838439941406, 2.0272583961486816, 1.3033589124679565, 0.5109097361564636, 0.7013205289840698, 0.4988946318626404, -0.5033416152000427, 0.0, -1.5370646715164185, 0.6899216771125793, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7057838439941406, 2.0272583961486816, 1.3033589124679565, 0.5109097361564636, 0.7013205289840698, 0.4988946318626404, -0.5033416152000427, 0.0, -1.4280964136123657, 0.7249175310134888, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7057838439941406, 2.0272583961486816, 1.3033589124679565, 0.5109097361564636, 0.7013205289840698, 0.4988946318626404, -0.5033416152000427, 0.0, -1.3940030336380005, 0.7358668446540833, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7057838439941406, 2.0272583961486816, 1.3033589124679565, 0.5109097361564636, 0.7013205289840698, 0.4988946318626404, -0.5033416152000427, 0.0, -1.3431788682937622, 0.7521893382072449, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7057838439941406, 2.0272583961486816, 1.3033589124679565, 0.5109097361564636, 0.7013205289840698, 0.4988946318626404, -0.5033416152000427, 0.0, -1.2112258672714233, 0.7945667505264282, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7057838439941406, 2.0272583961486816, 1.3033589124679565, 0.5109097361564636, 0.7013205289840698, 0.4988946318626404, -0.5033416152000427, 0.0, -1.1056718826293945, 0.8217359781265259, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7057838439941406, 2.0272583961486816, 1.3033589124679565, 0.5109097361564636, 0.7013205289840698, 0.4988946318626404, -0.5033416152000427, 0.0, -1.088355302810669, 0.8261932134628296, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7057838439941406, 2.0272583961486816, 1.3033589124679565, 0.5109097361564636, 0.7013205289840698, 0.4988946318626404, -0.5033416152000427, 0.0, -1.0085679292678833, 0.8467302322387695, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7057838439941406, 2.0272583961486816, 1.3033589124679565, 0.5109097361564636, 0.7013205289840698, 0.4988946318626404, -0.5033416152000427, 0.0, -0.9430139660835266, 0.8636035919189453, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7057838439941406, 2.0272583961486816, 1.3033589124679565, 0.5109097361564636, 0.7013205289840698, 0.4988946318626404, -0.5033416152000427, 0.0, -0.9289485812187195, 0.8672239780426025, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7057838439941406, 2.0272583961486816, 1.3033589124679565, 0.5109097361564636, 0.7013205289840698, 0.4988946318626404, -0.5033416152000427, 0.0, -0.7734268307685852, 0.9072547554969788, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7057838439941406, 2.0272583961486816, 1.3033589124679565, 0.5109097361564636, 0.7013205289840698, 0.4988946318626404, -0.5033416152000427, 0.0, -0.6878215074539185, 0.9292892813682556, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7057838439941406, 2.0272583961486816, 1.3033589124679565, 0.5109097361564636, 0.7013205289840698, 0.4988946318626404, -0.5033416152000427, 0.0, -0.6049110889434814, 0.9506301283836365, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7057838439941406, 2.0272583961486816, 1.3033589124679565, 0.5109097361564636, 0.7013205289840698, 0.4988946318626404, -0.5033416152000427, 0.0, -0.4618139863014221, 0.9874628782272339, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7057838439941406, 2.0272583961486816, 1.3033589124679565, 0.5109097361564636, 0.7013205289840698, 0.4988946318626404, -0.5033416152000427, 0.0, -0.44271016120910645, 0.9923801422119141, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7057838439941406, 2.0272583961486816, 1.3033589124679565, 0.5109097361564636, 0.7013205289840698, 0.4988946318626404, -0.5033416152000427, 0.0, -0.3896655738353729, 1.0060336589813232, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7057838439941406, 2.0272583961486816, 1.3033589124679565, 0.5109097361564636, 0.7013205289840698, 0.4988946318626404, -0.5033416152000427, 0.0, -0.2846033573150635, 1.033076286315918, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7057838439941406, 2.0272583961486816, 1.3033589124679565, 0.5109097361564636, 0.7013205289840698, 0.4988946318626404, -0.5033416152000427, 0.0, -0.24729835987091064, 1.0426784753799438, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7057838439941406, 2.0272583961486816, 1.3033589124679565, 0.5109097361564636, 0.7013205289840698, 0.4988946318626404, -0.5033416152000427, 0.0, -0.1275249570608139, 1.0735077857971191, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7057838439941406, 2.0272583961486816, 1.3033589124679565, 0.5109097361564636, 0.7013205289840698, 0.4988946318626404, -0.5033416152000427, 0.0, -0.03534255549311638, 1.0972352027893066, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7057838439941406, 2.0272583961486816, 1.3033589124679565, 0.5109097361564636, 0.7013205289840698, 0.4988946318626404, -0.5033416152000427, 0.0, 0.029437169432640076, 1.1139092445373535, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7057838439941406, 2.0272583961486816, 1.3033589124679565, 0.5109097361564636, 0.7013205289840698, 0.4988946318626404, -0.5033416152000427, 0.0, 0.17653243243694305, 1.151771068572998, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7057838439941406, 2.0272583961486816, 1.3033589124679565, 0.5109097361564636, 0.7013205289840698, 0.4988946318626404, -0.5033416152000427, 0.0, 0.18639928102493286, 1.1543108224868774, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7057838439941406, 2.0272583961486816, 1.3033589124679565, 0.5109097361564636, 0.7013205289840698, 0.4988946318626404, -0.5033416152000427, 0.0, 0.21460232138633728, 1.1615701913833618, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7057838439941406, 2.0272583961486816, 1.3033589124679565, 0.5109097361564636, 0.7013205289840698, 0.4988946318626404, -0.5033416152000427, 0.0, 0.3429507315158844, 1.1946066617965698, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7057838439941406, 2.0272583961486816, 1.3033589124679565, 0.5109097361564636, 0.7013205289840698, 0.4988946318626404, -0.5033416152000427, 0.0, 0.38766011595726013, 1.206114649772644, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7057838439941406, 2.0272583961486816, 1.3033589124679565, 0.5109097361564636, 0.7013205289840698, 0.4988946318626404, -0.5033416152000427, 0.0, 0.4994122385978699, 1.2348792552947998, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7057838439941406, 2.0272583961486816, 1.3033589124679565, 0.5109097361564636, 0.7013205289840698, 0.4988946318626404, -0.5033416152000427, 0.0, 0.5986239910125732, 1.260416030883789, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7057838439941406, 2.0272583961486816, 1.3033589124679565, 0.5109097361564636, 0.7013205289840698, 0.4988946318626404, -0.5033416152000427, 0.0, 0.6558737754821777, 1.2751519680023193, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7057838439941406, 2.0272583961486816, 1.3033589124679565, 0.5109097361564636, 0.7013205289840698, 0.4988946318626404, -0.5033416152000427, 0.0, 0.809587836265564, 1.314717411994934, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7057838439941406, 2.0272583961486816, 1.3033589124679565, 0.5109097361564636, 0.7013205289840698, 0.4988946318626404, -0.5033416152000427, 0.0, 0.8123352527618408, 1.3154245615005493, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7057838439941406, 2.0272583961486816, 1.3033589124679565, 0.5109097361564636, 0.7013205289840698, 0.4988946318626404, -0.5033416152000427, 0.0, 0.8202224373817444, 1.3174546957015991, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7057838439941406, 2.0272583961486816, 1.3033589124679565, 0.5109097361564636, 0.7013205289840698, 0.4988946318626404, -0.5033416152000427, 0.0, 0.9694868326187134, 1.3558748960494995, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7057838439941406, 2.0272583961486816, 1.3033589124679565, 0.5109097361564636, 0.7013205289840698, 0.4988946318626404, -0.5033416152000427, 0.0, 1.0209909677505493, 1.3691319227218628, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7057838439941406, 2.0272583961486816, 1.3033589124679565, 0.5109097361564636, 0.7013205289840698, 0.4988946318626404, -0.5033416152000427, 0.0, 1.126704216003418, 1.396342158317566, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7057838439941406, 2.0272583961486816, 1.3033589124679565, 0.5109097361564636, 0.7013205289840698, 0.4988946318626404, -0.5033416152000427, 0.0, 1.2000000476837158, 1.4500000476837158, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7057838439941406, 2.0272583961486816, 0.7947121858596802, 0.10502991080284119, 0.7013205289840698, -0.06769606471061707, -0.6399446725845337, 0.0], "count": [1364]}, "action.applied": {"mean": [0.135021055009369, -0.0004059684184950686, 0.010817155582592016, 0.01853421101153515, -1.485462477698354, -0.3485456753331111, 1.472926543604943, -0.0562743226299961, 1.7236631336537274, 0.8155618986940378, -0.003306498318156801, 0.003306498318156801], "std": [0.12294909430389042, 0.009149400417693063, 0.18009481042613348, 0.13603313702762312, 0.2152017121017965, 0.28108121379676443, 0.6327110388126477, 0.13421051050631813, 0.6317873864222179, 0.4976655478149939, 0.010608956721594084, 0.010608956721594084], "min": [0.0, -0.060796286910772324, -0.800000011920929, -0.4132179617881775, -1.655214548110962, -0.8930006623268127, 0.48858344554901123, -0.2774355411529541, 0.80559903383255, -0.02974192053079605, -0.009999999776482582, -0.020833000540733337], "max": [0.30000001192092896, 0.031358592212200165, 0.800000011920929, 0.3593733608722687, -0.907597005367279, 0.13136212527751923, 2.2699317932128906, 0.2524607181549072, 2.706094980239868, 1.2454184293746948, 0.020833000540733337, 0.009999999776482582], "count": [1364]}, "extra.reward": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1364]}, "next.truncated": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1364]}, "sim_step_idx": {"mean": [1394.0], "std": [787.5055555359594], "min": [31.0], "max": [2757.0], "count": [1364]}, "timestamp": {"mean": [27.260000002338302], "std": [15.750111111204049], "min": [0.0], "max": [54.52000045776367], "count": [1364]}, "frame_index": {"mean": [681.5], "std": [393.7527777679797], "min": [0.0], "max": [1363.0], "count": [1364]}, "episode_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1364]}, "index": {"mean": [681.5], "std": [393.7527777679797], "min": [0.0], "max": [1363.0], "count": [1364]}, "task_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1364]}, "next.done": {"mean": [0.0007331378299120235], "std": [0.02706659082400987], "min": [0.0], "max": [1.0], "count": [1364]}, "observation.images.head": {"mean": [[[0.49705287758433064]], [[0.43010394722699474]], [[0.40867605583802474]]], "std": [[[0.18789000104239453]], [[0.20649962075249423]], [[0.19946907381485987]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9137254901960784]], [[0.8823529411764706]], [[0.8627450980392157]]], "count": [100]}, "observation.images.wrist": {"mean": [[[0.5379643211066212]], [[0.4398619367798005]], [[0.38436574104420207]]], "std": [[[0.18604976949020868]], [[0.2104449499621145]], [[0.20208818850292012]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9333333333333333]], [[0.9058823529411765]], [[0.9019607843137255]]], "count": [100]}}} diff --git a/N025/sawyer_umi/dr_on/seed_2017/stationassembly/000/lerobot_v21/meta/extra/episode_000000.json b/N025/sawyer_umi/dr_on/seed_2017/stationassembly/000/lerobot_v21/meta/extra/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..dfde1fe05747e3f538fec1b360c31daf4f40c6d7 --- /dev/null +++ b/N025/sawyer_umi/dr_on/seed_2017/stationassembly/000/lerobot_v21/meta/extra/episode_000000.json @@ -0,0 +1,549 @@ +{ + "episode_index": 0, + "trajectory_id": 0, + "env_id": 0, + "task_type": "StationAssembly", + "subsample_every": 2, + "control_steps": 2727, + "language": { + "scene": { + "objects": [ + { + "id": "table_A_1", + "cat_name": "table_A", + "inst_id": 1, + "noun": "table A", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 4.0491262226341345, + 1.3029351996139646, + 0.1700000861032865 + ], + "bbox": { + "extent": [ + 1.0, + 1.0000000000000002, + 1.0 + ], + "center": [ + 0.0, + -1.1102230246251565e-16, + 0.0 + ] + } + }, + { + "id": "table_B_1", + "cat_name": "table_B", + "inst_id": 1, + "noun": "table B", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 7.2210283359994225, + -0.2556016088152785, + 0.170000151088643 + ], + "bbox": { + "extent": [ + 0.9999999999999999, + 1.0, + 1.0 + ], + "center": [ + 5.551115123125783e-17, + 0.0, + 0.0 + ] + } + }, + { + "id": "shim_board_1", + "cat_name": "shim_board", + "inst_id": 1, + "noun": "shim board", + "color": null, + "size": "medium", + "material": null, + "category": "articulation", + "pos": [ + 7.3432721371436624, + -0.21404838492510112, + 0.37000016068642416 + ], + "bbox": { + "extent": [ + 0.4513541360543276, + 0.3106490009331261, + 0.04200000036507845 + ], + "center": [ + 0.15000000596046514, + 4.163336342344337e-17, + 0.021000000182539225 + ] + } + }, + { + "id": "wedge_1", + "cat_name": "wedge", + "inst_id": 1, + "noun": "wedge", + "color": null, + "size": "small", + "material": null, + "category": "rigid", + "pos": [ + 4.052997490601137, + 1.2197187625109613, + 0.3700001231849196 + ], + "bbox": { + "extent": [ + 0.18719864506238837, + 0.0435580976418294, + 0.028000389862024466 + ], + "center": [ + 0.05750000290572657, + 1.1275702593849246e-16, + 0.014000000432133619 + ] + } + } + ], + "relations": [ + { + "subject": "table_A_1", + "relation": "left_of", + "object": "wedge_1" + }, + { + "subject": "table_B_1", + "relation": "behind", + "object": "shim_board_1" + }, + { + "subject": "shim_board_1", + "relation": "on_top_of", + "object": "table_B_1" + }, + { + "subject": "shim_board_1", + "relation": "in_front_of", + "object": "table_B_1" + }, + { + "subject": "wedge_1", + "relation": "on_top_of", + "object": "table_A_1" + }, + { + "subject": "wedge_1", + "relation": "right_of", + "object": "table_A_1" + } + ], + "cameras": [ + { + "name": "head", + "intrinsics": { + "K": [ + [ + 355.55555555555554, + 0.0, + 320.0 + ], + [ + 0.0, + 355.55555555555554, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 83.97442499163331, + "resolution": [ + 640, + 480 + ] + }, + "pos_robot": [ + 4.265214847499322, + -1.3647644223948174, + -0.1049999097632542 + ], + "viewpoint": "front, at table height", + "extrinsics": { + "R": [ + [ + -8.039232568535226e-08, + -0.9999999999999964, + 2.5347603738179458e-08 + ], + [ + 0.8191520331270514, + -8.039232568535226e-08, + -0.5735764522919431 + ], + [ + 0.5735764522919431, + -2.5347603738179458e-08, + 0.819152033127055 + ] + ], + "t": [ + 1.855362002599171e-08, + -0.2032392724571752, + -0.08737481710326404 + ] + } + }, + { + "name": "wrist", + "intrinsics": { + "K": [ + [ + 320.0, + 0.0, + 320.0 + ], + [ + 0.0, + 320.0, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 90.0, + "resolution": [ + 640, + 480 + ] + }, + "pos_robot": [ + 4.167139124480005, + -1.2424231233771845, + -0.029999910698285132 + ], + "viewpoint": "front, at table height", + "extrinsics": { + "R": [ + [ + 0.0, + 1.0, + -1.4782795217992896e-16 + ], + [ + 1.0, + 0.0, + 2.5363269588459423e-17 + ], + [ + 2.5363269588459423e-17, + -1.4782795217992896e-16, + -1.0 + ] + ], + "t": [ + 4.4348384662715026e-18, + -0.05979999899864197, + 0.029999999329447746 + ] + } + } + ], + "robots": [ + { + "name": "RidgebackSawyerUmi", + "model": "ridgebacksawyer_umi", + "type": "mobilemanip", + "noun": "Ridgeback-Sawyer mobile manipulator with a UMI gripper", + "arms": 1, + "arm_layout": null, + "mobile": true, + "dexterous": false, + "base_pose": { + "pos": [ + -3.5161, + -2.4745, + 0.06 + ], + "ori": [ + 0.9016518592834473, + 0.0, + 0.0, + 0.4324626922607422 + ] + }, + "facing_yaw_deg": 51.24790216169583, + "gripper": "parallel gripper" + } + ], + "lighting": [], + "background": { + "name": null, + "kind": "background", + "type": "dome", + "pose": null, + "setting": null, + "time_of_day": null, + "indoor": false, + "intensity": 1023.08567, + "ambient": "dim" + }, + "effects": [], + "caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a medium shim board and a small wedge. The gray table A is to the left of the wedge. The gray table B is behind the shim board. The shim board is on top of the gray table B. The shim board is in front of the gray table B. The wedge is on top of the gray table A. The wedge is to the right of the gray table A. The scene is viewed from front, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n [shim board]\n\n\n\n[t[wedge]\n\n\n\n [robot]" + }, + "task": { + "task_type": "StationAssembly", + "instruction": "Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.", + "template_id": -1, + "slots": { + "obj": 1.5707963267948966, + "support": null + }, + "generic_instruction": "Stationassembly the 1.5707963267948966.", + "task_id": "N025", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_0629": { + "frame_idx": 629, + "caption": "Computing a grasp pose for the small wedge; the right gripper is below and to the left of and in front of the wedge.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "NavTo", + "planner_state": "finished", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0637": { + "frame_idx": 637, + "caption": "Working on the small wedge; the right gripper is below and to the left of and in front of the wedge.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0663": { + "frame_idx": 663, + "caption": "Working on the small wedge; the right gripper is below and in front of the wedge.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "in_front_of" + ] + }, + "frame_0750": { + "frame_idx": 750, + "caption": "Working on the small wedge; the right gripper is below and to the left of and in front of the wedge.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0773": { + "frame_idx": 773, + "caption": "Working on the small wedge; the right gripper is below and to the left of the wedge.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_0858": { + "frame_idx": 858, + "caption": "Working on the small wedge; the right gripper is below the wedge.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_1124": { + "frame_idx": 1124, + "caption": "Done — the small wedge is grasped; the right gripper is below the wedge.", + "skill": "Grasp", + "phase": "completed", + "skill_state": "finished", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_1125": { + "frame_idx": 1125, + "caption": "Working on the small wedge; the right gripper is below the wedge.", + "skill": "CarryPose", + "phase": null, + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_1158": { + "frame_idx": 1158, + "caption": "Working on the small wedge; the right gripper is below and in front of the wedge.", + "skill": "CarryPose", + "phase": null, + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "in_front_of" + ] + }, + "frame_1176": { + "frame_idx": 1176, + "caption": "Working on the small wedge; the right gripper is below and to the left of and in front of the wedge.", + "skill": "CarryPose", + "phase": null, + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_2225": { + "frame_idx": 2225, + "caption": "Computing a grasp pose for the medium shim board; the right gripper is below and to the left of and in front of the shim board.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "NavTo", + "planner_state": "finished", + "target": "shim_board_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_2230": { + "frame_idx": 2230, + "caption": "Working on the medium shim board; the right gripper is below and to the left of and in front of the shim board.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "shim_board_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_2438": { + "frame_idx": 2438, + "caption": "Computing a grasp pose for the medium shim board; the right gripper is below and to the left of and in front of the shim board.", + "skill": "ReachStance", + "phase": "verify", + "skill_state": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "shim_board_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_2441": { + "frame_idx": 2441, + "caption": "Working on the small wedge; the right gripper is below and to the left of and behind the wedge.", + "skill": "AssemblyInsert", + "phase": "wp:pre_insert", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "behind" + ] + } + } + }, + "depth_range": [ + 0.1, + 20.0 + ], + "annotation_sidecar": null, + "annotation_sidecar_keys": [], + "terminated": true, + "truncated": false +} \ No newline at end of file diff --git a/N025/sawyer_umi/dr_on/seed_2017/stationassembly/000/lerobot_v21/meta/info.json b/N025/sawyer_umi/dr_on/seed_2017/stationassembly/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..37e666cc7e9497c7b6baee10b9b331737b00d69d --- /dev/null +++ b/N025/sawyer_umi/dr_on/seed_2017/stationassembly/000/lerobot_v21/meta/info.json @@ -0,0 +1,277 @@ +{ + "codebase_version": "v2.1", + "robot_type": "RidgebackSawyerUmiCfg", + "total_episodes": 1, + "total_frames": 1364, + "total_tasks": 1, + "total_videos": 2, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 25, + "splits": { + "train": "0:1" + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", + "features": { + "action": { + "dtype": "float32", + "shape": [ + 11 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "frame0.pos_x", + "frame0.pos_y", + "frame0.pos_z", + "frame0.quat_w", + "frame0.quat_x", + "frame0.quat_y", + "frame0.quat_z", + "gripper" + ] + }, + "action_is_hold": { + "dtype": "bool", + "shape": [ + 11 + ], + "names": null + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 15 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint", + "gripper_0", + "gripper_1" + ] + }, + "observation.joint_vel": { + "dtype": "float32", + "shape": [ + 13 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ] + }, + "observation.eef_pose": { + "dtype": "float32", + "shape": [ + 7 + ], + "names": null + }, + "observation.environment_state": { + "dtype": "float32", + "shape": [ + 30 + ], + "names": [ + "articulation_joint_pos.shim_board.0", + "articulation_joint_vel.shim_board.0", + "articulation_pose.shim_board.0", + "articulation_pose.shim_board.1", + "articulation_pose.shim_board.2", + "articulation_pose.shim_board.3", + "articulation_pose.shim_board.4", + "articulation_pose.shim_board.5", + "articulation_pose.shim_board.6", + "object_pose.table_A.0", + "object_pose.table_A.1", + "object_pose.table_A.2", + "object_pose.table_A.3", + "object_pose.table_A.4", + "object_pose.table_A.5", + "object_pose.table_A.6", + "object_pose.table_B.0", + "object_pose.table_B.1", + "object_pose.table_B.2", + "object_pose.table_B.3", + "object_pose.table_B.4", + "object_pose.table_B.5", + "object_pose.table_B.6", + "object_pose.wedge.0", + "object_pose.wedge.1", + "object_pose.wedge.2", + "object_pose.wedge.3", + "object_pose.wedge.4", + "object_pose.wedge.5", + "object_pose.wedge.6" + ] + }, + "action.command": { + "dtype": "float32", + "shape": [ + 704 + ], + "names": null + }, + "action.applied": { + "dtype": "float32", + "shape": [ + 12 + ], + "names": null + }, + "narration": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "collect_info": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "extra.reward": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "extra.action_info": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "next.truncated": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "sim_step_idx": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "next.done": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "observation.images.head": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25, + "video.codec": "libsvtav1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.wrist": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25, + "video.codec": "libsvtav1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + } + } +} \ No newline at end of file diff --git a/N025/sawyer_umi/dr_on/seed_2017/stationassembly/000/lerobot_v21/meta/magicsim_manifest.json b/N025/sawyer_umi/dr_on/seed_2017/stationassembly/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..3f6d97d874160d836ea423354903f3538472ab62 --- /dev/null +++ b/N025/sawyer_umi/dr_on/seed_2017/stationassembly/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,264 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 03:14:37" + }, + "embodiment": { + "robots": [ + { + "name": "RidgebackSawyerUmi", + "cfg": "RidgebackSawyerUmiCfg", + "type": "mobilemanip", + "joint_names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 11, + "nan_policy": "from_raw", + "segments": [ + { + "name": "RidgebackSawyerUmi.base_action", + "start": 0, + "end": 3, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint" + ], + "source": "HolonomicAction", + "names_source": "_joint_names" + }, + { + "name": "RidgebackSawyerUmi.arm_action", + "start": 3, + "end": 10, + "names": [ + "frame0.pos_x", + "frame0.pos_y", + "frame0.pos_z", + "frame0.quat_w", + "frame0.quat_x", + "frame0.quat_y", + "frame0.quat_z" + ], + "source": "PinkInverseKinematicsAction", + "names_source": "pink_layout" + }, + { + "name": "RidgebackSawyerUmi.eef_action", + "start": 10, + "end": 11, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 15, + "segments": [ + { + "name": "RidgebackSawyerUmi.joint_pos", + "start": 0, + "end": 13, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ], + "source": "ObservationManager", + "names_source": "joint_names" + }, + { + "name": "RidgebackSawyerUmi.gripper_pos", + "start": 13, + "end": 15, + "names": [ + "gripper_0", + "gripper_1" + ], + "source": "ObservationManager", + "names_source": "generated" + } + ] + }, + "joint_vel_layout": { + "dim": 13, + "segments": [ + { + "name": "RidgebackSawyerUmi.joint_vel", + "start": 0, + "end": 13, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "action_levels": { + "L0": "task command list (collect.auto_collect_info.current_action)", + "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)", + "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)", + "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy", + "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)" + }, + "cameras": { + "head": { + "intrinsics": { + "K": [ + [ + 355.55555555555554, + 0.0, + 320.0 + ], + [ + 0.0, + 355.55555555555554, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 83.97442499163331, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.21660000085830688, + 0.0, + -0.04500000178813934 + ], + "quat": [ + -0.6743797063827515, + 0.21263112127780914, + -0.21263112127780914, + 0.6743797659873962 + ] + }, + "wrist": { + "intrinsics": { + "K": [ + [ + 320.0, + 0.0, + 320.0 + ], + [ + 0.0, + 320.0, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 90.0, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.05979999899864197, + 0.0, + 0.029999999329447746 + ], + "quat": [ + 6.123234262925839e-17, + 0.7071067690849304, + 0.7071067690849304, + -4.329780301713277e-17 + ] + } + }, + "lerobot": { + "codebase_version": "v2.1", + "video_keys": [ + "observation.images.head", + "observation.images.wrist" + ], + "columns": [ + "action", + "action.applied", + "action.command", + "action_is_hold", + "collect_info", + "episode_index", + "extra.action_info", + "extra.reward", + "frame_index", + "index", + "narration", + "next.done", + "next.truncated", + "observation.eef_pose", + "observation.environment_state", + "observation.images.head", + "observation.images.wrist", + "observation.joint_vel", + "observation.state", + "sim_step_idx", + "task_index", + "timestamp" + ] + }, + "generated_run": { + "run_id": "stationassembly/000", + "task_type": "StationAssembly" + } +} \ No newline at end of file diff --git a/N025/sawyer_umi/dr_on/seed_2017/stationassembly/000/lerobot_v21/meta/stats.json b/N025/sawyer_umi/dr_on/seed_2017/stationassembly/000/lerobot_v21/meta/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..843cf677d4acbc7150f128294a83c12f9e1bdd4e --- /dev/null +++ b/N025/sawyer_umi/dr_on/seed_2017/stationassembly/000/lerobot_v21/meta/stats.json @@ -0,0 +1,3617 @@ +{ + "action": { + "mean": [ + 0.135021055009369, + -0.0004059684184950686, + 0.010817155582592016, + -0.7981995897602475, + 1.1705771369362508, + 0.9201425696310759, + -0.0021491514742811406, + 0.2640536134062974, + -0.043338176498020235, + -0.28842015774194096, + 0.623900293255132 + ], + "std": [ + 0.12294909430389042, + 0.009149400417693063, + 0.18009481042613348, + 1.6218642587989358, + 1.071258658144998, + 0.23357775562901928, + 0.2915750238535782, + 0.5537572281546586, + 0.3260231523164767, + 0.5892811985308828, + 0.48440552983145224 + ], + "min": [ + 0.0, + -0.060796286910772324, + -0.800000011920929, + -3.3174219131469727, + -1.954947829246521, + 0.6645001173019409, + -0.4933546781539917, + -0.7160618305206299, + -0.44938382506370544, + -0.7148150205612183, + 0.0 + ], + "max": [ + 0.30000001192092896, + 0.031358592212200165, + 0.800000011920929, + 1.7057838439941406, + 2.835360288619995, + 1.3033634424209595, + 0.5224514603614807, + 0.706986665725708, + 0.5088796019554138, + 0.7771069407463074, + 1.0 + ], + "count": [ + 1364 + ] + }, + "action_is_hold": { + "mean": [ + 0.008797653958944282, + 0.008797653958944282, + 0.008797653958944282, + 0.04618768328445748, + 0.04618768328445748, + 0.04618768328445748, + 0.04618768328445748, + 0.04618768328445748, + 0.04618768328445748, + 0.04618768328445748, + 0.8651026392961877 + ], + "std": [ + 0.09338230690962154, + 0.09338230690962154, + 0.09338230690962154, + 0.20989135569926087, + 0.20989135569926087, + 0.20989135569926087, + 0.20989135569926087, + 0.20989135569926087, + 0.20989135569926087, + 0.20989135569926087, + 0.3416139089366113 + ], + "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": [ + 1364 + ] + }, + "observation.state": { + "mean": [ + 0.4644404981842489, + -2.453111264450459, + 1.017017458759445, + 0.018407281170807706, + -4.4257341150748323e-07, + -1.485757985510085, + -0.34786798590580104, + 1.471044221210165, + -0.05666517790937108, + 1.7260290521942625, + 0.8141727139123673, + 0.012845351998634817, + -0.01305141512464311, + -0.01305141512464311, + -0.012845351998634817 + ], + "std": [ + 1.7380812753856647, + 0.7022440325205934, + 0.5021885422346629, + 0.13608131245815047, + 2.1149341618920086e-05, + 0.21509892803817413, + 0.2812756715994632, + 0.6333254337552098, + 0.1339170327825125, + 0.6318297959955189, + 0.4983334747273447, + 0.007334254719676368, + 0.007422821142202552, + 0.007422821142202552, + 0.007334254719676368 + ], + "min": [ + -3.5160999298095703, + -3.6471800804138184, + 0.2519146203994751, + -0.4119328558444977, + -0.0003320894611533731, + -1.6561466455459595, + -0.891791582107544, + 0.490312397480011, + -0.2724456787109375, + 0.8076245188713074, + -0.023158354684710503, + 0.0, + -0.020833000540733337, + -0.020833000540733337, + -0.020833000540733337 + ], + "max": [ + 2.9940271377563477, + -1.736194372177124, + 1.4662119150161743, + 0.3582990765571594, + 0.0001755044359015301, + -0.9073939919471741, + 0.1275714933872223, + 2.2687411308288574, + 0.2524135708808899, + 2.7050530910491943, + 1.232120156288147, + 0.020833000540733337, + 0.0, + 0.0, + -0.0 + ], + "count": [ + 1364 + ] + }, + "observation.joint_vel": { + "mean": [ + 0.1193371523863123, + -0.014383128281219378, + 0.01013691555718992, + 0.001963606072403152, + 5.822311370757655e-05, + 0.005943876849961428, + -0.010377987202664371, + 0.028090717368179977, + 0.005300336520973688, + -0.033085393149787076, + 0.018827492420697332, + -0.004167792980018631, + 0.010812165326833989 + ], + "std": [ + 0.11295440030521955, + 0.07655425745000127, + 0.1795861638128621, + 0.07816885547574172, + 0.0008822230824146893, + 0.07525709701125222, + 0.09272711888234537, + 0.08547231400946938, + 0.08375112657985555, + 0.10749868519635872, + 0.08150369185894173, + 0.007627942926262883, + 0.011424493450185367 + ], + "min": [ + -0.0002996010589413345, + -0.17651648819446564, + -0.8000171184539795, + -0.18588651716709137, + -0.010886705480515957, + -0.1636018455028534, + -0.18996721506118774, + -0.20076768100261688, + -0.32524344325065613, + -0.321433424949646, + -0.336029589176178, + -0.09955766797065735, + -0.10009235888719559 + ], + "max": [ + 0.30499267578125, + 0.12264961004257202, + 0.8000215291976929, + 0.19238628447055817, + 0.01729068160057068, + 0.1739993840456009, + 0.403316468000412, + 0.19470369815826416, + 0.3233678638935089, + 0.27985161542892456, + 0.35587596893310547, + 0.10001447796821594, + 0.08471070230007172 + ], + "count": [ + 1364 + ] + }, + "observation.eef_pose": { + "mean": [ + -0.7986358924252678, + 1.169714985181314, + 0.9230666038664904, + 0.062998227623518, + 0.6095474645757605, + -0.034931446808660706, + -0.6514796977562289 + ], + "std": [ + 1.622126412588629, + 1.0706282228827486, + 0.23385718269714875, + 0.28747563225820105, + 0.07274952210680932, + 0.32783949443035726, + 0.05851102065336436 + ], + "min": [ + -3.3211188316345215, + -1.954947829246521, + 0.6653013229370117, + -0.3071539103984833, + 0.47601908445358276, + -0.4496075212955475, + -0.7610360383987427 + ], + "max": [ + 1.7058558464050293, + 2.835357904434204, + 1.305168867111206, + 0.5224513411521912, + 0.7138835191726685, + 0.5088797211647034, + -0.4914182126522064 + ], + "count": [ + 1364 + ] + }, + "observation.environment_state": { + "mean": [ + 0.0514667315464576, + -0.0014538117788730673, + 1.2440400123596191, + 3.1213700771331787, + 0.4300000071525574, + -0.685417115688324, + 9.313225191043273e-10, + 0.0, + 0.7281506657600403, + -2.0, + 1.5, + 0.23000000417232513, + 1.0, + 0.0, + 0.0, + 0.0, + 1.2000000476837158, + 3.0, + 0.23000000417232513, + 1.0, + 0.0, + 0.0, + 0.0, + -0.6421022067485579, + 1.568971559623819, + 0.5009053240030392, + 0.7809572760398087, + -0.021664725826577007, + 0.05392331171729647, + 0.5639092571530874 + ], + "std": [ + 0.0060127520599316765, + 0.013019343092089923, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4213815461053145, + 0.5462998240499525, + 0.06449736174853424, + 0.12361921736411785, + 0.028876937790436555, + 0.055242145228179176, + 0.22263809739192805 + ], + "min": [ + 0.004758737049996853, + -0.1477959305047989, + 1.2440400123596191, + 3.1213700771331787, + 0.4300000071525574, + -0.685417115688324, + 9.313225191043273e-10, + 0.0, + 0.7281506657600403, + -2.0, + 1.5, + 0.23000000417232513, + 1.0, + 0.0, + 0.0, + 0.0, + 1.2000000476837158, + 3.0, + 0.23000000417232513, + 1.0, + 0.0, + 0.0, + 0.0, + -1.9828630685806274, + 0.8101718425750732, + 0.4300000071525574, + 0.6637798547744751, + -0.09887122362852097, + -0.003301514545455575, + 0.21315936744213104 + ], + "max": [ + 0.05235988274216652, + 0.00517447292804718, + 1.2440400123596191, + 3.1213700771331787, + 0.4300000071525574, + -0.685417115688324, + 9.313225191043273e-10, + 0.0, + 0.7281506657600403, + -2.0, + 1.5, + 0.23000000417232513, + 1.0, + 0.0, + 0.0, + 0.0, + 1.2000000476837158, + 3.0, + 0.23000000417232513, + 1.0, + 0.0, + 0.0, + 0.0, + 1.6599512100219727, + 2.8360726833343506, + 0.580037534236908, + 0.9693942070007324, + 0.026911184191703796, + 0.14823348820209503, + 0.7372387051582336 + ], + "count": [ + 1364 + ] + }, + "action.command": { + "mean": [ + -2.1954248493000614, + -0.380216461521084, + 1.391549343337952, + 0.7398269397871835, + 0.0, + 0.0, + 0.6727651068142482, + 0.8793235972328978, + -0.7933138432317656, + 1.1379411658766085, + 0.9287491770637301, + -0.005608819351373362, + 0.2621175030348028, + -0.04816842320332909, + -0.2875763659840085, + 0.16304347826086957, + -2.620031686929556, + -0.6747469924963437, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9526593706928767, + 0.6187689463679608, + 1.0001271643699743, + 0.019310612365221365, + 0.5596444330536402, + -0.07229897234684382, + -0.6188709454658704, + 0.0, + -2.600622298625799, + -0.665283630673702, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9526593706928767, + 0.6187689463679608, + 1.0001271643699743, + 0.019310612365221365, + 0.5596444330536402, + -0.07229897234684382, + -0.6188709454658704, + 0.0, + -2.5222027553961825, + -0.5804238273547246, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9526593706928767, + 0.6187689463679608, + 1.0001271643699743, + 0.019310612365221365, + 0.5596444330536402, + -0.07229897234684382, + -0.6188709454658704, + 0.0, + -2.4776964967067423, + -0.5650551078411249, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9526593706928767, + 0.6187689463679608, + 1.0001271643699743, + 0.019310612365221365, + 0.5596444330536402, + -0.07229897234684382, + -0.6188709454658704, + 0.0, + -2.461602591551267, + -0.5598311183544306, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9526593706928767, + 0.6187689463679608, + 1.0001271643699743, + 0.019310612365221365, + 0.5596444330536402, + -0.07229897234684382, + -0.6188709454658704, + 0.0, + -2.3577552300233107, + -0.470807304749122, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9526593706928767, + 0.6187689463679608, + 1.0001271643699743, + 0.019310612365221365, + 0.5596444330536402, + -0.07229897234684382, + -0.6188709454658704, + 0.0, + -2.306429569537823, + -0.44959608293496645, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9526593706928767, + 0.6187689463679608, + 1.0001271643699743, + 0.019310612365221365, + 0.5596444330536402, + -0.07229897234684382, + -0.6188709454658704, + 0.0, + -2.2389232080716353, + -0.37867338267656475, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9526593706928767, + 0.6187689463679608, + 1.0001271643699743, + 0.019310612365221365, + 0.5596444330536402, + -0.07229897234684382, + -0.6188709454658704, + 0.0, + -2.1677955962144413, + -0.34455942190610445, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9526593706928767, + 0.6187689463679608, + 1.0001271643699743, + 0.019310612365221365, + 0.5596444330536402, + -0.07229897234684382, + -0.6188709454658704, + 0.0, + -2.1243435625846567, + -0.2883286258349052, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9526593706928767, + 0.6187689463679608, + 1.0001271643699743, + 0.019310612365221365, + 0.5596444330536402, + -0.07229897234684382, + -0.6188709454658704, + 0.0, + -2.084469247322816, + -0.25801932697112745, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9526593706928767, + 0.6187689463679608, + 1.0001271643699743, + 0.019310612365221365, + 0.5596444330536402, + -0.07229897234684382, + -0.6188709454658704, + 0.0, + -1.9860878334595606, + -0.19038114180931678, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9526593706928767, + 0.6187689463679608, + 1.0001271643699743, + 0.019310612365221365, + 0.5596444330536402, + -0.07229897234684382, + -0.6188709454658704, + 0.0, + -1.910263831798847, + -0.14646550095998323, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9526593706928767, + 0.6187689463679608, + 1.0001271643699743, + 0.019310612365221365, + 0.5596444330536402, + -0.07229897234684382, + -0.6188709454658704, + 0.0, + -1.883545655470628, + -0.10857354677640475, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9526593706928767, + 0.6187689463679608, + 1.0001271643699743, + 0.019310612365221365, + 0.5596444330536402, + -0.07229897234684382, + -0.6188709454658704, + 0.0, + -1.819911968249541, + -0.061797770170065075, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9526593706928767, + 0.6187689463679608, + 1.0001271643699743, + 0.019310612365221365, + 0.5596444330536402, + -0.07229897234684382, + -0.6188709454658704, + 0.0, + -1.767607440169041, + -0.02331784826058608, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9526593706928767, + 0.6187689463679608, + 1.0001271643699743, + 0.019310612365221365, + 0.5596444330536402, + -0.07229897234684382, + -0.6188709454658704, + 0.0, + -1.7400469745580966, + 0.020050770961321317, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9526593706928767, + 0.6187689463679608, + 1.0001271643699743, + 0.019310612365221365, + 0.5596444330536402, + -0.07229897234684382, + -0.6188709454658704, + 0.0, + -1.6372149025018399, + 0.06565836645089664, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9526593706928767, + 0.6187689463679608, + 1.0001271643699743, + 0.019310612365221365, + 0.5596444330536402, + -0.07229897234684382, + -0.6188709454658704, + 0.0, + -1.5637738406658173, + 0.12695026741578028, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9526593706928767, + 0.6187689463679608, + 1.0001271643699743, + 0.019310612365221365, + 0.5596444330536402, + -0.07229897234684382, + -0.6188709454658704, + 0.0, + -1.5074611764687758, + 0.1544700711965561, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9526593706928767, + 0.6187689463679608, + 1.0001271643699743, + 0.019310612365221365, + 0.5596444330536402, + -0.07229897234684382, + -0.6188709454658704, + 0.0, + -1.396725052824387, + 0.23107678615129912, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9526593706928767, + 0.6187689463679608, + 1.0001271643699743, + 0.019310612365221365, + 0.5596444330536402, + -0.07229897234684382, + -0.6188709454658704, + 0.0, + -1.3814720511436462, + 0.24231290817260742, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9526593706928767, + 0.6187689463679608, + 1.0001271643699743, + 0.019310612365221365, + 0.5596444330536402, + -0.07229897234684382, + -0.6188709454658704, + 0.0, + -1.3211031195062857, + 0.3122319865685243, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9526593706928767, + 0.6187689463679608, + 1.0001271643699743, + 0.019310612365221365, + 0.5596444330536402, + -0.07229897234684382, + -0.6188709454658704, + 0.0, + -1.2579236534925609, + 0.32952745258808136, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9526593706928767, + 0.6187689463679608, + 1.0001271643699743, + 0.019310612365221365, + 0.5596444330536402, + -0.07229897234684382, + -0.6188709454658704, + 0.0, + -1.2302930744794698, + 0.34683805245619553, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9526593706928767, + 0.6187689463679608, + 1.0001271643699743, + 0.019310612365221365, + 0.5596444330536402, + -0.07229897234684382, + -0.6188709454658704, + 0.0, + -1.1349883426267366, + 0.41658425216491407, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9526593706928767, + 0.6187689463679608, + 1.0001271643699743, + 0.019310612365221365, + 0.5596444330536402, + -0.07229897234684382, + -0.6188709454658704, + 0.0, + -1.0776117997817123, + 0.4359338810810676, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9526593706928767, + 0.6187689463679608, + 1.0001271643699743, + 0.019310612365221365, + 0.5596444330536402, + -0.07229897234684382, + -0.6188709454658704, + 0.0, + -1.0121223488106177, + 0.5036231308029249, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9526593706928767, + 0.6187689463679608, + 1.0001271643699743, + 0.019310612365221365, + 0.5596444330536402, + -0.07229897234684382, + -0.6188709454658704, + 0.0, + -0.9187167501793458, + 0.5384750675696593, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9526593706928767, + 0.6187689463679608, + 1.0001271643699743, + 0.019310612365221365, + 0.5596444330536402, + -0.07229897234684382, + -0.6188709454658704, + 0.0, + -0.8892562675934571, + 0.5906620744902354, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9526593706928767, + 0.6187689463679608, + 1.0001271643699743, + 0.019310612365221365, + 0.5596444330536402, + -0.07229897234684382, + -0.6188709454658704, + 0.0, + -0.8636822855243316, + 0.6138175568328454, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9526593706928767, + 0.6187689463679608, + 1.0001271643699743, + 0.019310612365221365, + 0.5596444330536402, + -0.07229897234684382, + -0.6188709454658704, + 0.0, + -0.7666350998557531, + 0.6776379726540583, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9526593706928767, + 0.6187689463679608, + 1.0001271643699743, + 0.019310612365221365, + 0.5596444330536402, + -0.07229897234684382, + -0.6188709454658704, + 0.0, + -0.7279734124357884, + 0.7103052726731851, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9526593706928767, + 0.6187689463679608, + 1.0001271643699743, + 0.019310612365221365, + 0.5596444330536402, + -0.07229897234684382, + -0.6188709454658704, + 0.0, + -0.6439295766445307, + 0.764896379210628, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9526593706928767, + 0.6187689463679608, + 1.0001271643699743, + 0.019310612365221365, + 0.5596444330536402, + -0.07229897234684382, + -0.6188709454658704, + 0.0, + -0.5697123224918659, + 0.8125114595660796, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9526593706928767, + 0.6187689463679608, + 1.0001271643699743, + 0.019310612365221365, + 0.5596444330536402, + -0.07229897234684382, + -0.6188709454658704, + 0.0, + -0.5206860945774958, + 0.8533110071260196, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9526593706928767, + 0.6187689463679608, + 1.0001271643699743, + 0.019310612365221365, + 0.5596444330536402, + -0.07229897234684382, + -0.6188709454658704, + 0.0, + -0.41159972089987534, + 0.9143987584572572, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9526593706928767, + 0.6187689463679608, + 1.0001271643699743, + 0.019310612365221365, + 0.5596444330536402, + -0.07229897234684382, + -0.6188709454658704, + 0.0, + -0.3962806875889118, + 0.9442230646426861, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9526593706928767, + 0.6187689463679608, + 1.0001271643699743, + 0.019310612365221365, + 0.5596444330536402, + -0.07229897234684382, + -0.6188709454658704, + 0.0, + -0.3734386299665158, + 0.9844188048289373, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9526593706928767, + 0.6187689463679608, + 1.0001271643699743, + 0.019310612365221365, + 0.5596444330536402, + -0.07229897234684382, + -0.6188709454658704, + 0.0, + -0.2699413276635684, + 1.0385129543451161, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9526593706928767, + 0.6187689463679608, + 1.0001271643699743, + 0.019310612365221365, + 0.5596444330536402, + -0.07229897234684382, + -0.6188709454658704, + 0.0, + -0.22233680807627165, + 1.0827368096663401, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9526593706928767, + 0.6187689463679608, + 1.0001271643699743, + 0.019310612365221365, + 0.5596444330536402, + -0.07229897234684382, + -0.6188709454658704, + 0.0, + -0.1360032558441162, + 1.0747424501639147, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9526593706928767, + 0.6187689463679608, + 1.0001271643699743, + 0.019310612365221365, + 0.5596444330536402, + -0.07229897234684382, + -0.6188709454658704, + 0.0, + 1.2000000476837158, + 1.4500000476837158, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.20143000432240066, + 1.2281220055395556, + 0.7947121858596802, + -0.2618675633784263, + 0.5648535878427567, + -0.40909044934857275, + -0.6517893049024767, + 0.0 + ], + "std": [ + 1.3998049342740175, + 1.6163574526052837, + 0.4885450455809218, + 0.004416917214789731, + 0.0, + 0.0, + 0.0048677633718459965, + 1.394524762020171, + 1.6272680202545886, + 1.0764777608673386, + 0.23223901971118768, + 0.29640083159871405, + 0.5503817074692445, + 0.3315361188196944, + 0.5878373182599083, + 0.3694053362601398, + 0.7327123488641918, + 1.4707943314526677, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6427175814439352, + 0.9857319220911808, + 0.24957628047475794, + 0.3501510407183238, + 0.03563530974041539, + 0.4151706657827977, + 0.04420673635733967, + 0.0, + 0.7450862951690598, + 1.4708440204957671, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6427175814439352, + 0.9857319220911808, + 0.24957628047475794, + 0.3501510407183238, + 0.03563530974041539, + 0.4151706657827977, + 0.04420673635733967, + 0.0, + 0.7430969786805559, + 1.397701017850976, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6427175814439352, + 0.9857319220911808, + 0.24957628047475794, + 0.3501510407183238, + 0.03563530974041539, + 0.4151706657827977, + 0.04420673635733967, + 0.0, + 0.7785290976680712, + 1.4077737970099329, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6427175814439352, + 0.9857319220911808, + 0.24957628047475794, + 0.3501510407183238, + 0.03563530974041539, + 0.4151706657827977, + 0.04420673635733967, + 0.0, + 0.7917134520866951, + 1.411940774564816, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6427175814439352, + 0.9857319220911808, + 0.24957628047475794, + 0.3501510407183238, + 0.03563530974041539, + 0.4151706657827977, + 0.04420673635733967, + 0.0, + 0.81511532437789, + 1.3518150143948948, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6427175814439352, + 0.9857319220911808, + 0.24957628047475794, + 0.3501510407183238, + 0.03563530974041539, + 0.4151706657827977, + 0.04420673635733967, + 0.0, + 0.8520881839012557, + 1.3579449577450033, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6427175814439352, + 0.9857319220911808, + 0.24957628047475794, + 0.3501510407183238, + 0.03563530974041539, + 0.4151706657827977, + 0.04420673635733967, + 0.0, + 0.8527481503211345, + 1.298327815673453, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6427175814439352, + 0.9857319220911808, + 0.24957628047475794, + 0.3501510407183238, + 0.03563530974041539, + 0.4151706657827977, + 0.04420673635733967, + 0.0, + 0.8987239976504119, + 1.2993993032975064, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6427175814439352, + 0.9857319220911808, + 0.24957628047475794, + 0.3501510407183238, + 0.03563530974041539, + 0.4151706657827977, + 0.04420673635733967, + 0.0, + 0.887353366421332, + 1.2443829454770252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6427175814439352, + 0.9857319220911808, + 0.24957628047475794, + 0.3501510407183238, + 0.03563530974041539, + 0.4151706657827977, + 0.04420673635733967, + 0.0, + 0.9006572787024023, + 1.2273891757409279, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6427175814439352, + 0.9857319220911808, + 0.24957628047475794, + 0.3501510407183238, + 0.03563530974041539, + 0.4151706657827977, + 0.04420673635733967, + 0.0, + 0.9414462801353207, + 1.196697695627333, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6427175814439352, + 0.9857319220911808, + 0.24957628047475794, + 0.3501510407183238, + 0.03563530974041539, + 0.4151706657827977, + 0.04420673635733967, + 0.0, + 0.9775677870714966, + 1.1763510414527079, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6427175814439352, + 0.9857319220911808, + 0.24957628047475794, + 0.3501510407183238, + 0.03563530974041539, + 0.4151706657827977, + 0.04420673635733967, + 0.0, + 0.9661449808848119, + 1.1357283330741004, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6427175814439352, + 0.9857319220911808, + 0.24957628047475794, + 0.3501510407183238, + 0.03563530974041539, + 0.4151706657827977, + 0.04420673635733967, + 0.0, + 0.9857714802636053, + 1.1038486150950022, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6427175814439352, + 0.9857319220911808, + 0.24957628047475794, + 0.3501510407183238, + 0.03563530974041539, + 0.4151706657827977, + 0.04420673635733967, + 0.0, + 1.0018693556746012, + 1.0775969489597397, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6427175814439352, + 0.9857319220911808, + 0.24957628047475794, + 0.3501510407183238, + 0.03563530974041539, + 0.4151706657827977, + 0.04420673635733967, + 0.0, + 0.9854730242982355, + 1.0293034104648986, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6427175814439352, + 0.9857319220911808, + 0.24957628047475794, + 0.3501510407183238, + 0.03563530974041539, + 0.4151706657827977, + 0.04420673635733967, + 0.0, + 1.0494902349628046, + 1.0225276557842895, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6427175814439352, + 0.9857319220911808, + 0.24957628047475794, + 0.3501510407183238, + 0.03563530974041539, + 0.4151706657827977, + 0.04420673635733967, + 0.0, + 1.064269639836697, + 0.9748305027912454, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6427175814439352, + 0.9857319220911808, + 0.24957628047475794, + 0.3501510407183238, + 0.03563530974041539, + 0.4151706657827977, + 0.04420673635733967, + 0.0, + 1.096585533442213, + 0.967323158108276, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6427175814439352, + 0.9857319220911808, + 0.24957628047475794, + 0.3501510407183238, + 0.03563530974041539, + 0.4151706657827977, + 0.04420673635733967, + 0.0, + 1.1359036631586237, + 0.9189983555833527, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6427175814439352, + 0.9857319220911808, + 0.24957628047475794, + 0.3501510407183238, + 0.03563530974041539, + 0.4151706657827977, + 0.04420673635733967, + 0.0, + 1.1405823588934354, + 0.9113210328434695, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6427175814439352, + 0.9857319220911808, + 0.24957628047475794, + 0.3501510407183238, + 0.03563530974041539, + 0.4151706657827977, + 0.04420673635733967, + 0.0, + 1.1316833846731131, + 0.8429591748552879, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6427175814439352, + 0.9857319220911808, + 0.24957628047475794, + 0.3501510407183238, + 0.03563530974041539, + 0.4151706657827977, + 0.04420673635733967, + 0.0, + 1.1825703314931095, + 0.8548018373711158, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6427175814439352, + 0.9857319220911808, + 0.24957628047475794, + 0.3501510407183238, + 0.03563530974041539, + 0.4151706657827977, + 0.04420673635733967, + 0.0, + 1.194324612438421, + 0.8454362277607267, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6427175814439352, + 0.9857319220911808, + 0.24957628047475794, + 0.3501510407183238, + 0.03563530974041539, + 0.4151706657827977, + 0.04420673635733967, + 0.0, + 1.224053700015112, + 0.7981527601797842, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6427175814439352, + 0.9857319220911808, + 0.24957628047475794, + 0.3501510407183238, + 0.03563530974041539, + 0.4151706657827977, + 0.04420673635733967, + 0.0, + 1.2663423238619957, + 0.8034717104951253, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6427175814439352, + 0.9857319220911808, + 0.24957628047475794, + 0.3501510407183238, + 0.03563530974041539, + 0.4151706657827977, + 0.04420673635733967, + 0.0, + 1.265480016800279, + 0.7414889576010137, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6427175814439352, + 0.9857319220911808, + 0.24957628047475794, + 0.3501510407183238, + 0.03563530974041539, + 0.4151706657827977, + 0.04420673635733967, + 0.0, + 1.3307121962223074, + 0.7451459278700302, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6427175814439352, + 0.9857319220911808, + 0.24957628047475794, + 0.3501510407183238, + 0.03563530974041539, + 0.4151706657827977, + 0.04420673635733967, + 0.0, + 1.3069062092897084, + 0.6848252208258755, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6427175814439352, + 0.9857319220911808, + 0.24957628047475794, + 0.3501510407183238, + 0.03563530974041539, + 0.4151706657827977, + 0.04420673635733967, + 0.0, + 1.3101004777627197, + 0.6655116688314691, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6427175814439352, + 0.9857319220911808, + 0.24957628047475794, + 0.3501510407183238, + 0.03563530974041539, + 0.4151706657827977, + 0.04420673635733967, + 0.0, + 1.3481310207733845, + 0.6281096125209492, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6427175814439352, + 0.9857319220911808, + 0.24957628047475794, + 0.3501510407183238, + 0.03563530974041539, + 0.4151706657827977, + 0.04420673635733967, + 0.0, + 1.3554788867322858, + 0.6024013490077009, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6427175814439352, + 0.9857319220911808, + 0.24957628047475794, + 0.3501510407183238, + 0.03563530974041539, + 0.4151706657827977, + 0.04420673635733967, + 0.0, + 1.389144061591196, + 0.5710225172018651, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6427175814439352, + 0.9857319220911808, + 0.24957628047475794, + 0.3501510407183238, + 0.03563530974041539, + 0.4151706657827977, + 0.04420673635733967, + 0.0, + 1.4195120218724335, + 0.5441976905861948, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6427175814439352, + 0.9857319220911808, + 0.24957628047475794, + 0.3501510407183238, + 0.03563530974041539, + 0.4151706657827977, + 0.04420673635733967, + 0.0, + 1.4295035262515736, + 0.5125307741963294, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6427175814439352, + 0.9857319220911808, + 0.24957628047475794, + 0.3501510407183238, + 0.03563530974041539, + 0.4151706657827977, + 0.04420673635733967, + 0.0, + 1.4837255320411633, + 0.48638147655620384, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6427175814439352, + 0.9857319220911808, + 0.24957628047475794, + 0.3501510407183238, + 0.03563530974041539, + 0.4151706657827977, + 0.04420673635733967, + 0.0, + 1.4684511962214324, + 0.45100454486967023, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6427175814439352, + 0.9857319220911808, + 0.24957628047475794, + 0.3501510407183238, + 0.03563530974041539, + 0.4151706657827977, + 0.04420673635733967, + 0.0, + 1.450281237993474, + 0.40463387583214383, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6427175814439352, + 0.9857319220911808, + 0.24957628047475794, + 0.3501510407183238, + 0.03563530974041539, + 0.4151706657827977, + 0.04420673635733967, + 0.0, + 1.5058876056763628, + 0.38559025027893995, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6427175814439352, + 0.9857319220911808, + 0.24957628047475794, + 0.3501510407183238, + 0.03563530974041539, + 0.4151706657827977, + 0.04420673635733967, + 0.0, + 1.5106255831595197, + 0.34796599342907075, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6427175814439352, + 0.9857319220911808, + 0.24957628047475794, + 0.3501510407183238, + 0.03563530974041539, + 0.4151706657827977, + 0.04420673635733967, + 0.0, + 1.5341716384893396, + 0.3907390763071079, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6427175814439352, + 0.9857319220911808, + 0.24957628047475794, + 0.3501510407183238, + 0.03563530974041539, + 0.4151706657827977, + 0.04420673635733967, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0491592805095844, + 0.3029162870884556, + 0.0, + 0.0984347104480436, + 0.044120499978601874, + 0.08984448317923033, + 0.02175354493063071, + 0.0 + ], + "min": [ + -3.516172170639038, + -2.4744322299957275, + 0.05999999865889549, + 0.7346923351287842, + 0.0, + 0.0, + 0.661814272403717, + -1.0, + -3.3174219131469727, + -1.954947829246521, + 0.6645001173019409, + -0.4933546781539917, + -0.7160618305206299, + -0.44938382506370544, + -0.7148150205612183, + 0.0, + -3.5102667808532715, + -2.4617412090301514, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3174219131469727, + -1.954947829246521, + 0.7947121858596802, + -0.30665498971939087, + 0.48654112219810486, + -0.44938382506370544, + -0.7096192240715027, + 0.0, + -3.5058915615081787, + -2.452338218688965, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3174219131469727, + -1.954947829246521, + 0.7947121858596802, + -0.30665498971939087, + 0.48654112219810486, + -0.44938382506370544, + -0.7096192240715027, + 0.0, + -3.4250550270080566, + -2.2786107063293457, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3174219131469727, + -1.954947829246521, + 0.7947121858596802, + -0.30665498971939087, + 0.48654112219810486, + -0.44938382506370544, + -0.7096192240715027, + 0.0, + -3.423598289489746, + -2.275480270385742, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3174219131469727, + -1.954947829246521, + 0.7947121858596802, + -0.30665498971939087, + 0.48654112219810486, + -0.44938382506370544, + -0.7096192240715027, + 0.0, + -3.423523187637329, + -2.2753190994262695, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3174219131469727, + -1.954947829246521, + 0.7947121858596802, + -0.30665498971939087, + 0.48654112219810486, + -0.44938382506370544, + -0.7096192240715027, + 0.0, + -3.3481087684631348, + -2.113243341445923, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3174219131469727, + -1.954947829246521, + 0.7947121858596802, + -0.30665498971939087, + 0.48654112219810486, + -0.44938382506370544, + -0.7096192240715027, + 0.0, + -3.3417046070098877, + -2.099479913711548, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3174219131469727, + -1.954947829246521, + 0.7947121858596802, + -0.30665498971939087, + 0.48654112219810486, + -0.44938382506370544, + -0.7096192240715027, + 0.0, + -3.2750000953674316, + -1.9561232328414917, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3174219131469727, + -1.954947829246521, + 0.7947121858596802, + -0.30665498971939087, + 0.48654112219810486, + -0.44938382506370544, + -0.7096192240715027, + 0.0, + -3.259732484817505, + -1.9233111143112183, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3174219131469727, + -1.954947829246521, + 0.7947121858596802, + -0.30665498971939087, + 0.48654112219810486, + -0.44938382506370544, + -0.7096192240715027, + 0.0, + -3.202465295791626, + -1.8002362251281738, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3174219131469727, + -1.954947829246521, + 0.7947121858596802, + -0.30665498971939087, + 0.48654112219810486, + -0.44938382506370544, + -0.7096192240715027, + 0.0, + -3.178755044937134, + -1.7492797374725342, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3174219131469727, + -1.954947829246521, + 0.7947121858596802, + -0.30665498971939087, + 0.48654112219810486, + -0.44938382506370544, + -0.7096192240715027, + 0.0, + -3.129931688308716, + -1.644351840019226, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3174219131469727, + -1.954947829246521, + 0.7947121858596802, + -0.30665498971939087, + 0.48654112219810486, + -0.44938382506370544, + -0.7096192240715027, + 0.0, + -3.097994804382324, + -1.5757153034210205, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3174219131469727, + -1.954947829246521, + 0.7947121858596802, + -0.30665498971939087, + 0.48654112219810486, + -0.44938382506370544, + -0.7096192240715027, + 0.0, + -3.0573980808258057, + -1.4884673357009888, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3174219131469727, + -1.954947829246521, + 0.7947121858596802, + -0.30665498971939087, + 0.48654112219810486, + -0.44938382506370544, + -0.7096192240715027, + 0.0, + -3.0176103115081787, + -1.4029581546783447, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3174219131469727, + -1.954947829246521, + 0.7947121858596802, + -0.30665498971939087, + 0.48654112219810486, + -0.44938382506370544, + -0.7096192240715027, + 0.0, + -2.9848644733428955, + -1.3325828313827515, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3174219131469727, + -1.954947829246521, + 0.7947121858596802, + -0.30665498971939087, + 0.48654112219810486, + -0.44938382506370544, + -0.7096192240715027, + 0.0, + -2.937382698059082, + -1.230538249015808, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3174219131469727, + -1.954947829246521, + 0.7947121858596802, + -0.30665498971939087, + 0.48654112219810486, + -0.44938382506370544, + -0.7096192240715027, + 0.0, + -2.9123306274414062, + -1.1766982078552246, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3174219131469727, + -1.954947829246521, + 0.7947121858596802, + -0.30665498971939087, + 0.48654112219810486, + -0.44938382506370544, + -0.7096192240715027, + 0.0, + -2.856846332550049, + -1.0574549436569214, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3174219131469727, + -1.954947829246521, + 0.7947121858596802, + -0.30665498971939087, + 0.48654112219810486, + -0.44938382506370544, + -0.7096192240715027, + 0.0, + -2.839797019958496, + -1.0208138227462769, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3174219131469727, + -1.954947829246521, + 0.7947121858596802, + -0.30665498971939087, + 0.48654112219810486, + -0.44938382506370544, + -0.7096192240715027, + 0.0, + -2.776831865310669, + -0.8854931592941284, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3174219131469727, + -1.954947829246521, + 0.7947121858596802, + -0.30665498971939087, + 0.48654112219810486, + -0.44938382506370544, + -0.7096192240715027, + 0.0, + -2.767263412475586, + -0.86492919921875, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3174219131469727, + -1.954947829246521, + 0.7947121858596802, + -0.30665498971939087, + 0.48654112219810486, + -0.44938382506370544, + -0.7096192240715027, + 0.0, + -2.696082353591919, + -0.7119514346122742, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3174219131469727, + -1.954947829246521, + 0.7947121858596802, + -0.30665498971939087, + 0.48654112219810486, + -0.44938382506370544, + -0.7096192240715027, + 0.0, + -2.694729804992676, + -0.7090446352958679, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3174219131469727, + -1.954947829246521, + 0.7947121858596802, + -0.30665498971939087, + 0.48654112219810486, + -0.44938382506370544, + -0.7096192240715027, + 0.0, + -2.6813805103302, + -0.6803549528121948, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3174219131469727, + -1.954947829246521, + 0.7947121858596802, + -0.30665498971939087, + 0.48654112219810486, + -0.44938382506370544, + -0.7096192240715027, + 0.0, + -2.6221961975097656, + -0.5531600117683411, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3174219131469727, + -1.954947829246521, + 0.7947121858596802, + -0.30665498971939087, + 0.48654112219810486, + -0.44938382506370544, + -0.7096192240715027, + 0.0, + -2.6161997318267822, + -0.5402728319168091, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3174219131469727, + -1.954947829246521, + 0.7947121858596802, + -0.30665498971939087, + 0.48654112219810486, + -0.44938382506370544, + -0.7096192240715027, + 0.0, + -2.5496625900268555, + -0.3972754180431366, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3174219131469727, + -1.954947829246521, + 0.7947121858596802, + -0.30665498971939087, + 0.48654112219810486, + -0.44938382506370544, + -0.7096192240715027, + 0.0, + -2.535513162612915, + -0.3668666481971741, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3174219131469727, + -1.954947829246521, + 0.7947121858596802, + -0.30665498971939087, + 0.48654112219810486, + -0.44938382506370544, + -0.7096192240715027, + 0.0, + -2.477128744125366, + -0.24139083921909332, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3174219131469727, + -1.954947829246521, + 0.7947121858596802, + -0.30665498971939087, + 0.48654112219810486, + -0.44938382506370544, + -0.7096192240715027, + 0.0, + -2.4554357528686523, + -0.19476966559886932, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3174219131469727, + -1.954947829246521, + 0.7947121858596802, + -0.30665498971939087, + 0.48654112219810486, + -0.44938382506370544, + -0.7096192240715027, + 0.0, + -2.404595136642456, + -0.08550628274679184, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3174219131469727, + -1.954947829246521, + 0.7947121858596802, + -0.30665498971939087, + 0.48654112219810486, + -0.44938382506370544, + -0.7096192240715027, + 0.0, + -2.374861001968384, + -0.02160380780696869, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3174219131469727, + -1.954947829246521, + 0.7947121858596802, + -0.30665498971939087, + 0.48654112219810486, + -0.44938382506370544, + -0.7096192240715027, + 0.0, + -2.3317198753356934, + 0.07111213356256485, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3174219131469727, + -1.954947829246521, + 0.7947121858596802, + -0.30665498971939087, + 0.48654112219810486, + -0.44938382506370544, + -0.7096192240715027, + 0.0, + -2.2943992614746094, + 0.1513189971446991, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3174219131469727, + -1.954947829246521, + 0.7947121858596802, + -0.30665498971939087, + 0.48654112219810486, + -0.44938382506370544, + -0.7096192240715027, + 0.0, + -2.2575125694274902, + 0.23059339821338654, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3174219131469727, + -1.954947829246521, + 0.7947121858596802, + -0.30665498971939087, + 0.48654112219810486, + -0.44938382506370544, + -0.7096192240715027, + 0.0, + -2.2143051624298096, + 0.3234521746635437, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3174219131469727, + -1.954947829246521, + 0.7947121858596802, + -0.30665498971939087, + 0.48654112219810486, + -0.44938382506370544, + -0.7096192240715027, + 0.0, + -2.1804280281066895, + 0.3962589502334595, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3174219131469727, + -1.954947829246521, + 0.7947121858596802, + -0.30665498971939087, + 0.48654112219810486, + -0.44938382506370544, + -0.7096192240715027, + 0.0, + -2.135509729385376, + 0.492794394493103, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3174219131469727, + -1.954947829246521, + 0.7947121858596802, + -0.30665498971939087, + 0.48654112219810486, + -0.44938382506370544, + -0.7096192240715027, + 0.0, + -2.0995733737945557, + 0.5700262784957886, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3174219131469727, + -1.954947829246521, + 0.7947121858596802, + -0.30665498971939087, + 0.48654112219810486, + -0.44938382506370544, + -0.7096192240715027, + 0.0, + -2.057725429534912, + 0.659963071346283, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3174219131469727, + -1.954947829246521, + 0.7947121858596802, + -0.30665498971939087, + 0.48654112219810486, + -0.44938382506370544, + -0.7096192240715027, + 0.0, + -2.0, + 0.6000000238418579, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3174219131469727, + -1.954947829246521, + 0.7947121858596802, + -0.30665498971939087, + 0.48654112219810486, + -0.44938382506370544, + -0.7096192240715027, + 0.0, + 1.2000000476837158, + 1.4500000476837158, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.9748889207839966, + 0.8369402885437012, + 0.7947121858596802, + -0.30665498971939087, + 0.5426669120788574, + -0.44938382506370544, + -0.7096192240715027, + 0.0 + ], + "max": [ + 1.1696110963821411, + 2.139216184616089, + 1.5707963705062866, + 0.7496678233146667, + 0.0, + 0.0, + 0.678400456905365, + 2.0, + 1.7057838439941406, + 2.8342409133911133, + 1.3033634424209595, + 0.5224514603614807, + 0.706986665725708, + 0.5088796019554138, + 0.7771069407463074, + 1.0, + -2.0169692039489746, + 0.5357974767684937, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7057838439941406, + 2.0272583961486816, + 1.3033589124679565, + 0.5109097361564636, + 0.7013205289840698, + 0.4988946318626404, + -0.5033416152000427, + 0.0, + -1.9873753786087036, + 0.5453017354011536, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7057838439941406, + 2.0272583961486816, + 1.3033589124679565, + 0.5109097361564636, + 0.7013205289840698, + 0.4988946318626404, + -0.5033416152000427, + 0.0, + -1.9105931520462036, + 0.5699608325958252, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7057838439941406, + 2.0272583961486816, + 1.3033589124679565, + 0.5109097361564636, + 0.7013205289840698, + 0.4988946318626404, + -0.5033416152000427, + 0.0, + -1.8369243144989014, + 0.5936200022697449, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7057838439941406, + 2.0272583961486816, + 1.3033589124679565, + 0.5109097361564636, + 0.7013205289840698, + 0.4988946318626404, + -0.5033416152000427, + 0.0, + -1.80997896194458, + 0.6022736430168152, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7057838439941406, + 2.0272583961486816, + 1.3033589124679565, + 0.5109097361564636, + 0.7013205289840698, + 0.4988946318626404, + -0.5033416152000427, + 0.0, + -1.6868705749511719, + 0.6418106555938721, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7057838439941406, + 2.0272583961486816, + 1.3033589124679565, + 0.5109097361564636, + 0.7013205289840698, + 0.4988946318626404, + -0.5033416152000427, + 0.0, + -1.605114221572876, + 0.6680671572685242, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7057838439941406, + 2.0272583961486816, + 1.3033589124679565, + 0.5109097361564636, + 0.7013205289840698, + 0.4988946318626404, + -0.5033416152000427, + 0.0, + -1.5370646715164185, + 0.6899216771125793, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7057838439941406, + 2.0272583961486816, + 1.3033589124679565, + 0.5109097361564636, + 0.7013205289840698, + 0.4988946318626404, + -0.5033416152000427, + 0.0, + -1.4280964136123657, + 0.7249175310134888, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7057838439941406, + 2.0272583961486816, + 1.3033589124679565, + 0.5109097361564636, + 0.7013205289840698, + 0.4988946318626404, + -0.5033416152000427, + 0.0, + -1.3940030336380005, + 0.7358668446540833, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7057838439941406, + 2.0272583961486816, + 1.3033589124679565, + 0.5109097361564636, + 0.7013205289840698, + 0.4988946318626404, + -0.5033416152000427, + 0.0, + -1.3431788682937622, + 0.7521893382072449, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7057838439941406, + 2.0272583961486816, + 1.3033589124679565, + 0.5109097361564636, + 0.7013205289840698, + 0.4988946318626404, + -0.5033416152000427, + 0.0, + -1.2112258672714233, + 0.7945667505264282, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7057838439941406, + 2.0272583961486816, + 1.3033589124679565, + 0.5109097361564636, + 0.7013205289840698, + 0.4988946318626404, + -0.5033416152000427, + 0.0, + -1.1056718826293945, + 0.8217359781265259, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7057838439941406, + 2.0272583961486816, + 1.3033589124679565, + 0.5109097361564636, + 0.7013205289840698, + 0.4988946318626404, + -0.5033416152000427, + 0.0, + -1.088355302810669, + 0.8261932134628296, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7057838439941406, + 2.0272583961486816, + 1.3033589124679565, + 0.5109097361564636, + 0.7013205289840698, + 0.4988946318626404, + -0.5033416152000427, + 0.0, + -1.0085679292678833, + 0.8467302322387695, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7057838439941406, + 2.0272583961486816, + 1.3033589124679565, + 0.5109097361564636, + 0.7013205289840698, + 0.4988946318626404, + -0.5033416152000427, + 0.0, + -0.9430139660835266, + 0.8636035919189453, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7057838439941406, + 2.0272583961486816, + 1.3033589124679565, + 0.5109097361564636, + 0.7013205289840698, + 0.4988946318626404, + -0.5033416152000427, + 0.0, + -0.9289485812187195, + 0.8672239780426025, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7057838439941406, + 2.0272583961486816, + 1.3033589124679565, + 0.5109097361564636, + 0.7013205289840698, + 0.4988946318626404, + -0.5033416152000427, + 0.0, + -0.7734268307685852, + 0.9072547554969788, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7057838439941406, + 2.0272583961486816, + 1.3033589124679565, + 0.5109097361564636, + 0.7013205289840698, + 0.4988946318626404, + -0.5033416152000427, + 0.0, + -0.6878215074539185, + 0.9292892813682556, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7057838439941406, + 2.0272583961486816, + 1.3033589124679565, + 0.5109097361564636, + 0.7013205289840698, + 0.4988946318626404, + -0.5033416152000427, + 0.0, + -0.6049110889434814, + 0.9506301283836365, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7057838439941406, + 2.0272583961486816, + 1.3033589124679565, + 0.5109097361564636, + 0.7013205289840698, + 0.4988946318626404, + -0.5033416152000427, + 0.0, + -0.4618139863014221, + 0.9874628782272339, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7057838439941406, + 2.0272583961486816, + 1.3033589124679565, + 0.5109097361564636, + 0.7013205289840698, + 0.4988946318626404, + -0.5033416152000427, + 0.0, + -0.44271016120910645, + 0.9923801422119141, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7057838439941406, + 2.0272583961486816, + 1.3033589124679565, + 0.5109097361564636, + 0.7013205289840698, + 0.4988946318626404, + -0.5033416152000427, + 0.0, + -0.3896655738353729, + 1.0060336589813232, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7057838439941406, + 2.0272583961486816, + 1.3033589124679565, + 0.5109097361564636, + 0.7013205289840698, + 0.4988946318626404, + -0.5033416152000427, + 0.0, + -0.2846033573150635, + 1.033076286315918, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7057838439941406, + 2.0272583961486816, + 1.3033589124679565, + 0.5109097361564636, + 0.7013205289840698, + 0.4988946318626404, + -0.5033416152000427, + 0.0, + -0.24729835987091064, + 1.0426784753799438, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7057838439941406, + 2.0272583961486816, + 1.3033589124679565, + 0.5109097361564636, + 0.7013205289840698, + 0.4988946318626404, + -0.5033416152000427, + 0.0, + -0.1275249570608139, + 1.0735077857971191, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7057838439941406, + 2.0272583961486816, + 1.3033589124679565, + 0.5109097361564636, + 0.7013205289840698, + 0.4988946318626404, + -0.5033416152000427, + 0.0, + -0.03534255549311638, + 1.0972352027893066, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7057838439941406, + 2.0272583961486816, + 1.3033589124679565, + 0.5109097361564636, + 0.7013205289840698, + 0.4988946318626404, + -0.5033416152000427, + 0.0, + 0.029437169432640076, + 1.1139092445373535, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7057838439941406, + 2.0272583961486816, + 1.3033589124679565, + 0.5109097361564636, + 0.7013205289840698, + 0.4988946318626404, + -0.5033416152000427, + 0.0, + 0.17653243243694305, + 1.151771068572998, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7057838439941406, + 2.0272583961486816, + 1.3033589124679565, + 0.5109097361564636, + 0.7013205289840698, + 0.4988946318626404, + -0.5033416152000427, + 0.0, + 0.18639928102493286, + 1.1543108224868774, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7057838439941406, + 2.0272583961486816, + 1.3033589124679565, + 0.5109097361564636, + 0.7013205289840698, + 0.4988946318626404, + -0.5033416152000427, + 0.0, + 0.21460232138633728, + 1.1615701913833618, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7057838439941406, + 2.0272583961486816, + 1.3033589124679565, + 0.5109097361564636, + 0.7013205289840698, + 0.4988946318626404, + -0.5033416152000427, + 0.0, + 0.3429507315158844, + 1.1946066617965698, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7057838439941406, + 2.0272583961486816, + 1.3033589124679565, + 0.5109097361564636, + 0.7013205289840698, + 0.4988946318626404, + -0.5033416152000427, + 0.0, + 0.38766011595726013, + 1.206114649772644, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7057838439941406, + 2.0272583961486816, + 1.3033589124679565, + 0.5109097361564636, + 0.7013205289840698, + 0.4988946318626404, + -0.5033416152000427, + 0.0, + 0.4994122385978699, + 1.2348792552947998, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7057838439941406, + 2.0272583961486816, + 1.3033589124679565, + 0.5109097361564636, + 0.7013205289840698, + 0.4988946318626404, + -0.5033416152000427, + 0.0, + 0.5986239910125732, + 1.260416030883789, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7057838439941406, + 2.0272583961486816, + 1.3033589124679565, + 0.5109097361564636, + 0.7013205289840698, + 0.4988946318626404, + -0.5033416152000427, + 0.0, + 0.6558737754821777, + 1.2751519680023193, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7057838439941406, + 2.0272583961486816, + 1.3033589124679565, + 0.5109097361564636, + 0.7013205289840698, + 0.4988946318626404, + -0.5033416152000427, + 0.0, + 0.809587836265564, + 1.314717411994934, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7057838439941406, + 2.0272583961486816, + 1.3033589124679565, + 0.5109097361564636, + 0.7013205289840698, + 0.4988946318626404, + -0.5033416152000427, + 0.0, + 0.8123352527618408, + 1.3154245615005493, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7057838439941406, + 2.0272583961486816, + 1.3033589124679565, + 0.5109097361564636, + 0.7013205289840698, + 0.4988946318626404, + -0.5033416152000427, + 0.0, + 0.8202224373817444, + 1.3174546957015991, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7057838439941406, + 2.0272583961486816, + 1.3033589124679565, + 0.5109097361564636, + 0.7013205289840698, + 0.4988946318626404, + -0.5033416152000427, + 0.0, + 0.9694868326187134, + 1.3558748960494995, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7057838439941406, + 2.0272583961486816, + 1.3033589124679565, + 0.5109097361564636, + 0.7013205289840698, + 0.4988946318626404, + -0.5033416152000427, + 0.0, + 1.0209909677505493, + 1.3691319227218628, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7057838439941406, + 2.0272583961486816, + 1.3033589124679565, + 0.5109097361564636, + 0.7013205289840698, + 0.4988946318626404, + -0.5033416152000427, + 0.0, + 1.126704216003418, + 1.396342158317566, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7057838439941406, + 2.0272583961486816, + 1.3033589124679565, + 0.5109097361564636, + 0.7013205289840698, + 0.4988946318626404, + -0.5033416152000427, + 0.0, + 1.2000000476837158, + 1.4500000476837158, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7057838439941406, + 2.0272583961486816, + 0.7947121858596802, + 0.10502991080284119, + 0.7013205289840698, + -0.06769606471061707, + -0.6399446725845337, + 0.0 + ], + "count": [ + 1364 + ] + }, + "action.applied": { + "mean": [ + 0.135021055009369, + -0.0004059684184950686, + 0.010817155582592016, + 0.01853421101153515, + -1.485462477698354, + -0.3485456753331111, + 1.472926543604943, + -0.0562743226299961, + 1.7236631336537274, + 0.8155618986940378, + -0.003306498318156801, + 0.003306498318156801 + ], + "std": [ + 0.12294909430389042, + 0.009149400417693063, + 0.18009481042613348, + 0.13603313702762312, + 0.2152017121017965, + 0.28108121379676443, + 0.6327110388126477, + 0.13421051050631813, + 0.6317873864222179, + 0.4976655478149939, + 0.010608956721594084, + 0.010608956721594084 + ], + "min": [ + 0.0, + -0.060796286910772324, + -0.800000011920929, + -0.4132179617881775, + -1.655214548110962, + -0.8930006623268127, + 0.48858344554901123, + -0.2774355411529541, + 0.80559903383255, + -0.02974192053079605, + -0.009999999776482582, + -0.020833000540733337 + ], + "max": [ + 0.30000001192092896, + 0.031358592212200165, + 0.800000011920929, + 0.3593733608722687, + -0.907597005367279, + 0.13136212527751923, + 2.2699317932128906, + 0.2524607181549072, + 2.706094980239868, + 1.2454184293746948, + 0.020833000540733337, + 0.009999999776482582 + ], + "count": [ + 1364 + ] + }, + "extra.reward": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 1364 + ] + }, + "next.truncated": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 1364 + ] + }, + "sim_step_idx": { + "mean": [ + 1394.0 + ], + "std": [ + 787.5055555359594 + ], + "min": [ + 31.0 + ], + "max": [ + 2757.0 + ], + "count": [ + 1364 + ] + }, + "timestamp": { + "mean": [ + 27.260000002338302 + ], + "std": [ + 15.750111111204049 + ], + "min": [ + 0.0 + ], + "max": [ + 54.52000045776367 + ], + "count": [ + 1364 + ] + }, + "frame_index": { + "mean": [ + 681.5 + ], + "std": [ + 393.7527777679797 + ], + "min": [ + 0.0 + ], + "max": [ + 1363.0 + ], + "count": [ + 1364 + ] + }, + "episode_index": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 1364 + ] + }, + "index": { + "mean": [ + 681.5 + ], + "std": [ + 393.7527777679797 + ], + "min": [ + 0.0 + ], + "max": [ + 1363.0 + ], + "count": [ + 1364 + ] + }, + "task_index": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 1364 + ] + }, + "next.done": { + "mean": [ + 0.0007331378299120235 + ], + "std": [ + 0.02706659082400987 + ], + "min": [ + 0.0 + ], + "max": [ + 1.0 + ], + "count": [ + 1364 + ] + }, + "observation.images.head": { + "mean": [ + [ + [ + 0.49705287758433064 + ] + ], + [ + [ + 0.43010394722699474 + ] + ], + [ + [ + 0.40867605583802474 + ] + ] + ], + "std": [ + [ + [ + 0.18789000104239453 + ] + ], + [ + [ + 0.20649962075249423 + ] + ], + [ + [ + 0.19946907381485987 + ] + ] + ], + "min": [ + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ] + ], + "max": [ + [ + [ + 0.9137254901960784 + ] + ], + [ + [ + 0.8823529411764706 + ] + ], + [ + [ + 0.8627450980392157 + ] + ] + ], + "count": [ + 100 + ] + }, + "observation.images.wrist": { + "mean": [ + [ + [ + 0.5379643211066212 + ] + ], + [ + [ + 0.4398619367798005 + ] + ], + [ + [ + 0.38436574104420207 + ] + ] + ], + "std": [ + [ + [ + 0.18604976949020868 + ] + ], + [ + [ + 0.2104449499621145 + ] + ], + [ + [ + 0.20208818850292012 + ] + ] + ], + "min": [ + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ] + ], + "max": [ + [ + [ + 0.9333333333333333 + ] + ], + [ + [ + 0.9058823529411765 + ] + ], + [ + [ + 0.9019607843137255 + ] + ] + ], + "count": [ + 100 + ] + } +} \ No newline at end of file diff --git a/N025/sawyer_umi/dr_on/seed_2017/stationassembly/000/lerobot_v21/meta/tasks.jsonl b/N025/sawyer_umi/dr_on/seed_2017/stationassembly/000/lerobot_v21/meta/tasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7ef32cea3933584c053b6f1b17969eee32e6aaa6 --- /dev/null +++ b/N025/sawyer_umi/dr_on/seed_2017/stationassembly/000/lerobot_v21/meta/tasks.jsonl @@ -0,0 +1 @@ +{"task_index": 0, "task": "Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level."} diff --git a/N025/sawyer_umi/dr_on/seed_2017/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 b/N025/sawyer_umi/dr_on/seed_2017/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..147275e9ecf66ceaf90ef316a60cb09fa95524e6 --- /dev/null +++ b/N025/sawyer_umi/dr_on/seed_2017/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:235ee6a764c84d94833f214c89af2a41340ac3e6f7d8bc36b458c1fd2866ae52 +size 40105128 diff --git a/N025/sawyer_umi/dr_on/seed_2017/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 b/N025/sawyer_umi/dr_on/seed_2017/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f78191aac3f46df5b3144349bc57aab0f2ee6593 --- /dev/null +++ b/N025/sawyer_umi/dr_on/seed_2017/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0558cd107d2e393c72fd1fb67deb50ee0056f3d42b231076d8108ff39cbb9052 +size 34796818 diff --git a/N025/sawyer_umi/dr_on/seed_2017/stationassembly/000/run_meta.json b/N025/sawyer_umi/dr_on/seed_2017/stationassembly/000/run_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8132369f10bcf032109382991717adcf310660e9 --- /dev/null +++ b/N025/sawyer_umi/dr_on/seed_2017/stationassembly/000/run_meta.json @@ -0,0 +1,873 @@ +{ + "run_id": "stationassembly/000", + "created": "2026-11-08 03:01:06", + "num_envs": 1, + "session_id": null, + "record_config": { + "output_dir": "/mnt/scratch/xc536_atomic/n025_saw_on_2017/out", + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + }, + "config": { + "env_string": "MobileWedgeSupportEnv-V0", + "env": { + "sim": { + "device": "cpu", + "use_fabric": false, + "decimation": 4, + "dt": 0.005, + "seed": 2017, + "soft_resets": 2, + "scene": { + "num_envs": 1, + "env_spacing": 14 + }, + "render": { + "rendering_mode": "performance", + "enable_reflections": false, + "enable_global_illumination": false, + "enable_translucency": false, + "enable_dl_denoiser": false + } + }, + "robot": { + "RidgebackSawyerUmi": { + "name": "ridgebacksawyer_umi", + "type": "mobilemanip", + "common": { + "pos": [ + [ + -3.5161, + -2.4745, + 0.06 + ], + [ + -3.5161, + -2.4745, + 0.06 + ] + ], + "ori": [ + [ + 0, + 0, + 51.2479 + ], + [ + 0, + 0, + 51.2479 + ] + ], + "initial_joint_pos": { + "dummy_base_.*": 0.0, + "head_pan": 0.0, + "right_j0": 0.0, + "right_j1": -1.6, + "right_j2": 0.0, + "right_j3": 0.5, + "right_j4": 0.0, + "right_j5": 2.7, + "right_j6": 0.0, + "right_gripper_l_finger_joint": 0.0, + "right_gripper_r_finger_joint": 0.0 + } + }, + "action": { + "base_action": "holonomic_action", + "arm_action": "ik_pink", + "eef_action": "binary" + }, + "planner": { + "dual_mode": true, + "base_joint_names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint" + ], + "ik": { + "type": "ridgebacksawyer_umi", + "model_tuning": "ridgeback_sawyer_umi", + "enable": true, + "ik_num_instances": 1, + "ik_batch_size": 1, + "ik_num_seeds": 32, + "ik_max_goalset": 64, + "ik_position_threshold": 0.005, + "ik_rotation_threshold": 0.05, + "microbatch_wait_ms": 20.0, + "relative_to_world_frame": false + }, + "motiongen": { + "type": "ridgebacksawyer_umi", + "model_tuning": "ridgeback_sawyer_umi", + "enable": true, + "motiongen_num_instances": 1, + "max_attempts": 6, + "batch_size": 1, + "microbatch_wait_ms": 20.0, + "mode": "position", + "relative_to_world_frame": false, + "start_state_limit_inset": 0.002 + }, + "body": { + "type": "nav", + "dwb_type": "dwb_holonomic", + "dwb_holonomic": { + "device": "cpu", + "dt": 0.02, + "debug": false, + "num_rollout_steps": 60, + "num_speed_samples": 11, + "num_steer_samples": 11, + "num_vx_samples": 7, + "num_vy_samples": 7, + "num_yaw_samples": 7, + "max_accel": 1.5, + "max_steer_rate": 1.5, + "max_accel_vx": 1.5, + "max_accel_vy": 1.5, + "max_yaw_accel": 1.5, + "w_goal": 6.0, + "w_path": 8.0, + "w_vel": 0.2, + "w_vy": 0.0, + "goal_cost_mode": "path", + "dilate_radius": 0.36, + "room_size": 12.0, + "occupancy_update_interval": 25, + "scan_height": 0.38, + "scan_min_z": 0.15, + "scan_max_z": 1.68, + "goal_pos_threshold": 0.1, + "goal_yaw_threshold": 0.08, + "kp_goal_yaw": 1.5, + "heading_reference": "path", + "turn_yaw_threshold": 0.8, + "heading_lookahead": 0.8, + "heading_min_leg": 0.35, + "route_yaw_gain": 2.0, + "goal_yaw_hysteresis": 0.02, + "min_vx": -0.3, + "max_vx": 0.3, + "min_vy": -0.3, + "max_vy": 0.3, + "min_yaw_rate": -0.8, + "max_yaw_rate": 0.8, + "safety_enabled": true, + "safety_deceleration": 0.5, + "safety_reaction_time": 0.5, + "scan_type": "3d" + }, + "p_controller": { + "kp_angular_turning_only": 2.0, + "kd_angular_turning_only": 1.0, + "kp_linear_x": 3.0, + "kp_linear_y": 3.0, + "kp_angular": 2.0, + "kd_linear_x": 1.0, + "kd_linear_y": 1.0, + "min_vel": -0.4, + "max_vel": 0.5, + "linear_dead_zone": 0.01, + "angular_dead_zone": 0.05, + "nav_heading_target": -1, + "nav_upgrade_distance": 0.03 + } + }, + "arm": { + "type": "default" + }, + "eef": { + "type": "default" + } + }, + "physics": { + "robot_radius": 0.66, + "wheel_base": 0.01 + }, + "reset": "default" + } + }, + "camera": { + "enable_tiled": false, + "colorize_depth": false, + "head": { + "camera": { + "type": "camera", + "mesh": "pinhole", + "resolution": [ + 640, + 480 + ], + "frequency": 25, + "focal_length": 2.0, + "horizontal_aperture": 3.6, + "vertical_aperture": 2.7, + "clipping_range": [ + 0.05, + 30.0 + ], + "focus_distance": 3.0, + "mode": "RGB", + "mount_link": "Robot_0/head", + "pos": [ + 0.2166, + 0.0, + -0.045 + ], + "ori": [ + -0.0, + 35.0, + -90.0 + ] + }, + "annotator": { + "enabled": true, + "rgb_capture": { + "type": "rgb", + "device": "cpu" + } + } + }, + "wrist": { + "camera": { + "type": "camera", + "mesh": "pinhole", + "resolution": [ + 640, + 480 + ], + "frequency": 25, + "focal_length": 1.8, + "horizontal_aperture": 3.6, + "vertical_aperture": 2.7, + "clipping_range": [ + 0.05, + 30.0 + ], + "focus_distance": 3.0, + "mode": "RGB", + "mount_link": "Robot_0/right_electric_gripper_base", + "pos": [ + 0.0598, + 0.0, + 0.03 + ], + "ori": [ + 180.0, + 0.0, + -90.0 + ] + }, + "annotator": { + "enabled": true, + "rgb_capture": { + "type": "rgb", + "device": "cpu" + } + } + } + }, + "scene": { + "background": { + "intensity": [ + 1023.08567, + 1023.08567 + ] + }, + "terrain": { + "type": "nav_room", + "collision": true, + "hide_top_walls": true, + "usd": [ + "$MAGICSIM_ASSETS/Room/Collected_SimpleRoom" + ], + "annotation": "Annotation", + "random": false, + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0, + "friction_combine_mode": "multiply", + "restitution_combine_mode": "multiply" + } + }, + "objects": { + "table_A": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "pos": [ + -2.0, + 1.5, + 0.23 + ], + "ori": [ + 0, + 0, + 0 + ], + "scale": [ + 0.9, + 0.6, + 0.4 + ] + }, + "table_A_1": { + "primitive_params": { + "size": [ + 1, + 1, + 1 + ] + }, + "visual": { + "color": [ + 0.78, + 0.72, + 0.62 + ] + }, + "physics": { + "type": "geometry", + "collision": true + } + } + }, + "table_B": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "pos": [ + 1.2, + 3.0, + 0.23 + ], + "ori": [ + 0, + 0, + 0 + ], + "scale": [ + 0.9, + 0.6, + 0.4 + ] + }, + "table_B_1": { + "primitive_params": { + "size": [ + 1, + 1, + 1 + ] + }, + "visual": { + "color": [ + 0.62, + 0.72, + 0.78 + ] + }, + "physics": { + "type": "geometry", + "collision": true + } + } + }, + "shim_board": { + "usd": [ + "$MAGICSIM_ASSETS/Object/MobileAssembly/shim_board_a05/Object.usd" + ], + "random": false, + "num_per_env": 1, + "common": { + "pos": [ + 1.24404, + 3.12137, + 0.43 + ], + "ori": [ + 0.0, + 0.0, + -93.46316 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "shim_board_1": { + "visual": {}, + "physics": { + "type": "articulation", + "collision": true, + "fixed_base": true + } + } + }, + "wedge": { + "usd": [ + "$MAGICSIM_ASSETS/Object/MobileAssembly/wedge_a05/Object.usd" + ], + "random": false, + "num_per_env": 1, + "common": { + "pos": [ + -1.93265, + 1.45097, + 0.431 + ], + "ori": [ + 0.0, + 0.0, + 92.1014 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "wedge_1": { + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.02739, + "physics_material": { + "static_friction": 0.8, + "dynamic_friction": 0.7, + "restitution": 0.0 + } + } + } + } + } + }, + "nav": { + "navmesh": { + "enabled": true, + "visualize": false, + "bake_timeout_s": 180, + "agent_height_cm": 150, + "min_agent_radius_cm": 45.0, + "max_agent_radius_cm": 45.0, + "max_step_height_cm": 20, + "max_floor_slope_deg": 30, + "agent_island_radius_cm": 5, + "auto_exclude_rigid_bodies": true, + "validate_path_clearance": true, + "validate_path_window": true, + "navmesh_offset_z_m": 0, + "verbose": false + }, + "occupancymap": { + "cell_size": 0.05 + } + } + }, + "task": { + "observation": {}, + "reward": {}, + "level": "easy", + "termination": { + "timeout_steps": 9000, + "success_hold_frames": 1 + }, + "station": { + "S": { + "pose": [ + -3.6, + -2.5, + 60.0 + ] + }, + "A": { + "center": [ + -2.0, + 0.6 + ], + "zone_radius": 0.6, + "table": "table_A" + }, + "B": { + "center": [ + 1.2, + 2.1 + ], + "zone_radius": 0.6, + "table": "table_B" + } + }, + "stance": { + "radii_A": [ + 0.76, + 0.84, + 0.7, + 0.92 + ], + "radii_B": [ + 0.78, + 0.85, + 0.92, + 0.72 + ], + "bearings_deg": [ + 0.0, + -25.0, + 25.0 + ], + "yaw_offsets_deg": [ + 0.0 + ], + "include_current": true + }, + "assembly": { + "part": { + "name": "wedge", + "id": 0 + }, + "fixture": { + "name": "shim_board", + "id": 0 + }, + "support_z": 0.43, + "part_half_height": 0.014, + "lift_height": 0.03, + "carry_lost": 0.25, + "hold_steps": 30, + "release_clear": 0.06, + "fixture_move_limit": 0.01, + "fall_margin": 0.12, + "target_deg": 0.0, + "tol_deg": 1.5, + "contact_gap": 0.002, + "stop_margin_deg": 0.3, + "board_touch_limit": 20, + "pre_height": 0.03, + "align_height": 0.0015, + "align_x": 0.4, + "insert_x": 0.205, + "umi": { + "table_clearance": 0.002, + "min_approach_down_deg": 65.0, + "max_approach_down_deg": 90.0, + "max_candidates": 64 + } + }, + "command": { + "StationAssembly": { + "robot_id": 0, + "hand_id": 0, + "init_limit": 30, + "max_attempt": 2, + "tail_steps": 400, + "part": { + "obj_type": "rigid", + "obj_name": "wedge", + "obj_id": 0 + }, + "fixture": { + "obj_type": "articulation", + "obj_name": "shim_board", + "obj_id": 0 + }, + "stages": [ + { + "name": "nav_A", + "type": "nav", + "goal": [ + -2.0, + 0.6, + 90.0 + ] + }, + { + "name": "stance_A", + "type": "stance", + "target": "part" + }, + { + "name": "pick", + "type": "grasp" + }, + { + "name": "carry", + "type": "carry" + }, + { + "name": "nav_B", + "type": "nav", + "goal": [ + 1.2, + 1.45, + 90.0 + ] + }, + { + "name": "stance_B", + "type": "stance", + "target": "fixture" + }, + { + "name": "assemble", + "type": "assemble" + } + ] + } + } + }, + "collect": { + "command": { + "StationAssembly": { + "robot_id": 0, + "hand_id": 0, + "init_limit": 30, + "max_attempt": 2, + "tail_steps": 400, + "part": { + "obj_type": "rigid", + "obj_name": "wedge", + "obj_id": 0 + }, + "fixture": { + "obj_type": "articulation", + "obj_name": "shim_board", + "obj_id": 0 + }, + "stages": [ + { + "name": "nav_A", + "type": "nav", + "goal": [ + -2.0, + 0.6, + 90.0 + ] + }, + { + "name": "stance_A", + "type": "stance", + "target": "part" + }, + { + "name": "pick", + "type": "grasp" + }, + { + "name": "carry", + "type": "carry" + }, + { + "name": "nav_B", + "type": "nav", + "goal": [ + 1.2, + 1.45, + 90.0 + ] + }, + { + "name": "stance_B", + "type": "stance", + "target": "fixture" + }, + { + "name": "assemble", + "type": "assemble" + } + ] + } + }, + "global_planner": { + "NavTo": { + "use_navmesh": true, + "use_absolute": true, + "translation_threshold": 0.2, + "rotation_threshold": 0.15, + "num_path_segments": 30, + "start_forward_offset": 0.0, + "visualize_path": false, + "carry_arm": true + }, + "MobileMoveL": { + "translation_threshold": 0.006, + "rotation_threshold": 0.2, + "motiongen_distance_threshold": 0.05, + "timeout_steps": 1800, + "reactive": false, + "base_pos_threshold": 0.12, + "base_rot_threshold": 0.5, + "eef_pos_threshold": 0.03, + "eef_rot_threshold": 0.3, + "waypoint_max_steps": 20, + "interp_steps": 60, + "retry_mobile_on_locked_plan_failure": true, + "debug": false, + "debug_viz": false + }, + "AssemblyServoL": { + "translation_threshold": 0.0003, + "rotation_threshold": 0.005, + "motiongen_distance_threshold": 0.0, + "timeout_steps": 1000000, + "min_steps_before_done": 1000000, + "reactive": false, + "base_pos_threshold": 0.12, + "base_rot_threshold": 0.5, + "eef_pos_threshold": 0.03, + "eef_rot_threshold": 0.3, + "waypoint_max_steps": 1, + "debug": false, + "debug_viz": false + }, + "MobileServoL": { + "translation_threshold": 0.03, + "rotation_threshold": 0.3, + "done_threshold": 0.03, + "timeout_steps": 300, + "stride": 1, + "eef_pos_threshold": 0.03, + "eef_rot_threshold": 0.1, + "base_pos_threshold": 0.12, + "waypoint_max_steps": 20, + "force_free_base_distance": 0.4, + "motiongen_distance_threshold": 0.05, + "embedded_direct_lock_layout": "trailing", + "debug": false, + "debug_viz": false + }, + "ParallelGripper": { + "gripper_threshold": 0.0005, + "timeout_steps": 60 + } + }, + "atomic_skill": { + "NavToPose": { + "robot_id": 0, + "show_marker": false + }, + "HoldPose": { + "robot_id": 0, + "hand_id": 0 + }, + "NavTo": { + "robot_id": 0, + "position_offset": 0.85, + "position_threshold": 0.08, + "angle_threshold": 0.06 + }, + "ReachStance": { + "check_current_first": true, + "stance_margin": 0.03, + "max_reach": 1.0, + "max_walks": 2, + "reject_radius": 0.05, + "obstacle_avoidance": [ + "dynamic" + ], + "walk_planner": "MobileServoL", + "strategy_kwargs": { + "reach_steps": 2 + }, + "pre_grasp_planner": "MobileMoveL", + "pre_grasp_mode": -1, + "goalset_lock_base": true, + "debug": true + }, + "AssemblyGrasp": { + "pre_grasp_offset_x": 0.12, + "retrieval_offset_x": 0.15, + "mobile": true, + "pre_grasp_planner": "MobileMoveL", + "pre_grasp_mode": -1, + "grasp_mode": 4, + "retrieval_mode": 4, + "goalset_lock_base": true, + "reactive": false, + "viz_grasp": false, + "close_settle_steps": 10, + "obstacle_ignore": [ + "table_A" + ] + }, + "CarryPose": { + "robot_id": 0, + "hand_id": 0, + "carry_part_pos": [ + 0.62, + 0.0, + 0.5 + ], + "planner_mode": 1 + }, + "AssemblyInsert": { + "plan_mode": 1, + "max_lin": 0.002, + "max_rot_deg": 1.0, + "settle_ticks": 3, + "servo_max_steps": 600, + "lateral_gate": 0.002, + "stall_ticks": 60, + "stall_min_progress": 0.8, + "carry_lost": 0.25, + "open_value": 0.0 + } + }, + "auto_collect": { + "task_type": "assembly", + "max_trajectories": 1 + }, + "record": { + "output_dir": "/mnt/scratch/xc536_atomic/n025_saw_on_2017/out", + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + } + }, + "visual_dr": { + "keep": [ + "wedge", + "shim_board" + ] + } + }, + "git_sha": null, + "collect_runtime": { + "max_trajectories": 1 + } +} \ No newline at end of file diff --git a/N025/sawyer_umi/dr_on/seed_2017/stationassembly/000/sim_info/0/actions.npz b/N025/sawyer_umi/dr_on/seed_2017/stationassembly/000/sim_info/0/actions.npz new file mode 100644 index 0000000000000000000000000000000000000000..4881337df0fe9911e887b7399c6b8b9af5be4b5b --- /dev/null +++ b/N025/sawyer_umi/dr_on/seed_2017/stationassembly/000/sim_info/0/actions.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2e7f3c3451b046e923018f2256098f382c8d92f01435a26a7aaa985e1e1772d8 +size 427044 diff --git a/N025/sawyer_umi/dr_on/seed_2017/stationassembly/000/sim_info/0/device_commands.jsonl b/N025/sawyer_umi/dr_on/seed_2017/stationassembly/000/sim_info/0/device_commands.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N025/sawyer_umi/dr_on/seed_2017/stationassembly/000/sim_info/0/device_events.jsonl b/N025/sawyer_umi/dr_on/seed_2017/stationassembly/000/sim_info/0/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N025/sawyer_umi/dr_on/seed_2017/stationassembly/000/sim_info/0/scene_snapshot.json b/N025/sawyer_umi/dr_on/seed_2017/stationassembly/000/sim_info/0/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..48bacb940fe7c3d88a1ee70ff87a6440ee7999ac --- /dev/null +++ b/N025/sawyer_umi/dr_on/seed_2017/stationassembly/000/sim_info/0/scene_snapshot.json @@ -0,0 +1,334 @@ +{ + "trajectory_id": 0, + "env_id": 0, + "run_id": "stationassembly/000", + "task_type": "StationAssembly", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])", + "avatars": "avatar_manager.set_avatars_state(snapshot['avatars'], env_ids=[env_id]) (present when the scene has animated avatars)" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "table_A": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -2.0, + 1.5, + 0.23 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 0.9, + 0.6, + 0.4 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.78, + 0.72, + 0.62 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 1, + 1, + 1 + ] + } + }, + "type_specific": {} + } + ], + "table_B": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 1.2, + 3.0, + 0.23 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 0.9, + 0.6, + 0.4 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.62, + 0.72, + 0.78 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 1, + 1, + 1 + ] + } + }, + "type_specific": {} + } + ], + "shim_board": [ + { + "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MobileAssembly/shim_board_a05/Object.usd", + "pose": { + "pos": [ + 1.2440400123596191, + 3.1213700771331787, + 0.4300000071525574 + ], + "ori": [ + -0.685417115688324, + 0.0, + 0.0, + 0.7281506657600403 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "collision": true, + "fixed_base": true, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 0.05235988274216652 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "wedge": [ + { + "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MobileAssembly/wedge_a05/Object.usd", + "pose": { + "pos": [ + -1.9326499700546265, + 1.4509700536727905, + 0.43000003695487976 + ], + "ori": [ + 0.6940215826034546, + 7.301568984985352e-07, + 1.210719347000122e-06, + 0.7199541926383972 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.02739, + "physics_material": { + "static_friction": 0.8, + "dynamic_friction": 0.7, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.107931403676048e-05, + 2.916168000410835e-07, + 2.1946896140434546e-06 + ], + "angular_velocity": [ + 7.261464634211734e-05, + -0.002471835585311055, + -5.3690884669777006e-05 + ] + } + } + ] + } + ], + "artifacts": [ + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1023.08567, + "texture": null, + "color": [ + 0.85, + 0.85, + 0.85 + ] + } + } + }, + "robots": { + "RidgebackSawyerUmi": { + "root_pose": [ + [ + -3.5160999298095703, + -2.4744999408721924, + 0.05999999865889549, + 0.9016518592834473, + 0.0, + 0.0, + 0.4324626624584198 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.600000023841858, + 0.0, + 0.5, + 0.0, + 2.700000047683716, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "head": [ + [ + 0.21660000085830688, + 0.0, + -0.04500000178813934, + -0.6743797063827515, + 0.21263112127780914, + -0.21263112127780914, + 0.6743797659873962 + ] + ], + "wrist": [ + [ + 0.05979999899864197, + 0.0, + 0.029999999329447746, + 6.123234262925839e-17, + 0.7071067690849304, + 0.7071067690849304, + -4.329780301713277e-17 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/N025/sawyer_umi/dr_on/seed_2017/stationassembly/000/sim_info/0/sim_states.npz b/N025/sawyer_umi/dr_on/seed_2017/stationassembly/000/sim_info/0/sim_states.npz new file mode 100644 index 0000000000000000000000000000000000000000..f6ff5f60744710054b9281e94f39ffc55233bd01 --- /dev/null +++ b/N025/sawyer_umi/dr_on/seed_2017/stationassembly/000/sim_info/0/sim_states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cafc8a4ec1e450d38a2db3c57032cad59e5607d06ea24d05f6d5dfcd5877b6de +size 383893 diff --git a/N025/sawyer_umi/dr_on/seed_2017/stationassembly/000/sim_info/magicsim_manifest.json b/N025/sawyer_umi/dr_on/seed_2017/stationassembly/000/sim_info/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..8c9cdf9e3fb7fbdc8e64f4cb73a168441522b297 --- /dev/null +++ b/N025/sawyer_umi/dr_on/seed_2017/stationassembly/000/sim_info/magicsim_manifest.json @@ -0,0 +1,233 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 03:14:59" + }, + "embodiment": { + "robots": [ + { + "name": "RidgebackSawyerUmi", + "cfg": "RidgebackSawyerUmiCfg", + "type": "mobilemanip", + "joint_names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 11, + "nan_policy": "from_raw", + "segments": [ + { + "name": "RidgebackSawyerUmi.base_action", + "start": 0, + "end": 3, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint" + ], + "source": "HolonomicAction", + "names_source": "_joint_names" + }, + { + "name": "RidgebackSawyerUmi.arm_action", + "start": 3, + "end": 10, + "names": [ + "frame0.pos_x", + "frame0.pos_y", + "frame0.pos_z", + "frame0.quat_w", + "frame0.quat_x", + "frame0.quat_y", + "frame0.quat_z" + ], + "source": "PinkInverseKinematicsAction", + "names_source": "pink_layout" + }, + { + "name": "RidgebackSawyerUmi.eef_action", + "start": 10, + "end": 11, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 15, + "segments": [ + { + "name": "RidgebackSawyerUmi.joint_pos", + "start": 0, + "end": 13, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ], + "source": "ObservationManager", + "names_source": "joint_names" + }, + { + "name": "RidgebackSawyerUmi.gripper_pos", + "start": 13, + "end": 15, + "names": [ + "gripper_0", + "gripper_1" + ], + "source": "ObservationManager", + "names_source": "generated" + } + ] + }, + "joint_vel_layout": { + "dim": 13, + "segments": [ + { + "name": "RidgebackSawyerUmi.joint_vel", + "start": 0, + "end": 13, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "action_levels": { + "L0": "task command list (collect.auto_collect_info.current_action)", + "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)", + "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)", + "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy", + "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)" + }, + "cameras": { + "head": { + "intrinsics": { + "K": [ + [ + 355.55555555555554, + 0.0, + 320.0 + ], + [ + 0.0, + 355.55555555555554, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 83.97442499163331, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.21660000085830688, + 0.0, + -0.04500000178813934 + ], + "quat": [ + -0.6743797063827515, + 0.21263112127780914, + -0.21263112127780914, + 0.6743797659873962 + ] + }, + "wrist": { + "intrinsics": { + "K": [ + [ + 320.0, + 0.0, + 320.0 + ], + [ + 0.0, + 320.0, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 90.0, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.05979999899864197, + 0.0, + 0.029999999329447746 + ], + "quat": [ + 6.123234262925839e-17, + 0.7071067690849304, + 0.7071067690849304, + -4.329780301713277e-17 + ] + } + }, + "generated_run": { + "run_id": "stationassembly/000", + "task_type": "StationAssembly" + } +} \ No newline at end of file diff --git a/N025/sawyer_umi/dr_on/seed_2017/stationassembly/000/visual_dr.json b/N025/sawyer_umi/dr_on/seed_2017/stationassembly/000/visual_dr.json new file mode 100644 index 0000000000000000000000000000000000000000..e07b3ad670a735465fe05c32f202f22620323e38 --- /dev/null +++ b/N025/sawyer_umi/dr_on/seed_2017/stationassembly/000/visual_dr.json @@ -0,0 +1,674 @@ +{ + "version": 1, + "settings": { + "enabled": false, + "keep": [ + "wedge", + "shim_board" + ], + "skip": [ + "*Robot_*", + "*/Camera*", + "*/camera*" + ], + "light_intensity": [ + 0.6, + 1.5 + ], + "light_color_temperature": [ + 3500.0, + 7500.0 + ], + "light_jitter_deg": 5.0, + "dome_swap_prob": 0.5, + "dome_tint_sat": [ + 0.0, + 0.15 + ], + "dome_yaw": true, + "hdr_dir": "$MAGICSIM_ASSETS/Background", + "tint_sat": [ + 0.0, + 0.3 + ], + "tint_val": [ + 0.7, + 1.0 + ], + "roughness_scale": [ + 0.8, + 1.25 + ], + "material_swap": true, + "material_swap_prob": 1.0, + "material_library": "$MAGICSIM_ASSETS/Material" + }, + "episodes": [ + { + "env_ids": [ + 0 + ], + "reset_index": 0, + "episode_seed": 2017, + "seeds": { + "0": 2017 + }, + "lights": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/RectLight", + "type": "RectLight", + "intensity": 19826.541244, + "intensity_base": 15000.0, + "enable_color_temperature": true, + "color_temperature_k": 6123.198733, + "rotate_deg": [ + 3.744, + -0.662, + 0.369 + ] + } + ], + "domes": [ + { + "path": "/World/background", + "type": "DomeLight", + "intensity": 923.460566, + "intensity_base": 1023.0857, + "enable_color_temperature": true, + "color_temperature_k": 5779.991296, + "rotate_deg": [ + 0.0, + 0.0, + 216.688 + ], + "dome": { + "path": "/World/background", + "hdr_base": null, + "color": [ + 0.707795, + 0.70669, + 0.775285 + ] + } + } + ], + "materials": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light", + "shader": "omnipbr", + "color": [ + 0.7256, + 0.6665, + 0.7207 + ], + "color_base": [ + 1.0, + 1.0, + 1.0 + ], + "roughness": 0.510508, + "roughness_base": 0.5, + "bound_prims": 1 + } + ], + "display_colors": [], + "swapped": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/ParquetFloor", + "role": "ground", + "mdl": "Ground/Cobblestone_Medieval.mdl", + "material": "/MmbVdrLooks/Ground_Cobblestone_Medieval", + "bound_prims": 1, + "pool_size": 42, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic", + "role": "wall", + "mdl": "Source/Concrete/Concrete_Wall_Aged_Scratched.mdl", + "material": "/MmbVdrLooks/Source_Concrete_Concrete_Wall_Aged_Scratched", + "bound_prims": 17, + "pool_size": 28, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic2", + "role": "wall", + "mdl": "Source/Stone/Serizzo_Gneis.mdl", + "material": "/MmbVdrLooks/Source_Stone_Serizzo_Gneis", + "bound_prims": 22, + "pool_size": 28, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WoodWall", + "role": "wall", + "mdl": "Source/Paint/Paint_Gun_Metal.mdl", + "material": "/MmbVdrLooks/Source_Paint_Paint_Gun_Metal", + "bound_prims": 10, + "pool_size": 28, + "bind_failed": 0 + } + ], + "skipped": { + "unsupported_shader": 1, + "protected_material": 0, + "error": 0, + "instance_proxy": 0, + "no_swap": 2, + "bind_failed": 0 + }, + "keep_hits": { + "wedge": 2, + "shim_board": 4 + }, + "physics_skip": { + "physics_binding": 7, + "rigid_body": 96, + "examples": [ + [ + "/World/envs/env_0/Robot_0/base_link/visuals/base_link_visuals_mesh_0/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/base_link_visuals_mesh_1/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_2/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_3/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_4/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_5/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_6/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_7/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/collisions/base_link_collisions_mesh_0/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/collisions/base_link_collisions_mesh_1/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/front_laser/visuals/front_laser_visuals/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/front_laser/collisions/mesh_0/box", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/rear_laser/visuals/rear_laser_visuals/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/rear_laser/collisions/mesh_0/box", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_arm_base_link/visuals/right_arm_base_link_visuals_mesh_0/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_arm_base_link/visuals/right_arm_base_link_visuals_mesh_0/World/mesh/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_arm_base_link/visuals/right_arm_base_link_visuals_mesh_0/World/mesh/mesh1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_arm_base_link/collisions/mesh_0/cylinder", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh2", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh3", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh4", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh5", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh6", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/collisions/mesh_0/sphere", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh3", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh5", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh2", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh6", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh4", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh7", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh8", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh9", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/collisions/mesh_0/sphere", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/screen/visuals/mesh_0/box", + "rigid_body" + ] + ] + }, + "material_library": { + "root": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Material", + "pool_sizes": { + "ground": 42, + "wall": 28, + "furniture": 38, + "object": 54 + } + }, + "no_swap": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass", + "reason": "glass", + "bound_prims": 1 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light", + "reason": "emissive", + "bound_prims": 1 + } + ], + "unsupported": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass", + "mdl": "OmniGlass.mdl", + "bound_prims": 1 + } + ] + }, + { + "env_ids": [ + 0 + ], + "reset_index": 1, + "episode_seed": 2017, + "seeds": { + "0": 2017 + }, + "lights": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/RectLight", + "type": "RectLight", + "intensity": 19826.541244, + "intensity_base": 15000.0, + "enable_color_temperature": true, + "color_temperature_k": 6123.198733, + "rotate_deg": [ + 3.744, + -0.662, + 0.369 + ] + } + ], + "domes": [ + { + "path": "/World/background", + "type": "DomeLight", + "intensity": 923.460566, + "intensity_base": 1023.0857, + "enable_color_temperature": true, + "color_temperature_k": 5779.991296, + "rotate_deg": [ + 0.0, + 0.0, + 216.688 + ], + "dome": { + "path": "/World/background", + "hdr_base": null, + "color": [ + 0.707795, + 0.70669, + 0.775285 + ] + } + } + ], + "materials": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light", + "shader": "omnipbr", + "color": [ + 0.7256, + 0.6665, + 0.7207 + ], + "color_base": [ + 1.0, + 1.0, + 1.0 + ], + "roughness": 0.510508, + "roughness_base": 0.5, + "bound_prims": 1 + } + ], + "display_colors": [], + "swapped": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/ParquetFloor", + "role": "ground", + "mdl": "Ground/Cobblestone_Medieval.mdl", + "material": "/MmbVdrLooks/Ground_Cobblestone_Medieval", + "bound_prims": 1, + "pool_size": 42, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic", + "role": "wall", + "mdl": "Source/Concrete/Concrete_Wall_Aged_Scratched.mdl", + "material": "/MmbVdrLooks/Source_Concrete_Concrete_Wall_Aged_Scratched", + "bound_prims": 17, + "pool_size": 28, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic2", + "role": "wall", + "mdl": "Source/Stone/Serizzo_Gneis.mdl", + "material": "/MmbVdrLooks/Source_Stone_Serizzo_Gneis", + "bound_prims": 22, + "pool_size": 28, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WoodWall", + "role": "wall", + "mdl": "Source/Paint/Paint_Gun_Metal.mdl", + "material": "/MmbVdrLooks/Source_Paint_Paint_Gun_Metal", + "bound_prims": 10, + "pool_size": 28, + "bind_failed": 0 + } + ], + "skipped": { + "unsupported_shader": 1, + "protected_material": 0, + "error": 0, + "instance_proxy": 0, + "no_swap": 2, + "bind_failed": 0 + }, + "keep_hits": { + "wedge": 2, + "shim_board": 4 + }, + "physics_skip": { + "physics_binding": 7, + "rigid_body": 96, + "examples": [ + [ + "/World/envs/env_0/Robot_0/base_link/visuals/base_link_visuals_mesh_0/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/base_link_visuals_mesh_1/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_2/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_3/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_4/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_5/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_6/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_7/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/collisions/base_link_collisions_mesh_0/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/collisions/base_link_collisions_mesh_1/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/front_laser/visuals/front_laser_visuals/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/front_laser/collisions/mesh_0/box", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/rear_laser/visuals/rear_laser_visuals/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/rear_laser/collisions/mesh_0/box", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_arm_base_link/visuals/right_arm_base_link_visuals_mesh_0/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_arm_base_link/visuals/right_arm_base_link_visuals_mesh_0/World/mesh/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_arm_base_link/visuals/right_arm_base_link_visuals_mesh_0/World/mesh/mesh1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_arm_base_link/collisions/mesh_0/cylinder", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh2", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh3", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh4", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh5", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh6", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/collisions/mesh_0/sphere", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh3", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh5", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh2", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh6", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh4", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh7", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh8", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh9", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/collisions/mesh_0/sphere", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/screen/visuals/mesh_0/box", + "rigid_body" + ] + ] + }, + "material_library": { + "root": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Material", + "pool_sizes": { + "ground": 42, + "wall": 28, + "furniture": 38, + "object": 54 + } + }, + "no_swap": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass", + "reason": "glass", + "bound_prims": 1 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light", + "reason": "emissive", + "bound_prims": 1 + } + ], + "unsupported": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass", + "mdl": "OmniGlass.mdl", + "bound_prims": 1 + } + ] + } + ] +} \ No newline at end of file diff --git a/N025/stretch3/dr_off/seed_1010/check.json b/N025/stretch3/dr_off/seed_1010/check.json new file mode 100644 index 0000000000000000000000000000000000000000..15da1f1868a7731d68ba6605ed2428dbb0fe8415 --- /dev/null +++ b/N025/stretch3/dr_off/seed_1010/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: 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "2413 rows vs ceil(4826/2) = 2413" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 31..4855, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "20.46 MB, 2413 frames at 25 fps, mean luma 108..145, std 15, new picture 2412x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2413 vs 2413" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "40.29 MB, 2413 frames at 25 fps, mean luma 123..168, std 30, new picture 2412x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2413 vs 2413" + }, + "sim_info present": { + "pass": true, + "detail": "stationassembly/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N025/stretch3/dr_off/seed_1010/check.txt b/N025/stretch3/dr_off/seed_1010/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..6204e6526671fd992772224ed232c260c22d3dba --- /dev/null +++ b/N025/stretch3/dr_off/seed_1010/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n025_str_off_1010/out task=N025 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n025_str_off_1010/out/stationassembly/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2413 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: 2413 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: 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.' +rows 2413 at dataset fps 25 = 96.52 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2413 rows vs ceil(4826/2) = 2413 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..4855, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 20.46 MB, 2413 frames at 25 fps, mean luma 108..145, std 15, new picture 2412x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2413 vs 2413 +[PASS] video observation.images.wrist decodes, 640x480, not black: 40.29 MB, 2413 frames at 25 fps, mean luma 123..168, std 30, new picture 2412x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2413 vs 2413 +parquet size 2.81 MB +[PASS] sim_info present: stationassembly/000/sim_info +dataset size 63.77 MB; whole cell dir 65.2 MB +RESULT: ALL PASS diff --git a/N025/stretch3/dr_off/seed_1010/report.json b/N025/stretch3/dr_off/seed_1010/report.json new file mode 100644 index 0000000000000000000000000000000000000000..8ffe38f7f244a85648fd7b2777668e6cc4349a89 --- /dev/null +++ b/N025/stretch3/dr_off/seed_1010/report.json @@ -0,0 +1,2898 @@ +{ + "task": "N025", + "agent_id": null, + "embodiment": "stretch3", + "level": "easy", + "scene_seed": 1010, + "execution_mode": "headless_collect_chain(StationAssembly->NavToPose/ReachStance/AssemblyGrasp/CarryPose/AssemblyInsert->NavTo+MobileMoveL+AssemblyServoL->cuRobo)", + "config": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/src/magicsim/Collect/Task/MobileAssembly/Conf/n025_wedge_shim.yaml", + "full_success": true, + "failure_reason": null, + "dr": { + "seed": 1010, + "wedge": { + "dx": -0.02486, + "dy": 0.05172, + "yaw_deg": 7.79324 + }, + "shim_board": { + "dx": 0.05442, + "dy": -0.00443, + "yaw_deg": -1.75728 + }, + "wedge_mass": 0.04308, + "light": 867.65386, + "spawn": { + "dx": 0.04945, + "dy": -0.01546, + "yaw_deg": -1.34203 + }, + "overrides": { + "env.scene.objects.wedge.common.pos": [ + -2.02486, + 1.45172, + 0.431 + ], + "env.scene.objects.wedge.common.ori": [ + 0.0, + 0.0, + 97.79324 + ], + "env.scene.objects.shim_board.common.pos": [ + 1.25442, + 3.14557, + 0.43 + ], + "env.scene.objects.shim_board.common.ori": [ + 0.0, + 0.0, + -91.75728 + ], + "env.scene.objects.wedge.wedge_1.physics.mass": 0.04308, + "env.scene.background.intensity": [ + 867.65386, + 867.65386 + ], + "env.robot.RidgebackSawyerUmi.common.pos": [ + [ + -3.55055, + -2.51546, + 0.06 + ], + [ + -3.55055, + -2.51546, + 0.06 + ] + ], + "env.robot.RidgebackSawyerUmi.common.ori": [ + [ + 0, + 0, + 58.65797 + ], + [ + 0, + 0, + 58.65797 + ] + ] + } + }, + "planner_seeds": { + "label": "lean", + "num_trajopt_seeds": 1, + "num_ik_seeds": 4, + "max_attempts": 6 + }, + "collect": { + "task": "N025", + "robot": "stretch3", + "visual_dr": false, + "env": { + "MMB_COLLECT": "1", + "MMB_TASK_ID": "N025", + "MMB_CLEAN_VIEW": "1", + "MMB_REAL_ROBOT_LOOK": "1", + "MMB_VISUAL_DR": "0" + }, + "cameras": { + "head": { + "link": "Robot_0/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 + } + } + }, + "steps": 4856, + "task_id": "N025", + "task_version": "EXT60-MobileAvatar-v3", + "family_id": "wedge_support", + "primary_category": "C4", + "env_terminated": true, + "env_truncated": false, + "station_layout": { + "S": { + "pose": [ + -3.6, + -2.5, + 60.0 + ] + }, + "A": { + "center": [ + -2.0, + 0.6 + ], + "zone_radius": 0.6, + "table": "table_A" + }, + "B": { + "center": [ + 1.2, + 2.1 + ], + "zone_radius": 0.6, + "table": "table_B" + } + }, + "spawn_pose": [ + -3.5505499839782715, + -2.5154600143432617, + 1.0237747535064208 + ], + "base_path": [ + [ + -2.032, + 0.722, + 3.056 + ], + [ + -2.032, + 0.722, + 3.078 + ], + [ + -2.032, + 0.722, + 3.042 + ], + [ + -2.032, + 0.722, + 2.992 + ], + [ + -2.032, + 0.722, + 2.942 + ], + [ + -2.032, + 0.722, + 2.892 + ], + [ + -2.032, + 0.722, + 2.842 + ], + [ + -2.032, + 0.722, + 2.792 + ], + [ + -2.032, + 0.722, + 2.742 + ], + [ + -2.032, + 0.722, + 2.692 + ], + [ + -2.032, + 0.722, + 2.642 + ], + [ + -2.032, + 0.722, + 2.592 + ], + [ + -2.032, + 0.722, + 2.542 + ], + [ + -2.032, + 0.722, + 2.492 + ], + [ + -2.032, + 0.722, + 2.442 + ], + [ + -2.032, + 0.722, + 2.392 + ], + [ + -2.032, + 0.722, + 2.342 + ], + [ + -2.032, + 0.722, + 2.293 + ], + [ + -2.032, + 0.722, + 2.243 + ], + [ + -2.032, + 0.722, + 2.193 + ], + [ + -2.032, + 0.722, + 2.143 + ], + [ + -2.032, + 0.722, + 2.093 + ], + [ + -2.032, + 0.722, + 2.043 + ], + [ + -2.032, + 0.722, + 1.993 + ], + [ + -2.032, + 0.722, + 1.943 + ], + [ + -2.032, + 0.722, + 1.893 + ], + [ + -2.032, + 0.722, + 1.843 + ], + [ + -2.032, + 0.722, + 1.793 + ], + [ + -2.032, + 0.722, + 1.743 + ], + [ + -2.032, + 0.722, + 1.693 + ], + [ + -2.032, + 0.722, + 1.643 + ], + [ + -2.032, + 0.722, + 1.593 + ], + [ + -2.032, + 0.722, + 1.543 + ], + [ + -2.032, + 0.722, + 1.493 + ], + [ + -2.032, + 0.722, + 1.443 + ], + [ + -2.032, + 0.722, + 1.396 + ], + [ + -2.032, + 0.722, + 1.363 + ], + [ + -2.032, + 0.722, + 1.339 + ], + [ + -2.031, + 0.728, + 1.328 + ], + [ + -2.028, + 0.738, + 1.328 + ], + [ + -2.027, + 0.745, + 1.328 + ], + [ + -2.026, + 0.75, + 1.328 + ], + [ + -2.025, + 0.753, + 1.328 + ], + [ + -2.024, + 0.755, + 1.328 + ], + [ + -2.024, + 0.756, + 1.37 + ], + [ + -2.024, + 0.756, + 1.44 + ], + [ + -2.024, + 0.756, + 1.51 + ], + [ + -2.024, + 0.756, + 1.58 + ], + [ + -2.024, + 0.756, + 1.65 + ], + [ + -2.024, + 0.756, + 1.72 + ], + [ + -2.024, + 0.756, + 1.79 + ], + [ + -2.024, + 0.756, + 1.86 + ], + [ + -2.024, + 0.756, + 1.93 + ], + [ + -2.024, + 0.756, + 2.0 + ], + [ + -2.024, + 0.756, + 2.07 + ], + [ + -2.024, + 0.756, + 2.14 + ], + [ + -2.024, + 0.756, + 2.21 + ], + [ + -2.024, + 0.756, + 2.28 + ], + [ + -2.024, + 0.756, + 2.35 + ], + [ + -2.024, + 0.756, + 2.42 + ], + [ + -2.024, + 0.756, + 2.49 + ], + [ + -2.024, + 0.756, + 2.56 + ], + [ + -2.024, + 0.756, + 2.63 + ], + [ + -2.024, + 0.756, + 2.7 + ], + [ + -2.024, + 0.756, + 2.77 + ], + [ + -2.024, + 0.756, + 2.84 + ], + [ + -2.024, + 0.756, + 2.91 + ], + [ + -2.024, + 0.756, + 2.975 + ], + [ + -2.024, + 0.756, + 3.023 + ], + [ + -2.024, + 0.756, + 3.057 + ], + [ + -2.024, + 0.756, + 3.081 + ], + [ + -2.024, + 0.756, + 3.098 + ], + [ + -2.024, + 0.756, + 3.111 + ], + [ + -2.024, + 0.756, + 3.12 + ], + [ + -2.024, + 0.756, + 3.126 + ], + [ + -2.024, + 0.756, + 3.13 + ], + [ + -2.024, + 0.756, + 3.134 + ], + [ + -2.024, + 0.756, + 3.136 + ], + [ + -2.024, + 0.756, + 3.137 + ], + [ + -2.024, + 0.756, + 3.139 + ], + [ + -2.024, + 0.756, + 3.14 + ], + [ + -2.024, + 0.756, + 3.14 + ], + [ + -2.024, + 0.756, + 3.141 + ], + [ + -2.031, + 0.756, + 3.141 + ], + [ + -2.036, + 0.756, + 3.141 + ], + [ + -2.039, + 0.756, + 3.141 + ], + [ + -2.042, + 0.756, + 3.141 + ], + [ + -2.043, + 0.756, + 3.141 + ], + [ + -2.044, + 0.756, + 3.141 + ], + [ + -2.045, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.046, + 0.756, + 3.141 + ], + [ + -2.033, + 0.756, + -3.138 + ], + [ + -1.977, + 0.756, + -3.133 + ], + [ + -1.917, + 0.757, + -3.128 + ], + [ + -1.857, + 0.758, + -3.125 + ], + [ + -1.797, + 0.759, + -3.122 + ], + [ + -1.737, + 0.76, + -3.121 + ], + [ + -1.677, + 0.762, + -3.119 + ], + [ + -1.617, + 0.763, + -3.099 + ], + [ + -1.557, + 0.767, + -3.061 + ], + [ + -1.497, + 0.773, + -3.012 + ], + [ + -1.438, + 0.783, + -2.958 + ], + [ + -1.38, + 0.795, + -2.902 + ], + [ + -1.322, + 0.811, + -2.85 + ], + [ + -1.265, + 0.829, + -2.801 + ], + [ + -1.209, + 0.851, + -2.758 + ], + [ + -1.153, + 0.874, + -2.72 + ], + [ + -1.099, + 0.9, + -2.689 + ], + [ + -1.045, + 0.927, + -2.664 + ], + [ + -0.992, + 0.955, + -2.644 + ], + [ + -0.94, + 0.984, + -2.629 + ], + [ + -0.888, + 1.013, + -2.618 + ], + [ + -0.836, + 1.044, + -2.611 + ], + [ + -0.784, + 1.074, + -2.606 + ], + [ + -0.733, + 1.105, + -2.604 + ], + [ + -0.681, + 1.136, + -2.603 + ], + [ + -0.629, + 1.166, + -2.604 + ], + [ + -0.578, + 1.197, + -2.605 + ], + [ + -0.526, + 1.228, + -2.607 + ], + [ + -0.475, + 1.258, + -2.61 + ], + [ + -0.423, + 1.289, + -2.612 + ], + [ + -0.371, + 1.319, + -2.615 + ], + [ + -0.319, + 1.349, + -2.617 + ], + [ + -0.267, + 1.379, + -2.618 + ], + [ + -0.215, + 1.409, + -2.62 + ], + [ + -0.163, + 1.439, + -2.622 + ], + [ + -0.111, + 1.468, + -2.623 + ], + [ + -0.059, + 1.498, + -2.624 + ], + [ + -0.007, + 1.528, + -2.624 + ], + [ + 0.045, + 1.558, + -2.624 + ], + [ + 0.098, + 1.587, + -2.625 + ], + [ + 0.15, + 1.617, + -2.625 + ], + [ + 0.202, + 1.647, + -2.625 + ], + [ + 0.254, + 1.676, + -2.625 + ], + [ + 0.306, + 1.706, + -2.625 + ], + [ + 0.358, + 1.736, + -2.625 + ], + [ + 0.411, + 1.765, + -2.625 + ], + [ + 0.463, + 1.795, + -2.625 + ], + [ + 0.515, + 1.825, + -2.624 + ], + [ + 0.567, + 1.854, + -2.625 + ], + [ + 0.619, + 1.884, + -2.624 + ], + [ + 0.672, + 1.914, + -2.624 + ], + [ + 0.724, + 1.943, + -2.624 + ], + [ + 0.776, + 1.973, + -2.624 + ], + [ + 0.828, + 2.003, + -2.624 + ], + [ + 0.88, + 2.032, + -2.623 + ], + [ + 0.931, + 2.062, + -2.586 + ], + [ + 0.974, + 2.091, + -2.535 + ], + [ + 1.01, + 2.116, + -2.492 + ], + [ + 1.039, + 2.139, + -2.457 + ], + [ + 1.062, + 2.159, + -2.426 + ], + [ + 1.082, + 2.177, + -2.401 + ], + [ + 1.098, + 2.192, + -2.379 + ], + [ + 1.112, + 2.205, + -2.36 + ], + [ + 1.123, + 2.216, + -2.344 + ], + [ + 1.132, + 2.226, + -2.331 + ], + [ + 1.139, + 2.234, + -2.321 + ], + [ + 1.146, + 2.241, + -2.311 + ], + [ + 1.151, + 2.246, + -2.302 + ], + [ + 1.154, + 2.249, + -2.364 + ], + [ + 1.154, + 2.249, + -2.524 + ], + [ + 1.154, + 2.249, + -2.68 + ], + [ + 1.154, + 2.249, + -2.801 + ], + [ + 1.154, + 2.249, + -2.891 + ], + [ + 1.154, + 2.249, + -2.957 + ], + [ + 1.154, + 2.249, + -3.005 + ], + [ + 1.154, + 2.249, + -3.041 + ], + [ + 1.154, + 2.249, + -3.067 + ], + [ + 1.154, + 2.249, + -3.097 + ], + [ + 1.154, + 2.249, + 3.136 + ], + [ + 1.154, + 2.249, + 3.086 + ], + [ + 1.154, + 2.249, + 3.036 + ], + [ + 1.154, + 2.249, + 2.986 + ], + [ + 1.154, + 2.249, + 2.936 + ], + [ + 1.154, + 2.249, + 2.886 + ], + [ + 1.154, + 2.249, + 2.836 + ], + [ + 1.154, + 2.249, + 2.786 + ], + [ + 1.154, + 2.249, + 2.736 + ], + [ + 1.154, + 2.249, + 2.686 + ], + [ + 1.154, + 2.249, + 2.636 + ], + [ + 1.154, + 2.249, + 2.586 + ], + [ + 1.154, + 2.249, + 2.536 + ], + [ + 1.154, + 2.249, + 2.486 + ], + [ + 1.154, + 2.249, + 2.436 + ], + [ + 1.154, + 2.249, + 2.386 + ], + [ + 1.154, + 2.249, + 2.336 + ], + [ + 1.154, + 2.249, + 2.286 + ], + [ + 1.154, + 2.249, + 2.236 + ], + [ + 1.154, + 2.249, + 2.186 + ], + [ + 1.154, + 2.249, + 2.136 + ], + [ + 1.154, + 2.249, + 2.086 + ], + [ + 1.154, + 2.249, + 2.036 + ], + [ + 1.154, + 2.249, + 1.986 + ], + [ + 1.154, + 2.249, + 1.936 + ], + [ + 1.154, + 2.249, + 1.886 + ], + [ + 1.154, + 2.249, + 1.836 + ], + [ + 1.154, + 2.249, + 1.786 + ], + [ + 1.154, + 2.249, + 1.736 + ], + [ + 1.154, + 2.249, + 1.686 + ], + [ + 1.154, + 2.249, + 1.636 + ], + [ + 1.154, + 2.249, + 1.586 + ], + [ + 1.154, + 2.249, + 1.536 + ], + [ + 1.154, + 2.249, + 1.486 + ], + [ + 1.154, + 2.249, + 1.436 + ], + [ + 1.154, + 2.249, + 1.386 + ], + [ + 1.154, + 2.249, + 1.336 + ], + [ + 1.154, + 2.249, + 1.286 + ], + [ + 1.154, + 2.249, + 1.236 + ], + [ + 1.154, + 2.249, + 1.186 + ], + [ + 1.154, + 2.249, + 1.136 + ], + [ + 1.154, + 2.249, + 1.086 + ], + [ + 1.154, + 2.249, + 1.036 + ], + [ + 1.154, + 2.249, + 0.992 + ], + [ + 1.154, + 2.249, + 0.96 + ], + [ + 1.154, + 2.249, + 0.937 + ], + [ + 1.159, + 2.256, + 0.93 + ], + [ + 1.164, + 2.264, + 0.93 + ], + [ + 1.168, + 2.269, + 0.93 + ], + [ + 1.171, + 2.273, + 0.93 + ], + [ + 1.173, + 2.275, + 0.93 + ], + [ + 1.174, + 2.277, + 0.93 + ], + [ + 1.175, + 2.278, + 0.979 + ], + [ + 1.175, + 2.278, + 1.049 + ], + [ + 1.175, + 2.278, + 1.119 + ], + [ + 1.175, + 2.278, + 1.189 + ], + [ + 1.175, + 2.278, + 1.259 + ], + [ + 1.175, + 2.278, + 1.329 + ], + [ + 1.175, + 2.278, + 1.399 + ], + [ + 1.175, + 2.278, + 1.469 + ], + [ + 1.175, + 2.278, + 1.539 + ], + [ + 1.175, + 2.278, + 1.609 + ], + [ + 1.175, + 2.278, + 1.679 + ], + [ + 1.175, + 2.278, + 1.749 + ], + [ + 1.175, + 2.278, + 1.819 + ], + [ + 1.175, + 2.278, + 1.889 + ], + [ + 1.175, + 2.278, + 1.959 + ], + [ + 1.175, + 2.278, + 2.029 + ], + [ + 1.175, + 2.278, + 2.099 + ], + [ + 1.175, + 2.278, + 2.169 + ], + [ + 1.175, + 2.278, + 2.239 + ], + [ + 1.175, + 2.278, + 2.309 + ], + [ + 1.175, + 2.278, + 2.379 + ], + [ + 1.175, + 2.278, + 2.449 + ], + [ + 1.175, + 2.278, + 2.519 + ], + [ + 1.175, + 2.278, + 2.589 + ], + [ + 1.175, + 2.278, + 2.659 + ], + [ + 1.175, + 2.278, + 2.729 + ], + [ + 1.175, + 2.278, + 2.799 + ], + [ + 1.175, + 2.278, + 2.869 + ], + [ + 1.175, + 2.278, + 2.939 + ], + [ + 1.175, + 2.278, + 2.997 + ], + [ + 1.175, + 2.278, + 3.038 + ], + [ + 1.175, + 2.278, + 3.068 + ], + [ + 1.175, + 2.278, + 3.089 + ], + [ + 1.175, + 2.278, + 3.104 + ], + [ + 1.175, + 2.278, + 3.115 + ], + [ + 1.175, + 2.278, + 3.122 + ], + [ + 1.175, + 2.278, + 3.128 + ], + [ + 1.175, + 2.278, + 3.132 + ], + [ + 1.175, + 2.278, + 3.135 + ], + [ + 1.175, + 2.278, + 3.137 + ], + [ + 1.175, + 2.278, + 3.138 + ], + [ + 1.175, + 2.278, + 3.139 + ], + [ + 1.175, + 2.278, + 3.14 + ], + [ + 1.175, + 2.278, + 3.14 + ], + [ + 1.18, + 2.278, + 3.14 + ], + [ + 1.195, + 2.278, + 3.14 + ], + [ + 1.204, + 2.278, + 3.14 + ], + [ + 1.211, + 2.278, + 3.14 + ], + [ + 1.216, + 2.278, + 3.14 + ], + [ + 1.219, + 2.278, + 3.141 + ], + [ + 1.221, + 2.278, + 3.141 + ], + [ + 1.223, + 2.278, + 3.141 + ], + [ + 1.224, + 2.278, + 3.141 + ], + [ + 1.225, + 2.278, + 3.141 + ], + [ + 1.225, + 2.278, + 3.141 + ], + [ + 1.225, + 2.278, + 3.141 + ], + [ + 1.225, + 2.278, + 3.141 + ], + [ + 1.225, + 2.278, + 3.141 + ], + [ + 1.225, + 2.278, + 3.141 + ], + [ + 1.225, + 2.278, + 3.141 + ], + [ + 1.225, + 2.278, + 3.141 + ], + [ + 1.225, + 2.278, + 3.141 + ], + [ + 1.225, + 2.278, + 3.141 + ], + [ + 1.225, + 2.278, + 3.141 + ], + [ + 1.225, + 2.278, + 3.141 + ], + [ + 1.225, + 2.278, + 3.141 + ], + [ + 1.225, + 2.278, + 3.141 + ], + [ + 1.225, + 2.278, + 3.141 + ], + [ + 1.225, + 2.278, + 3.141 + ], + [ + 1.225, + 2.278, + 3.141 + ], + [ + 1.225, + 2.278, + 3.141 + ], + [ + 1.225, + 2.278, + 3.141 + ], + [ + 1.225, + 2.278, + 3.141 + ], + [ + 1.225, + 2.278, + 3.141 + ], + [ + 1.225, + 2.278, + 3.141 + ], + [ + 1.225, + 2.278, + 3.141 + ], + [ + 1.225, + 2.278, + 3.141 + ], + [ + 1.225, + 2.278, + 3.141 + ], + [ + 1.225, + 2.278, + 3.141 + ], + [ + 1.225, + 2.278, + 3.141 + ], + [ + 1.225, + 2.278, + 3.141 + ], + [ + 1.225, + 2.278, + 3.141 + ], + [ + 1.226, + 2.278, + 3.141 + ], + [ + 1.227, + 2.278, + 3.141 + ], + [ + 1.228, + 2.278, + 3.141 + ], + [ + 1.228, + 2.277, + 3.141 + ], + [ + 1.228, + 2.277, + 3.141 + ], + [ + 1.228, + 2.277, + 3.141 + ], + [ + 1.228, + 2.277, + 3.141 + ], + [ + 1.228, + 2.277, + 3.141 + ], + [ + 1.228, + 2.277, + 3.141 + ], + [ + 1.228, + 2.277, + 3.141 + ], + [ + 1.228, + 2.277, + 3.141 + ], + [ + 1.228, + 2.277, + 3.141 + ], + [ + 1.228, + 2.277, + 3.141 + ], + [ + 1.228, + 2.277, + 3.141 + ], + [ + 1.228, + 2.277, + 3.141 + ], + [ + 1.228, + 2.277, + 3.141 + ], + [ + 1.228, + 2.277, + 3.141 + ] + ], + "stage_events": [ + { + "step": 30, + "event": "stage_start", + "stage": "nav_A" + }, + { + "step": 516, + "event": "enter_zone", + "zone": "A", + "base": [ + -2.318, + 0.097 + ] + }, + { + "step": 873, + "event": "walk_done", + "pose": [ + -2.032, + 0.722, + 3.082 + ], + "goal": [ + -2.021, + 0.76, + -3.142 + ] + }, + { + "step": 1, + "event": "trim_progress", + "pos_err": 0.0395, + "yaw_err": -0.0594, + "phase": "turn", + "cmd": [ + 0.0, + 0.0, + 0.0919 + ] + }, + { + "step": 51, + "event": "trim_progress", + "pos_err": 0.0395, + "yaw_err": -0.3094, + "phase": "turn", + "cmd": [ + 0.0, + 0.0, + -0.25 + ] + }, + { + "step": 101, + "event": "trim_progress", + "pos_err": 0.0395, + "yaw_err": -0.5592, + "phase": "turn", + "cmd": [ + 0.0, + 0.0, + -0.25 + ] + }, + { + "step": 151, + "event": "trim_progress", + "pos_err": 0.0395, + "yaw_err": -0.8091, + "phase": "turn", + "cmd": [ + 0.0, + 0.0, + -0.25 + ] + }, + { + "step": 201, + "event": "trim_progress", + "pos_err": 0.0395, + "yaw_err": -1.0589, + "phase": "turn", + "cmd": [ + 0.0, + 0.0, + -0.25 + ] + }, + { + "step": 251, + "event": "trim_progress", + "pos_err": 0.0395, + "yaw_err": -1.309, + "phase": "turn", + "cmd": [ + 0.0, + 0.0, + -0.25 + ] + }, + { + "step": 301, + "event": "trim_progress", + "pos_err": 0.0395, + "yaw_err": -1.559, + "phase": "turn", + "cmd": [ + 0.0, + 0.0, + -0.25 + ] + }, + { + "step": 351, + "event": "trim_progress", + "pos_err": 0.0395, + "yaw_err": -1.7841, + "phase": "turn", + "cmd": [ + 0.0, + 0.0, + -0.1339 + ] + }, + { + "step": 401, + "event": "trim_progress", + "pos_err": 0.0106, + "yaw_err": -1.8134, + "phase": "drive", + "cmd": [ + 0.0196, + -0.0039, + 0.0 + ] + }, + { + "step": 451, + "event": "trim_progress", + "pos_err": 0.005, + "yaw_err": -1.6174, + "phase": "final", + "cmd": [ + 0.0, + 0.0, + 0.35 + ] + }, + { + "step": 501, + "event": "trim_progress", + "pos_err": 0.005, + "yaw_err": -1.2674, + "phase": "final", + "cmd": [ + 0.0, + 0.0, + 0.35 + ] + }, + { + "step": 551, + "event": "trim_progress", + "pos_err": 0.005, + "yaw_err": -0.9175, + "phase": "final", + "cmd": [ + 0.0, + 0.0, + 0.35 + ] + }, + { + "step": 601, + "event": "trim_progress", + "pos_err": 0.005, + "yaw_err": -0.5677, + "phase": "final", + "cmd": [ + 0.0, + 0.0, + 0.35 + ] + }, + { + "step": 651, + "event": "trim_progress", + "pos_err": 0.005, + "yaw_err": -0.2179, + "phase": "final", + "cmd": [ + 0.0, + 0.0, + 0.35 + ] + }, + { + "step": 701, + "event": "trim_progress", + "pos_err": 0.005, + "yaw_err": -0.0404, + "phase": "final", + "cmd": [ + 0.0, + 0.0, + 0.0693 + ] + }, + { + "step": 751, + "event": "trim_progress", + "pos_err": 0.005, + "yaw_err": -0.0075, + "phase": "final", + "cmd": [ + 0.0, + 0.0, + 0.0128 + ] + }, + { + "step": 801, + "event": "trim_progress", + "pos_err": 0.005, + "yaw_err": -0.0014, + "phase": "final", + "cmd": [ + 0.0, + 0.0, + 0.0024 + ] + }, + { + "step": 1678, + "event": "trim_done", + "pose": [ + -2.024, + 0.756, + 3.1404 + ], + "timed_out": false + }, + { + "step": 1678, + "event": "stage_done", + "stage": "nav_A", + "skill_state": "finished: planner reached target" + }, + { + "step": 1678, + "event": "stage_start", + "stage": "stance_A" + }, + { + "step": 1768, + "event": "stage_done", + "stage": "stance_A", + "skill_state": "finished" + }, + { + "step": 1768, + "event": "stage_start", + "stage": "pick" + }, + { + "step": 2270, + "event": "picked", + "part": [ + -2.0256, + 1.4519, + 0.4603 + ], + "gap_mm": 25.4, + "lift_mm": 30.3 + }, + { + "step": 2316, + "event": "stage_done", + "stage": "pick", + "skill_state": "finished" + }, + { + "step": 2316, + "event": "stage_start", + "stage": "carry" + }, + { + "step": 2565, + "event": "stage_done", + "stage": "carry", + "skill_state": "finished" + }, + { + "step": 2565, + "event": "stage_start", + "stage": "nav_B" + }, + { + "step": 3065, + "event": "enter_zone", + "zone": "B", + "base": [ + 0.64, + 1.896 + ] + }, + { + "step": 3338, + "event": "walk_done", + "pose": [ + 1.154, + 2.249, + -3.082 + ], + "goal": [ + 1.179, + 2.28, + -3.142 + ] + }, + { + "step": 1, + "event": "trim_progress", + "pos_err": 0.0396, + "yaw_err": 0.0599, + "phase": "turn", + "cmd": [ + 0.0, + 0.0, + -0.0926 + ] + }, + { + "step": 51, + "event": "trim_progress", + "pos_err": 0.0396, + "yaw_err": -0.1902, + "phase": "turn", + "cmd": [ + 0.0, + 0.0, + -0.25 + ] + }, + { + "step": 101, + "event": "trim_progress", + "pos_err": 0.0396, + "yaw_err": -0.4403, + "phase": "turn", + "cmd": [ + 0.0, + 0.0, + -0.25 + ] + }, + { + "step": 151, + "event": "trim_progress", + "pos_err": 0.0396, + "yaw_err": -0.6904, + "phase": "turn", + "cmd": [ + 0.0, + 0.0, + -0.25 + ] + }, + { + "step": 201, + "event": "trim_progress", + "pos_err": 0.0396, + "yaw_err": -0.9405, + "phase": "turn", + "cmd": [ + 0.0, + 0.0, + -0.25 + ] + }, + { + "step": 251, + "event": "trim_progress", + "pos_err": 0.0396, + "yaw_err": -1.1906, + "phase": "turn", + "cmd": [ + 0.0, + 0.0, + -0.25 + ] + }, + { + "step": 301, + "event": "trim_progress", + "pos_err": 0.0396, + "yaw_err": -1.4407, + "phase": "turn", + "cmd": [ + 0.0, + 0.0, + -0.25 + ] + }, + { + "step": 351, + "event": "trim_progress", + "pos_err": 0.0396, + "yaw_err": -1.6908, + "phase": "turn", + "cmd": [ + 0.0, + 0.0, + -0.25 + ] + }, + { + "step": 401, + "event": "trim_progress", + "pos_err": 0.0396, + "yaw_err": -1.9409, + "phase": "turn", + "cmd": [ + 0.0, + 0.0, + -0.25 + ] + }, + { + "step": 451, + "event": "trim_progress", + "pos_err": 0.0396, + "yaw_err": -2.1732, + "phase": "turn", + "cmd": [ + 0.0, + 0.0, + -0.1492 + ] + }, + { + "step": 501, + "event": "trim_progress", + "pos_err": 0.0118, + "yaw_err": -2.2112, + "phase": "drive", + "cmd": [ + 0.0219, + -0.0039, + 0.0 + ] + }, + { + "step": 551, + "event": "trim_progress", + "pos_err": 0.0049, + "yaw_err": -2.0433, + "phase": "final", + "cmd": [ + 0.0, + 0.0, + 0.35 + ] + }, + { + "step": 601, + "event": "trim_progress", + "pos_err": 0.0049, + "yaw_err": -1.6934, + "phase": "final", + "cmd": [ + 0.0, + 0.0, + 0.35 + ] + }, + { + "step": 651, + "event": "trim_progress", + "pos_err": 0.0049, + "yaw_err": -1.3435, + "phase": "final", + "cmd": [ + 0.0, + 0.0, + 0.35 + ] + }, + { + "step": 701, + "event": "trim_progress", + "pos_err": 0.0049, + "yaw_err": -0.9935, + "phase": "final", + "cmd": [ + 0.0, + 0.0, + 0.35 + ] + }, + { + "step": 751, + "event": "trim_progress", + "pos_err": 0.0049, + "yaw_err": -0.6436, + "phase": "final", + "cmd": [ + 0.0, + 0.0, + 0.35 + ] + }, + { + "step": 801, + "event": "trim_progress", + "pos_err": 0.0049, + "yaw_err": -0.2937, + "phase": "final", + "cmd": [ + 0.0, + 0.0, + 0.35 + ] + }, + { + "step": 851, + "event": "trim_progress", + "pos_err": 0.0049, + "yaw_err": -0.0583, + "phase": "final", + "cmd": [ + 0.0, + 0.0, + 0.0999 + ] + }, + { + "step": 901, + "event": "trim_progress", + "pos_err": 0.0049, + "yaw_err": -0.0109, + "phase": "final", + "cmd": [ + 0.0, + 0.0, + 0.0186 + ] + }, + { + "step": 951, + "event": "trim_progress", + "pos_err": 0.0049, + "yaw_err": -0.0021, + "phase": "final", + "cmd": [ + 0.0, + 0.0, + 0.0035 + ] + }, + { + "step": 4306, + "event": "trim_done", + "pose": [ + 1.1748, + 2.2776, + 3.1404 + ], + "timed_out": false + }, + { + "step": 4306, + "event": "stage_done", + "stage": "nav_B", + "skill_state": "finished: planner reached target" + }, + { + "step": 4306, + "event": "stage_start", + "stage": "stance_B" + }, + { + "step": 4417, + "event": "stage_done", + "stage": "stance_B", + "skill_state": "finished" + }, + { + "step": 4417, + "event": "stage_start", + "stage": "assemble" + }, + { + "step": 4417, + "event": "wp_start", + "name": "pre_insert", + "kind": "plan" + }, + { + "step": 4417, + "event": "assemble_start", + "t_l6_part": [ + 0.009, + -0.0002, + -0.0183, + 0.0004, + -0.7054, + 0.0022, + 0.7088 + ] + }, + { + "step": 4576, + "event": "wp_done", + "name": "pre_insert" + }, + { + "step": 4576, + "event": "wp_start", + "name": "align", + "kind": "servo" + }, + { + "step": 4604, + "event": "wp_done", + "name": "align" + }, + { + "step": 4604, + "event": "wp_start", + "name": "insert", + "kind": "servo" + }, + { + "step": 4682, + "event": "base_trim", + "n": 1, + "along_fwd_mm": -3.34, + "pos_err_mm": 107.59 + }, + { + "step": 4744, + "event": "stop_condition", + "name": "board_level", + "wp": "insert" + }, + { + "step": 4744, + "event": "wp_done", + "name": "insert" + }, + { + "step": 4744, + "event": "release_start" + }, + { + "step": 4798, + "event": "leave_start" + }, + { + "step": 4827, + "event": "released", + "gap_mm": 89.0 + }, + { + "step": 4856, + "event": "success", + "ok": true, + "tilt_deg": -0.43, + "tilt_err_deg": -0.43, + "support_gap_mm": 0.42, + "wedge_on_plate": true, + "wedge_x_mm": 288.3, + "wedge_yaw_deg": -179.7, + "board_touch_steps": 0 + } + ], + "station_transition_order": [ + "S", + "A", + "B" + ], + "interstation_path_lengths": { + "S": 2.889, + "S->A": 3.718, + "A->B": 0.715 + }, + "base_path_length": 7.323, + "distance_to_first_interaction": 3.634, + "regrasp_events": 0, + "violations": [], + "end_state": { + "ok": true, + "tilt_deg": -0.43, + "tilt_err_deg": -0.43, + "support_gap_mm": 0.42, + "wedge_on_plate": true, + "wedge_x_mm": 288.3, + "wedge_yaw_deg": -179.7, + "board_touch_steps": 0 + }, + "manipulation_success": true, + "mobile_success": true, + "transport_state": { + "picked": true, + "released": true + }, + "command_state": null, + "elapsed_s": 1395.2 +} diff --git a/N025/stretch3/dr_off/seed_1010/stationassembly/000/completed/0.json b/N025/stretch3/dr_off/seed_1010/stationassembly/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..1db0234d1d09a173dbe0f48b261236e22fe34f76 --- /dev/null +++ b/N025/stretch3/dr_off/seed_1010/stationassembly/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationassembly/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N025/stretch3/dr_off/seed_1010/stationassembly/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N025/stretch3/dr_off/seed_1010/stationassembly/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..683dd124dbb4f7b0dba3c969e9542cdc77cb4205 --- /dev/null +++ b/N025/stretch3/dr_off/seed_1010/stationassembly/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3801e6b832ef7cf318aca6c4eac22326a29321175b5571627c5f786917018a55 +size 2814062 diff --git a/N025/stretch3/dr_off/seed_1010/stationassembly/000/lerobot_v21/meta/episodes.jsonl b/N025/stretch3/dr_off/seed_1010/stationassembly/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..be56a020647f334c23528f24b89dafcd4f9fc84a --- /dev/null +++ b/N025/stretch3/dr_off/seed_1010/stationassembly/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level."], "length": 2413, "magicsim/control_steps": 4826, "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 gray table B. There are a large gray table A, a large gray table B, a medium shim board and a small wedge. The gray table A is in front of the wedge. The gray table B is behind the shim board. The shim board is on top of the gray table B. The shim board is in front of the gray table B. The wedge is on top of the gray table A. The wedge is behind the gray table A. The scene is viewed from front-right, slightly above table height."} diff --git a/N025/stretch3/dr_off/seed_1010/stationassembly/000/lerobot_v21/meta/episodes_stats.jsonl b/N025/stretch3/dr_off/seed_1010/stationassembly/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bc3ad9095044f6806b5ce7597850016f0bcc371d --- /dev/null +++ b/N025/stretch3/dr_off/seed_1010/stationassembly/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.00011066594143725015, -9.314976491719497e-05, 0.022075858199197013, -0.7704261937547263, 1.4202220491444328, 0.5997201846908644, -0.0865251208052883, 0.1397910587335131, 0.1203283297639058, -0.41751974099807804, 0.5238292581848322], "std": [0.14621719797965685, 0.0005935627667751821, 0.20914070340812238, 1.649304693894603, 1.107457185433923, 0.06708611753276182, 0.5335376608499011, 0.33456186924939124, 0.34547804198542165, 0.5179005264047932, 0.49943184365272836], "min": [-0.30000001192092896, -0.003912185784429312, -0.800000011920929, -3.297591209411621, -2.378589391708374, 0.43899983167648315, -0.8718189001083374, -0.5075287818908691, -0.5328276753425598, -0.9999998211860657, 0.0], "max": [0.30000001192092896, 0.0, 0.800000011920929, 1.5067614316940308, 2.846855878829956, 0.678779125213623, 0.6980010271072388, 0.6579931974411011, 0.6356912851333618, 0.9999999403953552, 1.0], "count": [2413]}, "action_is_hold": {"mean": [0.009946125155408206, 0.009946125155408206, 0.009946125155408206, 0.03232490675507667, 0.03232490675507667, 0.03232490675507667, 0.03232490675507667, 0.03232490675507667, 0.03232490675507667, 0.03232490675507667, 0.9220886862826357], "std": [0.09923305774690855, 0.09923305774690855, 0.09923305774690855, 0.17686154799263312, 0.17686154799263312, 0.17686154799263312, 0.17686154799263312, 0.17686154799263312, 0.17686154799263312, 0.17686154799263312, 0.2680319774060398], "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": [2413]}, "observation.state": {"mean": [-0.8032602038692993, 1.1427559502425897, 1.5323109831792212, 0.5771241348238343, 1.070176282684115e-07, 5.393456681743309e-09, 0.04202167032224732, 0.042021953871229305, 0.04202247782590653, 0.042016753589075334, 2.229183887328738, -0.8525104521407684, -0.3149711284218431, 0.06303749778388135, 0.06493527452248973], "std": [1.6220652805305933, 1.0841983761463942, 2.0176554728080958, 0.15765910449315274, 3.1157567019163027e-06, 5.917859722454862e-06, 0.03909991267591762, 0.039100179451345723, 0.039100330817870746, 0.039092404608535844, 0.5874356880316496, 0.6991776346260345, 0.36810748645799796, 0.0716385713989404, 0.0718493303611188], "min": [-3.5505499839782715, -2.5154600143432617, -3.141296863555908, 0.3998679518699646, -5.1755730964941904e-05, -9.030559886014089e-05, 0.0, 0.0, 0.0, 0.0, 1.5688800811767578, -1.5700005292892456, -0.7391266226768494, -8.323178257718666e-10, -4.118389795859656e-10], "max": [1.2279162406921387, 2.2778005599975586, 3.1414566040039062, 0.7557516694068909, 6.708948058076203e-05, 8.726886153453961e-05, 0.12884323298931122, 0.12885791063308716, 0.12887533009052277, 0.12868361175060272, 3.4070143699645996, 0.000377047952497378, 0.2956344783306122, 0.2500000596046448, 0.2500002682209015], "count": [2413]}, "observation.joint_vel": {"mean": [0.06818621358390951, -0.01641157592520073, 0.02194547749967071, 0.0011654696752096516, -0.00043223282076951616, -3.675000841080364e-05, 0.0009450577278218818, 0.0009795173995015359, 0.0011204963057400397, 0.0016555803937968966, -0.0008413427769364493, -0.016390999791798783, -0.04486229791241988, 0.10195428572352568, 0.48850340557879623], "std": [0.1144486375351506, 0.05801224948493565, 0.20918252809343188, 0.029789072900857843, 0.0004796699284011784, 7.211971924705968e-05, 0.01297179192365717, 0.013017516698226098, 0.0130593546823609, 0.012153042410989221, 0.10779599241743419, 0.07510767327361388, 0.0826986457025176, 0.18848035666883275, 0.5103152141394877], "min": [-0.02354772761464119, -0.25519469380378723, -0.7997673153877258, -0.2862634062767029, -0.0018521870952099562, -0.0009614295559003949, -0.07445568591356277, -0.07454431802034378, -0.07456404715776443, -0.07632358372211456, -0.39962682127952576, -0.45656517148017883, -0.4320680797100067, -1.000000238418579, -1.000000238418579], "max": [0.2999078631401062, 0.03876085579395294, 0.8000039458274841, 0.12653830647468567, 0.0005167546332813799, 0.0009071769309230149, 0.08072061091661453, 0.080296091735363, 0.0802709311246872, 0.08470530062913895, 0.4657903015613556, 0.11050333827733994, 0.3428575098514557, 1.0000139474868774, 1.0011818408966064], "count": [2413]}, "observation.eef_pose": {"mean": [-0.7708508793258452, 1.4196684961923167, 0.5998193781577449, -0.014016019915321948, 0.1970289431981499, 0.1818086173556773, -0.5622737824521616], "std": [1.6491607405735837, 1.1072163448119225, 0.06691654377687137, 0.54004610772457, 0.3037152005568336, 0.31709026827202463, 0.3568443776657867], "min": [-3.297591209411621, -2.378589391708374, 0.438785582780838, -0.8718189597129822, -0.5076099038124084, -0.5325830578804016, -0.9999999403953552], "max": [1.506967306137085, 2.846853256225586, 0.6786961555480957, 0.6980275511741638, 0.6580071449279785, 0.6356788873672485, 0.5099584460258484], "count": [2413]}, "observation.environment_state": {"mean": [0.05086207297818571, -0.0019729153779932183, 1.2544200420379639, 3.1455700397491455, 0.4300000071525574, -0.6961804628372192, 0.0, 0.0, 0.717866837978363, -2.0, 1.5, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, 1.2000000476837158, 3.0, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, -0.6801999677821741, 1.8368909060584526, 0.5329072227677615, 0.6815484453793932, 0.003212079407832949, 0.03435587579075319, 0.6701658585604197], "std": [0.007479397834525123, 0.015165876664563793, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5558640401439485, 0.5529881375924686, 0.10995320821170765, 0.13560154490251405, 0.023744162803462487, 0.040430128597899906, 0.254150811784097], "min": [0.0039614103734493256, -0.19865751266479492, 1.2544200420379639, 3.1455700397491455, 0.4300000071525574, -0.6961804628372192, 0.0, 0.0, 0.717866837978363, -2.0, 1.5, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, 1.2000000476837158, 3.0, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, -2.042640447616577, 1.0904606580734253, 0.4299849569797516, 0.3189711272716522, -0.041166651993989944, -0.0008119772537611425, -0.27676820755004883], "max": [0.052359893918037415, 1.9106868975882207e-08, 1.2544200420379639, 3.1455700397491455, 0.4300000071525574, -0.6961804628372192, 0.0, 0.0, 0.717866837978363, -2.0, 1.5, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, 1.2000000476837158, 3.0, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, 1.5236693620681763, 2.8574471473693848, 0.6687157154083252, 0.9958903193473816, 0.07885288447141647, 0.09102114289999008, 0.9434155821800232], "count": [2413]}, "action.command": {"mean": [-1.3968200492595442, 0.463061816060082, 0.27158600699918045, 0.35700099468070023, 1.8611580073952438e-08, 1.4574919453638043e-08, -0.14523618976156155, 0.8218415417558886, -0.7735817583999746, 1.404745018983168, 0.6030684169533421, -0.10082563291321513, 0.13374413612617914, 0.11297346369609801, -0.41107865319262227, 0.0797872340425532, -2.8129003732511313, -0.916848569665805, 0.5997648815864163, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3522055240458635, 0.7307468282132603, 0.6171552386909428, -0.09292247375049213, 0.13724182162341117, 0.2805758712928113, -0.5112263822171947, 0.0, -2.7484558522701263, -0.8935130921625855, 0.5997643025573527, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3522055240458635, 0.7307468282132603, 0.6171552386909428, -0.09292247375049213, 0.13724182162341117, 0.2805758712928113, -0.5112263822171947, 0.0, -2.7015219838312357, -0.8390910137112778, 0.5997624871652979, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3522055240458635, 0.7307468282132603, 0.6171552386909428, -0.09292247375049213, 0.13724182162341117, 0.2805758712928113, -0.5112263822171947, 0.0, -2.6372250716875096, -0.8194927620415641, 0.599764292017732, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3522055240458635, 0.7307468282132603, 0.6171552386909428, -0.09292247375049213, 0.13724182162341117, 0.2805758712928113, -0.5112263822171947, 0.0, -2.588885372523034, -0.7586564749184221, 0.5997686918114893, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3522055240458635, 0.7307468282132603, 0.6171552386909428, -0.09292247375049213, 0.13724182162341117, 0.2805758712928113, -0.5112263822171947, 0.0, -2.5262189631414884, -0.7457068162684394, 0.59976396967869, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3522055240458635, 0.7307468282132603, 0.6171552386909428, -0.09292247375049213, 0.13724182162341117, 0.2805758712928113, -0.5112263822171947, 0.0, -2.4760393181649767, -0.6777575153230441, 0.5997653254446121, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3522055240458635, 0.7307468282132603, 0.6171552386909428, -0.09292247375049213, 0.13724182162341117, 0.2805758712928113, -0.5112263822171947, 0.0, -2.421193387543801, -0.6719266568670178, 0.5997629175654215, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3522055240458635, 0.7307468282132603, 0.6171552386909428, -0.09292247375049213, 0.13724182162341117, 0.2805758712928113, -0.5112263822171947, 0.0, -2.377359818408985, -0.6271119201832479, 0.5997644520484575, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3522055240458635, 0.7307468282132603, 0.6171552386909428, -0.09292247375049213, 0.13724182162341117, 0.2805758712928113, -0.5112263822171947, 0.0, -2.3295140632308358, -0.5984174880650964, 0.8375310983398173, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3522055240458635, 0.7307468282132603, 0.6171552386909428, -0.09292247375049213, 0.13724182162341117, 0.2805758712928113, -0.5112263822171947, 0.0, -2.300652804941234, -0.5797755840686288, 0.8375293869193238, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3522055240458635, 0.7307468282132603, 0.6171552386909428, -0.09292247375049213, 0.13724182162341117, 0.2805758712928113, -0.5112263822171947, 0.0, -2.235828151797304, -0.49213908243887494, 0.837528011881479, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3522055240458635, 0.7307468282132603, 0.6171552386909428, -0.09292247375049213, 0.13724182162341117, 0.2805758712928113, -0.5112263822171947, 0.0, -2.200402285202895, -0.46470718749678963, 0.8375295790115206, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3522055240458635, 0.7307468282132603, 0.6171552386909428, -0.09292247375049213, 0.13724182162341117, 0.2805758712928113, -0.5112263822171947, 0.0, -2.1158484244110562, -0.37089238175661254, 0.8375367048648324, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3522055240458635, 0.7307468282132603, 0.6171552386909428, -0.09292247375049213, 0.13724182162341117, 0.2805758712928113, -0.5112263822171947, 0.0, -2.1072156597482095, -0.35314393928735566, 0.8375758056593413, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3522055240458635, 0.7307468282132603, 0.6171552386909428, -0.09292247375049213, 0.13724182162341117, 0.2805758712928113, -0.5112263822171947, 0.0, -2.081119583679898, -0.2981761528713868, 0.8375279032947993, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3522055240458635, 0.7307468282132603, 0.6171552386909428, -0.09292247375049213, 0.13724182162341117, 0.2805758712928113, -0.5112263822171947, 0.0, -2.0103378284095537, -0.23985256977600627, 0.8375290114395689, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3522055240458635, 0.7307468282132603, 0.6171552386909428, -0.09292247375049213, 0.13724182162341117, 0.2805758712928113, -0.5112263822171947, 0.0, -1.9462391239876795, -0.16844722894158695, 0.8375302088437694, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3522055240458635, 0.7307468282132603, 0.6171552386909428, -0.09292247375049213, 0.13724182162341117, 0.2805758712928113, -0.5112263822171947, 0.0, -1.910658292841203, -0.12473846721177054, 0.8375289510972429, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3522055240458635, 0.7307468282132603, 0.6171552386909428, -0.09292247375049213, 0.13724182162341117, 0.2805758712928113, -0.5112263822171947, 0.0, -1.8669043586100682, -0.07033844100366725, 0.8375284173110924, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3522055240458635, 0.7307468282132603, 0.6171552386909428, -0.09292247375049213, 0.13724182162341117, 0.2805758712928113, -0.5112263822171947, 0.0, -1.813095719950034, -0.010912094966019734, 0.8375288193473721, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3522055240458635, 0.7307468282132603, 0.6171552386909428, -0.09292247375049213, 0.13724182162341117, 0.2805758712928113, -0.5112263822171947, 0.0, -1.7652818541420567, 0.04045790433883667, 0.837529178893212, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3522055240458635, 0.7307468282132603, 0.6171552386909428, -0.09292247375049213, 0.13724182162341117, 0.2805758712928113, -0.5112263822171947, 0.0, -1.7170191240487713, 0.10200565773071629, 0.8375296769755902, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3522055240458635, 0.7307468282132603, 0.6171552386909428, -0.09292247375049213, 0.13724182162341117, 0.2805758712928113, -0.5112263822171947, 0.0, -1.6787707647769758, 0.14265202694010026, 0.8375289491792717, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3522055240458635, 0.7307468282132603, 0.6171552386909428, -0.09292247375049213, 0.13724182162341117, 0.2805758712928113, -0.5112263822171947, 0.0, -1.621827332985283, 0.2146277535374802, 0.8375305413904757, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3522055240458635, 0.7307468282132603, 0.6171552386909428, -0.09292247375049213, 0.13724182162341117, 0.2805758712928113, -0.5112263822171947, 0.0, -1.5810232512136497, 0.2512425669644139, 0.8375296306492078, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3522055240458635, 0.7307468282132603, 0.6171552386909428, -0.09292247375049213, 0.13724182162341117, 0.2805758712928113, -0.5112263822171947, 0.0, -1.526885902453767, 0.3267543112287427, 0.8375311890746108, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3522055240458635, 0.7307468282132603, 0.6171552386909428, -0.09292247375049213, 0.13724182162341117, 0.2805758712928113, -0.5112263822171947, 0.0, -1.496608208606739, 0.35224352009815746, 0.8375290186688451, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3522055240458635, 0.7307468282132603, 0.6171552386909428, -0.09292247375049213, 0.13724182162341117, 0.2805758712928113, -0.5112263822171947, 0.0, -1.4314337431056665, 0.439670159011194, 0.8375305698649718, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3522055240458635, 0.7307468282132603, 0.6171552386909428, -0.09292247375049213, 0.13724182162341117, 0.2805758712928113, -0.5112263822171947, 0.0, -1.3965041849504012, 0.4621755870261995, 0.8375298869196731, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3522055240458635, 0.7307468282132603, 0.6171552386909428, -0.09292247375049213, 0.13724182162341117, 0.2805758712928113, -0.5112263822171947, 0.0, -1.3543741777908094, 0.5138047539656705, 0.8375286861221389, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3522055240458635, 0.7307468282132603, 0.6171552386909428, -0.09292247375049213, 0.13724182162341117, 0.2805758712928113, -0.5112263822171947, 0.0, -1.3144058407524066, 0.5618576740126798, 0.8375314111166662, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3522055240458635, 0.7307468282132603, 0.6171552386909428, -0.09292247375049213, 0.13724182162341117, 0.2805758712928113, -0.5112263822171947, 0.0, -1.27917177405319, 0.5843140198157566, 0.8375288034134573, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3522055240458635, 0.7307468282132603, 0.6171552386909428, -0.09292247375049213, 0.13724182162341117, 0.2805758712928113, -0.5112263822171947, 0.0, -1.211984937217566, 0.6731085759578365, 0.8375304665895972, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3522055240458635, 0.7307468282132603, 0.6171552386909428, -0.09292247375049213, 0.13724182162341117, 0.2805758712928113, -0.5112263822171947, 0.0, -1.1839256250105872, 0.6971155695690967, 0.8375286113212604, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3522055240458635, 0.7307468282132603, 0.6171552386909428, -0.09292247375049213, 0.13724182162341117, 0.2805758712928113, -0.5112263822171947, 0.0, -1.1324469173825022, 0.7713330734687129, 0.8375291875978508, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3522055240458635, 0.7307468282132603, 0.6171552386909428, -0.09292247375049213, 0.13724182162341117, 0.2805758712928113, -0.5112263822171947, 0.0, -1.0887426267018412, 0.8093763337203181, 0.8375289689491291, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3522055240458635, 0.7307468282132603, 0.6171552386909428, -0.09292247375049213, 0.13724182162341117, 0.2805758712928113, -0.5112263822171947, 0.0, -1.0270940190052043, 0.8842530837005907, 0.8375299829657715, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3522055240458635, 0.7307468282132603, 0.6171552386909428, -0.09292247375049213, 0.13724182162341117, 0.2805758712928113, -0.5112263822171947, 0.0, -0.9932229256275857, 0.9222179117179153, 0.8375294776541171, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3522055240458635, 0.7307468282132603, 0.6171552386909428, -0.09292247375049213, 0.13724182162341117, 0.2805758712928113, -0.5112263822171947, 0.0, -0.9506109844487493, 0.9808357359823023, 0.8375289848830441, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3522055240458635, 0.7307468282132603, 0.6171552386909428, -0.09292247375049213, 0.13724182162341117, 0.2805758712928113, -0.5112263822171947, 0.0, -0.8979324391572783, 1.0345383200167428, 0.8375288656737545, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3522055240458635, 0.7307468282132603, 0.6171552386909428, -0.09292247375049213, 0.13724182162341117, 0.2805758712928113, -0.5112263822171947, 0.0, -0.8346429415563545, 1.100252095425483, 0.8375291822865458, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3522055240458635, 0.7307468282132603, 0.6171552386909428, -0.09292247375049213, 0.13724182162341117, 0.2805758712928113, -0.5112263822171947, 0.0, -0.8029549480369775, 1.145885318517685, 0.8375278796889994, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3522055240458635, 0.7307468282132603, 0.6171552386909428, -0.09292247375049213, 0.13724182162341117, 0.2805758712928113, -0.5112263822171947, 0.0, -0.7768332931664911, 1.187274399222714, 0.8375297266953062, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3522055240458635, 0.7307468282132603, 0.6171552386909428, -0.09292247375049213, 0.13724182162341117, 0.2805758712928113, -0.5112263822171947, 0.0, -0.7080708413135888, 1.2553846659046588, 0.8375280456672801, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3522055240458635, 0.7307468282132603, 0.6171552386909428, -0.09292247375049213, 0.13724182162341117, 0.2805758712928113, -0.5112263822171947, 0.0, -0.6504894782706062, 1.3142500409100315, 0.8375283671487675, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3522055240458635, 0.7307468282132603, 0.6171552386909428, -0.09292247375049213, 0.13724182162341117, 0.2805758712928113, -0.5112263822171947, 0.0, -0.6125416221595047, 1.3637420186902036, 1.053188769681619, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3522055240458635, 0.7307468282132603, 0.6171552386909428, -0.09292247375049213, 0.13724182162341117, 0.2805758712928113, -0.5112263822171947, 0.0, -0.5777136919522049, 1.400557244178092, -1.393554698712755, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3522055240458635, 0.7307468282132603, 0.6171552386909428, -0.09292247375049213, 0.13724182162341117, 0.2805758712928113, -0.5112263822171947, 0.0, 1.0535823106765747, 2.131255865097046, 0.517516553401947, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20711027523937003, 1.82928365221913, 0.6689795251028525, 0.6264728911491255, 0.2872885703422863, 0.5873159803257088, -0.4091988178114817, 0.0, 1.0811659097671509, 2.146958351135254, 0.5175132155418396, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20711027523937003, 1.82928365221913, 0.6689795251028525, 0.6264728911491255, 0.2872885703422863, 0.5873159803257088, -0.4091988178114817, 0.0, 1.1780872344970703, 2.202132225036621, 1.5590746402740479, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20711027523937003, 1.82928365221913, 0.6689795251028525, 0.6264728911491255, 0.2872885703422863, 0.5873159803257088, -0.4091988178114817, 0.0, 1.1790000200271606, 2.2799999713897705, -3.1415927410125732, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20711027523937003, 1.82928365221913, 0.6689795251028525, 0.6264728911491255, 0.2872885703422863, 0.5873159803257088, -0.4091988178114817, 0.0], "std": [1.8219988546596124, 1.7674446487102946, 0.47370142729131814, 0.42483838494259824, 5.143878128745259e-08, 4.0280629944478145e-08, 0.8191270409391679, 1.1349774934557901, 1.6478594805483067, 1.1119450777805973, 0.06426607360812178, 0.534290563558594, 0.335200901222395, 0.3454130339017462, 0.5225530675226746, 0.27096352397766027, 0.7376124141989292, 1.6000569023637243, 0.5546682664014351, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3346594904768299, 1.3675740588081218, 0.04956450322588279, 0.7071077898026834, 0.15040326879072557, 0.2943533101978705, 0.15227711920969733, 0.0, 0.7839788521330076, 1.5798784959100631, 0.5546677500306937, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3346594904768299, 1.3675740588081218, 0.04956450322588279, 0.7071077898026834, 0.15040326879072557, 0.2943533101978705, 0.15227711920969733, 0.0, 0.7820882243972999, 1.528681254318098, 0.5546662827934766, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3346594904768299, 1.3675740588081218, 0.04956450322588279, 0.7071077898026834, 0.15040326879072557, 0.2943533101978705, 0.15227711920969733, 0.0, 0.8318579232556345, 1.512141700380703, 0.5546671378289961, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3346594904768299, 1.3675740588081218, 0.04956450322588279, 0.7071077898026834, 0.15040326879072557, 0.2943533101978705, 0.15227711920969733, 0.0, 0.8253525823175251, 1.454745181488328, 0.5546723843417978, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3346594904768299, 1.3675740588081218, 0.04956450322588279, 0.7071077898026834, 0.15040326879072557, 0.2943533101978705, 0.15227711920969733, 0.0, 0.8797214530145628, 1.4446245084886549, 0.5546684720193354, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3346594904768299, 1.3675740588081218, 0.04956450322588279, 0.7071077898026834, 0.15040326879072557, 0.2943533101978705, 0.15227711920969733, 0.0, 0.8683979320549644, 1.3803644827474777, 0.5546685501727517, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3346594904768299, 1.3675740588081218, 0.04956450322588279, 0.7071077898026834, 0.15040326879072557, 0.2943533101978705, 0.15227711920969733, 0.0, 0.9212243372905902, 1.3768735411410147, 0.5546670792139324, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3346594904768299, 1.3675740588081218, 0.04956450322588279, 0.7071077898026834, 0.15040326879072557, 0.2943533101978705, 0.15227711920969733, 0.0, 0.9251866109446205, 1.3349218925448059, 0.5546675937238824, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3346594904768299, 1.3675740588081218, 0.04956450322588279, 0.7071077898026834, 0.15040326879072557, 0.2943533101978705, 0.15227711920969733, 0.0, 0.9487784605952976, 1.3088525649285465, 0.3060626254559833, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3346594904768299, 1.3675740588081218, 0.04956450322588279, 0.7071077898026834, 0.15040326879072557, 0.2943533101978705, 0.15227711920969733, 0.0, 0.9761017261717121, 1.3222910511248365, 0.306061672728705, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3346594904768299, 1.3675740588081218, 0.04956450322588279, 0.7071077898026834, 0.15040326879072557, 0.2943533101978705, 0.15227711920969733, 0.0, 0.9784309061820966, 1.2750951152325218, 0.3060602436377901, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3346594904768299, 1.3675740588081218, 0.04956450322588279, 0.7071077898026834, 0.15040326879072557, 0.2943533101978705, 0.15227711920969733, 0.0, 1.0060991781236779, 1.2838973029990584, 0.3060619704559809, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3346594904768299, 1.3675740588081218, 0.04956450322588279, 0.7071077898026834, 0.15040326879072557, 0.2943533101978705, 0.15227711920969733, 0.0, 1.0355757264369656, 1.2569879081063142, 0.30605402113776137, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3346594904768299, 1.3675740588081218, 0.04956450322588279, 0.7071077898026834, 0.15040326879072557, 0.2943533101978705, 0.15227711920969733, 0.0, 1.0280450723124692, 1.2404265009869957, 0.3060132622739459, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3346594904768299, 1.3675740588081218, 0.04956450322588279, 0.7071077898026834, 0.15040326879072557, 0.2943533101978705, 0.15227711920969733, 0.0, 1.0035830849306409, 1.1881380889355952, 0.3060604818196082, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3346594904768299, 1.3675740588081218, 0.04956450322588279, 0.7071077898026834, 0.15040326879072557, 0.2943533101978705, 0.15227711920969733, 0.0, 1.0543315919751601, 1.1997835721693604, 0.30606194068325093, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3346594904768299, 1.3675740588081218, 0.04956450322588279, 0.7071077898026834, 0.15040326879072557, 0.2943533101978705, 0.15227711920969733, 0.0, 1.0763080032095425, 1.1789002070762102, 0.3060620597741621, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3346594904768299, 1.3675740588081218, 0.04956450322588279, 0.7071077898026834, 0.15040326879072557, 0.2943533101978705, 0.15227711920969733, 0.0, 1.08325389119506, 1.160423133357446, 0.3060612559105231, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3346594904768299, 1.3675740588081218, 0.04956450322588279, 0.7071077898026834, 0.15040326879072557, 0.2943533101978705, 0.15227711920969733, 0.0, 1.0909549941839611, 1.1366006641602804, 0.30606131545597676, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3346594904768299, 1.3675740588081218, 0.04956450322588279, 0.7071077898026834, 0.15040326879072557, 0.2943533101978705, 0.15227711920969733, 0.0, 1.1100689065419536, 1.1199421086314412, 0.30606164295597815, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3346594904768299, 1.3675740588081218, 0.04956450322588279, 0.7071077898026834, 0.15040326879072557, 0.2943533101978705, 0.15227711920969733, 0.0, 1.1289056348077853, 1.107567014939868, 0.306061017728705, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3346594904768299, 1.3675740588081218, 0.04956450322588279, 0.7071077898026834, 0.15040326879072557, 0.2943533101978705, 0.15227711920969733, 0.0, 1.1354112139277022, 1.0786827354928743, 0.30606149409233985, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3346594904768299, 1.3675740588081218, 0.04956450322588279, 0.7071077898026834, 0.15040326879072557, 0.2943533101978705, 0.15227711920969733, 0.0, 1.1510558889974851, 1.0695387568157269, 0.30606188113779725, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3346594904768299, 1.3675740588081218, 0.04956450322588279, 0.7071077898026834, 0.15040326879072557, 0.2943533101978705, 0.15227711920969733, 0.0, 1.1595601410808618, 1.0365450371231042, 0.3060628338650735, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3346594904768299, 1.3675740588081218, 0.04956450322588279, 0.7071077898026834, 0.15040326879072557, 0.2943533101978705, 0.15227711920969733, 0.0, 1.184955116421393, 1.038198733494114, 0.30606179181961873, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3346594904768299, 1.3675740588081218, 0.04956450322588279, 0.7071077898026834, 0.15040326879072557, 0.2943533101978705, 0.15227711920969733, 0.0, 1.1839029928939828, 0.9948553885280842, 0.3060626552287087, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3346594904768299, 1.3675740588081218, 0.04956450322588279, 0.7071077898026834, 0.15040326879072557, 0.2943533101978705, 0.15227711920969733, 0.0, 1.2049140085558636, 0.9989229683189365, 0.30606143454688656, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3346594904768299, 1.3675740588081218, 0.04956450322588279, 0.7071077898026834, 0.15040326879072557, 0.2943533101978705, 0.15227711920969733, 0.0, 1.2081364448202407, 0.9526266898170007, 0.30606280409234715, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3346594904768299, 1.3675740588081218, 0.04956450322588279, 0.7071077898026834, 0.15040326879072557, 0.2943533101978705, 0.15227711920969733, 0.0, 1.2412769366157923, 0.9689854488672306, 0.30606152386506713, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3346594904768299, 1.3675740588081218, 0.04956450322588279, 0.7071077898026834, 0.15040326879072557, 0.2943533101978705, 0.15227711920969733, 0.0, 1.2496622764259147, 0.9473184358160553, 0.3060606604559745, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3346594904768299, 1.3675740588081218, 0.04956450322588279, 0.7071077898026834, 0.15040326879072557, 0.2943533101978705, 0.15227711920969733, 0.0, 1.2588132563459893, 0.928330655617727, 0.3060642927287167, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3346594904768299, 1.3675740588081218, 0.04956450322588279, 0.7071077898026834, 0.15040326879072557, 0.2943533101978705, 0.15227711920969733, 0.0, 1.2925590714183761, 0.9452466708068235, 0.3060612856832502, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3346594904768299, 1.3675740588081218, 0.04956450322588279, 0.7071077898026834, 0.15040326879072557, 0.2943533101978705, 0.15227711920969733, 0.0, 1.297598697264709, 0.899772194013088, 0.3060631613650763, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3346594904768299, 1.3675740588081218, 0.04956450322588279, 0.7071077898026834, 0.15040326879072557, 0.2943533101978705, 0.15227711920969733, 0.0, 1.316573131837979, 0.9028901428906301, 0.3060609879559754, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3346594904768299, 1.3675740588081218, 0.04956450322588279, 0.7071077898026834, 0.15040326879072557, 0.2943533101978705, 0.15227711920969733, 0.0, 1.3124579603423407, 0.8575934297482624, 0.30606188113779725, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3346594904768299, 1.3675740588081218, 0.04956450322588279, 0.7071077898026834, 0.15040326879072557, 0.2943533101978705, 0.15227711920969733, 0.0, 1.3411723045045185, 0.8613495291258011, 0.3060609879559754, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3346594904768299, 1.3675740588081218, 0.04956450322588279, 0.7071077898026834, 0.15040326879072557, 0.2943533101978705, 0.15227711920969733, 0.0, 1.3543090738812784, 0.8307801951826441, 0.306061672728705, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3346594904768299, 1.3675740588081218, 0.04956450322588279, 0.7071077898026834, 0.15040326879072557, 0.2943533101978705, 0.15227711920969733, 0.0, 1.3656217129090042, 0.8193515913816743, 0.30606170250143383, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3346594904768299, 1.3675740588081218, 0.04956450322588279, 0.7071077898026834, 0.15040326879072557, 0.2943533101978705, 0.15227711920969733, 0.0, 1.3658489234782138, 0.7866188668606767, 0.3060613452287052, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3346594904768299, 1.3675740588081218, 0.04956450322588279, 0.7071077898026834, 0.15040326879072557, 0.2943533101978705, 0.15227711920969733, 0.0, 1.3903355180192374, 0.7778777504012407, 0.3060613452287052, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3346594904768299, 1.3675740588081218, 0.04956450322588279, 0.7071077898026834, 0.15040326879072557, 0.2943533101978705, 0.15227711920969733, 0.0, 1.4182140747344758, 0.7653571425044874, 0.30606176204688745, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3346594904768299, 1.3675740588081218, 0.04956450322588279, 0.7071077898026834, 0.15040326879072557, 0.2943533101978705, 0.15227711920969733, 0.0, 1.4157478806325878, 0.7375620982896078, 0.3060626254559833, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3346594904768299, 1.3675740588081218, 0.04956450322588279, 0.7071077898026834, 0.15040326879072557, 0.2943533101978705, 0.15227711920969733, 0.0, 1.408848854919986, 0.7082720761135222, 0.30606194068325093, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3346594904768299, 1.3675740588081218, 0.04956450322588279, 0.7071077898026834, 0.15040326879072557, 0.2943533101978705, 0.15227711920969733, 0.0, 1.4433777457558161, 0.7002250140321773, 0.3060603329559721, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3346594904768299, 1.3675740588081218, 0.04956450322588279, 0.7071077898026834, 0.15040326879072557, 0.2943533101978705, 0.15227711920969733, 0.0, 1.4699306717833232, 0.6903918264883118, 0.3060628636378029, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3346594904768299, 1.3675740588081218, 0.04956450322588279, 0.7071077898026834, 0.15040326879072557, 0.2943533101978705, 0.15227711920969733, 0.0, 1.47362883157256, 0.665823461151465, 0.5123163206940807, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3346594904768299, 1.3675740588081218, 0.04956450322588279, 0.7071077898026834, 0.15040326879072557, 0.2943533101978705, 0.15227711920969733, 0.0, 1.5090896385488801, 0.6697620357144891, 1.8277359454246356, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3346594904768299, 1.3675740588081218, 0.04956450322588279, 0.7071077898026834, 0.15040326879072557, 0.2943533101978705, 0.15227711920969733, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.9947558278366045, 0.5390342428394871, 5.234230138069062e-09, 0.048714757476212144, 0.06515063110528915, 0.03487292601553344, 0.06913318084814109, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.9947558278366045, 0.5390342428394871, 5.234230138069062e-09, 0.048714757476212144, 0.06515063110528915, 0.03487292601553344, 0.06913318084814109, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.9947558278366045, 0.5390342428394871, 5.234230138069062e-09, 0.048714757476212144, 0.06515063110528915, 0.03487292601553344, 0.06913318084814109, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.9947558278366045, 0.5390342428394871, 5.234230138069062e-09, 0.048714757476212144, 0.06515063110528915, 0.03487292601553344, 0.06913318084814109, 0.0], "min": [-3.550550699234009, -2.515437602996826, 0.0, -4.371138828673793e-08, 0.0, 0.0, -1.0, -1.0, -3.297591209411621, -2.378589391708374, 0.43899983167648315, -0.8718189001083374, -0.5075287818908691, -0.5328276753425598, -0.9999998211860657, 0.0, -3.5183494091033936, -2.4471354484558105, 0.01980775035917759, 0.0, 0.0, 0.0, 0.0, 2.0, -3.297591209411621, -2.378589391708374, 0.5697519779205322, -0.8718189001083374, -5.996309482725337e-06, -1.6748050484238775e-06, -0.9995306730270386, 0.0, -3.4982495307922363, -2.404501438140869, 0.019807711243629456, 0.0, 0.0, 0.0, 0.0, 2.0, -3.297591209411621, -2.378589391708374, 0.5697519779205322, -0.8718189001083374, -5.996309482725337e-06, -1.6748050484238775e-06, -0.9995306730270386, 0.0, -3.449507474899292, -2.301114559173584, 0.01980742998421192, 0.0, 0.0, 0.0, 0.0, 2.0, -3.297591209411621, -2.378589391708374, 0.5697519779205322, -0.8718189001083374, -5.996309482725337e-06, -1.6748050484238775e-06, -0.9995306730270386, 0.0, -3.432810068130493, -2.265697956085205, 0.019808340817689896, 0.0, 0.0, 0.0, 0.0, 2.0, -3.297591209411621, -2.378589391708374, 0.5697519779205322, -0.8718189001083374, -5.996309482725337e-06, -1.6748050484238775e-06, -0.9995306730270386, 0.0, -3.378248691558838, -2.149967908859253, 0.019807254895567894, 0.0, 0.0, 0.0, 0.0, 2.0, -3.297591209411621, -2.378589391708374, 0.5697519779205322, -0.8718189001083374, -5.996309482725337e-06, -1.6748050484238775e-06, -0.9995306730270386, 0.0, -3.3675804138183594, -2.1273388862609863, 0.019806623458862305, 0.0, 0.0, 0.0, 0.0, 2.0, -3.297591209411621, -2.378589391708374, 0.5697519779205322, -0.8718189001083374, -5.996309482725337e-06, -1.6748050484238775e-06, -0.9995306730270386, 0.0, -3.3065710067749023, -1.9979315996170044, 0.01980789750814438, 0.0, 0.0, 0.0, 0.0, 2.0, -3.297591209411621, -2.378589391708374, 0.5697519779205322, -0.8718189001083374, -5.996309482725337e-06, -1.6748050484238775e-06, -0.9995306730270386, 0.0, -3.302248001098633, -1.9887620210647583, 0.019807027652859688, 0.0, 0.0, 0.0, 0.0, 2.0, -3.297591209411621, -2.378589391708374, 0.5697519779205322, -0.8718189001083374, -5.996309482725337e-06, -1.6748050484238775e-06, -0.9995306730270386, 0.0, -3.2622039318084717, -1.9038249254226685, 0.019808024168014526, 0.0, 0.0, 0.0, 0.0, 2.0, -3.297591209411621, -2.378589391708374, 0.5697519779205322, -0.8718189001083374, -5.996309482725337e-06, -1.6748050484238775e-06, -0.9995306730270386, 0.0, -3.2369213104248047, -1.8501979112625122, 0.5175142288208008, 0.0, 0.0, 0.0, 0.0, 2.0, -3.297591209411621, -2.378589391708374, 0.5697519779205322, -0.8718189001083374, -5.996309482725337e-06, -1.6748050484238775e-06, -0.9995306730270386, 0.0, -3.23419189453125, -1.8444085121154785, 0.5175135135650635, 0.0, 0.0, 0.0, 0.0, 2.0, -3.297591209411621, -2.378589391708374, 0.5697519779205322, -0.8718189001083374, -5.996309482725337e-06, -1.6748050484238775e-06, -0.9995306730270386, 0.0, -3.1715948581695557, -1.7116340398788452, 0.517513632774353, 0.0, 0.0, 0.0, 0.0, 2.0, -3.297591209411621, -2.378589391708374, 0.5697519779205322, -0.8718189001083374, -5.996309482725337e-06, -1.6748050484238775e-06, -0.9995306730270386, 0.0, -3.162630796432495, -1.6926205158233643, 0.5175133943557739, 0.0, 0.0, 0.0, 0.0, 2.0, -3.297591209411621, -2.378589391708374, 0.5697519779205322, -0.8718189001083374, -5.996309482725337e-06, -1.6748050484238775e-06, -0.9995306730270386, 0.0, -3.1062681674957275, -1.57306969165802, 0.5175288319587708, 0.0, 0.0, 0.0, 0.0, 2.0, -3.297591209411621, -2.378589391708374, 0.5697519779205322, -0.8718189001083374, -5.996309482725337e-06, -1.6748050484238775e-06, -0.9995306730270386, 0.0, -3.090433120727539, -1.5394819974899292, 0.5176105499267578, 0.0, 0.0, 0.0, 0.0, 2.0, -3.297591209411621, -2.378589391708374, 0.5697519779205322, -0.8718189001083374, -5.996309482725337e-06, -1.6748050484238775e-06, -0.9995306730270386, 0.0, -3.0409417152404785, -1.434505820274353, 0.5175132751464844, 0.0, 0.0, 0.0, 0.0, 2.0, -3.297591209411621, -2.378589391708374, 0.5697519779205322, -0.8718189001083374, -5.996309482725337e-06, -1.6748050484238775e-06, -0.9995306730270386, 0.0, -3.018695592880249, -1.3873199224472046, 0.517512857913971, 0.0, 0.0, 0.0, 0.0, 2.0, -3.297591209411621, -2.378589391708374, 0.5697519779205322, -0.8718189001083374, -5.996309482725337e-06, -1.6748050484238775e-06, -0.9995306730270386, 0.0, -2.9756150245666504, -1.2959418296813965, 0.5175139307975769, 0.0, 0.0, 0.0, 0.0, 2.0, -3.297591209411621, -2.378589391708374, 0.5697519779205322, -0.8718189001083374, -5.996309482725337e-06, -1.6748050484238775e-06, -0.9995306730270386, 0.0, -2.9466772079467773, -1.2345616817474365, 0.5175135135650635, 0.0, 0.0, 0.0, 0.0, 2.0, -3.297591209411621, -2.378589391708374, 0.5697519779205322, -0.8718189001083374, -5.996309482725337e-06, -1.6748050484238775e-06, -0.9995306730270386, 0.0, -2.9102885723114014, -1.1573779582977295, 0.5175129175186157, 0.0, 0.0, 0.0, 0.0, 2.0, -3.297591209411621, -2.378589391708374, 0.5697519779205322, -0.8718189001083374, -5.996309482725337e-06, -1.6748050484238775e-06, -0.9995306730270386, 0.0, -2.874760389328003, -1.0820194482803345, 0.5175129771232605, 0.0, 0.0, 0.0, 0.0, 2.0, -3.297591209411621, -2.378589391708374, 0.5697519779205322, -0.8718189001083374, -5.996309482725337e-06, -1.6748050484238775e-06, -0.9995306730270386, 0.0, -2.8449618816375732, -1.018813967704773, 0.5175139904022217, 0.0, 0.0, 0.0, 0.0, 2.0, -3.297591209411621, -2.378589391708374, 0.5697519779205322, -0.8718189001083374, -5.996309482725337e-06, -1.6748050484238775e-06, -0.9995306730270386, 0.0, -2.8029210567474365, -0.9296414256095886, 0.5175139904022217, 0.0, 0.0, 0.0, 0.0, 2.0, -3.297591209411621, -2.378589391708374, 0.5697519779205322, -0.8718189001083374, -5.996309482725337e-06, -1.6748050484238775e-06, -0.9995306730270386, 0.0, -2.779635190963745, -0.8802497982978821, 0.517512857913971, 0.0, 0.0, 0.0, 0.0, 2.0, -3.297591209411621, -2.378589391708374, 0.5697519779205322, -0.8718189001083374, -5.996309482725337e-06, -1.6748050484238775e-06, -0.9995306730270386, 0.0, -2.730825185775757, -0.7767190337181091, 0.5175134539604187, 0.0, 0.0, 0.0, 0.0, 2.0, -3.297591209411621, -2.378589391708374, 0.5697519779205322, -0.8718189001083374, -5.996309482725337e-06, -1.6748050484238775e-06, -0.9995306730270386, 0.0, -2.714308738708496, -0.7416858077049255, 0.517513632774353, 0.0, 0.0, 0.0, 0.0, 2.0, -3.297591209411621, -2.378589391708374, 0.5697519779205322, -0.8718189001083374, -5.996309482725337e-06, -1.6748050484238775e-06, -0.9995306730270386, 0.0, -2.659165143966675, -0.6247206926345825, 0.5175142884254456, 0.0, 0.0, 0.0, 0.0, 2.0, -3.297591209411621, -2.378589391708374, 0.5697519779205322, -0.8718189001083374, -5.996309482725337e-06, -1.6748050484238775e-06, -0.9995306730270386, 0.0, -2.648982286453247, -0.6031216979026794, 0.5175133943557739, 0.0, 0.0, 0.0, 0.0, 2.0, -3.297591209411621, -2.378589391708374, 0.5697519779205322, -0.8718189001083374, -5.996309482725337e-06, -1.6748050484238775e-06, -0.9995306730270386, 0.0, -2.5868897438049316, -0.47141751646995544, 0.5175135135650635, 0.0, 0.0, 0.0, 0.0, 2.0, -3.297591209411621, -2.378589391708374, 0.5697519779205322, -0.8718189001083374, -5.996309482725337e-06, -1.6748050484238775e-06, -0.9995306730270386, 0.0, -2.583655595779419, -0.4645575284957886, 0.517514169216156, 0.0, 0.0, 0.0, 0.0, 2.0, -3.297591209411621, -2.378589391708374, 0.5697519779205322, -0.8718189001083374, -5.996309482725337e-06, -1.6748050484238775e-06, -0.9995306730270386, 0.0, -2.5495452880859375, -0.3922061324119568, 0.5175138711929321, 0.0, 0.0, 0.0, 0.0, 2.0, -3.297591209411621, -2.378589391708374, 0.5697519779205322, -0.8718189001083374, -5.996309482725337e-06, -1.6748050484238775e-06, -0.9995306730270386, 0.0, -2.518328905105591, -0.3259933888912201, 0.5175127983093262, 0.0, 0.0, 0.0, 0.0, 2.0, -3.297591209411621, -2.378589391708374, 0.5697519779205322, -0.8718189001083374, -5.996309482725337e-06, -1.6748050484238775e-06, -0.9995306730270386, 0.0, -2.515369176864624, -0.3197154402732849, 0.5175133347511292, 0.0, 0.0, 0.0, 0.0, 2.0, -3.297591209411621, -2.378589391708374, 0.5697519779205322, -0.8718189001083374, -5.996309482725337e-06, -1.6748050484238775e-06, -0.9995306730270386, 0.0, -2.4530022144317627, -0.1874293088912964, 0.5175130367279053, 0.0, 0.0, 0.0, 0.0, 2.0, -3.297591209411621, -2.378589391708374, 0.5697519779205322, -0.8718189001083374, -5.996309482725337e-06, -1.6748050484238775e-06, -0.9995306730270386, 0.0, -2.4430899620056152, -0.16640430688858032, 0.5175134539604187, 0.0, 0.0, 0.0, 0.0, 2.0, -3.297591209411621, -2.378589391708374, 0.5697519779205322, -0.8718189001083374, -5.996309482725337e-06, -1.6748050484238775e-06, -0.9995306730270386, 0.0, -2.3876755237579346, -0.048865240067243576, 0.51751309633255, 0.0, 0.0, 0.0, 0.0, 2.0, -3.297591209411621, -2.378589391708374, 0.5697519779205322, -0.8718189001083374, -5.996309482725337e-06, -1.6748050484238775e-06, -0.9995306730270386, 0.0, -2.3714334964752197, -0.014414295554161072, 0.5175138115882874, 0.0, 0.0, 0.0, 0.0, 2.0, -3.297591209411621, -2.378589391708374, 0.5697519779205322, -0.8718189001083374, -5.996309482725337e-06, -1.6748050484238775e-06, -0.9995306730270386, 0.0, -2.3223488330841064, 0.08969882130622864, 0.5175141096115112, 0.0, 0.0, 0.0, 0.0, 2.0, -3.297591209411621, -2.378589391708374, 0.5697519779205322, -0.8718189001083374, -5.996309482725337e-06, -1.6748050484238775e-06, -0.9995306730270386, 0.0, -2.2992970943450928, 0.1385939121246338, 0.5175135731697083, 0.0, 0.0, 0.0, 0.0, 2.0, -3.297591209411621, -2.378589391708374, 0.5697519779205322, -0.8718189001083374, -5.996309482725337e-06, -1.6748050484238775e-06, -0.9995306730270386, 0.0, -2.2569024562835693, 0.22851715981960297, 0.5175134539604187, 0.0, 0.0, 0.0, 0.0, 2.0, -3.297591209411621, -2.378589391708374, 0.5697519779205322, -0.8718189001083374, -5.996309482725337e-06, -1.6748050484238775e-06, -0.9995306730270386, 0.0, -2.227642774581909, 0.2905797064304352, 0.5175133347511292, 0.0, 0.0, 0.0, 0.0, 2.0, -3.297591209411621, -2.378589391708374, 0.5697519779205322, -0.8718189001083374, -5.996309482725337e-06, -1.6748050484238775e-06, -0.9995306730270386, 0.0, -2.19101619720459, 0.36826813220977783, 0.5175132155418396, 0.0, 0.0, 0.0, 0.0, 2.0, -3.297591209411621, -2.378589391708374, 0.5697519779205322, -0.8718189001083374, -5.996309482725337e-06, -1.6748050484238775e-06, -0.9995306730270386, 0.0, -2.1569695472717285, 0.4404844045639038, 0.5175110101699829, 0.0, 0.0, 0.0, 0.0, 2.0, -3.297591209411621, -2.378589391708374, 0.5697519779205322, -0.8718189001083374, -5.996309482725337e-06, -1.6748050484238775e-06, -0.9995306730270386, 0.0, -2.1242496967315674, 0.5098863244056702, 0.5175135731697083, 0.0, 0.0, 0.0, 0.0, 2.0, -3.297591209411621, -2.378589391708374, 0.5697519779205322, -0.8718189001083374, -5.996309482725337e-06, -1.6748050484238775e-06, -0.9995306730270386, 0.0, -2.088510513305664, 0.5856927633285522, 0.5175135731697083, 0.0, 0.0, 0.0, 0.0, 2.0, -3.297591209411621, -2.378589391708374, 0.5697519779205322, -0.8718189001083374, -5.996309482725337e-06, -1.6748050484238775e-06, -0.9995306730270386, 0.0, -2.0563242435455322, 0.6539625525474548, 0.517511248588562, 0.0, 0.0, 0.0, 0.0, 2.0, -3.297591209411621, -2.378589391708374, 0.5697519779205322, -0.8718189001083374, -5.996309482725337e-06, -1.6748050484238775e-06, -0.9995306730270386, 0.0, -2.0219132900238037, 0.7269515991210938, 0.5175145268440247, 0.0, 0.0, 0.0, 0.0, 2.0, -3.297591209411621, -2.378589391708374, 0.5697519779205322, -0.8718189001083374, -5.996309482725337e-06, -1.6748050484238775e-06, -0.9995306730270386, 0.0, -2.0209999084472656, 0.7599999904632568, -3.1415927410125732, 0.0, 0.0, 0.0, 0.0, 2.0, -3.297591209411621, -2.378589391708374, 0.5697519779205322, -0.8718189001083374, -5.996309482725337e-06, -1.6748050484238775e-06, -0.9995306730270386, 0.0, 1.0535823106765747, 2.131255865097046, 0.517516553401947, 0.0, 0.0, 0.0, 0.0, 2.0, -2.0395095348358154, 1.0880132913589478, 0.6689794659614563, 0.5217657089233398, 0.16980008780956268, 0.5109445452690125, -0.5429779887199402, 0.0, 1.0811659097671509, 2.146958351135254, 0.5175132155418396, 0.0, 0.0, 0.0, 0.0, 2.0, -2.0395095348358154, 1.0880132913589478, 0.6689794659614563, 0.5217657089233398, 0.16980008780956268, 0.5109445452690125, -0.5429779887199402, 0.0, 1.1780872344970703, 2.202132225036621, 1.5590746402740479, 0.0, 0.0, 0.0, 0.0, 2.0, -2.0395095348358154, 1.0880132913589478, 0.6689794659614563, 0.5217657089233398, 0.16980008780956268, 0.5109445452690125, -0.5429779887199402, 0.0, 1.1790000200271606, 2.2799999713897705, -3.1415927410125732, 0.0, 0.0, 0.0, 0.0, 2.0, -2.0395095348358154, 1.0880132913589478, 0.6689794659614563, 0.5217657089233398, 0.16980008780956268, 0.5109445452690125, -0.5429779887199402, 0.0], "max": [1.228817105293274, 2.2799999713897705, 1.130245566368103, 0.9044864773750305, 1.6391277313232422e-07, 1.2759119272232056e-07, 0.9999998807907104, 2.0, 1.5067614316940308, 2.8467929363250732, 0.678779125213623, 0.6980010271072388, 0.6579931974411011, 0.6356912851333618, 0.9999999403953552, 1.0, -2.0416581630706787, 0.7561593651771545, 1.1302469968795776, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1385115385055542, 2.581069231033325, 0.6689795255661011, 0.6980010271072388, 0.41457346081733704, 0.6356912851333618, -0.2825932800769806, 0.0, -1.928733229637146, 0.7583964467048645, 1.1302459239959717, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1385115385055542, 2.581069231033325, 0.6689795255661011, 0.6980010271072388, 0.41457346081733704, 0.6356912851333618, -0.2825932800769806, 0.0, -1.8837761878967285, 0.7592870593070984, 1.1302427053451538, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1385115385055542, 2.581069231033325, 0.6689795255661011, 0.6980010271072388, 0.41457346081733704, 0.6356912851333618, -0.2825932800769806, 0.0, -1.7674404382705688, 0.7615916728973389, 1.130245327949524, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1385115385055542, 2.581069231033325, 0.6689795255661011, 0.6980010271072388, 0.41457346081733704, 0.6356912851333618, -0.2825932800769806, 0.0, -1.7259026765823364, 0.7624145746231079, 1.1302547454833984, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1385115385055542, 2.581069231033325, 0.6689795255661011, 0.6980010271072388, 0.41457346081733704, 0.6356912851333618, -0.2825932800769806, 0.0, -1.6063885688781738, 0.7647821307182312, 1.1302462816238403, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1385115385055542, 2.581069231033325, 0.6689795255661011, 0.6980010271072388, 0.41457346081733704, 0.6356912851333618, -0.2825932800769806, 0.0, -1.5680487155914307, 0.7655416131019592, 1.130247712135315, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1385115385055542, 2.581069231033325, 0.6689795255661011, 0.6980010271072388, 0.41457346081733704, 0.6356912851333618, -0.2825932800769806, 0.0, -1.4579678773880005, 0.7677223682403564, 1.1302438974380493, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1385115385055542, 2.581069231033325, 0.6689795255661011, 0.6980010271072388, 0.41457346081733704, 0.6356912851333618, -0.2825932800769806, 0.0, -1.4099913835525513, 0.7686727643013, 1.1302459239959717, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1385115385055542, 2.581069231033325, 0.6689795255661011, 0.6980010271072388, 0.41457346081733704, 0.6356912851333618, -0.2825932800769806, 0.0, -1.3374781608581543, 0.7701092958450317, 1.130247950553894, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1385115385055542, 2.581069231033325, 0.6689795255661011, 0.6980010271072388, 0.41457346081733704, 0.6356912851333618, -0.2825932800769806, 0.0, -1.28004789352417, 0.8028023838996887, 1.130245327949524, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1385115385055542, 2.581069231033325, 0.6689795255661011, 0.6980010271072388, 0.41457346081733704, 0.6356912851333618, -0.2825932800769806, 0.0, -1.2127878665924072, 0.8410911560058594, 1.1302425861358643, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1385115385055542, 2.581069231033325, 0.6689795255661011, 0.6980010271072388, 0.41457346081733704, 0.6356912851333618, -0.2825932800769806, 0.0, -1.1484322547912598, 0.8777265548706055, 1.1302458047866821, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1385115385055542, 2.581069231033325, 0.6689795255661011, 0.6980010271072388, 0.41457346081733704, 0.6356912851333618, -0.2825932800769806, 0.0, -1.0330579280853271, 0.9434050917625427, 1.130245327949524, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1385115385055542, 2.581069231033325, 0.6689795255661011, 0.6980010271072388, 0.41457346081733704, 0.6356912851333618, -0.2825932800769806, 0.0, -1.0322991609573364, 0.94383704662323, 1.1302454471588135, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1385115385055542, 2.581069231033325, 0.6689795255661011, 0.6980010271072388, 0.41457346081733704, 0.6356912851333618, -0.2825932800769806, 0.0, -1.0317803621292114, 0.9441324472427368, 1.1302427053451538, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1385115385055542, 2.581069231033325, 0.6689795255661011, 0.6980010271072388, 0.41457346081733704, 0.6356912851333618, -0.2825932800769806, 0.0, -0.9079363346099854, 1.0146324634552002, 1.1302452087402344, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1385115385055542, 2.581069231033325, 0.6689795255661011, 0.6980010271072388, 0.41457346081733704, 0.6356912851333618, -0.2825932800769806, 0.0, -0.8208592534065247, 1.0642023086547852, 1.1302465200424194, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1385115385055542, 2.581069231033325, 0.6689795255661011, 0.6980010271072388, 0.41457346081733704, 0.6356912851333618, -0.2825932800769806, 0.0, -0.7780158519744873, 1.0885915756225586, 1.130244493484497, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1385115385055542, 2.581069231033325, 0.6689795255661011, 0.6980010271072388, 0.41457346081733704, 0.6356912851333618, -0.2825932800769806, 0.0, -0.7262097001075745, 1.1180830001831055, 1.1302440166473389, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1385115385055542, 2.581069231033325, 0.6689795255661011, 0.6980010271072388, 0.41457346081733704, 0.6356912851333618, -0.2825932800769806, 0.0, -0.6524156928062439, 1.1600912809371948, 1.1302447319030762, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1385115385055542, 2.581069231033325, 0.6689795255661011, 0.6980010271072388, 0.41457346081733704, 0.6356912851333618, -0.2825932800769806, 0.0, -0.584906280040741, 1.1985219717025757, 1.130244493484497, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1385115385055542, 2.581069231033325, 0.6689795255661011, 0.6980010271072388, 0.41457346081733704, 0.6356912851333618, -0.2825932800769806, 0.0, -0.5298413634300232, 1.2298685312271118, 1.1302454471588135, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1385115385055542, 2.581069231033325, 0.6689795255661011, 0.6980010271072388, 0.41457346081733704, 0.6356912851333618, -0.2825932800769806, 0.0, -0.4752350449562073, 1.2609540224075317, 1.1302450895309448, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1385115385055542, 2.581069231033325, 0.6689795255661011, 0.6980010271072388, 0.41457346081733704, 0.6356912851333618, -0.2825932800769806, 0.0, -0.4093996286392212, 1.2984317541122437, 1.1302475929260254, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1385115385055542, 2.581069231033325, 0.6689795255661011, 0.6980010271072388, 0.41457346081733704, 0.6356912851333618, -0.2825932800769806, 0.0, -0.3420427441596985, 1.3367756605148315, 1.1302456855773926, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1385115385055542, 2.581069231033325, 0.6689795255661011, 0.6980010271072388, 0.41457346081733704, 0.6356912851333618, -0.2825932800769806, 0.0, -0.28900548815727234, 1.3669679164886475, 1.1302480697631836, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1385115385055542, 2.581069231033325, 0.6689795255661011, 0.6980010271072388, 0.41457346081733704, 0.6356912851333618, -0.2825932800769806, 0.0, -0.23675882816314697, 1.3967101573944092, 1.1302447319030762, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1385115385055542, 2.581069231033325, 0.6689795255661011, 0.6980010271072388, 0.41457346081733704, 0.6356912851333618, -0.2825932800769806, 0.0, -0.16821500658988953, 1.435729742050171, 1.1302475929260254, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1385115385055542, 2.581069231033325, 0.6689795255661011, 0.6980010271072388, 0.41457346081733704, 0.6356912851333618, -0.2825932800769806, 0.0, -0.09863398969173431, 1.4753397703170776, 1.1302456855773926, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1385115385055542, 2.581069231033325, 0.6689795255661011, 0.6980010271072388, 0.41457346081733704, 0.6356912851333618, -0.2825932800769806, 0.0, -0.047736331820487976, 1.5043140649795532, 1.1302436590194702, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1385115385055542, 2.581069231033325, 0.6689795255661011, 0.6980010271072388, 0.41457346081733704, 0.6356912851333618, -0.2825932800769806, 0.0, 0.0018002036958932877, 1.5325134992599487, 1.1302498579025269, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1385115385055542, 2.581069231033325, 0.6689795255661011, 0.6980010271072388, 0.41457346081733704, 0.6356912851333618, -0.2825932800769806, 0.0, 0.0723186507821083, 1.5726571083068848, 1.1302443742752075, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1385115385055542, 2.581069231033325, 0.6689795255661011, 0.6980010271072388, 0.41457346081733704, 0.6356912851333618, -0.2825932800769806, 0.0, 0.1447748839855194, 1.6139038801193237, 1.1302478313446045, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1385115385055542, 2.581069231033325, 0.6689795255661011, 0.6980010271072388, 0.41457346081733704, 0.6356912851333618, -0.2825932800769806, 0.0, 0.1926737278699875, 1.6411709785461426, 1.1302438974380493, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1385115385055542, 2.581069231033325, 0.6689795255661011, 0.6980010271072388, 0.41457346081733704, 0.6356912851333618, -0.2825932800769806, 0.0, 0.23984964191913605, 1.6680265665054321, 1.130245327949524, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1385115385055542, 2.581069231033325, 0.6689795255661011, 0.6980010271072388, 0.41457346081733704, 0.6356912851333618, -0.2825932800769806, 0.0, 0.31357744336128235, 1.7099971771240234, 1.130244255065918, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1385115385055542, 2.581069231033325, 0.6689795255661011, 0.6980010271072388, 0.41457346081733704, 0.6356912851333618, -0.2825932800769806, 0.0, 0.3889617621898651, 1.752910852432251, 1.1302459239959717, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1385115385055542, 2.581069231033325, 0.6689795255661011, 0.6980010271072388, 0.41457346081733704, 0.6356912851333618, -0.2825932800769806, 0.0, 0.43466126918792725, 1.7789260149002075, 1.1302454471588135, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1385115385055542, 2.581069231033325, 0.6689795255661011, 0.6980010271072388, 0.41457346081733704, 0.6356912851333618, -0.2825932800769806, 0.0, 0.4775107800960541, 1.803318738937378, 1.1302446126937866, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1385115385055542, 2.581069231033325, 0.6689795255661011, 0.6980010271072388, 0.41457346081733704, 0.6356912851333618, -0.2825932800769806, 0.0, 0.5557923316955566, 1.8478816747665405, 1.130244493484497, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1385115385055542, 2.581069231033325, 0.6689795255661011, 0.6980010271072388, 0.41457346081733704, 0.6356912851333618, -0.2825932800769806, 0.0, 0.6482314467430115, 1.9005039930343628, 1.1302452087402344, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1385115385055542, 2.581069231033325, 0.6689795255661011, 0.6980010271072388, 0.41457346081733704, 0.6356912851333618, -0.2825932800769806, 0.0, 0.6773408055305481, 1.9170749187469482, 1.1302447319030762, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1385115385055542, 2.581069231033325, 0.6689795255661011, 0.6980010271072388, 0.41457346081733704, 0.6356912851333618, -0.2825932800769806, 0.0, 0.6962488889694214, 1.9278385639190674, 1.1302459239959717, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1385115385055542, 2.581069231033325, 0.6689795255661011, 0.6980010271072388, 0.41457346081733704, 0.6356912851333618, -0.2825932800769806, 0.0, 0.8011144995689392, 1.9875348806381226, 1.1302427053451538, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1385115385055542, 2.581069231033325, 0.6689795255661011, 0.6980010271072388, 0.41457346081733704, 0.6356912851333618, -0.2825932800769806, 0.0, 0.8864594101905823, 2.036118745803833, 1.1302454471588135, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1385115385055542, 2.581069231033325, 0.6689795255661011, 0.6980010271072388, 0.41457346081733704, 0.6356912851333618, -0.2825932800769806, 0.0, 0.9282740354537964, 2.059922218322754, 1.543165683746338, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1385115385055542, 2.581069231033325, 0.6689795255661011, 0.6980010271072388, 0.41457346081733704, 0.6356912851333618, -0.2825932800769806, 0.0, 1.0001795291900635, 2.100855588912964, 0.5175127983093262, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1385115385055542, 2.581069231033325, 0.6689795255661011, 0.6980010271072388, 0.41457346081733704, 0.6356912851333618, -0.2825932800769806, 0.0, 1.0535823106765747, 2.131255865097046, 0.517516553401947, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1385115385055542, 2.581069231033325, 0.6689795255661011, 0.6980010271072388, 0.41457346081733704, 0.6356912851333618, -0.2825932800769806, 0.0, 1.0811659097671509, 2.146958351135254, 0.5175132155418396, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1385115385055542, 2.581069231033325, 0.6689795255661011, 0.6980010271072388, 0.41457346081733704, 0.6356912851333618, -0.2825932800769806, 0.0, 1.1780872344970703, 2.202132225036621, 1.5590746402740479, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1385115385055542, 2.581069231033325, 0.6689795255661011, 0.6980010271072388, 0.41457346081733704, 0.6356912851333618, -0.2825932800769806, 0.0, 1.1790000200271606, 2.2799999713897705, -3.1415927410125732, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1385115385055542, 2.581069231033325, 0.6689795255661011, 0.6980010271072388, 0.41457346081733704, 0.6356912851333618, -0.2825932800769806, 0.0], "count": [2413]}, "action.applied": {"mean": [0.06815451061012189, -0.016457684961670715, 0.022075858199197013, 0.5773053433803221, 0.04213679834967347, 0.04213679834967347, 0.04213679834967347, 0.04213679834967347, 2.2312223430100784, -0.8543379549054206, -0.31465880773745614, 0.026937422295897222, 0.026937422295897222], "std": [0.11443713060408599, 0.058032160348733285, 0.20914070340812238, 0.15764039652592002, 0.03914280096567704, 0.03914280096567704, 0.03914280096567704, 0.03914280096567704, 0.5883615961459417, 0.6990699732631322, 0.3685995460050731, 0.0775160038574422, 0.0775160038574422], "min": [-0.02026524394750595, -0.25514647364616394, -0.800000011920929, 0.3998571038246155, 0.0, 0.0, 0.0, 0.0, 1.570780873298645, -1.5699999332427979, -0.7391731142997742, 0.0, 0.0], "max": [0.29988378286361694, 0.03799361363053322, 0.800000011920929, 0.7558698058128357, 0.12868764996528625, 0.12868764996528625, 0.12868764996528625, 0.12868764996528625, 3.4083924293518066, 0.0005246350774541497, 0.29632967710494995, 0.25, 0.25], "count": [2413]}, "extra.reward": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [2413]}, "next.truncated": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [2413]}, "sim_step_idx": {"mean": [2443.0], "std": [1393.1460799212693], "min": [31.0], "max": [4855.0], "count": [2413]}, "timestamp": {"mean": [48.240000004293854], "std": [27.86292160232423], "min": [0.0], "max": [96.4800033569336], "count": [2413]}, "frame_index": {"mean": [1206.0], "std": [696.5730399606347], "min": [0.0], "max": [2412.0], "count": [2413]}, "episode_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [2413]}, "index": {"mean": [1206.0], "std": [696.5730399606347], "min": [0.0], "max": [2412.0], "count": [2413]}, "task_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [2413]}, "next.done": {"mean": [0.0004144218814753419], "std": [0.020353135777552715], "min": [0.0], "max": [1.0], "count": [2413]}, "observation.images.head": {"mean": [[[0.511117194400615]], [[0.4815614223518654]], [[0.42125499720935267]]], "std": [[[0.07684041264171623]], [[0.0819081401016946]], [[0.10024912581916044]]], "min": [[[0.20392156862745098]], [[0.22745098039215686]], [[0.10980392156862745]]], "max": [[[0.8980392156862745]], [[0.8980392156862745]], [[0.8980392156862745]]], "count": [100]}, "observation.images.wrist": {"mean": [[[0.5353881288211434]], [[0.5166282453719189]], [[0.4771495972482895]]], "std": [[[0.12487698587939226]], [[0.1279391100727782]], [[0.14446480684991722]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9058823529411765]], [[0.8980392156862745]], [[0.8823529411764706]]], "count": [100]}}} diff --git a/N025/stretch3/dr_off/seed_1010/stationassembly/000/lerobot_v21/meta/extra/episode_000000.json b/N025/stretch3/dr_off/seed_1010/stationassembly/000/lerobot_v21/meta/extra/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..3ea55f1a7d2e6d45c8949d14c2aeed0430dd403e --- /dev/null +++ b/N025/stretch3/dr_off/seed_1010/stationassembly/000/lerobot_v21/meta/extra/episode_000000.json @@ -0,0 +1,669 @@ +{ + "episode_index": 0, + "trajectory_id": 0, + "env_id": 0, + "task_type": "StationAssembly", + "subsample_every": 2, + "control_steps": 4826, + "language": { + "scene": { + "objects": [ + { + "id": "table_A_1", + "cat_name": "table_A", + "inst_id": 1, + "noun": "table A", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 4.235889848792635, + 0.7618016181872832, + 0.16999964209015217 + ], + "bbox": { + "extent": [ + 1.0, + 1.0000000000000002, + 1.0 + ], + "center": [ + 0.0, + -1.1102230246251565e-16, + 0.0 + ] + } + }, + { + "id": "table_B_1", + "cat_name": "table_B", + "inst_id": 1, + "noun": "table B", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 7.1803048525244115, + -1.1927879258856278, + 0.16999941017691753 + ], + "bbox": { + "extent": [ + 0.9999999999999999, + 1.0, + 1.0 + ], + "center": [ + 5.551115123125783e-17, + 0.0, + 0.0 + ] + } + }, + { + "id": "shim_board_1", + "cat_name": "shim_board", + "inst_id": 1, + "noun": "shim board", + "color": null, + "size": "medium", + "material": null, + "category": "articulation", + "pos": [ + 7.332956768234905, + -1.1636404505953346, + 0.3699994042347232 + ], + "bbox": { + "extent": [ + 0.4359385605886077, + 0.2857469173525771, + 0.04200000036507845 + ], + "center": [ + 0.15000000596046448, + -1.3877787807814457e-16, + 0.021000000182539225 + ] + } + }, + { + "id": "wedge_1", + "cat_name": "wedge", + "inst_id": 1, + "noun": "wedge", + "color": null, + "size": "small", + "material": null, + "category": "rigid", + "pos": [ + 4.18172216694919, + 0.7579532349734122, + 0.3699995048243763 + ], + "bbox": { + "extent": [ + 0.1930610170325979, + 0.07970974199940004, + 0.028002485981133807 + ], + "center": [ + 0.05750000290572642, + 3.469446951953614e-17, + 0.014000000432133702 + ] + } + } + ], + "relations": [ + { + "subject": "table_A_1", + "relation": "in_front_of", + "object": "wedge_1" + }, + { + "subject": "table_B_1", + "relation": "behind", + "object": "shim_board_1" + }, + { + "subject": "shim_board_1", + "relation": "on_top_of", + "object": "table_B_1" + }, + { + "subject": "shim_board_1", + "relation": "in_front_of", + "object": "table_B_1" + }, + { + "subject": "wedge_1", + "relation": "on_top_of", + "object": "table_A_1" + }, + { + "subject": "wedge_1", + "relation": "behind", + "object": "table_A_1" + } + ], + "cameras": [ + { + "name": "head", + "intrinsics": { + "K": [ + [ + 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": [ + 4.016927148069574, + -1.7704801707925302, + 1.2357226427467156 + ], + "viewpoint": "front-right, 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": [ + 4.052028950725277, + -1.701411829686384, + -0.003602321634062951 + ], + "viewpoint": "front-right, 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": [ + -3.55055, + -2.51546, + 0.06 + ], + "ori": [ + 0.8718215823173523, + 0.0, + 0.0, + 0.4898235499858856 + ] + }, + "facing_yaw_deg": 58.65796906757791, + "gripper": "parallel gripper" + } + ], + "lighting": [], + "background": { + "name": null, + "kind": "background", + "type": "dome", + "pose": null, + "setting": null, + "time_of_day": null, + "indoor": false, + "intensity": 867.65386, + "ambient": "dim" + }, + "effects": [], + "caption": "A Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a medium shim board and a small wedge. The gray table A is in front of the wedge. The gray table B is behind the shim board. The shim board is on top of the gray table B. The shim board is in front of the gray table B. The wedge is on top of the gray table A. The wedge is behind the gray table A. The scene is viewed from front-right, slightly above table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n [shim board]\n\n\n[wedge]A]\n\n\n\n\n [robot]" + }, + "task": { + "task_type": "StationAssembly", + "instruction": "Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.", + "template_id": -1, + "slots": { + "obj": 3.141592653589793, + "support": null + }, + "generic_instruction": "Stationassembly the 3.141592653589793.", + "task_id": "N025", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_1648": { + "frame_idx": 1648, + "caption": "Computing a grasp pose for the small wedge; the right gripper is below and to the left of and in front of the wedge.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "NavToTrim", + "planner_state": "finished", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_1650": { + "frame_idx": 1650, + "caption": "Working on the small wedge; the right gripper is below and to the left of and in front of the wedge.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_1735": { + "frame_idx": 1735, + "caption": "Computing a grasp pose for the small wedge; the right gripper is below and to the left of and in front of the wedge.", + "skill": "ReachStance", + "phase": "verify", + "skill_state": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_1739": { + "frame_idx": 1739, + "caption": "Working on the small wedge; the right gripper is below and to the left of and in front of the wedge.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_1797": { + "frame_idx": 1797, + "caption": "Working on the small wedge; the right gripper is below and in front of the wedge.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "in_front_of" + ] + }, + "frame_1837": { + "frame_idx": 1837, + "caption": "Working on the small wedge; the right gripper is below and to the right of and in front of the wedge.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "right_of", + "in_front_of" + ] + }, + "frame_1953": { + "frame_idx": 1953, + "caption": "Working on the small wedge; the right gripper is below and in front of the wedge.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "in_front_of" + ] + }, + "frame_2031": { + "frame_idx": 2031, + "caption": "Working on the small wedge; the right gripper is below and to the left of and in front of the wedge.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_2058": { + "frame_idx": 2058, + "caption": "Working on the small wedge; the right gripper is below and in front of the wedge.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "in_front_of" + ] + }, + "frame_2068": { + "frame_idx": 2068, + "caption": "Working on the small wedge; the right gripper is below the wedge.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_2170": { + "frame_idx": 2170, + "caption": "Working on the small wedge.", + "skill": "AssemblyGrasp", + "phase": "grasp", + "skill_state": "running", + "planner": "AssemblyServoL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [] + }, + "frame_2236": { + "frame_idx": 2236, + "caption": "Working on the small wedge; the right gripper is below the wedge.", + "skill": "AssemblyGrasp", + "phase": "retrieval", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_2285": { + "frame_idx": 2285, + "caption": "Done — the small wedge is grasped; the right gripper is below the wedge.", + "skill": "Grasp", + "phase": "completed", + "skill_state": "finished", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_2286": { + "frame_idx": 2286, + "caption": "Working on the small wedge; the right gripper is below the wedge.", + "skill": "CarryPose", + "phase": null, + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_2312": { + "frame_idx": 2312, + "caption": "Working on the small wedge; the right gripper is below and in front of the wedge.", + "skill": "CarryPose", + "phase": null, + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "in_front_of" + ] + }, + "frame_2319": { + "frame_idx": 2319, + "caption": "Working on the small wedge; the right gripper is below and to the left of and in front of the wedge.", + "skill": "CarryPose", + "phase": null, + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_4276": { + "frame_idx": 4276, + "caption": "Computing a grasp pose for the medium shim board; the right gripper is below and to the left of and in front of the shim board.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "NavToTrim", + "planner_state": "finished", + "target": "shim_board_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_4277": { + "frame_idx": 4277, + "caption": "Working on the medium shim board; the right gripper is below and to the left of and in front of the shim board.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "shim_board_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_4384": { + "frame_idx": 4384, + "caption": "Computing a grasp pose for the medium shim board; the right gripper is below and to the left of and in front of the shim board.", + "skill": "ReachStance", + "phase": "verify", + "skill_state": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "shim_board_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_4387": { + "frame_idx": 4387, + "caption": "Working on the small wedge; the right gripper is below and to the left of and behind the wedge.", + "skill": "AssemblyInsert", + "phase": "wp:pre_insert", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "behind" + ] + }, + "frame_4562": { + "frame_idx": 4562, + "caption": "Working on the small wedge; the right gripper is to the left of and behind the wedge.", + "skill": "AssemblyInsert", + "phase": "wp:align", + "skill_state": "running", + "planner": "AssemblyServoL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "left_of", + "behind" + ] + }, + "frame_4774": { + "frame_idx": 4774, + "caption": "Working on the small wedge; the right gripper is below and to the left of and behind the wedge.", + "skill": "AssemblyInsert", + "phase": "leave", + "skill_state": "running", + "planner": "AssemblyServoL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "behind" + ] + } + } + }, + "depth_range": [ + 0.1, + 20.0 + ], + "annotation_sidecar": null, + "annotation_sidecar_keys": [], + "terminated": true, + "truncated": false +} \ No newline at end of file diff --git a/N025/stretch3/dr_off/seed_1010/stationassembly/000/lerobot_v21/meta/info.json b/N025/stretch3/dr_off/seed_1010/stationassembly/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..60cdc0d027eb9af538cc866a160ec86642d0c670 --- /dev/null +++ b/N025/stretch3/dr_off/seed_1010/stationassembly/000/lerobot_v21/meta/info.json @@ -0,0 +1,279 @@ +{ + "codebase_version": "v2.1", + "robot_type": "HelloRobotCfg", + "total_episodes": 1, + "total_frames": 2413, + "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": [ + 30 + ], + "names": [ + "articulation_joint_pos.shim_board.0", + "articulation_joint_vel.shim_board.0", + "articulation_pose.shim_board.0", + "articulation_pose.shim_board.1", + "articulation_pose.shim_board.2", + "articulation_pose.shim_board.3", + "articulation_pose.shim_board.4", + "articulation_pose.shim_board.5", + "articulation_pose.shim_board.6", + "object_pose.table_A.0", + "object_pose.table_A.1", + "object_pose.table_A.2", + "object_pose.table_A.3", + "object_pose.table_A.4", + "object_pose.table_A.5", + "object_pose.table_A.6", + "object_pose.table_B.0", + "object_pose.table_B.1", + "object_pose.table_B.2", + "object_pose.table_B.3", + "object_pose.table_B.4", + "object_pose.table_B.5", + "object_pose.table_B.6", + "object_pose.wedge.0", + "object_pose.wedge.1", + "object_pose.wedge.2", + "object_pose.wedge.3", + "object_pose.wedge.4", + "object_pose.wedge.5", + "object_pose.wedge.6" + ] + }, + "action.command": { + "dtype": "float32", + "shape": [ + 848 + ], + "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 + } + } + } +} \ No newline at end of file diff --git a/N025/stretch3/dr_off/seed_1010/stationassembly/000/lerobot_v21/meta/magicsim_manifest.json b/N025/stretch3/dr_off/seed_1010/stationassembly/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..cafe7c87cef0d32033d8a73987da92bad1ba8cfe --- /dev/null +++ b/N025/stretch3/dr_off/seed_1010/stationassembly/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,259 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 03:05:23" + }, + "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": "stationassembly/000", + "task_type": "StationAssembly" + } +} \ No newline at end of file diff --git a/N025/stretch3/dr_off/seed_1010/stationassembly/000/lerobot_v21/meta/stats.json b/N025/stretch3/dr_off/seed_1010/stationassembly/000/lerobot_v21/meta/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..d24dab8c6136b1ef1a819e9efbedb995afd0ae28 --- /dev/null +++ b/N025/stretch3/dr_off/seed_1010/stationassembly/000/lerobot_v21/meta/stats.json @@ -0,0 +1,4205 @@ +{ + "action": { + "mean": [ + 0.00011066594143725015, + -9.314976491719497e-05, + 0.022075858199197013, + -0.7704261937547263, + 1.4202220491444328, + 0.5997201846908644, + -0.0865251208052883, + 0.1397910587335131, + 0.1203283297639058, + -0.41751974099807804, + 0.5238292581848322 + ], + "std": [ + 0.14621719797965685, + 0.0005935627667751821, + 0.20914070340812238, + 1.649304693894603, + 1.107457185433923, + 0.06708611753276182, + 0.5335376608499011, + 0.33456186924939124, + 0.34547804198542165, + 0.5179005264047932, + 0.4994318436527284 + ], + "min": [ + -0.30000001192092896, + -0.003912185784429312, + -0.800000011920929, + -3.297591209411621, + -2.378589391708374, + 0.43899983167648315, + -0.8718189001083374, + -0.5075287818908691, + -0.5328276753425598, + -0.9999998211860657, + 0.0 + ], + "max": [ + 0.30000001192092896, + 0.0, + 0.800000011920929, + 1.5067614316940308, + 2.846855878829956, + 0.678779125213623, + 0.6980010271072388, + 0.6579931974411011, + 0.6356912851333618, + 0.9999999403953552, + 1.0 + ], + "count": [ + 2413 + ] + }, + "action_is_hold": { + "mean": [ + 0.009946125155408206, + 0.009946125155408206, + 0.009946125155408206, + 0.03232490675507667, + 0.03232490675507667, + 0.03232490675507667, + 0.03232490675507667, + 0.03232490675507667, + 0.03232490675507667, + 0.03232490675507667, + 0.9220886862826357 + ], + "std": [ + 0.09923305774690855, + 0.09923305774690855, + 0.09923305774690855, + 0.17686154799263312, + 0.17686154799263312, + 0.17686154799263312, + 0.17686154799263312, + 0.17686154799263312, + 0.17686154799263312, + 0.17686154799263312, + 0.2680319774060398 + ], + "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": [ + 2413 + ] + }, + "observation.state": { + "mean": [ + -0.8032602038692993, + 1.1427559502425897, + 1.5323109831792212, + 0.5771241348238343, + 1.070176282684115e-07, + 5.393456681743309e-09, + 0.04202167032224732, + 0.042021953871229305, + 0.04202247782590653, + 0.042016753589075334, + 2.229183887328738, + -0.8525104521407684, + -0.3149711284218431, + 0.06303749778388135, + 0.06493527452248973 + ], + "std": [ + 1.6220652805305933, + 1.0841983761463942, + 2.0176554728080958, + 0.15765910449315274, + 3.1157567019163027e-06, + 5.917859722454862e-06, + 0.03909991267591762, + 0.039100179451345723, + 0.039100330817870746, + 0.039092404608535844, + 0.5874356880316496, + 0.6991776346260345, + 0.36810748645799796, + 0.0716385713989404, + 0.0718493303611188 + ], + "min": [ + -3.5505499839782715, + -2.5154600143432617, + -3.141296863555908, + 0.3998679518699646, + -5.1755730964941904e-05, + -9.030559886014089e-05, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5688800811767578, + -1.5700005292892456, + -0.7391266226768494, + -8.323178257718666e-10, + -4.118389795859656e-10 + ], + "max": [ + 1.2279162406921387, + 2.2778005599975586, + 3.1414566040039062, + 0.7557516694068909, + 6.708948058076203e-05, + 8.726886153453961e-05, + 0.12884323298931122, + 0.12885791063308716, + 0.12887533009052277, + 0.12868361175060272, + 3.4070143699645996, + 0.000377047952497378, + 0.2956344783306122, + 0.2500000596046448, + 0.2500002682209015 + ], + "count": [ + 2413 + ] + }, + "observation.joint_vel": { + "mean": [ + 0.06818621358390951, + -0.01641157592520073, + 0.02194547749967071, + 0.0011654696752096516, + -0.00043223282076951616, + -3.675000841080364e-05, + 0.0009450577278218818, + 0.0009795173995015359, + 0.0011204963057400397, + 0.0016555803937968966, + -0.0008413427769364493, + -0.016390999791798783, + -0.04486229791241988, + 0.10195428572352568, + 0.48850340557879623 + ], + "std": [ + 0.1144486375351506, + 0.05801224948493565, + 0.20918252809343188, + 0.029789072900857843, + 0.0004796699284011784, + 7.211971924705968e-05, + 0.01297179192365717, + 0.013017516698226098, + 0.0130593546823609, + 0.012153042410989221, + 0.10779599241743419, + 0.07510767327361388, + 0.0826986457025176, + 0.18848035666883275, + 0.5103152141394877 + ], + "min": [ + -0.02354772761464119, + -0.25519469380378723, + -0.7997673153877258, + -0.2862634062767029, + -0.0018521870952099562, + -0.0009614295559003949, + -0.07445568591356277, + -0.07454431802034378, + -0.07456404715776443, + -0.07632358372211456, + -0.39962682127952576, + -0.45656517148017883, + -0.4320680797100067, + -1.000000238418579, + -1.000000238418579 + ], + "max": [ + 0.2999078631401062, + 0.03876085579395294, + 0.8000039458274841, + 0.12653830647468567, + 0.0005167546332813799, + 0.0009071769309230149, + 0.08072061091661453, + 0.080296091735363, + 0.0802709311246872, + 0.08470530062913895, + 0.4657903015613556, + 0.11050333827733994, + 0.3428575098514557, + 1.0000139474868774, + 1.0011818408966064 + ], + "count": [ + 2413 + ] + }, + "observation.eef_pose": { + "mean": [ + -0.7708508793258452, + 1.4196684961923167, + 0.5998193781577449, + -0.014016019915321948, + 0.1970289431981499, + 0.1818086173556773, + -0.5622737824521616 + ], + "std": [ + 1.6491607405735837, + 1.1072163448119225, + 0.06691654377687137, + 0.54004610772457, + 0.3037152005568336, + 0.31709026827202463, + 0.3568443776657867 + ], + "min": [ + -3.297591209411621, + -2.378589391708374, + 0.438785582780838, + -0.8718189597129822, + -0.5076099038124084, + -0.5325830578804016, + -0.9999999403953552 + ], + "max": [ + 1.506967306137085, + 2.846853256225586, + 0.6786961555480957, + 0.6980275511741638, + 0.6580071449279785, + 0.6356788873672485, + 0.5099584460258484 + ], + "count": [ + 2413 + ] + }, + "observation.environment_state": { + "mean": [ + 0.05086207297818571, + -0.0019729153779932183, + 1.2544200420379639, + 3.1455700397491455, + 0.4300000071525574, + -0.6961804628372192, + 0.0, + 0.0, + 0.717866837978363, + -2.0, + 1.5, + 0.23000000417232513, + 1.0, + 0.0, + 0.0, + 0.0, + 1.2000000476837158, + 3.0, + 0.23000000417232513, + 1.0, + 0.0, + 0.0, + 0.0, + -0.6801999677821741, + 1.8368909060584526, + 0.5329072227677615, + 0.6815484453793932, + 0.003212079407832949, + 0.03435587579075319, + 0.6701658585604197 + ], + "std": [ + 0.007479397834525123, + 0.015165876664563793, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5558640401439485, + 0.5529881375924686, + 0.10995320821170765, + 0.13560154490251405, + 0.023744162803462487, + 0.040430128597899906, + 0.254150811784097 + ], + "min": [ + 0.0039614103734493256, + -0.19865751266479492, + 1.2544200420379639, + 3.1455700397491455, + 0.4300000071525574, + -0.6961804628372192, + 0.0, + 0.0, + 0.717866837978363, + -2.0, + 1.5, + 0.23000000417232513, + 1.0, + 0.0, + 0.0, + 0.0, + 1.2000000476837158, + 3.0, + 0.23000000417232513, + 1.0, + 0.0, + 0.0, + 0.0, + -2.042640447616577, + 1.0904606580734253, + 0.4299849569797516, + 0.3189711272716522, + -0.041166651993989944, + -0.0008119772537611425, + -0.27676820755004883 + ], + "max": [ + 0.052359893918037415, + 1.9106868975882207e-08, + 1.2544200420379639, + 3.1455700397491455, + 0.4300000071525574, + -0.6961804628372192, + 0.0, + 0.0, + 0.717866837978363, + -2.0, + 1.5, + 0.23000000417232513, + 1.0, + 0.0, + 0.0, + 0.0, + 1.2000000476837158, + 3.0, + 0.23000000417232513, + 1.0, + 0.0, + 0.0, + 0.0, + 1.5236693620681763, + 2.8574471473693848, + 0.6687157154083252, + 0.9958903193473816, + 0.07885288447141647, + 0.09102114289999008, + 0.9434155821800232 + ], + "count": [ + 2413 + ] + }, + "action.command": { + "mean": [ + -1.3968200492595442, + 0.463061816060082, + 0.27158600699918045, + 0.35700099468070023, + 1.8611580073952438e-08, + 1.4574919453638043e-08, + -0.14523618976156155, + 0.8218415417558886, + -0.7735817583999746, + 1.404745018983168, + 0.6030684169533421, + -0.10082563291321513, + 0.13374413612617914, + 0.11297346369609801, + -0.41107865319262227, + 0.0797872340425532, + -2.8129003732511313, + -0.916848569665805, + 0.5997648815864163, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3522055240458635, + 0.7307468282132603, + 0.6171552386909428, + -0.09292247375049213, + 0.13724182162341117, + 0.2805758712928113, + -0.5112263822171947, + 0.0, + -2.7484558522701263, + -0.8935130921625855, + 0.5997643025573527, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3522055240458635, + 0.7307468282132603, + 0.6171552386909428, + -0.09292247375049213, + 0.13724182162341117, + 0.2805758712928113, + -0.5112263822171947, + 0.0, + -2.7015219838312357, + -0.8390910137112778, + 0.5997624871652979, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3522055240458635, + 0.7307468282132603, + 0.6171552386909428, + -0.09292247375049213, + 0.13724182162341117, + 0.2805758712928113, + -0.5112263822171947, + 0.0, + -2.6372250716875096, + -0.8194927620415641, + 0.599764292017732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3522055240458635, + 0.7307468282132603, + 0.6171552386909428, + -0.09292247375049213, + 0.13724182162341117, + 0.2805758712928113, + -0.5112263822171947, + 0.0, + -2.588885372523034, + -0.7586564749184221, + 0.5997686918114893, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3522055240458635, + 0.7307468282132603, + 0.6171552386909428, + -0.09292247375049213, + 0.13724182162341117, + 0.2805758712928113, + -0.5112263822171947, + 0.0, + -2.5262189631414884, + -0.7457068162684394, + 0.59976396967869, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3522055240458635, + 0.7307468282132603, + 0.6171552386909428, + -0.09292247375049213, + 0.13724182162341117, + 0.2805758712928113, + -0.5112263822171947, + 0.0, + -2.4760393181649767, + -0.6777575153230441, + 0.5997653254446121, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3522055240458635, + 0.7307468282132603, + 0.6171552386909428, + -0.09292247375049213, + 0.13724182162341117, + 0.2805758712928113, + -0.5112263822171947, + 0.0, + -2.421193387543801, + -0.6719266568670178, + 0.5997629175654215, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3522055240458635, + 0.7307468282132603, + 0.6171552386909428, + -0.09292247375049213, + 0.13724182162341117, + 0.2805758712928113, + -0.5112263822171947, + 0.0, + -2.377359818408985, + -0.6271119201832479, + 0.5997644520484575, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3522055240458635, + 0.7307468282132603, + 0.6171552386909428, + -0.09292247375049213, + 0.13724182162341117, + 0.2805758712928113, + -0.5112263822171947, + 0.0, + -2.3295140632308358, + -0.5984174880650964, + 0.8375310983398173, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3522055240458635, + 0.7307468282132603, + 0.6171552386909428, + -0.09292247375049213, + 0.13724182162341117, + 0.2805758712928113, + -0.5112263822171947, + 0.0, + -2.300652804941234, + -0.5797755840686288, + 0.8375293869193238, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3522055240458635, + 0.7307468282132603, + 0.6171552386909428, + -0.09292247375049213, + 0.13724182162341117, + 0.2805758712928113, + -0.5112263822171947, + 0.0, + -2.235828151797304, + -0.49213908243887494, + 0.837528011881479, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3522055240458635, + 0.7307468282132603, + 0.6171552386909428, + -0.09292247375049213, + 0.13724182162341117, + 0.2805758712928113, + -0.5112263822171947, + 0.0, + -2.200402285202895, + -0.46470718749678963, + 0.8375295790115206, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3522055240458635, + 0.7307468282132603, + 0.6171552386909428, + -0.09292247375049213, + 0.13724182162341117, + 0.2805758712928113, + -0.5112263822171947, + 0.0, + -2.1158484244110562, + -0.37089238175661254, + 0.8375367048648324, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3522055240458635, + 0.7307468282132603, + 0.6171552386909428, + -0.09292247375049213, + 0.13724182162341117, + 0.2805758712928113, + -0.5112263822171947, + 0.0, + -2.1072156597482095, + -0.35314393928735566, + 0.8375758056593413, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3522055240458635, + 0.7307468282132603, + 0.6171552386909428, + -0.09292247375049213, + 0.13724182162341117, + 0.2805758712928113, + -0.5112263822171947, + 0.0, + -2.081119583679898, + -0.2981761528713868, + 0.8375279032947993, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3522055240458635, + 0.7307468282132603, + 0.6171552386909428, + -0.09292247375049213, + 0.13724182162341117, + 0.2805758712928113, + -0.5112263822171947, + 0.0, + -2.0103378284095537, + -0.23985256977600627, + 0.8375290114395689, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3522055240458635, + 0.7307468282132603, + 0.6171552386909428, + -0.09292247375049213, + 0.13724182162341117, + 0.2805758712928113, + -0.5112263822171947, + 0.0, + -1.9462391239876795, + -0.16844722894158695, + 0.8375302088437694, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3522055240458635, + 0.7307468282132603, + 0.6171552386909428, + -0.09292247375049213, + 0.13724182162341117, + 0.2805758712928113, + -0.5112263822171947, + 0.0, + -1.910658292841203, + -0.12473846721177054, + 0.8375289510972429, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3522055240458635, + 0.7307468282132603, + 0.6171552386909428, + -0.09292247375049213, + 0.13724182162341117, + 0.2805758712928113, + -0.5112263822171947, + 0.0, + -1.8669043586100682, + -0.07033844100366725, + 0.8375284173110924, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3522055240458635, + 0.7307468282132603, + 0.6171552386909428, + -0.09292247375049213, + 0.13724182162341117, + 0.2805758712928113, + -0.5112263822171947, + 0.0, + -1.813095719950034, + -0.010912094966019734, + 0.8375288193473721, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3522055240458635, + 0.7307468282132603, + 0.6171552386909428, + -0.09292247375049213, + 0.13724182162341117, + 0.2805758712928113, + -0.5112263822171947, + 0.0, + -1.7652818541420567, + 0.04045790433883667, + 0.837529178893212, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3522055240458635, + 0.7307468282132603, + 0.6171552386909428, + -0.09292247375049213, + 0.13724182162341117, + 0.2805758712928113, + -0.5112263822171947, + 0.0, + -1.7170191240487713, + 0.10200565773071629, + 0.8375296769755902, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3522055240458635, + 0.7307468282132603, + 0.6171552386909428, + -0.09292247375049213, + 0.13724182162341117, + 0.2805758712928113, + -0.5112263822171947, + 0.0, + -1.6787707647769758, + 0.14265202694010026, + 0.8375289491792717, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3522055240458635, + 0.7307468282132603, + 0.6171552386909428, + -0.09292247375049213, + 0.13724182162341117, + 0.2805758712928113, + -0.5112263822171947, + 0.0, + -1.621827332985283, + 0.2146277535374802, + 0.8375305413904757, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3522055240458635, + 0.7307468282132603, + 0.6171552386909428, + -0.09292247375049213, + 0.13724182162341117, + 0.2805758712928113, + -0.5112263822171947, + 0.0, + -1.5810232512136497, + 0.2512425669644139, + 0.8375296306492078, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3522055240458635, + 0.7307468282132603, + 0.6171552386909428, + -0.09292247375049213, + 0.13724182162341117, + 0.2805758712928113, + -0.5112263822171947, + 0.0, + -1.526885902453767, + 0.3267543112287427, + 0.8375311890746108, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3522055240458635, + 0.7307468282132603, + 0.6171552386909428, + -0.09292247375049213, + 0.13724182162341117, + 0.2805758712928113, + -0.5112263822171947, + 0.0, + -1.496608208606739, + 0.35224352009815746, + 0.8375290186688451, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3522055240458635, + 0.7307468282132603, + 0.6171552386909428, + -0.09292247375049213, + 0.13724182162341117, + 0.2805758712928113, + -0.5112263822171947, + 0.0, + -1.4314337431056665, + 0.439670159011194, + 0.8375305698649718, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3522055240458635, + 0.7307468282132603, + 0.6171552386909428, + -0.09292247375049213, + 0.13724182162341117, + 0.2805758712928113, + -0.5112263822171947, + 0.0, + -1.3965041849504012, + 0.4621755870261995, + 0.8375298869196731, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3522055240458635, + 0.7307468282132603, + 0.6171552386909428, + -0.09292247375049213, + 0.13724182162341117, + 0.2805758712928113, + -0.5112263822171947, + 0.0, + -1.3543741777908094, + 0.5138047539656705, + 0.8375286861221389, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3522055240458635, + 0.7307468282132603, + 0.6171552386909428, + -0.09292247375049213, + 0.13724182162341117, + 0.2805758712928113, + -0.5112263822171947, + 0.0, + -1.3144058407524066, + 0.5618576740126798, + 0.8375314111166662, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3522055240458635, + 0.7307468282132603, + 0.6171552386909428, + -0.09292247375049213, + 0.13724182162341117, + 0.2805758712928113, + -0.5112263822171947, + 0.0, + -1.27917177405319, + 0.5843140198157566, + 0.8375288034134573, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3522055240458635, + 0.7307468282132603, + 0.6171552386909428, + -0.09292247375049213, + 0.13724182162341117, + 0.2805758712928113, + -0.5112263822171947, + 0.0, + -1.211984937217566, + 0.6731085759578365, + 0.8375304665895972, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3522055240458635, + 0.7307468282132603, + 0.6171552386909428, + -0.09292247375049213, + 0.13724182162341117, + 0.2805758712928113, + -0.5112263822171947, + 0.0, + -1.1839256250105872, + 0.6971155695690967, + 0.8375286113212604, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3522055240458635, + 0.7307468282132603, + 0.6171552386909428, + -0.09292247375049213, + 0.13724182162341117, + 0.2805758712928113, + -0.5112263822171947, + 0.0, + -1.1324469173825022, + 0.7713330734687129, + 0.8375291875978508, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3522055240458635, + 0.7307468282132603, + 0.6171552386909428, + -0.09292247375049213, + 0.13724182162341117, + 0.2805758712928113, + -0.5112263822171947, + 0.0, + -1.0887426267018412, + 0.8093763337203181, + 0.8375289689491291, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3522055240458635, + 0.7307468282132603, + 0.6171552386909428, + -0.09292247375049213, + 0.13724182162341117, + 0.2805758712928113, + -0.5112263822171947, + 0.0, + -1.0270940190052043, + 0.8842530837005907, + 0.8375299829657715, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3522055240458635, + 0.7307468282132603, + 0.6171552386909428, + -0.09292247375049213, + 0.13724182162341117, + 0.2805758712928113, + -0.5112263822171947, + 0.0, + -0.9932229256275857, + 0.9222179117179153, + 0.8375294776541171, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3522055240458635, + 0.7307468282132603, + 0.6171552386909428, + -0.09292247375049213, + 0.13724182162341117, + 0.2805758712928113, + -0.5112263822171947, + 0.0, + -0.9506109844487493, + 0.9808357359823023, + 0.8375289848830441, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3522055240458635, + 0.7307468282132603, + 0.6171552386909428, + -0.09292247375049213, + 0.13724182162341117, + 0.2805758712928113, + -0.5112263822171947, + 0.0, + -0.8979324391572783, + 1.0345383200167428, + 0.8375288656737545, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3522055240458635, + 0.7307468282132603, + 0.6171552386909428, + -0.09292247375049213, + 0.13724182162341117, + 0.2805758712928113, + -0.5112263822171947, + 0.0, + -0.8346429415563545, + 1.100252095425483, + 0.8375291822865458, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3522055240458635, + 0.7307468282132603, + 0.6171552386909428, + -0.09292247375049213, + 0.13724182162341117, + 0.2805758712928113, + -0.5112263822171947, + 0.0, + -0.8029549480369775, + 1.145885318517685, + 0.8375278796889994, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3522055240458635, + 0.7307468282132603, + 0.6171552386909428, + -0.09292247375049213, + 0.13724182162341117, + 0.2805758712928113, + -0.5112263822171947, + 0.0, + -0.7768332931664911, + 1.187274399222714, + 0.8375297266953062, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3522055240458635, + 0.7307468282132603, + 0.6171552386909428, + -0.09292247375049213, + 0.13724182162341117, + 0.2805758712928113, + -0.5112263822171947, + 0.0, + -0.7080708413135888, + 1.2553846659046588, + 0.8375280456672801, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3522055240458635, + 0.7307468282132603, + 0.6171552386909428, + -0.09292247375049213, + 0.13724182162341117, + 0.2805758712928113, + -0.5112263822171947, + 0.0, + -0.6504894782706062, + 1.3142500409100315, + 0.8375283671487675, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3522055240458635, + 0.7307468282132603, + 0.6171552386909428, + -0.09292247375049213, + 0.13724182162341117, + 0.2805758712928113, + -0.5112263822171947, + 0.0, + -0.6125416221595047, + 1.3637420186902036, + 1.053188769681619, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3522055240458635, + 0.7307468282132603, + 0.6171552386909428, + -0.09292247375049213, + 0.13724182162341117, + 0.2805758712928113, + -0.5112263822171947, + 0.0, + -0.5777136919522049, + 1.400557244178092, + -1.393554698712755, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3522055240458635, + 0.7307468282132603, + 0.6171552386909428, + -0.09292247375049213, + 0.13724182162341117, + 0.2805758712928113, + -0.5112263822171947, + 0.0, + 1.0535823106765747, + 2.131255865097046, + 0.517516553401947, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20711027523937003, + 1.82928365221913, + 0.6689795251028525, + 0.6264728911491255, + 0.2872885703422863, + 0.5873159803257088, + -0.4091988178114817, + 0.0, + 1.0811659097671509, + 2.146958351135254, + 0.5175132155418396, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20711027523937003, + 1.82928365221913, + 0.6689795251028525, + 0.6264728911491255, + 0.2872885703422863, + 0.5873159803257088, + -0.4091988178114817, + 0.0, + 1.1780872344970703, + 2.202132225036621, + 1.5590746402740479, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20711027523937003, + 1.82928365221913, + 0.6689795251028525, + 0.6264728911491255, + 0.2872885703422863, + 0.5873159803257088, + -0.4091988178114817, + 0.0, + 1.1790000200271606, + 2.2799999713897705, + -3.1415927410125732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20711027523937003, + 1.82928365221913, + 0.6689795251028525, + 0.6264728911491255, + 0.2872885703422863, + 0.5873159803257088, + -0.4091988178114817, + 0.0 + ], + "std": [ + 1.8219988546596124, + 1.7674446487102946, + 0.4737014272913181, + 0.42483838494259824, + 5.143878128745259e-08, + 4.0280629944478145e-08, + 0.8191270409391679, + 1.1349774934557901, + 1.6478594805483067, + 1.1119450777805973, + 0.06426607360812178, + 0.534290563558594, + 0.335200901222395, + 0.3454130339017462, + 0.5225530675226746, + 0.27096352397766027, + 0.7376124141989292, + 1.6000569023637243, + 0.5546682664014351, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3346594904768299, + 1.3675740588081218, + 0.04956450322588279, + 0.7071077898026834, + 0.15040326879072557, + 0.2943533101978705, + 0.15227711920969733, + 0.0, + 0.7839788521330076, + 1.5798784959100631, + 0.5546677500306937, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3346594904768299, + 1.3675740588081218, + 0.04956450322588279, + 0.7071077898026834, + 0.15040326879072557, + 0.2943533101978705, + 0.15227711920969733, + 0.0, + 0.7820882243972999, + 1.528681254318098, + 0.5546662827934766, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3346594904768299, + 1.3675740588081218, + 0.04956450322588279, + 0.7071077898026834, + 0.15040326879072557, + 0.2943533101978705, + 0.15227711920969733, + 0.0, + 0.8318579232556345, + 1.512141700380703, + 0.5546671378289961, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3346594904768299, + 1.3675740588081218, + 0.04956450322588279, + 0.7071077898026834, + 0.15040326879072557, + 0.2943533101978705, + 0.15227711920969733, + 0.0, + 0.8253525823175251, + 1.454745181488328, + 0.5546723843417978, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3346594904768299, + 1.3675740588081218, + 0.04956450322588279, + 0.7071077898026834, + 0.15040326879072557, + 0.2943533101978705, + 0.15227711920969733, + 0.0, + 0.8797214530145628, + 1.4446245084886549, + 0.5546684720193354, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3346594904768299, + 1.3675740588081218, + 0.04956450322588279, + 0.7071077898026834, + 0.15040326879072557, + 0.2943533101978705, + 0.15227711920969733, + 0.0, + 0.8683979320549644, + 1.3803644827474777, + 0.5546685501727517, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3346594904768299, + 1.3675740588081218, + 0.04956450322588279, + 0.7071077898026834, + 0.15040326879072557, + 0.2943533101978705, + 0.15227711920969733, + 0.0, + 0.9212243372905902, + 1.3768735411410147, + 0.5546670792139324, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3346594904768299, + 1.3675740588081218, + 0.04956450322588279, + 0.7071077898026834, + 0.15040326879072557, + 0.2943533101978705, + 0.15227711920969733, + 0.0, + 0.9251866109446205, + 1.3349218925448059, + 0.5546675937238824, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3346594904768299, + 1.3675740588081218, + 0.04956450322588279, + 0.7071077898026834, + 0.15040326879072557, + 0.2943533101978705, + 0.15227711920969733, + 0.0, + 0.9487784605952976, + 1.3088525649285465, + 0.3060626254559833, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3346594904768299, + 1.3675740588081218, + 0.04956450322588279, + 0.7071077898026834, + 0.15040326879072557, + 0.2943533101978705, + 0.15227711920969733, + 0.0, + 0.9761017261717121, + 1.3222910511248365, + 0.306061672728705, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3346594904768299, + 1.3675740588081218, + 0.04956450322588279, + 0.7071077898026834, + 0.15040326879072557, + 0.2943533101978705, + 0.15227711920969733, + 0.0, + 0.9784309061820966, + 1.2750951152325218, + 0.3060602436377901, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3346594904768299, + 1.3675740588081218, + 0.04956450322588279, + 0.7071077898026834, + 0.15040326879072557, + 0.2943533101978705, + 0.15227711920969733, + 0.0, + 1.0060991781236779, + 1.2838973029990584, + 0.3060619704559809, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3346594904768299, + 1.3675740588081218, + 0.04956450322588279, + 0.7071077898026834, + 0.15040326879072557, + 0.2943533101978705, + 0.15227711920969733, + 0.0, + 1.0355757264369656, + 1.2569879081063142, + 0.30605402113776137, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3346594904768299, + 1.3675740588081218, + 0.04956450322588279, + 0.7071077898026834, + 0.15040326879072557, + 0.2943533101978705, + 0.15227711920969733, + 0.0, + 1.0280450723124692, + 1.2404265009869957, + 0.3060132622739459, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3346594904768299, + 1.3675740588081218, + 0.04956450322588279, + 0.7071077898026834, + 0.15040326879072557, + 0.2943533101978705, + 0.15227711920969733, + 0.0, + 1.0035830849306409, + 1.1881380889355952, + 0.3060604818196082, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3346594904768299, + 1.3675740588081218, + 0.04956450322588279, + 0.7071077898026834, + 0.15040326879072557, + 0.2943533101978705, + 0.15227711920969733, + 0.0, + 1.0543315919751601, + 1.1997835721693604, + 0.30606194068325093, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3346594904768299, + 1.3675740588081218, + 0.04956450322588279, + 0.7071077898026834, + 0.15040326879072557, + 0.2943533101978705, + 0.15227711920969733, + 0.0, + 1.0763080032095425, + 1.1789002070762102, + 0.3060620597741621, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3346594904768299, + 1.3675740588081218, + 0.04956450322588279, + 0.7071077898026834, + 0.15040326879072557, + 0.2943533101978705, + 0.15227711920969733, + 0.0, + 1.08325389119506, + 1.160423133357446, + 0.3060612559105231, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3346594904768299, + 1.3675740588081218, + 0.04956450322588279, + 0.7071077898026834, + 0.15040326879072557, + 0.2943533101978705, + 0.15227711920969733, + 0.0, + 1.0909549941839611, + 1.1366006641602804, + 0.30606131545597676, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3346594904768299, + 1.3675740588081218, + 0.04956450322588279, + 0.7071077898026834, + 0.15040326879072557, + 0.2943533101978705, + 0.15227711920969733, + 0.0, + 1.1100689065419536, + 1.1199421086314412, + 0.30606164295597815, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3346594904768299, + 1.3675740588081218, + 0.04956450322588279, + 0.7071077898026834, + 0.15040326879072557, + 0.2943533101978705, + 0.15227711920969733, + 0.0, + 1.1289056348077853, + 1.107567014939868, + 0.306061017728705, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3346594904768299, + 1.3675740588081218, + 0.04956450322588279, + 0.7071077898026834, + 0.15040326879072557, + 0.2943533101978705, + 0.15227711920969733, + 0.0, + 1.1354112139277022, + 1.0786827354928743, + 0.30606149409233985, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3346594904768299, + 1.3675740588081218, + 0.04956450322588279, + 0.7071077898026834, + 0.15040326879072557, + 0.2943533101978705, + 0.15227711920969733, + 0.0, + 1.1510558889974851, + 1.0695387568157269, + 0.30606188113779725, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3346594904768299, + 1.3675740588081218, + 0.04956450322588279, + 0.7071077898026834, + 0.15040326879072557, + 0.2943533101978705, + 0.15227711920969733, + 0.0, + 1.1595601410808618, + 1.0365450371231042, + 0.3060628338650735, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3346594904768299, + 1.3675740588081218, + 0.04956450322588279, + 0.7071077898026834, + 0.15040326879072557, + 0.2943533101978705, + 0.15227711920969733, + 0.0, + 1.184955116421393, + 1.038198733494114, + 0.30606179181961873, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3346594904768299, + 1.3675740588081218, + 0.04956450322588279, + 0.7071077898026834, + 0.15040326879072557, + 0.2943533101978705, + 0.15227711920969733, + 0.0, + 1.1839029928939828, + 0.9948553885280842, + 0.3060626552287087, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3346594904768299, + 1.3675740588081218, + 0.04956450322588279, + 0.7071077898026834, + 0.15040326879072557, + 0.2943533101978705, + 0.15227711920969733, + 0.0, + 1.2049140085558636, + 0.9989229683189365, + 0.30606143454688656, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3346594904768299, + 1.3675740588081218, + 0.04956450322588279, + 0.7071077898026834, + 0.15040326879072557, + 0.2943533101978705, + 0.15227711920969733, + 0.0, + 1.2081364448202407, + 0.9526266898170006, + 0.30606280409234715, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3346594904768299, + 1.3675740588081218, + 0.04956450322588279, + 0.7071077898026834, + 0.15040326879072557, + 0.2943533101978705, + 0.15227711920969733, + 0.0, + 1.2412769366157923, + 0.9689854488672306, + 0.30606152386506713, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3346594904768299, + 1.3675740588081218, + 0.04956450322588279, + 0.7071077898026834, + 0.15040326879072557, + 0.2943533101978705, + 0.15227711920969733, + 0.0, + 1.2496622764259147, + 0.9473184358160553, + 0.3060606604559745, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3346594904768299, + 1.3675740588081218, + 0.04956450322588279, + 0.7071077898026834, + 0.15040326879072557, + 0.2943533101978705, + 0.15227711920969733, + 0.0, + 1.2588132563459893, + 0.928330655617727, + 0.3060642927287167, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3346594904768299, + 1.3675740588081218, + 0.04956450322588279, + 0.7071077898026834, + 0.15040326879072557, + 0.2943533101978705, + 0.15227711920969733, + 0.0, + 1.2925590714183761, + 0.9452466708068235, + 0.3060612856832502, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3346594904768299, + 1.3675740588081218, + 0.04956450322588279, + 0.7071077898026834, + 0.15040326879072557, + 0.2943533101978705, + 0.15227711920969733, + 0.0, + 1.297598697264709, + 0.899772194013088, + 0.3060631613650763, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3346594904768299, + 1.3675740588081218, + 0.04956450322588279, + 0.7071077898026834, + 0.15040326879072557, + 0.2943533101978705, + 0.15227711920969733, + 0.0, + 1.316573131837979, + 0.9028901428906301, + 0.3060609879559754, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3346594904768299, + 1.3675740588081218, + 0.04956450322588279, + 0.7071077898026834, + 0.15040326879072557, + 0.2943533101978705, + 0.15227711920969733, + 0.0, + 1.3124579603423407, + 0.8575934297482624, + 0.30606188113779725, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3346594904768299, + 1.3675740588081218, + 0.04956450322588279, + 0.7071077898026834, + 0.15040326879072557, + 0.2943533101978705, + 0.15227711920969733, + 0.0, + 1.3411723045045185, + 0.8613495291258011, + 0.3060609879559754, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3346594904768299, + 1.3675740588081218, + 0.04956450322588279, + 0.7071077898026834, + 0.15040326879072557, + 0.2943533101978705, + 0.15227711920969733, + 0.0, + 1.3543090738812784, + 0.8307801951826441, + 0.306061672728705, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3346594904768299, + 1.3675740588081218, + 0.04956450322588279, + 0.7071077898026834, + 0.15040326879072557, + 0.2943533101978705, + 0.15227711920969733, + 0.0, + 1.3656217129090042, + 0.8193515913816743, + 0.30606170250143383, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3346594904768299, + 1.3675740588081218, + 0.04956450322588279, + 0.7071077898026834, + 0.15040326879072557, + 0.2943533101978705, + 0.15227711920969733, + 0.0, + 1.3658489234782138, + 0.7866188668606767, + 0.3060613452287052, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3346594904768299, + 1.3675740588081218, + 0.04956450322588279, + 0.7071077898026834, + 0.15040326879072557, + 0.2943533101978705, + 0.15227711920969733, + 0.0, + 1.3903355180192374, + 0.7778777504012407, + 0.3060613452287052, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3346594904768299, + 1.3675740588081218, + 0.04956450322588279, + 0.7071077898026834, + 0.15040326879072557, + 0.2943533101978705, + 0.15227711920969733, + 0.0, + 1.4182140747344758, + 0.7653571425044874, + 0.30606176204688745, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3346594904768299, + 1.3675740588081218, + 0.04956450322588279, + 0.7071077898026834, + 0.15040326879072557, + 0.2943533101978705, + 0.15227711920969733, + 0.0, + 1.4157478806325878, + 0.7375620982896078, + 0.3060626254559833, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3346594904768299, + 1.3675740588081218, + 0.04956450322588279, + 0.7071077898026834, + 0.15040326879072557, + 0.2943533101978705, + 0.15227711920969733, + 0.0, + 1.408848854919986, + 0.7082720761135222, + 0.30606194068325093, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3346594904768299, + 1.3675740588081218, + 0.04956450322588279, + 0.7071077898026834, + 0.15040326879072557, + 0.2943533101978705, + 0.15227711920969733, + 0.0, + 1.4433777457558161, + 0.7002250140321773, + 0.3060603329559721, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3346594904768299, + 1.3675740588081218, + 0.04956450322588279, + 0.7071077898026834, + 0.15040326879072557, + 0.2943533101978705, + 0.15227711920969733, + 0.0, + 1.4699306717833232, + 0.6903918264883118, + 0.3060628636378029, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3346594904768299, + 1.3675740588081218, + 0.04956450322588279, + 0.7071077898026834, + 0.15040326879072557, + 0.2943533101978705, + 0.15227711920969733, + 0.0, + 1.47362883157256, + 0.665823461151465, + 0.5123163206940807, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3346594904768299, + 1.3675740588081218, + 0.04956450322588279, + 0.7071077898026834, + 0.15040326879072557, + 0.2943533101978705, + 0.15227711920969733, + 0.0, + 1.5090896385488801, + 0.6697620357144891, + 1.8277359454246356, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3346594904768299, + 1.3675740588081218, + 0.04956450322588279, + 0.7071077898026834, + 0.15040326879072557, + 0.2943533101978705, + 0.15227711920969733, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.9947558278366044, + 0.5390342428394871, + 5.234230138069062e-09, + 0.048714757476212144, + 0.06515063110528915, + 0.03487292601553344, + 0.06913318084814109, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.9947558278366044, + 0.5390342428394871, + 5.234230138069062e-09, + 0.048714757476212144, + 0.06515063110528915, + 0.03487292601553344, + 0.06913318084814109, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.9947558278366044, + 0.5390342428394871, + 5.234230138069062e-09, + 0.048714757476212144, + 0.06515063110528915, + 0.03487292601553344, + 0.06913318084814109, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.9947558278366044, + 0.5390342428394871, + 5.234230138069062e-09, + 0.048714757476212144, + 0.06515063110528915, + 0.03487292601553344, + 0.06913318084814109, + 0.0 + ], + "min": [ + -3.550550699234009, + -2.515437602996826, + 0.0, + -4.371138828673793e-08, + 0.0, + 0.0, + -1.0, + -1.0, + -3.297591209411621, + -2.378589391708374, + 0.43899983167648315, + -0.8718189001083374, + -0.5075287818908691, + -0.5328276753425598, + -0.9999998211860657, + 0.0, + -3.5183494091033936, + -2.4471354484558105, + 0.01980775035917759, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.297591209411621, + -2.378589391708374, + 0.5697519779205322, + -0.8718189001083374, + -5.996309482725337e-06, + -1.6748050484238775e-06, + -0.9995306730270386, + 0.0, + -3.4982495307922363, + -2.404501438140869, + 0.019807711243629456, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.297591209411621, + -2.378589391708374, + 0.5697519779205322, + -0.8718189001083374, + -5.996309482725337e-06, + -1.6748050484238775e-06, + -0.9995306730270386, + 0.0, + -3.449507474899292, + -2.301114559173584, + 0.01980742998421192, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.297591209411621, + -2.378589391708374, + 0.5697519779205322, + -0.8718189001083374, + -5.996309482725337e-06, + -1.6748050484238775e-06, + -0.9995306730270386, + 0.0, + -3.432810068130493, + -2.265697956085205, + 0.019808340817689896, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.297591209411621, + -2.378589391708374, + 0.5697519779205322, + -0.8718189001083374, + -5.996309482725337e-06, + -1.6748050484238775e-06, + -0.9995306730270386, + 0.0, + -3.378248691558838, + -2.149967908859253, + 0.019807254895567894, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.297591209411621, + -2.378589391708374, + 0.5697519779205322, + -0.8718189001083374, + -5.996309482725337e-06, + -1.6748050484238775e-06, + -0.9995306730270386, + 0.0, + -3.3675804138183594, + -2.1273388862609863, + 0.019806623458862305, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.297591209411621, + -2.378589391708374, + 0.5697519779205322, + -0.8718189001083374, + -5.996309482725337e-06, + -1.6748050484238775e-06, + -0.9995306730270386, + 0.0, + -3.3065710067749023, + -1.9979315996170044, + 0.01980789750814438, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.297591209411621, + -2.378589391708374, + 0.5697519779205322, + -0.8718189001083374, + -5.996309482725337e-06, + -1.6748050484238775e-06, + -0.9995306730270386, + 0.0, + -3.302248001098633, + -1.9887620210647583, + 0.019807027652859688, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.297591209411621, + -2.378589391708374, + 0.5697519779205322, + -0.8718189001083374, + -5.996309482725337e-06, + -1.6748050484238775e-06, + -0.9995306730270386, + 0.0, + -3.2622039318084717, + -1.9038249254226685, + 0.019808024168014526, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.297591209411621, + -2.378589391708374, + 0.5697519779205322, + -0.8718189001083374, + -5.996309482725337e-06, + -1.6748050484238775e-06, + -0.9995306730270386, + 0.0, + -3.2369213104248047, + -1.8501979112625122, + 0.5175142288208008, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.297591209411621, + -2.378589391708374, + 0.5697519779205322, + -0.8718189001083374, + -5.996309482725337e-06, + -1.6748050484238775e-06, + -0.9995306730270386, + 0.0, + -3.23419189453125, + -1.8444085121154785, + 0.5175135135650635, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.297591209411621, + -2.378589391708374, + 0.5697519779205322, + -0.8718189001083374, + -5.996309482725337e-06, + -1.6748050484238775e-06, + -0.9995306730270386, + 0.0, + -3.1715948581695557, + -1.7116340398788452, + 0.517513632774353, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.297591209411621, + -2.378589391708374, + 0.5697519779205322, + -0.8718189001083374, + -5.996309482725337e-06, + -1.6748050484238775e-06, + -0.9995306730270386, + 0.0, + -3.162630796432495, + -1.6926205158233643, + 0.5175133943557739, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.297591209411621, + -2.378589391708374, + 0.5697519779205322, + -0.8718189001083374, + -5.996309482725337e-06, + -1.6748050484238775e-06, + -0.9995306730270386, + 0.0, + -3.1062681674957275, + -1.57306969165802, + 0.5175288319587708, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.297591209411621, + -2.378589391708374, + 0.5697519779205322, + -0.8718189001083374, + -5.996309482725337e-06, + -1.6748050484238775e-06, + -0.9995306730270386, + 0.0, + -3.090433120727539, + -1.5394819974899292, + 0.5176105499267578, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.297591209411621, + -2.378589391708374, + 0.5697519779205322, + -0.8718189001083374, + -5.996309482725337e-06, + -1.6748050484238775e-06, + -0.9995306730270386, + 0.0, + -3.0409417152404785, + -1.434505820274353, + 0.5175132751464844, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.297591209411621, + -2.378589391708374, + 0.5697519779205322, + -0.8718189001083374, + -5.996309482725337e-06, + -1.6748050484238775e-06, + -0.9995306730270386, + 0.0, + -3.018695592880249, + -1.3873199224472046, + 0.517512857913971, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.297591209411621, + -2.378589391708374, + 0.5697519779205322, + -0.8718189001083374, + -5.996309482725337e-06, + -1.6748050484238775e-06, + -0.9995306730270386, + 0.0, + -2.9756150245666504, + -1.2959418296813965, + 0.5175139307975769, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.297591209411621, + -2.378589391708374, + 0.5697519779205322, + -0.8718189001083374, + -5.996309482725337e-06, + -1.6748050484238775e-06, + -0.9995306730270386, + 0.0, + -2.9466772079467773, + -1.2345616817474365, + 0.5175135135650635, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.297591209411621, + -2.378589391708374, + 0.5697519779205322, + -0.8718189001083374, + -5.996309482725337e-06, + -1.6748050484238775e-06, + -0.9995306730270386, + 0.0, + -2.9102885723114014, + -1.1573779582977295, + 0.5175129175186157, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.297591209411621, + -2.378589391708374, + 0.5697519779205322, + -0.8718189001083374, + -5.996309482725337e-06, + -1.6748050484238775e-06, + -0.9995306730270386, + 0.0, + -2.874760389328003, + -1.0820194482803345, + 0.5175129771232605, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.297591209411621, + -2.378589391708374, + 0.5697519779205322, + -0.8718189001083374, + -5.996309482725337e-06, + -1.6748050484238775e-06, + -0.9995306730270386, + 0.0, + -2.8449618816375732, + -1.018813967704773, + 0.5175139904022217, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.297591209411621, + -2.378589391708374, + 0.5697519779205322, + -0.8718189001083374, + -5.996309482725337e-06, + -1.6748050484238775e-06, + -0.9995306730270386, + 0.0, + -2.8029210567474365, + -0.9296414256095886, + 0.5175139904022217, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.297591209411621, + -2.378589391708374, + 0.5697519779205322, + -0.8718189001083374, + -5.996309482725337e-06, + -1.6748050484238775e-06, + -0.9995306730270386, + 0.0, + -2.779635190963745, + -0.8802497982978821, + 0.517512857913971, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.297591209411621, + -2.378589391708374, + 0.5697519779205322, + -0.8718189001083374, + -5.996309482725337e-06, + -1.6748050484238775e-06, + -0.9995306730270386, + 0.0, + -2.730825185775757, + -0.7767190337181091, + 0.5175134539604187, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.297591209411621, + -2.378589391708374, + 0.5697519779205322, + -0.8718189001083374, + -5.996309482725337e-06, + -1.6748050484238775e-06, + -0.9995306730270386, + 0.0, + -2.714308738708496, + -0.7416858077049255, + 0.517513632774353, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.297591209411621, + -2.378589391708374, + 0.5697519779205322, + -0.8718189001083374, + -5.996309482725337e-06, + -1.6748050484238775e-06, + -0.9995306730270386, + 0.0, + -2.659165143966675, + -0.6247206926345825, + 0.5175142884254456, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.297591209411621, + -2.378589391708374, + 0.5697519779205322, + -0.8718189001083374, + -5.996309482725337e-06, + -1.6748050484238775e-06, + -0.9995306730270386, + 0.0, + -2.648982286453247, + -0.6031216979026794, + 0.5175133943557739, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.297591209411621, + -2.378589391708374, + 0.5697519779205322, + -0.8718189001083374, + -5.996309482725337e-06, + -1.6748050484238775e-06, + -0.9995306730270386, + 0.0, + -2.5868897438049316, + -0.47141751646995544, + 0.5175135135650635, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.297591209411621, + -2.378589391708374, + 0.5697519779205322, + -0.8718189001083374, + -5.996309482725337e-06, + -1.6748050484238775e-06, + -0.9995306730270386, + 0.0, + -2.583655595779419, + -0.4645575284957886, + 0.517514169216156, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.297591209411621, + -2.378589391708374, + 0.5697519779205322, + -0.8718189001083374, + -5.996309482725337e-06, + -1.6748050484238775e-06, + -0.9995306730270386, + 0.0, + -2.5495452880859375, + -0.3922061324119568, + 0.5175138711929321, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.297591209411621, + -2.378589391708374, + 0.5697519779205322, + -0.8718189001083374, + -5.996309482725337e-06, + -1.6748050484238775e-06, + -0.9995306730270386, + 0.0, + -2.518328905105591, + -0.3259933888912201, + 0.5175127983093262, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.297591209411621, + -2.378589391708374, + 0.5697519779205322, + -0.8718189001083374, + -5.996309482725337e-06, + -1.6748050484238775e-06, + -0.9995306730270386, + 0.0, + -2.515369176864624, + -0.3197154402732849, + 0.5175133347511292, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.297591209411621, + -2.378589391708374, + 0.5697519779205322, + -0.8718189001083374, + -5.996309482725337e-06, + -1.6748050484238775e-06, + -0.9995306730270386, + 0.0, + -2.4530022144317627, + -0.1874293088912964, + 0.5175130367279053, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.297591209411621, + -2.378589391708374, + 0.5697519779205322, + -0.8718189001083374, + -5.996309482725337e-06, + -1.6748050484238775e-06, + -0.9995306730270386, + 0.0, + -2.4430899620056152, + -0.16640430688858032, + 0.5175134539604187, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.297591209411621, + -2.378589391708374, + 0.5697519779205322, + -0.8718189001083374, + -5.996309482725337e-06, + -1.6748050484238775e-06, + -0.9995306730270386, + 0.0, + -2.3876755237579346, + -0.048865240067243576, + 0.51751309633255, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.297591209411621, + -2.378589391708374, + 0.5697519779205322, + -0.8718189001083374, + -5.996309482725337e-06, + -1.6748050484238775e-06, + -0.9995306730270386, + 0.0, + -2.3714334964752197, + -0.014414295554161072, + 0.5175138115882874, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.297591209411621, + -2.378589391708374, + 0.5697519779205322, + -0.8718189001083374, + -5.996309482725337e-06, + -1.6748050484238775e-06, + -0.9995306730270386, + 0.0, + -2.3223488330841064, + 0.08969882130622864, + 0.5175141096115112, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.297591209411621, + -2.378589391708374, + 0.5697519779205322, + -0.8718189001083374, + -5.996309482725337e-06, + -1.6748050484238775e-06, + -0.9995306730270386, + 0.0, + -2.2992970943450928, + 0.1385939121246338, + 0.5175135731697083, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.297591209411621, + -2.378589391708374, + 0.5697519779205322, + -0.8718189001083374, + -5.996309482725337e-06, + -1.6748050484238775e-06, + -0.9995306730270386, + 0.0, + -2.2569024562835693, + 0.22851715981960297, + 0.5175134539604187, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.297591209411621, + -2.378589391708374, + 0.5697519779205322, + -0.8718189001083374, + -5.996309482725337e-06, + -1.6748050484238775e-06, + -0.9995306730270386, + 0.0, + -2.227642774581909, + 0.2905797064304352, + 0.5175133347511292, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.297591209411621, + -2.378589391708374, + 0.5697519779205322, + -0.8718189001083374, + -5.996309482725337e-06, + -1.6748050484238775e-06, + -0.9995306730270386, + 0.0, + -2.19101619720459, + 0.36826813220977783, + 0.5175132155418396, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.297591209411621, + -2.378589391708374, + 0.5697519779205322, + -0.8718189001083374, + -5.996309482725337e-06, + -1.6748050484238775e-06, + -0.9995306730270386, + 0.0, + -2.1569695472717285, + 0.4404844045639038, + 0.5175110101699829, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.297591209411621, + -2.378589391708374, + 0.5697519779205322, + -0.8718189001083374, + -5.996309482725337e-06, + -1.6748050484238775e-06, + -0.9995306730270386, + 0.0, + -2.1242496967315674, + 0.5098863244056702, + 0.5175135731697083, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.297591209411621, + -2.378589391708374, + 0.5697519779205322, + -0.8718189001083374, + -5.996309482725337e-06, + -1.6748050484238775e-06, + -0.9995306730270386, + 0.0, + -2.088510513305664, + 0.5856927633285522, + 0.5175135731697083, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.297591209411621, + -2.378589391708374, + 0.5697519779205322, + -0.8718189001083374, + -5.996309482725337e-06, + -1.6748050484238775e-06, + -0.9995306730270386, + 0.0, + -2.0563242435455322, + 0.6539625525474548, + 0.517511248588562, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.297591209411621, + -2.378589391708374, + 0.5697519779205322, + -0.8718189001083374, + -5.996309482725337e-06, + -1.6748050484238775e-06, + -0.9995306730270386, + 0.0, + -2.0219132900238037, + 0.7269515991210938, + 0.5175145268440247, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.297591209411621, + -2.378589391708374, + 0.5697519779205322, + -0.8718189001083374, + -5.996309482725337e-06, + -1.6748050484238775e-06, + -0.9995306730270386, + 0.0, + -2.0209999084472656, + 0.7599999904632568, + -3.1415927410125732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.297591209411621, + -2.378589391708374, + 0.5697519779205322, + -0.8718189001083374, + -5.996309482725337e-06, + -1.6748050484238775e-06, + -0.9995306730270386, + 0.0, + 1.0535823106765747, + 2.131255865097046, + 0.517516553401947, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.0395095348358154, + 1.0880132913589478, + 0.6689794659614563, + 0.5217657089233398, + 0.16980008780956268, + 0.5109445452690125, + -0.5429779887199402, + 0.0, + 1.0811659097671509, + 2.146958351135254, + 0.5175132155418396, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.0395095348358154, + 1.0880132913589478, + 0.6689794659614563, + 0.5217657089233398, + 0.16980008780956268, + 0.5109445452690125, + -0.5429779887199402, + 0.0, + 1.1780872344970703, + 2.202132225036621, + 1.5590746402740479, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.0395095348358154, + 1.0880132913589478, + 0.6689794659614563, + 0.5217657089233398, + 0.16980008780956268, + 0.5109445452690125, + -0.5429779887199402, + 0.0, + 1.1790000200271606, + 2.2799999713897705, + -3.1415927410125732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.0395095348358154, + 1.0880132913589478, + 0.6689794659614563, + 0.5217657089233398, + 0.16980008780956268, + 0.5109445452690125, + -0.5429779887199402, + 0.0 + ], + "max": [ + 1.228817105293274, + 2.2799999713897705, + 1.130245566368103, + 0.9044864773750305, + 1.6391277313232422e-07, + 1.2759119272232056e-07, + 0.9999998807907104, + 2.0, + 1.5067614316940308, + 2.8467929363250732, + 0.678779125213623, + 0.6980010271072388, + 0.6579931974411011, + 0.6356912851333618, + 0.9999999403953552, + 1.0, + -2.0416581630706787, + 0.7561593651771545, + 1.1302469968795776, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1385115385055542, + 2.581069231033325, + 0.6689795255661011, + 0.6980010271072388, + 0.41457346081733704, + 0.6356912851333618, + -0.2825932800769806, + 0.0, + -1.928733229637146, + 0.7583964467048645, + 1.1302459239959717, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1385115385055542, + 2.581069231033325, + 0.6689795255661011, + 0.6980010271072388, + 0.41457346081733704, + 0.6356912851333618, + -0.2825932800769806, + 0.0, + -1.8837761878967285, + 0.7592870593070984, + 1.1302427053451538, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1385115385055542, + 2.581069231033325, + 0.6689795255661011, + 0.6980010271072388, + 0.41457346081733704, + 0.6356912851333618, + -0.2825932800769806, + 0.0, + -1.7674404382705688, + 0.7615916728973389, + 1.130245327949524, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1385115385055542, + 2.581069231033325, + 0.6689795255661011, + 0.6980010271072388, + 0.41457346081733704, + 0.6356912851333618, + -0.2825932800769806, + 0.0, + -1.7259026765823364, + 0.7624145746231079, + 1.1302547454833984, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1385115385055542, + 2.581069231033325, + 0.6689795255661011, + 0.6980010271072388, + 0.41457346081733704, + 0.6356912851333618, + -0.2825932800769806, + 0.0, + -1.6063885688781738, + 0.7647821307182312, + 1.1302462816238403, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1385115385055542, + 2.581069231033325, + 0.6689795255661011, + 0.6980010271072388, + 0.41457346081733704, + 0.6356912851333618, + -0.2825932800769806, + 0.0, + -1.5680487155914307, + 0.7655416131019592, + 1.130247712135315, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1385115385055542, + 2.581069231033325, + 0.6689795255661011, + 0.6980010271072388, + 0.41457346081733704, + 0.6356912851333618, + -0.2825932800769806, + 0.0, + -1.4579678773880005, + 0.7677223682403564, + 1.1302438974380493, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1385115385055542, + 2.581069231033325, + 0.6689795255661011, + 0.6980010271072388, + 0.41457346081733704, + 0.6356912851333618, + -0.2825932800769806, + 0.0, + -1.4099913835525513, + 0.7686727643013, + 1.1302459239959717, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1385115385055542, + 2.581069231033325, + 0.6689795255661011, + 0.6980010271072388, + 0.41457346081733704, + 0.6356912851333618, + -0.2825932800769806, + 0.0, + -1.3374781608581543, + 0.7701092958450317, + 1.130247950553894, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1385115385055542, + 2.581069231033325, + 0.6689795255661011, + 0.6980010271072388, + 0.41457346081733704, + 0.6356912851333618, + -0.2825932800769806, + 0.0, + -1.28004789352417, + 0.8028023838996887, + 1.130245327949524, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1385115385055542, + 2.581069231033325, + 0.6689795255661011, + 0.6980010271072388, + 0.41457346081733704, + 0.6356912851333618, + -0.2825932800769806, + 0.0, + -1.2127878665924072, + 0.8410911560058594, + 1.1302425861358643, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1385115385055542, + 2.581069231033325, + 0.6689795255661011, + 0.6980010271072388, + 0.41457346081733704, + 0.6356912851333618, + -0.2825932800769806, + 0.0, + -1.1484322547912598, + 0.8777265548706055, + 1.1302458047866821, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1385115385055542, + 2.581069231033325, + 0.6689795255661011, + 0.6980010271072388, + 0.41457346081733704, + 0.6356912851333618, + -0.2825932800769806, + 0.0, + -1.0330579280853271, + 0.9434050917625427, + 1.130245327949524, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1385115385055542, + 2.581069231033325, + 0.6689795255661011, + 0.6980010271072388, + 0.41457346081733704, + 0.6356912851333618, + -0.2825932800769806, + 0.0, + -1.0322991609573364, + 0.94383704662323, + 1.1302454471588135, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1385115385055542, + 2.581069231033325, + 0.6689795255661011, + 0.6980010271072388, + 0.41457346081733704, + 0.6356912851333618, + -0.2825932800769806, + 0.0, + -1.0317803621292114, + 0.9441324472427368, + 1.1302427053451538, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1385115385055542, + 2.581069231033325, + 0.6689795255661011, + 0.6980010271072388, + 0.41457346081733704, + 0.6356912851333618, + -0.2825932800769806, + 0.0, + -0.9079363346099854, + 1.0146324634552002, + 1.1302452087402344, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1385115385055542, + 2.581069231033325, + 0.6689795255661011, + 0.6980010271072388, + 0.41457346081733704, + 0.6356912851333618, + -0.2825932800769806, + 0.0, + -0.8208592534065247, + 1.0642023086547852, + 1.1302465200424194, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1385115385055542, + 2.581069231033325, + 0.6689795255661011, + 0.6980010271072388, + 0.41457346081733704, + 0.6356912851333618, + -0.2825932800769806, + 0.0, + -0.7780158519744873, + 1.0885915756225586, + 1.130244493484497, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1385115385055542, + 2.581069231033325, + 0.6689795255661011, + 0.6980010271072388, + 0.41457346081733704, + 0.6356912851333618, + -0.2825932800769806, + 0.0, + -0.7262097001075745, + 1.1180830001831055, + 1.1302440166473389, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1385115385055542, + 2.581069231033325, + 0.6689795255661011, + 0.6980010271072388, + 0.41457346081733704, + 0.6356912851333618, + -0.2825932800769806, + 0.0, + -0.6524156928062439, + 1.1600912809371948, + 1.1302447319030762, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1385115385055542, + 2.581069231033325, + 0.6689795255661011, + 0.6980010271072388, + 0.41457346081733704, + 0.6356912851333618, + -0.2825932800769806, + 0.0, + -0.584906280040741, + 1.1985219717025757, + 1.130244493484497, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1385115385055542, + 2.581069231033325, + 0.6689795255661011, + 0.6980010271072388, + 0.41457346081733704, + 0.6356912851333618, + -0.2825932800769806, + 0.0, + -0.5298413634300232, + 1.2298685312271118, + 1.1302454471588135, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1385115385055542, + 2.581069231033325, + 0.6689795255661011, + 0.6980010271072388, + 0.41457346081733704, + 0.6356912851333618, + -0.2825932800769806, + 0.0, + -0.4752350449562073, + 1.2609540224075317, + 1.1302450895309448, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1385115385055542, + 2.581069231033325, + 0.6689795255661011, + 0.6980010271072388, + 0.41457346081733704, + 0.6356912851333618, + -0.2825932800769806, + 0.0, + -0.4093996286392212, + 1.2984317541122437, + 1.1302475929260254, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1385115385055542, + 2.581069231033325, + 0.6689795255661011, + 0.6980010271072388, + 0.41457346081733704, + 0.6356912851333618, + -0.2825932800769806, + 0.0, + -0.3420427441596985, + 1.3367756605148315, + 1.1302456855773926, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1385115385055542, + 2.581069231033325, + 0.6689795255661011, + 0.6980010271072388, + 0.41457346081733704, + 0.6356912851333618, + -0.2825932800769806, + 0.0, + -0.28900548815727234, + 1.3669679164886475, + 1.1302480697631836, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1385115385055542, + 2.581069231033325, + 0.6689795255661011, + 0.6980010271072388, + 0.41457346081733704, + 0.6356912851333618, + -0.2825932800769806, + 0.0, + -0.23675882816314697, + 1.3967101573944092, + 1.1302447319030762, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1385115385055542, + 2.581069231033325, + 0.6689795255661011, + 0.6980010271072388, + 0.41457346081733704, + 0.6356912851333618, + -0.2825932800769806, + 0.0, + -0.16821500658988953, + 1.435729742050171, + 1.1302475929260254, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1385115385055542, + 2.581069231033325, + 0.6689795255661011, + 0.6980010271072388, + 0.41457346081733704, + 0.6356912851333618, + -0.2825932800769806, + 0.0, + -0.09863398969173431, + 1.4753397703170776, + 1.1302456855773926, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1385115385055542, + 2.581069231033325, + 0.6689795255661011, + 0.6980010271072388, + 0.41457346081733704, + 0.6356912851333618, + -0.2825932800769806, + 0.0, + -0.047736331820487976, + 1.5043140649795532, + 1.1302436590194702, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1385115385055542, + 2.581069231033325, + 0.6689795255661011, + 0.6980010271072388, + 0.41457346081733704, + 0.6356912851333618, + -0.2825932800769806, + 0.0, + 0.0018002036958932877, + 1.5325134992599487, + 1.1302498579025269, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1385115385055542, + 2.581069231033325, + 0.6689795255661011, + 0.6980010271072388, + 0.41457346081733704, + 0.6356912851333618, + -0.2825932800769806, + 0.0, + 0.0723186507821083, + 1.5726571083068848, + 1.1302443742752075, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1385115385055542, + 2.581069231033325, + 0.6689795255661011, + 0.6980010271072388, + 0.41457346081733704, + 0.6356912851333618, + -0.2825932800769806, + 0.0, + 0.1447748839855194, + 1.6139038801193237, + 1.1302478313446045, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1385115385055542, + 2.581069231033325, + 0.6689795255661011, + 0.6980010271072388, + 0.41457346081733704, + 0.6356912851333618, + -0.2825932800769806, + 0.0, + 0.1926737278699875, + 1.6411709785461426, + 1.1302438974380493, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1385115385055542, + 2.581069231033325, + 0.6689795255661011, + 0.6980010271072388, + 0.41457346081733704, + 0.6356912851333618, + -0.2825932800769806, + 0.0, + 0.23984964191913605, + 1.6680265665054321, + 1.130245327949524, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1385115385055542, + 2.581069231033325, + 0.6689795255661011, + 0.6980010271072388, + 0.41457346081733704, + 0.6356912851333618, + -0.2825932800769806, + 0.0, + 0.31357744336128235, + 1.7099971771240234, + 1.130244255065918, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1385115385055542, + 2.581069231033325, + 0.6689795255661011, + 0.6980010271072388, + 0.41457346081733704, + 0.6356912851333618, + -0.2825932800769806, + 0.0, + 0.3889617621898651, + 1.752910852432251, + 1.1302459239959717, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1385115385055542, + 2.581069231033325, + 0.6689795255661011, + 0.6980010271072388, + 0.41457346081733704, + 0.6356912851333618, + -0.2825932800769806, + 0.0, + 0.43466126918792725, + 1.7789260149002075, + 1.1302454471588135, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1385115385055542, + 2.581069231033325, + 0.6689795255661011, + 0.6980010271072388, + 0.41457346081733704, + 0.6356912851333618, + -0.2825932800769806, + 0.0, + 0.4775107800960541, + 1.803318738937378, + 1.1302446126937866, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1385115385055542, + 2.581069231033325, + 0.6689795255661011, + 0.6980010271072388, + 0.41457346081733704, + 0.6356912851333618, + -0.2825932800769806, + 0.0, + 0.5557923316955566, + 1.8478816747665405, + 1.130244493484497, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1385115385055542, + 2.581069231033325, + 0.6689795255661011, + 0.6980010271072388, + 0.41457346081733704, + 0.6356912851333618, + -0.2825932800769806, + 0.0, + 0.6482314467430115, + 1.9005039930343628, + 1.1302452087402344, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1385115385055542, + 2.581069231033325, + 0.6689795255661011, + 0.6980010271072388, + 0.41457346081733704, + 0.6356912851333618, + -0.2825932800769806, + 0.0, + 0.6773408055305481, + 1.9170749187469482, + 1.1302447319030762, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1385115385055542, + 2.581069231033325, + 0.6689795255661011, + 0.6980010271072388, + 0.41457346081733704, + 0.6356912851333618, + -0.2825932800769806, + 0.0, + 0.6962488889694214, + 1.9278385639190674, + 1.1302459239959717, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1385115385055542, + 2.581069231033325, + 0.6689795255661011, + 0.6980010271072388, + 0.41457346081733704, + 0.6356912851333618, + -0.2825932800769806, + 0.0, + 0.8011144995689392, + 1.9875348806381226, + 1.1302427053451538, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1385115385055542, + 2.581069231033325, + 0.6689795255661011, + 0.6980010271072388, + 0.41457346081733704, + 0.6356912851333618, + -0.2825932800769806, + 0.0, + 0.8864594101905823, + 2.036118745803833, + 1.1302454471588135, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1385115385055542, + 2.581069231033325, + 0.6689795255661011, + 0.6980010271072388, + 0.41457346081733704, + 0.6356912851333618, + -0.2825932800769806, + 0.0, + 0.9282740354537964, + 2.059922218322754, + 1.543165683746338, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1385115385055542, + 2.581069231033325, + 0.6689795255661011, + 0.6980010271072388, + 0.41457346081733704, + 0.6356912851333618, + -0.2825932800769806, + 0.0, + 1.0001795291900635, + 2.100855588912964, + 0.5175127983093262, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1385115385055542, + 2.581069231033325, + 0.6689795255661011, + 0.6980010271072388, + 0.41457346081733704, + 0.6356912851333618, + -0.2825932800769806, + 0.0, + 1.0535823106765747, + 2.131255865097046, + 0.517516553401947, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1385115385055542, + 2.581069231033325, + 0.6689795255661011, + 0.6980010271072388, + 0.41457346081733704, + 0.6356912851333618, + -0.2825932800769806, + 0.0, + 1.0811659097671509, + 2.146958351135254, + 0.5175132155418396, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1385115385055542, + 2.581069231033325, + 0.6689795255661011, + 0.6980010271072388, + 0.41457346081733704, + 0.6356912851333618, + -0.2825932800769806, + 0.0, + 1.1780872344970703, + 2.202132225036621, + 1.5590746402740479, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1385115385055542, + 2.581069231033325, + 0.6689795255661011, + 0.6980010271072388, + 0.41457346081733704, + 0.6356912851333618, + -0.2825932800769806, + 0.0, + 1.1790000200271606, + 2.2799999713897705, + -3.1415927410125732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1385115385055542, + 2.581069231033325, + 0.6689795255661011, + 0.6980010271072388, + 0.41457346081733704, + 0.6356912851333618, + -0.2825932800769806, + 0.0 + ], + "count": [ + 2413 + ] + }, + "action.applied": { + "mean": [ + 0.06815451061012189, + -0.016457684961670715, + 0.022075858199197013, + 0.5773053433803221, + 0.04213679834967347, + 0.04213679834967347, + 0.04213679834967347, + 0.04213679834967347, + 2.2312223430100784, + -0.8543379549054206, + -0.31465880773745614, + 0.026937422295897222, + 0.026937422295897222 + ], + "std": [ + 0.11443713060408599, + 0.058032160348733285, + 0.20914070340812238, + 0.15764039652592002, + 0.03914280096567704, + 0.03914280096567704, + 0.03914280096567704, + 0.03914280096567704, + 0.5883615961459417, + 0.6990699732631322, + 0.3685995460050731, + 0.0775160038574422, + 0.0775160038574422 + ], + "min": [ + -0.02026524394750595, + -0.25514647364616394, + -0.800000011920929, + 0.3998571038246155, + 0.0, + 0.0, + 0.0, + 0.0, + 1.570780873298645, + -1.5699999332427979, + -0.7391731142997742, + 0.0, + 0.0 + ], + "max": [ + 0.29988378286361694, + 0.03799361363053322, + 0.800000011920929, + 0.7558698058128357, + 0.12868764996528625, + 0.12868764996528625, + 0.12868764996528625, + 0.12868764996528625, + 3.4083924293518066, + 0.0005246350774541497, + 0.29632967710494995, + 0.25, + 0.25 + ], + "count": [ + 2413 + ] + }, + "extra.reward": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 2413 + ] + }, + "next.truncated": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 2413 + ] + }, + "sim_step_idx": { + "mean": [ + 2443.0 + ], + "std": [ + 1393.1460799212693 + ], + "min": [ + 31.0 + ], + "max": [ + 4855.0 + ], + "count": [ + 2413 + ] + }, + "timestamp": { + "mean": [ + 48.240000004293854 + ], + "std": [ + 27.86292160232423 + ], + "min": [ + 0.0 + ], + "max": [ + 96.4800033569336 + ], + "count": [ + 2413 + ] + }, + "frame_index": { + "mean": [ + 1206.0 + ], + "std": [ + 696.5730399606347 + ], + "min": [ + 0.0 + ], + "max": [ + 2412.0 + ], + "count": [ + 2413 + ] + }, + "episode_index": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 2413 + ] + }, + "index": { + "mean": [ + 1206.0 + ], + "std": [ + 696.5730399606347 + ], + "min": [ + 0.0 + ], + "max": [ + 2412.0 + ], + "count": [ + 2413 + ] + }, + "task_index": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 2413 + ] + }, + "next.done": { + "mean": [ + 0.0004144218814753419 + ], + "std": [ + 0.020353135777552715 + ], + "min": [ + 0.0 + ], + "max": [ + 1.0 + ], + "count": [ + 2413 + ] + }, + "observation.images.head": { + "mean": [ + [ + [ + 0.511117194400615 + ] + ], + [ + [ + 0.4815614223518654 + ] + ], + [ + [ + 0.42125499720935267 + ] + ] + ], + "std": [ + [ + [ + 0.07684041264171625 + ] + ], + [ + [ + 0.0819081401016946 + ] + ], + [ + [ + 0.10024912581916044 + ] + ] + ], + "min": [ + [ + [ + 0.20392156862745098 + ] + ], + [ + [ + 0.22745098039215686 + ] + ], + [ + [ + 0.10980392156862745 + ] + ] + ], + "max": [ + [ + [ + 0.8980392156862745 + ] + ], + [ + [ + 0.8980392156862745 + ] + ], + [ + [ + 0.8980392156862745 + ] + ] + ], + "count": [ + 100 + ] + }, + "observation.images.wrist": { + "mean": [ + [ + [ + 0.5353881288211434 + ] + ], + [ + [ + 0.5166282453719189 + ] + ], + [ + [ + 0.4771495972482895 + ] + ] + ], + "std": [ + [ + [ + 0.12487698587939226 + ] + ], + [ + [ + 0.1279391100727782 + ] + ], + [ + [ + 0.14446480684991722 + ] + ] + ], + "min": [ + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ] + ], + "max": [ + [ + [ + 0.9058823529411765 + ] + ], + [ + [ + 0.8980392156862745 + ] + ], + [ + [ + 0.8823529411764706 + ] + ] + ], + "count": [ + 100 + ] + } +} \ No newline at end of file diff --git a/N025/stretch3/dr_off/seed_1010/stationassembly/000/lerobot_v21/meta/tasks.jsonl b/N025/stretch3/dr_off/seed_1010/stationassembly/000/lerobot_v21/meta/tasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7ef32cea3933584c053b6f1b17969eee32e6aaa6 --- /dev/null +++ b/N025/stretch3/dr_off/seed_1010/stationassembly/000/lerobot_v21/meta/tasks.jsonl @@ -0,0 +1 @@ +{"task_index": 0, "task": "Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level."} diff --git a/N025/stretch3/dr_off/seed_1010/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 b/N025/stretch3/dr_off/seed_1010/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7861d7b4d8efc68949e23c750c9c6c59e8e5d83a --- /dev/null +++ b/N025/stretch3/dr_off/seed_1010/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a006ee1c84f2138544937dc07caa6322e14a5e6d35b3eee4e71924861ce48857 +size 20458356 diff --git a/N025/stretch3/dr_off/seed_1010/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 b/N025/stretch3/dr_off/seed_1010/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1ec148f8a37ea5e368beaa2cedb20b05bfaed4c6 --- /dev/null +++ b/N025/stretch3/dr_off/seed_1010/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:76f3f3a1823c4c198e5528e6457a87890fffc81b7e44ef578b6f41ce56563f99 +size 40292698 diff --git a/N025/stretch3/dr_off/seed_1010/stationassembly/000/run_meta.json b/N025/stretch3/dr_off/seed_1010/stationassembly/000/run_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d0c9705bb523eb6dae9acf51d03173fab486265e --- /dev/null +++ b/N025/stretch3/dr_off/seed_1010/stationassembly/000/run_meta.json @@ -0,0 +1,950 @@ +{ + "run_id": "stationassembly/000", + "created": "2026-11-08 02:42:50", + "num_envs": 1, + "session_id": null, + "record_config": { + "output_dir": "/mnt/scratch/xc536_atomic/n025_str_off_1010/out", + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + }, + "config": { + "env_string": "MobileWedgeSupportEnv-V0", + "env": { + "sim": { + "device": "cpu", + "use_fabric": false, + "decimation": 4, + "dt": 0.005, + "seed": 1010, + "soft_resets": 2, + "scene": { + "num_envs": 1, + "env_spacing": 14 + }, + "render": { + "rendering_mode": "performance", + "enable_reflections": false, + "enable_global_illumination": false, + "enable_translucency": false, + "enable_dl_denoiser": false + } + }, + "robot": { + "HelloRobot": { + "name": "hellorobot", + "type": "mobilemanip", + "common": { + "pos": [ + [ + -3.55055, + -2.51546, + 0.06 + ], + [ + -3.55055, + -2.51546, + 0.06 + ] + ], + "ori": [ + [ + 0, + 0, + 58.65797 + ], + [ + 0, + 0, + 58.65797 + ] + ], + "initial_joint_pos": { + "joint_arm_l[0-3]": 0.0, + "joint_lift": 0.4, + "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": 64, + "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, + "num_trajopt_seeds": 1, + "num_ik_seeds": 4, + "max_attempts": 6, + "batch_size": 1, + "microbatch_wait_ms": 1.0, + "seed_use_live_joint_pos": true, + "mode": "position", + "joint_limit_retry_weight": 100000000.0 + }, + "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, + "goal_cost_mode": "path", + "own_body_clear": true, + "own_body_radius": 0.3, + "w_vel": 0.2, + "w_vy": 0.0, + "dilate_radius": 0.35, + "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": true, + "safety_deceleration": 0.5, + "safety_reaction_time": 0.5, + "goal_heading_fade_distance": 0.5, + "scan_type": "3d" + }, + "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": 0.0012, + "angular_dead_zone": 0.0008, + "nav_heading_target": 1, + "heading_hold_distance": 0.15, + "preprocess_kwargs": { + "position_threshold": 0.0008 + }, + "velocity_frame": "world" + } + }, + "arm": { + "type": "default" + }, + "eef": { + "type": "default" + } + }, + "physics": { + "robot_radius": 0.4, + "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": { + "background": { + "intensity": [ + 867.65386, + 867.65386 + ] + }, + "terrain": { + "type": "nav_room", + "collision": true, + "hide_top_walls": true, + "usd": [ + "$MAGICSIM_ASSETS/Room/Collected_SimpleRoom" + ], + "annotation": "Annotation", + "random": false, + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0, + "friction_combine_mode": "multiply", + "restitution_combine_mode": "multiply" + } + }, + "objects": { + "table_A": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "pos": [ + -2.0, + 1.5, + 0.23 + ], + "ori": [ + 0, + 0, + 0 + ], + "scale": [ + 0.9, + 0.6, + 0.4 + ] + }, + "table_A_1": { + "primitive_params": { + "size": [ + 1, + 1, + 1 + ] + }, + "visual": { + "color": [ + 0.78, + 0.72, + 0.62 + ] + }, + "physics": { + "type": "geometry", + "collision": true + } + } + }, + "table_B": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "pos": [ + 1.2, + 3.0, + 0.23 + ], + "ori": [ + 0, + 0, + 0 + ], + "scale": [ + 0.9, + 0.6, + 0.4 + ] + }, + "table_B_1": { + "primitive_params": { + "size": [ + 1, + 1, + 1 + ] + }, + "visual": { + "color": [ + 0.62, + 0.72, + 0.78 + ] + }, + "physics": { + "type": "geometry", + "collision": true + } + } + }, + "shim_board": { + "usd": [ + "$MAGICSIM_ASSETS/Object/MobileAssembly/shim_board_a05/Object.usd" + ], + "random": false, + "num_per_env": 1, + "common": { + "pos": [ + 1.25442, + 3.14557, + 0.43 + ], + "ori": [ + 0.0, + 0.0, + -91.75728 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "shim_board_1": { + "visual": {}, + "physics": { + "type": "articulation", + "collision": true, + "fixed_base": true + } + } + }, + "wedge": { + "usd": [ + "$MAGICSIM_ASSETS/Object/MobileAssembly/wedge_a05/Object.usd" + ], + "random": false, + "num_per_env": 1, + "common": { + "pos": [ + -2.02486, + 1.45172, + 0.431 + ], + "ori": [ + 0.0, + 0.0, + 97.79324 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "wedge_1": { + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.04308, + "physics_material": { + "static_friction": 0.8, + "dynamic_friction": 0.7, + "restitution": 0.0 + } + } + } + } + } + }, + "nav": { + "navmesh": { + "enabled": true, + "visualize": false, + "bake_timeout_s": 120, + "agent_height_cm": 170, + "min_agent_radius_cm": 40.0, + "max_agent_radius_cm": 40.0, + "max_step_height_cm": 20, + "max_floor_slope_deg": 30, + "agent_island_radius_cm": 5, + "auto_exclude_rigid_bodies": true, + "validate_path_clearance": true, + "validate_path_window": true, + "navmesh_offset_z_m": 0, + "verbose": true + }, + "occupancymap": { + "cell_size": 0.05 + } + } + }, + "task": { + "observation": {}, + "reward": {}, + "level": "easy", + "termination": { + "timeout_steps": 9000, + "success_hold_frames": 1 + }, + "station": { + "S": { + "pose": [ + -3.6, + -2.5, + 60.0 + ] + }, + "A": { + "center": [ + -2.0, + 0.6 + ], + "zone_radius": 0.6, + "table": "table_A" + }, + "B": { + "center": [ + 1.2, + 2.1 + ], + "zone_radius": 0.6, + "table": "table_B" + } + }, + "stance": { + "radii_A": [ + 0.45, + 0.55, + 0.35, + 0.65 + ], + "radii_B": [ + 0.45, + 0.55, + 0.35, + 0.65 + ], + "bearings_deg": [ + 0.0, + -25.0, + 25.0 + ], + "yaw_offsets_deg": [ + 0.0 + ], + "include_current": true, + "axis_aligned": true, + "tool_behind_m": 0.021, + "force_walk_min_m": 0.0015, + "slide_offsets_m": [ + -0.004, + 0.004, + -0.008, + 0.008, + -0.012, + 0.012 + ], + "heading_deg": 180.0 + }, + "assembly": { + "part": { + "name": "wedge", + "id": 0 + }, + "fixture": { + "name": "shim_board", + "id": 0 + }, + "support_z": 0.43, + "part_half_height": 0.014, + "lift_height": 0.03, + "carry_lost": 0.25, + "hold_steps": 30, + "release_clear": 0.06, + "fixture_move_limit": 0.01, + "fall_margin": 0.12, + "target_deg": 0.0, + "tol_deg": 1.5, + "contact_gap": 0.002, + "stop_margin_deg": 0.3, + "board_touch_limit": 20, + "pre_height": 0.03, + "align_height": 0.0015, + "align_x": 0.4, + "insert_x": 0.205, + "umi": { + "table_clearance": 0.002, + "min_approach_down_deg": 65.0, + "max_approach_down_deg": 90.0, + "max_candidates": 64 + }, + "heading_link": "none", + "free_axis_yaw": true, + "approach_axis": "x", + "gap_open": 0.0865, + "hand": { + "wrist_to_gripper_pos": [ + -0.1816, + 0.0, + 0.0 + ], + "wrist_to_gripper_quat_wxyz": [ + 0.70710678, + 0.0, + 0.70710678, + 0.0 + ], + "tcp_in_gripper": [ + 0.0, + 0.0, + 0.1696 + ], + "finger_stroke": 0.0445 + }, + "gripper_gap": { + "joint_regex": "joint_gripper_finger_.*", + "open_q": 0.25, + "open_gap": 0.089 + }, + "align_pos_tol": 0.003 + }, + "command": { + "StationAssembly": { + "robot_id": 0, + "hand_id": 0, + "init_limit": 30, + "max_attempt": 2, + "tail_steps": 400, + "part": { + "obj_type": "rigid", + "obj_name": "wedge", + "obj_id": 0 + }, + "fixture": { + "obj_type": "articulation", + "obj_name": "shim_board", + "obj_id": 0 + }, + "stages": [ + { + "name": "nav_A", + "type": "nav", + "goal": [ + -2.021, + 0.76, + 180.0 + ] + }, + { + "name": "stance_A", + "type": "stance", + "target": "part" + }, + { + "name": "pick", + "type": "grasp" + }, + { + "name": "carry", + "type": "carry" + }, + { + "name": "nav_B", + "type": "nav", + "goal": [ + 1.179, + 2.28, + 180.0 + ] + }, + { + "name": "stance_B", + "type": "stance", + "target": "fixture" + }, + { + "name": "assemble", + "type": "assemble" + } + ] + } + } + }, + "collect": { + "command": { + "StationAssembly": { + "robot_id": 0, + "hand_id": 0, + "init_limit": 30, + "max_attempt": 2, + "tail_steps": 400, + "part": { + "obj_type": "rigid", + "obj_name": "wedge", + "obj_id": 0 + }, + "fixture": { + "obj_type": "articulation", + "obj_name": "shim_board", + "obj_id": 0 + }, + "stages": [ + { + "name": "nav_A", + "type": "nav", + "goal": [ + -2.021, + 0.76, + 180.0 + ] + }, + { + "name": "stance_A", + "type": "stance", + "target": "part" + }, + { + "name": "pick", + "type": "grasp" + }, + { + "name": "carry", + "type": "carry" + }, + { + "name": "nav_B", + "type": "nav", + "goal": [ + 1.179, + 2.28, + 180.0 + ] + }, + { + "name": "stance_B", + "type": "stance", + "target": "fixture" + }, + { + "name": "assemble", + "type": "assemble" + } + ] + } + }, + "global_planner": { + "NavTo": { + "use_navmesh": true, + "use_absolute": true, + "translation_threshold": 0.06, + "rotation_threshold": 0.06, + "num_path_segments": 30, + "start_forward_offset": 0.0, + "visualize_path": false, + "carry_arm": true + }, + "MobileMoveL": { + "translation_threshold": 0.006, + "rotation_threshold": 0.05, + "motiongen_distance_threshold": 0.0, + "timeout_steps": 1800, + "reactive": false, + "base_pos_threshold": 0.025, + "base_rot_threshold": 0.05, + "eef_pos_threshold": 0.015, + "eef_rot_threshold": 0.15, + "waypoint_max_steps": 30, + "interp_steps": 60, + "retry_mobile_on_locked_plan_failure": true, + "debug": false, + "debug_viz": false, + "stall_release_ticks": 50, + "stall_release_factor": 3.0, + "debug_sphere": false, + "interp_validate_target": false + }, + "AssemblyServoL": { + "translation_threshold": 0.0003, + "rotation_threshold": 0.005, + "motiongen_distance_threshold": 0.0, + "timeout_steps": 1000000, + "min_steps_before_done": 1000000, + "reactive": false, + "base_pos_threshold": 0.12, + "base_rot_threshold": 0.5, + "eef_pos_threshold": 0.03, + "eef_rot_threshold": 0.3, + "waypoint_max_steps": 1, + "debug": false, + "debug_viz": false + }, + "MobileServoL": { + "translation_threshold": 0.03, + "rotation_threshold": 0.3, + "done_threshold": 0.001, + "timeout_steps": 300, + "stride": 1, + "eef_pos_threshold": 0.03, + "eef_rot_threshold": 0.1, + "base_pos_threshold": 0.12, + "waypoint_max_steps": 20, + "force_free_base_distance": 0.4, + "motiongen_distance_threshold": 0.05, + "embedded_direct_lock_layout": "trailing", + "debug": false, + "debug_viz": false + }, + "ParallelGripper": { + "gripper_threshold": 0.001, + "timeout_steps": 30 + }, + "NavToTrim": { + "use_navmesh": false, + "carry_arm": true, + "visualize_path": false, + "trim_pos_threshold": 0.01, + "trim_yaw_threshold": 0.0012, + "max_steps": 1500 + } + }, + "atomic_skill": { + "NavToPose": { + "robot_id": 0, + "show_marker": false, + "trim": true + }, + "HoldPose": { + "robot_id": 0, + "hand_id": 0 + }, + "NavTo": { + "robot_id": 0, + "position_offset": 0.85, + "position_threshold": 0.08, + "angle_threshold": 0.06 + }, + "ReachStance": { + "check_current_first": true, + "stance_margin": 0.0, + "max_reach": 1.0, + "max_walks": 2, + "reject_radius": 0.05, + "obstacle_avoidance": [ + "dynamic" + ], + "walk_planner": "MobileServoL", + "strategy_kwargs": { + "reach_steps": 2 + }, + "pre_grasp_planner": "MobileMoveL", + "pre_grasp_mode": -1, + "goalset_lock_base": true, + "debug": true, + "obstacle_ignore": [ + "table_A" + ] + }, + "AssemblyGrasp": { + "pre_grasp_offset_x": 0.12, + "retrieval_offset_x": 0.15, + "mobile": true, + "pre_grasp_planner": "MobileMoveL", + "pre_grasp_mode": -1, + "grasp_mode": 4, + "retrieval_mode": 4, + "goalset_lock_base": true, + "reactive": false, + "viz_grasp": false, + "close_settle_steps": 10, + "obstacle_ignore": [ + "table_A" + ], + "servo_windup": 0.004, + "servo_pos_tol": 0.004, + "servo_lateral_tol": 0.012, + "servo_lateral_gate": 0.012 + }, + "CarryPose": { + "robot_id": 0, + "hand_id": 0, + "carry_part_pos": [ + 0.0, + -0.35, + 0.6 + ], + "planner_mode": 1, + "carry_fallbacks": [ + [ + 0.0, + -0.3, + 0.5 + ], + [ + 0.0, + -0.4, + 0.7 + ], + [ + 0.0, + -0.25, + 0.6 + ] + ] + }, + "AssemblyInsert": { + "plan_mode": 1, + "max_lin": 0.002, + "max_rot_deg": 1.0, + "settle_ticks": 3, + "servo_max_steps": 600, + "lateral_gate": 0.002, + "stall_ticks": 60, + "stall_min_progress": 0.8, + "carry_lost": 0.25, + "open_value": 0.0, + "base_trim": true, + "yaw_trade": false, + "trim_min_m": 0.0008, + "trim_stall_ticks": 20, + "trim_max": 8, + "trim_bias_m": 0.0, + "trim_settle_ticks": 3 + } + }, + "auto_collect": { + "task_type": "assembly", + "max_trajectories": 1 + }, + "record": { + "output_dir": "/mnt/scratch/xc536_atomic/n025_str_off_1010/out", + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + } + }, + "visual_dr": { + "keep": [ + "wedge", + "shim_board" + ] + } + }, + "git_sha": null, + "collect_runtime": { + "max_trajectories": 1 + } +} \ No newline at end of file diff --git a/N025/stretch3/dr_off/seed_1010/stationassembly/000/sim_info/0/actions.npz b/N025/stretch3/dr_off/seed_1010/stationassembly/000/sim_info/0/actions.npz new file mode 100644 index 0000000000000000000000000000000000000000..5dd5c0d3a58fddfd71157212896483aa923f224e --- /dev/null +++ b/N025/stretch3/dr_off/seed_1010/stationassembly/000/sim_info/0/actions.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ca78285292fc7532516edc343c6d04f6948e15344e16520e7182af62848c8d70 +size 652338 diff --git a/N025/stretch3/dr_off/seed_1010/stationassembly/000/sim_info/0/device_commands.jsonl b/N025/stretch3/dr_off/seed_1010/stationassembly/000/sim_info/0/device_commands.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N025/stretch3/dr_off/seed_1010/stationassembly/000/sim_info/0/device_events.jsonl b/N025/stretch3/dr_off/seed_1010/stationassembly/000/sim_info/0/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N025/stretch3/dr_off/seed_1010/stationassembly/000/sim_info/0/scene_snapshot.json b/N025/stretch3/dr_off/seed_1010/stationassembly/000/sim_info/0/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..671102aba094037940228d7607ecdf68918c702c --- /dev/null +++ b/N025/stretch3/dr_off/seed_1010/stationassembly/000/sim_info/0/scene_snapshot.json @@ -0,0 +1,338 @@ +{ + "trajectory_id": 0, + "env_id": 0, + "run_id": "stationassembly/000", + "task_type": "StationAssembly", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])", + "avatars": "avatar_manager.set_avatars_state(snapshot['avatars'], env_ids=[env_id]) (present when the scene has animated avatars)" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "table_A": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -2.0, + 1.5, + 0.23 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 0.9, + 0.6, + 0.4 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.78, + 0.72, + 0.62 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 1, + 1, + 1 + ] + } + }, + "type_specific": {} + } + ], + "table_B": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 1.2, + 3.0, + 0.23 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 0.9, + 0.6, + 0.4 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.62, + 0.72, + 0.78 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 1, + 1, + 1 + ] + } + }, + "type_specific": {} + } + ], + "shim_board": [ + { + "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MobileAssembly/shim_board_a05/Object.usd", + "pose": { + "pos": [ + 1.2544200420379639, + 3.1455700397491455, + 0.4300000071525574 + ], + "ori": [ + -0.6961804628372192, + 0.0, + 0.0, + 0.717866837978363 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "collision": true, + "fixed_base": true, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 0.05235988274216652 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "wedge": [ + { + "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MobileAssembly/wedge_a05/Object.usd", + "pose": { + "pos": [ + -2.0248594284057617, + 1.4517199993133545, + 0.42999985814094543 + ], + "ori": [ + 0.6574193239212036, + 7.070600986480713e-06, + 8.277595043182373e-06, + 0.7535249590873718 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.04308, + "physics_material": { + "static_friction": 0.8, + "dynamic_friction": 0.7, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -0.0011240735184401274, + 0.0001037217298289761, + -0.0003264571132604033 + ], + "angular_velocity": [ + 0.0013267525937408209, + -0.006086891982704401, + -0.002307055750861764 + ] + } + } + ] + } + ], + "artifacts": [ + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 867.65386, + "texture": null, + "color": [ + 0.85, + 0.85, + 0.85 + ] + } + } + }, + "robots": { + "HelloRobot": { + "root_pose": [ + [ + -3.5505499839782715, + -2.5154600143432617, + 0.05999999865889549, + 0.8718215823173523, + 0.0, + 0.0, + 0.4898235499858856 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.0, + 0.0, + 0.0, + 0.4000000059604645, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 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 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/N025/stretch3/dr_off/seed_1010/stationassembly/000/sim_info/0/sim_states.npz b/N025/stretch3/dr_off/seed_1010/stationassembly/000/sim_info/0/sim_states.npz new file mode 100644 index 0000000000000000000000000000000000000000..a098c5e81be430384a178e5c7fa209e7a3061dc6 --- /dev/null +++ b/N025/stretch3/dr_off/seed_1010/stationassembly/000/sim_info/0/sim_states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:15d29ce973e6eef0a470ec6fbc4add373146af67a57c26b14bb5292553f78bd7 +size 700511 diff --git a/N025/stretch3/dr_off/seed_1010/stationassembly/000/sim_info/magicsim_manifest.json b/N025/stretch3/dr_off/seed_1010/stationassembly/000/sim_info/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..8493138e6db93962174f639aeca9caa5050a6471 --- /dev/null +++ b/N025/stretch3/dr_off/seed_1010/stationassembly/000/sim_info/magicsim_manifest.json @@ -0,0 +1,228 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 03:05:51" + }, + "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": "stationassembly/000", + "task_type": "StationAssembly" + } +} \ No newline at end of file diff --git a/N025/stretch3/dr_on/seed_2014/check.json b/N025/stretch3/dr_on/seed_2014/check.json new file mode 100644 index 0000000000000000000000000000000000000000..d2df1fcd3336b5049465b9fb12ec0b648e73a923 --- /dev/null +++ b/N025/stretch3/dr_on/seed_2014/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: 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "2549 rows vs ceil(5097/2) = 2549" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 31..5127, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "58.02 MB, 2549 frames at 25 fps, mean luma 66..109, std 31, new picture 2548x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2549 vs 2549" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "55.41 MB, 2549 frames at 25 fps, mean luma 58..157, std 39, new picture 2548x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2549 vs 2549" + }, + "sim_info present": { + "pass": true, + "detail": "stationassembly/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N025/stretch3/dr_on/seed_2014/check.txt b/N025/stretch3/dr_on/seed_2014/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..ed259f126ec4b5817f96ba3f417da6f325f08636 --- /dev/null +++ b/N025/stretch3/dr_on/seed_2014/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n025_str_on_2014/out task=N025 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n025_str_on_2014/out/stationassembly/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2549 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: 2549 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: 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.' +rows 2549 at dataset fps 25 = 101.96 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2549 rows vs ceil(5097/2) = 2549 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..5127, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 58.02 MB, 2549 frames at 25 fps, mean luma 66..109, std 31, new picture 2548x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2549 vs 2549 +[PASS] video observation.images.wrist decodes, 640x480, not black: 55.41 MB, 2549 frames at 25 fps, mean luma 58..157, std 39, new picture 2548x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2549 vs 2549 +parquet size 2.91 MB +[PASS] sim_info present: stationassembly/000/sim_info +dataset size 116.53 MB; whole cell dir 118.0 MB +RESULT: ALL PASS diff --git a/N025/stretch3/dr_on/seed_2014/report.json b/N025/stretch3/dr_on/seed_2014/report.json new file mode 100644 index 0000000000000000000000000000000000000000..a9c148efe1414263af17ac6cefd1692188e492a9 --- /dev/null +++ b/N025/stretch3/dr_on/seed_2014/report.json @@ -0,0 +1,2905 @@ +{ + "task": "N025", + "agent_id": null, + "embodiment": "stretch3", + "level": "easy", + "scene_seed": 2014, + "execution_mode": "headless_collect_chain(StationAssembly->NavToPose/ReachStance/AssemblyGrasp/CarryPose/AssemblyInsert->NavTo+MobileMoveL+AssemblyServoL->cuRobo)", + "config": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/src/magicsim/Collect/Task/MobileAssembly/Conf/n025_wedge_shim.yaml", + "full_success": true, + "failure_reason": null, + "dr": { + "seed": 2014, + "wedge": { + "dx": 0.07917, + "dy": 0.00787, + "yaw_deg": -0.8015 + }, + "shim_board": { + "dx": -0.01972, + "dy": 0.00134, + "yaw_deg": -4.14697 + }, + "wedge_mass": 0.03701, + "light": 811.91307, + "spawn": { + "dx": -0.0156, + "dy": -0.09792, + "yaw_deg": -10.13864 + }, + "overrides": { + "env.scene.objects.wedge.common.pos": [ + -1.92083, + 1.40787, + 0.431 + ], + "env.scene.objects.wedge.common.ori": [ + 0.0, + 0.0, + 89.1985 + ], + "env.scene.objects.shim_board.common.pos": [ + 1.18028, + 3.15134, + 0.43 + ], + "env.scene.objects.shim_board.common.ori": [ + 0.0, + 0.0, + -94.14697 + ], + "env.scene.objects.wedge.wedge_1.physics.mass": 0.03701, + "env.scene.background.intensity": [ + 811.91307, + 811.91307 + ], + "env.robot.RidgebackSawyerUmi.common.pos": [ + [ + -3.6156, + -2.59792, + 0.06 + ], + [ + -3.6156, + -2.59792, + 0.06 + ] + ], + "env.robot.RidgebackSawyerUmi.common.ori": [ + [ + 0, + 0, + 49.86136 + ], + [ + 0, + 0, + 49.86136 + ] + ] + } + }, + "planner_seeds": { + "label": "lean", + "num_trajopt_seeds": 1, + "num_ik_seeds": 4, + "max_attempts": 6 + }, + "collect": { + "task": "N025", + "robot": "stretch3", + "visual_dr": true, + "env": { + "MMB_COLLECT": "1", + "MMB_TASK_ID": "N025", + "MMB_CLEAN_VIEW": "1", + "MMB_REAL_ROBOT_LOOK": "1", + "MMB_VISUAL_DR": "1" + }, + "cameras": { + "head": { + "link": "Robot_0/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 + } + } + }, + "steps": 5127, + "task_id": "N025", + "task_version": "EXT60-MobileAvatar-v3", + "family_id": "wedge_support", + "primary_category": "C4", + "env_terminated": true, + "env_truncated": false, + "station_layout": { + "S": { + "pose": [ + -3.6, + -2.5, + 60.0 + ] + }, + "A": { + "center": [ + -2.0, + 0.6 + ], + "zone_radius": 0.6, + "table": "table_A" + }, + "B": { + "center": [ + 1.2, + 2.1 + ], + "zone_radius": 0.6, + "table": "table_B" + } + }, + "spawn_pose": [ + -3.615600109100342, + -2.5979199409484863, + 0.8702447556940747 + ], + "base_path": [ + [ + -2.033, + 0.722, + 1.888 + ], + [ + -2.033, + 0.722, + 1.838 + ], + [ + -2.033, + 0.722, + 1.788 + ], + [ + -2.033, + 0.722, + 1.738 + ], + [ + -2.033, + 0.722, + 1.688 + ], + [ + -2.033, + 0.722, + 1.638 + ], + [ + -2.033, + 0.722, + 1.588 + ], + [ + -2.033, + 0.722, + 1.538 + ], + [ + -2.033, + 0.722, + 1.488 + ], + [ + -2.033, + 0.722, + 1.438 + ], + [ + -2.033, + 0.722, + 1.39 + ], + [ + -2.033, + 0.722, + 1.355 + ], + [ + -2.033, + 0.722, + 1.33 + ], + [ + -2.032, + 0.726, + 1.317 + ], + [ + -2.029, + 0.737, + 1.317 + ], + [ + -2.027, + 0.744, + 1.317 + ], + [ + -2.026, + 0.749, + 1.317 + ], + [ + -2.025, + 0.753, + 1.317 + ], + [ + -2.024, + 0.755, + 1.317 + ], + [ + -2.024, + 0.756, + 1.345 + ], + [ + -2.024, + 0.756, + 1.415 + ], + [ + -2.024, + 0.756, + 1.485 + ], + [ + -2.024, + 0.756, + 1.555 + ], + [ + -2.024, + 0.756, + 1.625 + ], + [ + -2.024, + 0.756, + 1.695 + ], + [ + -2.024, + 0.756, + 1.765 + ], + [ + -2.024, + 0.756, + 1.835 + ], + [ + -2.024, + 0.756, + 1.905 + ], + [ + -2.024, + 0.756, + 1.975 + ], + [ + -2.024, + 0.756, + 2.045 + ], + [ + -2.024, + 0.756, + 2.115 + ], + [ + -2.024, + 0.756, + 2.185 + ], + [ + -2.024, + 0.756, + 2.255 + ], + [ + -2.024, + 0.756, + 2.325 + ], + [ + -2.024, + 0.756, + 2.395 + ], + [ + -2.024, + 0.756, + 2.465 + ], + [ + -2.024, + 0.756, + 2.535 + ], + [ + -2.024, + 0.756, + 2.605 + ], + [ + -2.024, + 0.756, + 2.675 + ], + [ + -2.024, + 0.756, + 2.745 + ], + [ + -2.024, + 0.756, + 2.815 + ], + [ + -2.024, + 0.756, + 2.885 + ], + [ + -2.024, + 0.756, + 2.954 + ], + [ + -2.024, + 0.756, + 3.007 + ], + [ + -2.024, + 0.756, + 3.046 + ], + [ + -2.024, + 0.756, + 3.073 + ], + [ + -2.024, + 0.756, + 3.093 + ], + [ + -2.024, + 0.756, + 3.107 + ], + [ + -2.024, + 0.756, + 3.117 + ], + [ + -2.024, + 0.756, + 3.124 + ], + [ + -2.024, + 0.756, + 3.129 + ], + [ + -2.024, + 0.756, + 3.133 + ], + [ + -2.024, + 0.756, + 3.135 + ], + [ + -2.024, + 0.756, + 3.137 + ], + [ + -2.024, + 0.756, + 3.138 + ], + [ + -2.024, + 0.756, + 3.139 + ], + [ + -2.024, + 0.756, + 3.14 + ], + [ + -2.024, + 0.756, + 3.14 + ], + [ + -2.008, + 0.756, + 3.141 + ], + [ + -1.988, + 0.756, + 3.141 + ], + [ + -1.974, + 0.756, + 3.141 + ], + [ + -1.964, + 0.756, + 3.141 + ], + [ + -1.957, + 0.756, + 3.141 + ], + [ + -1.953, + 0.756, + 3.141 + ], + [ + -1.95, + 0.756, + 3.141 + ], + [ + -1.947, + 0.756, + 3.141 + ], + [ + -1.946, + 0.756, + 3.141 + ], + [ + -1.945, + 0.756, + 3.141 + ], + [ + -1.944, + 0.756, + 3.141 + ], + [ + -1.944, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.943, + 0.756, + 3.141 + ], + [ + -1.917, + 0.756, + -3.136 + ], + [ + -1.857, + 0.757, + -3.13 + ], + [ + -1.797, + 0.758, + -3.125 + ], + [ + -1.737, + 0.759, + -3.121 + ], + [ + -1.677, + 0.76, + -3.118 + ], + [ + -1.617, + 0.762, + -3.097 + ], + [ + -1.557, + 0.766, + -3.058 + ], + [ + -1.497, + 0.772, + -3.009 + ], + [ + -1.438, + 0.781, + -2.954 + ], + [ + -1.379, + 0.794, + -2.899 + ], + [ + -1.321, + 0.81, + -2.847 + ], + [ + -1.264, + 0.829, + -2.798 + ], + [ + -1.208, + 0.85, + -2.755 + ], + [ + -1.153, + 0.874, + -2.719 + ], + [ + -1.099, + 0.899, + -2.688 + ], + [ + -1.045, + 0.926, + -2.663 + ], + [ + -0.992, + 0.955, + -2.643 + ], + [ + -0.94, + 0.984, + -2.628 + ], + [ + -0.888, + 1.013, + -2.618 + ], + [ + -0.836, + 1.044, + -2.611 + ], + [ + -0.784, + 1.074, + -2.606 + ], + [ + -0.733, + 1.105, + -2.604 + ], + [ + -0.681, + 1.136, + -2.603 + ], + [ + -0.63, + 1.166, + -2.604 + ], + [ + -0.578, + 1.197, + -2.605 + ], + [ + -0.526, + 1.228, + -2.607 + ], + [ + -0.475, + 1.258, + -2.61 + ], + [ + -0.423, + 1.289, + -2.612 + ], + [ + -0.371, + 1.319, + -2.615 + ], + [ + -0.319, + 1.349, + -2.617 + ], + [ + -0.267, + 1.379, + -2.618 + ], + [ + -0.215, + 1.409, + -2.62 + ], + [ + -0.163, + 1.439, + -2.621 + ], + [ + -0.111, + 1.469, + -2.622 + ], + [ + -0.059, + 1.499, + -2.623 + ], + [ + -0.007, + 1.528, + -2.624 + ], + [ + 0.045, + 1.558, + -2.625 + ], + [ + 0.098, + 1.587, + -2.625 + ], + [ + 0.15, + 1.617, + -2.625 + ], + [ + 0.202, + 1.647, + -2.625 + ], + [ + 0.254, + 1.676, + -2.625 + ], + [ + 0.306, + 1.706, + -2.625 + ], + [ + 0.358, + 1.735, + -2.625 + ], + [ + 0.41, + 1.765, + -2.624 + ], + [ + 0.462, + 1.794, + -2.624 + ], + [ + 0.514, + 1.824, + -2.624 + ], + [ + 0.566, + 1.854, + -2.624 + ], + [ + 0.619, + 1.884, + -2.624 + ], + [ + 0.671, + 1.913, + -2.624 + ], + [ + 0.723, + 1.943, + -2.624 + ], + [ + 0.775, + 1.973, + -2.624 + ], + [ + 0.827, + 2.003, + -2.624 + ], + [ + 0.879, + 2.032, + -2.624 + ], + [ + 0.93, + 2.062, + -2.587 + ], + [ + 0.974, + 2.09, + -2.535 + ], + [ + 1.009, + 2.116, + -2.493 + ], + [ + 1.038, + 2.139, + -2.456 + ], + [ + 1.062, + 2.159, + -2.426 + ], + [ + 1.082, + 2.177, + -2.401 + ], + [ + 1.098, + 2.192, + -2.379 + ], + [ + 1.111, + 2.205, + -2.362 + ], + [ + 1.122, + 2.216, + -2.346 + ], + [ + 1.132, + 2.226, + -2.332 + ], + [ + 1.139, + 2.234, + -2.322 + ], + [ + 1.146, + 2.241, + -2.311 + ], + [ + 1.151, + 2.247, + -2.304 + ], + [ + 1.154, + 2.249, + -2.377 + ], + [ + 1.154, + 2.249, + -2.537 + ], + [ + 1.154, + 2.249, + -2.692 + ], + [ + 1.154, + 2.249, + -2.81 + ], + [ + 1.154, + 2.249, + -2.897 + ], + [ + 1.154, + 2.249, + -2.961 + ], + [ + 1.154, + 2.249, + -3.009 + ], + [ + 1.154, + 2.249, + -3.044 + ], + [ + 1.154, + 2.249, + -3.069 + ], + [ + 1.154, + 2.249, + -3.098 + ], + [ + 1.154, + 2.249, + 3.135 + ], + [ + 1.154, + 2.249, + 3.085 + ], + [ + 1.154, + 2.249, + 3.035 + ], + [ + 1.154, + 2.249, + 2.985 + ], + [ + 1.154, + 2.249, + 2.935 + ], + [ + 1.154, + 2.249, + 2.885 + ], + [ + 1.154, + 2.249, + 2.835 + ], + [ + 1.154, + 2.249, + 2.785 + ], + [ + 1.154, + 2.249, + 2.735 + ], + [ + 1.154, + 2.249, + 2.685 + ], + [ + 1.154, + 2.249, + 2.635 + ], + [ + 1.154, + 2.249, + 2.585 + ], + [ + 1.154, + 2.249, + 2.535 + ], + [ + 1.154, + 2.249, + 2.485 + ], + [ + 1.154, + 2.249, + 2.435 + ], + [ + 1.154, + 2.249, + 2.385 + ], + [ + 1.154, + 2.249, + 2.335 + ], + [ + 1.154, + 2.249, + 2.285 + ], + [ + 1.154, + 2.249, + 2.235 + ], + [ + 1.154, + 2.249, + 2.185 + ], + [ + 1.154, + 2.249, + 2.135 + ], + [ + 1.154, + 2.249, + 2.085 + ], + [ + 1.154, + 2.249, + 2.035 + ], + [ + 1.154, + 2.249, + 1.985 + ], + [ + 1.154, + 2.249, + 1.935 + ], + [ + 1.154, + 2.249, + 1.885 + ], + [ + 1.154, + 2.249, + 1.835 + ], + [ + 1.154, + 2.249, + 1.785 + ], + [ + 1.154, + 2.249, + 1.735 + ], + [ + 1.154, + 2.249, + 1.685 + ], + [ + 1.154, + 2.249, + 1.635 + ], + [ + 1.154, + 2.249, + 1.585 + ], + [ + 1.154, + 2.249, + 1.535 + ], + [ + 1.154, + 2.249, + 1.485 + ], + [ + 1.154, + 2.249, + 1.435 + ], + [ + 1.154, + 2.249, + 1.385 + ], + [ + 1.154, + 2.249, + 1.335 + ], + [ + 1.154, + 2.249, + 1.285 + ], + [ + 1.154, + 2.249, + 1.235 + ], + [ + 1.154, + 2.249, + 1.185 + ], + [ + 1.154, + 2.249, + 1.135 + ], + [ + 1.154, + 2.249, + 1.085 + ], + [ + 1.154, + 2.249, + 1.035 + ], + [ + 1.154, + 2.249, + 0.99 + ], + [ + 1.154, + 2.249, + 0.959 + ], + [ + 1.154, + 2.249, + 0.936 + ], + [ + 1.158, + 2.256, + 0.929 + ], + [ + 1.164, + 2.264, + 0.929 + ], + [ + 1.168, + 2.269, + 0.929 + ], + [ + 1.171, + 2.273, + 0.929 + ], + [ + 1.173, + 2.275, + 0.929 + ], + [ + 1.174, + 2.277, + 0.929 + ], + [ + 1.175, + 2.278, + 0.978 + ], + [ + 1.175, + 2.278, + 1.048 + ], + [ + 1.175, + 2.278, + 1.118 + ], + [ + 1.175, + 2.278, + 1.188 + ], + [ + 1.175, + 2.278, + 1.258 + ], + [ + 1.175, + 2.278, + 1.328 + ], + [ + 1.175, + 2.278, + 1.398 + ], + [ + 1.175, + 2.278, + 1.468 + ], + [ + 1.175, + 2.278, + 1.538 + ], + [ + 1.175, + 2.278, + 1.608 + ], + [ + 1.175, + 2.278, + 1.678 + ], + [ + 1.175, + 2.278, + 1.748 + ], + [ + 1.175, + 2.278, + 1.818 + ], + [ + 1.175, + 2.278, + 1.888 + ], + [ + 1.175, + 2.278, + 1.958 + ], + [ + 1.175, + 2.278, + 2.028 + ], + [ + 1.175, + 2.278, + 2.098 + ], + [ + 1.175, + 2.278, + 2.168 + ], + [ + 1.175, + 2.278, + 2.238 + ], + [ + 1.175, + 2.278, + 2.308 + ], + [ + 1.175, + 2.278, + 2.378 + ], + [ + 1.175, + 2.278, + 2.448 + ], + [ + 1.175, + 2.278, + 2.518 + ], + [ + 1.175, + 2.278, + 2.588 + ], + [ + 1.175, + 2.278, + 2.658 + ], + [ + 1.175, + 2.278, + 2.728 + ], + [ + 1.175, + 2.278, + 2.798 + ], + [ + 1.175, + 2.278, + 2.868 + ], + [ + 1.175, + 2.278, + 2.938 + ], + [ + 1.175, + 2.278, + 2.996 + ], + [ + 1.175, + 2.278, + 3.038 + ], + [ + 1.175, + 2.278, + 3.067 + ], + [ + 1.175, + 2.278, + 3.089 + ], + [ + 1.175, + 2.278, + 3.104 + ], + [ + 1.175, + 2.278, + 3.114 + ], + [ + 1.175, + 2.278, + 3.122 + ], + [ + 1.175, + 2.278, + 3.128 + ], + [ + 1.175, + 2.278, + 3.132 + ], + [ + 1.175, + 2.278, + 3.134 + ], + [ + 1.175, + 2.278, + 3.136 + ], + [ + 1.175, + 2.278, + 3.138 + ], + [ + 1.175, + 2.278, + 3.139 + ], + [ + 1.175, + 2.278, + 3.14 + ], + [ + 1.175, + 2.278, + 3.14 + ], + [ + 1.175, + 2.278, + 3.14 + ], + [ + 1.165, + 2.278, + 3.14 + ], + [ + 1.158, + 2.278, + 3.14 + ], + [ + 1.154, + 2.278, + 3.14 + ], + [ + 1.151, + 2.278, + 3.14 + ], + [ + 1.149, + 2.278, + 3.14 + ], + [ + 1.147, + 2.278, + 3.14 + ], + [ + 1.146, + 2.278, + 3.14 + ], + [ + 1.145, + 2.278, + 3.14 + ], + [ + 1.145, + 2.278, + 3.14 + ], + [ + 1.145, + 2.278, + 3.14 + ], + [ + 1.145, + 2.278, + 3.14 + ], + [ + 1.145, + 2.278, + 3.14 + ], + [ + 1.145, + 2.278, + 3.14 + ], + [ + 1.145, + 2.278, + 3.14 + ], + [ + 1.145, + 2.278, + 3.14 + ], + [ + 1.145, + 2.278, + 3.14 + ], + [ + 1.145, + 2.278, + 3.14 + ], + [ + 1.145, + 2.278, + 3.14 + ], + [ + 1.145, + 2.278, + 3.14 + ], + [ + 1.145, + 2.278, + 3.14 + ], + [ + 1.145, + 2.278, + 3.14 + ], + [ + 1.145, + 2.278, + 3.14 + ], + [ + 1.145, + 2.278, + 3.14 + ], + [ + 1.145, + 2.278, + 3.14 + ], + [ + 1.145, + 2.278, + 3.14 + ], + [ + 1.145, + 2.278, + 3.14 + ], + [ + 1.145, + 2.278, + 3.14 + ], + [ + 1.145, + 2.278, + 3.14 + ], + [ + 1.145, + 2.278, + 3.14 + ], + [ + 1.145, + 2.278, + 3.14 + ], + [ + 1.145, + 2.278, + 3.14 + ], + [ + 1.145, + 2.278, + 3.14 + ], + [ + 1.145, + 2.278, + 3.14 + ], + [ + 1.145, + 2.278, + 3.14 + ], + [ + 1.145, + 2.278, + 3.14 + ], + [ + 1.145, + 2.278, + 3.14 + ], + [ + 1.145, + 2.278, + 3.14 + ], + [ + 1.145, + 2.278, + 3.14 + ], + [ + 1.145, + 2.278, + 3.14 + ], + [ + 1.145, + 2.278, + 3.14 + ], + [ + 1.145, + 2.278, + 3.14 + ], + [ + 1.145, + 2.278, + 3.14 + ], + [ + 1.145, + 2.278, + 3.14 + ], + [ + 1.145, + 2.278, + 3.14 + ], + [ + 1.145, + 2.278, + 3.14 + ], + [ + 1.145, + 2.278, + 3.14 + ], + [ + 1.145, + 2.278, + 3.14 + ], + [ + 1.138, + 2.278, + 3.14 + ], + [ + 1.131, + 2.278, + 3.14 + ], + [ + 1.127, + 2.278, + 3.14 + ], + [ + 1.124, + 2.278, + 3.14 + ], + [ + 1.121, + 2.278, + 3.14 + ], + [ + 1.12, + 2.278, + 3.14 + ], + [ + 1.119, + 2.278, + 3.14 + ], + [ + 1.118, + 2.278, + 3.14 + ], + [ + 1.117, + 2.278, + 3.14 + ], + [ + 1.117, + 2.278, + 3.14 + ], + [ + 1.117, + 2.278, + 3.14 + ], + [ + 1.117, + 2.278, + 3.14 + ], + [ + 1.117, + 2.278, + 3.14 + ], + [ + 1.116, + 2.278, + 3.14 + ], + [ + 1.115, + 2.278, + 3.14 + ], + [ + 1.114, + 2.278, + 3.14 + ], + [ + 1.114, + 2.278, + 3.14 + ], + [ + 1.114, + 2.278, + 3.14 + ], + [ + 1.114, + 2.278, + 3.14 + ], + [ + 1.114, + 2.278, + 3.14 + ], + [ + 1.114, + 2.278, + 3.14 + ], + [ + 1.114, + 2.278, + 3.14 + ], + [ + 1.114, + 2.278, + 3.14 + ], + [ + 1.114, + 2.278, + 3.14 + ], + [ + 1.114, + 2.278, + 3.14 + ], + [ + 1.114, + 2.278, + 3.14 + ], + [ + 1.114, + 2.278, + 3.14 + ], + [ + 1.114, + 2.278, + 3.14 + ], + [ + 1.114, + 2.278, + 3.14 + ], + [ + 1.114, + 2.278, + 3.14 + ], + [ + 1.114, + 2.278, + 3.14 + ], + [ + 1.114, + 2.278, + 3.14 + ], + [ + 1.114, + 2.278, + 3.14 + ], + [ + 1.114, + 2.278, + 3.14 + ], + [ + 1.114, + 2.278, + 3.14 + ] + ], + "stage_events": [ + { + "step": 30, + "event": "stage_start", + "stage": "nav_A" + }, + { + "step": 535, + "event": "enter_zone", + "zone": "A", + "base": [ + -2.323, + 0.097 + ] + }, + { + "step": 892, + "event": "walk_done", + "pose": [ + -2.033, + 0.722, + 3.083 + ], + "goal": [ + -2.021, + 0.76, + -3.142 + ] + }, + { + "step": 1, + "event": "trim_progress", + "pos_err": 0.0396, + "yaw_err": -0.0589, + "phase": "turn", + "cmd": [ + 0.0, + 0.0, + 0.091 + ] + }, + { + "step": 51, + "event": "trim_progress", + "pos_err": 0.0396, + "yaw_err": -0.309, + "phase": "turn", + "cmd": [ + 0.0, + 0.0, + -0.25 + ] + }, + { + "step": 101, + "event": "trim_progress", + "pos_err": 0.0396, + "yaw_err": -0.5589, + "phase": "turn", + "cmd": [ + 0.0, + 0.0, + -0.25 + ] + }, + { + "step": 151, + "event": "trim_progress", + "pos_err": 0.0396, + "yaw_err": -0.8087, + "phase": "turn", + "cmd": [ + 0.0, + 0.0, + -0.25 + ] + }, + { + "step": 201, + "event": "trim_progress", + "pos_err": 0.0396, + "yaw_err": -1.0586, + "phase": "turn", + "cmd": [ + 0.0, + 0.0, + -0.25 + ] + }, + { + "step": 251, + "event": "trim_progress", + "pos_err": 0.0396, + "yaw_err": -1.3085, + "phase": "turn", + "cmd": [ + 0.0, + 0.0, + -0.25 + ] + }, + { + "step": 301, + "event": "trim_progress", + "pos_err": 0.0396, + "yaw_err": -1.5585, + "phase": "turn", + "cmd": [ + 0.0, + 0.0, + -0.25 + ] + }, + { + "step": 351, + "event": "trim_progress", + "pos_err": 0.0396, + "yaw_err": -1.7892, + "phase": "turn", + "cmd": [ + 0.0, + 0.0, + -0.1454 + ] + }, + { + "step": 401, + "event": "trim_progress", + "pos_err": 0.0114, + "yaw_err": -1.8244, + "phase": "drive", + "cmd": [ + 0.0211, + -0.0039, + 0.0 + ] + }, + { + "step": 451, + "event": "trim_progress", + "pos_err": 0.0049, + "yaw_err": -1.6494, + "phase": "final", + "cmd": [ + 0.0, + 0.0, + 0.35 + ] + }, + { + "step": 501, + "event": "trim_progress", + "pos_err": 0.0049, + "yaw_err": -1.2994, + "phase": "final", + "cmd": [ + 0.0, + 0.0, + 0.35 + ] + }, + { + "step": 551, + "event": "trim_progress", + "pos_err": 0.0049, + "yaw_err": -0.9496, + "phase": "final", + "cmd": [ + 0.0, + 0.0, + 0.35 + ] + }, + { + "step": 601, + "event": "trim_progress", + "pos_err": 0.0049, + "yaw_err": -0.5998, + "phase": "final", + "cmd": [ + 0.0, + 0.0, + 0.35 + ] + }, + { + "step": 651, + "event": "trim_progress", + "pos_err": 0.0049, + "yaw_err": -0.25, + "phase": "final", + "cmd": [ + 0.0, + 0.0, + 0.35 + ] + }, + { + "step": 701, + "event": "trim_progress", + "pos_err": 0.0049, + "yaw_err": -0.0472, + "phase": "final", + "cmd": [ + 0.0, + 0.0, + 0.0809 + ] + }, + { + "step": 751, + "event": "trim_progress", + "pos_err": 0.0049, + "yaw_err": -0.0087, + "phase": "final", + "cmd": [ + 0.0, + 0.0, + 0.015 + ] + }, + { + "step": 801, + "event": "trim_progress", + "pos_err": 0.0049, + "yaw_err": -0.0016, + "phase": "final", + "cmd": [ + 0.0, + 0.0, + 0.0028 + ] + }, + { + "step": 1702, + "event": "trim_done", + "pose": [ + -2.0241, + 0.7562, + 3.1404 + ], + "timed_out": false + }, + { + "step": 1702, + "event": "stage_done", + "stage": "nav_A", + "skill_state": "finished: planner reached target" + }, + { + "step": 1702, + "event": "stage_start", + "stage": "stance_A" + }, + { + "step": 1826, + "event": "stage_done", + "stage": "stance_A", + "skill_state": "finished" + }, + { + "step": 1826, + "event": "stage_start", + "stage": "pick" + }, + { + "step": 2283, + "event": "picked", + "part": [ + -1.9217, + 1.4079, + 0.4605 + ], + "gap_mm": 25.4, + "lift_mm": 30.5 + }, + { + "step": 2329, + "event": "stage_done", + "stage": "pick", + "skill_state": "finished" + }, + { + "step": 2329, + "event": "stage_start", + "stage": "carry" + }, + { + "step": 2572, + "event": "stage_done", + "stage": "carry", + "skill_state": "finished" + }, + { + "step": 2572, + "event": "stage_start", + "stage": "nav_B" + }, + { + "step": 3055, + "event": "enter_zone", + "zone": "B", + "base": [ + 0.64, + 1.896 + ] + }, + { + "step": 3328, + "event": "walk_done", + "pose": [ + 1.154, + 2.249, + -3.083 + ], + "goal": [ + 1.179, + 2.28, + -3.142 + ] + }, + { + "step": 1, + "event": "trim_progress", + "pos_err": 0.0399, + "yaw_err": 0.0584, + "phase": "turn", + "cmd": [ + 0.0, + 0.0, + -0.0903 + ] + }, + { + "step": 51, + "event": "trim_progress", + "pos_err": 0.0399, + "yaw_err": -0.1918, + "phase": "turn", + "cmd": [ + 0.0, + 0.0, + -0.25 + ] + }, + { + "step": 101, + "event": "trim_progress", + "pos_err": 0.0399, + "yaw_err": -0.4418, + "phase": "turn", + "cmd": [ + 0.0, + 0.0, + -0.25 + ] + }, + { + "step": 151, + "event": "trim_progress", + "pos_err": 0.0399, + "yaw_err": -0.6917, + "phase": "turn", + "cmd": [ + 0.0, + 0.0, + -0.25 + ] + }, + { + "step": 201, + "event": "trim_progress", + "pos_err": 0.0399, + "yaw_err": -0.9417, + "phase": "turn", + "cmd": [ + 0.0, + 0.0, + -0.25 + ] + }, + { + "step": 251, + "event": "trim_progress", + "pos_err": 0.0399, + "yaw_err": -1.1917, + "phase": "turn", + "cmd": [ + 0.0, + 0.0, + -0.25 + ] + }, + { + "step": 301, + "event": "trim_progress", + "pos_err": 0.0399, + "yaw_err": -1.4417, + "phase": "turn", + "cmd": [ + 0.0, + 0.0, + -0.25 + ] + }, + { + "step": 351, + "event": "trim_progress", + "pos_err": 0.0399, + "yaw_err": -1.6917, + "phase": "turn", + "cmd": [ + 0.0, + 0.0, + -0.25 + ] + }, + { + "step": 401, + "event": "trim_progress", + "pos_err": 0.0399, + "yaw_err": -1.9417, + "phase": "turn", + "cmd": [ + 0.0, + 0.0, + -0.25 + ] + }, + { + "step": 451, + "event": "trim_progress", + "pos_err": 0.0399, + "yaw_err": -2.1745, + "phase": "turn", + "cmd": [ + 0.0, + 0.0, + -0.1506 + ] + }, + { + "step": 501, + "event": "trim_progress", + "pos_err": 0.012, + "yaw_err": -2.2127, + "phase": "drive", + "cmd": [ + 0.0222, + -0.004, + 0.0 + ] + }, + { + "step": 551, + "event": "trim_progress", + "pos_err": 0.0049, + "yaw_err": -2.0448, + "phase": "final", + "cmd": [ + 0.0, + 0.0, + 0.35 + ] + }, + { + "step": 601, + "event": "trim_progress", + "pos_err": 0.0049, + "yaw_err": -1.6948, + "phase": "final", + "cmd": [ + 0.0, + 0.0, + 0.35 + ] + }, + { + "step": 651, + "event": "trim_progress", + "pos_err": 0.0049, + "yaw_err": -1.3448, + "phase": "final", + "cmd": [ + 0.0, + 0.0, + 0.35 + ] + }, + { + "step": 701, + "event": "trim_progress", + "pos_err": 0.0049, + "yaw_err": -0.9948, + "phase": "final", + "cmd": [ + 0.0, + 0.0, + 0.35 + ] + }, + { + "step": 751, + "event": "trim_progress", + "pos_err": 0.0049, + "yaw_err": -0.6448, + "phase": "final", + "cmd": [ + 0.0, + 0.0, + 0.35 + ] + }, + { + "step": 801, + "event": "trim_progress", + "pos_err": 0.0049, + "yaw_err": -0.2949, + "phase": "final", + "cmd": [ + 0.0, + 0.0, + 0.35 + ] + }, + { + "step": 851, + "event": "trim_progress", + "pos_err": 0.0049, + "yaw_err": -0.0587, + "phase": "final", + "cmd": [ + 0.0, + 0.0, + 0.1003 + ] + }, + { + "step": 901, + "event": "trim_progress", + "pos_err": 0.0049, + "yaw_err": -0.011, + "phase": "final", + "cmd": [ + 0.0, + 0.0, + 0.0186 + ] + }, + { + "step": 951, + "event": "trim_progress", + "pos_err": 0.0049, + "yaw_err": -0.0022, + "phase": "final", + "cmd": [ + 0.0, + 0.0, + 0.0034 + ] + }, + { + "step": 4299, + "event": "trim_done", + "pose": [ + 1.1747, + 2.2776, + 3.1404 + ], + "timed_out": false + }, + { + "step": 4299, + "event": "stage_done", + "stage": "nav_B", + "skill_state": "finished: planner reached target" + }, + { + "step": 4299, + "event": "stage_start", + "stage": "stance_B" + }, + { + "step": 4397, + "event": "stage_done", + "stage": "stance_B", + "skill_state": "finished" + }, + { + "step": 4397, + "event": "stage_start", + "stage": "assemble" + }, + { + "step": 4397, + "event": "wp_start", + "name": "pre_insert", + "kind": "plan" + }, + { + "step": 4397, + "event": "assemble_start", + "t_l6_part": [ + 0.009, + -0.0006, + -0.0182, + 0.0041, + 0.7066, + 0.0063, + -0.7075 + ] + }, + { + "step": 4565, + "event": "wp_done", + "name": "pre_insert" + }, + { + "step": 4565, + "event": "wp_start", + "name": "align", + "kind": "servo" + }, + { + "step": 4773, + "event": "base_trim", + "n": 1, + "along_fwd_mm": 28.22, + "pos_err_mm": 28.66 + }, + { + "step": 4896, + "event": "base_trim", + "n": 2, + "along_fwd_mm": 4.32, + "pos_err_mm": 4.34 + }, + { + "step": 4946, + "event": "wp_done", + "name": "align" + }, + { + "step": 4946, + "event": "wp_start", + "name": "insert", + "kind": "servo" + }, + { + "step": 5015, + "event": "stop_condition", + "name": "board_level", + "wp": "insert" + }, + { + "step": 5015, + "event": "wp_done", + "name": "insert" + }, + { + "step": 5015, + "event": "release_start" + }, + { + "step": 5069, + "event": "leave_start" + }, + { + "step": 5098, + "event": "released", + "gap_mm": 89.0 + }, + { + "step": 5127, + "event": "success", + "ok": true, + "tilt_deg": -0.56, + "tilt_err_deg": -0.56, + "support_gap_mm": 1.11, + "wedge_on_plate": true, + "wedge_x_mm": 290.8, + "wedge_yaw_deg": -177.9, + "board_touch_steps": 0 + } + ], + "station_transition_order": [ + "S", + "A", + "B" + ], + "interstation_path_lengths": { + "S": 2.992, + "S->A": 3.676, + "A->B": 0.724 + }, + "base_path_length": 7.392, + "distance_to_first_interaction": 3.797, + "regrasp_events": 0, + "violations": [], + "end_state": { + "ok": true, + "tilt_deg": -0.56, + "tilt_err_deg": -0.56, + "support_gap_mm": 1.11, + "wedge_on_plate": true, + "wedge_x_mm": 290.8, + "wedge_yaw_deg": -177.9, + "board_touch_steps": 0 + }, + "manipulation_success": true, + "mobile_success": true, + "transport_state": { + "picked": true, + "released": true + }, + "command_state": null, + "elapsed_s": 1469.8 +} diff --git a/N025/stretch3/dr_on/seed_2014/stationassembly/000/completed/0.json b/N025/stretch3/dr_on/seed_2014/stationassembly/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..1db0234d1d09a173dbe0f48b261236e22fe34f76 --- /dev/null +++ b/N025/stretch3/dr_on/seed_2014/stationassembly/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationassembly/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N025/stretch3/dr_on/seed_2014/stationassembly/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N025/stretch3/dr_on/seed_2014/stationassembly/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..7d64b6761d0b83fceb5ba3b38436ae9eb5bd63e0 --- /dev/null +++ b/N025/stretch3/dr_on/seed_2014/stationassembly/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:93f395cd5eb927de765098e8ea095512b76c6243f5208414c62a55de6a612230 +size 2908354 diff --git a/N025/stretch3/dr_on/seed_2014/stationassembly/000/lerobot_v21/meta/episodes.jsonl b/N025/stretch3/dr_on/seed_2014/stationassembly/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..773ae8b4d1aebb3865cf09bb866f2000ab9651bf --- /dev/null +++ b/N025/stretch3/dr_on/seed_2014/stationassembly/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level."], "length": 2549, "magicsim/control_steps": 5097, "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 gray table B. There are a large gray table A, a large gray table B, a medium shim board and a small wedge. The gray table A is to the left of the wedge. The gray table B is to the right of the shim board. The shim board is on top of the gray table B. The shim board is to the left of the gray table B. The wedge is on top of the gray table A. The wedge is to the right of the gray table A. The scene is viewed from front, slightly above table height."} diff --git a/N025/stretch3/dr_on/seed_2014/stationassembly/000/lerobot_v21/meta/episodes_stats.jsonl b/N025/stretch3/dr_on/seed_2014/stationassembly/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7d4cc83729d4208f55c4fed9be1c7915a814fa38 --- /dev/null +++ b/N025/stretch3/dr_on/seed_2014/stationassembly/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.002297674759067142, -9.17637732030481e-05, 0.022253198101667183, -0.6608010574988217, 1.4741384313825814, 0.5909047910001709, -0.04991689243622403, 0.17895518308853187, 0.16759672241359252, -0.43984310165860224, 0.5464888191447627], "std": [0.1424387681868568, 0.0005961427883223111, 0.2056767009148957, 1.6458069748893602, 1.1440251185551937, 0.07324634680570756, 0.5235649191822977, 0.3361325193815357, 0.3444899925370866, 0.4880101812402474, 0.49783409856550936], "min": [-0.30000001192092896, -0.003988136537373066, -0.800000011920929, -3.3448617458343506, -2.5013442039489746, 0.4389999508857727, -0.9068161249160767, -0.5034831166267395, -0.5517246127128601, -0.9999998807907104, 0.0], "max": [0.30000001192092896, 0.0, 0.800000011920929, 1.506476879119873, 2.8500707149505615, 0.6720840334892273, 0.6685066223144531, 0.6920762062072754, 0.674500584602356, 0.9999998807907104, 1.0], "count": [2549]}, "action_is_hold": {"mean": [0.009807767752059632, 0.009807767752059632, 0.009807767752059632, 0.029030992546096507, 0.029030992546096507, 0.029030992546096507, 0.029030992546096507, 0.029030992546096507, 0.029030992546096507, 0.029030992546096507, 0.9340918007061593], "std": [0.09854732590883164, 0.09854732590883164, 0.09854732590883164, 0.16789340075739942, 0.16789340075739942, 0.16789340075739942, 0.16789340075739942, 0.16789340075739942, 0.16789340075739942, 0.16789340075739942, 0.24812156004605362], "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": [2549]}, "observation.state": {"mean": [-0.6935057738169637, 1.1940596515423132, 1.6296716068435435, 0.5714578497241459, 3.1777740911700146e-08, 4.2007698811415454e-08, 0.041611083957585074, 0.04161147885943979, 0.0416120572486457, 0.041608269000456576, 1.7921103612962261, -0.8801252243152813, -0.76030392984833, 0.06065528087239259, 0.0639206439314586], "std": [1.6226199731020627, 1.1095936781266822, 1.976134633424018, 0.15413235185495358, 2.8735451085251327e-06, 6.208007300586024e-06, 0.037760809582775404, 0.037760964757073884, 0.03776093582921815, 0.037756783338289766, 0.489591556528305, 0.7038196417577491, 0.7682390939420974, 0.0679061034964588, 0.06835302034305978], "min": [-3.615602493286133, -2.5979199409484863, -3.140993595123291, 0.39999592304229736, -5.190722367842682e-05, -8.981837163446471e-05, 0.0, 0.0, 0.0, 0.0, 0.6141502261161804, -1.5700000524520874, -2.457538366317749, -8.994783251559113e-10, -3.3125305276549e-10], "max": [1.174703598022461, 2.278017044067383, 3.1409151554107666, 0.7488022446632385, 5.69691437704023e-05, 0.00010321681475033984, 0.1289178729057312, 0.1289157122373581, 0.12891243398189545, 0.1289263516664505, 3.1741421222686768, 6.0888469306519255e-05, 0.04959605634212494, 0.2500001788139343, 0.2500002682209015], "count": [2549]}, "observation.joint_vel": {"mean": [0.0664074736240494, -0.004628961468838449, 0.023017893984961568, 0.0012196048189624974, -0.000933447454249255, -7.273963730532511e-05, 0.0010511239099116364, 0.0010609061861918605, 0.0011031715083118234, 0.0017548749145608366, -0.020063020099339173, -0.016931511696208858, -0.005740798577078283, 0.4617975057541047, 0.09452264445923785], "std": [0.11521547204416195, 0.05087407561338627, 0.2048823011610811, 0.02931874655321299, 0.0010445930219974665, 0.00010369328695515723, 0.011576957811220066, 0.011624723846047026, 0.011689098009816662, 0.0109558452411096, 0.14823749159312638, 0.08073527392694849, 0.1255398280214995, 0.5056649694020877, 0.2791127398232322], "min": [-0.040106017142534256, -0.22790716588497162, -0.7982989549636841, -0.30153676867485046, -0.002811058657243848, -0.0010813388507813215, -0.07241138815879822, -0.07259878516197205, -0.07290752232074738, -0.07533220946788788, -0.8912965059280396, -0.7588304281234741, -0.8970751166343689, -1.0000005960464478, -1.0000144243240356], "max": [0.2996964156627655, 0.09030288457870483, 0.8000041842460632, 0.12668849527835846, 0.0013404174242168665, 0.0009022774174809456, 0.08043091744184494, 0.08038471639156342, 0.08028532564640045, 0.08459290117025375, 0.507633626461029, 0.11854824423789978, 0.539725661277771, 1.0000404119491577, 1.0031744241714478], "count": [2549]}, "observation.eef_pose": {"mean": [-0.6610422458970264, 1.4736550666418156, 0.5910037232759467, 0.04726377015409274, 0.2732211112641024, 0.2599256412756862, -0.6148667142245292], "std": [1.6469912952358445, 1.1438368023779644, 0.07311366649451476, 0.5235650111846412, 0.26501598140099875, 0.28089130816544833, 0.2328950974476493], "min": [-3.344745397567749, -2.5013442039489746, 0.4387970566749573, -0.9068161249160767, -0.5032826662063599, -0.49628564715385437, -0.9999999403953552], "max": [1.5066722631454468, 2.8500897884368896, 0.6720228791236877, 0.6684739589691162, 0.6920809149742126, 0.6744835376739502, 0.5189122557640076], "count": [2549]}, "observation.environment_state": {"mean": [0.05127175690287636, -0.0012447898854958054, 1.1802799701690674, 3.1513400077819824, 0.4300000071525574, -0.6810598373413086, 9.313225191043273e-10, -9.313225191043273e-10, 0.7322278022766113, -2.0, 1.5, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, 1.2000000476837158, 3.0, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, -0.5333613739354428, 1.8689586901112882, 0.5273954944313157, 0.709465186132455, 0.015538320583416122, 0.02291355012239426, 0.6482997094066821], "std": [0.006601512975545633, 0.015799830760734986, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5120808643668076, 0.5905446214089669, 0.10931148207289423, 0.1334453118449208, 0.023717708355917605, 0.03145086835421698, 0.23715152517276633], "min": [0.0060186018235981464, -0.26743119955062866, 1.1802799701690674, 3.1513400077819824, 0.4300000071525574, -0.6810598373413086, 9.313225191043273e-10, -9.313225191043273e-10, 0.7322278022766113, -2.0, 1.5, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, 1.2000000476837158, 3.0, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, -1.9453457593917847, 1.0924725532531738, 0.4299999177455902, 0.30365267395973206, -0.0134350610896945, -0.005989982280880213, -0.2634386718273163], "max": [0.05235988646745682, 0.03793102130293846, 1.1802799701690674, 3.1513400077819824, 0.4300000071525574, -0.6810598373413086, 9.313225191043273e-10, -9.313225191043273e-10, 0.7322278022766113, -2.0, 1.5, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, 1.2000000476837158, 3.0, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0, 1.524143099784851, 2.8615169525146484, 0.6624880433082581, 0.9971413612365723, 0.07574307173490524, 0.07689440250396729, 0.9497566819190979], "count": [2549]}, "action.command": {"mean": [-1.34428299622899, 0.47621739539429425, 0.26836320117401774, 0.33641493861201344, 2.9129119178329066e-08, 2.079648541265659e-08, -0.08333242868774393, 0.7482828282828283, -0.6619358808916025, 1.4615217976618295, 0.5939714764705812, -0.062037978964432076, 0.17330920385838744, 0.1618928267802953, -0.4336469658215841, 0.08928571428571429, -2.8204867851601545, -1.0152935871235078, 0.6095098008865626, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3733696481040294, 0.6890199876244195, 0.6160917115594607, -0.12143436337651958, 0.1300851023796978, 0.2939508768369249, -0.5026741255493777, 0.0, -2.7924455877287575, -1.0020809518392066, 0.6095134095692885, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3733696481040294, 0.6890199876244195, 0.6160917115594607, -0.12143436337651958, 0.1300851023796978, 0.2939508768369249, -0.5026741255493777, 0.0, -2.7084245003934844, -0.9372052636517877, 0.6095153445605884, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3733696481040294, 0.6890199876244195, 0.6160917115594607, -0.12143436337651958, 0.1300851023796978, 0.2939508768369249, -0.5026741255493777, 0.0, -2.6829182258789857, -0.9254353071467396, 0.6095128353956825, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3733696481040294, 0.6890199876244195, 0.6160917115594607, -0.12143436337651958, 0.1300851023796978, 0.2939508768369249, -0.5026741255493777, 0.0, -2.5957671122438977, -0.8576376547182741, 0.6095112450006424, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3733696481040294, 0.6890199876244195, 0.6160917115594607, -0.12143436337651958, 0.1300851023796978, 0.2939508768369249, -0.5026741255493777, 0.0, -2.5738437320157534, -0.8497158540930825, 0.6095132225680042, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3733696481040294, 0.6890199876244195, 0.6160917115594607, -0.12143436337651958, 0.1300851023796978, 0.2939508768369249, -0.5026741255493777, 0.0, -2.4877300197615466, -0.7755518868768171, 0.6095002239802565, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3733696481040294, 0.6890199876244195, 0.6160917115594607, -0.12143436337651958, 0.1300851023796978, 0.2939508768369249, -0.5026741255493777, 0.0, -2.4648259661548364, -0.774307330695012, 0.6095113799445635, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3733696481040294, 0.6890199876244195, 0.6160917115594607, -0.12143436337651958, 0.1300851023796978, 0.2939508768369249, -0.5026741255493777, 0.0, -2.4271248854577028, -0.765406730885264, 0.8405243862692005, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3733696481040294, 0.6890199876244195, 0.6160917115594607, -0.12143436337651958, 0.1300851023796978, 0.2939508768369249, -0.5026741255493777, 0.0, -2.3687941244123008, -0.6844221132500062, 0.8405251684235996, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3733696481040294, 0.6890199876244195, 0.6160917115594607, -0.12143436337651958, 0.1300851023796978, 0.2939508768369249, -0.5026741255493777, 0.0, -2.3345284376509845, -0.6606094159360869, 0.8405248074065917, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3733696481040294, 0.6890199876244195, 0.6160917115594607, -0.12143436337651958, 0.1300851023796978, 0.2939508768369249, -0.5026741255493777, 0.0, -2.2719122803550125, -0.5755928716494509, 0.8405245411381291, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3733696481040294, 0.6890199876244195, 0.6160917115594607, -0.12143436337651958, 0.1300851023796978, 0.2939508768369249, -0.5026741255493777, 0.0, -2.211664727355995, -0.5316791434223189, 0.8405313732008115, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3733696481040294, 0.6890199876244195, 0.6160917115594607, -0.12143436337651958, 0.1300851023796978, 0.2939508768369249, -0.5026741255493777, 0.0, -2.18226475326623, -0.47088243522219664, 0.840523535153185, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3733696481040294, 0.6890199876244195, 0.6160917115594607, -0.12143436337651958, 0.1300851023796978, 0.2939508768369249, -0.5026741255493777, 0.0, -2.1725258402830296, -0.45093280614822256, 0.8405244620090951, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3733696481040294, 0.6890199876244195, 0.6160917115594607, -0.12143436337651958, 0.1300851023796978, 0.2939508768369249, -0.5026741255493777, 0.0, -2.0887717543485285, -0.3639826525569109, 0.8405233857363499, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3733696481040294, 0.6890199876244195, 0.6160917115594607, -0.12143436337651958, 0.1300851023796978, 0.2939508768369249, -0.5026741255493777, 0.0, -2.0352191869054352, -0.31397954539403927, 0.8405242202013767, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3733696481040294, 0.6890199876244195, 0.6160917115594607, -0.12143436337651958, 0.1300851023796978, 0.2939508768369249, -0.5026741255493777, 0.0, -1.9926820601462139, -0.2556048721553958, 0.840524008601204, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3733696481040294, 0.6890199876244195, 0.6160917115594607, -0.12143436337651958, 0.1300851023796978, 0.2939508768369249, -0.5026741255493777, 0.0, -1.9523707747606764, -0.20822630028789507, 0.8405248230261031, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3733696481040294, 0.6890199876244195, 0.6160917115594607, -0.12143436337651958, 0.1300851023796978, 0.2939508768369249, -0.5026741255493777, 0.0, -1.898611108216426, -0.14837623364551106, 0.8405239651318092, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3733696481040294, 0.6890199876244195, 0.6160917115594607, -0.12143436337651958, 0.1300851023796978, 0.2939508768369249, -0.5026741255493777, 0.0, -1.847681110367934, -0.08997510051255762, 0.8405247985653589, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3733696481040294, 0.6890199876244195, 0.6160917115594607, -0.12143436337651958, 0.1300851023796978, 0.2939508768369249, -0.5026741255493777, 0.0, -1.8059539834707423, -0.04195245676783313, 0.8405244575884787, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3733696481040294, 0.6890199876244195, 0.6160917115594607, -0.12143436337651958, 0.1300851023796978, 0.2939508768369249, -0.5026741255493777, 0.0, -1.7577255374863652, 0.019958341666882942, 0.8405239929816927, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3733696481040294, 0.6890199876244195, 0.6160917115594607, -0.12143436337651958, 0.1300851023796978, 0.2939508768369249, -0.5026741255493777, 0.0, -1.7142932440058705, 0.06390406587362585, 0.8405248074065917, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3733696481040294, 0.6890199876244195, 0.6160917115594607, -0.12143436337651958, 0.1300851023796978, 0.2939508768369249, -0.5026741255493777, 0.0, -1.6569141618106216, 0.135867492377537, 0.8405249221952649, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3733696481040294, 0.6890199876244195, 0.6160917115594607, -0.12143436337651958, 0.1300851023796978, 0.2939508768369249, -0.5026741255493777, 0.0, -1.622654770522831, 0.16974807168703587, 0.8405251293748212, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3733696481040294, 0.6890199876244195, 0.6160917115594607, -0.12143436337651958, 0.1300851023796978, 0.2939508768369249, -0.5026741255493777, 0.0, -1.5689200935390293, 0.24481868618645686, 0.8405231082689925, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3733696481040294, 0.6890199876244195, 0.6160917115594607, -0.12143436337651958, 0.1300851023796978, 0.2939508768369249, -0.5026741255493777, 0.0, -1.530831102277204, 0.2756974218949694, 0.840524652537663, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3733696481040294, 0.6890199876244195, 0.6160917115594607, -0.12143436337651958, 0.1300851023796978, 0.2939508768369249, -0.5026741255493777, 0.0, -1.4658924060124254, 0.3618553179892975, 0.8405277967747711, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3733696481040294, 0.6890199876244195, 0.6160917115594607, -0.12143436337651958, 0.1300851023796978, 0.2939508768369249, -0.5026741255493777, 0.0, -1.4391531341781723, 0.38156393041422104, 0.8405246447279073, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3733696481040294, 0.6890199876244195, 0.6160917115594607, -0.12143436337651958, 0.1300851023796978, 0.2939508768369249, -0.5026741255493777, 0.0, -1.3860805174117108, 0.45717413614795294, 0.8405224898247547, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3733696481040294, 0.6890199876244195, 0.6160917115594607, -0.12143436337651958, 0.1300851023796978, 0.2939508768369249, -0.5026741255493777, 0.0, -1.3476730064754876, 0.48731779005972503, 0.8405122838002642, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3733696481040294, 0.6890199876244195, 0.6160917115594607, -0.12143436337651958, 0.1300851023796978, 0.2939508768369249, -0.5026741255493777, 0.0, -1.3132788587927966, 0.5077154176270564, 0.8405241121909822, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3733696481040294, 0.6890199876244195, 0.6160917115594607, -0.12143436337651958, 0.1300851023796978, 0.2939508768369249, -0.5026741255493777, 0.0, -1.2560526720157217, 0.5931513958940989, 0.84052508148481, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3733696481040294, 0.6890199876244195, 0.6160917115594607, -0.12143436337651958, 0.1300851023796978, 0.2939508768369249, -0.5026741255493777, 0.0, -1.2303992828126302, 0.6132323436890309, 0.8405246481170465, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3733696481040294, 0.6890199876244195, 0.6160917115594607, -0.12143436337651958, 0.1300851023796978, 0.2939508768369249, -0.5026741255493777, 0.0, -1.1641761307663323, 0.6991309113017709, 0.8405247907556032, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3733696481040294, 0.6890199876244195, 0.6160917115594607, -0.12143436337651958, 0.1300851023796978, 0.2939508768369249, -0.5026741255493777, 0.0, -1.1218935088409923, 0.7339101599342891, 0.8405250780956707, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3733696481040294, 0.6890199876244195, 0.6160917115594607, -0.12143436337651958, 0.1300851023796978, 0.2939508768369249, -0.5026741255493777, 0.0, -1.0722153505819247, 0.8051583623773751, 0.8405234448252561, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3733696481040294, 0.6890199876244195, 0.6160917115594607, -0.12143436337651958, 0.1300851023796978, 0.2939508768369249, -0.5026741255493777, 0.0, -1.0419744250211491, 0.8378763074752943, 0.8405237746032413, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3733696481040294, 0.6890199876244195, 0.6160917115594607, -0.12143436337651958, 0.1300851023796978, 0.2939508768369249, -0.5026741255493777, 0.0, -0.9802324419705328, 0.9111982941701179, 0.8405240052120647, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3733696481040294, 0.6890199876244195, 0.6160917115594607, -0.12143436337651958, 0.1300851023796978, 0.2939508768369249, -0.5026741255493777, 0.0, -0.9234392849270286, 0.9641614601071302, 0.8405248386456144, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3733696481040294, 0.6890199876244195, 0.6160917115594607, -0.12143436337651958, 0.1300851023796978, 0.2939508768369249, -0.5026741255493777, 0.0, -0.8879891989110279, 1.0174857196760707, 0.8405246749354529, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3733696481040294, 0.6890199876244195, 0.6160917115594607, -0.12143436337651958, 0.1300851023796978, 0.2939508768369249, -0.5026741255493777, 0.0, -0.8624749145342776, 1.0573123385496577, 0.8405251572247047, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3733696481040294, 0.6890199876244195, 0.6160917115594607, -0.12143436337651958, 0.1300851023796978, 0.2939508768369249, -0.5026741255493777, 0.0, -0.7944679484231805, 1.124862330289942, 0.8405248006283131, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3733696481040294, 0.6890199876244195, 0.6160917115594607, -0.12143436337651958, 0.1300851023796978, 0.2939508768369249, -0.5026741255493777, 0.0, -0.7356213499205958, 1.1871376262312325, 0.8405234737066167, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3733696481040294, 0.6890199876244195, 0.6160917115594607, -0.12143436337651958, 0.1300851023796978, 0.2939508768369249, -0.5026741255493777, 0.0, -0.698888645773323, 1.2341322995381538, 0.8405232019860606, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3733696481040294, 0.6890199876244195, 0.6160917115594607, -0.12143436337651958, 0.1300851023796978, 0.2939508768369249, -0.5026741255493777, 0.0, -0.6456803008269321, 1.2941711596564398, 0.8405258524403142, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3733696481040294, 0.6890199876244195, 0.6160917115594607, -0.12143436337651958, 0.1300851023796978, 0.2939508768369249, -0.5026741255493777, 0.0, -0.6035471961583726, 1.344218488234672, 0.840523782412997, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3733696481040294, 0.6890199876244195, 0.6160917115594607, -0.12143436337651958, 0.1300851023796978, 0.2939508768369249, -0.5026741255493777, 0.0, -0.5720196713328509, 1.3904405388755467, 1.0639362239425056, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3733696481040294, 0.6890199876244195, 0.6160917115594607, -0.12143436337651958, 0.1300851023796978, 0.2939508768369249, -0.5026741255493777, 0.0, -0.5262472013607897, 1.4338269183603294, -0.9452364120554129, 0.0, 0.0, 0.0, 0.0, 2.0, -1.3733696481040294, 0.6890199876244195, 0.6160917115594607, -0.12143436337651958, 0.1300851023796978, 0.2939508768369249, -0.5026741255493777, 0.0, 1.1790000200271606, 2.2799999713897705, -3.1415927410125732, 0.0, 0.0, 0.0, 0.0, 2.0, -0.17205169282498814, 1.8428804987952823, 0.6689287424087524, 0.6011345705027302, 0.2784149688939569, 0.6291134825774601, -0.3918218296513986, 0.0], "std": [1.8429721371807126, 1.8028659062706953, 0.46736764087654264, 0.42126285617810066, 6.537322504483199e-08, 4.6665337136968344e-08, 0.8381039993071261, 1.1512277507728843, 1.6471649199581762, 1.149261607334564, 0.0712865871819801, 0.5252145083458313, 0.3372842660673084, 0.34594038698747326, 0.49251434105734393, 0.2851557039762734, 0.8343540013260548, 1.6592165785883357, 0.5491713366001165, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3513695360895093, 1.4073368851146582, 0.04948182049983229, 0.6959820598234534, 0.14639151748795287, 0.3146901119736088, 0.15617814361228247, 0.0, 0.8520897441646476, 1.64785949262536, 0.5491749934815123, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3513695360895093, 1.4073368851146582, 0.04948182049983229, 0.6959820598234534, 0.14639151748795287, 0.3146901119736088, 0.15617814361228247, 0.0, 0.8806674164200582, 1.5895817652498283, 0.549176109597039, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3513695360895093, 1.4073368851146582, 0.04948182049983229, 0.6959820598234534, 0.14639151748795287, 0.3146901119736088, 0.15617814361228247, 0.0, 0.8970413236138558, 1.5794894491251288, 0.5491743336630163, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3513695360895093, 1.4073368851146582, 0.04948182049983229, 0.6959820598234534, 0.14639151748795287, 0.3146901119736088, 0.15617814361228247, 0.0, 0.9261926476487174, 1.5185562998551725, 0.5491731041702406, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3513695360895093, 1.4073368851146582, 0.04948182049983229, 0.6959820598234534, 0.14639151748795287, 0.3146901119736088, 0.15617814361228247, 0.0, 0.942398592932178, 1.511986336504832, 0.5491745567002515, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3513695360895093, 1.4073368851146582, 0.04948182049983229, 0.6959820598234534, 0.14639151748795287, 0.3146901119736088, 0.15617814361228247, 0.0, 0.9642341170885285, 1.4448996790177868, 0.5491624690112058, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3513695360895093, 1.4073368851146582, 0.04948182049983229, 0.6959820598234534, 0.14639151748795287, 0.3146901119736088, 0.15617814361228247, 0.0, 0.9879962071795616, 1.4447787630957836, 0.5491727054911664, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3513695360895093, 1.4073368851146582, 0.04948182049983229, 0.6959820598234534, 0.14639151748795287, 0.3146901119736088, 0.15617814361228247, 0.0, 1.0204529431007259, 1.4380090475939318, 0.30249948972847984, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3513695360895093, 1.4073368851146582, 0.04948182049983229, 0.6959820598234534, 0.14639151748795287, 0.3146901119736088, 0.15617814361228247, 0.0, 1.0196097433829954, 1.392784083965968, 0.30250005475615505, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3513695360895093, 1.4073368851146582, 0.04948182049983229, 0.6959820598234534, 0.14639151748795287, 0.3146901119736088, 0.15617814361228247, 0.0, 1.0505089061781503, 1.406340911874327, 0.30249954920507743, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3513695360895093, 1.4073368851146582, 0.04948182049983229, 0.6959820598234534, 0.14639151748795287, 0.3146901119736088, 0.15617814361228247, 0.0, 1.0521377917441297, 1.361031967291175, 0.30249957894337626, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3513695360895093, 1.4073368851146582, 0.04948182049983229, 0.6959820598234534, 0.14639151748795287, 0.3146901119736088, 0.15617814361228247, 0.0, 1.1037639538780544, 1.3814146863473757, 0.30249151986446227, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3513695360895093, 1.4073368851146582, 0.04948182049983229, 0.6959820598234534, 0.14639151748795287, 0.3146901119736088, 0.15617814361228247, 0.0, 1.0769414954809675, 1.3248831621256871, 0.3025001439710507, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3513695360895093, 1.4073368851146582, 0.04948182049983229, 0.6959820598234534, 0.14639151748795287, 0.3146901119736088, 0.15617814361228247, 0.0, 1.06830698049056, 1.3064769990840812, 0.30249928156038813, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3513695360895093, 1.4073368851146582, 0.04948182049983229, 0.6959820598234534, 0.14639151748795287, 0.3146901119736088, 0.15617814361228247, 0.0, 1.105851166101647, 1.2910715195832874, 0.30249877600931513, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3513695360895093, 1.4073368851146582, 0.04948182049983229, 0.6959820598234534, 0.14639151748795287, 0.3146901119736088, 0.15617814361228247, 0.0, 1.1372467800531427, 1.2906657702375819, 0.30249877600931513, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3513695360895093, 1.4073368851146582, 0.04948182049983229, 0.6959820598234534, 0.14639151748795287, 0.3146901119736088, 0.15617814361228247, 0.0, 1.137533605942869, 1.258838475143989, 0.3024996384199732, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3513695360895093, 1.4073368851146582, 0.04948182049983229, 0.6959820598234534, 0.14639151748795287, 0.3146901119736088, 0.15617814361228247, 0.0, 1.1482984239514809, 1.2420870699881372, 0.302499787111465, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3513695360895093, 1.4073368851146582, 0.04948182049983229, 0.6959820598234534, 0.14639151748795287, 0.3146901119736088, 0.15617814361228247, 0.0, 1.1670606733802045, 1.2253783690290165, 0.3024994302518861, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3513695360895093, 1.4073368851146582, 0.04948182049983229, 0.6959820598234534, 0.14639151748795287, 0.3146901119736088, 0.15617814361228247, 0.0, 1.1825872769710655, 1.206676072010229, 0.30250032240084174, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3513695360895093, 1.4073368851146582, 0.04948182049983229, 0.6959820598234534, 0.14639151748795287, 0.3146901119736088, 0.15617814361228247, 0.0, 1.1950780463522186, 1.191058826085298, 0.30249966815827134, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3513695360895093, 1.4073368851146582, 0.04948182049983229, 0.6959820598234534, 0.14639151748795287, 0.3146901119736088, 0.15617814361228247, 0.0, 1.2010508051906372, 1.1621908485592347, 0.3024994005135832, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3513695360895093, 1.4073368851146582, 0.04948182049983229, 0.6959820598234534, 0.14639151748795287, 0.3146901119736088, 0.15617814361228247, 0.0, 1.2220314722162229, 1.1561336924294767, 0.30249954920507743, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3513695360895093, 1.4073368851146582, 0.04948182049983229, 0.6959820598234534, 0.14639151748795287, 0.3146901119736088, 0.15617814361228247, 0.0, 1.2313758403935458, 1.1246491609652365, 0.3024999358029618, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3513695360895093, 1.4073368851146582, 0.04948182049983229, 0.6959820598234534, 0.14639151748795287, 0.3146901119736088, 0.15617814361228247, 0.0, 1.248961122310526, 1.121194938632879, 0.30249945999018263, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3513695360895093, 1.4073368851146582, 0.04948182049983229, 0.6959820598234534, 0.14639151748795287, 0.3146901119736088, 0.15617814361228247, 0.0, 1.247567414644212, 1.07874485564467, 0.30249818124334316, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3513695360895093, 1.4073368851146582, 0.04948182049983229, 0.6959820598234534, 0.14639151748795287, 0.3146901119736088, 0.15617814361228247, 0.0, 1.2760885246557532, 1.086368863249595, 0.30249945999018263, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3513695360895093, 1.4073368851146582, 0.04948182049983229, 0.6959820598234534, 0.14639151748795287, 0.3146901119736088, 0.15617814361228247, 0.0, 1.2804362341686837, 1.0427769485494165, 0.3025019580072644, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3513695360895093, 1.4073368851146582, 0.04948182049983229, 0.6959820598234534, 0.14639151748795287, 0.3146901119736088, 0.15617814361228247, 0.0, 1.3030603473747044, 1.051454137998268, 0.30249934103698733, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3513695360895093, 1.4073368851146582, 0.04948182049983229, 0.6959820598234534, 0.14639151748795287, 0.3146901119736088, 0.15617814361228247, 0.0, 1.299748626322496, 1.0070538917354381, 0.30249693223480567, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3513695360895093, 1.4073368851146582, 0.04948182049983229, 0.6959820598234534, 0.14639151748795287, 0.3146901119736088, 0.15617814361228247, 0.0, 1.3298206601623603, 1.0164190618526117, 0.302488099960126, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3513695360895093, 1.4073368851146582, 0.04948182049983229, 0.6959820598234534, 0.14639151748795287, 0.3146901119736088, 0.15617814361228247, 0.0, 1.3654657468747513, 1.0359442622003443, 0.3024994005135832, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3513695360895093, 1.4073368851146582, 0.04948182049983229, 0.6959820598234534, 0.14639151748795287, 0.3146901119736088, 0.15617814361228247, 0.0, 1.3567306866968802, 0.9814691710632202, 0.3024996384199732, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3513695360895093, 1.4073368851146582, 0.04948182049983229, 0.6959820598234534, 0.14639151748795287, 0.3146901119736088, 0.15617814361228247, 0.0, 1.3768864653621062, 0.987813614026326, 0.3024998465880622, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3513695360895093, 1.4073368851146582, 0.04948182049983229, 0.6959820598234534, 0.14639151748795287, 0.3146901119736088, 0.15617814361228247, 0.0, 1.3839145472019505, 0.9466751312620647, 0.30250020344764667, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3513695360895093, 1.4073368851146582, 0.04948182049983229, 0.6959820598234534, 0.14639151748795287, 0.3146901119736088, 0.15617814361228247, 0.0, 1.4149143890069087, 0.9542930127774858, 0.3024991328688959, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3513695360895093, 1.4073368851146582, 0.04948182049983229, 0.6959820598234534, 0.14639151748795287, 0.3146901119736088, 0.15617814361228247, 0.0, 1.411188358625605, 0.9119323212561291, 0.3024992220837943, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3513695360895093, 1.4073368851146582, 0.04948182049983229, 0.6959820598234534, 0.14639151748795287, 0.3146901119736088, 0.15617814361228247, 0.0, 1.422996173110883, 0.9041356493724091, 0.3024992518220924, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3513695360895093, 1.4073368851146582, 0.04948182049983229, 0.6959820598234534, 0.14639151748795287, 0.3146901119736088, 0.15617814361228247, 0.0, 1.438485544351956, 0.8772028302906706, 0.3024991328688959, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3513695360895093, 1.4073368851146582, 0.04948182049983229, 0.6959820598234534, 0.14639151748795287, 0.3146901119736088, 0.15617814361228247, 0.0, 1.4718679442927813, 0.8768836268283715, 0.3025000250178549, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3513695360895093, 1.4073368851146582, 0.04948182049983229, 0.6959820598234534, 0.14639151748795287, 0.3146901119736088, 0.15617814361228247, 0.0, 1.4659298603104918, 0.8424641706360283, 0.30250070899872294, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3513695360895093, 1.4073368851146582, 0.04948182049983229, 0.6959820598234534, 0.14639151748795287, 0.3146901119736088, 0.15617814361228247, 0.0, 1.459743104675551, 0.8152467281572964, 0.3024994302518861, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3513695360895093, 1.4073368851146582, 0.04948182049983229, 0.6959820598234534, 0.14639151748795287, 0.3146901119736088, 0.15617814361228247, 0.0, 1.4942612399771442, 0.8078918818927533, 0.30249853810292554, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3513695360895093, 1.4073368851146582, 0.04948182049983229, 0.6959820598234534, 0.14639151748795287, 0.3146901119736088, 0.15617814361228247, 0.0, 1.51907704720148, 0.7950700955102122, 0.30249830019653745, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3513695360895093, 1.4073368851146582, 0.04948182049983229, 0.6959820598234534, 0.14639151748795287, 0.3146901119736088, 0.15617814361228247, 0.0, 1.5238360373836821, 0.7733515618204377, 0.30249960868167464, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3513695360895093, 1.4073368851146582, 0.04948182049983229, 0.6959820598234534, 0.14639151748795287, 0.3146901119736088, 0.15617814361228247, 0.0, 1.541345114910553, 0.7554586223355934, 0.30249957894337626, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3513695360895093, 1.4073368851146582, 0.04948182049983229, 0.6959820598234534, 0.14639151748795287, 0.3146901119736088, 0.15617814361228247, 0.0, 1.5518997128865621, 0.7370596262239406, 0.30249937077528494, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3513695360895093, 1.4073368851146582, 0.04948182049983229, 0.6959820598234534, 0.14639151748795287, 0.3146901119736088, 0.15617814361228247, 0.0, 1.5482064541102916, 0.7084780879897107, 0.5117245383409252, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3513695360895093, 1.4073368851146582, 0.04948182049983229, 0.6959820598234534, 0.14639151748795287, 0.3146901119736088, 0.15617814361228247, 0.0, 1.5961072995820935, 0.7195170633728631, 2.3452845092784, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3513695360895093, 1.4073368851146582, 0.04948182049983229, 0.6959820598234534, 0.14639151748795287, 0.3146901119736088, 0.15617814361228247, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.9694963206029116, 0.5337398735090335, 0.0, 0.045183385482506, 0.0675855603502408, 0.03302452000679281, 0.06414115839575599, 0.0], "min": [-3.615628242492676, -2.5978751182556152, 0.0, -4.371138828673793e-08, 0.0, 0.0, -1.0, -1.0, -3.3448617458343506, -2.5013442039489746, 0.4389999508857727, -0.9068161249160767, -0.5034831166267395, -0.5517246127128601, -0.9999998807907104, 0.0, -3.601858377456665, -2.569148063659668, 0.0231008417904377, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3448617458343506, -2.5013442039489746, 0.569752037525177, -0.9068161249160767, -5.941276413068408e-06, -1.6470937680423958e-06, -0.9995110630989075, 0.0, -3.5904266834259033, -2.545299530029297, 0.02310054562985897, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3448617458343506, -2.5013442039489746, 0.569752037525177, -0.9068161249160767, -5.941276413068408e-06, -1.6470937680423958e-06, -0.9995110630989075, 0.0, -3.5331685543060303, -2.425846815109253, 0.023101288825273514, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3448617458343506, -2.5013442039489746, 0.569752037525177, -0.9068161249160767, -5.941276413068408e-06, -1.6470937680423958e-06, -0.9995110630989075, 0.0, -3.522996425628662, -2.404625415802002, 0.023100676015019417, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3448617458343506, -2.5013442039489746, 0.569752037525177, -0.9068161249160767, -5.941276413068408e-06, -1.6470937680423958e-06, -0.9995110630989075, 0.0, -3.4631454944610596, -2.27976393699646, 0.02310039848089218, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3448617458343506, -2.5013442039489746, 0.569752037525177, -0.9068161249160767, -5.941276413068408e-06, -1.6470937680423958e-06, -0.9995110630989075, 0.0, -3.4563989639282227, -2.2656893730163574, 0.023100825026631355, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3448617458343506, -2.5013442039489746, 0.569752037525177, -0.9068161249160767, -5.941276413068408e-06, -1.6470937680423958e-06, -0.9995110630989075, 0.0, -3.3907341957092285, -2.1286988258361816, 0.023100733757019043, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3448617458343506, -2.5013442039489746, 0.569752037525177, -0.9068161249160767, -5.941276413068408e-06, -1.6470937680423958e-06, -0.9995110630989075, 0.0, -3.3900833129882812, -2.1273410320281982, 0.0231009591370821, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3448617458343506, -2.5013442039489746, 0.569752037525177, -0.9068161249160767, -5.941276413068408e-06, -1.6470937680423958e-06, -0.9995110630989075, 0.0, -3.3827779293060303, -2.112100601196289, 0.5175133347511292, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3448617458343506, -2.5013442039489746, 0.569752037525177, -0.9068161249160767, -5.941276413068408e-06, -1.6470937680423958e-06, -0.9995110630989075, 0.0, -3.323657512664795, -1.9887628555297852, 0.5175135135650635, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3448617458343506, -2.5013442039489746, 0.569752037525177, -0.9068161249160767, -5.941276413068408e-06, -1.6470937680423958e-06, -0.9995110630989075, 0.0, -3.318328857421875, -1.9776461124420166, 0.5175136923789978, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3448617458343506, -2.5013442039489746, 0.569752037525177, -0.9068161249160767, -5.941276413068408e-06, -1.6470937680423958e-06, -0.9995110630989075, 0.0, -3.2572381496429443, -1.8501977920532227, 0.5175133943557739, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3448617458343506, -2.5013442039489746, 0.569752037525177, -0.9068161249160767, -5.941276413068408e-06, -1.6470937680423958e-06, -0.9995110630989075, 0.0, -3.2453384399414062, -1.8253724575042725, 0.5175288319587708, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3448617458343506, -2.5013442039489746, 0.569752037525177, -0.9068161249160767, -5.941276413068408e-06, -1.6470937680423958e-06, -0.9995110630989075, 0.0, -3.190819263458252, -1.7116340398788452, 0.517511785030365, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3448617458343506, -2.5013442039489746, 0.569752037525177, -0.9068161249160767, -5.941276413068408e-06, -1.6470937680423958e-06, -0.9995110630989075, 0.0, -3.1729941368103027, -1.6744470596313477, 0.517513632774353, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3448617458343506, -2.5013442039489746, 0.569752037525177, -0.9068161249160767, -5.941276413068408e-06, -1.6470937680423958e-06, -0.9995110630989075, 0.0, -3.1244001388549805, -1.57306969165802, 0.51751309633255, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3448617458343506, -2.5013442039489746, 0.569752037525177, -0.9068161249160767, -5.941276413068408e-06, -1.6470937680423958e-06, -0.9995110630989075, 0.0, -3.1002495288848877, -1.5226866006851196, 0.5175139307975769, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3448617458343506, -2.5013442039489746, 0.569752037525177, -0.9068161249160767, -5.941276413068408e-06, -1.6470937680423958e-06, -0.9995110630989075, 0.0, -3.057981014251709, -1.4345057010650635, 0.5175127983093262, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3448617458343506, -2.5013442039489746, 0.569752037525177, -0.9068161249160767, -5.941276413068408e-06, -1.6470937680423958e-06, -0.9995110630989075, 0.0, -3.0277509689331055, -1.3714394569396973, 0.5175134539604187, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3448617458343506, -2.5013442039489746, 0.569752037525177, -0.9068161249160767, -5.941276413068408e-06, -1.6470937680423958e-06, -0.9995110630989075, 0.0, -2.9915621280670166, -1.295941710472107, 0.5175129771232605, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3448617458343506, -2.5013442039489746, 0.569752037525177, -0.9068161249160767, -5.941276413068408e-06, -1.6470937680423958e-06, -0.9995110630989075, 0.0, -2.9551727771759033, -1.220025897026062, 0.517512857913971, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3448617458343506, -2.5013442039489746, 0.569752037525177, -0.9068161249160767, -5.941276413068408e-06, -1.6470937680423958e-06, -0.9995110630989075, 0.0, -2.925143241882324, -1.1573777198791504, 0.5175132155418396, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3448617458343506, -2.5013442039489746, 0.569752037525177, -0.9068161249160767, -5.941276413068408e-06, -1.6470937680423958e-06, -0.9995110630989075, 0.0, -2.8825082778930664, -1.068432092666626, 0.5175130367279053, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3448617458343506, -2.5013442039489746, 0.569752037525177, -0.9068161249160767, -5.941276413068408e-06, -1.6470937680423958e-06, -0.9995110630989075, 0.0, -2.858724355697632, -1.0188138484954834, 0.5175136923789978, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3448617458343506, -2.5013442039489746, 0.569752037525177, -0.9068161249160767, -5.941276413068408e-06, -1.6470937680423958e-06, -0.9995110630989075, 0.0, -2.810096263885498, -0.9173651933670044, 0.5175133943557739, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3448617458343506, -2.5013442039489746, 0.569752037525177, -0.9068161249160767, -5.941276413068408e-06, -1.6470937680423958e-06, -0.9995110630989075, 0.0, -2.7923054695129395, -0.8802497386932373, 0.5175141096115112, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3448617458343506, -2.5013442039489746, 0.569752037525177, -0.9068161249160767, -5.941276413068408e-06, -1.6470937680423958e-06, -0.9995110630989075, 0.0, -2.7372655868530273, -0.7654246687889099, 0.5175134539604187, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3448617458343506, -2.5013442039489746, 0.569752037525177, -0.9068161249160767, -5.941276413068408e-06, -1.6470937680423958e-06, -0.9995110630989075, 0.0, -2.725886583328247, -0.7416858077049255, 0.517513632774353, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3448617458343506, -2.5013442039489746, 0.569752037525177, -0.9068161249160767, -5.941276413068408e-06, -1.6470937680423958e-06, -0.9995110630989075, 0.0, -2.6650195121765137, -0.6147041320800781, 0.5175141096115112, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3448617458343506, -2.5013442039489746, 0.569752037525177, -0.9068161249160767, -5.941276413068408e-06, -1.6470937680423958e-06, -0.9995110630989075, 0.0, -2.6594676971435547, -0.6031216979026794, 0.5175137519836426, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3448617458343506, -2.5013442039489746, 0.569752037525177, -0.9068161249160767, -5.941276413068408e-06, -1.6470937680423958e-06, -0.9995110630989075, 0.0, -2.6032936573028564, -0.4859307110309601, 0.517514169216156, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3448617458343506, -2.5013442039489746, 0.569752037525177, -0.9068161249160767, -5.941276413068408e-06, -1.6470937680423958e-06, -0.9995110630989075, 0.0, -2.593048572540283, -0.4645575284957886, 0.5175133943557739, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3448617458343506, -2.5013442039489746, 0.569752037525177, -0.9068161249160767, -5.941276413068408e-06, -1.6470937680423958e-06, -0.9995110630989075, 0.0, -2.592036008834839, -0.4624452292919159, 0.5175131559371948, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3448617458343506, -2.5013442039489746, 0.569752037525177, -0.9068161249160767, -5.941276413068408e-06, -1.6470937680423958e-06, -0.9995110630989075, 0.0, -2.5266294479370117, -0.3259933888912201, 0.5175138711929321, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3448617458343506, -2.5013442039489746, 0.569752037525177, -0.9068161249160767, -5.941276413068408e-06, -1.6470937680423958e-06, -0.9995110630989075, 0.0, -2.5198519229888916, -0.3118540048599243, 0.5175132155418396, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3448617458343506, -2.5013442039489746, 0.569752037525177, -0.9068161249160767, -5.941276413068408e-06, -1.6470937680423958e-06, -0.9995110630989075, 0.0, -2.4602105617523193, -0.1874292939901352, 0.5175129771232605, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3448617458343506, -2.5013442039489746, 0.569752037525177, -0.9068161249160767, -5.941276413068408e-06, -1.6470937680423958e-06, -0.9995110630989075, 0.0, -2.4469592571258545, -0.15978418290615082, 0.5175144076347351, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3448617458343506, -2.5013442039489746, 0.569752037525177, -0.9068161249160767, -5.941276413068408e-06, -1.6470937680423958e-06, -0.9995110630989075, 0.0, -2.393791675567627, -0.048865240067243576, 0.5175126791000366, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3448617458343506, -2.5013442039489746, 0.569752037525177, -0.9068161249160767, -5.941276413068408e-06, -1.6470937680423958e-06, -0.9995110630989075, 0.0, -2.3746087551116943, -0.008845720440149307, 0.5175129771232605, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3448617458343506, -2.5013442039489746, 0.569752037525177, -0.9068161249160767, -5.941276413068408e-06, -1.6470937680423958e-06, -0.9995110630989075, 0.0, -2.3273725509643555, 0.08969882130622864, 0.5175133347511292, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3448617458343506, -2.5013442039489746, 0.569752037525177, -0.9068161249160767, -5.941276413068408e-06, -1.6470937680423958e-06, -0.9995110630989075, 0.0, -2.301841974258423, 0.14296092092990875, 0.5175132155418396, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3448617458343506, -2.5013442039489746, 0.569752037525177, -0.9068161249160767, -5.941276413068408e-06, -1.6470937680423958e-06, -0.9995110630989075, 0.0, -2.260830879211426, 0.22851896286010742, 0.517512321472168, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3448617458343506, -2.5013442039489746, 0.569752037525177, -0.9068161249160767, -5.941276413068408e-06, -1.6470937680423958e-06, -0.9995110630989075, 0.0, -2.229522705078125, 0.2938346862792969, 0.517514169216156, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3448617458343506, -2.5013442039489746, 0.569752037525177, -0.9068161249160767, -5.941276413068408e-06, -1.6470937680423958e-06, -0.9995110630989075, 0.0, -2.1938419342041016, 0.36827248334884644, 0.5175147652626038, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3448617458343506, -2.5013442039489746, 0.569752037525177, -0.9068161249160767, -5.941276413068408e-06, -1.6470937680423958e-06, -0.9995110630989075, 0.0, -2.1582353115081787, 0.44255536794662476, 0.5175136923789978, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3448617458343506, -2.5013442039489746, 0.569752037525177, -0.9068161249160767, -5.941276413068408e-06, -1.6470937680423958e-06, -0.9995110630989075, 0.0, -2.1259593963623047, 0.5098894238471985, 0.5175120234489441, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3448617458343506, -2.5013442039489746, 0.569752037525177, -0.9068161249160767, -5.941276413068408e-06, -1.6470937680423958e-06, -0.9995110630989075, 0.0, -2.0891482830047607, 0.5866850018501282, 0.517514705657959, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3448617458343506, -2.5013442039489746, 0.569752037525177, -0.9068161249160767, -5.941276413068408e-06, -1.6470937680423958e-06, -0.9995110630989075, 0.0, -2.0568995475769043, 0.6539629697799683, 0.517512857913971, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3448617458343506, -2.5013442039489746, 0.569752037525177, -0.9068161249160767, -5.941276413068408e-06, -1.6470937680423958e-06, -0.9995110630989075, 0.0, -2.0219132900238037, 0.7269515991210938, 0.5175132155418396, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3448617458343506, -2.5013442039489746, 0.569752037525177, -0.9068161249160767, -5.941276413068408e-06, -1.6470937680423958e-06, -0.9995110630989075, 0.0, -2.0209999084472656, 0.7599999904632568, -3.1415927410125732, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3448617458343506, -2.5013442039489746, 0.569752037525177, -0.9068161249160767, -5.941276413068408e-06, -1.6470937680423958e-06, -0.9995110630989075, 0.0, 1.1790000200271606, 2.2799999713897705, -3.1415927410125732, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9413542747497559, 1.08787202835083, 0.6689287424087524, 0.4980834722518921, 0.15493910014629364, 0.5516666173934937, -0.5224515199661255, 0.0], "max": [1.1790000200271606, 2.2799999713897705, 1.1238174438476562, 0.9048950672149658, 1.7881393432617188e-07, 1.2712553143501282e-07, 0.9999998807907104, 2.0, 1.506476879119873, 2.8500707149505615, 0.6720840334892273, 0.6685066223144531, 0.6920762062072754, 0.674500584602356, 0.9999998807907104, 1.0, -1.9295578002929688, 0.7564293742179871, 1.1238081455230713, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1347579956054688, 2.5804636478424072, 0.6689287424087524, 0.6685066223144531, 0.4178767204284668, 0.674500584602356, -0.27228957414627075, 0.0, -1.8825782537460327, 0.7575148344039917, 1.1238151788711548, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1347579956054688, 2.5804636478424072, 0.6689287424087524, 0.6685066223144531, 0.4178767204284668, 0.674500584602356, -0.27228957414627075, 0.0, -1.768041729927063, 0.7601611614227295, 1.1238181591033936, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1347579956054688, 2.5804636478424072, 0.6689287424087524, 0.6685066223144531, 0.4178767204284668, 0.674500584602356, -0.27228957414627075, 0.0, -1.7250512838363647, 0.7611544728279114, 1.1238139867782593, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1347579956054688, 2.5804636478424072, 0.6689287424087524, 0.6685066223144531, 0.4178767204284668, 0.674500584602356, -0.27228957414627075, 0.0, -1.6067721843719482, 0.7638872861862183, 1.1238112449645996, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1347579956054688, 2.5804636478424072, 0.6689287424087524, 0.6685066223144531, 0.4178767204284668, 0.674500584602356, -0.27228957414627075, 0.0, -1.5675439834594727, 0.7647936344146729, 1.123814582824707, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1347579956054688, 2.5804636478424072, 0.6689287424087524, 0.6685066223144531, 0.4178767204284668, 0.674500584602356, -0.27228957414627075, 0.0, -1.4581141471862793, 0.7673220038414001, 1.1237902641296387, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1347579956054688, 2.5804636478424072, 0.6689287424087524, 0.6685066223144531, 0.4178767204284668, 0.674500584602356, -0.27228957414627075, 0.0, -1.409836769104004, 0.7684374451637268, 1.1238110065460205, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1347579956054688, 2.5804636478424072, 0.6689287424087524, 0.6685066223144531, 0.4178767204284668, 0.674500584602356, -0.27228957414627075, 0.0, -1.3374781608581543, 0.7701092958450317, 1.1238148212432861, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1347579956054688, 2.5804636478424072, 0.6689287424087524, 0.6685066223144531, 0.4178767204284668, 0.674500584602356, -0.27228957414627075, 0.0, -1.2800477743148804, 0.8028023838996887, 1.1238161325454712, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1347579956054688, 2.5804636478424072, 0.6689287424087524, 0.6685066223144531, 0.4178767204284668, 0.674500584602356, -0.27228957414627075, 0.0, -1.2127877473831177, 0.8410911560058594, 1.1238152980804443, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1347579956054688, 2.5804636478424072, 0.6689287424087524, 0.6685066223144531, 0.4178767204284668, 0.674500584602356, -0.27228957414627075, 0.0, -1.1484322547912598, 0.8777264952659607, 1.1238150596618652, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1347579956054688, 2.5804636478424072, 0.6689287424087524, 0.6685066223144531, 0.4178767204284668, 0.674500584602356, -0.27228957414627075, 0.0, -1.0330579280853271, 0.943405032157898, 1.123814344406128, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1347579956054688, 2.5804636478424072, 0.6689287424087524, 0.6685066223144531, 0.4178767204284668, 0.674500584602356, -0.27228957414627075, 0.0, -1.0322991609573364, 0.9438369870185852, 1.123814582824707, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1347579956054688, 2.5804636478424072, 0.6689287424087524, 0.6685066223144531, 0.4178767204284668, 0.674500584602356, -0.27228957414627075, 0.0, -1.0317802429199219, 0.944132387638092, 1.1238147020339966, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1347579956054688, 2.5804636478424072, 0.6689287424087524, 0.6685066223144531, 0.4178767204284668, 0.674500584602356, -0.27228957414627075, 0.0, -0.9079362154006958, 1.0146324634552002, 1.1238131523132324, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1347579956054688, 2.5804636478424072, 0.6689287424087524, 0.6685066223144531, 0.4178767204284668, 0.674500584602356, -0.27228957414627075, 0.0, -0.8208591938018799, 1.0642023086547852, 1.1238139867782593, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1347579956054688, 2.5804636478424072, 0.6689287424087524, 0.6685066223144531, 0.4178767204284668, 0.674500584602356, -0.27228957414627075, 0.0, -0.7780157923698425, 1.0885915756225586, 1.123814582824707, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1347579956054688, 2.5804636478424072, 0.6689287424087524, 0.6685066223144531, 0.4178767204284668, 0.674500584602356, -0.27228957414627075, 0.0, -0.7262097597122192, 1.118082880973816, 1.1238155364990234, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1347579956054688, 2.5804636478424072, 0.6689287424087524, 0.6685066223144531, 0.4178767204284668, 0.674500584602356, -0.27228957414627075, 0.0, -0.6524156332015991, 1.1600912809371948, 1.123814344406128, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1347579956054688, 2.5804636478424072, 0.6689287424087524, 0.6685066223144531, 0.4178767204284668, 0.674500584602356, -0.27228957414627075, 0.0, -0.5849062204360962, 1.1985219717025757, 1.1238160133361816, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1347579956054688, 2.5804636478424072, 0.6689287424087524, 0.6685066223144531, 0.4178767204284668, 0.674500584602356, -0.27228957414627075, 0.0, -0.5298413634300232, 1.2298684120178223, 1.1238150596618652, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1347579956054688, 2.5804636478424072, 0.6689287424087524, 0.6685066223144531, 0.4178767204284668, 0.674500584602356, -0.27228957414627075, 0.0, -0.4752351641654968, 1.2609537839889526, 1.123814344406128, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1347579956054688, 2.5804636478424072, 0.6689287424087524, 0.6685066223144531, 0.4178767204284668, 0.674500584602356, -0.27228957414627075, 0.0, -0.4093995690345764, 1.298431634902954, 1.1238152980804443, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1347579956054688, 2.5804636478424072, 0.6689287424087524, 0.6685066223144531, 0.4178767204284668, 0.674500584602356, -0.27228957414627075, 0.0, -0.3420425057411194, 1.3367756605148315, 1.1238157749176025, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1347579956054688, 2.5804636478424072, 0.6689287424087524, 0.6685066223144531, 0.4178767204284668, 0.674500584602356, -0.27228957414627075, 0.0, -0.28900542855262756, 1.366967797279358, 1.1238155364990234, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1347579956054688, 2.5804636478424072, 0.6689287424087524, 0.6685066223144531, 0.4178767204284668, 0.674500584602356, -0.27228957414627075, 0.0, -0.23675896227359772, 1.39670991897583, 1.1238123178482056, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1347579956054688, 2.5804636478424072, 0.6689287424087524, 0.6685066223144531, 0.4178767204284668, 0.674500584602356, -0.27228957414627075, 0.0, -0.16821493208408356, 1.4357296228408813, 1.1238150596618652, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1347579956054688, 2.5804636478424072, 0.6689287424087524, 0.6685066223144531, 0.4178767204284668, 0.674500584602356, -0.27228957414627075, 0.0, -0.09863372147083282, 1.4753397703170776, 1.1238205432891846, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1347579956054688, 2.5804636478424072, 0.6689287424087524, 0.6685066223144531, 0.4178767204284668, 0.674500584602356, -0.27228957414627075, 0.0, -0.047736264765262604, 1.5043139457702637, 1.1238149404525757, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1347579956054688, 2.5804636478424072, 0.6689287424087524, 0.6685066223144531, 0.4178767204284668, 0.674500584602356, -0.27228957414627075, 0.0, 0.0018000733107328415, 1.5325132608413696, 1.1238105297088623, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1347579956054688, 2.5804636478424072, 0.6689287424087524, 0.6685066223144531, 0.4178767204284668, 0.674500584602356, -0.27228957414627075, 0.0, 0.07231871038675308, 1.5726571083068848, 1.123792052268982, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1347579956054688, 2.5804636478424072, 0.6689287424087524, 0.6685066223144531, 0.4178767204284668, 0.674500584602356, -0.27228957414627075, 0.0, 0.144774928689003, 1.6139038801193237, 1.1238144636154175, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1347579956054688, 2.5804636478424072, 0.6689287424087524, 0.6685066223144531, 0.4178767204284668, 0.674500584602356, -0.27228957414627075, 0.0, 0.19267375767230988, 1.6411709785461426, 1.123815655708313, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1347579956054688, 2.5804636478424072, 0.6689287424087524, 0.6685066223144531, 0.4178767204284668, 0.674500584602356, -0.27228957414627075, 0.0, 0.23984962701797485, 1.6680265665054321, 1.1238154172897339, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1347579956054688, 2.5804636478424072, 0.6689287424087524, 0.6685066223144531, 0.4178767204284668, 0.674500584602356, -0.27228957414627075, 0.0, 0.31357741355895996, 1.7099971771240234, 1.123815894126892, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1347579956054688, 2.5804636478424072, 0.6689287424087524, 0.6685066223144531, 0.4178767204284668, 0.674500584602356, -0.27228957414627075, 0.0, 0.38896188139915466, 1.752910852432251, 1.1238151788711548, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1347579956054688, 2.5804636478424072, 0.6689287424087524, 0.6685066223144531, 0.4178767204284668, 0.674500584602356, -0.27228957414627075, 0.0, 0.4346613585948944, 1.7789260149002075, 1.1238136291503906, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1347579956054688, 2.5804636478424072, 0.6689287424087524, 0.6685066223144531, 0.4178767204284668, 0.674500584602356, -0.27228957414627075, 0.0, 0.4775107502937317, 1.8033186197280884, 1.1238139867782593, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1347579956054688, 2.5804636478424072, 0.6689287424087524, 0.6685066223144531, 0.4178767204284668, 0.674500584602356, -0.27228957414627075, 0.0, 0.5557923913002014, 1.847881555557251, 1.1238141059875488, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1347579956054688, 2.5804636478424072, 0.6689287424087524, 0.6685066223144531, 0.4178767204284668, 0.674500584602356, -0.27228957414627075, 0.0, 0.6482315063476562, 1.9005038738250732, 1.1238157749176025, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1347579956054688, 2.5804636478424072, 0.6689287424087524, 0.6685066223144531, 0.4178767204284668, 0.674500584602356, -0.27228957414627075, 0.0, 0.6773408651351929, 1.9170747995376587, 1.1238162517547607, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1347579956054688, 2.5804636478424072, 0.6689287424087524, 0.6685066223144531, 0.4178767204284668, 0.674500584602356, -0.27228957414627075, 0.0, 0.6962488889694214, 1.9278384447097778, 1.1238155364990234, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1347579956054688, 2.5804636478424072, 0.6689287424087524, 0.6685066223144531, 0.4178767204284668, 0.674500584602356, -0.27228957414627075, 0.0, 0.801114559173584, 1.9875348806381226, 1.123814344406128, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1347579956054688, 2.5804636478424072, 0.6689287424087524, 0.6685066223144531, 0.4178767204284668, 0.674500584602356, -0.27228957414627075, 0.0, 0.8864596486091614, 2.036118984222412, 1.1238127946853638, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1347579956054688, 2.5804636478424072, 0.6689287424087524, 0.6685066223144531, 0.4178767204284668, 0.674500584602356, -0.27228957414627075, 0.0, 0.9282740354537964, 2.059922456741333, 1.1238137483596802, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1347579956054688, 2.5804636478424072, 0.6689287424087524, 0.6685066223144531, 0.4178767204284668, 0.674500584602356, -0.27228957414627075, 0.0, 1.0001786947250366, 2.1008551120758057, 1.1238163709640503, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1347579956054688, 2.5804636478424072, 0.6689287424087524, 0.6685066223144531, 0.4178767204284668, 0.674500584602356, -0.27228957414627075, 0.0, 1.0535820722579956, 2.131255865097046, 1.1238141059875488, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1347579956054688, 2.5804636478424072, 0.6689287424087524, 0.6685066223144531, 0.4178767204284668, 0.674500584602356, -0.27228957414627075, 0.0, 1.0811659097671509, 2.146958351135254, 1.543165683746338, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1347579956054688, 2.5804636478424072, 0.6689287424087524, 0.6685066223144531, 0.4178767204284668, 0.674500584602356, -0.27228957414627075, 0.0, 1.1780872344970703, 2.202132225036621, 1.5590746402740479, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1347579956054688, 2.5804636478424072, 0.6689287424087524, 0.6685066223144531, 0.4178767204284668, 0.674500584602356, -0.27228957414627075, 0.0, 1.1790000200271606, 2.2799999713897705, -3.1415927410125732, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1347579956054688, 2.5804636478424072, 0.6689287424087524, 0.6685066223144531, 0.4178767204284668, 0.674500584602356, -0.27228957414627075, 0.0], "count": [2549]}, "action.applied": {"mean": [0.06643498786247386, -0.004601249401652852, 0.022253198101667183, 0.5716247569467097, 0.04172015160562827, 0.04172015160562827, 0.04172015160562827, 0.04172015160562827, 1.7919189435400276, -0.8818006231068936, -0.7622598382683056, 0.023538642604943115, 0.023538642604943115], "std": [0.11522847204080254, 0.05081045445041992, 0.2056767009148957, 0.15411539798128643, 0.03781049753455324, 0.03781049753455324, 0.03781049753455324, 0.03781049753455324, 0.48999066234578675, 0.7036133133166569, 0.7686387485090747, 0.07301090983923149, 0.07301090983923149], "min": [-0.03633712977170944, -0.22801607847213745, -0.800000011920929, 0.3999975323677063, 0.0, 0.0, 0.0, 0.0, 0.6118630766868591, -1.5699999332427979, -2.4598379135131836, 0.0, 0.0], "max": [0.29958614706993103, 0.09030281752347946, 0.800000011920929, 0.7488811612129211, 0.12903660535812378, 0.12903660535812378, 0.12903660535812378, 0.12903660535812378, 3.1786627769470215, 4.947156412526965e-06, 0.05105087533593178, 0.25, 0.25], "count": [2549]}, "extra.reward": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [2549]}, "next.truncated": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [2549]}, "sim_step_idx": {"mean": [2579.0], "std": [1471.6657229140046], "min": [31.0], "max": [5127.0], "count": [2549]}, "timestamp": {"mean": [50.960000000353325], "std": [29.433314455409352], "min": [0.0], "max": [101.91999816894531], "count": [2549]}, "frame_index": {"mean": [1274.0], "std": [735.8328614570023], "min": [0.0], "max": [2548.0], "count": [2549]}, "episode_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [2549]}, "index": {"mean": [1274.0], "std": [735.8328614570023], "min": [0.0], "max": [2548.0], "count": [2549]}, "task_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [2549]}, "next.done": {"mean": [0.00039231071008238524], "std": [0.019802949335620185], "min": [0.0], "max": [1.0], "count": [2549]}, "observation.images.head": {"mean": [[[0.33688240939233455]], [[0.2984628122803717]], [[0.24669385816416795]]], "std": [[[0.12083676382796676]], [[0.12801737635506882]], [[0.14019903302010686]]], "min": [[[0.00392156862745098]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[0.9882352941176471]], [[0.9529411764705882]]], "count": [100]}, "observation.images.wrist": {"mean": [[[0.4066898006130801]], [[0.38040121759276674]], [[0.35050431604487525]]], "std": [[[0.16924267841341334]], [[0.17944151139697798]], [[0.199585327528116]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[0.9882352941176471]], [[0.9607843137254902]]], "count": [100]}}} diff --git a/N025/stretch3/dr_on/seed_2014/stationassembly/000/lerobot_v21/meta/extra/episode_000000.json b/N025/stretch3/dr_on/seed_2014/stationassembly/000/lerobot_v21/meta/extra/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..291928687acc4ffd5a3ec417d41aa47c771fe193 --- /dev/null +++ b/N025/stretch3/dr_on/seed_2014/stationassembly/000/lerobot_v21/meta/extra/episode_000000.json @@ -0,0 +1,638 @@ +{ + "episode_index": 0, + "trajectory_id": 0, + "env_id": 0, + "task_type": "StationAssembly", + "subsample_every": 2, + "control_steps": 5097, + "language": { + "scene": { + "objects": [ + { + "id": "table_A_1", + "cat_name": "table_A", + "inst_id": 1, + "noun": "table A", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 4.175125675536657, + 1.4040766920375147, + 0.16999962405955457 + ], + "bbox": { + "extent": [ + 1.0, + 1.0000000000000002, + 1.0 + ], + "center": [ + 0.0, + -1.1102230246251565e-16, + 0.0 + ] + } + }, + { + "id": "table_B_1", + "cat_name": "table_B", + "inst_id": 1, + "noun": "table B", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 7.383816367874724, + -0.07724165352598987, + 0.16999936028770057 + ], + "bbox": { + "extent": [ + 0.9999999999999999, + 1.0, + 1.0 + ], + "center": [ + 5.551115123125783e-17, + 0.0, + 0.0 + ] + } + }, + { + "id": "shim_board_1", + "cat_name": "shim_board", + "inst_id": 1, + "noun": "shim board", + "color": null, + "size": "medium", + "material": null, + "category": "articulation", + "pos": [ + 7.486868874071342, + 0.03533215546400543, + 0.36999935751041685 + ], + "bbox": { + "extent": [ + 0.45750541452778437, + 0.3205856815983299, + 0.04200000036507845 + ], + "center": [ + 0.15000000596046337, + -1.942890293094024e-16, + 0.021000000182539225 + ] + } + }, + { + "id": "wedge_1", + "cat_name": "wedge", + "inst_id": 1, + "noun": "wedge", + "color": null, + "size": "small", + "material": null, + "category": "rigid", + "pos": [ + 4.155658006744072, + 1.2841732240200783, + 0.36999957438153624 + ], + "bbox": { + "extent": [ + 0.18583921330597308, + 0.03517540809052758, + 0.028000547870894787 + ], + "center": [ + 0.057500002905726155, + -1.960237527853792e-16, + 0.014000000432133675 + ] + } + } + ], + "relations": [ + { + "subject": "table_A_1", + "relation": "left_of", + "object": "wedge_1" + }, + { + "subject": "table_B_1", + "relation": "right_of", + "object": "shim_board_1" + }, + { + "subject": "shim_board_1", + "relation": "on_top_of", + "object": "table_B_1" + }, + { + "subject": "shim_board_1", + "relation": "left_of", + "object": "table_B_1" + }, + { + "subject": "wedge_1", + "relation": "on_top_of", + "object": "table_A_1" + }, + { + "subject": "wedge_1", + "relation": "right_of", + "object": "table_A_1" + } + ], + "cameras": [ + { + "name": "head", + "intrinsics": { + "K": [ + [ + 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": [ + 4.345992600181269, + -1.1319044362508852, + 1.235722593814245 + ], + "viewpoint": "front, 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": [ + 4.370119103212093, + -1.0582804860186217, + -0.0036023697985893568 + ], + "viewpoint": "front, 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": [ + -3.6156, + -2.59792, + 0.06 + ], + "ori": [ + 0.9068184494972229, + 0.0, + 0.0, + 0.42152145504951477 + ] + }, + "facing_yaw_deg": 49.86136189537991, + "gripper": "parallel gripper" + } + ], + "lighting": [], + "background": { + "name": null, + "kind": "background", + "type": "dome", + "pose": null, + "setting": null, + "time_of_day": null, + "indoor": false, + "intensity": 811.91307, + "ambient": "dim" + }, + "effects": [], + "caption": "A Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a medium shim board and a small wedge. The gray table A is to the left of the wedge. The gray table B is to the right of the shim board. The shim board is on top of the gray table B. The shim board is to the left of the gray table B. The wedge is on top of the gray table A. The wedge is to the right of the gray table A. The scene is viewed from front, slightly above table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n [shim board]\n\n\n\n[t[wedge]\n\n\n\n [robot]" + }, + "task": { + "task_type": "StationAssembly", + "instruction": "Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.", + "template_id": -1, + "slots": { + "obj": 3.141592653589793, + "support": null + }, + "generic_instruction": "Stationassembly the 3.141592653589793.", + "task_id": "N025", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_1672": { + "frame_idx": 1672, + "caption": "Computing a grasp pose for the small wedge; the right gripper is below and to the left of and in front of the wedge.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "NavToTrim", + "planner_state": "finished", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_1674": { + "frame_idx": 1674, + "caption": "Working on the small wedge; the right gripper is below and to the left of and in front of the wedge.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_1793": { + "frame_idx": 1793, + "caption": "Computing a grasp pose for the small wedge; the right gripper is below and to the left of and in front of the wedge.", + "skill": "ReachStance", + "phase": "verify", + "skill_state": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_1797": { + "frame_idx": 1797, + "caption": "Working on the small wedge; the right gripper is below and to the left of and in front of the wedge.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_1872": { + "frame_idx": 1872, + "caption": "Working on the small wedge; the right gripper is below and in front of the wedge.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "in_front_of" + ] + }, + "frame_1900": { + "frame_idx": 1900, + "caption": "Working on the small wedge; the right gripper is below and to the right of and in front of the wedge.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "right_of", + "in_front_of" + ] + }, + "frame_1999": { + "frame_idx": 1999, + "caption": "Working on the small wedge; the right gripper is below and in front of the wedge.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "in_front_of" + ] + }, + "frame_2062": { + "frame_idx": 2062, + "caption": "Working on the small wedge; the right gripper is below the wedge.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_2183": { + "frame_idx": 2183, + "caption": "Working on the small wedge.", + "skill": "AssemblyGrasp", + "phase": "grasp", + "skill_state": "running", + "planner": "AssemblyServoL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [] + }, + "frame_2249": { + "frame_idx": 2249, + "caption": "Working on the small wedge; the right gripper is below the wedge.", + "skill": "AssemblyGrasp", + "phase": "retrieval", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_2298": { + "frame_idx": 2298, + "caption": "Done — the small wedge is grasped; the right gripper is below the wedge.", + "skill": "Grasp", + "phase": "completed", + "skill_state": "finished", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_2299": { + "frame_idx": 2299, + "caption": "Working on the small wedge; the right gripper is below the wedge.", + "skill": "CarryPose", + "phase": null, + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_2326": { + "frame_idx": 2326, + "caption": "Working on the small wedge; the right gripper is below and in front of the wedge.", + "skill": "CarryPose", + "phase": null, + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "in_front_of" + ] + }, + "frame_2328": { + "frame_idx": 2328, + "caption": "Working on the small wedge; the right gripper is below and to the left of and in front of the wedge.", + "skill": "CarryPose", + "phase": null, + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_4269": { + "frame_idx": 4269, + "caption": "Computing a grasp pose for the medium shim board; the right gripper is below and to the left of and in front of the shim board.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "NavToTrim", + "planner_state": "finished", + "target": "shim_board_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_4270": { + "frame_idx": 4270, + "caption": "Working on the medium shim board; the right gripper is below and to the left of and in front of the shim board.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "shim_board_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_4364": { + "frame_idx": 4364, + "caption": "Computing a grasp pose for the medium shim board; the right gripper is below and to the left of and in front of the shim board.", + "skill": "ReachStance", + "phase": "verify", + "skill_state": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "shim_board_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_4367": { + "frame_idx": 4367, + "caption": "Working on the small wedge; the right gripper is below and to the left of and behind the wedge.", + "skill": "AssemblyInsert", + "phase": "wp:pre_insert", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "behind" + ] + }, + "frame_4554": { + "frame_idx": 4554, + "caption": "Working on the small wedge; the right gripper is to the left of and behind the wedge.", + "skill": "AssemblyInsert", + "phase": "wp:align", + "skill_state": "running", + "planner": "AssemblyServoL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "left_of", + "behind" + ] + }, + "frame_5045": { + "frame_idx": 5045, + "caption": "Working on the small wedge; the right gripper is below and to the left of and behind the wedge.", + "skill": "AssemblyInsert", + "phase": "leave", + "skill_state": "running", + "planner": "AssemblyServoL", + "planner_state": "running", + "target": "wedge_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "behind" + ] + } + } + }, + "depth_range": [ + 0.1, + 20.0 + ], + "annotation_sidecar": null, + "annotation_sidecar_keys": [], + "terminated": true, + "truncated": false +} \ No newline at end of file diff --git a/N025/stretch3/dr_on/seed_2014/stationassembly/000/lerobot_v21/meta/info.json b/N025/stretch3/dr_on/seed_2014/stationassembly/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..dc24e1e6646be8fcc7bc41da325e229bcc93e0bc --- /dev/null +++ b/N025/stretch3/dr_on/seed_2014/stationassembly/000/lerobot_v21/meta/info.json @@ -0,0 +1,279 @@ +{ + "codebase_version": "v2.1", + "robot_type": "HelloRobotCfg", + "total_episodes": 1, + "total_frames": 2549, + "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": [ + 30 + ], + "names": [ + "articulation_joint_pos.shim_board.0", + "articulation_joint_vel.shim_board.0", + "articulation_pose.shim_board.0", + "articulation_pose.shim_board.1", + "articulation_pose.shim_board.2", + "articulation_pose.shim_board.3", + "articulation_pose.shim_board.4", + "articulation_pose.shim_board.5", + "articulation_pose.shim_board.6", + "object_pose.table_A.0", + "object_pose.table_A.1", + "object_pose.table_A.2", + "object_pose.table_A.3", + "object_pose.table_A.4", + "object_pose.table_A.5", + "object_pose.table_A.6", + "object_pose.table_B.0", + "object_pose.table_B.1", + "object_pose.table_B.2", + "object_pose.table_B.3", + "object_pose.table_B.4", + "object_pose.table_B.5", + "object_pose.table_B.6", + "object_pose.wedge.0", + "object_pose.wedge.1", + "object_pose.wedge.2", + "object_pose.wedge.3", + "object_pose.wedge.4", + "object_pose.wedge.5", + "object_pose.wedge.6" + ] + }, + "action.command": { + "dtype": "float32", + "shape": [ + 832 + ], + "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 + } + } + } +} \ No newline at end of file diff --git a/N025/stretch3/dr_on/seed_2014/stationassembly/000/lerobot_v21/meta/magicsim_manifest.json b/N025/stretch3/dr_on/seed_2014/stationassembly/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..99f8adbd249e6bda803ccbf6dc8f2a37e542ea43 --- /dev/null +++ b/N025/stretch3/dr_on/seed_2014/stationassembly/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,259 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 03:14:45" + }, + "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": "stationassembly/000", + "task_type": "StationAssembly" + } +} \ No newline at end of file diff --git a/N025/stretch3/dr_on/seed_2014/stationassembly/000/lerobot_v21/meta/stats.json b/N025/stretch3/dr_on/seed_2014/stationassembly/000/lerobot_v21/meta/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..003882cf4e794eb4d25c6d7695c7ab36161c6d7a --- /dev/null +++ b/N025/stretch3/dr_on/seed_2014/stationassembly/000/lerobot_v21/meta/stats.json @@ -0,0 +1,4141 @@ +{ + "action": { + "mean": [ + 0.002297674759067142, + -9.17637732030481e-05, + 0.022253198101667183, + -0.6608010574988217, + 1.4741384313825814, + 0.5909047910001709, + -0.04991689243622403, + 0.17895518308853187, + 0.16759672241359252, + -0.43984310165860224, + 0.5464888191447627 + ], + "std": [ + 0.1424387681868568, + 0.0005961427883223111, + 0.2056767009148957, + 1.6458069748893602, + 1.1440251185551937, + 0.07324634680570756, + 0.5235649191822977, + 0.3361325193815357, + 0.3444899925370866, + 0.4880101812402475, + 0.49783409856550936 + ], + "min": [ + -0.30000001192092896, + -0.003988136537373066, + -0.800000011920929, + -3.3448617458343506, + -2.5013442039489746, + 0.4389999508857727, + -0.9068161249160767, + -0.5034831166267395, + -0.5517246127128601, + -0.9999998807907104, + 0.0 + ], + "max": [ + 0.30000001192092896, + 0.0, + 0.800000011920929, + 1.506476879119873, + 2.8500707149505615, + 0.6720840334892273, + 0.6685066223144531, + 0.6920762062072754, + 0.674500584602356, + 0.9999998807907104, + 1.0 + ], + "count": [ + 2549 + ] + }, + "action_is_hold": { + "mean": [ + 0.009807767752059632, + 0.009807767752059632, + 0.009807767752059632, + 0.029030992546096507, + 0.029030992546096507, + 0.029030992546096507, + 0.029030992546096507, + 0.029030992546096507, + 0.029030992546096507, + 0.029030992546096507, + 0.9340918007061593 + ], + "std": [ + 0.09854732590883164, + 0.09854732590883164, + 0.09854732590883164, + 0.16789340075739942, + 0.16789340075739942, + 0.16789340075739942, + 0.16789340075739942, + 0.16789340075739942, + 0.16789340075739942, + 0.16789340075739942, + 0.24812156004605362 + ], + "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": [ + 2549 + ] + }, + "observation.state": { + "mean": [ + -0.6935057738169637, + 1.1940596515423132, + 1.6296716068435435, + 0.5714578497241459, + 3.1777740911700146e-08, + 4.2007698811415454e-08, + 0.041611083957585074, + 0.04161147885943979, + 0.0416120572486457, + 0.041608269000456576, + 1.7921103612962261, + -0.8801252243152813, + -0.76030392984833, + 0.06065528087239259, + 0.0639206439314586 + ], + "std": [ + 1.6226199731020627, + 1.1095936781266822, + 1.976134633424018, + 0.15413235185495358, + 2.8735451085251327e-06, + 6.208007300586024e-06, + 0.037760809582775404, + 0.037760964757073884, + 0.03776093582921815, + 0.037756783338289766, + 0.489591556528305, + 0.7038196417577491, + 0.7682390939420974, + 0.0679061034964588, + 0.06835302034305978 + ], + "min": [ + -3.615602493286133, + -2.5979199409484863, + -3.140993595123291, + 0.39999592304229736, + -5.190722367842682e-05, + -8.981837163446471e-05, + 0.0, + 0.0, + 0.0, + 0.0, + 0.6141502261161804, + -1.5700000524520874, + -2.457538366317749, + -8.994783251559113e-10, + -3.3125305276549e-10 + ], + "max": [ + 1.174703598022461, + 2.278017044067383, + 3.1409151554107666, + 0.7488022446632385, + 5.69691437704023e-05, + 0.00010321681475033984, + 0.1289178729057312, + 0.1289157122373581, + 0.12891243398189545, + 0.1289263516664505, + 3.1741421222686768, + 6.0888469306519255e-05, + 0.04959605634212494, + 0.2500001788139343, + 0.2500002682209015 + ], + "count": [ + 2549 + ] + }, + "observation.joint_vel": { + "mean": [ + 0.0664074736240494, + -0.004628961468838449, + 0.023017893984961568, + 0.0012196048189624974, + -0.000933447454249255, + -7.273963730532511e-05, + 0.0010511239099116364, + 0.0010609061861918605, + 0.0011031715083118234, + 0.0017548749145608366, + -0.020063020099339173, + -0.016931511696208858, + -0.005740798577078283, + 0.4617975057541047, + 0.09452264445923785 + ], + "std": [ + 0.11521547204416195, + 0.05087407561338627, + 0.2048823011610811, + 0.02931874655321299, + 0.0010445930219974665, + 0.00010369328695515723, + 0.011576957811220066, + 0.011624723846047026, + 0.011689098009816662, + 0.0109558452411096, + 0.14823749159312638, + 0.08073527392694849, + 0.1255398280214995, + 0.5056649694020877, + 0.2791127398232322 + ], + "min": [ + -0.040106017142534256, + -0.22790716588497162, + -0.7982989549636841, + -0.30153676867485046, + -0.002811058657243848, + -0.0010813388507813215, + -0.07241138815879822, + -0.07259878516197205, + -0.07290752232074738, + -0.07533220946788788, + -0.8912965059280396, + -0.7588304281234741, + -0.8970751166343689, + -1.0000005960464478, + -1.0000144243240356 + ], + "max": [ + 0.2996964156627655, + 0.09030288457870483, + 0.8000041842460632, + 0.12668849527835846, + 0.0013404174242168665, + 0.0009022774174809456, + 0.08043091744184494, + 0.08038471639156342, + 0.08028532564640045, + 0.08459290117025375, + 0.507633626461029, + 0.11854824423789978, + 0.539725661277771, + 1.0000404119491577, + 1.0031744241714478 + ], + "count": [ + 2549 + ] + }, + "observation.eef_pose": { + "mean": [ + -0.6610422458970264, + 1.4736550666418156, + 0.5910037232759467, + 0.04726377015409274, + 0.2732211112641024, + 0.2599256412756862, + -0.6148667142245292 + ], + "std": [ + 1.6469912952358445, + 1.1438368023779644, + 0.07311366649451476, + 0.5235650111846412, + 0.26501598140099875, + 0.28089130816544833, + 0.23289509744764933 + ], + "min": [ + -3.344745397567749, + -2.5013442039489746, + 0.4387970566749573, + -0.9068161249160767, + -0.5032826662063599, + -0.49628564715385437, + -0.9999999403953552 + ], + "max": [ + 1.5066722631454468, + 2.8500897884368896, + 0.6720228791236877, + 0.6684739589691162, + 0.6920809149742126, + 0.6744835376739502, + 0.5189122557640076 + ], + "count": [ + 2549 + ] + }, + "observation.environment_state": { + "mean": [ + 0.05127175690287636, + -0.0012447898854958054, + 1.1802799701690674, + 3.1513400077819824, + 0.4300000071525574, + -0.6810598373413086, + 9.313225191043273e-10, + -9.313225191043273e-10, + 0.7322278022766113, + -2.0, + 1.5, + 0.23000000417232513, + 1.0, + 0.0, + 0.0, + 0.0, + 1.2000000476837158, + 3.0, + 0.23000000417232513, + 1.0, + 0.0, + 0.0, + 0.0, + -0.5333613739354428, + 1.8689586901112882, + 0.5273954944313157, + 0.709465186132455, + 0.015538320583416122, + 0.02291355012239426, + 0.6482997094066821 + ], + "std": [ + 0.006601512975545633, + 0.015799830760734986, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5120808643668076, + 0.5905446214089669, + 0.10931148207289423, + 0.1334453118449208, + 0.023717708355917605, + 0.03145086835421698, + 0.23715152517276633 + ], + "min": [ + 0.0060186018235981464, + -0.26743119955062866, + 1.1802799701690674, + 3.1513400077819824, + 0.4300000071525574, + -0.6810598373413086, + 9.313225191043273e-10, + -9.313225191043273e-10, + 0.7322278022766113, + -2.0, + 1.5, + 0.23000000417232513, + 1.0, + 0.0, + 0.0, + 0.0, + 1.2000000476837158, + 3.0, + 0.23000000417232513, + 1.0, + 0.0, + 0.0, + 0.0, + -1.9453457593917847, + 1.0924725532531738, + 0.4299999177455902, + 0.30365267395973206, + -0.0134350610896945, + -0.005989982280880213, + -0.2634386718273163 + ], + "max": [ + 0.05235988646745682, + 0.03793102130293846, + 1.1802799701690674, + 3.1513400077819824, + 0.4300000071525574, + -0.6810598373413086, + 9.313225191043273e-10, + -9.313225191043273e-10, + 0.7322278022766113, + -2.0, + 1.5, + 0.23000000417232513, + 1.0, + 0.0, + 0.0, + 0.0, + 1.2000000476837158, + 3.0, + 0.23000000417232513, + 1.0, + 0.0, + 0.0, + 0.0, + 1.524143099784851, + 2.8615169525146484, + 0.6624880433082581, + 0.9971413612365723, + 0.07574307173490524, + 0.07689440250396729, + 0.9497566819190979 + ], + "count": [ + 2549 + ] + }, + "action.command": { + "mean": [ + -1.34428299622899, + 0.47621739539429425, + 0.26836320117401774, + 0.33641493861201344, + 2.9129119178329066e-08, + 2.079648541265659e-08, + -0.08333242868774393, + 0.7482828282828283, + -0.6619358808916025, + 1.4615217976618295, + 0.5939714764705812, + -0.062037978964432076, + 0.17330920385838744, + 0.1618928267802953, + -0.4336469658215841, + 0.08928571428571429, + -2.8204867851601545, + -1.0152935871235078, + 0.6095098008865626, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3733696481040294, + 0.6890199876244195, + 0.6160917115594607, + -0.12143436337651958, + 0.1300851023796978, + 0.2939508768369249, + -0.5026741255493777, + 0.0, + -2.7924455877287575, + -1.0020809518392066, + 0.6095134095692885, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3733696481040294, + 0.6890199876244195, + 0.6160917115594607, + -0.12143436337651958, + 0.1300851023796978, + 0.2939508768369249, + -0.5026741255493777, + 0.0, + -2.7084245003934844, + -0.9372052636517877, + 0.6095153445605884, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3733696481040294, + 0.6890199876244195, + 0.6160917115594607, + -0.12143436337651958, + 0.1300851023796978, + 0.2939508768369249, + -0.5026741255493777, + 0.0, + -2.6829182258789857, + -0.9254353071467396, + 0.6095128353956825, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3733696481040294, + 0.6890199876244195, + 0.6160917115594607, + -0.12143436337651958, + 0.1300851023796978, + 0.2939508768369249, + -0.5026741255493777, + 0.0, + -2.5957671122438977, + -0.8576376547182741, + 0.6095112450006424, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3733696481040294, + 0.6890199876244195, + 0.6160917115594607, + -0.12143436337651958, + 0.1300851023796978, + 0.2939508768369249, + -0.5026741255493777, + 0.0, + -2.5738437320157534, + -0.8497158540930825, + 0.6095132225680042, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3733696481040294, + 0.6890199876244195, + 0.6160917115594607, + -0.12143436337651958, + 0.1300851023796978, + 0.2939508768369249, + -0.5026741255493777, + 0.0, + -2.4877300197615466, + -0.7755518868768171, + 0.6095002239802565, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3733696481040294, + 0.6890199876244195, + 0.6160917115594607, + -0.12143436337651958, + 0.1300851023796978, + 0.2939508768369249, + -0.5026741255493777, + 0.0, + -2.4648259661548364, + -0.774307330695012, + 0.6095113799445635, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3733696481040294, + 0.6890199876244195, + 0.6160917115594607, + -0.12143436337651958, + 0.1300851023796978, + 0.2939508768369249, + -0.5026741255493777, + 0.0, + -2.4271248854577028, + -0.765406730885264, + 0.8405243862692005, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3733696481040294, + 0.6890199876244195, + 0.6160917115594607, + -0.12143436337651958, + 0.1300851023796978, + 0.2939508768369249, + -0.5026741255493777, + 0.0, + -2.3687941244123008, + -0.6844221132500062, + 0.8405251684235996, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3733696481040294, + 0.6890199876244195, + 0.6160917115594607, + -0.12143436337651958, + 0.1300851023796978, + 0.2939508768369249, + -0.5026741255493777, + 0.0, + -2.3345284376509845, + -0.6606094159360869, + 0.8405248074065917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3733696481040294, + 0.6890199876244195, + 0.6160917115594607, + -0.12143436337651958, + 0.1300851023796978, + 0.2939508768369249, + -0.5026741255493777, + 0.0, + -2.2719122803550125, + -0.5755928716494509, + 0.8405245411381291, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3733696481040294, + 0.6890199876244195, + 0.6160917115594607, + -0.12143436337651958, + 0.1300851023796978, + 0.2939508768369249, + -0.5026741255493777, + 0.0, + -2.211664727355995, + -0.5316791434223189, + 0.8405313732008115, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3733696481040294, + 0.6890199876244195, + 0.6160917115594607, + -0.12143436337651958, + 0.1300851023796978, + 0.2939508768369249, + -0.5026741255493777, + 0.0, + -2.18226475326623, + -0.47088243522219664, + 0.840523535153185, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3733696481040294, + 0.6890199876244195, + 0.6160917115594607, + -0.12143436337651958, + 0.1300851023796978, + 0.2939508768369249, + -0.5026741255493777, + 0.0, + -2.1725258402830296, + -0.45093280614822256, + 0.8405244620090951, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3733696481040294, + 0.6890199876244195, + 0.6160917115594607, + -0.12143436337651958, + 0.1300851023796978, + 0.2939508768369249, + -0.5026741255493777, + 0.0, + -2.0887717543485285, + -0.3639826525569109, + 0.8405233857363499, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3733696481040294, + 0.6890199876244195, + 0.6160917115594607, + -0.12143436337651958, + 0.1300851023796978, + 0.2939508768369249, + -0.5026741255493777, + 0.0, + -2.0352191869054352, + -0.31397954539403927, + 0.8405242202013767, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3733696481040294, + 0.6890199876244195, + 0.6160917115594607, + -0.12143436337651958, + 0.1300851023796978, + 0.2939508768369249, + -0.5026741255493777, + 0.0, + -1.9926820601462139, + -0.2556048721553958, + 0.840524008601204, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3733696481040294, + 0.6890199876244195, + 0.6160917115594607, + -0.12143436337651958, + 0.1300851023796978, + 0.2939508768369249, + -0.5026741255493777, + 0.0, + -1.9523707747606764, + -0.20822630028789507, + 0.8405248230261031, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3733696481040294, + 0.6890199876244195, + 0.6160917115594607, + -0.12143436337651958, + 0.1300851023796978, + 0.2939508768369249, + -0.5026741255493777, + 0.0, + -1.898611108216426, + -0.14837623364551106, + 0.8405239651318092, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3733696481040294, + 0.6890199876244195, + 0.6160917115594607, + -0.12143436337651958, + 0.1300851023796978, + 0.2939508768369249, + -0.5026741255493777, + 0.0, + -1.847681110367934, + -0.08997510051255762, + 0.8405247985653589, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3733696481040294, + 0.6890199876244195, + 0.6160917115594607, + -0.12143436337651958, + 0.1300851023796978, + 0.2939508768369249, + -0.5026741255493777, + 0.0, + -1.8059539834707423, + -0.04195245676783313, + 0.8405244575884787, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3733696481040294, + 0.6890199876244195, + 0.6160917115594607, + -0.12143436337651958, + 0.1300851023796978, + 0.2939508768369249, + -0.5026741255493777, + 0.0, + -1.7577255374863652, + 0.019958341666882942, + 0.8405239929816927, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3733696481040294, + 0.6890199876244195, + 0.6160917115594607, + -0.12143436337651958, + 0.1300851023796978, + 0.2939508768369249, + -0.5026741255493777, + 0.0, + -1.7142932440058705, + 0.06390406587362585, + 0.8405248074065917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3733696481040294, + 0.6890199876244195, + 0.6160917115594607, + -0.12143436337651958, + 0.1300851023796978, + 0.2939508768369249, + -0.5026741255493777, + 0.0, + -1.6569141618106216, + 0.135867492377537, + 0.8405249221952649, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3733696481040294, + 0.6890199876244195, + 0.6160917115594607, + -0.12143436337651958, + 0.1300851023796978, + 0.2939508768369249, + -0.5026741255493777, + 0.0, + -1.622654770522831, + 0.16974807168703587, + 0.8405251293748212, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3733696481040294, + 0.6890199876244195, + 0.6160917115594607, + -0.12143436337651958, + 0.1300851023796978, + 0.2939508768369249, + -0.5026741255493777, + 0.0, + -1.5689200935390293, + 0.24481868618645686, + 0.8405231082689925, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3733696481040294, + 0.6890199876244195, + 0.6160917115594607, + -0.12143436337651958, + 0.1300851023796978, + 0.2939508768369249, + -0.5026741255493777, + 0.0, + -1.530831102277204, + 0.2756974218949694, + 0.840524652537663, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3733696481040294, + 0.6890199876244195, + 0.6160917115594607, + -0.12143436337651958, + 0.1300851023796978, + 0.2939508768369249, + -0.5026741255493777, + 0.0, + -1.4658924060124254, + 0.3618553179892975, + 0.8405277967747711, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3733696481040294, + 0.6890199876244195, + 0.6160917115594607, + -0.12143436337651958, + 0.1300851023796978, + 0.2939508768369249, + -0.5026741255493777, + 0.0, + -1.4391531341781723, + 0.38156393041422104, + 0.8405246447279073, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3733696481040294, + 0.6890199876244195, + 0.6160917115594607, + -0.12143436337651958, + 0.1300851023796978, + 0.2939508768369249, + -0.5026741255493777, + 0.0, + -1.3860805174117108, + 0.45717413614795294, + 0.8405224898247547, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3733696481040294, + 0.6890199876244195, + 0.6160917115594607, + -0.12143436337651958, + 0.1300851023796978, + 0.2939508768369249, + -0.5026741255493777, + 0.0, + -1.3476730064754876, + 0.48731779005972503, + 0.8405122838002642, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3733696481040294, + 0.6890199876244195, + 0.6160917115594607, + -0.12143436337651958, + 0.1300851023796978, + 0.2939508768369249, + -0.5026741255493777, + 0.0, + -1.3132788587927966, + 0.5077154176270564, + 0.8405241121909822, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3733696481040294, + 0.6890199876244195, + 0.6160917115594607, + -0.12143436337651958, + 0.1300851023796978, + 0.2939508768369249, + -0.5026741255493777, + 0.0, + -1.2560526720157217, + 0.5931513958940989, + 0.84052508148481, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3733696481040294, + 0.6890199876244195, + 0.6160917115594607, + -0.12143436337651958, + 0.1300851023796978, + 0.2939508768369249, + -0.5026741255493777, + 0.0, + -1.2303992828126302, + 0.6132323436890309, + 0.8405246481170465, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3733696481040294, + 0.6890199876244195, + 0.6160917115594607, + -0.12143436337651958, + 0.1300851023796978, + 0.2939508768369249, + -0.5026741255493777, + 0.0, + -1.1641761307663323, + 0.6991309113017709, + 0.8405247907556032, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3733696481040294, + 0.6890199876244195, + 0.6160917115594607, + -0.12143436337651958, + 0.1300851023796978, + 0.2939508768369249, + -0.5026741255493777, + 0.0, + -1.1218935088409923, + 0.7339101599342891, + 0.8405250780956707, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3733696481040294, + 0.6890199876244195, + 0.6160917115594607, + -0.12143436337651958, + 0.1300851023796978, + 0.2939508768369249, + -0.5026741255493777, + 0.0, + -1.0722153505819247, + 0.8051583623773751, + 0.8405234448252561, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3733696481040294, + 0.6890199876244195, + 0.6160917115594607, + -0.12143436337651958, + 0.1300851023796978, + 0.2939508768369249, + -0.5026741255493777, + 0.0, + -1.0419744250211491, + 0.8378763074752943, + 0.8405237746032413, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3733696481040294, + 0.6890199876244195, + 0.6160917115594607, + -0.12143436337651958, + 0.1300851023796978, + 0.2939508768369249, + -0.5026741255493777, + 0.0, + -0.9802324419705328, + 0.9111982941701179, + 0.8405240052120647, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3733696481040294, + 0.6890199876244195, + 0.6160917115594607, + -0.12143436337651958, + 0.1300851023796978, + 0.2939508768369249, + -0.5026741255493777, + 0.0, + -0.9234392849270286, + 0.9641614601071302, + 0.8405248386456144, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3733696481040294, + 0.6890199876244195, + 0.6160917115594607, + -0.12143436337651958, + 0.1300851023796978, + 0.2939508768369249, + -0.5026741255493777, + 0.0, + -0.8879891989110279, + 1.0174857196760707, + 0.8405246749354529, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3733696481040294, + 0.6890199876244195, + 0.6160917115594607, + -0.12143436337651958, + 0.1300851023796978, + 0.2939508768369249, + -0.5026741255493777, + 0.0, + -0.8624749145342776, + 1.0573123385496577, + 0.8405251572247047, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3733696481040294, + 0.6890199876244195, + 0.6160917115594607, + -0.12143436337651958, + 0.1300851023796978, + 0.2939508768369249, + -0.5026741255493777, + 0.0, + -0.7944679484231805, + 1.124862330289942, + 0.8405248006283131, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3733696481040294, + 0.6890199876244195, + 0.6160917115594607, + -0.12143436337651958, + 0.1300851023796978, + 0.2939508768369249, + -0.5026741255493777, + 0.0, + -0.7356213499205958, + 1.1871376262312325, + 0.8405234737066167, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3733696481040294, + 0.6890199876244195, + 0.6160917115594607, + -0.12143436337651958, + 0.1300851023796978, + 0.2939508768369249, + -0.5026741255493777, + 0.0, + -0.698888645773323, + 1.2341322995381538, + 0.8405232019860606, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3733696481040294, + 0.6890199876244195, + 0.6160917115594607, + -0.12143436337651958, + 0.1300851023796978, + 0.2939508768369249, + -0.5026741255493777, + 0.0, + -0.6456803008269321, + 1.2941711596564398, + 0.8405258524403142, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3733696481040294, + 0.6890199876244195, + 0.6160917115594607, + -0.12143436337651958, + 0.1300851023796978, + 0.2939508768369249, + -0.5026741255493777, + 0.0, + -0.6035471961583726, + 1.344218488234672, + 0.840523782412997, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3733696481040294, + 0.6890199876244195, + 0.6160917115594607, + -0.12143436337651958, + 0.1300851023796978, + 0.2939508768369249, + -0.5026741255493777, + 0.0, + -0.5720196713328509, + 1.3904405388755467, + 1.0639362239425056, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3733696481040294, + 0.6890199876244195, + 0.6160917115594607, + -0.12143436337651958, + 0.1300851023796978, + 0.2939508768369249, + -0.5026741255493777, + 0.0, + -0.5262472013607897, + 1.4338269183603294, + -0.9452364120554129, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.3733696481040294, + 0.6890199876244195, + 0.6160917115594607, + -0.12143436337651958, + 0.1300851023796978, + 0.2939508768369249, + -0.5026741255493777, + 0.0, + 1.1790000200271606, + 2.2799999713897705, + -3.1415927410125732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.17205169282498814, + 1.8428804987952823, + 0.6689287424087524, + 0.6011345705027302, + 0.2784149688939569, + 0.6291134825774601, + -0.3918218296513986, + 0.0 + ], + "std": [ + 1.8429721371807124, + 1.8028659062706953, + 0.46736764087654264, + 0.42126285617810066, + 6.537322504483199e-08, + 4.6665337136968344e-08, + 0.8381039993071261, + 1.1512277507728843, + 1.6471649199581762, + 1.149261607334564, + 0.0712865871819801, + 0.5252145083458313, + 0.3372842660673084, + 0.34594038698747326, + 0.4925143410573439, + 0.2851557039762734, + 0.8343540013260548, + 1.6592165785883357, + 0.5491713366001165, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3513695360895093, + 1.4073368851146582, + 0.04948182049983229, + 0.6959820598234534, + 0.14639151748795287, + 0.3146901119736088, + 0.15617814361228247, + 0.0, + 0.8520897441646476, + 1.64785949262536, + 0.5491749934815123, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3513695360895093, + 1.4073368851146582, + 0.04948182049983229, + 0.6959820598234534, + 0.14639151748795287, + 0.3146901119736088, + 0.15617814361228247, + 0.0, + 0.8806674164200582, + 1.5895817652498283, + 0.549176109597039, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3513695360895093, + 1.4073368851146582, + 0.04948182049983229, + 0.6959820598234534, + 0.14639151748795287, + 0.3146901119736088, + 0.15617814361228247, + 0.0, + 0.8970413236138559, + 1.5794894491251288, + 0.5491743336630163, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3513695360895093, + 1.4073368851146582, + 0.04948182049983229, + 0.6959820598234534, + 0.14639151748795287, + 0.3146901119736088, + 0.15617814361228247, + 0.0, + 0.9261926476487174, + 1.5185562998551725, + 0.5491731041702406, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3513695360895093, + 1.4073368851146582, + 0.04948182049983229, + 0.6959820598234534, + 0.14639151748795287, + 0.3146901119736088, + 0.15617814361228247, + 0.0, + 0.942398592932178, + 1.511986336504832, + 0.5491745567002515, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3513695360895093, + 1.4073368851146582, + 0.04948182049983229, + 0.6959820598234534, + 0.14639151748795287, + 0.3146901119736088, + 0.15617814361228247, + 0.0, + 0.9642341170885285, + 1.4448996790177868, + 0.5491624690112058, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3513695360895093, + 1.4073368851146582, + 0.04948182049983229, + 0.6959820598234534, + 0.14639151748795287, + 0.3146901119736088, + 0.15617814361228247, + 0.0, + 0.9879962071795616, + 1.4447787630957836, + 0.5491727054911664, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3513695360895093, + 1.4073368851146582, + 0.04948182049983229, + 0.6959820598234534, + 0.14639151748795287, + 0.3146901119736088, + 0.15617814361228247, + 0.0, + 1.0204529431007259, + 1.4380090475939318, + 0.30249948972847984, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3513695360895093, + 1.4073368851146582, + 0.04948182049983229, + 0.6959820598234534, + 0.14639151748795287, + 0.3146901119736088, + 0.15617814361228247, + 0.0, + 1.0196097433829954, + 1.392784083965968, + 0.30250005475615505, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3513695360895093, + 1.4073368851146582, + 0.04948182049983229, + 0.6959820598234534, + 0.14639151748795287, + 0.3146901119736088, + 0.15617814361228247, + 0.0, + 1.0505089061781503, + 1.406340911874327, + 0.30249954920507743, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3513695360895093, + 1.4073368851146582, + 0.04948182049983229, + 0.6959820598234534, + 0.14639151748795287, + 0.3146901119736088, + 0.15617814361228247, + 0.0, + 1.0521377917441297, + 1.361031967291175, + 0.30249957894337626, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3513695360895093, + 1.4073368851146582, + 0.04948182049983229, + 0.6959820598234534, + 0.14639151748795287, + 0.3146901119736088, + 0.15617814361228247, + 0.0, + 1.1037639538780544, + 1.3814146863473757, + 0.30249151986446227, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3513695360895093, + 1.4073368851146582, + 0.04948182049983229, + 0.6959820598234534, + 0.14639151748795287, + 0.3146901119736088, + 0.15617814361228247, + 0.0, + 1.0769414954809675, + 1.3248831621256871, + 0.3025001439710507, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3513695360895093, + 1.4073368851146582, + 0.04948182049983229, + 0.6959820598234534, + 0.14639151748795287, + 0.3146901119736088, + 0.15617814361228247, + 0.0, + 1.06830698049056, + 1.3064769990840812, + 0.30249928156038813, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3513695360895093, + 1.4073368851146582, + 0.04948182049983229, + 0.6959820598234534, + 0.14639151748795287, + 0.3146901119736088, + 0.15617814361228247, + 0.0, + 1.105851166101647, + 1.2910715195832874, + 0.30249877600931513, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3513695360895093, + 1.4073368851146582, + 0.04948182049983229, + 0.6959820598234534, + 0.14639151748795287, + 0.3146901119736088, + 0.15617814361228247, + 0.0, + 1.1372467800531427, + 1.2906657702375819, + 0.30249877600931513, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3513695360895093, + 1.4073368851146582, + 0.04948182049983229, + 0.6959820598234534, + 0.14639151748795287, + 0.3146901119736088, + 0.15617814361228247, + 0.0, + 1.137533605942869, + 1.258838475143989, + 0.3024996384199732, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3513695360895093, + 1.4073368851146582, + 0.04948182049983229, + 0.6959820598234534, + 0.14639151748795287, + 0.3146901119736088, + 0.15617814361228247, + 0.0, + 1.1482984239514809, + 1.2420870699881372, + 0.302499787111465, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3513695360895093, + 1.4073368851146582, + 0.04948182049983229, + 0.6959820598234534, + 0.14639151748795287, + 0.3146901119736088, + 0.15617814361228247, + 0.0, + 1.1670606733802045, + 1.2253783690290165, + 0.3024994302518861, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3513695360895093, + 1.4073368851146582, + 0.04948182049983229, + 0.6959820598234534, + 0.14639151748795287, + 0.3146901119736088, + 0.15617814361228247, + 0.0, + 1.1825872769710655, + 1.206676072010229, + 0.30250032240084174, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3513695360895093, + 1.4073368851146582, + 0.04948182049983229, + 0.6959820598234534, + 0.14639151748795287, + 0.3146901119736088, + 0.15617814361228247, + 0.0, + 1.1950780463522186, + 1.191058826085298, + 0.30249966815827134, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3513695360895093, + 1.4073368851146582, + 0.04948182049983229, + 0.6959820598234534, + 0.14639151748795287, + 0.3146901119736088, + 0.15617814361228247, + 0.0, + 1.2010508051906372, + 1.1621908485592347, + 0.3024994005135832, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3513695360895093, + 1.4073368851146582, + 0.04948182049983229, + 0.6959820598234534, + 0.14639151748795287, + 0.3146901119736088, + 0.15617814361228247, + 0.0, + 1.2220314722162229, + 1.1561336924294767, + 0.30249954920507743, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3513695360895093, + 1.4073368851146582, + 0.04948182049983229, + 0.6959820598234534, + 0.14639151748795287, + 0.3146901119736088, + 0.15617814361228247, + 0.0, + 1.2313758403935458, + 1.1246491609652365, + 0.3024999358029618, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3513695360895093, + 1.4073368851146582, + 0.04948182049983229, + 0.6959820598234534, + 0.14639151748795287, + 0.3146901119736088, + 0.15617814361228247, + 0.0, + 1.248961122310526, + 1.121194938632879, + 0.30249945999018263, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3513695360895093, + 1.4073368851146582, + 0.04948182049983229, + 0.6959820598234534, + 0.14639151748795287, + 0.3146901119736088, + 0.15617814361228247, + 0.0, + 1.247567414644212, + 1.07874485564467, + 0.30249818124334316, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3513695360895093, + 1.4073368851146582, + 0.04948182049983229, + 0.6959820598234534, + 0.14639151748795287, + 0.3146901119736088, + 0.15617814361228247, + 0.0, + 1.2760885246557532, + 1.086368863249595, + 0.30249945999018263, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3513695360895093, + 1.4073368851146582, + 0.04948182049983229, + 0.6959820598234534, + 0.14639151748795287, + 0.3146901119736088, + 0.15617814361228247, + 0.0, + 1.2804362341686835, + 1.0427769485494165, + 0.3025019580072644, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3513695360895093, + 1.4073368851146582, + 0.04948182049983229, + 0.6959820598234534, + 0.14639151748795287, + 0.3146901119736088, + 0.15617814361228247, + 0.0, + 1.3030603473747044, + 1.051454137998268, + 0.30249934103698733, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3513695360895093, + 1.4073368851146582, + 0.04948182049983229, + 0.6959820598234534, + 0.14639151748795287, + 0.3146901119736088, + 0.15617814361228247, + 0.0, + 1.299748626322496, + 1.0070538917354381, + 0.30249693223480567, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3513695360895093, + 1.4073368851146582, + 0.04948182049983229, + 0.6959820598234534, + 0.14639151748795287, + 0.3146901119736088, + 0.15617814361228247, + 0.0, + 1.3298206601623603, + 1.0164190618526117, + 0.302488099960126, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3513695360895093, + 1.4073368851146582, + 0.04948182049983229, + 0.6959820598234534, + 0.14639151748795287, + 0.3146901119736088, + 0.15617814361228247, + 0.0, + 1.3654657468747513, + 1.0359442622003443, + 0.3024994005135832, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3513695360895093, + 1.4073368851146582, + 0.04948182049983229, + 0.6959820598234534, + 0.14639151748795287, + 0.3146901119736088, + 0.15617814361228247, + 0.0, + 1.3567306866968802, + 0.9814691710632202, + 0.3024996384199732, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3513695360895093, + 1.4073368851146582, + 0.04948182049983229, + 0.6959820598234534, + 0.14639151748795287, + 0.3146901119736088, + 0.15617814361228247, + 0.0, + 1.3768864653621062, + 0.9878136140263261, + 0.3024998465880622, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3513695360895093, + 1.4073368851146582, + 0.04948182049983229, + 0.6959820598234534, + 0.14639151748795287, + 0.3146901119736088, + 0.15617814361228247, + 0.0, + 1.3839145472019505, + 0.9466751312620647, + 0.30250020344764667, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3513695360895093, + 1.4073368851146582, + 0.04948182049983229, + 0.6959820598234534, + 0.14639151748795287, + 0.3146901119736088, + 0.15617814361228247, + 0.0, + 1.4149143890069087, + 0.9542930127774858, + 0.3024991328688959, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3513695360895093, + 1.4073368851146582, + 0.04948182049983229, + 0.6959820598234534, + 0.14639151748795287, + 0.3146901119736088, + 0.15617814361228247, + 0.0, + 1.411188358625605, + 0.9119323212561291, + 0.3024992220837943, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3513695360895093, + 1.4073368851146582, + 0.04948182049983229, + 0.6959820598234534, + 0.14639151748795287, + 0.3146901119736088, + 0.15617814361228247, + 0.0, + 1.422996173110883, + 0.9041356493724092, + 0.3024992518220924, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3513695360895093, + 1.4073368851146582, + 0.04948182049983229, + 0.6959820598234534, + 0.14639151748795287, + 0.3146901119736088, + 0.15617814361228247, + 0.0, + 1.438485544351956, + 0.8772028302906706, + 0.3024991328688959, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3513695360895093, + 1.4073368851146582, + 0.04948182049983229, + 0.6959820598234534, + 0.14639151748795287, + 0.3146901119736088, + 0.15617814361228247, + 0.0, + 1.4718679442927813, + 0.8768836268283715, + 0.3025000250178549, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3513695360895093, + 1.4073368851146582, + 0.04948182049983229, + 0.6959820598234534, + 0.14639151748795287, + 0.3146901119736088, + 0.15617814361228247, + 0.0, + 1.4659298603104918, + 0.8424641706360283, + 0.30250070899872294, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3513695360895093, + 1.4073368851146582, + 0.04948182049983229, + 0.6959820598234534, + 0.14639151748795287, + 0.3146901119736088, + 0.15617814361228247, + 0.0, + 1.459743104675551, + 0.8152467281572964, + 0.3024994302518861, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3513695360895093, + 1.4073368851146582, + 0.04948182049983229, + 0.6959820598234534, + 0.14639151748795287, + 0.3146901119736088, + 0.15617814361228247, + 0.0, + 1.4942612399771442, + 0.8078918818927533, + 0.30249853810292554, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3513695360895093, + 1.4073368851146582, + 0.04948182049983229, + 0.6959820598234534, + 0.14639151748795287, + 0.3146901119736088, + 0.15617814361228247, + 0.0, + 1.51907704720148, + 0.7950700955102122, + 0.30249830019653745, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3513695360895093, + 1.4073368851146582, + 0.04948182049983229, + 0.6959820598234534, + 0.14639151748795287, + 0.3146901119736088, + 0.15617814361228247, + 0.0, + 1.5238360373836821, + 0.7733515618204377, + 0.30249960868167464, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3513695360895093, + 1.4073368851146582, + 0.04948182049983229, + 0.6959820598234534, + 0.14639151748795287, + 0.3146901119736088, + 0.15617814361228247, + 0.0, + 1.541345114910553, + 0.7554586223355934, + 0.30249957894337626, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3513695360895093, + 1.4073368851146582, + 0.04948182049983229, + 0.6959820598234534, + 0.14639151748795287, + 0.3146901119736088, + 0.15617814361228247, + 0.0, + 1.5518997128865621, + 0.7370596262239406, + 0.30249937077528494, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3513695360895093, + 1.4073368851146582, + 0.04948182049983229, + 0.6959820598234534, + 0.14639151748795287, + 0.3146901119736088, + 0.15617814361228247, + 0.0, + 1.5482064541102916, + 0.7084780879897107, + 0.5117245383409252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3513695360895093, + 1.4073368851146582, + 0.04948182049983229, + 0.6959820598234534, + 0.14639151748795287, + 0.3146901119736088, + 0.15617814361228247, + 0.0, + 1.5961072995820935, + 0.7195170633728631, + 2.3452845092784, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3513695360895093, + 1.4073368851146582, + 0.04948182049983229, + 0.6959820598234534, + 0.14639151748795287, + 0.3146901119736088, + 0.15617814361228247, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.9694963206029116, + 0.5337398735090335, + 0.0, + 0.045183385482506, + 0.0675855603502408, + 0.03302452000679281, + 0.06414115839575599, + 0.0 + ], + "min": [ + -3.615628242492676, + -2.5978751182556152, + 0.0, + -4.371138828673793e-08, + 0.0, + 0.0, + -1.0, + -1.0, + -3.3448617458343506, + -2.5013442039489746, + 0.4389999508857727, + -0.9068161249160767, + -0.5034831166267395, + -0.5517246127128601, + -0.9999998807907104, + 0.0, + -3.601858377456665, + -2.569148063659668, + 0.0231008417904377, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3448617458343506, + -2.5013442039489746, + 0.569752037525177, + -0.9068161249160767, + -5.941276413068408e-06, + -1.6470937680423958e-06, + -0.9995110630989075, + 0.0, + -3.5904266834259033, + -2.545299530029297, + 0.02310054562985897, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3448617458343506, + -2.5013442039489746, + 0.569752037525177, + -0.9068161249160767, + -5.941276413068408e-06, + -1.6470937680423958e-06, + -0.9995110630989075, + 0.0, + -3.5331685543060303, + -2.425846815109253, + 0.023101288825273514, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3448617458343506, + -2.5013442039489746, + 0.569752037525177, + -0.9068161249160767, + -5.941276413068408e-06, + -1.6470937680423958e-06, + -0.9995110630989075, + 0.0, + -3.522996425628662, + -2.404625415802002, + 0.023100676015019417, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3448617458343506, + -2.5013442039489746, + 0.569752037525177, + -0.9068161249160767, + -5.941276413068408e-06, + -1.6470937680423958e-06, + -0.9995110630989075, + 0.0, + -3.4631454944610596, + -2.27976393699646, + 0.02310039848089218, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3448617458343506, + -2.5013442039489746, + 0.569752037525177, + -0.9068161249160767, + -5.941276413068408e-06, + -1.6470937680423958e-06, + -0.9995110630989075, + 0.0, + -3.4563989639282227, + -2.2656893730163574, + 0.023100825026631355, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3448617458343506, + -2.5013442039489746, + 0.569752037525177, + -0.9068161249160767, + -5.941276413068408e-06, + -1.6470937680423958e-06, + -0.9995110630989075, + 0.0, + -3.3907341957092285, + -2.1286988258361816, + 0.023100733757019043, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3448617458343506, + -2.5013442039489746, + 0.569752037525177, + -0.9068161249160767, + -5.941276413068408e-06, + -1.6470937680423958e-06, + -0.9995110630989075, + 0.0, + -3.3900833129882812, + -2.1273410320281982, + 0.0231009591370821, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3448617458343506, + -2.5013442039489746, + 0.569752037525177, + -0.9068161249160767, + -5.941276413068408e-06, + -1.6470937680423958e-06, + -0.9995110630989075, + 0.0, + -3.3827779293060303, + -2.112100601196289, + 0.5175133347511292, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3448617458343506, + -2.5013442039489746, + 0.569752037525177, + -0.9068161249160767, + -5.941276413068408e-06, + -1.6470937680423958e-06, + -0.9995110630989075, + 0.0, + -3.323657512664795, + -1.9887628555297852, + 0.5175135135650635, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3448617458343506, + -2.5013442039489746, + 0.569752037525177, + -0.9068161249160767, + -5.941276413068408e-06, + -1.6470937680423958e-06, + -0.9995110630989075, + 0.0, + -3.318328857421875, + -1.9776461124420166, + 0.5175136923789978, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3448617458343506, + -2.5013442039489746, + 0.569752037525177, + -0.9068161249160767, + -5.941276413068408e-06, + -1.6470937680423958e-06, + -0.9995110630989075, + 0.0, + -3.2572381496429443, + -1.8501977920532227, + 0.5175133943557739, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3448617458343506, + -2.5013442039489746, + 0.569752037525177, + -0.9068161249160767, + -5.941276413068408e-06, + -1.6470937680423958e-06, + -0.9995110630989075, + 0.0, + -3.2453384399414062, + -1.8253724575042725, + 0.5175288319587708, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3448617458343506, + -2.5013442039489746, + 0.569752037525177, + -0.9068161249160767, + -5.941276413068408e-06, + -1.6470937680423958e-06, + -0.9995110630989075, + 0.0, + -3.190819263458252, + -1.7116340398788452, + 0.517511785030365, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3448617458343506, + -2.5013442039489746, + 0.569752037525177, + -0.9068161249160767, + -5.941276413068408e-06, + -1.6470937680423958e-06, + -0.9995110630989075, + 0.0, + -3.1729941368103027, + -1.6744470596313477, + 0.517513632774353, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3448617458343506, + -2.5013442039489746, + 0.569752037525177, + -0.9068161249160767, + -5.941276413068408e-06, + -1.6470937680423958e-06, + -0.9995110630989075, + 0.0, + -3.1244001388549805, + -1.57306969165802, + 0.51751309633255, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3448617458343506, + -2.5013442039489746, + 0.569752037525177, + -0.9068161249160767, + -5.941276413068408e-06, + -1.6470937680423958e-06, + -0.9995110630989075, + 0.0, + -3.1002495288848877, + -1.5226866006851196, + 0.5175139307975769, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3448617458343506, + -2.5013442039489746, + 0.569752037525177, + -0.9068161249160767, + -5.941276413068408e-06, + -1.6470937680423958e-06, + -0.9995110630989075, + 0.0, + -3.057981014251709, + -1.4345057010650635, + 0.5175127983093262, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3448617458343506, + -2.5013442039489746, + 0.569752037525177, + -0.9068161249160767, + -5.941276413068408e-06, + -1.6470937680423958e-06, + -0.9995110630989075, + 0.0, + -3.0277509689331055, + -1.3714394569396973, + 0.5175134539604187, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3448617458343506, + -2.5013442039489746, + 0.569752037525177, + -0.9068161249160767, + -5.941276413068408e-06, + -1.6470937680423958e-06, + -0.9995110630989075, + 0.0, + -2.9915621280670166, + -1.295941710472107, + 0.5175129771232605, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3448617458343506, + -2.5013442039489746, + 0.569752037525177, + -0.9068161249160767, + -5.941276413068408e-06, + -1.6470937680423958e-06, + -0.9995110630989075, + 0.0, + -2.9551727771759033, + -1.220025897026062, + 0.517512857913971, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3448617458343506, + -2.5013442039489746, + 0.569752037525177, + -0.9068161249160767, + -5.941276413068408e-06, + -1.6470937680423958e-06, + -0.9995110630989075, + 0.0, + -2.925143241882324, + -1.1573777198791504, + 0.5175132155418396, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3448617458343506, + -2.5013442039489746, + 0.569752037525177, + -0.9068161249160767, + -5.941276413068408e-06, + -1.6470937680423958e-06, + -0.9995110630989075, + 0.0, + -2.8825082778930664, + -1.068432092666626, + 0.5175130367279053, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3448617458343506, + -2.5013442039489746, + 0.569752037525177, + -0.9068161249160767, + -5.941276413068408e-06, + -1.6470937680423958e-06, + -0.9995110630989075, + 0.0, + -2.858724355697632, + -1.0188138484954834, + 0.5175136923789978, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3448617458343506, + -2.5013442039489746, + 0.569752037525177, + -0.9068161249160767, + -5.941276413068408e-06, + -1.6470937680423958e-06, + -0.9995110630989075, + 0.0, + -2.810096263885498, + -0.9173651933670044, + 0.5175133943557739, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3448617458343506, + -2.5013442039489746, + 0.569752037525177, + -0.9068161249160767, + -5.941276413068408e-06, + -1.6470937680423958e-06, + -0.9995110630989075, + 0.0, + -2.7923054695129395, + -0.8802497386932373, + 0.5175141096115112, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3448617458343506, + -2.5013442039489746, + 0.569752037525177, + -0.9068161249160767, + -5.941276413068408e-06, + -1.6470937680423958e-06, + -0.9995110630989075, + 0.0, + -2.7372655868530273, + -0.7654246687889099, + 0.5175134539604187, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3448617458343506, + -2.5013442039489746, + 0.569752037525177, + -0.9068161249160767, + -5.941276413068408e-06, + -1.6470937680423958e-06, + -0.9995110630989075, + 0.0, + -2.725886583328247, + -0.7416858077049255, + 0.517513632774353, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3448617458343506, + -2.5013442039489746, + 0.569752037525177, + -0.9068161249160767, + -5.941276413068408e-06, + -1.6470937680423958e-06, + -0.9995110630989075, + 0.0, + -2.6650195121765137, + -0.6147041320800781, + 0.5175141096115112, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3448617458343506, + -2.5013442039489746, + 0.569752037525177, + -0.9068161249160767, + -5.941276413068408e-06, + -1.6470937680423958e-06, + -0.9995110630989075, + 0.0, + -2.6594676971435547, + -0.6031216979026794, + 0.5175137519836426, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3448617458343506, + -2.5013442039489746, + 0.569752037525177, + -0.9068161249160767, + -5.941276413068408e-06, + -1.6470937680423958e-06, + -0.9995110630989075, + 0.0, + -2.6032936573028564, + -0.4859307110309601, + 0.517514169216156, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3448617458343506, + -2.5013442039489746, + 0.569752037525177, + -0.9068161249160767, + -5.941276413068408e-06, + -1.6470937680423958e-06, + -0.9995110630989075, + 0.0, + -2.593048572540283, + -0.4645575284957886, + 0.5175133943557739, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3448617458343506, + -2.5013442039489746, + 0.569752037525177, + -0.9068161249160767, + -5.941276413068408e-06, + -1.6470937680423958e-06, + -0.9995110630989075, + 0.0, + -2.592036008834839, + -0.4624452292919159, + 0.5175131559371948, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3448617458343506, + -2.5013442039489746, + 0.569752037525177, + -0.9068161249160767, + -5.941276413068408e-06, + -1.6470937680423958e-06, + -0.9995110630989075, + 0.0, + -2.5266294479370117, + -0.3259933888912201, + 0.5175138711929321, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3448617458343506, + -2.5013442039489746, + 0.569752037525177, + -0.9068161249160767, + -5.941276413068408e-06, + -1.6470937680423958e-06, + -0.9995110630989075, + 0.0, + -2.5198519229888916, + -0.3118540048599243, + 0.5175132155418396, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3448617458343506, + -2.5013442039489746, + 0.569752037525177, + -0.9068161249160767, + -5.941276413068408e-06, + -1.6470937680423958e-06, + -0.9995110630989075, + 0.0, + -2.4602105617523193, + -0.1874292939901352, + 0.5175129771232605, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3448617458343506, + -2.5013442039489746, + 0.569752037525177, + -0.9068161249160767, + -5.941276413068408e-06, + -1.6470937680423958e-06, + -0.9995110630989075, + 0.0, + -2.4469592571258545, + -0.15978418290615082, + 0.5175144076347351, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3448617458343506, + -2.5013442039489746, + 0.569752037525177, + -0.9068161249160767, + -5.941276413068408e-06, + -1.6470937680423958e-06, + -0.9995110630989075, + 0.0, + -2.393791675567627, + -0.048865240067243576, + 0.5175126791000366, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3448617458343506, + -2.5013442039489746, + 0.569752037525177, + -0.9068161249160767, + -5.941276413068408e-06, + -1.6470937680423958e-06, + -0.9995110630989075, + 0.0, + -2.3746087551116943, + -0.008845720440149307, + 0.5175129771232605, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3448617458343506, + -2.5013442039489746, + 0.569752037525177, + -0.9068161249160767, + -5.941276413068408e-06, + -1.6470937680423958e-06, + -0.9995110630989075, + 0.0, + -2.3273725509643555, + 0.08969882130622864, + 0.5175133347511292, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3448617458343506, + -2.5013442039489746, + 0.569752037525177, + -0.9068161249160767, + -5.941276413068408e-06, + -1.6470937680423958e-06, + -0.9995110630989075, + 0.0, + -2.301841974258423, + 0.14296092092990875, + 0.5175132155418396, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3448617458343506, + -2.5013442039489746, + 0.569752037525177, + -0.9068161249160767, + -5.941276413068408e-06, + -1.6470937680423958e-06, + -0.9995110630989075, + 0.0, + -2.260830879211426, + 0.22851896286010742, + 0.517512321472168, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3448617458343506, + -2.5013442039489746, + 0.569752037525177, + -0.9068161249160767, + -5.941276413068408e-06, + -1.6470937680423958e-06, + -0.9995110630989075, + 0.0, + -2.229522705078125, + 0.2938346862792969, + 0.517514169216156, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3448617458343506, + -2.5013442039489746, + 0.569752037525177, + -0.9068161249160767, + -5.941276413068408e-06, + -1.6470937680423958e-06, + -0.9995110630989075, + 0.0, + -2.1938419342041016, + 0.36827248334884644, + 0.5175147652626038, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3448617458343506, + -2.5013442039489746, + 0.569752037525177, + -0.9068161249160767, + -5.941276413068408e-06, + -1.6470937680423958e-06, + -0.9995110630989075, + 0.0, + -2.1582353115081787, + 0.44255536794662476, + 0.5175136923789978, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3448617458343506, + -2.5013442039489746, + 0.569752037525177, + -0.9068161249160767, + -5.941276413068408e-06, + -1.6470937680423958e-06, + -0.9995110630989075, + 0.0, + -2.1259593963623047, + 0.5098894238471985, + 0.5175120234489441, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3448617458343506, + -2.5013442039489746, + 0.569752037525177, + -0.9068161249160767, + -5.941276413068408e-06, + -1.6470937680423958e-06, + -0.9995110630989075, + 0.0, + -2.0891482830047607, + 0.5866850018501282, + 0.517514705657959, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3448617458343506, + -2.5013442039489746, + 0.569752037525177, + -0.9068161249160767, + -5.941276413068408e-06, + -1.6470937680423958e-06, + -0.9995110630989075, + 0.0, + -2.0568995475769043, + 0.6539629697799683, + 0.517512857913971, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3448617458343506, + -2.5013442039489746, + 0.569752037525177, + -0.9068161249160767, + -5.941276413068408e-06, + -1.6470937680423958e-06, + -0.9995110630989075, + 0.0, + -2.0219132900238037, + 0.7269515991210938, + 0.5175132155418396, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3448617458343506, + -2.5013442039489746, + 0.569752037525177, + -0.9068161249160767, + -5.941276413068408e-06, + -1.6470937680423958e-06, + -0.9995110630989075, + 0.0, + -2.0209999084472656, + 0.7599999904632568, + -3.1415927410125732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3448617458343506, + -2.5013442039489746, + 0.569752037525177, + -0.9068161249160767, + -5.941276413068408e-06, + -1.6470937680423958e-06, + -0.9995110630989075, + 0.0, + 1.1790000200271606, + 2.2799999713897705, + -3.1415927410125732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.9413542747497559, + 1.08787202835083, + 0.6689287424087524, + 0.4980834722518921, + 0.15493910014629364, + 0.5516666173934937, + -0.5224515199661255, + 0.0 + ], + "max": [ + 1.1790000200271606, + 2.2799999713897705, + 1.1238174438476562, + 0.9048950672149658, + 1.7881393432617188e-07, + 1.2712553143501282e-07, + 0.9999998807907104, + 2.0, + 1.506476879119873, + 2.8500707149505615, + 0.6720840334892273, + 0.6685066223144531, + 0.6920762062072754, + 0.674500584602356, + 0.9999998807907104, + 1.0, + -1.9295578002929688, + 0.7564293742179871, + 1.1238081455230713, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1347579956054688, + 2.5804636478424072, + 0.6689287424087524, + 0.6685066223144531, + 0.4178767204284668, + 0.674500584602356, + -0.27228957414627075, + 0.0, + -1.8825782537460327, + 0.7575148344039917, + 1.1238151788711548, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1347579956054688, + 2.5804636478424072, + 0.6689287424087524, + 0.6685066223144531, + 0.4178767204284668, + 0.674500584602356, + -0.27228957414627075, + 0.0, + -1.768041729927063, + 0.7601611614227295, + 1.1238181591033936, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1347579956054688, + 2.5804636478424072, + 0.6689287424087524, + 0.6685066223144531, + 0.4178767204284668, + 0.674500584602356, + -0.27228957414627075, + 0.0, + -1.7250512838363647, + 0.7611544728279114, + 1.1238139867782593, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1347579956054688, + 2.5804636478424072, + 0.6689287424087524, + 0.6685066223144531, + 0.4178767204284668, + 0.674500584602356, + -0.27228957414627075, + 0.0, + -1.6067721843719482, + 0.7638872861862183, + 1.1238112449645996, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1347579956054688, + 2.5804636478424072, + 0.6689287424087524, + 0.6685066223144531, + 0.4178767204284668, + 0.674500584602356, + -0.27228957414627075, + 0.0, + -1.5675439834594727, + 0.7647936344146729, + 1.123814582824707, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1347579956054688, + 2.5804636478424072, + 0.6689287424087524, + 0.6685066223144531, + 0.4178767204284668, + 0.674500584602356, + -0.27228957414627075, + 0.0, + -1.4581141471862793, + 0.7673220038414001, + 1.1237902641296387, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1347579956054688, + 2.5804636478424072, + 0.6689287424087524, + 0.6685066223144531, + 0.4178767204284668, + 0.674500584602356, + -0.27228957414627075, + 0.0, + -1.409836769104004, + 0.7684374451637268, + 1.1238110065460205, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1347579956054688, + 2.5804636478424072, + 0.6689287424087524, + 0.6685066223144531, + 0.4178767204284668, + 0.674500584602356, + -0.27228957414627075, + 0.0, + -1.3374781608581543, + 0.7701092958450317, + 1.1238148212432861, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1347579956054688, + 2.5804636478424072, + 0.6689287424087524, + 0.6685066223144531, + 0.4178767204284668, + 0.674500584602356, + -0.27228957414627075, + 0.0, + -1.2800477743148804, + 0.8028023838996887, + 1.1238161325454712, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1347579956054688, + 2.5804636478424072, + 0.6689287424087524, + 0.6685066223144531, + 0.4178767204284668, + 0.674500584602356, + -0.27228957414627075, + 0.0, + -1.2127877473831177, + 0.8410911560058594, + 1.1238152980804443, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1347579956054688, + 2.5804636478424072, + 0.6689287424087524, + 0.6685066223144531, + 0.4178767204284668, + 0.674500584602356, + -0.27228957414627075, + 0.0, + -1.1484322547912598, + 0.8777264952659607, + 1.1238150596618652, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1347579956054688, + 2.5804636478424072, + 0.6689287424087524, + 0.6685066223144531, + 0.4178767204284668, + 0.674500584602356, + -0.27228957414627075, + 0.0, + -1.0330579280853271, + 0.943405032157898, + 1.123814344406128, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1347579956054688, + 2.5804636478424072, + 0.6689287424087524, + 0.6685066223144531, + 0.4178767204284668, + 0.674500584602356, + -0.27228957414627075, + 0.0, + -1.0322991609573364, + 0.9438369870185852, + 1.123814582824707, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1347579956054688, + 2.5804636478424072, + 0.6689287424087524, + 0.6685066223144531, + 0.4178767204284668, + 0.674500584602356, + -0.27228957414627075, + 0.0, + -1.0317802429199219, + 0.944132387638092, + 1.1238147020339966, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1347579956054688, + 2.5804636478424072, + 0.6689287424087524, + 0.6685066223144531, + 0.4178767204284668, + 0.674500584602356, + -0.27228957414627075, + 0.0, + -0.9079362154006958, + 1.0146324634552002, + 1.1238131523132324, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1347579956054688, + 2.5804636478424072, + 0.6689287424087524, + 0.6685066223144531, + 0.4178767204284668, + 0.674500584602356, + -0.27228957414627075, + 0.0, + -0.8208591938018799, + 1.0642023086547852, + 1.1238139867782593, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1347579956054688, + 2.5804636478424072, + 0.6689287424087524, + 0.6685066223144531, + 0.4178767204284668, + 0.674500584602356, + -0.27228957414627075, + 0.0, + -0.7780157923698425, + 1.0885915756225586, + 1.123814582824707, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1347579956054688, + 2.5804636478424072, + 0.6689287424087524, + 0.6685066223144531, + 0.4178767204284668, + 0.674500584602356, + -0.27228957414627075, + 0.0, + -0.7262097597122192, + 1.118082880973816, + 1.1238155364990234, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1347579956054688, + 2.5804636478424072, + 0.6689287424087524, + 0.6685066223144531, + 0.4178767204284668, + 0.674500584602356, + -0.27228957414627075, + 0.0, + -0.6524156332015991, + 1.1600912809371948, + 1.123814344406128, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1347579956054688, + 2.5804636478424072, + 0.6689287424087524, + 0.6685066223144531, + 0.4178767204284668, + 0.674500584602356, + -0.27228957414627075, + 0.0, + -0.5849062204360962, + 1.1985219717025757, + 1.1238160133361816, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1347579956054688, + 2.5804636478424072, + 0.6689287424087524, + 0.6685066223144531, + 0.4178767204284668, + 0.674500584602356, + -0.27228957414627075, + 0.0, + -0.5298413634300232, + 1.2298684120178223, + 1.1238150596618652, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1347579956054688, + 2.5804636478424072, + 0.6689287424087524, + 0.6685066223144531, + 0.4178767204284668, + 0.674500584602356, + -0.27228957414627075, + 0.0, + -0.4752351641654968, + 1.2609537839889526, + 1.123814344406128, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1347579956054688, + 2.5804636478424072, + 0.6689287424087524, + 0.6685066223144531, + 0.4178767204284668, + 0.674500584602356, + -0.27228957414627075, + 0.0, + -0.4093995690345764, + 1.298431634902954, + 1.1238152980804443, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1347579956054688, + 2.5804636478424072, + 0.6689287424087524, + 0.6685066223144531, + 0.4178767204284668, + 0.674500584602356, + -0.27228957414627075, + 0.0, + -0.3420425057411194, + 1.3367756605148315, + 1.1238157749176025, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1347579956054688, + 2.5804636478424072, + 0.6689287424087524, + 0.6685066223144531, + 0.4178767204284668, + 0.674500584602356, + -0.27228957414627075, + 0.0, + -0.28900542855262756, + 1.366967797279358, + 1.1238155364990234, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1347579956054688, + 2.5804636478424072, + 0.6689287424087524, + 0.6685066223144531, + 0.4178767204284668, + 0.674500584602356, + -0.27228957414627075, + 0.0, + -0.23675896227359772, + 1.39670991897583, + 1.1238123178482056, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1347579956054688, + 2.5804636478424072, + 0.6689287424087524, + 0.6685066223144531, + 0.4178767204284668, + 0.674500584602356, + -0.27228957414627075, + 0.0, + -0.16821493208408356, + 1.4357296228408813, + 1.1238150596618652, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1347579956054688, + 2.5804636478424072, + 0.6689287424087524, + 0.6685066223144531, + 0.4178767204284668, + 0.674500584602356, + -0.27228957414627075, + 0.0, + -0.09863372147083282, + 1.4753397703170776, + 1.1238205432891846, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1347579956054688, + 2.5804636478424072, + 0.6689287424087524, + 0.6685066223144531, + 0.4178767204284668, + 0.674500584602356, + -0.27228957414627075, + 0.0, + -0.047736264765262604, + 1.5043139457702637, + 1.1238149404525757, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1347579956054688, + 2.5804636478424072, + 0.6689287424087524, + 0.6685066223144531, + 0.4178767204284668, + 0.674500584602356, + -0.27228957414627075, + 0.0, + 0.0018000733107328415, + 1.5325132608413696, + 1.1238105297088623, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1347579956054688, + 2.5804636478424072, + 0.6689287424087524, + 0.6685066223144531, + 0.4178767204284668, + 0.674500584602356, + -0.27228957414627075, + 0.0, + 0.07231871038675308, + 1.5726571083068848, + 1.123792052268982, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1347579956054688, + 2.5804636478424072, + 0.6689287424087524, + 0.6685066223144531, + 0.4178767204284668, + 0.674500584602356, + -0.27228957414627075, + 0.0, + 0.144774928689003, + 1.6139038801193237, + 1.1238144636154175, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1347579956054688, + 2.5804636478424072, + 0.6689287424087524, + 0.6685066223144531, + 0.4178767204284668, + 0.674500584602356, + -0.27228957414627075, + 0.0, + 0.19267375767230988, + 1.6411709785461426, + 1.123815655708313, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1347579956054688, + 2.5804636478424072, + 0.6689287424087524, + 0.6685066223144531, + 0.4178767204284668, + 0.674500584602356, + -0.27228957414627075, + 0.0, + 0.23984962701797485, + 1.6680265665054321, + 1.1238154172897339, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1347579956054688, + 2.5804636478424072, + 0.6689287424087524, + 0.6685066223144531, + 0.4178767204284668, + 0.674500584602356, + -0.27228957414627075, + 0.0, + 0.31357741355895996, + 1.7099971771240234, + 1.123815894126892, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1347579956054688, + 2.5804636478424072, + 0.6689287424087524, + 0.6685066223144531, + 0.4178767204284668, + 0.674500584602356, + -0.27228957414627075, + 0.0, + 0.38896188139915466, + 1.752910852432251, + 1.1238151788711548, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1347579956054688, + 2.5804636478424072, + 0.6689287424087524, + 0.6685066223144531, + 0.4178767204284668, + 0.674500584602356, + -0.27228957414627075, + 0.0, + 0.4346613585948944, + 1.7789260149002075, + 1.1238136291503906, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1347579956054688, + 2.5804636478424072, + 0.6689287424087524, + 0.6685066223144531, + 0.4178767204284668, + 0.674500584602356, + -0.27228957414627075, + 0.0, + 0.4775107502937317, + 1.8033186197280884, + 1.1238139867782593, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1347579956054688, + 2.5804636478424072, + 0.6689287424087524, + 0.6685066223144531, + 0.4178767204284668, + 0.674500584602356, + -0.27228957414627075, + 0.0, + 0.5557923913002014, + 1.847881555557251, + 1.1238141059875488, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1347579956054688, + 2.5804636478424072, + 0.6689287424087524, + 0.6685066223144531, + 0.4178767204284668, + 0.674500584602356, + -0.27228957414627075, + 0.0, + 0.6482315063476562, + 1.9005038738250732, + 1.1238157749176025, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1347579956054688, + 2.5804636478424072, + 0.6689287424087524, + 0.6685066223144531, + 0.4178767204284668, + 0.674500584602356, + -0.27228957414627075, + 0.0, + 0.6773408651351929, + 1.9170747995376587, + 1.1238162517547607, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1347579956054688, + 2.5804636478424072, + 0.6689287424087524, + 0.6685066223144531, + 0.4178767204284668, + 0.674500584602356, + -0.27228957414627075, + 0.0, + 0.6962488889694214, + 1.9278384447097778, + 1.1238155364990234, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1347579956054688, + 2.5804636478424072, + 0.6689287424087524, + 0.6685066223144531, + 0.4178767204284668, + 0.674500584602356, + -0.27228957414627075, + 0.0, + 0.801114559173584, + 1.9875348806381226, + 1.123814344406128, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1347579956054688, + 2.5804636478424072, + 0.6689287424087524, + 0.6685066223144531, + 0.4178767204284668, + 0.674500584602356, + -0.27228957414627075, + 0.0, + 0.8864596486091614, + 2.036118984222412, + 1.1238127946853638, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1347579956054688, + 2.5804636478424072, + 0.6689287424087524, + 0.6685066223144531, + 0.4178767204284668, + 0.674500584602356, + -0.27228957414627075, + 0.0, + 0.9282740354537964, + 2.059922456741333, + 1.1238137483596802, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1347579956054688, + 2.5804636478424072, + 0.6689287424087524, + 0.6685066223144531, + 0.4178767204284668, + 0.674500584602356, + -0.27228957414627075, + 0.0, + 1.0001786947250366, + 2.1008551120758057, + 1.1238163709640503, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1347579956054688, + 2.5804636478424072, + 0.6689287424087524, + 0.6685066223144531, + 0.4178767204284668, + 0.674500584602356, + -0.27228957414627075, + 0.0, + 1.0535820722579956, + 2.131255865097046, + 1.1238141059875488, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1347579956054688, + 2.5804636478424072, + 0.6689287424087524, + 0.6685066223144531, + 0.4178767204284668, + 0.674500584602356, + -0.27228957414627075, + 0.0, + 1.0811659097671509, + 2.146958351135254, + 1.543165683746338, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1347579956054688, + 2.5804636478424072, + 0.6689287424087524, + 0.6685066223144531, + 0.4178767204284668, + 0.674500584602356, + -0.27228957414627075, + 0.0, + 1.1780872344970703, + 2.202132225036621, + 1.5590746402740479, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1347579956054688, + 2.5804636478424072, + 0.6689287424087524, + 0.6685066223144531, + 0.4178767204284668, + 0.674500584602356, + -0.27228957414627075, + 0.0, + 1.1790000200271606, + 2.2799999713897705, + -3.1415927410125732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1347579956054688, + 2.5804636478424072, + 0.6689287424087524, + 0.6685066223144531, + 0.4178767204284668, + 0.674500584602356, + -0.27228957414627075, + 0.0 + ], + "count": [ + 2549 + ] + }, + "action.applied": { + "mean": [ + 0.06643498786247386, + -0.004601249401652852, + 0.022253198101667183, + 0.5716247569467097, + 0.04172015160562827, + 0.04172015160562827, + 0.04172015160562827, + 0.04172015160562827, + 1.7919189435400276, + -0.8818006231068936, + -0.7622598382683056, + 0.023538642604943115, + 0.023538642604943115 + ], + "std": [ + 0.11522847204080254, + 0.05081045445041992, + 0.2056767009148957, + 0.15411539798128643, + 0.03781049753455324, + 0.03781049753455324, + 0.03781049753455324, + 0.03781049753455324, + 0.48999066234578675, + 0.7036133133166569, + 0.7686387485090747, + 0.07301090983923149, + 0.07301090983923149 + ], + "min": [ + -0.03633712977170944, + -0.22801607847213745, + -0.800000011920929, + 0.3999975323677063, + 0.0, + 0.0, + 0.0, + 0.0, + 0.6118630766868591, + -1.5699999332427979, + -2.4598379135131836, + 0.0, + 0.0 + ], + "max": [ + 0.29958614706993103, + 0.09030281752347946, + 0.800000011920929, + 0.7488811612129211, + 0.12903660535812378, + 0.12903660535812378, + 0.12903660535812378, + 0.12903660535812378, + 3.1786627769470215, + 4.947156412526965e-06, + 0.05105087533593178, + 0.25, + 0.25 + ], + "count": [ + 2549 + ] + }, + "extra.reward": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 2549 + ] + }, + "next.truncated": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 2549 + ] + }, + "sim_step_idx": { + "mean": [ + 2579.0 + ], + "std": [ + 1471.6657229140046 + ], + "min": [ + 31.0 + ], + "max": [ + 5127.0 + ], + "count": [ + 2549 + ] + }, + "timestamp": { + "mean": [ + 50.960000000353325 + ], + "std": [ + 29.43331445540935 + ], + "min": [ + 0.0 + ], + "max": [ + 101.91999816894531 + ], + "count": [ + 2549 + ] + }, + "frame_index": { + "mean": [ + 1274.0 + ], + "std": [ + 735.8328614570023 + ], + "min": [ + 0.0 + ], + "max": [ + 2548.0 + ], + "count": [ + 2549 + ] + }, + "episode_index": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 2549 + ] + }, + "index": { + "mean": [ + 1274.0 + ], + "std": [ + 735.8328614570023 + ], + "min": [ + 0.0 + ], + "max": [ + 2548.0 + ], + "count": [ + 2549 + ] + }, + "task_index": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 2549 + ] + }, + "next.done": { + "mean": [ + 0.00039231071008238524 + ], + "std": [ + 0.019802949335620185 + ], + "min": [ + 0.0 + ], + "max": [ + 1.0 + ], + "count": [ + 2549 + ] + }, + "observation.images.head": { + "mean": [ + [ + [ + 0.33688240939233455 + ] + ], + [ + [ + 0.2984628122803717 + ] + ], + [ + [ + 0.24669385816416795 + ] + ] + ], + "std": [ + [ + [ + 0.12083676382796675 + ] + ], + [ + [ + 0.12801737635506882 + ] + ], + [ + [ + 0.14019903302010686 + ] + ] + ], + "min": [ + [ + [ + 0.00392156862745098 + ] + ], + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ] + ], + "max": [ + [ + [ + 1.0 + ] + ], + [ + [ + 0.9882352941176471 + ] + ], + [ + [ + 0.9529411764705882 + ] + ] + ], + "count": [ + 100 + ] + }, + "observation.images.wrist": { + "mean": [ + [ + [ + 0.4066898006130801 + ] + ], + [ + [ + 0.38040121759276674 + ] + ], + [ + [ + 0.35050431604487525 + ] + ] + ], + "std": [ + [ + [ + 0.16924267841341334 + ] + ], + [ + [ + 0.17944151139697798 + ] + ], + [ + [ + 0.199585327528116 + ] + ] + ], + "min": [ + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ] + ], + "max": [ + [ + [ + 1.0 + ] + ], + [ + [ + 0.9882352941176471 + ] + ], + [ + [ + 0.9607843137254902 + ] + ] + ], + "count": [ + 100 + ] + } +} \ No newline at end of file diff --git a/N025/stretch3/dr_on/seed_2014/stationassembly/000/lerobot_v21/meta/tasks.jsonl b/N025/stretch3/dr_on/seed_2014/stationassembly/000/lerobot_v21/meta/tasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7ef32cea3933584c053b6f1b17969eee32e6aaa6 --- /dev/null +++ b/N025/stretch3/dr_on/seed_2014/stationassembly/000/lerobot_v21/meta/tasks.jsonl @@ -0,0 +1 @@ +{"task_index": 0, "task": "Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level."} diff --git a/N025/stretch3/dr_on/seed_2014/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 b/N025/stretch3/dr_on/seed_2014/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f974f147a13f686d377fa039136973c0f45e0840 --- /dev/null +++ b/N025/stretch3/dr_on/seed_2014/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c3043d28f4e4b3a6de18c968e8ada0928b7a95fab71a377c0adfb9661b4f2389 +size 58017894 diff --git a/N025/stretch3/dr_on/seed_2014/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 b/N025/stretch3/dr_on/seed_2014/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4e92e77dcc55218308f65764b11ebe0dcad50025 --- /dev/null +++ b/N025/stretch3/dr_on/seed_2014/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:59b1057675618c7f1454f8f90fdc22127e196afb537f47fcab15c3f0884d483a +size 55407691 diff --git a/N025/stretch3/dr_on/seed_2014/stationassembly/000/run_meta.json b/N025/stretch3/dr_on/seed_2014/stationassembly/000/run_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0bfbb7b68a2c15a9fda924d997d48c97fa992db6 --- /dev/null +++ b/N025/stretch3/dr_on/seed_2014/stationassembly/000/run_meta.json @@ -0,0 +1,950 @@ +{ + "run_id": "stationassembly/000", + "created": "2026-11-08 02:51:11", + "num_envs": 1, + "session_id": null, + "record_config": { + "output_dir": "/mnt/scratch/xc536_atomic/n025_str_on_2014/out", + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + }, + "config": { + "env_string": "MobileWedgeSupportEnv-V0", + "env": { + "sim": { + "device": "cpu", + "use_fabric": false, + "decimation": 4, + "dt": 0.005, + "seed": 2014, + "soft_resets": 2, + "scene": { + "num_envs": 1, + "env_spacing": 14 + }, + "render": { + "rendering_mode": "performance", + "enable_reflections": false, + "enable_global_illumination": false, + "enable_translucency": false, + "enable_dl_denoiser": false + } + }, + "robot": { + "HelloRobot": { + "name": "hellorobot", + "type": "mobilemanip", + "common": { + "pos": [ + [ + -3.6156, + -2.59792, + 0.06 + ], + [ + -3.6156, + -2.59792, + 0.06 + ] + ], + "ori": [ + [ + 0, + 0, + 49.86136 + ], + [ + 0, + 0, + 49.86136 + ] + ], + "initial_joint_pos": { + "joint_arm_l[0-3]": 0.0, + "joint_lift": 0.4, + "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": 64, + "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, + "num_trajopt_seeds": 1, + "num_ik_seeds": 4, + "max_attempts": 6, + "batch_size": 1, + "microbatch_wait_ms": 1.0, + "seed_use_live_joint_pos": true, + "mode": "position", + "joint_limit_retry_weight": 100000000.0 + }, + "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, + "goal_cost_mode": "path", + "own_body_clear": true, + "own_body_radius": 0.3, + "w_vel": 0.2, + "w_vy": 0.0, + "dilate_radius": 0.35, + "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": true, + "safety_deceleration": 0.5, + "safety_reaction_time": 0.5, + "goal_heading_fade_distance": 0.5, + "scan_type": "3d" + }, + "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": 0.0012, + "angular_dead_zone": 0.0008, + "nav_heading_target": 1, + "heading_hold_distance": 0.15, + "preprocess_kwargs": { + "position_threshold": 0.0008 + }, + "velocity_frame": "world" + } + }, + "arm": { + "type": "default" + }, + "eef": { + "type": "default" + } + }, + "physics": { + "robot_radius": 0.4, + "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": { + "background": { + "intensity": [ + 811.91307, + 811.91307 + ] + }, + "terrain": { + "type": "nav_room", + "collision": true, + "hide_top_walls": true, + "usd": [ + "$MAGICSIM_ASSETS/Room/Collected_SimpleRoom" + ], + "annotation": "Annotation", + "random": false, + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0, + "friction_combine_mode": "multiply", + "restitution_combine_mode": "multiply" + } + }, + "objects": { + "table_A": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "pos": [ + -2.0, + 1.5, + 0.23 + ], + "ori": [ + 0, + 0, + 0 + ], + "scale": [ + 0.9, + 0.6, + 0.4 + ] + }, + "table_A_1": { + "primitive_params": { + "size": [ + 1, + 1, + 1 + ] + }, + "visual": { + "color": [ + 0.78, + 0.72, + 0.62 + ] + }, + "physics": { + "type": "geometry", + "collision": true + } + } + }, + "table_B": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "pos": [ + 1.2, + 3.0, + 0.23 + ], + "ori": [ + 0, + 0, + 0 + ], + "scale": [ + 0.9, + 0.6, + 0.4 + ] + }, + "table_B_1": { + "primitive_params": { + "size": [ + 1, + 1, + 1 + ] + }, + "visual": { + "color": [ + 0.62, + 0.72, + 0.78 + ] + }, + "physics": { + "type": "geometry", + "collision": true + } + } + }, + "shim_board": { + "usd": [ + "$MAGICSIM_ASSETS/Object/MobileAssembly/shim_board_a05/Object.usd" + ], + "random": false, + "num_per_env": 1, + "common": { + "pos": [ + 1.18028, + 3.15134, + 0.43 + ], + "ori": [ + 0.0, + 0.0, + -94.14697 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "shim_board_1": { + "visual": {}, + "physics": { + "type": "articulation", + "collision": true, + "fixed_base": true + } + } + }, + "wedge": { + "usd": [ + "$MAGICSIM_ASSETS/Object/MobileAssembly/wedge_a05/Object.usd" + ], + "random": false, + "num_per_env": 1, + "common": { + "pos": [ + -1.92083, + 1.40787, + 0.431 + ], + "ori": [ + 0.0, + 0.0, + 89.1985 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "wedge_1": { + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.03701, + "physics_material": { + "static_friction": 0.8, + "dynamic_friction": 0.7, + "restitution": 0.0 + } + } + } + } + } + }, + "nav": { + "navmesh": { + "enabled": true, + "visualize": false, + "bake_timeout_s": 120, + "agent_height_cm": 170, + "min_agent_radius_cm": 40.0, + "max_agent_radius_cm": 40.0, + "max_step_height_cm": 20, + "max_floor_slope_deg": 30, + "agent_island_radius_cm": 5, + "auto_exclude_rigid_bodies": true, + "validate_path_clearance": true, + "validate_path_window": true, + "navmesh_offset_z_m": 0, + "verbose": true + }, + "occupancymap": { + "cell_size": 0.05 + } + } + }, + "task": { + "observation": {}, + "reward": {}, + "level": "easy", + "termination": { + "timeout_steps": 9000, + "success_hold_frames": 1 + }, + "station": { + "S": { + "pose": [ + -3.6, + -2.5, + 60.0 + ] + }, + "A": { + "center": [ + -2.0, + 0.6 + ], + "zone_radius": 0.6, + "table": "table_A" + }, + "B": { + "center": [ + 1.2, + 2.1 + ], + "zone_radius": 0.6, + "table": "table_B" + } + }, + "stance": { + "radii_A": [ + 0.45, + 0.55, + 0.35, + 0.65 + ], + "radii_B": [ + 0.45, + 0.55, + 0.35, + 0.65 + ], + "bearings_deg": [ + 0.0, + -25.0, + 25.0 + ], + "yaw_offsets_deg": [ + 0.0 + ], + "include_current": true, + "axis_aligned": true, + "tool_behind_m": 0.021, + "force_walk_min_m": 0.0015, + "slide_offsets_m": [ + -0.004, + 0.004, + -0.008, + 0.008, + -0.012, + 0.012 + ], + "heading_deg": 180.0 + }, + "assembly": { + "part": { + "name": "wedge", + "id": 0 + }, + "fixture": { + "name": "shim_board", + "id": 0 + }, + "support_z": 0.43, + "part_half_height": 0.014, + "lift_height": 0.03, + "carry_lost": 0.25, + "hold_steps": 30, + "release_clear": 0.06, + "fixture_move_limit": 0.01, + "fall_margin": 0.12, + "target_deg": 0.0, + "tol_deg": 1.5, + "contact_gap": 0.002, + "stop_margin_deg": 0.3, + "board_touch_limit": 20, + "pre_height": 0.03, + "align_height": 0.0015, + "align_x": 0.4, + "insert_x": 0.205, + "umi": { + "table_clearance": 0.002, + "min_approach_down_deg": 65.0, + "max_approach_down_deg": 90.0, + "max_candidates": 64 + }, + "heading_link": "none", + "free_axis_yaw": true, + "approach_axis": "x", + "gap_open": 0.0865, + "hand": { + "wrist_to_gripper_pos": [ + -0.1816, + 0.0, + 0.0 + ], + "wrist_to_gripper_quat_wxyz": [ + 0.70710678, + 0.0, + 0.70710678, + 0.0 + ], + "tcp_in_gripper": [ + 0.0, + 0.0, + 0.1696 + ], + "finger_stroke": 0.0445 + }, + "gripper_gap": { + "joint_regex": "joint_gripper_finger_.*", + "open_q": 0.25, + "open_gap": 0.089 + }, + "align_pos_tol": 0.003 + }, + "command": { + "StationAssembly": { + "robot_id": 0, + "hand_id": 0, + "init_limit": 30, + "max_attempt": 2, + "tail_steps": 400, + "part": { + "obj_type": "rigid", + "obj_name": "wedge", + "obj_id": 0 + }, + "fixture": { + "obj_type": "articulation", + "obj_name": "shim_board", + "obj_id": 0 + }, + "stages": [ + { + "name": "nav_A", + "type": "nav", + "goal": [ + -2.021, + 0.76, + 180.0 + ] + }, + { + "name": "stance_A", + "type": "stance", + "target": "part" + }, + { + "name": "pick", + "type": "grasp" + }, + { + "name": "carry", + "type": "carry" + }, + { + "name": "nav_B", + "type": "nav", + "goal": [ + 1.179, + 2.28, + 180.0 + ] + }, + { + "name": "stance_B", + "type": "stance", + "target": "fixture" + }, + { + "name": "assemble", + "type": "assemble" + } + ] + } + } + }, + "collect": { + "command": { + "StationAssembly": { + "robot_id": 0, + "hand_id": 0, + "init_limit": 30, + "max_attempt": 2, + "tail_steps": 400, + "part": { + "obj_type": "rigid", + "obj_name": "wedge", + "obj_id": 0 + }, + "fixture": { + "obj_type": "articulation", + "obj_name": "shim_board", + "obj_id": 0 + }, + "stages": [ + { + "name": "nav_A", + "type": "nav", + "goal": [ + -2.021, + 0.76, + 180.0 + ] + }, + { + "name": "stance_A", + "type": "stance", + "target": "part" + }, + { + "name": "pick", + "type": "grasp" + }, + { + "name": "carry", + "type": "carry" + }, + { + "name": "nav_B", + "type": "nav", + "goal": [ + 1.179, + 2.28, + 180.0 + ] + }, + { + "name": "stance_B", + "type": "stance", + "target": "fixture" + }, + { + "name": "assemble", + "type": "assemble" + } + ] + } + }, + "global_planner": { + "NavTo": { + "use_navmesh": true, + "use_absolute": true, + "translation_threshold": 0.06, + "rotation_threshold": 0.06, + "num_path_segments": 30, + "start_forward_offset": 0.0, + "visualize_path": false, + "carry_arm": true + }, + "MobileMoveL": { + "translation_threshold": 0.006, + "rotation_threshold": 0.05, + "motiongen_distance_threshold": 0.0, + "timeout_steps": 1800, + "reactive": false, + "base_pos_threshold": 0.025, + "base_rot_threshold": 0.05, + "eef_pos_threshold": 0.015, + "eef_rot_threshold": 0.15, + "waypoint_max_steps": 30, + "interp_steps": 60, + "retry_mobile_on_locked_plan_failure": true, + "debug": false, + "debug_viz": false, + "stall_release_ticks": 50, + "stall_release_factor": 3.0, + "debug_sphere": false, + "interp_validate_target": false + }, + "AssemblyServoL": { + "translation_threshold": 0.0003, + "rotation_threshold": 0.005, + "motiongen_distance_threshold": 0.0, + "timeout_steps": 1000000, + "min_steps_before_done": 1000000, + "reactive": false, + "base_pos_threshold": 0.12, + "base_rot_threshold": 0.5, + "eef_pos_threshold": 0.03, + "eef_rot_threshold": 0.3, + "waypoint_max_steps": 1, + "debug": false, + "debug_viz": false + }, + "MobileServoL": { + "translation_threshold": 0.03, + "rotation_threshold": 0.3, + "done_threshold": 0.001, + "timeout_steps": 300, + "stride": 1, + "eef_pos_threshold": 0.03, + "eef_rot_threshold": 0.1, + "base_pos_threshold": 0.12, + "waypoint_max_steps": 20, + "force_free_base_distance": 0.4, + "motiongen_distance_threshold": 0.05, + "embedded_direct_lock_layout": "trailing", + "debug": false, + "debug_viz": false + }, + "ParallelGripper": { + "gripper_threshold": 0.001, + "timeout_steps": 30 + }, + "NavToTrim": { + "use_navmesh": false, + "carry_arm": true, + "visualize_path": false, + "trim_pos_threshold": 0.01, + "trim_yaw_threshold": 0.0012, + "max_steps": 1500 + } + }, + "atomic_skill": { + "NavToPose": { + "robot_id": 0, + "show_marker": false, + "trim": true + }, + "HoldPose": { + "robot_id": 0, + "hand_id": 0 + }, + "NavTo": { + "robot_id": 0, + "position_offset": 0.85, + "position_threshold": 0.08, + "angle_threshold": 0.06 + }, + "ReachStance": { + "check_current_first": true, + "stance_margin": 0.0, + "max_reach": 1.0, + "max_walks": 2, + "reject_radius": 0.05, + "obstacle_avoidance": [ + "dynamic" + ], + "walk_planner": "MobileServoL", + "strategy_kwargs": { + "reach_steps": 2 + }, + "pre_grasp_planner": "MobileMoveL", + "pre_grasp_mode": -1, + "goalset_lock_base": true, + "debug": true, + "obstacle_ignore": [ + "table_A" + ] + }, + "AssemblyGrasp": { + "pre_grasp_offset_x": 0.12, + "retrieval_offset_x": 0.15, + "mobile": true, + "pre_grasp_planner": "MobileMoveL", + "pre_grasp_mode": -1, + "grasp_mode": 4, + "retrieval_mode": 4, + "goalset_lock_base": true, + "reactive": false, + "viz_grasp": false, + "close_settle_steps": 10, + "obstacle_ignore": [ + "table_A" + ], + "servo_windup": 0.004, + "servo_pos_tol": 0.004, + "servo_lateral_tol": 0.012, + "servo_lateral_gate": 0.012 + }, + "CarryPose": { + "robot_id": 0, + "hand_id": 0, + "carry_part_pos": [ + 0.0, + -0.35, + 0.6 + ], + "planner_mode": 1, + "carry_fallbacks": [ + [ + 0.0, + -0.3, + 0.5 + ], + [ + 0.0, + -0.4, + 0.7 + ], + [ + 0.0, + -0.25, + 0.6 + ] + ] + }, + "AssemblyInsert": { + "plan_mode": 1, + "max_lin": 0.002, + "max_rot_deg": 1.0, + "settle_ticks": 3, + "servo_max_steps": 600, + "lateral_gate": 0.002, + "stall_ticks": 60, + "stall_min_progress": 0.8, + "carry_lost": 0.25, + "open_value": 0.0, + "base_trim": true, + "yaw_trade": false, + "trim_min_m": 0.0008, + "trim_stall_ticks": 20, + "trim_max": 8, + "trim_bias_m": 0.0, + "trim_settle_ticks": 3 + } + }, + "auto_collect": { + "task_type": "assembly", + "max_trajectories": 1 + }, + "record": { + "output_dir": "/mnt/scratch/xc536_atomic/n025_str_on_2014/out", + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + } + }, + "visual_dr": { + "keep": [ + "wedge", + "shim_board" + ] + } + }, + "git_sha": null, + "collect_runtime": { + "max_trajectories": 1 + } +} \ No newline at end of file diff --git a/N025/stretch3/dr_on/seed_2014/stationassembly/000/sim_info/0/actions.npz b/N025/stretch3/dr_on/seed_2014/stationassembly/000/sim_info/0/actions.npz new file mode 100644 index 0000000000000000000000000000000000000000..8581ad4c7b0698cb86d10e08179c385969c2d46e --- /dev/null +++ b/N025/stretch3/dr_on/seed_2014/stationassembly/000/sim_info/0/actions.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2d3673229f0e657c09906175ed75d9452549149721004ef71ddb92fe3ddbc065 +size 663224 diff --git a/N025/stretch3/dr_on/seed_2014/stationassembly/000/sim_info/0/device_commands.jsonl b/N025/stretch3/dr_on/seed_2014/stationassembly/000/sim_info/0/device_commands.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N025/stretch3/dr_on/seed_2014/stationassembly/000/sim_info/0/device_events.jsonl b/N025/stretch3/dr_on/seed_2014/stationassembly/000/sim_info/0/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N025/stretch3/dr_on/seed_2014/stationassembly/000/sim_info/0/scene_snapshot.json b/N025/stretch3/dr_on/seed_2014/stationassembly/000/sim_info/0/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..72b7da8a7d8b8cf740e1440d693f13fc2d28a2ea --- /dev/null +++ b/N025/stretch3/dr_on/seed_2014/stationassembly/000/sim_info/0/scene_snapshot.json @@ -0,0 +1,338 @@ +{ + "trajectory_id": 0, + "env_id": 0, + "run_id": "stationassembly/000", + "task_type": "StationAssembly", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])", + "avatars": "avatar_manager.set_avatars_state(snapshot['avatars'], env_ids=[env_id]) (present when the scene has animated avatars)" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "table_A": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -2.0, + 1.5, + 0.23 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 0.9, + 0.6, + 0.4 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.78, + 0.72, + 0.62 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 1, + 1, + 1 + ] + } + }, + "type_specific": {} + } + ], + "table_B": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 1.2, + 3.0, + 0.23 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 0.9, + 0.6, + 0.4 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.62, + 0.72, + 0.78 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 1, + 1, + 1 + ] + } + }, + "type_specific": {} + } + ], + "shim_board": [ + { + "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MobileAssembly/shim_board_a05/Object.usd", + "pose": { + "pos": [ + 1.1802799701690674, + 3.1513400077819824, + 0.4300000071525574 + ], + "ori": [ + -0.6810597777366638, + 0.0, + 0.0, + 0.7322278022766113 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "collision": true, + "fixed_base": true, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 0.05235988274216652 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "wedge": [ + { + "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MobileAssembly/wedge_a05/Object.usd", + "pose": { + "pos": [ + -1.9208298921585083, + 1.4078700542449951, + 0.4299999475479126 + ], + "ori": [ + 0.712035059928894, + 2.7064234018325806e-06, + 2.4866312742233276e-06, + 0.7021437883377075 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.03701, + "physics_material": { + "static_friction": 0.8, + "dynamic_friction": 0.7, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -0.0004825390060432255, + 1.4660706256108824e-05, + -9.124247299041599e-05 + ], + "angular_velocity": [ + 0.00034423518809489906, + -0.006417333614081144, + -0.000987551175057888 + ] + } + } + ] + } + ], + "artifacts": [ + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 811.91307, + "texture": null, + "color": [ + 0.85, + 0.85, + 0.85 + ] + } + } + }, + "robots": { + "HelloRobot": { + "root_pose": [ + [ + -3.615600109100342, + -2.5979199409484863, + 0.05999999865889549, + 0.9068184494972229, + 0.0, + 0.0, + 0.4215214252471924 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.0, + 0.0, + 0.0, + 0.4000000059604645, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 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 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/N025/stretch3/dr_on/seed_2014/stationassembly/000/sim_info/0/sim_states.npz b/N025/stretch3/dr_on/seed_2014/stationassembly/000/sim_info/0/sim_states.npz new file mode 100644 index 0000000000000000000000000000000000000000..c32a2f5e724777bfcc96d3ca7de4ed6d2decbf82 --- /dev/null +++ b/N025/stretch3/dr_on/seed_2014/stationassembly/000/sim_info/0/sim_states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5e036581db3bf294bfef39e0617432fa4d9278259442ebd0d86bef8ae5034e66 +size 722605 diff --git a/N025/stretch3/dr_on/seed_2014/stationassembly/000/sim_info/magicsim_manifest.json b/N025/stretch3/dr_on/seed_2014/stationassembly/000/sim_info/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..5a14cab3b99593dd99eb89a40cbb17ac4a358d28 --- /dev/null +++ b/N025/stretch3/dr_on/seed_2014/stationassembly/000/sim_info/magicsim_manifest.json @@ -0,0 +1,228 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 03:15:42" + }, + "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": "stationassembly/000", + "task_type": "StationAssembly" + } +} \ No newline at end of file diff --git a/N025/stretch3/dr_on/seed_2014/stationassembly/000/visual_dr.json b/N025/stretch3/dr_on/seed_2014/stationassembly/000/visual_dr.json new file mode 100644 index 0000000000000000000000000000000000000000..f4bf68473ba44a283684a3253b63cfe31e790389 --- /dev/null +++ b/N025/stretch3/dr_on/seed_2014/stationassembly/000/visual_dr.json @@ -0,0 +1,674 @@ +{ + "version": 1, + "settings": { + "enabled": false, + "keep": [ + "wedge", + "shim_board" + ], + "skip": [ + "*Robot_*", + "*/Camera*", + "*/camera*" + ], + "light_intensity": [ + 0.6, + 1.5 + ], + "light_color_temperature": [ + 3500.0, + 7500.0 + ], + "light_jitter_deg": 5.0, + "dome_swap_prob": 0.5, + "dome_tint_sat": [ + 0.0, + 0.15 + ], + "dome_yaw": true, + "hdr_dir": "$MAGICSIM_ASSETS/Background", + "tint_sat": [ + 0.0, + 0.3 + ], + "tint_val": [ + 0.7, + 1.0 + ], + "roughness_scale": [ + 0.8, + 1.25 + ], + "material_swap": true, + "material_swap_prob": 1.0, + "material_library": "$MAGICSIM_ASSETS/Material" + }, + "episodes": [ + { + "env_ids": [ + 0 + ], + "reset_index": 0, + "episode_seed": 2014, + "seeds": { + "0": 2014 + }, + "lights": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/RectLight", + "type": "RectLight", + "intensity": 14739.39373, + "intensity_base": 15000.0, + "enable_color_temperature": true, + "color_temperature_k": 7495.207887, + "rotate_deg": [ + -1.09, + 1.538, + -0.539 + ] + } + ], + "domes": [ + { + "path": "/World/background", + "type": "DomeLight", + "intensity": 493.992942, + "intensity_base": 811.9131, + "enable_color_temperature": true, + "color_temperature_k": 3554.386127, + "rotate_deg": [ + 0.0, + 0.0, + 75.535 + ], + "dome": { + "path": "/World/background", + "hdr_base": null, + "color": [ + 0.840395, + 0.84252, + 0.80733 + ] + } + } + ], + "materials": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light", + "shader": "omnipbr", + "color": [ + 0.7461, + 0.7205, + 0.6887 + ], + "color_base": [ + 1.0, + 1.0, + 1.0 + ], + "roughness": 0.412054, + "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/Wood/Wood_Tiles_Oak_Mountain.mdl", + "material": "/MmbVdrLooks/Source_Wood_Wood_Tiles_Oak_Mountain", + "bound_prims": 1, + "pool_size": 42, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic", + "role": "wall", + "mdl": "Source/Masonry/Facade_Brick_Grey.mdl", + "material": "/MmbVdrLooks/Source_Masonry_Facade_Brick_Grey", + "bound_prims": 17, + "pool_size": 28, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic2", + "role": "wall", + "mdl": "Source/Paint/Chalk_Paint.mdl", + "material": "/MmbVdrLooks/Source_Paint_Chalk_Paint", + "bound_prims": 22, + "pool_size": 28, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WoodWall", + "role": "wall", + "mdl": "Source/Concrete/Concrete_Wall_Even.mdl", + "material": "/MmbVdrLooks/Source_Concrete_Concrete_Wall_Even", + "bound_prims": 10, + "pool_size": 28, + "bind_failed": 0 + } + ], + "skipped": { + "unsupported_shader": 1, + "protected_material": 0, + "error": 0, + "instance_proxy": 0, + "no_swap": 2, + "bind_failed": 0 + }, + "keep_hits": { + "wedge": 2, + "shim_board": 4 + }, + "physics_skip": { + "physics_binding": 7, + "rigid_body": 114, + "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/xc536_atomic_local/repo_eb439a44f/Assets/Material", + "pool_sizes": { + "ground": 42, + "wall": 28, + "furniture": 38, + "object": 54 + } + }, + "no_swap": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass", + "reason": "glass", + "bound_prims": 1 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light", + "reason": "emissive", + "bound_prims": 1 + } + ], + "unsupported": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass", + "mdl": "OmniGlass.mdl", + "bound_prims": 1 + } + ] + }, + { + "env_ids": [ + 0 + ], + "reset_index": 1, + "episode_seed": 2014, + "seeds": { + "0": 2014 + }, + "lights": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/RectLight", + "type": "RectLight", + "intensity": 14739.39373, + "intensity_base": 15000.0, + "enable_color_temperature": true, + "color_temperature_k": 7495.207887, + "rotate_deg": [ + -1.09, + 1.538, + -0.539 + ] + } + ], + "domes": [ + { + "path": "/World/background", + "type": "DomeLight", + "intensity": 493.992942, + "intensity_base": 811.9131, + "enable_color_temperature": true, + "color_temperature_k": 3554.386127, + "rotate_deg": [ + 0.0, + 0.0, + 75.535 + ], + "dome": { + "path": "/World/background", + "hdr_base": null, + "color": [ + 0.840395, + 0.84252, + 0.80733 + ] + } + } + ], + "materials": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light", + "shader": "omnipbr", + "color": [ + 0.7461, + 0.7205, + 0.6887 + ], + "color_base": [ + 1.0, + 1.0, + 1.0 + ], + "roughness": 0.412054, + "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/Wood/Wood_Tiles_Oak_Mountain.mdl", + "material": "/MmbVdrLooks/Source_Wood_Wood_Tiles_Oak_Mountain", + "bound_prims": 1, + "pool_size": 42, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic", + "role": "wall", + "mdl": "Source/Masonry/Facade_Brick_Grey.mdl", + "material": "/MmbVdrLooks/Source_Masonry_Facade_Brick_Grey", + "bound_prims": 17, + "pool_size": 28, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic2", + "role": "wall", + "mdl": "Source/Paint/Chalk_Paint.mdl", + "material": "/MmbVdrLooks/Source_Paint_Chalk_Paint", + "bound_prims": 22, + "pool_size": 28, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WoodWall", + "role": "wall", + "mdl": "Source/Concrete/Concrete_Wall_Even.mdl", + "material": "/MmbVdrLooks/Source_Concrete_Concrete_Wall_Even", + "bound_prims": 10, + "pool_size": 28, + "bind_failed": 0 + } + ], + "skipped": { + "unsupported_shader": 1, + "protected_material": 0, + "error": 0, + "instance_proxy": 0, + "no_swap": 2, + "bind_failed": 0 + }, + "keep_hits": { + "wedge": 2, + "shim_board": 4 + }, + "physics_skip": { + "physics_binding": 7, + "rigid_body": 114, + "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/xc536_atomic_local/repo_eb439a44f/Assets/Material", + "pool_sizes": { + "ground": 42, + "wall": 28, + "furniture": 38, + "object": 54 + } + }, + "no_swap": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass", + "reason": "glass", + "bound_prims": 1 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light", + "reason": "emissive", + "bound_prims": 1 + } + ], + "unsupported": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass", + "mdl": "OmniGlass.mdl", + "bound_prims": 1 + } + ] + } + ] +} \ No newline at end of file diff --git a/N032/go2_arm/dr_off/seed_1016/check.json b/N032/go2_arm/dr_off/seed_1016/check.json new file mode 100644 index 0000000000000000000000000000000000000000..db2ab5cd4c10996a9a5b36beadb31912d4c672c5 --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1016/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'; expected 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "1760 rows vs ceil(3520/2) = 1760" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..3619, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "15.39 MB, 1760 frames at 25 fps, mean luma 103..143, std 29, new picture 1759x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1760 vs 1760" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "31.64 MB, 1760 frames at 25 fps, mean luma 99..176, std 28, new picture 1759x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1760 vs 1760" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationpuzzle/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N032/go2_arm/dr_off/seed_1016/check.txt b/N032/go2_arm/dr_off/seed_1016/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..d971965caa8784d9840b78350b77265bfe2ff2ad --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1016/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n032_go2_off_1016_r2/out task=N032 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n032_go2_off_1016_r2/out/rec/stationpuzzle/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1760 videos 2 robot_type Go2PlusCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 1760 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5'] +[PASS] action shape: parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y'] +[PASS] task text = MobileBench instruction: task_index 0: 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'; expected 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.' +rows 1760 at dataset fps 25 = 70.40 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1760 rows vs ceil(3520/2) = 1760 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..3619, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 15.39 MB, 1760 frames at 25 fps, mean luma 103..143, std 29, new picture 1759x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1760 vs 1760 +[PASS] video observation.images.wrist decodes, 640x480, not black: 31.64 MB, 1760 frames at 25 fps, mean luma 99..176, std 28, new picture 1759x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1760 vs 1760 +parquet size 6.20 MB +[PASS] sim_info present: rec/stationpuzzle/000/sim_info +dataset size 53.51 MB; whole cell dir 55.5 MB +RESULT: ALL PASS diff --git a/N032/go2_arm/dr_off/seed_1016/rec/stationpuzzle/000/completed/0.json b/N032/go2_arm/dr_off/seed_1016/rec/stationpuzzle/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..8ccdef7d6fe05159c409af74707fd6bc60bede10 --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1016/rec/stationpuzzle/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationpuzzle/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N032/go2_arm/dr_off/seed_1016/rec/stationpuzzle/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N032/go2_arm/dr_off/seed_1016/rec/stationpuzzle/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..9be9771c216161214867d056e3b23e84cc685e2a --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1016/rec/stationpuzzle/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aca0035b4560aaf579a201e9a03372083a148377b0add51746f5303db33183fe +size 6197633 diff --git a/N032/go2_arm/dr_off/seed_1016/rec/stationpuzzle/000/lerobot_v21/meta/episodes.jsonl b/N032/go2_arm/dr_off/seed_1016/rec/stationpuzzle/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b06f7bff35099d7b3627ba80339ebd616806c419 --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1016/rec/stationpuzzle/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap."], "length": 1760, "magicsim/control_steps": 3520, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a small gray board 0, a small gray board 1, a small gray board 2, a small gray board 3, a small gray board 4, a small gray picture, a small gray picture bar, a small gray picture cap, a small tile and a small cand O. The gray table B is to the left of the tile. The gray board 0 is to the right of the gray board 4. The gray board 1 is in front of the gray board 4. The gray board 2 is behind the gray board 4. The gray board 3 is in front of the gray board 0. The gray board 4 is behind the gray board 1. The tile is on top of the gray table B. The tile is to the right of the gray table B. The cand O is on top of the gray table B. The cand O is behind the gray table B. The scene is viewed from front, at table height."} diff --git a/N032/go2_arm/dr_off/seed_1016/rec/stationpuzzle/000/lerobot_v21/meta/episodes_stats.jsonl b/N032/go2_arm/dr_off/seed_1016/rec/stationpuzzle/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9b7075e72a90f866bde03ac46d9f8c6978a40e50 --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1016/rec/stationpuzzle/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.1719269149354659, -0.0018014690992210738, 0.023451795888897984, 0.3375227213921872, 0.5294393644075502, 0.5502759920856493, 0.6346333347430283, 0.053066651705144484, -0.6184718796898696, 0.4121256086308594, 0.1353805619080297, 0.4596590909090909], "std": [0.1484964344119252, 0.02079884031842854, 0.3231862998158011, 0.02601392262650835, 1.2021441224218654, 1.5215271367036214, 0.05113471531482183, 0.11804153239576468, 0.23581362715750856, 0.5920504685339095, 0.08021940603638786, 0.49836995400377077], "min": [0.0, -0.25, -0.800000011920929, 0.28999999165534973, -2.884603977203369, -1.833670973777771, 0.48625800013542175, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.016282957047224045, 0.0], "max": [0.3499999940395355, 0.10999995470046997, 0.800000011920929, 0.3700000047683716, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18532215058803558, -0.1596960425376892, 0.9801202416419983, 0.2582111060619354, 1.0], "count": [1760]}, "action_is_hold": {"mean": [0.08409090909090909, 0.08409090909090909, 0.08409090909090909, 0.08409090909090909, 0.1125, 0.1125, 0.1125, 0.1125, 0.1125, 0.1125, 0.1125, 0.9630681818181818], "std": [0.27752410363637675, 0.27752410363637675, 0.27752410363637675, 0.27752410363637675, 0.31598061649411413, 0.31598061649411413, 0.31598061649411413, 0.31598061649411413, 0.31598061649411413, 0.31598061649411413, 0.31598061649411413, 0.18859442989548603], "min": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], "count": [1760]}, "observation.state": {"mean": [-0.014013512323491671, 0.0014630421587484802, -0.04142336079039317, 0.08006028316039275, 0.0032574871723398437, 0.7131790676746856, 0.7459826851940968, 0.8776760430498557, 0.8641772734170611, 1.99333448166197, -1.4864031939343973, -1.4810943533751098, -1.4819059609689496, -1.5237758971073412, -1.3004096885973757, 0.041831807703064106, 0.5836335400458087, -0.08265338765131842, 0.026951357967812905, -0.027279885005290536, 0.5450946085512194, 0.41905004542627877, 0.20743827193298123, 0.36682436720214107, -0.027279885005290536, -0.026951357967812905], "std": [0.04729205305439133, 0.047366053076837944, 0.0462585928714702, 0.04615753116386439, 0.10951944554180446, 0.12890397518853963, 0.1589107858033432, 0.13880760587485647, 0.11492661377112572, 0.24385757815820602, 0.15169397730817688, 0.15474572131539346, 0.16252513366324514, 0.168577404628119, 0.26901883778485286, 0.1727326754885765, 0.1212686902196946, 0.2715485775207399, 0.008709434529602688, 0.008353200244264326, 1.2771630563593173, 1.4908968500619642, 1.621895416931347, 0.02575277372190296, 0.008353200244264326, 0.008709434529602688], "min": [-0.18375438451766968, -0.10445834696292877, -0.15938270092010498, -0.0697040855884552, -0.10179509222507477, 0.4495314061641693, 0.4505419433116913, 0.5996329188346863, 0.622883141040802, 1.7042241096496582, -1.8194583654403687, -1.8019102811813354, -1.8279376029968262, -1.8474725484848022, -1.6175081729888916, -0.5883159041404724, 0.25408244132995605, -0.4771468937397003, 0.017347993329167366, -0.03500000014901161, -3.1999762058258057, -2.033966064453125, -3.1301045417785645, 0.3169066309928894, -0.03500000014901161, -0.03500000014901161], "max": [0.12838631868362427, 0.17468872666358948, 0.16986168920993805, 0.1856619417667389, 0.3504568338394165, 0.987841784954071, 1.0822772979736328, 1.175955057144165, 1.1151868104934692, 2.389268159866333, -1.2483506202697754, -1.1810945272445679, -1.1876132488250732, -1.1378628015518188, -0.9919812679290771, 0.339900404214859, 0.7901145219802856, 0.8418059945106506, 0.03500000014901161, -0.01793038658797741, 2.0000040531158447, 2.6057796478271484, 3.134617805480957, 0.40218064188957214, -0.01793038658797741, -0.017347993329167366], "count": [1760]}, "observation.joint_vel": {"mean": [0.0022953712544666483, -0.00137409650347267, 0.006176142812182661, 0.0035077862798971182, 0.0003839878358886298, 0.0037032877559299363, -0.0032616863655996232, 0.005110904613659593, -0.007364355029585568, -0.0056531220927147595, -0.01099291660287401, 0.0028931321956241103, -0.011295688523585506, 0.008938877470295252, -0.0014349719196368163, -0.003846137080555226, 0.00980335180409549, -0.020449918883268352, 0.0006135211827211934, -0.00011501209427857503], "std": [0.47991375616414067, 0.45432256311075025, 0.5494468985504063, 0.6046229215672599, 0.07301960060772712, 1.2180213377659341, 1.2058928489540355, 0.947737307040302, 0.821905636146537, 0.1226863754747769, 0.7378488912778434, 1.0991109364900429, 1.087334061185277, 1.2050956658786636, 0.13011628371446646, 0.08778628266440543, 0.0754730231559141, 0.1338754188592984, 0.008528331138804923, 0.008297659201872927], "min": [-2.813748359680176, -4.392597198486328, -2.9261868000030518, -2.934844493865967, -0.5491071343421936, -4.846402168273926, -4.6784586906433105, -3.887500047683716, -4.466557025909424, -1.398173213005066, -3.1695075035095215, -5.295634746551514, -4.637673377990723, -4.94511079788208, -0.8808018565177917, -0.8280885219573975, -0.40550336241722107, -0.8328812718391418, -0.20007140934467316, -0.1787397712469101], "max": [3.5691394805908203, 2.275970458984375, 5.413066387176514, 2.9335875511169434, 0.7849212884902954, 1.4893989562988281, 2.8105313777923584, 3.9002363681793213, 4.663343906402588, 0.9726279973983765, 3.3194806575775146, 5.322331428527832, 3.44644832611084, 3.394670009613037, 0.9116020798683167, 0.46044230461120605, 0.5233126878738403, 1.3259944915771484, 0.19166892766952515, 0.20024459064006805], "count": [1760]}, "observation.eef_pose": {"mean": [0.5295492960999995, 0.5512077192786489, 0.6328979735516689, 0.05317891904361948, -0.6187630825506693, 0.41166918194873936, 0.13529903715984387], "std": [1.2020225235317998, 1.5206602536591483, 0.051514582957272126, 0.11796628498929426, 0.23574288222019843, 0.5921440031764654, 0.08001037067161217], "min": [-2.884603977203369, -1.8336838483810425, 0.4867205023765564, -0.14978112280368805, -0.9675901532173157, -0.5724236965179443, 0.016368448734283447], "max": [2.1158461570739746, 3.104800224304199, 0.6887743473052979, 0.18543559312820435, -0.15981997549533844, 0.9801092147827148, 0.2587748169898987], "count": [1760]}, "observation.environment_state": {"mean": [-0.256323903799057, -0.16531170904636383, 0.3400000035762787, 1.0, 0.0, 0.0, 0.0, -0.25626781582832336, -0.005311716813594103, 0.3400000035762787, 1.0, 0.0, 0.0, 0.0, -0.3612958490848541, -0.08527490496635437, 0.3400000035762787, 1.0, 0.0, 0.0, 0.0, -0.15129587054252625, -0.08534851670265198, 0.3400000035762787, 1.0, 0.0, 0.0, 0.0, -0.2862853407859802, -0.05530119687318802, 0.3400000035762787, 1.0, 0.0, 0.0, 0.0, 1.63364850865169, 3.1806247234344482, 0.3300000272860581, 0.999171793460846, -1.5828701311287478e-07, 8.804700251423648e-08, -0.04069029892244461, -0.2561836838722229, 0.23468826711177826, 0.4300000071525574, 1.0, 0.0, 0.0, 0.0, -0.2561854422092438, 0.22968827188014984, 0.4050000011920929, 1.0, 0.0, 0.0, 0.0, -0.206185445189476, 0.22967074811458588, 0.45500001311302185, 1.0, 0.0, 0.0, 0.0, -0.25625380873680115, 0.034688279032707214, 0.18000000715255737, 1.0, 0.0, 0.0, 0.0, 1.8729888200759888, 3.2878527641296387, 0.18000000715255737, 0.9978959560394287, 0.0, 0.0, -0.06483564525842667, 1.2778484408420892, 1.8119550404252633, 0.38886618217961355, 0.7785085008564321, -0.0006205156159926001, -0.002593831112499289, 0.3008873791269831], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.6258923756778237e-08, 0.0, 1.7956720326887326e-08, 0.0, 1.7899272120061283e-07, 1.6783887499645815e-07, 1.518560557107162e-07, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.9745149913443104, 1.5858391125626006, 0.07092498653352054, 0.344348561025931, 0.0035841239832285895, 0.004314166264213443, 0.429856720060511], "min": [-0.256323903799057, -0.16531170904636383, 0.3400000035762787, 1.0, 0.0, 0.0, 0.0, -0.25626781582832336, -0.005311716813594103, 0.3400000035762787, 1.0, 0.0, 0.0, 0.0, -0.3612958490848541, -0.08527490496635437, 0.3400000035762787, 1.0, 0.0, 0.0, 0.0, -0.15129587054252625, -0.08534851670265198, 0.3400000035762787, 1.0, 0.0, 0.0, 0.0, -0.2862853407859802, -0.05530119687318802, 0.3400000035762787, 1.0, 0.0, 0.0, 0.0, 1.63364839553833, 3.1806247234344482, 0.32999998331069946, 0.999171793460846, -6.616148198190785e-07, -3.2901772328841616e-07, -0.0406908318400383, -0.2561836838722229, 0.23468826711177826, 0.4300000071525574, 1.0, 0.0, 0.0, 0.0, -0.2561854422092438, 0.22968827188014984, 0.4050000011920929, 1.0, 0.0, 0.0, 0.0, -0.206185445189476, 0.22967074811458588, 0.45500001311302185, 1.0, 0.0, 0.0, 0.0, -0.25625380873680115, 0.034688279032707214, 0.18000000715255737, 1.0, 0.0, 0.0, 0.0, 1.8729888200759888, 3.2878527641296387, 0.18000000715255737, 0.9978959560394287, 0.0, 0.0, -0.06483564525842667, -0.7261114120483398, -0.9871571660041809, 0.32996195554733276, 0.15020693838596344, -0.026263779029250145, -0.02067609876394272, -0.004340806510299444], "max": [-0.256323903799057, -0.16531170904636383, 0.3400000035762787, 1.0, 0.0, 0.0, 0.0, -0.25626781582832336, -0.005311716813594103, 0.3400000035762787, 1.0, 0.0, 0.0, 0.0, -0.3612958490848541, -0.08527490496635437, 0.3400000035762787, 1.0, 0.0, 0.0, 0.0, -0.15129587054252625, -0.08534851670265198, 0.3400000035762787, 1.0, 0.0, 0.0, 0.0, -0.2862853407859802, -0.05530119687318802, 0.3400000035762787, 1.0, 0.0, 0.0, 0.0, 1.6336485147476196, 3.1806247234344482, 0.3300000727176666, 0.999171793460846, 4.6742442805225437e-07, 4.2748396822389623e-07, -0.04068993777036667, -0.2561836838722229, 0.23468826711177826, 0.4300000071525574, 1.0, 0.0, 0.0, 0.0, -0.2561854422092438, 0.22968827188014984, 0.4050000011920929, 1.0, 0.0, 0.0, 0.0, -0.206185445189476, 0.22967074811458588, 0.45500001311302185, 1.0, 0.0, 0.0, 0.0, -0.25625380873680115, 0.034688279032707214, 0.18000000715255737, 1.0, 0.0, 0.0, 0.0, 1.8729888200759888, 3.2878527641296387, 0.18000000715255737, 0.9978959560394287, 0.0, 0.0, -0.06483564525842667, 2.0613551139831543, 3.164346694946289, 0.5055802464485168, 1.0, 0.01176154799759388, 0.010070858523249626, 0.9886378645896912], "count": [1760]}, "action.command": {"mean": [0.32831676334929255, 0.7112885877009361, 1.4243636217809492, 0.7520473854882377, 0.0, 0.0, 0.6591089878763471, 1.4583866837387964, 0.5550651407577623, 0.5486317549697416, 0.6418661993764885, 0.03974324836373024, -0.6071827173633704, 0.38060994444488905, 0.13093505118151938, 0.5384615384615384, 0.171929106044076, 0.5181700317655511, 1.5331276089001165, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3694586764076222, 0.1951656836733487, 0.6560105900483293, 0.013716762075998094, -0.589831997401206, 0.2945897558986876, 0.1298079629923685, 0.0, 0.18789098735579765, 0.5151528820563981, 1.5331276089001165, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3694586764076222, 0.1951656836733487, 0.6560105900483293, 0.013716762075998094, -0.589831997401206, 0.2945897558986876, 0.1298079629923685, 0.0, 0.1879595644976673, 0.4815048169531229, 1.5331276089001165, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3694586764076222, 0.1951656836733487, 0.6560105900483293, 0.013716762075998094, -0.589831997401206, 0.2945897558986876, 0.1298079629923685, 0.0, 0.2098360451868162, 0.48649298687358666, 1.5331276089001165, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3694586764076222, 0.1951656836733487, 0.6560105900483293, 0.013716762075998094, -0.589831997401206, 0.2945897558986876, 0.1298079629923685, 0.0, 0.20828999615062227, 0.4527767765213869, 1.5331276089001165, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3694586764076222, 0.1951656836733487, 0.6560105900483293, 0.013716762075998094, -0.589831997401206, 0.2945897558986876, 0.1298079629923685, 0.0, 0.22123457776662414, 0.45330066808013425, 1.5331276089001165, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3694586764076222, 0.1951656836733487, 0.6560105900483293, 0.013716762075998094, -0.589831997401206, 0.2945897558986876, 0.1298079629923685, 0.0, 0.2306175286579209, 0.427194452150958, 1.5331276089001165, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3694586764076222, 0.1951656836733487, 0.6560105900483293, 0.013716762075998094, -0.589831997401206, 0.2945897558986876, 0.1298079629923685, 0.0, 0.25214331164980164, 0.4276376719043405, 1.5331276089001165, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3694586764076222, 0.1951656836733487, 0.6560105900483293, 0.013716762075998094, -0.589831997401206, 0.2945897558986876, 0.1298079629923685, 0.0, 0.2538809955943081, 0.402740823240388, 1.5331276089001165, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3694586764076222, 0.1951656836733487, 0.6560105900483293, 0.013716762075998094, -0.589831997401206, 0.2945897558986876, 0.1298079629923685, 0.0, 0.2701315981349479, 0.3995890490265386, 1.5331276089001165, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3694586764076222, 0.1951656836733487, 0.6560105900483293, 0.013716762075998094, -0.589831997401206, 0.2945897558986876, 0.1298079629923685, 0.0, 0.27741246924454255, 0.3785372890640345, 1.5331276089001165, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3694586764076222, 0.1951656836733487, 0.6560105900483293, 0.013716762075998094, -0.589831997401206, 0.2945897558986876, 0.1298079629923685, 0.0, 0.2851119826702771, 0.3680375489452929, 1.5331276089001165, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3694586764076222, 0.1951656836733487, 0.6560105900483293, 0.013716762075998094, -0.589831997401206, 0.2945897558986876, 0.1298079629923685, 0.0, 0.30072438101824345, 0.3541951530969586, 1.5331276089001165, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3694586764076222, 0.1951656836733487, 0.6560105900483293, 0.013716762075998094, -0.589831997401206, 0.2945897558986876, 0.1298079629923685, 0.0, 0.31604409654758664, 0.3427614174386026, 1.5331276089001165, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3694586764076222, 0.1951656836733487, 0.6560105900483293, 0.013716762075998094, -0.589831997401206, 0.2945897558986876, 0.1298079629923685, 0.0, 0.32179325705872597, 0.32829587452823783, 1.5331276089001165, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3694586764076222, 0.1951656836733487, 0.6560105900483293, 0.013716762075998094, -0.589831997401206, 0.2945897558986876, 0.1298079629923685, 0.0, 0.3235938711774946, 0.3086922419571915, 1.5331276089001165, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3694586764076222, 0.1951656836733487, 0.6560105900483293, 0.013716762075998094, -0.589831997401206, 0.2945897558986876, 0.1298079629923685, 0.0, 0.3449122476751084, 0.30379885952672975, 1.5331276089001165, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3694586764076222, 0.1951656836733487, 0.6560105900483293, 0.013716762075998094, -0.589831997401206, 0.2945897558986876, 0.1298079629923685, 0.0, 0.3434543316410508, 0.2792333946811556, 1.5331276089001165, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3694586764076222, 0.1951656836733487, 0.6560105900483293, 0.013716762075998094, -0.589831997401206, 0.2945897558986876, 0.1298079629923685, 0.0, 0.3567533201518467, 0.2714626309318958, 1.5331276089001165, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3694586764076222, 0.1951656836733487, 0.6560105900483293, 0.013716762075998094, -0.589831997401206, 0.2945897558986876, 0.1298079629923685, 0.0, 0.3773990531056301, 0.2560248120728525, 1.5331276089001165, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3694586764076222, 0.1951656836733487, 0.6560105900483293, 0.013716762075998094, -0.589831997401206, 0.2945897558986876, 0.1298079629923685, 0.0, 0.3804341177659197, 0.2555999265252485, 1.5331276089001165, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3694586764076222, 0.1951656836733487, 0.6560105900483293, 0.013716762075998094, -0.589831997401206, 0.2945897558986876, 0.1298079629923685, 0.0, 0.36904550551982995, 0.22865594249453414, 1.5331276089001165, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3694586764076222, 0.1951656836733487, 0.6560105900483293, 0.013716762075998094, -0.589831997401206, 0.2945897558986876, 0.1298079629923685, 0.0, 0.38849017707712236, 0.23740066352009967, 1.5331276089001165, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3694586764076222, 0.1951656836733487, 0.6560105900483293, 0.013716762075998094, -0.589831997401206, 0.2945897558986876, 0.1298079629923685, 0.0, 0.387740512897587, 0.21844940460460058, 1.5331276089001165, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3694586764076222, 0.1951656836733487, 0.6560105900483293, 0.013716762075998094, -0.589831997401206, 0.2945897558986876, 0.1298079629923685, 0.0, 0.4007134836690684, 0.22290294375481243, 1.5331276089001165, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3694586764076222, 0.1951656836733487, 0.6560105900483293, 0.013716762075998094, -0.589831997401206, 0.2945897558986876, 0.1298079629923685, 0.0, 0.41165999252114427, 0.2079436780586959, 1.5331276089001165, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3694586764076222, 0.1951656836733487, 0.6560105900483293, 0.013716762075998094, -0.589831997401206, 0.2945897558986876, 0.1298079629923685, 0.0, 0.41348254194359785, 0.2093912906800314, 1.5331276089001165, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3694586764076222, 0.1951656836733487, 0.6560105900483293, 0.013716762075998094, -0.589831997401206, 0.2945897558986876, 0.1298079629923685, 0.0, 0.40590946113928456, 0.18805446587683503, 1.5331276089001165, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3694586764076222, 0.1951656836733487, 0.6560105900483293, 0.013716762075998094, -0.589831997401206, 0.2945897558986876, 0.1298079629923685, 0.0, 0.42653474096142613, 0.19626722202270694, 1.5331276089001165, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3694586764076222, 0.1951656836733487, 0.6560105900483293, 0.013716762075998094, -0.589831997401206, 0.2945897558986876, 0.1298079629923685, 0.0, 0.44571391518358655, 0.21463734855776073, 1.5331276089001165, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3694586764076222, 0.1951656836733487, 0.6560105900483293, 0.013716762075998094, -0.589831997401206, 0.2945897558986876, 0.1298079629923685, 0.0, 0.4396399305787341, 0.18322726021338742, 1.5331276089001165, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3694586764076222, 0.1951656836733487, 0.6560105900483293, 0.013716762075998094, -0.589831997401206, 0.2945897558986876, 0.1298079629923685, 0.0, 0.45935991579766033, 0.18805077439700651, 1.5331276089001165, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3694586764076222, 0.1951656836733487, 0.6560105900483293, 0.013716762075998094, -0.589831997401206, 0.2945897558986876, 0.1298079629923685, 0.0, 0.452754614281924, 0.17020970467411836, 1.5331276089001165, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3694586764076222, 0.1951656836733487, 0.6560105900483293, 0.013716762075998094, -0.589831997401206, 0.2945897558986876, 0.1298079629923685, 0.0, 0.451153511088191, 0.16599080538277866, 1.5331276089001165, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3694586764076222, 0.1951656836733487, 0.6560105900483293, 0.013716762075998094, -0.589831997401206, 0.2945897558986876, 0.1298079629923685, 0.0, 0.46580242325878296, 0.1572018401495667, 1.5331276089001165, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3694586764076222, 0.1951656836733487, 0.6560105900483293, 0.013716762075998094, -0.589831997401206, 0.2945897558986876, 0.1298079629923685, 0.0, 0.47450334589585347, 0.15445945468492, 1.5331276089001165, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3694586764076222, 0.1951656836733487, 0.6560105900483293, 0.013716762075998094, -0.589831997401206, 0.2945897558986876, 0.1298079629923685, 0.0, 0.4788662768142096, 0.14422287629474922, 1.5331276089001165, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3694586764076222, 0.1951656836733487, 0.6560105900483293, 0.013716762075998094, -0.589831997401206, 0.2945897558986876, 0.1298079629923685, 0.0, 0.4928550245496106, 0.1413591849303207, 1.5331276089001165, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3694586764076222, 0.1951656836733487, 0.6560105900483293, 0.013716762075998094, -0.589831997401206, 0.2945897558986876, 0.1298079629923685, 0.0, 0.4919156549627831, 0.13119218846322647, 1.5331276089001165, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3694586764076222, 0.1951656836733487, 0.6560105900483293, 0.013716762075998094, -0.589831997401206, 0.2945897558986876, 0.1298079629923685, 0.0, 0.48749541937823443, 0.11883125749081133, 1.5331276089001165, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3694586764076222, 0.1951656836733487, 0.6560105900483293, 0.013716762075998094, -0.589831997401206, 0.2945897558986876, 0.1298079629923685, 0.0, 0.5049909299332799, 0.11808531775902084, 1.5331276089001165, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3694586764076222, 0.1951656836733487, 0.6560105900483293, 0.013716762075998094, -0.589831997401206, 0.2945897558986876, 0.1298079629923685, 0.0, 0.5105808030133872, 0.10645391150514606, 1.5331276089001165, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3694586764076222, 0.1951656836733487, 0.6560105900483293, 0.013716762075998094, -0.589831997401206, 0.2945897558986876, 0.1298079629923685, 0.0, 0.5180737523539578, 0.10499433434067328, 1.5331276089001165, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3694586764076222, 0.1951656836733487, 0.6560105900483293, 0.013716762075998094, -0.589831997401206, 0.2945897558986876, 0.1298079629923685, 0.0, 0.5236488120428773, 0.08950459894533111, 1.5331276089001165, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3694586764076222, 0.1951656836733487, 0.6560105900483293, 0.013716762075998094, -0.589831997401206, 0.2945897558986876, 0.1298079629923685, 0.0, 0.5312026724195249, 0.09203869088737954, 1.5331276089001165, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3694586764076222, 0.1951656836733487, 0.6560105900483293, 0.013716762075998094, -0.589831997401206, 0.2945897558986876, 0.1298079629923685, 0.0, 0.5215935729239407, 0.0666995121945472, 1.5331276089001165, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3694586764076222, 0.1951656836733487, 0.6560105900483293, 0.013716762075998094, -0.589831997401206, 0.2945897558986876, 0.1298079629923685, 0.0, 0.5443162145830318, 0.07916341884504034, 1.5331276089001165, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3694586764076222, 0.1951656836733487, 0.6560105900483293, 0.013716762075998094, -0.589831997401206, 0.2945897558986876, 0.1298079629923685, 0.0, 0.5432594215349927, 0.05186466562150946, 1.5331276089001165, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3694586764076222, 0.1951656836733487, 0.6560105900483293, 0.013716762075998094, -0.589831997401206, 0.2945897558986876, 0.1298079629923685, 0.0, 0.5574219056882073, 0.06627234791725971, 1.5331276089001165, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3694586764076222, 0.1951656836733487, 0.6560105900483293, 0.013716762075998094, -0.589831997401206, 0.2945897558986876, 0.1298079629923685, 0.0, 0.5509056430641014, 0.030550595529389497, 1.5331276089001165, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3694586764076222, 0.1951656836733487, 0.6560105900483293, 0.013716762075998094, -0.589831997401206, 0.2945897558986876, 0.1298079629923685, 0.0, 0.570644232779982, 0.05352877853784307, 1.5331276089001165, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3694586764076222, 0.1951656836733487, 0.6560105900483293, 0.013716762075998094, -0.589831997401206, 0.2945897558986876, 0.1298079629923685, 0.0, 0.5740366104346293, 0.051863392306452614, 1.5331276089001165, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3694586764076222, 0.1951656836733487, 0.6560105900483293, 0.013716762075998094, -0.589831997401206, 0.2945897558986876, 0.1298079629923685, 0.0, 0.5842741929078911, 0.041471044928653944, 1.5331276089001165, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3694586764076222, 0.1951656836733487, 0.6560105900483293, 0.013716762075998094, -0.589831997401206, 0.2945897558986876, 0.1298079629923685, 0.0, 0.6031995147033347, 0.05180997651834673, 1.5331276089001165, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3694586764076222, 0.1951656836733487, 0.6560105900483293, 0.013716762075998094, -0.589831997401206, 0.2945897558986876, 0.1298079629923685, 0.0, 0.5987708964332432, 0.031152750231530246, 1.5331276089001165, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3694586764076222, 0.1951656836733487, 0.6560105900483293, 0.013716762075998094, -0.589831997401206, 0.2945897558986876, 0.1298079629923685, 0.0, 0.6057331425307834, 0.025795599274180816, 1.5331276089001165, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3694586764076222, 0.1951656836733487, 0.6560105900483293, 0.013716762075998094, -0.589831997401206, 0.2945897558986876, 0.1298079629923685, 0.0, 0.617082233960486, 0.028354529658503987, 1.5331276089001165, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3694586764076222, 0.1951656836733487, 0.6560105900483293, 0.013716762075998094, -0.589831997401206, 0.2945897558986876, 0.1298079629923685, 0.0, 0.6189966929026297, 0.021956458278541997, 1.5331276089001165, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3694586764076222, 0.1951656836733487, 0.6560105900483293, 0.013716762075998094, -0.589831997401206, 0.2945897558986876, 0.1298079629923685, 0.0, 0.6310649433313164, 0.016769394278526306, 1.5331276089001165, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3694586764076222, 0.1951656836733487, 0.6560105900483293, 0.013716762075998094, -0.589831997401206, 0.2945897558986876, 0.1298079629923685, 0.0, 0.6220593969059298, 0.011656070371821932, 1.5331276089001165, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3694586764076222, 0.1951656836733487, 0.6560105900483293, 0.013716762075998094, -0.589831997401206, 0.2945897558986876, 0.1298079629923685, 0.0, 0.8517114654245218, 0.29907254633567143, 1.5225205780064912, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8357772090282924, 0.6220900881649053, 0.6511872302570778, -0.01625609911081702, -0.699167006366975, 0.10389187010932574, 0.15938894104413473, 0.0, 0.8257461218974897, 0.2976334865409804, 1.5225205780064912, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8357772090282924, 0.6220900881649053, 0.6511872302570778, -0.01625609911081702, -0.699167006366975, 0.10389187010932574, 0.15938894104413473, 0.0, 0.8139637366431878, 0.3127989772691766, 1.5225205780064912, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8357772090282924, 0.6220900881649053, 0.6511872302570778, -0.01625609911081702, -0.699167006366975, 0.10389187010932574, 0.15938894104413473, 0.0, 0.7974179357723081, 0.32113461456110864, 1.5225205780064912, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8357772090282924, 0.6220900881649053, 0.6511872302570778, -0.01625609911081702, -0.699167006366975, 0.10389187010932574, 0.15938894104413473, 0.0, 0.7764980140841601, 0.3327858408457016, 1.5225205780064912, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8357772090282924, 0.6220900881649053, 0.6511872302570778, -0.01625609911081702, -0.699167006366975, 0.10389187010932574, 0.15938894104413473, 0.0, 0.7425593276859813, 0.33634291187361565, 1.5225205780064912, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8357772090282924, 0.6220900881649053, 0.6511872302570778, -0.01625609911081702, -0.699167006366975, 0.10389187010932574, 0.15938894104413473, 0.0, 0.7308689616156812, 0.35020289647381336, 1.5225205780064912, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8357772090282924, 0.6220900881649053, 0.6511872302570778, -0.01625609911081702, -0.699167006366975, 0.10389187010932574, 0.15938894104413473, 0.0, 0.6740879831039559, 0.3472242302790717, 1.5225205780064912, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8357772090282924, 0.6220900881649053, 0.6511872302570778, -0.01625609911081702, -0.699167006366975, 0.10389187010932574, 0.15938894104413473, 0.0, 0.684147742735338, 0.36727626176543254, 1.5225205780064912, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8357772090282924, 0.6220900881649053, 0.6511872302570778, -0.01625609911081702, -0.699167006366975, 0.10389187010932574, 0.15938894104413473, 0.0, 0.6907231275193176, 0.3849550057743595, 1.5225205780064912, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8357772090282924, 0.6220900881649053, 0.6511872302570778, -0.01625609911081702, -0.699167006366975, 0.10389187010932574, 0.15938894104413473, 0.0, 0.6381947516282069, 0.38476053282185707, 1.5225205780064912, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8357772090282924, 0.6220900881649053, 0.6511872302570778, -0.01625609911081702, -0.699167006366975, 0.10389187010932574, 0.15938894104413473, 0.0, 0.6271404064264288, 0.39762166668023313, 1.5225205780064912, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8357772090282924, 0.6220900881649053, 0.6511872302570778, -0.01625609911081702, -0.699167006366975, 0.10389187010932574, 0.15938894104413473, 0.0, 0.592856285142948, 0.40337339723753235, 1.5225205780064912, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8357772090282924, 0.6220900881649053, 0.6511872302570778, -0.01625609911081702, -0.699167006366975, 0.10389187010932574, 0.15938894104413473, 0.0, 0.5514563478498538, 0.41880325039392685, 1.5225205780064912, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8357772090282924, 0.6220900881649053, 0.6511872302570778, -0.01625609911081702, -0.699167006366975, 0.10389187010932574, 0.15938894104413473, 0.0], "std": [2.0208502297188016, 2.036256238310359, 0.3455766867757018, 0.0001259362618150441, 0.0, 0.0, 0.00014364409326270426, 1.081740883165559, 1.2252292171738903, 1.5348175709450078, 0.042423670726684834, 0.11834274838316046, 0.2474298633688628, 0.6210132068775219, 0.0828098027068273, 0.4985185152621432, 2.014169324786051, 2.024671827104904, 0.05862382496879592, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1933330940249613, 1.3320290085966588, 0.018418025276250544, 0.11818517347195627, 0.2750876872198004, 0.6712624939108051, 0.08967830175811187, 0.0, 1.9810129199054631, 1.9999108529857588, 0.05862382496879592, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1933330940249613, 1.3320290085966588, 0.018418025276250544, 0.11818517347195627, 0.2750876872198004, 0.6712624939108051, 0.08967830175811187, 0.0, 1.9445983521641936, 1.939504774824896, 0.05862382496879592, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1933330940249613, 1.3320290085966588, 0.018418025276250544, 0.11818517347195627, 0.2750876872198004, 0.6712624939108051, 0.08967830175811187, 0.0, 1.916788513419019, 1.9172901976595282, 0.05862382496879592, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1933330940249613, 1.3320290085966588, 0.018418025276250544, 0.11818517347195627, 0.2750876872198004, 0.6712624939108051, 0.08967830175811187, 0.0, 1.8788229355507933, 1.8620052219622876, 0.05862382496879592, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1933330940249613, 1.3320290085966588, 0.018418025276250544, 0.11818517347195627, 0.2750876872198004, 0.6712624939108051, 0.08967830175811187, 0.0, 1.8632961464233802, 1.8428386434880444, 0.05862382496879592, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1933330940249613, 1.3320290085966588, 0.018418025276250544, 0.11818517347195627, 0.2750876872198004, 0.6712624939108051, 0.08967830175811187, 0.0, 1.8146974257908997, 1.7872450007484324, 0.05862382496879592, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1933330940249613, 1.3320290085966588, 0.018418025276250544, 0.11818517347195627, 0.2750876872198004, 0.6712624939108051, 0.08967830175811187, 0.0, 1.77852009312152, 1.7600974246448344, 0.05862382496879592, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1933330940249613, 1.3320290085966588, 0.018418025276250544, 0.11818517347195627, 0.2750876872198004, 0.6712624939108051, 0.08967830175811187, 0.0, 1.7515553804983275, 1.7133285185138902, 0.05862382496879592, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1933330940249613, 1.3320290085966588, 0.018418025276250544, 0.11818517347195627, 0.2750876872198004, 0.6712624939108051, 0.08967830175811187, 0.0, 1.7258309484694827, 1.6845969765749076, 0.05862382496879592, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1933330940249613, 1.3320290085966588, 0.018418025276250544, 0.11818517347195627, 0.2750876872198004, 0.6712624939108051, 0.08967830175811187, 0.0, 1.6893713534818677, 1.6398276352840526, 0.05862382496879592, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1933330940249613, 1.3320290085966588, 0.018418025276250544, 0.11818517347195627, 0.2750876872198004, 0.6712624939108051, 0.08967830175811187, 0.0, 1.6683962527823535, 1.6107358738791344, 0.05862382496879592, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1933330940249613, 1.3320290085966588, 0.018418025276250544, 0.11818517347195627, 0.2750876872198004, 0.6712624939108051, 0.08967830175811187, 0.0, 1.6282591929221968, 1.566945621389168, 0.05862382496879592, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1933330940249613, 1.3320290085966588, 0.018418025276250544, 0.11818517347195627, 0.2750876872198004, 0.6712624939108051, 0.08967830175811187, 0.0, 1.5861420255718788, 1.5296326512131553, 0.05862382496879592, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1933330940249613, 1.3320290085966588, 0.018418025276250544, 0.11818517347195627, 0.2750876872198004, 0.6712624939108051, 0.08967830175811187, 0.0, 1.5682841152138807, 1.4955782485954892, 0.05862382496879592, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1933330940249613, 1.3320290085966588, 0.018418025276250544, 0.11818517347195627, 0.2750876872198004, 0.6712624939108051, 0.08967830175811187, 0.0, 1.5442524250522527, 1.4607150117197476, 0.05862382496879592, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1933330940249613, 1.3320290085966588, 0.018418025276250544, 0.11818517347195627, 0.2750876872198004, 0.6712624939108051, 0.08967830175811187, 0.0, 1.509264038211905, 1.4239846028987533, 0.05862382496879592, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1933330940249613, 1.3320290085966588, 0.018418025276250544, 0.11818517347195627, 0.2750876872198004, 0.6712624939108051, 0.08967830175811187, 0.0, 1.4828841267313573, 1.3862304181921552, 0.05862382496879592, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1933330940249613, 1.3320290085966588, 0.018418025276250544, 0.11818517347195627, 0.2750876872198004, 0.6712624939108051, 0.08967830175811187, 0.0, 1.4508274456118455, 1.3573238955466465, 0.05862382496879592, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1933330940249613, 1.3320290085966588, 0.018418025276250544, 0.11818517347195627, 0.2750876872198004, 0.6712624939108051, 0.08967830175811187, 0.0, 1.403282442052138, 1.3057575491548141, 0.05862382496879592, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1933330940249613, 1.3320290085966588, 0.018418025276250544, 0.11818517347195627, 0.2750876872198004, 0.6712624939108051, 0.08967830175811187, 0.0, 1.3940518206537655, 1.2828237849385702, 0.05862382496879592, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1933330940249613, 1.3320290085966588, 0.018418025276250544, 0.11818517347195627, 0.2750876872198004, 0.6712624939108051, 0.08967830175811187, 0.0, 1.3717899933940378, 1.2378132118711764, 0.05862382496879592, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1933330940249613, 1.3320290085966588, 0.018418025276250544, 0.11818517347195627, 0.2750876872198004, 0.6712624939108051, 0.08967830175811187, 0.0, 1.3368234770805052, 1.21127158226011, 0.05862382496879592, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1933330940249613, 1.3320290085966588, 0.018418025276250544, 0.11818517347195627, 0.2750876872198004, 0.6712624939108051, 0.08967830175811187, 0.0, 1.3059592595392142, 1.1577916006406461, 0.05862382496879592, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1933330940249613, 1.3320290085966588, 0.018418025276250544, 0.11818517347195627, 0.2750876872198004, 0.6712624939108051, 0.08967830175811187, 0.0, 1.280814116464584, 1.140383877677515, 0.05862382496879592, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1933330940249613, 1.3320290085966588, 0.018418025276250544, 0.11818517347195627, 0.2750876872198004, 0.6712624939108051, 0.08967830175811187, 0.0, 1.2284513030130033, 1.0778051534976003, 0.05862382496879592, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1933330940249613, 1.3320290085966588, 0.018418025276250544, 0.11818517347195627, 0.2750876872198004, 0.6712624939108051, 0.08967830175811187, 0.0, 1.2257899399850778, 1.0721817204224737, 0.05862382496879592, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1933330940249613, 1.3320290085966588, 0.018418025276250544, 0.11818517347195627, 0.2750876872198004, 0.6712624939108051, 0.08967830175811187, 0.0, 1.208794383907246, 1.020753780591957, 0.05862382496879592, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1933330940249613, 1.3320290085966588, 0.018418025276250544, 0.11818517347195627, 0.2750876872198004, 0.6712624939108051, 0.08967830175811187, 0.0, 1.1717001931740756, 1.0076045856088685, 0.05862382496879592, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1933330940249613, 1.3320290085966588, 0.018418025276250544, 0.11818517347195627, 0.2750876872198004, 0.6712624939108051, 0.08967830175811187, 0.0, 1.1525668378771916, 0.9906846636152504, 0.05862382496879592, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1933330940249613, 1.3320290085966588, 0.018418025276250544, 0.11818517347195627, 0.2750876872198004, 0.6712624939108051, 0.08967830175811187, 0.0, 1.1188201059219236, 0.9475955396157951, 0.05862382496879592, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1933330940249613, 1.3320290085966588, 0.018418025276250544, 0.11818517347195627, 0.2750876872198004, 0.6712624939108051, 0.08967830175811187, 0.0, 1.0786117822668293, 0.9314546879587889, 0.05862382496879592, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1933330940249613, 1.3320290085966588, 0.018418025276250544, 0.11818517347195627, 0.2750876872198004, 0.6712624939108051, 0.08967830175811187, 0.0, 1.0673474627246349, 0.8931121751797804, 0.05862382496879592, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1933330940249613, 1.3320290085966588, 0.018418025276250544, 0.11818517347195627, 0.2750876872198004, 0.6712624939108051, 0.08967830175811187, 0.0, 1.0648832242856474, 0.8878176961684817, 0.05862382496879592, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1933330940249613, 1.3320290085966588, 0.018418025276250544, 0.11818517347195627, 0.2750876872198004, 0.6712624939108051, 0.08967830175811187, 0.0, 1.0176632685579987, 0.8452949313427314, 0.05862382496879592, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1933330940249613, 1.3320290085966588, 0.018418025276250544, 0.11818517347195627, 0.2750876872198004, 0.6712624939108051, 0.08967830175811187, 0.0, 0.992793217845907, 0.8305551201357936, 0.05862382496879592, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1933330940249613, 1.3320290085966588, 0.018418025276250544, 0.11818517347195627, 0.2750876872198004, 0.6712624939108051, 0.08967830175811187, 0.0, 0.9698482599134702, 0.8052784164882565, 0.05862382496879592, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1933330940249613, 1.3320290085966588, 0.018418025276250544, 0.11818517347195627, 0.2750876872198004, 0.6712624939108051, 0.08967830175811187, 0.0, 0.9324874111930495, 0.7856897786438908, 0.05862382496879592, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1933330940249613, 1.3320290085966588, 0.018418025276250544, 0.11818517347195627, 0.2750876872198004, 0.6712624939108051, 0.08967830175811187, 0.0, 0.9241437364726978, 0.7742305474362661, 0.05862382496879592, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1933330940249613, 1.3320290085966588, 0.018418025276250544, 0.11818517347195627, 0.2750876872198004, 0.6712624939108051, 0.08967830175811187, 0.0, 0.9178662732245719, 0.7664179813702178, 0.05862382496879592, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1933330940249613, 1.3320290085966588, 0.018418025276250544, 0.11818517347195627, 0.2750876872198004, 0.6712624939108051, 0.08967830175811187, 0.0, 0.88075238854438, 0.7532070806551363, 0.05862382496879592, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1933330940249613, 1.3320290085966588, 0.018418025276250544, 0.11818517347195627, 0.2750876872198004, 0.6712624939108051, 0.08967830175811187, 0.0, 0.8525791563936599, 0.7391972183036855, 0.05862382496879592, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1933330940249613, 1.3320290085966588, 0.018418025276250544, 0.11818517347195627, 0.2750876872198004, 0.6712624939108051, 0.08967830175811187, 0.0, 0.8402404414807231, 0.7431841439421253, 0.05862382496879592, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1933330940249613, 1.3320290085966588, 0.018418025276250544, 0.11818517347195627, 0.2750876872198004, 0.6712624939108051, 0.08967830175811187, 0.0, 0.8081484143823442, 0.7306525982286023, 0.05862382496879592, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1933330940249613, 1.3320290085966588, 0.018418025276250544, 0.11818517347195627, 0.2750876872198004, 0.6712624939108051, 0.08967830175811187, 0.0, 0.803112703454632, 0.7446412439282759, 0.05862382496879592, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1933330940249613, 1.3320290085966588, 0.018418025276250544, 0.11818517347195627, 0.2750876872198004, 0.6712624939108051, 0.08967830175811187, 0.0, 0.7949833307923369, 0.744818816741011, 0.05862382496879592, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1933330940249613, 1.3320290085966588, 0.018418025276250544, 0.11818517347195627, 0.2750876872198004, 0.6712624939108051, 0.08967830175811187, 0.0, 0.7699012065890746, 0.7574805491777223, 0.05862382496879592, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1933330940249613, 1.3320290085966588, 0.018418025276250544, 0.11818517347195627, 0.2750876872198004, 0.6712624939108051, 0.08967830175811187, 0.0, 0.7422401461546473, 0.7567535180468717, 0.05862382496879592, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1933330940249613, 1.3320290085966588, 0.018418025276250544, 0.11818517347195627, 0.2750876872198004, 0.6712624939108051, 0.08967830175811187, 0.0, 0.7409642103007028, 0.7810680843748425, 0.05862382496879592, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1933330940249613, 1.3320290085966588, 0.018418025276250544, 0.11818517347195627, 0.2750876872198004, 0.6712624939108051, 0.08967830175811187, 0.0, 0.7185928478139584, 0.7894333502464258, 0.05862382496879592, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1933330940249613, 1.3320290085966588, 0.018418025276250544, 0.11818517347195627, 0.2750876872198004, 0.6712624939108051, 0.08967830175811187, 0.0, 0.7167407460838048, 0.814425169692045, 0.05862382496879592, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1933330940249613, 1.3320290085966588, 0.018418025276250544, 0.11818517347195627, 0.2750876872198004, 0.6712624939108051, 0.08967830175811187, 0.0, 0.7139682777976014, 0.8265733988419544, 0.05862382496879592, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1933330940249613, 1.3320290085966588, 0.018418025276250544, 0.11818517347195627, 0.2750876872198004, 0.6712624939108051, 0.08967830175811187, 0.0, 0.6976855351989653, 0.8562232997603022, 0.05862382496879592, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1933330940249613, 1.3320290085966588, 0.018418025276250544, 0.11818517347195627, 0.2750876872198004, 0.6712624939108051, 0.08967830175811187, 0.0, 0.6782495432871373, 0.8640268030494368, 0.05862382496879592, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1933330940249613, 1.3320290085966588, 0.018418025276250544, 0.11818517347195627, 0.2750876872198004, 0.6712624939108051, 0.08967830175811187, 0.0, 0.6842544668432046, 0.9047651469021565, 0.05862382496879592, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1933330940249613, 1.3320290085966588, 0.018418025276250544, 0.11818517347195627, 0.2750876872198004, 0.6712624939108051, 0.08967830175811187, 0.0, 0.6758305228696346, 0.9224312065474363, 0.05862382496879592, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1933330940249613, 1.3320290085966588, 0.018418025276250544, 0.11818517347195627, 0.2750876872198004, 0.6712624939108051, 0.08967830175811187, 0.0, 0.6759657138193061, 0.956149136212835, 0.05862382496879592, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1933330940249613, 1.3320290085966588, 0.018418025276250544, 0.11818517347195627, 0.2750876872198004, 0.6712624939108051, 0.08967830175811187, 0.0, 0.678204385482188, 0.9787929421017476, 0.05862382496879592, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1933330940249613, 1.3320290085966588, 0.018418025276250544, 0.11818517347195627, 0.2750876872198004, 0.6712624939108051, 0.08967830175811187, 0.0, 0.6740697350835558, 1.0157631716915332, 0.05862382496879592, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1933330940249613, 1.3320290085966588, 0.018418025276250544, 0.11818517347195627, 0.2750876872198004, 0.6712624939108051, 0.08967830175811187, 0.0, 0.6895876578838521, 1.0375027268675536, 0.05862382496879592, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1933330940249613, 1.3320290085966588, 0.018418025276250544, 0.11818517347195627, 0.2750876872198004, 0.6712624939108051, 0.08967830175811187, 0.0, 0.6160816231421433, 1.0645464473153918, 0.062491961007215185, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7734294412829484, 1.1904854910502236, 0.018017293980543272, 0.11777190025856267, 0.20135115262046524, 0.6433908884033944, 0.07961259049216868, 0.0, 0.6539077748864607, 1.0980159489218335, 0.062491961007215185, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7734294412829484, 1.1904854910502236, 0.018017293980543272, 0.11777190025856267, 0.20135115262046524, 0.6433908884033944, 0.07961259049216868, 0.0, 0.68914044709973, 1.133718239660364, 0.062491961007215185, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7734294412829484, 1.1904854910502236, 0.018017293980543272, 0.11777190025856267, 0.20135115262046524, 0.6433908884033944, 0.07961259049216868, 0.0, 0.7206279720176386, 1.1612911159655155, 0.062491961007215185, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7734294412829484, 1.1904854910502236, 0.018017293980543272, 0.11777190025856267, 0.20135115262046524, 0.6433908884033944, 0.07961259049216868, 0.0, 0.7619830913969257, 1.1980890777264457, 0.062491961007215185, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7734294412829484, 1.1904854910502236, 0.018017293980543272, 0.11777190025856267, 0.20135115262046524, 0.6433908884033944, 0.07961259049216868, 0.0, 0.8077761288661359, 1.231073533280706, 0.062491961007215185, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7734294412829484, 1.1904854910502236, 0.018017293980543272, 0.11777190025856267, 0.20135115262046524, 0.6433908884033944, 0.07961259049216868, 0.0, 0.8410861167518694, 1.264430523314759, 0.062491961007215185, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7734294412829484, 1.1904854910502236, 0.018017293980543272, 0.11777190025856267, 0.20135115262046524, 0.6433908884033944, 0.07961259049216868, 0.0, 0.9053057736887633, 1.304069366300366, 0.062491961007215185, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7734294412829484, 1.1904854910502236, 0.018017293980543272, 0.11777190025856267, 0.20135115262046524, 0.6433908884033944, 0.07961259049216868, 0.0, 0.9210269093480566, 1.3310358199094805, 0.062491961007215185, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7734294412829484, 1.1904854910502236, 0.018017293980543272, 0.11777190025856267, 0.20135115262046524, 0.6433908884033944, 0.07961259049216868, 0.0, 0.9376485549357274, 1.3566213083785879, 0.062491961007215185, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7734294412829484, 1.1904854910502236, 0.018017293980543272, 0.11777190025856267, 0.20135115262046524, 0.6433908884033944, 0.07961259049216868, 0.0, 1.0006131350646172, 1.3977499151083734, 0.062491961007215185, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7734294412829484, 1.1904854910502236, 0.018017293980543272, 0.11777190025856267, 0.20135115262046524, 0.6433908884033944, 0.07961259049216868, 0.0, 1.0317712060082502, 1.4288659705063784, 0.062491961007215185, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7734294412829484, 1.1904854910502236, 0.018017293980543272, 0.11777190025856267, 0.20135115262046524, 0.6433908884033944, 0.07961259049216868, 0.0, 1.0810259963133855, 1.4659436425411971, 0.062491961007215185, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7734294412829484, 1.1904854910502236, 0.018017293980543272, 0.11777190025856267, 0.20135115262046524, 0.6433908884033944, 0.07961259049216868, 0.0, 1.073677039168663, 1.4576907215442092, 0.062491961007215185, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7734294412829484, 1.1904854910502236, 0.018017293980543272, 0.11777190025856267, 0.20135115262046524, 0.6433908884033944, 0.07961259049216868, 0.0], "min": [-3.1999716758728027, -2.0339303016662598, 0.28999999165534973, 0.7517389059066772, 0.0, 0.0, 0.6590503454208374, -1.0, -2.884603977203369, -1.833670973777771, 0.48625800013542175, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.016282957047224045, 0.0, -3.12469220161438, -2.0065371990203857, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.016282957047224045, 0.0, -3.0554733276367188, -1.9813495874404907, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.016282957047224045, 0.0, -3.025738000869751, -1.9705294370651245, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.016282957047224045, 0.0, -2.969653606414795, -1.950121283531189, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.016282957047224045, 0.0, -2.9265997409820557, -1.9344546794891357, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.016282957047224045, 0.0, -2.9036223888397217, -1.926093578338623, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.016282957047224045, 0.0, -2.8272199630737305, -1.898292064666748, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.016282957047224045, 0.0, -2.7512059211730957, -1.8706318140029907, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.016282957047224045, 0.0, -2.7278406620025635, -1.86212956905365, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.016282957047224045, 0.0, -2.6840591430664062, -1.8461982011795044, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.016282957047224045, 0.0, -2.6286990642547607, -1.8260536193847656, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.016282957047224045, 0.0, -2.5993478298187256, -1.815373182296753, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.016282957047224045, 0.0, -2.529744863510132, -1.7900458574295044, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.016282957047224045, 0.0, -2.4479293823242188, -1.7602745294570923, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.016282957047224045, 0.0, -2.430790662765503, -1.7540379762649536, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.016282957047224045, 0.0, -2.3984646797180176, -1.7422751188278198, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.016282957047224045, 0.0, -2.331550359725952, -1.7179261445999146, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.016282957047224045, 0.0, -2.295839548110962, -1.7049314975738525, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.016282957047224045, 0.0, -2.232171058654785, -1.6817635297775269, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.016282957047224045, 0.0, -2.143423080444336, -1.6494696140289307, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.016282957047224045, 0.0, -2.132791757583618, -1.6456010341644287, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.016282957047224045, 0.0, -2.1128711700439453, -1.6383522748947144, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.016282957047224045, 0.0, -2.03375244140625, -1.6095622777938843, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.016282957047224045, 0.0, -1.9918047189712524, -1.594298243522644, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.016282957047224045, 0.0, -1.934798002243042, -1.573554515838623, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.016282957047224045, 0.0, -1.8403862714767456, -1.539199709892273, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.016282957047224045, 0.0, -1.835843801498413, -1.5375467538833618, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.016282957047224045, 0.0, -1.8272759914398193, -1.5344290733337402, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.016282957047224045, 0.0, -1.7365012168884277, -1.5013976097106934, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.016282957047224045, 0.0, -1.688056468963623, -1.483769416809082, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.016282957047224045, 0.0, -1.6371219158172607, -1.4652351140975952, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.016282957047224045, 0.0, -1.5416820049285889, -1.4305061101913452, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.016282957047224045, 0.0, -1.5377594232559204, -1.4290788173675537, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.016282957047224045, 0.0, -1.535679817199707, -1.4283220767974854, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.016282957047224045, 0.0, -1.438805341720581, -1.3930710554122925, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.016282957047224045, 0.0, -1.3842613697052002, -1.3732234239578247, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.016282957047224045, 0.0, -1.3398510217666626, -1.3570631742477417, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.016282957047224045, 0.0, -1.2560875415802002, -1.3265830278396606, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.016282957047224045, 0.0, -1.2408314943313599, -1.3210315704345703, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.016282957047224045, 0.0, -1.2326897382736206, -1.3180688619613647, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.016282957047224045, 0.0, -1.1414521932601929, -1.2848690748214722, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.016282957047224045, 0.0, -1.0802733898162842, -1.2626070976257324, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.016282957047224045, 0.0, -1.0420728921890259, -1.248706579208374, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.016282957047224045, 0.0, -0.9704935550689697, -1.2226600646972656, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.016282957047224045, 0.0, -0.9428123831748962, -1.2125873565673828, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.016282957047224045, 0.0, -0.9281361699104309, -1.2072468996047974, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.016282957047224045, 0.0, -0.8438582420349121, -1.1765795946121216, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.016282957047224045, 0.0, -0.7767176628112793, -1.1521482467651367, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.016282957047224045, 0.0, -0.7449039220809937, -1.1405717134475708, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.016282957047224045, 0.0, -0.6848994493484497, -1.1187371015548706, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.016282957047224045, 0.0, -0.6457123160362244, -1.1044775247573853, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.016282957047224045, 0.0, -0.6250627636909485, -1.0969635248184204, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.016282957047224045, 0.0, -0.5461611151695251, -1.0682525634765625, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.016282957047224045, 0.0, -0.4730546474456787, -1.041650414466858, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.016282957047224045, 0.0, -0.44662007689476013, -1.0320312976837158, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.016282957047224045, 0.0, -0.39646100997924805, -1.0137792825698853, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.016282957047224045, 0.0, -0.34675073623657227, -0.9956905841827393, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.016282957047224045, 0.0, -0.32179903984069824, -0.9866110682487488, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.016282957047224045, 0.0, -0.2465548813343048, -0.9592310190200806, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.016282957047224045, 0.0, -0.25658679008483887, -0.9153116345405579, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.016282957047224045, 0.0, 0.3792373538017273, -0.5173300504684448, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -0.667573869228363, -0.9370280504226685, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.031350743025541306, 0.0, 0.3242630660533905, -0.5444369316101074, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -0.667573869228363, -0.9370280504226685, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.031350743025541306, 0.0, 0.2854606807231903, -0.5566515922546387, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -0.667573869228363, -0.9370280504226685, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.031350743025541306, 0.0, 0.24476704001426697, -0.5694616436958313, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -0.667573869228363, -0.9370280504226685, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.031350743025541306, 0.0, 0.19213180243968964, -0.5860308408737183, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -0.667573869228363, -0.9370280504226685, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.031350743025541306, 0.0, 0.12307435274124146, -0.6077696084976196, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -0.667573869228363, -0.9370280504226685, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.031350743025541306, 0.0, 0.08583849668502808, -0.6194911599159241, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -0.667573869228363, -0.9370280504226685, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.031350743025541306, 0.0, -0.020192652940750122, -0.652868926525116, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -0.667573869228363, -0.9370280504226685, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.031350743025541306, 0.0, -0.022189460694789886, -0.6534975171089172, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -0.667573869228363, -0.9370280504226685, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.031350743025541306, 0.0, -0.0283612459897995, -0.6554403305053711, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -0.667573869228363, -0.9370280504226685, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.031350743025541306, 0.0, -0.1291772723197937, -0.6871764063835144, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -0.667573869228363, -0.9370280504226685, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.031350743025541306, 0.0, -0.16412679851055145, -0.698178231716156, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -0.667573869228363, -0.9370280504226685, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.031350743025541306, 0.0, -0.2361845076084137, -0.7208614349365234, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -0.667573869228363, -0.9370280504226685, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.031350743025541306, 0.0, -0.27194851636886597, -0.6991024017333984, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -0.667573869228363, -0.9370280504226685, 0.5856673121452332, -0.15034116804599762, -0.9675087928771973, -0.5715683102607727, 0.031350743025541306, 0.0], "max": [1.990814447402954, 2.6244874000549316, 1.5704457759857178, 0.752098798751831, 0.0, 0.0, 0.6594608426094055, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18532215058803558, -0.1596960425376892, 0.9801202416419983, 0.2582111060619354, 1.0, 1.9639666080474854, 2.550234079360962, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.1596960425376892, 0.9801202416419983, 0.2582111060619354, 0.0, 1.9498789310455322, 2.522022247314453, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.1596960425376892, 0.9801202416419983, 0.2582111060619354, 0.0, 1.9007421731948853, 2.423621892929077, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.1596960425376892, 0.9801202416419983, 0.2582111060619354, 0.0, 1.8912361860275269, 2.404585361480713, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.1596960425376892, 0.9801202416419983, 0.2582111060619354, 0.0, 1.845258355140686, 2.3125107288360596, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.1596960425376892, 0.9801202416419983, 0.2582111060619354, 0.0, 1.8346858024597168, 2.2913384437561035, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.1596960425376892, 0.9801202416419983, 0.2582111060619354, 0.0, 1.7925443649291992, 2.206946611404419, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.1596960425376892, 0.9801202416419983, 0.2582111060619354, 0.0, 1.77860426902771, 2.179030418395996, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.1596960425376892, 0.9801202416419983, 0.2582111060619354, 0.0, 1.740576982498169, 2.102877616882324, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.1596960425376892, 0.9801202416419983, 0.2582111060619354, 0.0, 1.7230682373046875, 2.067814826965332, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.1596960425376892, 0.9801202416419983, 0.2582111060619354, 0.0, 1.6886824369430542, 1.99895441532135, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.1596960425376892, 0.9801202416419983, 0.2582111060619354, 0.0, 1.6673283576965332, 1.956191062927246, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.1596960425376892, 0.9801202416419983, 0.2582111060619354, 0.0, 1.6367881298065186, 1.8950315713882446, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.1596960425376892, 0.9801202416419983, 0.2582111060619354, 0.0, 1.6117109060287476, 1.844812273979187, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.1596960425376892, 0.9801202416419983, 0.2582111060619354, 0.0, 1.5848937034606934, 1.79110848903656, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.1596960425376892, 0.9801202416419983, 0.2582111060619354, 0.0, 1.5560705661773682, 1.73338782787323, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.1596960425376892, 0.9801202416419983, 0.2582111060619354, 0.0, 1.5329992771148682, 1.687185525894165, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.1596960425376892, 0.9801202416419983, 0.2582111060619354, 0.0, 1.5003535747528076, 1.6218096017837524, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.1596960425376892, 0.9801202416419983, 0.2582111060619354, 0.0, 1.481104850769043, 1.5832624435424805, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.1596960425376892, 0.9801202416419983, 0.2582111060619354, 0.0, 1.4448127746582031, 1.5105843544006348, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.1596960425376892, 0.9801202416419983, 0.2582111060619354, 0.0, 1.4292104244232178, 1.4793392419815063, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.1596960425376892, 0.9801202416419983, 0.2582111060619354, 0.0, 1.3889962434768677, 1.3988069295883179, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.1596960425376892, 0.9801202416419983, 0.2582111060619354, 0.0, 1.3773159980773926, 1.3754162788391113, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.1596960425376892, 0.9801202416419983, 0.2582111060619354, 0.0, 1.3335548639297485, 1.287781000137329, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.1596960425376892, 0.9801202416419983, 0.2582111060619354, 0.0, 1.3254214525222778, 1.2714930772781372, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.1596960425376892, 0.9801202416419983, 0.2582111060619354, 0.0, 1.2776389122009277, 1.1758043766021729, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.1596960425376892, 0.9801202416419983, 0.2582111060619354, 0.0, 1.2735271453857422, 1.1675701141357422, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.1596960425376892, 0.9801202416419983, 0.2582111060619354, 0.0, 1.222297191619873, 1.0649776458740234, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.1596960425376892, 0.9801202416419983, 0.2582111060619354, 0.0, 1.2216328382492065, 1.0636471509933472, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.1596960425376892, 0.9801202416419983, 0.2582111060619354, 0.0, 1.2131738662719727, 1.0467073917388916, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.1596960425376892, 0.9801202416419983, 0.2582111060619354, 0.0, 1.1697382926940918, 0.9597240090370178, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.1596960425376892, 0.9801202416419983, 0.2582111060619354, 0.0, 1.1663269996643066, 0.9528924822807312, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.1596960425376892, 0.9801202416419983, 0.2582111060619354, 0.0, 1.1178439855575562, 0.8558010458946228, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.1596960425376892, 0.9801202416419983, 0.2582111060619354, 0.0, 1.1109486818313599, 0.8419926166534424, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.1596960425376892, 0.9801202416419983, 0.2582111060619354, 0.0, 1.0659494400024414, 0.7518778443336487, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.1596960425376892, 0.9801202416419983, 0.2582111060619354, 0.0, 1.055069088935852, 0.730089008808136, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.1596960425376892, 0.9801202416419983, 0.2582111060619354, 0.0, 1.0140550136566162, 0.6479547619819641, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.1596960425376892, 0.9801202416419983, 0.2582111060619354, 0.0, 0.9995912909507751, 0.618989884853363, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.1596960425376892, 0.9801202416419983, 0.2582111060619354, 0.0, 1.022346019744873, 0.544007420539856, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.1596960425376892, 0.9801202416419983, 0.2582111060619354, 0.0, 1.0321977138519287, 0.5618076920509338, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.1596960425376892, 0.9801202416419983, 0.2582111060619354, 0.0, 1.0798766613006592, 0.6479547619819641, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.1596960425376892, 0.9801202416419983, 0.2582111060619354, 0.0, 1.0911595821380615, 0.6683408617973328, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.1596960425376892, 0.9801202416419983, 0.2582111060619354, 0.0, 1.1373939514160156, 0.7518778443336487, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.1596960425376892, 0.9801202416419983, 0.2582111060619354, 0.0, 1.1496779918670654, 0.7740728259086609, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.1596960425376892, 0.9801202416419983, 0.2582111060619354, 0.0, 1.194911241531372, 0.8558009266853333, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.1596960425376892, 0.9801202416419983, 0.2582111060619354, 0.0, 1.2086092233657837, 0.8805505633354187, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.1596960425376892, 0.9801202416419983, 0.2582111060619354, 0.0, 1.2524285316467285, 0.9597240090370178, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.1596960425376892, 0.9801202416419983, 0.2582111060619354, 0.0, 1.2671582698822021, 0.9863379597663879, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.1596960425376892, 0.9801202416419983, 0.2582111060619354, 0.0, 1.309945821762085, 1.0636471509933472, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.1596960425376892, 0.9801202416419983, 0.2582111060619354, 0.0, 1.3260588645935059, 1.0927603244781494, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.1596960425376892, 0.9801202416419983, 0.2582111060619354, 0.0, 1.3674631118774414, 1.1675701141357422, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.1596960425376892, 0.9801202416419983, 0.2582111060619354, 0.0, 1.3846385478973389, 1.1986029148101807, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.1596960425376892, 0.9801202416419983, 0.2582111060619354, 0.0, 1.4249804019927979, 1.2714930772781372, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.1596960425376892, 0.9801202416419983, 0.2582111060619354, 0.0, 1.4435083866119385, 1.3049697875976562, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.1596960425376892, 0.9801202416419983, 0.2582111060619354, 0.0, 1.4824976921081543, 1.3754162788391113, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.1596960425376892, 0.9801202416419983, 0.2582111060619354, 0.0, 1.502118706703186, 1.4108678102493286, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.1596960425376892, 0.9801202416419983, 0.2582111060619354, 0.0, 1.5400149822235107, 1.4793392419815063, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.1596960425376892, 0.9801202416419983, 0.2582111060619354, 0.0, 1.5609580278396606, 1.5171793699264526, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.1596960425376892, 0.9801202416419983, 0.2582111060619354, 0.0, 1.5975323915481567, 1.583262324333191, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.1596960425376892, 0.9801202416419983, 0.2582111060619354, 0.0, 1.6195989847183228, 1.623132586479187, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.1596960425376892, 0.9801202416419983, 0.2582111060619354, 0.0, 1.6550498008728027, 1.6871856451034546, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.26957446336746216, 0.9557759761810303, 0.2582111060619354, 0.0, 1.6784077882766724, 1.7293890714645386, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.26957446336746216, 0.9557759761810303, 0.2582111060619354, 0.0, 1.7125669717788696, 1.79110848903656, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.26957446336746216, 0.9557759761810303, 0.2582111060619354, 0.0, 1.7370792627334595, 1.835397720336914, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.26957446336746216, 0.9557759761810303, 0.2582111060619354, 0.0, 1.770084261894226, 1.8950315713882446, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.26957446336746216, 0.9557759761810303, 0.2582111060619354, 0.0, 1.795857310295105, 1.941598653793335, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.26957446336746216, 0.9557759761810303, 0.2582111060619354, 0.0, 1.827601432800293, 1.99895441532135, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.26957446336746216, 0.9557759761810303, 0.2582111060619354, 0.0, 1.8545595407485962, 2.0476627349853516, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.26957446336746216, 0.9557759761810303, 0.2582111060619354, 0.0, 1.885118842124939, 2.102877616882324, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.26957446336746216, 0.9557759761810303, 0.2582111060619354, 0.0, 1.9133679866790771, 2.153918504714966, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.26957446336746216, 0.9557759761810303, 0.2582111060619354, 0.0, 1.9429421424865723, 2.2073535919189453, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.26957446336746216, 0.9557759761810303, 0.2582111060619354, 0.0, 1.9725162982940674, 2.2607884407043457, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.26957446336746216, 0.9557759761810303, 0.2582111060619354, 0.0, 2.002457857131958, 2.314887523651123, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.26957446336746216, 0.9557759761810303, 0.2582111060619354, 0.0, 1.9514752626419067, 2.3195559978485107, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 2.1157145500183105, 3.104732036590576, 0.6887670755386353, 0.18422850966453552, -0.26957446336746216, 0.9557759761810303, 0.2582111060619354, 0.0], "count": [1760]}, "action.applied": {"mean": [0.27382806661665776, 0.7195108142258091, -1.2367160943760114, -0.2628744873895564, 0.7091968797824599, -1.23274396200749, 0.17335508688860995, 0.8601147457618605, -1.3704672803255644, -0.16319558505307544, 0.8234769923443144, -1.366900267993862, 0.0032640104278744853, 1.992578265545043, -1.3007430581545287, 0.04166028095771914, 0.5843646645207297, -0.08179581088617686, 0.0033210227414118975, -0.0033210227414118975], "std": [0.15296974301664612, 0.1092806020965561, 0.2096797900852609, 0.14234851597374365, 0.1338058167297423, 0.18301052428779335, 0.14277971867018385, 0.1748284536212135, 0.21082291971104516, 0.13215676776052707, 0.09576241873085024, 0.21983330600293743, 0.10977398512768838, 0.24394773135197226, 0.2692815032815862, 0.17280538462325054, 0.12175602739471025, 0.2714432680602789, 0.010257027073928894, 0.010257027073928894], "min": [-0.220983624458313, 0.38166680932044983, -1.7048439979553223, -0.5124147534370422, 0.4262953996658325, -1.5818058252334595, -0.14315667748451233, 0.46185922622680664, -1.7350691556930542, -0.5760918855667114, 0.5598447322845459, -1.776942253112793, -0.10719331353902817, 1.7056587934494019, -1.6322354078292847, -0.5885590314865112, 0.25262802839279175, -0.48018699884414673, 0.0, -0.03500000014901161], "max": [0.7110285758972168, 1.0154993534088135, -0.8285277485847473, 0.18003538250923157, 0.9711083769798279, -0.8366576433181763, 0.48797938227653503, 1.212509036064148, -0.9792181253433228, 0.31699806451797485, 1.0967656373977661, -0.9619280099868774, 0.35070592164993286, 2.392486095428467, -0.9876317977905273, 0.3408372700214386, 0.7941334247589111, 0.8419483304023743, 0.03500000014901161, 0.0], "count": [1760]}, "extra.reward": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1760]}, "next.truncated": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1760]}, "sim_step_idx": {"mean": [1860.0], "std": [1016.1363097537653], "min": [101.0], "max": [3619.0], "count": [1760]}, "timestamp": {"mean": [35.18000000172549], "std": [20.32272619452815], "min": [0.0], "max": [70.36000061035156], "count": [1760]}, "frame_index": {"mean": [879.5], "std": [508.06815487688266], "min": [0.0], "max": [1759.0], "count": [1760]}, "episode_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1760]}, "index": {"mean": [879.5], "std": [508.06815487688266], "min": [0.0], "max": [1759.0], "count": [1760]}, "task_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1760]}, "next.done": {"mean": [0.0005681818181818182], "std": [0.023829792017625872], "min": [0.0], "max": [1.0], "count": [1760]}, "observation.images.head": {"mean": [[[0.5135758586041789]], [[0.5090591896477096]], [[0.47057977035351856]]], "std": [[[0.14236689175936237]], [[0.12311749448150991]], [[0.12962246175922168]]], "min": [[[0.0]], [[0.00784313725490196]], [[0.00392156862745098]]], "max": [[[0.8784313725490196]], [[0.8745098039215686]], [[0.8745098039215686]]], "count": [100]}, "observation.images.wrist": {"mean": [[[0.5516025493956724]], [[0.5838218010701658]], [[0.5351692686603778]]], "std": [[[0.1763725095964489]], [[0.1548781629447147]], [[0.16553257917636788]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9333333333333333]], [[0.9333333333333333]], [[0.9294117647058824]]], "count": [100]}}} diff --git a/N032/go2_arm/dr_off/seed_1016/rec/stationpuzzle/000/lerobot_v21/meta/extra/episode_000000.json b/N032/go2_arm/dr_off/seed_1016/rec/stationpuzzle/000/lerobot_v21/meta/extra/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..1b3b0421e391085459d5e71ed8369aacc4d9cc90 --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1016/rec/stationpuzzle/000/lerobot_v21/meta/extra/episode_000000.json @@ -0,0 +1,752 @@ +{ + "episode_index": 0, + "trajectory_id": 0, + "env_id": 0, + "task_type": "PuzzleCommand", + "subsample_every": 2, + "control_steps": 3520, + "language": { + "scene": { + "objects": [ + { + "id": "table_A_1", + "cat_name": "table_A", + "inst_id": 1, + "noun": "table A", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 3.5924382104645005, + 0.1445642986762155, + -0.2188497912241441 + ], + "bbox": { + "extent": [ + 0.8999999761581421, + 0.5, + 0.30000001192092896 + ], + "center": [ + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "id": "table_B_1", + "cat_name": "table_B", + "inst_id": 1, + "noun": "table B", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 7.1432869524550595, + 1.7272671884858306, + -0.27610443018812525 + ], + "bbox": { + "extent": [ + 1.028310538478025, + 0.7309590060574647, + 0.30000001192092896 + ], + "center": [ + -1.1102230246251565e-16, + -2.220446049250313e-16, + 0.0 + ] + } + }, + { + "id": "board_0_1", + "cat_name": "board_0", + "inst_id": 1, + "noun": "board 0", + "color": "gray", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.4861789156678333, + -0.022339747249427774, + -0.05620907761600157 + ], + "bbox": { + "extent": [ + 0.25, + 0.03999999910593033, + 0.019999999552965164 + ], + "center": [ + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "id": "board_1_1", + "cat_name": "board_1", + "inst_id": 1, + "noun": "board 1", + "color": "gray", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.5728158737625004, + 0.11215751982874478, + -0.05833572770606949 + ], + "bbox": { + "extent": [ + 0.25, + 0.03999999910593033, + 0.019999999552965164 + ], + "center": [ + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "id": "board_2_1", + "cat_name": "board_2", + "inst_id": 1, + "noun": "board 2", + "color": "gray", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.4412326515853997, + 0.10177590335227893, + -0.05658139568865637 + ], + "bbox": { + "extent": [ + 0.03999999910593033, + 0.10000000149011612, + 0.019999999552965164 + ], + "center": [ + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "id": "board_3_1", + "cat_name": "board_3", + "inst_id": 1, + "noun": "board 3", + "color": "gray", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.617762137844934, + -0.011958130772961923, + -0.0579634096334147 + ], + "bbox": { + "extent": [ + 0.03999999910593033, + 0.10000000149011612, + 0.019999999552965164 + ], + "center": [ + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "id": "board_4_1", + "cat_name": "board_4", + "inst_id": 1, + "noun": "board 4", + "color": "gray", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.520523326320841, + 0.08637484302756437, + -0.057473718989386365 + ], + "bbox": { + "extent": [ + 0.09000000357627869, + 0.03999999910593033, + 0.019999999552965164 + ], + "center": [ + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "id": "picture_1", + "cat_name": "picture", + "inst_id": 1, + "noun": "picture", + "color": "gray", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.70391706874169, + 0.31458828552716933, + 0.028464397718829748 + ], + "bbox": { + "extent": [ + 0.25, + 0.00800000037997961, + 0.20000000298023224 + ], + "center": [ + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "id": "picture_bar_1", + "cat_name": "picture_bar", + "inst_id": 1, + "noun": "picture bar", + "color": "gray", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.700891397735346, + 0.3101950056306524, + 0.003533605378588524 + ], + "bbox": { + "extent": [ + 0.15000000596046448, + 0.0020000000949949026, + 0.05000000074505806 + ], + "center": [ + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "id": "picture_cap_1", + "cat_name": "picture_cap", + "inst_id": 1, + "noun": "picture cap", + "color": "gray", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.7435587599289106, + 0.28349595429671887, + 0.0531990547504721 + ], + "bbox": { + "extent": [ + 0.05000000074505806, + 0.0020000000949949026, + 0.05000000074505806 + ], + "center": [ + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "id": "tile_1", + "cat_name": "tile", + "inst_id": 1, + "noun": "tile", + "color": null, + "size": "small", + "material": null, + "category": "rigid", + "pos": [ + 7.2341387842852765, + 1.5189744940871548, + -0.12565944467709866 + ], + "bbox": { + "extent": [ + 0.15172853744559114, + 0.10173606206943546, + 0.06500015784808638 + ], + "center": [ + 3.776162245880399e-06, + 0.024565984265852818, + 0.03249999528333722 + ] + } + }, + { + "id": "cand_O_1", + "cat_name": "cand_O", + "inst_id": 1, + "noun": "cand O", + "color": null, + "size": "small", + "material": null, + "category": "rigid", + "pos": [ + 6.885927354936261, + 1.767805457282715, + -0.12311968733538763 + ], + "bbox": { + "extent": [ + 0.11620872524084616, + 0.11620880208907672, + 0.06500019666873913 + ], + "center": [ + 0.02500000284369229, + 0.024999976684791644, + 0.03249998195686915 + ] + } + } + ], + "relations": [ + { + "subject": "table_B_1", + "relation": "left_of", + "object": "tile_1" + }, + { + "subject": "board_0_1", + "relation": "right_of", + "object": "board_4_1" + }, + { + "subject": "board_1_1", + "relation": "in_front_of", + "object": "board_4_1" + }, + { + "subject": "board_2_1", + "relation": "behind", + "object": "board_4_1" + }, + { + "subject": "board_3_1", + "relation": "in_front_of", + "object": "board_0_1" + }, + { + "subject": "board_4_1", + "relation": "behind", + "object": "board_1_1" + }, + { + "subject": "tile_1", + "relation": "on_top_of", + "object": "table_B_1" + }, + { + "subject": "tile_1", + "relation": "right_of", + "object": "table_B_1" + }, + { + "subject": "cand_O_1", + "relation": "on_top_of", + "object": "table_B_1" + }, + { + "subject": "cand_O_1", + "relation": "behind", + "object": "table_B_1" + } + ], + "cameras": [ + { + "name": "head", + "intrinsics": { + "K": [ + [ + 607.7061061683956, + 0.0, + 320.0 + ], + [ + 0.0, + 607.3754374751866, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 55.53991912549515, + "resolution": [ + 640, + 480 + ] + }, + "pos_robot": [ + 4.087795049771397, + -0.1717333006194242, + -0.309200041160599 + ], + "viewpoint": "front, at table height", + "extrinsics": { + "R": [ + [ + 0.0034545225363202814, + -0.9995776319673901, + 0.028855223868669955 + ], + [ + -0.02338972540530354, + 0.0287667346071393, + 0.9993124615081647 + ], + [ + -0.9997204544368945, + -0.0041270631819024794, + -0.023280471000004077 + ] + ], + "t": [ + 0.03416419479862187, + -0.08682200219228882, + 0.33429322289826396 + ] + } + }, + { + "name": "wrist", + "intrinsics": { + "K": [ + [ + 617.2500342478374, + 0.0, + 320.0 + ], + [ + 0.0, + 617.548655622722, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 54.807019583348044, + "resolution": [ + 640, + 480 + ] + }, + "pos_robot": [ + 3.7272298106558277, + 0.020705420210964512, + -0.3538171025808414 + ], + "viewpoint": "front, at table height", + "extrinsics": { + "R": [ + [ + 0.017356943317221596, + -0.9998337334638687, + 0.005589449560045617 + ], + [ + -0.9382601518788614, + -0.014355819960515381, + 0.34563246061317376 + ], + [ + -0.3454947523696107, + -0.011243480820582297, + -0.9383533237667454 + ] + ], + "t": [ + 0.006333551580298355, + -0.08611861262827436, + 0.017148138726427706 + ] + } + } + ], + "robots": [ + { + "name": "Go2Plus", + "model": "go2plus", + "type": "mobilemanip", + "noun": "Unitree Go2 EDU quadruped with a Piper arm", + "arms": 1, + "arm_layout": null, + "mobile": true, + "dexterous": false, + "base_pose": { + "pos": [ + -3.4, + -2.2, + 0.44999999999999996 + ], + "ori": [ + 0.9396926164627075, + 0.0, + 0.0, + 0.3420201539993286 + ] + }, + "facing_yaw_deg": 40.000001288448495, + "gripper": "parallel gripper" + } + ], + "lighting": [], + "background": { + "name": null, + "kind": "background", + "type": "dome", + "pose": null, + "setting": null, + "time_of_day": null, + "indoor": false, + "intensity": 1000.0, + "ambient": "dim" + }, + "effects": [], + "caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a small gray board 0, a small gray board 1, a small gray board 2, a small gray board 3, a small gray board 4, a small gray picture, a small gray picture bar, a small gray picture cap, a small tile and a small cand O. The gray table B is to the left of the tile. The gray board 0 is to the right of the gray board 4. The gray board 1 is in front of the gray board 4. The gray board 2 is behind the gray board 4. The gray board 3 is in front of the gray board 0. The gray board 4 is behind the gray board 1. The tile is on top of the gray table B. The tile is to the right of the gray table B. The cand O is on top of the gray table B. The cand O is behind the gray table B. The scene is viewed from front, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n[cand O]e]\n\n\n\n [picture cap]\n\n\n\n [robot]" + }, + "task": { + "task_type": "StationPuzzle", + "instruction": "Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.", + "template_id": -1, + "slots": { + "obj": 1.5704457917446497, + "support": null + }, + "generic_instruction": "Stationpuzzle the 1.5704457917446497.", + "task_id": "N032", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_1291": { + "frame_idx": 1291, + "caption": "Computing a grasp pose for the small tile; the right gripper is below and to the left of and in front of the tile.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "NavTo", + "planner_state": "finished", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_1297": { + "frame_idx": 1297, + "caption": "Working on the small tile; the right gripper is below and to the left of and in front of the tile.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_1548": { + "frame_idx": 1548, + "caption": "Computing a grasp pose for the small tile; the right gripper is below and to the left of and in front of the tile.", + "skill": "ReachStance", + "phase": "verify", + "skill_state": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_1562": { + "frame_idx": 1562, + "caption": "Pre-grasping the small tile, servoing the arm toward it; the right gripper is below and to the left of and in front of the tile.", + "skill": "Grasp", + "phase": "pre_grasp", + "skill_state": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_1563": { + "frame_idx": 1563, + "caption": "Pre-grasping the small tile, moving the arm toward it; the right gripper is below and to the left of and in front of the tile.", + "skill": "Grasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_1616": { + "frame_idx": 1616, + "caption": "Grasping the small tile, moving the arm in to make contact; the right gripper is below and to the left of and in front of the tile.", + "skill": "Grasp", + "phase": "grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_1644": { + "frame_idx": 1644, + "caption": "Grasping the small tile, moving the arm in to make contact; the right gripper is below and to the left of the tile.", + "skill": "Grasp", + "phase": "grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_1679": { + "frame_idx": 1679, + "caption": "Closing the right gripper on the tile; the right gripper is below and to the left of the tile.", + "skill": "Grasp", + "phase": "close_gripper", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_1681": { + "frame_idx": 1681, + "caption": "Closing the right gripper on the tile; the right gripper is below the tile.", + "skill": "Grasp", + "phase": "close_gripper", + "skill_state": "running", + "planner": "ParallelGripper", + "planner_state": "running", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_1739": { + "frame_idx": 1739, + "caption": "Lifting the tile away with the gripper; the right gripper is below the tile.", + "skill": "Grasp", + "phase": "retrieval", + "skill_state": "running", + "planner": "ParallelGripper", + "planner_state": "finished", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_1740": { + "frame_idx": 1740, + "caption": "Lifting the tile away with the arm; the right gripper is below the tile.", + "skill": "Grasp", + "phase": "retrieval", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_1802": { + "frame_idx": 1802, + "caption": "Done — the small tile is grasped; the right gripper is below the tile.", + "skill": "Grasp", + "phase": "completed", + "skill_state": "finished", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + } + } + }, + "depth_range": [ + 0.1, + 20.0 + ], + "annotation_sidecar": null, + "annotation_sidecar_keys": [], + "terminated": true, + "truncated": false +} \ No newline at end of file diff --git a/N032/go2_arm/dr_off/seed_1016/rec/stationpuzzle/000/lerobot_v21/meta/info.json b/N032/go2_arm/dr_off/seed_1016/rec/stationpuzzle/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..5bd75054eae12c0bea8d8d0aca02410cdf5f2a9e --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1016/rec/stationpuzzle/000/lerobot_v21/meta/info.json @@ -0,0 +1,350 @@ +{ + "codebase_version": "v2.1", + "robot_type": "Go2PlusCfg", + "total_episodes": 1, + "total_frames": 1760, + "total_tasks": 1, + "total_videos": 2, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 25, + "splits": { + "train": "0:1" + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", + "features": { + "action": { + "dtype": "float32", + "shape": [ + 12 + ], + "names": [ + "base_action_0", + "base_action_1", + "base_action_2", + "base_action_3", + "eef0.pos_x", + "eef0.pos_y", + "eef0.pos_z", + "eef0.quat_w", + "eef0.quat_x", + "eef0.quat_y", + "eef0.quat_z", + "gripper" + ] + }, + "action_is_hold": { + "dtype": "bool", + "shape": [ + 12 + ], + "names": null + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 26 + ], + "names": [ + "joint_0", + "joint_1", + "joint_2", + "joint_3", + "joint_4", + "joint_5", + "joint_6", + "joint_7", + "joint_8", + "joint_9", + "joint_10", + "joint_11", + "joint_12", + "joint_13", + "joint_14", + "joint_15", + "joint_16", + "joint_17", + "joint_18", + "joint_19", + "joint_20", + "joint_21", + "joint_22", + "joint_23", + "gripper_0", + "gripper_1" + ] + }, + "observation.joint_vel": { + "dtype": "float32", + "shape": [ + 20 + ], + "names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ] + }, + "observation.eef_pose": { + "dtype": "float32", + "shape": [ + 7 + ], + "names": null + }, + "observation.environment_state": { + "dtype": "float32", + "shape": [ + 84 + ], + "names": [ + "object_pose.board_0.0", + "object_pose.board_0.1", + "object_pose.board_0.2", + "object_pose.board_0.3", + "object_pose.board_0.4", + "object_pose.board_0.5", + "object_pose.board_0.6", + "object_pose.board_1.0", + "object_pose.board_1.1", + "object_pose.board_1.2", + "object_pose.board_1.3", + "object_pose.board_1.4", + "object_pose.board_1.5", + "object_pose.board_1.6", + "object_pose.board_2.0", + "object_pose.board_2.1", + "object_pose.board_2.2", + "object_pose.board_2.3", + "object_pose.board_2.4", + "object_pose.board_2.5", + "object_pose.board_2.6", + "object_pose.board_3.0", + "object_pose.board_3.1", + "object_pose.board_3.2", + "object_pose.board_3.3", + "object_pose.board_3.4", + "object_pose.board_3.5", + "object_pose.board_3.6", + "object_pose.board_4.0", + "object_pose.board_4.1", + "object_pose.board_4.2", + "object_pose.board_4.3", + "object_pose.board_4.4", + "object_pose.board_4.5", + "object_pose.board_4.6", + "object_pose.cand_O.0", + "object_pose.cand_O.1", + "object_pose.cand_O.2", + "object_pose.cand_O.3", + "object_pose.cand_O.4", + "object_pose.cand_O.5", + "object_pose.cand_O.6", + "object_pose.picture.0", + "object_pose.picture.1", + "object_pose.picture.2", + "object_pose.picture.3", + "object_pose.picture.4", + "object_pose.picture.5", + "object_pose.picture.6", + "object_pose.picture_bar.0", + "object_pose.picture_bar.1", + "object_pose.picture_bar.2", + "object_pose.picture_bar.3", + "object_pose.picture_bar.4", + "object_pose.picture_bar.5", + "object_pose.picture_bar.6", + "object_pose.picture_cap.0", + "object_pose.picture_cap.1", + "object_pose.picture_cap.2", + "object_pose.picture_cap.3", + "object_pose.picture_cap.4", + "object_pose.picture_cap.5", + "object_pose.picture_cap.6", + "object_pose.table_A.0", + "object_pose.table_A.1", + "object_pose.table_A.2", + "object_pose.table_A.3", + "object_pose.table_A.4", + "object_pose.table_A.5", + "object_pose.table_A.6", + "object_pose.table_B.0", + "object_pose.table_B.1", + "object_pose.table_B.2", + "object_pose.table_B.3", + "object_pose.table_B.4", + "object_pose.table_B.5", + "object_pose.table_B.6", + "object_pose.tile.0", + "object_pose.tile.1", + "object_pose.tile.2", + "object_pose.tile.3", + "object_pose.tile.4", + "object_pose.tile.5", + "object_pose.tile.6" + ] + }, + "action.command": { + "dtype": "float32", + "shape": [ + 1200 + ], + "names": null + }, + "action.applied": { + "dtype": "float32", + "shape": [ + 20 + ], + "names": null + }, + "narration": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "collect_info": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "extra.reward": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "extra.action_info": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "next.truncated": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "sim_step_idx": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "next.done": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "observation.images.head": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25, + "video.codec": "libsvtav1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.wrist": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25, + "video.codec": "libsvtav1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + } + } +} \ No newline at end of file diff --git a/N032/go2_arm/dr_off/seed_1016/rec/stationpuzzle/000/lerobot_v21/meta/magicsim_manifest.json b/N032/go2_arm/dr_off/seed_1016/rec/stationpuzzle/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..8516bdba3e2ee9aa5c91be239d0c5a60c71ebd4c --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1016/rec/stationpuzzle/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,290 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 03:04:44" + }, + "embodiment": { + "robots": [ + { + "name": "Go2Plus", + "cfg": "Go2PlusCfg", + "type": "mobilemanip", + "joint_names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 12, + "nan_policy": "from_raw", + "segments": [ + { + "name": "Go2Plus.base_action", + "start": 0, + "end": 4, + "names": [ + "base_action_0", + "base_action_1", + "base_action_2", + "base_action_3" + ], + "source": "Go2UnifiedLocomotionAction", + "names_source": "fallback" + }, + { + "name": "Go2Plus.arm_action", + "start": 4, + "end": 11, + "names": [ + "eef0.pos_x", + "eef0.pos_y", + "eef0.pos_z", + "eef0.quat_w", + "eef0.quat_x", + "eef0.quat_y", + "eef0.quat_z" + ], + "source": "Go2PlusCuroboIKAction", + "names_source": "pose_layout" + }, + { + "name": "Go2Plus.eef_action", + "start": 11, + "end": 12, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 26, + "segments": [ + { + "name": "Go2Plus.joint_pos", + "start": 0, + "end": 24, + "names": [ + "joint_0", + "joint_1", + "joint_2", + "joint_3", + "joint_4", + "joint_5", + "joint_6", + "joint_7", + "joint_8", + "joint_9", + "joint_10", + "joint_11", + "joint_12", + "joint_13", + "joint_14", + "joint_15", + "joint_16", + "joint_17", + "joint_18", + "joint_19", + "joint_20", + "joint_21", + "joint_22", + "joint_23" + ], + "source": "ObservationManager", + "names_source": "fallback_dim_mismatch(joint_names=20,obs=24)" + }, + { + "name": "Go2Plus.gripper_pos", + "start": 24, + "end": 26, + "names": [ + "gripper_0", + "gripper_1" + ], + "source": "ObservationManager", + "names_source": "generated" + } + ] + }, + "joint_vel_layout": { + "dim": 20, + "segments": [ + { + "name": "Go2Plus.joint_vel", + "start": 0, + "end": 20, + "names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "action_levels": { + "L0": "task command list (collect.auto_collect_info.current_action)", + "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)", + "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)", + "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy", + "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)" + }, + "cameras": { + "head": { + "intrinsics": { + "K": [ + [ + 607.7061061683956, + 0.0, + 320.0 + ], + [ + 0.0, + 607.3754374751866, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 55.53991912549515, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.33205100893974304, + 0.038026999682188034, + 0.09355899691581726 + ], + "quat": [ + -0.5022302269935608, + -0.499491810798645, + 0.5120040774345398, + 0.4859265089035034 + ] + }, + "wrist": { + "intrinsics": { + "K": [ + [ + 617.2500342478374, + 0.0, + 320.0 + ], + [ + 0.0, + 617.548655622722, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 54.807019583348044, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + -0.0749870017170906, + 0.005288999993354082, + 0.04582099989056587 + ], + "quat": [ + 0.1271296590566635, + 0.701795220375061, + -0.6904057860374451, + -0.12108422070741653 + ] + } + }, + "lerobot": { + "codebase_version": "v2.1", + "video_keys": [ + "observation.images.head", + "observation.images.wrist" + ], + "columns": [ + "action", + "action.applied", + "action.command", + "action_is_hold", + "collect_info", + "episode_index", + "extra.action_info", + "extra.reward", + "frame_index", + "index", + "narration", + "next.done", + "next.truncated", + "observation.eef_pose", + "observation.environment_state", + "observation.images.head", + "observation.images.wrist", + "observation.joint_vel", + "observation.state", + "sim_step_idx", + "task_index", + "timestamp" + ] + }, + "generated_run": { + "run_id": "stationpuzzle/000", + "task_type": "PuzzleCommand" + } +} \ No newline at end of file diff --git a/N032/go2_arm/dr_off/seed_1016/rec/stationpuzzle/000/lerobot_v21/meta/stats.json b/N032/go2_arm/dr_off/seed_1016/rec/stationpuzzle/000/lerobot_v21/meta/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..75d4a888164c49c8207661e1f98460ba0c4bec66 --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1016/rec/stationpuzzle/000/lerobot_v21/meta/stats.json @@ -0,0 +1,5929 @@ +{ + "action": { + "mean": [ + 0.1719269149354659, + -0.0018014690992210738, + 0.023451795888897984, + 0.3375227213921872, + 0.5294393644075502, + 0.5502759920856493, + 0.6346333347430283, + 0.053066651705144484, + -0.6184718796898696, + 0.4121256086308594, + 0.1353805619080297, + 0.4596590909090909 + ], + "std": [ + 0.1484964344119252, + 0.02079884031842854, + 0.3231862998158011, + 0.02601392262650835, + 1.2021441224218654, + 1.5215271367036214, + 0.05113471531482183, + 0.11804153239576468, + 0.23581362715750856, + 0.5920504685339095, + 0.08021940603638786, + 0.49836995400377077 + ], + "min": [ + 0.0, + -0.25, + -0.800000011920929, + 0.28999999165534973, + -2.884603977203369, + -1.833670973777771, + 0.48625800013542175, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.016282957047224045, + 0.0 + ], + "max": [ + 0.3499999940395355, + 0.10999995470046997, + 0.800000011920929, + 0.3700000047683716, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18532215058803558, + -0.1596960425376892, + 0.9801202416419983, + 0.2582111060619354, + 1.0 + ], + "count": [ + 1760 + ] + }, + "action_is_hold": { + "mean": [ + 0.08409090909090909, + 0.08409090909090909, + 0.08409090909090909, + 0.08409090909090909, + 0.1125, + 0.1125, + 0.1125, + 0.1125, + 0.1125, + 0.1125, + 0.1125, + 0.9630681818181818 + ], + "std": [ + 0.27752410363637675, + 0.27752410363637675, + 0.27752410363637675, + 0.27752410363637675, + 0.31598061649411413, + 0.31598061649411413, + 0.31598061649411413, + 0.31598061649411413, + 0.31598061649411413, + 0.31598061649411413, + 0.31598061649411413, + 0.18859442989548603 + ], + "min": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "max": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "count": [ + 1760 + ] + }, + "observation.state": { + "mean": [ + -0.014013512323491671, + 0.0014630421587484802, + -0.04142336079039317, + 0.08006028316039275, + 0.0032574871723398437, + 0.7131790676746856, + 0.7459826851940968, + 0.8776760430498557, + 0.8641772734170611, + 1.99333448166197, + -1.4864031939343973, + -1.4810943533751098, + -1.4819059609689496, + -1.5237758971073412, + -1.3004096885973757, + 0.041831807703064106, + 0.5836335400458087, + -0.08265338765131842, + 0.026951357967812905, + -0.027279885005290536, + 0.5450946085512194, + 0.41905004542627877, + 0.20743827193298123, + 0.36682436720214107, + -0.027279885005290536, + -0.026951357967812905 + ], + "std": [ + 0.04729205305439133, + 0.047366053076837944, + 0.0462585928714702, + 0.04615753116386439, + 0.10951944554180446, + 0.12890397518853963, + 0.1589107858033432, + 0.13880760587485647, + 0.11492661377112572, + 0.24385757815820602, + 0.15169397730817688, + 0.15474572131539346, + 0.16252513366324514, + 0.168577404628119, + 0.26901883778485286, + 0.1727326754885765, + 0.1212686902196946, + 0.2715485775207399, + 0.008709434529602688, + 0.008353200244264326, + 1.2771630563593173, + 1.4908968500619642, + 1.621895416931347, + 0.02575277372190296, + 0.008353200244264326, + 0.008709434529602688 + ], + "min": [ + -0.18375438451766968, + -0.10445834696292877, + -0.15938270092010498, + -0.0697040855884552, + -0.10179509222507477, + 0.4495314061641693, + 0.4505419433116913, + 0.5996329188346863, + 0.622883141040802, + 1.7042241096496582, + -1.8194583654403687, + -1.8019102811813354, + -1.8279376029968262, + -1.8474725484848022, + -1.6175081729888916, + -0.5883159041404724, + 0.25408244132995605, + -0.4771468937397003, + 0.017347993329167366, + -0.03500000014901161, + -3.1999762058258057, + -2.033966064453125, + -3.1301045417785645, + 0.3169066309928894, + -0.03500000014901161, + -0.03500000014901161 + ], + "max": [ + 0.12838631868362427, + 0.17468872666358948, + 0.16986168920993805, + 0.1856619417667389, + 0.3504568338394165, + 0.987841784954071, + 1.0822772979736328, + 1.175955057144165, + 1.1151868104934692, + 2.389268159866333, + -1.2483506202697754, + -1.1810945272445679, + -1.1876132488250732, + -1.1378628015518188, + -0.9919812679290771, + 0.339900404214859, + 0.7901145219802856, + 0.8418059945106506, + 0.03500000014901161, + -0.01793038658797741, + 2.0000040531158447, + 2.6057796478271484, + 3.134617805480957, + 0.40218064188957214, + -0.01793038658797741, + -0.017347993329167366 + ], + "count": [ + 1760 + ] + }, + "observation.joint_vel": { + "mean": [ + 0.0022953712544666483, + -0.00137409650347267, + 0.006176142812182661, + 0.0035077862798971182, + 0.0003839878358886298, + 0.0037032877559299363, + -0.0032616863655996232, + 0.005110904613659593, + -0.007364355029585568, + -0.0056531220927147595, + -0.01099291660287401, + 0.0028931321956241103, + -0.011295688523585506, + 0.008938877470295252, + -0.0014349719196368163, + -0.003846137080555226, + 0.00980335180409549, + -0.020449918883268352, + 0.0006135211827211934, + -0.00011501209427857503 + ], + "std": [ + 0.47991375616414067, + 0.45432256311075025, + 0.5494468985504063, + 0.6046229215672599, + 0.07301960060772712, + 1.2180213377659341, + 1.2058928489540355, + 0.947737307040302, + 0.821905636146537, + 0.1226863754747769, + 0.7378488912778434, + 1.0991109364900429, + 1.087334061185277, + 1.2050956658786636, + 0.13011628371446646, + 0.08778628266440543, + 0.0754730231559141, + 0.1338754188592984, + 0.008528331138804923, + 0.008297659201872927 + ], + "min": [ + -2.813748359680176, + -4.392597198486328, + -2.9261868000030518, + -2.934844493865967, + -0.5491071343421936, + -4.846402168273926, + -4.6784586906433105, + -3.887500047683716, + -4.466557025909424, + -1.398173213005066, + -3.1695075035095215, + -5.295634746551514, + -4.637673377990723, + -4.94511079788208, + -0.8808018565177917, + -0.8280885219573975, + -0.40550336241722107, + -0.8328812718391418, + -0.20007140934467316, + -0.1787397712469101 + ], + "max": [ + 3.5691394805908203, + 2.275970458984375, + 5.413066387176514, + 2.9335875511169434, + 0.7849212884902954, + 1.4893989562988281, + 2.8105313777923584, + 3.9002363681793213, + 4.663343906402588, + 0.9726279973983765, + 3.3194806575775146, + 5.322331428527832, + 3.44644832611084, + 3.394670009613037, + 0.9116020798683167, + 0.46044230461120605, + 0.5233126878738403, + 1.3259944915771484, + 0.19166892766952515, + 0.20024459064006805 + ], + "count": [ + 1760 + ] + }, + "observation.eef_pose": { + "mean": [ + 0.5295492960999995, + 0.5512077192786489, + 0.6328979735516689, + 0.05317891904361948, + -0.6187630825506693, + 0.41166918194873936, + 0.13529903715984387 + ], + "std": [ + 1.2020225235317998, + 1.5206602536591483, + 0.051514582957272126, + 0.11796628498929426, + 0.23574288222019843, + 0.5921440031764654, + 0.08001037067161217 + ], + "min": [ + -2.884603977203369, + -1.8336838483810425, + 0.4867205023765564, + -0.14978112280368805, + -0.9675901532173157, + -0.5724236965179443, + 0.016368448734283447 + ], + "max": [ + 2.1158461570739746, + 3.104800224304199, + 0.6887743473052979, + 0.18543559312820435, + -0.15981997549533844, + 0.9801092147827148, + 0.2587748169898987 + ], + "count": [ + 1760 + ] + }, + "observation.environment_state": { + "mean": [ + -0.256323903799057, + -0.16531170904636383, + 0.3400000035762787, + 1.0, + 0.0, + 0.0, + 0.0, + -0.25626781582832336, + -0.005311716813594103, + 0.3400000035762787, + 1.0, + 0.0, + 0.0, + 0.0, + -0.3612958490848541, + -0.08527490496635437, + 0.3400000035762787, + 1.0, + 0.0, + 0.0, + 0.0, + -0.15129587054252625, + -0.08534851670265198, + 0.3400000035762787, + 1.0, + 0.0, + 0.0, + 0.0, + -0.2862853407859802, + -0.05530119687318802, + 0.3400000035762787, + 1.0, + 0.0, + 0.0, + 0.0, + 1.63364850865169, + 3.1806247234344482, + 0.3300000272860581, + 0.999171793460846, + -1.5828701311287478e-07, + 8.804700251423648e-08, + -0.04069029892244461, + -0.2561836838722229, + 0.23468826711177826, + 0.4300000071525574, + 1.0, + 0.0, + 0.0, + 0.0, + -0.2561854422092438, + 0.22968827188014984, + 0.4050000011920929, + 1.0, + 0.0, + 0.0, + 0.0, + -0.206185445189476, + 0.22967074811458588, + 0.45500001311302185, + 1.0, + 0.0, + 0.0, + 0.0, + -0.25625380873680115, + 0.034688279032707214, + 0.18000000715255737, + 1.0, + 0.0, + 0.0, + 0.0, + 1.8729888200759888, + 3.2878527641296387, + 0.18000000715255737, + 0.9978959560394287, + 0.0, + 0.0, + -0.06483564525842667, + 1.2778484408420892, + 1.8119550404252633, + 0.38886618217961355, + 0.7785085008564321, + -0.0006205156159926001, + -0.002593831112499289, + 0.3008873791269831 + ], + "std": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 2.6258923756778237e-08, + 0.0, + 1.7956720326887326e-08, + 0.0, + 1.7899272120061283e-07, + 1.6783887499645815e-07, + 1.518560557107162e-07, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.9745149913443104, + 1.5858391125626006, + 0.07092498653352054, + 0.344348561025931, + 0.0035841239832285895, + 0.004314166264213443, + 0.429856720060511 + ], + "min": [ + -0.256323903799057, + -0.16531170904636383, + 0.3400000035762787, + 1.0, + 0.0, + 0.0, + 0.0, + -0.25626781582832336, + -0.005311716813594103, + 0.3400000035762787, + 1.0, + 0.0, + 0.0, + 0.0, + -0.3612958490848541, + -0.08527490496635437, + 0.3400000035762787, + 1.0, + 0.0, + 0.0, + 0.0, + -0.15129587054252625, + -0.08534851670265198, + 0.3400000035762787, + 1.0, + 0.0, + 0.0, + 0.0, + -0.2862853407859802, + -0.05530119687318802, + 0.3400000035762787, + 1.0, + 0.0, + 0.0, + 0.0, + 1.63364839553833, + 3.1806247234344482, + 0.32999998331069946, + 0.999171793460846, + -6.616148198190785e-07, + -3.2901772328841616e-07, + -0.0406908318400383, + -0.2561836838722229, + 0.23468826711177826, + 0.4300000071525574, + 1.0, + 0.0, + 0.0, + 0.0, + -0.2561854422092438, + 0.22968827188014984, + 0.4050000011920929, + 1.0, + 0.0, + 0.0, + 0.0, + -0.206185445189476, + 0.22967074811458588, + 0.45500001311302185, + 1.0, + 0.0, + 0.0, + 0.0, + -0.25625380873680115, + 0.034688279032707214, + 0.18000000715255737, + 1.0, + 0.0, + 0.0, + 0.0, + 1.8729888200759888, + 3.2878527641296387, + 0.18000000715255737, + 0.9978959560394287, + 0.0, + 0.0, + -0.06483564525842667, + -0.7261114120483398, + -0.9871571660041809, + 0.32996195554733276, + 0.15020693838596344, + -0.026263779029250145, + -0.02067609876394272, + -0.004340806510299444 + ], + "max": [ + -0.256323903799057, + -0.16531170904636383, + 0.3400000035762787, + 1.0, + 0.0, + 0.0, + 0.0, + -0.25626781582832336, + -0.005311716813594103, + 0.3400000035762787, + 1.0, + 0.0, + 0.0, + 0.0, + -0.3612958490848541, + -0.08527490496635437, + 0.3400000035762787, + 1.0, + 0.0, + 0.0, + 0.0, + -0.15129587054252625, + -0.08534851670265198, + 0.3400000035762787, + 1.0, + 0.0, + 0.0, + 0.0, + -0.2862853407859802, + -0.05530119687318802, + 0.3400000035762787, + 1.0, + 0.0, + 0.0, + 0.0, + 1.6336485147476196, + 3.1806247234344482, + 0.3300000727176666, + 0.999171793460846, + 4.6742442805225437e-07, + 4.2748396822389623e-07, + -0.04068993777036667, + -0.2561836838722229, + 0.23468826711177826, + 0.4300000071525574, + 1.0, + 0.0, + 0.0, + 0.0, + -0.2561854422092438, + 0.22968827188014984, + 0.4050000011920929, + 1.0, + 0.0, + 0.0, + 0.0, + -0.206185445189476, + 0.22967074811458588, + 0.45500001311302185, + 1.0, + 0.0, + 0.0, + 0.0, + -0.25625380873680115, + 0.034688279032707214, + 0.18000000715255737, + 1.0, + 0.0, + 0.0, + 0.0, + 1.8729888200759888, + 3.2878527641296387, + 0.18000000715255737, + 0.9978959560394287, + 0.0, + 0.0, + -0.06483564525842667, + 2.0613551139831543, + 3.164346694946289, + 0.5055802464485168, + 1.0, + 0.01176154799759388, + 0.010070858523249626, + 0.9886378645896912 + ], + "count": [ + 1760 + ] + }, + "action.command": { + "mean": [ + 0.32831676334929255, + 0.7112885877009361, + 1.4243636217809492, + 0.7520473854882377, + 0.0, + 0.0, + 0.6591089878763471, + 1.4583866837387964, + 0.5550651407577623, + 0.5486317549697416, + 0.6418661993764885, + 0.03974324836373024, + -0.6071827173633704, + 0.38060994444488905, + 0.13093505118151938, + 0.5384615384615384, + 0.171929106044076, + 0.5181700317655511, + 1.5331276089001165, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3694586764076222, + 0.1951656836733487, + 0.6560105900483293, + 0.013716762075998094, + -0.589831997401206, + 0.2945897558986876, + 0.1298079629923685, + 0.0, + 0.18789098735579765, + 0.5151528820563981, + 1.5331276089001165, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3694586764076222, + 0.1951656836733487, + 0.6560105900483293, + 0.013716762075998094, + -0.589831997401206, + 0.2945897558986876, + 0.1298079629923685, + 0.0, + 0.1879595644976673, + 0.4815048169531229, + 1.5331276089001165, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3694586764076222, + 0.1951656836733487, + 0.6560105900483293, + 0.013716762075998094, + -0.589831997401206, + 0.2945897558986876, + 0.1298079629923685, + 0.0, + 0.2098360451868162, + 0.48649298687358666, + 1.5331276089001165, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3694586764076222, + 0.1951656836733487, + 0.6560105900483293, + 0.013716762075998094, + -0.589831997401206, + 0.2945897558986876, + 0.1298079629923685, + 0.0, + 0.20828999615062227, + 0.4527767765213869, + 1.5331276089001165, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3694586764076222, + 0.1951656836733487, + 0.6560105900483293, + 0.013716762075998094, + -0.589831997401206, + 0.2945897558986876, + 0.1298079629923685, + 0.0, + 0.22123457776662414, + 0.45330066808013425, + 1.5331276089001165, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3694586764076222, + 0.1951656836733487, + 0.6560105900483293, + 0.013716762075998094, + -0.589831997401206, + 0.2945897558986876, + 0.1298079629923685, + 0.0, + 0.2306175286579209, + 0.427194452150958, + 1.5331276089001165, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3694586764076222, + 0.1951656836733487, + 0.6560105900483293, + 0.013716762075998094, + -0.589831997401206, + 0.2945897558986876, + 0.1298079629923685, + 0.0, + 0.25214331164980164, + 0.4276376719043405, + 1.5331276089001165, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3694586764076222, + 0.1951656836733487, + 0.6560105900483293, + 0.013716762075998094, + -0.589831997401206, + 0.2945897558986876, + 0.1298079629923685, + 0.0, + 0.2538809955943081, + 0.402740823240388, + 1.5331276089001165, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3694586764076222, + 0.1951656836733487, + 0.6560105900483293, + 0.013716762075998094, + -0.589831997401206, + 0.2945897558986876, + 0.1298079629923685, + 0.0, + 0.2701315981349479, + 0.3995890490265386, + 1.5331276089001165, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3694586764076222, + 0.1951656836733487, + 0.6560105900483293, + 0.013716762075998094, + -0.589831997401206, + 0.2945897558986876, + 0.1298079629923685, + 0.0, + 0.27741246924454255, + 0.3785372890640345, + 1.5331276089001165, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3694586764076222, + 0.1951656836733487, + 0.6560105900483293, + 0.013716762075998094, + -0.589831997401206, + 0.2945897558986876, + 0.1298079629923685, + 0.0, + 0.2851119826702771, + 0.3680375489452929, + 1.5331276089001165, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3694586764076222, + 0.1951656836733487, + 0.6560105900483293, + 0.013716762075998094, + -0.589831997401206, + 0.2945897558986876, + 0.1298079629923685, + 0.0, + 0.30072438101824345, + 0.3541951530969586, + 1.5331276089001165, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3694586764076222, + 0.1951656836733487, + 0.6560105900483293, + 0.013716762075998094, + -0.589831997401206, + 0.2945897558986876, + 0.1298079629923685, + 0.0, + 0.31604409654758664, + 0.3427614174386026, + 1.5331276089001165, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3694586764076222, + 0.1951656836733487, + 0.6560105900483293, + 0.013716762075998094, + -0.589831997401206, + 0.2945897558986876, + 0.1298079629923685, + 0.0, + 0.32179325705872597, + 0.32829587452823783, + 1.5331276089001165, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3694586764076222, + 0.1951656836733487, + 0.6560105900483293, + 0.013716762075998094, + -0.589831997401206, + 0.2945897558986876, + 0.1298079629923685, + 0.0, + 0.3235938711774946, + 0.3086922419571915, + 1.5331276089001165, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3694586764076222, + 0.1951656836733487, + 0.6560105900483293, + 0.013716762075998094, + -0.589831997401206, + 0.2945897558986876, + 0.1298079629923685, + 0.0, + 0.3449122476751084, + 0.30379885952672975, + 1.5331276089001165, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3694586764076222, + 0.1951656836733487, + 0.6560105900483293, + 0.013716762075998094, + -0.589831997401206, + 0.2945897558986876, + 0.1298079629923685, + 0.0, + 0.3434543316410508, + 0.2792333946811556, + 1.5331276089001165, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3694586764076222, + 0.1951656836733487, + 0.6560105900483293, + 0.013716762075998094, + -0.589831997401206, + 0.2945897558986876, + 0.1298079629923685, + 0.0, + 0.3567533201518467, + 0.2714626309318958, + 1.5331276089001165, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3694586764076222, + 0.1951656836733487, + 0.6560105900483293, + 0.013716762075998094, + -0.589831997401206, + 0.2945897558986876, + 0.1298079629923685, + 0.0, + 0.3773990531056301, + 0.2560248120728525, + 1.5331276089001165, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3694586764076222, + 0.1951656836733487, + 0.6560105900483293, + 0.013716762075998094, + -0.589831997401206, + 0.2945897558986876, + 0.1298079629923685, + 0.0, + 0.3804341177659197, + 0.2555999265252485, + 1.5331276089001165, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3694586764076222, + 0.1951656836733487, + 0.6560105900483293, + 0.013716762075998094, + -0.589831997401206, + 0.2945897558986876, + 0.1298079629923685, + 0.0, + 0.36904550551982995, + 0.22865594249453414, + 1.5331276089001165, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3694586764076222, + 0.1951656836733487, + 0.6560105900483293, + 0.013716762075998094, + -0.589831997401206, + 0.2945897558986876, + 0.1298079629923685, + 0.0, + 0.38849017707712236, + 0.23740066352009967, + 1.5331276089001165, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3694586764076222, + 0.1951656836733487, + 0.6560105900483293, + 0.013716762075998094, + -0.589831997401206, + 0.2945897558986876, + 0.1298079629923685, + 0.0, + 0.387740512897587, + 0.21844940460460058, + 1.5331276089001165, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3694586764076222, + 0.1951656836733487, + 0.6560105900483293, + 0.013716762075998094, + -0.589831997401206, + 0.2945897558986876, + 0.1298079629923685, + 0.0, + 0.4007134836690684, + 0.22290294375481243, + 1.5331276089001165, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3694586764076222, + 0.1951656836733487, + 0.6560105900483293, + 0.013716762075998094, + -0.589831997401206, + 0.2945897558986876, + 0.1298079629923685, + 0.0, + 0.41165999252114427, + 0.2079436780586959, + 1.5331276089001165, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3694586764076222, + 0.1951656836733487, + 0.6560105900483293, + 0.013716762075998094, + -0.589831997401206, + 0.2945897558986876, + 0.1298079629923685, + 0.0, + 0.41348254194359785, + 0.2093912906800314, + 1.5331276089001165, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3694586764076222, + 0.1951656836733487, + 0.6560105900483293, + 0.013716762075998094, + -0.589831997401206, + 0.2945897558986876, + 0.1298079629923685, + 0.0, + 0.40590946113928456, + 0.18805446587683503, + 1.5331276089001165, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3694586764076222, + 0.1951656836733487, + 0.6560105900483293, + 0.013716762075998094, + -0.589831997401206, + 0.2945897558986876, + 0.1298079629923685, + 0.0, + 0.42653474096142613, + 0.19626722202270694, + 1.5331276089001165, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3694586764076222, + 0.1951656836733487, + 0.6560105900483293, + 0.013716762075998094, + -0.589831997401206, + 0.2945897558986876, + 0.1298079629923685, + 0.0, + 0.44571391518358655, + 0.21463734855776073, + 1.5331276089001165, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3694586764076222, + 0.1951656836733487, + 0.6560105900483293, + 0.013716762075998094, + -0.589831997401206, + 0.2945897558986876, + 0.1298079629923685, + 0.0, + 0.4396399305787341, + 0.18322726021338742, + 1.5331276089001165, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3694586764076222, + 0.1951656836733487, + 0.6560105900483293, + 0.013716762075998094, + -0.589831997401206, + 0.2945897558986876, + 0.1298079629923685, + 0.0, + 0.45935991579766033, + 0.18805077439700651, + 1.5331276089001165, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3694586764076222, + 0.1951656836733487, + 0.6560105900483293, + 0.013716762075998094, + -0.589831997401206, + 0.2945897558986876, + 0.1298079629923685, + 0.0, + 0.452754614281924, + 0.17020970467411836, + 1.5331276089001165, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3694586764076222, + 0.1951656836733487, + 0.6560105900483293, + 0.013716762075998094, + -0.589831997401206, + 0.2945897558986876, + 0.1298079629923685, + 0.0, + 0.451153511088191, + 0.16599080538277866, + 1.5331276089001165, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3694586764076222, + 0.1951656836733487, + 0.6560105900483293, + 0.013716762075998094, + -0.589831997401206, + 0.2945897558986876, + 0.1298079629923685, + 0.0, + 0.46580242325878296, + 0.1572018401495667, + 1.5331276089001165, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3694586764076222, + 0.1951656836733487, + 0.6560105900483293, + 0.013716762075998094, + -0.589831997401206, + 0.2945897558986876, + 0.1298079629923685, + 0.0, + 0.47450334589585347, + 0.15445945468492, + 1.5331276089001165, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3694586764076222, + 0.1951656836733487, + 0.6560105900483293, + 0.013716762075998094, + -0.589831997401206, + 0.2945897558986876, + 0.1298079629923685, + 0.0, + 0.4788662768142096, + 0.14422287629474922, + 1.5331276089001165, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3694586764076222, + 0.1951656836733487, + 0.6560105900483293, + 0.013716762075998094, + -0.589831997401206, + 0.2945897558986876, + 0.1298079629923685, + 0.0, + 0.4928550245496106, + 0.1413591849303207, + 1.5331276089001165, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3694586764076222, + 0.1951656836733487, + 0.6560105900483293, + 0.013716762075998094, + -0.589831997401206, + 0.2945897558986876, + 0.1298079629923685, + 0.0, + 0.4919156549627831, + 0.13119218846322647, + 1.5331276089001165, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3694586764076222, + 0.1951656836733487, + 0.6560105900483293, + 0.013716762075998094, + -0.589831997401206, + 0.2945897558986876, + 0.1298079629923685, + 0.0, + 0.48749541937823443, + 0.11883125749081133, + 1.5331276089001165, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3694586764076222, + 0.1951656836733487, + 0.6560105900483293, + 0.013716762075998094, + -0.589831997401206, + 0.2945897558986876, + 0.1298079629923685, + 0.0, + 0.5049909299332799, + 0.11808531775902084, + 1.5331276089001165, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3694586764076222, + 0.1951656836733487, + 0.6560105900483293, + 0.013716762075998094, + -0.589831997401206, + 0.2945897558986876, + 0.1298079629923685, + 0.0, + 0.5105808030133872, + 0.10645391150514606, + 1.5331276089001165, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3694586764076222, + 0.1951656836733487, + 0.6560105900483293, + 0.013716762075998094, + -0.589831997401206, + 0.2945897558986876, + 0.1298079629923685, + 0.0, + 0.5180737523539578, + 0.10499433434067328, + 1.5331276089001165, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3694586764076222, + 0.1951656836733487, + 0.6560105900483293, + 0.013716762075998094, + -0.589831997401206, + 0.2945897558986876, + 0.1298079629923685, + 0.0, + 0.5236488120428773, + 0.08950459894533111, + 1.5331276089001165, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3694586764076222, + 0.1951656836733487, + 0.6560105900483293, + 0.013716762075998094, + -0.589831997401206, + 0.2945897558986876, + 0.1298079629923685, + 0.0, + 0.5312026724195249, + 0.09203869088737954, + 1.5331276089001165, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3694586764076222, + 0.1951656836733487, + 0.6560105900483293, + 0.013716762075998094, + -0.589831997401206, + 0.2945897558986876, + 0.1298079629923685, + 0.0, + 0.5215935729239407, + 0.0666995121945472, + 1.5331276089001165, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3694586764076222, + 0.1951656836733487, + 0.6560105900483293, + 0.013716762075998094, + -0.589831997401206, + 0.2945897558986876, + 0.1298079629923685, + 0.0, + 0.5443162145830318, + 0.07916341884504034, + 1.5331276089001165, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3694586764076222, + 0.1951656836733487, + 0.6560105900483293, + 0.013716762075998094, + -0.589831997401206, + 0.2945897558986876, + 0.1298079629923685, + 0.0, + 0.5432594215349927, + 0.05186466562150946, + 1.5331276089001165, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3694586764076222, + 0.1951656836733487, + 0.6560105900483293, + 0.013716762075998094, + -0.589831997401206, + 0.2945897558986876, + 0.1298079629923685, + 0.0, + 0.5574219056882073, + 0.06627234791725971, + 1.5331276089001165, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3694586764076222, + 0.1951656836733487, + 0.6560105900483293, + 0.013716762075998094, + -0.589831997401206, + 0.2945897558986876, + 0.1298079629923685, + 0.0, + 0.5509056430641014, + 0.030550595529389497, + 1.5331276089001165, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3694586764076222, + 0.1951656836733487, + 0.6560105900483293, + 0.013716762075998094, + -0.589831997401206, + 0.2945897558986876, + 0.1298079629923685, + 0.0, + 0.570644232779982, + 0.05352877853784307, + 1.5331276089001165, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3694586764076222, + 0.1951656836733487, + 0.6560105900483293, + 0.013716762075998094, + -0.589831997401206, + 0.2945897558986876, + 0.1298079629923685, + 0.0, + 0.5740366104346293, + 0.051863392306452614, + 1.5331276089001165, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3694586764076222, + 0.1951656836733487, + 0.6560105900483293, + 0.013716762075998094, + -0.589831997401206, + 0.2945897558986876, + 0.1298079629923685, + 0.0, + 0.5842741929078911, + 0.041471044928653944, + 1.5331276089001165, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3694586764076222, + 0.1951656836733487, + 0.6560105900483293, + 0.013716762075998094, + -0.589831997401206, + 0.2945897558986876, + 0.1298079629923685, + 0.0, + 0.6031995147033347, + 0.05180997651834673, + 1.5331276089001165, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3694586764076222, + 0.1951656836733487, + 0.6560105900483293, + 0.013716762075998094, + -0.589831997401206, + 0.2945897558986876, + 0.1298079629923685, + 0.0, + 0.5987708964332432, + 0.031152750231530246, + 1.5331276089001165, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3694586764076222, + 0.1951656836733487, + 0.6560105900483293, + 0.013716762075998094, + -0.589831997401206, + 0.2945897558986876, + 0.1298079629923685, + 0.0, + 0.6057331425307834, + 0.025795599274180816, + 1.5331276089001165, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3694586764076222, + 0.1951656836733487, + 0.6560105900483293, + 0.013716762075998094, + -0.589831997401206, + 0.2945897558986876, + 0.1298079629923685, + 0.0, + 0.617082233960486, + 0.028354529658503987, + 1.5331276089001165, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3694586764076222, + 0.1951656836733487, + 0.6560105900483293, + 0.013716762075998094, + -0.589831997401206, + 0.2945897558986876, + 0.1298079629923685, + 0.0, + 0.6189966929026297, + 0.021956458278541997, + 1.5331276089001165, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3694586764076222, + 0.1951656836733487, + 0.6560105900483293, + 0.013716762075998094, + -0.589831997401206, + 0.2945897558986876, + 0.1298079629923685, + 0.0, + 0.6310649433313164, + 0.016769394278526306, + 1.5331276089001165, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3694586764076222, + 0.1951656836733487, + 0.6560105900483293, + 0.013716762075998094, + -0.589831997401206, + 0.2945897558986876, + 0.1298079629923685, + 0.0, + 0.6220593969059298, + 0.011656070371821932, + 1.5331276089001165, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3694586764076222, + 0.1951656836733487, + 0.6560105900483293, + 0.013716762075998094, + -0.589831997401206, + 0.2945897558986876, + 0.1298079629923685, + 0.0, + 0.8517114654245218, + 0.29907254633567143, + 1.5225205780064912, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.8357772090282924, + 0.6220900881649053, + 0.6511872302570778, + -0.01625609911081702, + -0.699167006366975, + 0.10389187010932574, + 0.15938894104413473, + 0.0, + 0.8257461218974897, + 0.2976334865409804, + 1.5225205780064912, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.8357772090282924, + 0.6220900881649053, + 0.6511872302570778, + -0.01625609911081702, + -0.699167006366975, + 0.10389187010932574, + 0.15938894104413473, + 0.0, + 0.8139637366431878, + 0.3127989772691766, + 1.5225205780064912, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.8357772090282924, + 0.6220900881649053, + 0.6511872302570778, + -0.01625609911081702, + -0.699167006366975, + 0.10389187010932574, + 0.15938894104413473, + 0.0, + 0.7974179357723081, + 0.32113461456110864, + 1.5225205780064912, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.8357772090282924, + 0.6220900881649053, + 0.6511872302570778, + -0.01625609911081702, + -0.699167006366975, + 0.10389187010932574, + 0.15938894104413473, + 0.0, + 0.7764980140841601, + 0.3327858408457016, + 1.5225205780064912, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.8357772090282924, + 0.6220900881649053, + 0.6511872302570778, + -0.01625609911081702, + -0.699167006366975, + 0.10389187010932574, + 0.15938894104413473, + 0.0, + 0.7425593276859813, + 0.33634291187361565, + 1.5225205780064912, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.8357772090282924, + 0.6220900881649053, + 0.6511872302570778, + -0.01625609911081702, + -0.699167006366975, + 0.10389187010932574, + 0.15938894104413473, + 0.0, + 0.7308689616156812, + 0.35020289647381336, + 1.5225205780064912, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.8357772090282924, + 0.6220900881649053, + 0.6511872302570778, + -0.01625609911081702, + -0.699167006366975, + 0.10389187010932574, + 0.15938894104413473, + 0.0, + 0.6740879831039559, + 0.3472242302790717, + 1.5225205780064912, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.8357772090282924, + 0.6220900881649053, + 0.6511872302570778, + -0.01625609911081702, + -0.699167006366975, + 0.10389187010932574, + 0.15938894104413473, + 0.0, + 0.684147742735338, + 0.36727626176543254, + 1.5225205780064912, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.8357772090282924, + 0.6220900881649053, + 0.6511872302570778, + -0.01625609911081702, + -0.699167006366975, + 0.10389187010932574, + 0.15938894104413473, + 0.0, + 0.6907231275193176, + 0.3849550057743595, + 1.5225205780064912, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.8357772090282924, + 0.6220900881649053, + 0.6511872302570778, + -0.01625609911081702, + -0.699167006366975, + 0.10389187010932574, + 0.15938894104413473, + 0.0, + 0.6381947516282069, + 0.38476053282185707, + 1.5225205780064912, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.8357772090282924, + 0.6220900881649053, + 0.6511872302570778, + -0.01625609911081702, + -0.699167006366975, + 0.10389187010932574, + 0.15938894104413473, + 0.0, + 0.6271404064264288, + 0.39762166668023313, + 1.5225205780064912, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.8357772090282924, + 0.6220900881649053, + 0.6511872302570778, + -0.01625609911081702, + -0.699167006366975, + 0.10389187010932574, + 0.15938894104413473, + 0.0, + 0.592856285142948, + 0.40337339723753235, + 1.5225205780064912, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.8357772090282924, + 0.6220900881649053, + 0.6511872302570778, + -0.01625609911081702, + -0.699167006366975, + 0.10389187010932574, + 0.15938894104413473, + 0.0, + 0.5514563478498538, + 0.41880325039392685, + 1.5225205780064912, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.8357772090282924, + 0.6220900881649053, + 0.6511872302570778, + -0.01625609911081702, + -0.699167006366975, + 0.10389187010932574, + 0.15938894104413473, + 0.0 + ], + "std": [ + 2.0208502297188016, + 2.036256238310359, + 0.3455766867757018, + 0.0001259362618150441, + 0.0, + 0.0, + 0.00014364409326270426, + 1.0817408831655593, + 1.2252292171738903, + 1.5348175709450078, + 0.042423670726684834, + 0.11834274838316046, + 0.2474298633688628, + 0.6210132068775219, + 0.0828098027068273, + 0.4985185152621432, + 2.014169324786051, + 2.024671827104904, + 0.05862382496879592, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.1933330940249613, + 1.3320290085966588, + 0.018418025276250544, + 0.11818517347195627, + 0.2750876872198004, + 0.6712624939108051, + 0.08967830175811187, + 0.0, + 1.9810129199054631, + 1.9999108529857588, + 0.05862382496879592, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.1933330940249613, + 1.3320290085966588, + 0.018418025276250544, + 0.11818517347195627, + 0.2750876872198004, + 0.6712624939108051, + 0.08967830175811187, + 0.0, + 1.9445983521641936, + 1.939504774824896, + 0.05862382496879592, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.1933330940249613, + 1.3320290085966588, + 0.018418025276250544, + 0.11818517347195627, + 0.2750876872198004, + 0.6712624939108051, + 0.08967830175811187, + 0.0, + 1.916788513419019, + 1.9172901976595282, + 0.05862382496879592, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.1933330940249613, + 1.3320290085966588, + 0.018418025276250544, + 0.11818517347195627, + 0.2750876872198004, + 0.6712624939108051, + 0.08967830175811187, + 0.0, + 1.8788229355507933, + 1.8620052219622876, + 0.05862382496879592, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.1933330940249613, + 1.3320290085966588, + 0.018418025276250544, + 0.11818517347195627, + 0.2750876872198004, + 0.6712624939108051, + 0.08967830175811187, + 0.0, + 1.8632961464233802, + 1.8428386434880444, + 0.05862382496879592, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.1933330940249613, + 1.3320290085966588, + 0.018418025276250544, + 0.11818517347195627, + 0.2750876872198004, + 0.6712624939108051, + 0.08967830175811187, + 0.0, + 1.8146974257908997, + 1.7872450007484324, + 0.05862382496879592, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.1933330940249613, + 1.3320290085966588, + 0.018418025276250544, + 0.11818517347195627, + 0.2750876872198004, + 0.6712624939108051, + 0.08967830175811187, + 0.0, + 1.77852009312152, + 1.7600974246448342, + 0.05862382496879592, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.1933330940249613, + 1.3320290085966588, + 0.018418025276250544, + 0.11818517347195627, + 0.2750876872198004, + 0.6712624939108051, + 0.08967830175811187, + 0.0, + 1.7515553804983275, + 1.7133285185138902, + 0.05862382496879592, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.1933330940249613, + 1.3320290085966588, + 0.018418025276250544, + 0.11818517347195627, + 0.2750876872198004, + 0.6712624939108051, + 0.08967830175811187, + 0.0, + 1.7258309484694827, + 1.6845969765749076, + 0.05862382496879592, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.1933330940249613, + 1.3320290085966588, + 0.018418025276250544, + 0.11818517347195627, + 0.2750876872198004, + 0.6712624939108051, + 0.08967830175811187, + 0.0, + 1.689371353481868, + 1.6398276352840526, + 0.05862382496879592, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.1933330940249613, + 1.3320290085966588, + 0.018418025276250544, + 0.11818517347195627, + 0.2750876872198004, + 0.6712624939108051, + 0.08967830175811187, + 0.0, + 1.6683962527823535, + 1.6107358738791344, + 0.05862382496879592, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.1933330940249613, + 1.3320290085966588, + 0.018418025276250544, + 0.11818517347195627, + 0.2750876872198004, + 0.6712624939108051, + 0.08967830175811187, + 0.0, + 1.6282591929221968, + 1.566945621389168, + 0.05862382496879592, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.1933330940249613, + 1.3320290085966588, + 0.018418025276250544, + 0.11818517347195627, + 0.2750876872198004, + 0.6712624939108051, + 0.08967830175811187, + 0.0, + 1.5861420255718788, + 1.5296326512131553, + 0.05862382496879592, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.1933330940249613, + 1.3320290085966588, + 0.018418025276250544, + 0.11818517347195627, + 0.2750876872198004, + 0.6712624939108051, + 0.08967830175811187, + 0.0, + 1.5682841152138807, + 1.4955782485954892, + 0.05862382496879592, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.1933330940249613, + 1.3320290085966588, + 0.018418025276250544, + 0.11818517347195627, + 0.2750876872198004, + 0.6712624939108051, + 0.08967830175811187, + 0.0, + 1.5442524250522527, + 1.4607150117197476, + 0.05862382496879592, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.1933330940249613, + 1.3320290085966588, + 0.018418025276250544, + 0.11818517347195627, + 0.2750876872198004, + 0.6712624939108051, + 0.08967830175811187, + 0.0, + 1.509264038211905, + 1.4239846028987533, + 0.05862382496879592, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.1933330940249613, + 1.3320290085966588, + 0.018418025276250544, + 0.11818517347195627, + 0.2750876872198004, + 0.6712624939108051, + 0.08967830175811187, + 0.0, + 1.4828841267313573, + 1.3862304181921552, + 0.05862382496879592, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.1933330940249613, + 1.3320290085966588, + 0.018418025276250544, + 0.11818517347195627, + 0.2750876872198004, + 0.6712624939108051, + 0.08967830175811187, + 0.0, + 1.4508274456118455, + 1.3573238955466465, + 0.05862382496879592, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.1933330940249613, + 1.3320290085966588, + 0.018418025276250544, + 0.11818517347195627, + 0.2750876872198004, + 0.6712624939108051, + 0.08967830175811187, + 0.0, + 1.403282442052138, + 1.3057575491548141, + 0.05862382496879592, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.1933330940249613, + 1.3320290085966588, + 0.018418025276250544, + 0.11818517347195627, + 0.2750876872198004, + 0.6712624939108051, + 0.08967830175811187, + 0.0, + 1.3940518206537655, + 1.2828237849385702, + 0.05862382496879592, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.1933330940249613, + 1.3320290085966588, + 0.018418025276250544, + 0.11818517347195627, + 0.2750876872198004, + 0.6712624939108051, + 0.08967830175811187, + 0.0, + 1.3717899933940378, + 1.2378132118711764, + 0.05862382496879592, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.1933330940249613, + 1.3320290085966588, + 0.018418025276250544, + 0.11818517347195627, + 0.2750876872198004, + 0.6712624939108051, + 0.08967830175811187, + 0.0, + 1.3368234770805052, + 1.21127158226011, + 0.05862382496879592, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.1933330940249613, + 1.3320290085966588, + 0.018418025276250544, + 0.11818517347195627, + 0.2750876872198004, + 0.6712624939108051, + 0.08967830175811187, + 0.0, + 1.3059592595392142, + 1.1577916006406461, + 0.05862382496879592, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.1933330940249613, + 1.3320290085966588, + 0.018418025276250544, + 0.11818517347195627, + 0.2750876872198004, + 0.6712624939108051, + 0.08967830175811187, + 0.0, + 1.280814116464584, + 1.140383877677515, + 0.05862382496879592, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.1933330940249613, + 1.3320290085966588, + 0.018418025276250544, + 0.11818517347195627, + 0.2750876872198004, + 0.6712624939108051, + 0.08967830175811187, + 0.0, + 1.2284513030130033, + 1.0778051534976003, + 0.05862382496879592, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.1933330940249613, + 1.3320290085966588, + 0.018418025276250544, + 0.11818517347195627, + 0.2750876872198004, + 0.6712624939108051, + 0.08967830175811187, + 0.0, + 1.2257899399850778, + 1.0721817204224737, + 0.05862382496879592, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.1933330940249613, + 1.3320290085966588, + 0.018418025276250544, + 0.11818517347195627, + 0.2750876872198004, + 0.6712624939108051, + 0.08967830175811187, + 0.0, + 1.208794383907246, + 1.020753780591957, + 0.05862382496879592, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.1933330940249613, + 1.3320290085966588, + 0.018418025276250544, + 0.11818517347195627, + 0.2750876872198004, + 0.6712624939108051, + 0.08967830175811187, + 0.0, + 1.1717001931740756, + 1.0076045856088685, + 0.05862382496879592, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.1933330940249613, + 1.3320290085966588, + 0.018418025276250544, + 0.11818517347195627, + 0.2750876872198004, + 0.6712624939108051, + 0.08967830175811187, + 0.0, + 1.1525668378771916, + 0.9906846636152504, + 0.05862382496879592, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.1933330940249613, + 1.3320290085966588, + 0.018418025276250544, + 0.11818517347195627, + 0.2750876872198004, + 0.6712624939108051, + 0.08967830175811187, + 0.0, + 1.1188201059219236, + 0.9475955396157951, + 0.05862382496879592, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.1933330940249613, + 1.3320290085966588, + 0.018418025276250544, + 0.11818517347195627, + 0.2750876872198004, + 0.6712624939108051, + 0.08967830175811187, + 0.0, + 1.0786117822668293, + 0.9314546879587889, + 0.05862382496879592, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.1933330940249613, + 1.3320290085966588, + 0.018418025276250544, + 0.11818517347195627, + 0.2750876872198004, + 0.6712624939108051, + 0.08967830175811187, + 0.0, + 1.0673474627246349, + 0.8931121751797804, + 0.05862382496879592, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.1933330940249613, + 1.3320290085966588, + 0.018418025276250544, + 0.11818517347195627, + 0.2750876872198004, + 0.6712624939108051, + 0.08967830175811187, + 0.0, + 1.0648832242856474, + 0.8878176961684817, + 0.05862382496879592, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.1933330940249613, + 1.3320290085966588, + 0.018418025276250544, + 0.11818517347195627, + 0.2750876872198004, + 0.6712624939108051, + 0.08967830175811187, + 0.0, + 1.0176632685579987, + 0.8452949313427314, + 0.05862382496879592, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.1933330940249613, + 1.3320290085966588, + 0.018418025276250544, + 0.11818517347195627, + 0.2750876872198004, + 0.6712624939108051, + 0.08967830175811187, + 0.0, + 0.9927932178459071, + 0.8305551201357936, + 0.05862382496879592, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.1933330940249613, + 1.3320290085966588, + 0.018418025276250544, + 0.11818517347195627, + 0.2750876872198004, + 0.6712624939108051, + 0.08967830175811187, + 0.0, + 0.9698482599134702, + 0.8052784164882565, + 0.05862382496879592, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.1933330940249613, + 1.3320290085966588, + 0.018418025276250544, + 0.11818517347195627, + 0.2750876872198004, + 0.6712624939108051, + 0.08967830175811187, + 0.0, + 0.9324874111930496, + 0.7856897786438908, + 0.05862382496879592, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.1933330940249613, + 1.3320290085966588, + 0.018418025276250544, + 0.11818517347195627, + 0.2750876872198004, + 0.6712624939108051, + 0.08967830175811187, + 0.0, + 0.9241437364726978, + 0.7742305474362661, + 0.05862382496879592, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.1933330940249613, + 1.3320290085966588, + 0.018418025276250544, + 0.11818517347195627, + 0.2750876872198004, + 0.6712624939108051, + 0.08967830175811187, + 0.0, + 0.9178662732245719, + 0.7664179813702178, + 0.05862382496879592, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.1933330940249613, + 1.3320290085966588, + 0.018418025276250544, + 0.11818517347195627, + 0.2750876872198004, + 0.6712624939108051, + 0.08967830175811187, + 0.0, + 0.88075238854438, + 0.7532070806551363, + 0.05862382496879592, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.1933330940249613, + 1.3320290085966588, + 0.018418025276250544, + 0.11818517347195627, + 0.2750876872198004, + 0.6712624939108051, + 0.08967830175811187, + 0.0, + 0.8525791563936599, + 0.7391972183036855, + 0.05862382496879592, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.1933330940249613, + 1.3320290085966588, + 0.018418025276250544, + 0.11818517347195627, + 0.2750876872198004, + 0.6712624939108051, + 0.08967830175811187, + 0.0, + 0.8402404414807231, + 0.7431841439421253, + 0.05862382496879592, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.1933330940249613, + 1.3320290085966588, + 0.018418025276250544, + 0.11818517347195627, + 0.2750876872198004, + 0.6712624939108051, + 0.08967830175811187, + 0.0, + 0.8081484143823442, + 0.7306525982286023, + 0.05862382496879592, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.1933330940249613, + 1.3320290085966588, + 0.018418025276250544, + 0.11818517347195627, + 0.2750876872198004, + 0.6712624939108051, + 0.08967830175811187, + 0.0, + 0.803112703454632, + 0.7446412439282759, + 0.05862382496879592, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.1933330940249613, + 1.3320290085966588, + 0.018418025276250544, + 0.11818517347195627, + 0.2750876872198004, + 0.6712624939108051, + 0.08967830175811187, + 0.0, + 0.7949833307923369, + 0.744818816741011, + 0.05862382496879592, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.1933330940249613, + 1.3320290085966588, + 0.018418025276250544, + 0.11818517347195627, + 0.2750876872198004, + 0.6712624939108051, + 0.08967830175811187, + 0.0, + 0.7699012065890746, + 0.7574805491777223, + 0.05862382496879592, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.1933330940249613, + 1.3320290085966588, + 0.018418025276250544, + 0.11818517347195627, + 0.2750876872198004, + 0.6712624939108051, + 0.08967830175811187, + 0.0, + 0.7422401461546473, + 0.7567535180468717, + 0.05862382496879592, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.1933330940249613, + 1.3320290085966588, + 0.018418025276250544, + 0.11818517347195627, + 0.2750876872198004, + 0.6712624939108051, + 0.08967830175811187, + 0.0, + 0.7409642103007028, + 0.7810680843748425, + 0.05862382496879592, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.1933330940249613, + 1.3320290085966588, + 0.018418025276250544, + 0.11818517347195627, + 0.2750876872198004, + 0.6712624939108051, + 0.08967830175811187, + 0.0, + 0.7185928478139584, + 0.7894333502464258, + 0.05862382496879592, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.1933330940249613, + 1.3320290085966588, + 0.018418025276250544, + 0.11818517347195627, + 0.2750876872198004, + 0.6712624939108051, + 0.08967830175811187, + 0.0, + 0.7167407460838048, + 0.814425169692045, + 0.05862382496879592, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.1933330940249613, + 1.3320290085966588, + 0.018418025276250544, + 0.11818517347195627, + 0.2750876872198004, + 0.6712624939108051, + 0.08967830175811187, + 0.0, + 0.7139682777976014, + 0.8265733988419544, + 0.05862382496879592, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.1933330940249613, + 1.3320290085966588, + 0.018418025276250544, + 0.11818517347195627, + 0.2750876872198004, + 0.6712624939108051, + 0.08967830175811187, + 0.0, + 0.6976855351989653, + 0.8562232997603022, + 0.05862382496879592, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.1933330940249613, + 1.3320290085966588, + 0.018418025276250544, + 0.11818517347195627, + 0.2750876872198004, + 0.6712624939108051, + 0.08967830175811187, + 0.0, + 0.6782495432871373, + 0.8640268030494368, + 0.05862382496879592, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.1933330940249613, + 1.3320290085966588, + 0.018418025276250544, + 0.11818517347195627, + 0.2750876872198004, + 0.6712624939108051, + 0.08967830175811187, + 0.0, + 0.6842544668432046, + 0.9047651469021565, + 0.05862382496879592, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.1933330940249613, + 1.3320290085966588, + 0.018418025276250544, + 0.11818517347195627, + 0.2750876872198004, + 0.6712624939108051, + 0.08967830175811187, + 0.0, + 0.6758305228696346, + 0.9224312065474363, + 0.05862382496879592, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.1933330940249613, + 1.3320290085966588, + 0.018418025276250544, + 0.11818517347195627, + 0.2750876872198004, + 0.6712624939108051, + 0.08967830175811187, + 0.0, + 0.6759657138193061, + 0.956149136212835, + 0.05862382496879592, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.1933330940249613, + 1.3320290085966588, + 0.018418025276250544, + 0.11818517347195627, + 0.2750876872198004, + 0.6712624939108051, + 0.08967830175811187, + 0.0, + 0.678204385482188, + 0.9787929421017476, + 0.05862382496879592, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.1933330940249613, + 1.3320290085966588, + 0.018418025276250544, + 0.11818517347195627, + 0.2750876872198004, + 0.6712624939108051, + 0.08967830175811187, + 0.0, + 0.6740697350835558, + 1.0157631716915332, + 0.05862382496879592, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.1933330940249613, + 1.3320290085966588, + 0.018418025276250544, + 0.11818517347195627, + 0.2750876872198004, + 0.6712624939108051, + 0.08967830175811187, + 0.0, + 0.6895876578838521, + 1.0375027268675536, + 0.05862382496879592, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.1933330940249613, + 1.3320290085966588, + 0.018418025276250544, + 0.11818517347195627, + 0.2750876872198004, + 0.6712624939108051, + 0.08967830175811187, + 0.0, + 0.6160816231421433, + 1.0645464473153918, + 0.062491961007215185, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.7734294412829484, + 1.1904854910502236, + 0.018017293980543272, + 0.11777190025856267, + 0.20135115262046524, + 0.6433908884033944, + 0.07961259049216868, + 0.0, + 0.6539077748864607, + 1.0980159489218335, + 0.062491961007215185, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.7734294412829484, + 1.1904854910502236, + 0.018017293980543272, + 0.11777190025856267, + 0.20135115262046524, + 0.6433908884033944, + 0.07961259049216868, + 0.0, + 0.68914044709973, + 1.133718239660364, + 0.062491961007215185, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.7734294412829484, + 1.1904854910502236, + 0.018017293980543272, + 0.11777190025856267, + 0.20135115262046524, + 0.6433908884033944, + 0.07961259049216868, + 0.0, + 0.7206279720176386, + 1.1612911159655155, + 0.062491961007215185, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.7734294412829484, + 1.1904854910502236, + 0.018017293980543272, + 0.11777190025856267, + 0.20135115262046524, + 0.6433908884033944, + 0.07961259049216868, + 0.0, + 0.7619830913969257, + 1.1980890777264457, + 0.062491961007215185, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.7734294412829484, + 1.1904854910502236, + 0.018017293980543272, + 0.11777190025856267, + 0.20135115262046524, + 0.6433908884033944, + 0.07961259049216868, + 0.0, + 0.8077761288661359, + 1.231073533280706, + 0.062491961007215185, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.7734294412829484, + 1.1904854910502236, + 0.018017293980543272, + 0.11777190025856267, + 0.20135115262046524, + 0.6433908884033944, + 0.07961259049216868, + 0.0, + 0.8410861167518694, + 1.264430523314759, + 0.062491961007215185, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.7734294412829484, + 1.1904854910502236, + 0.018017293980543272, + 0.11777190025856267, + 0.20135115262046524, + 0.6433908884033944, + 0.07961259049216868, + 0.0, + 0.9053057736887633, + 1.304069366300366, + 0.062491961007215185, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.7734294412829484, + 1.1904854910502236, + 0.018017293980543272, + 0.11777190025856267, + 0.20135115262046524, + 0.6433908884033944, + 0.07961259049216868, + 0.0, + 0.9210269093480566, + 1.3310358199094805, + 0.062491961007215185, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.7734294412829484, + 1.1904854910502236, + 0.018017293980543272, + 0.11777190025856267, + 0.20135115262046524, + 0.6433908884033944, + 0.07961259049216868, + 0.0, + 0.9376485549357274, + 1.3566213083785879, + 0.062491961007215185, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.7734294412829484, + 1.1904854910502236, + 0.018017293980543272, + 0.11777190025856267, + 0.20135115262046524, + 0.6433908884033944, + 0.07961259049216868, + 0.0, + 1.0006131350646172, + 1.3977499151083734, + 0.062491961007215185, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.7734294412829484, + 1.1904854910502236, + 0.018017293980543272, + 0.11777190025856267, + 0.20135115262046524, + 0.6433908884033944, + 0.07961259049216868, + 0.0, + 1.0317712060082502, + 1.4288659705063784, + 0.062491961007215185, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.7734294412829484, + 1.1904854910502236, + 0.018017293980543272, + 0.11777190025856267, + 0.20135115262046524, + 0.6433908884033944, + 0.07961259049216868, + 0.0, + 1.0810259963133855, + 1.4659436425411971, + 0.062491961007215185, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.7734294412829484, + 1.1904854910502236, + 0.018017293980543272, + 0.11777190025856267, + 0.20135115262046524, + 0.6433908884033944, + 0.07961259049216868, + 0.0, + 1.073677039168663, + 1.4576907215442092, + 0.062491961007215185, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.7734294412829484, + 1.1904854910502236, + 0.018017293980543272, + 0.11777190025856267, + 0.20135115262046524, + 0.6433908884033944, + 0.07961259049216868, + 0.0 + ], + "min": [ + -3.1999716758728027, + -2.0339303016662598, + 0.28999999165534973, + 0.7517389059066772, + 0.0, + 0.0, + 0.6590503454208374, + -1.0, + -2.884603977203369, + -1.833670973777771, + 0.48625800013542175, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.016282957047224045, + 0.0, + -3.12469220161438, + -2.0065371990203857, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.016282957047224045, + 0.0, + -3.0554733276367188, + -1.9813495874404907, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.016282957047224045, + 0.0, + -3.025738000869751, + -1.9705294370651245, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.016282957047224045, + 0.0, + -2.969653606414795, + -1.950121283531189, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.016282957047224045, + 0.0, + -2.9265997409820557, + -1.9344546794891357, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.016282957047224045, + 0.0, + -2.9036223888397217, + -1.926093578338623, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.016282957047224045, + 0.0, + -2.8272199630737305, + -1.898292064666748, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.016282957047224045, + 0.0, + -2.7512059211730957, + -1.8706318140029907, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.016282957047224045, + 0.0, + -2.7278406620025635, + -1.86212956905365, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.016282957047224045, + 0.0, + -2.6840591430664062, + -1.8461982011795044, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.016282957047224045, + 0.0, + -2.6286990642547607, + -1.8260536193847656, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.016282957047224045, + 0.0, + -2.5993478298187256, + -1.815373182296753, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.016282957047224045, + 0.0, + -2.529744863510132, + -1.7900458574295044, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.016282957047224045, + 0.0, + -2.4479293823242188, + -1.7602745294570923, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.016282957047224045, + 0.0, + -2.430790662765503, + -1.7540379762649536, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.016282957047224045, + 0.0, + -2.3984646797180176, + -1.7422751188278198, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.016282957047224045, + 0.0, + -2.331550359725952, + -1.7179261445999146, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.016282957047224045, + 0.0, + -2.295839548110962, + -1.7049314975738525, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.016282957047224045, + 0.0, + -2.232171058654785, + -1.6817635297775269, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.016282957047224045, + 0.0, + -2.143423080444336, + -1.6494696140289307, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.016282957047224045, + 0.0, + -2.132791757583618, + -1.6456010341644287, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.016282957047224045, + 0.0, + -2.1128711700439453, + -1.6383522748947144, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.016282957047224045, + 0.0, + -2.03375244140625, + -1.6095622777938843, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.016282957047224045, + 0.0, + -1.9918047189712524, + -1.594298243522644, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.016282957047224045, + 0.0, + -1.934798002243042, + -1.573554515838623, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.016282957047224045, + 0.0, + -1.8403862714767456, + -1.539199709892273, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.016282957047224045, + 0.0, + -1.835843801498413, + -1.5375467538833618, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.016282957047224045, + 0.0, + -1.8272759914398193, + -1.5344290733337402, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.016282957047224045, + 0.0, + -1.7365012168884277, + -1.5013976097106934, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.016282957047224045, + 0.0, + -1.688056468963623, + -1.483769416809082, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.016282957047224045, + 0.0, + -1.6371219158172607, + -1.4652351140975952, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.016282957047224045, + 0.0, + -1.5416820049285889, + -1.4305061101913452, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.016282957047224045, + 0.0, + -1.5377594232559204, + -1.4290788173675537, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.016282957047224045, + 0.0, + -1.535679817199707, + -1.4283220767974854, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.016282957047224045, + 0.0, + -1.438805341720581, + -1.3930710554122925, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.016282957047224045, + 0.0, + -1.3842613697052002, + -1.3732234239578247, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.016282957047224045, + 0.0, + -1.3398510217666626, + -1.3570631742477417, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.016282957047224045, + 0.0, + -1.2560875415802002, + -1.3265830278396606, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.016282957047224045, + 0.0, + -1.2408314943313599, + -1.3210315704345703, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.016282957047224045, + 0.0, + -1.2326897382736206, + -1.3180688619613647, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.016282957047224045, + 0.0, + -1.1414521932601929, + -1.2848690748214722, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.016282957047224045, + 0.0, + -1.0802733898162842, + -1.2626070976257324, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.016282957047224045, + 0.0, + -1.0420728921890259, + -1.248706579208374, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.016282957047224045, + 0.0, + -0.9704935550689697, + -1.2226600646972656, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.016282957047224045, + 0.0, + -0.9428123831748962, + -1.2125873565673828, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.016282957047224045, + 0.0, + -0.9281361699104309, + -1.2072468996047974, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.016282957047224045, + 0.0, + -0.8438582420349121, + -1.1765795946121216, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.016282957047224045, + 0.0, + -0.7767176628112793, + -1.1521482467651367, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.016282957047224045, + 0.0, + -0.7449039220809937, + -1.1405717134475708, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.016282957047224045, + 0.0, + -0.6848994493484497, + -1.1187371015548706, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.016282957047224045, + 0.0, + -0.6457123160362244, + -1.1044775247573853, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.016282957047224045, + 0.0, + -0.6250627636909485, + -1.0969635248184204, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.016282957047224045, + 0.0, + -0.5461611151695251, + -1.0682525634765625, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.016282957047224045, + 0.0, + -0.4730546474456787, + -1.041650414466858, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.016282957047224045, + 0.0, + -0.44662007689476013, + -1.0320312976837158, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.016282957047224045, + 0.0, + -0.39646100997924805, + -1.0137792825698853, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.016282957047224045, + 0.0, + -0.34675073623657227, + -0.9956905841827393, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.016282957047224045, + 0.0, + -0.32179903984069824, + -0.9866110682487488, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.016282957047224045, + 0.0, + -0.2465548813343048, + -0.9592310190200806, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.016282957047224045, + 0.0, + -0.25658679008483887, + -0.9153116345405579, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.016282957047224045, + 0.0, + 0.3792373538017273, + -0.5173300504684448, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.667573869228363, + -0.9370280504226685, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.031350743025541306, + 0.0, + 0.3242630660533905, + -0.5444369316101074, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.667573869228363, + -0.9370280504226685, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.031350743025541306, + 0.0, + 0.2854606807231903, + -0.5566515922546387, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.667573869228363, + -0.9370280504226685, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.031350743025541306, + 0.0, + 0.24476704001426697, + -0.5694616436958313, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.667573869228363, + -0.9370280504226685, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.031350743025541306, + 0.0, + 0.19213180243968964, + -0.5860308408737183, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.667573869228363, + -0.9370280504226685, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.031350743025541306, + 0.0, + 0.12307435274124146, + -0.6077696084976196, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.667573869228363, + -0.9370280504226685, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.031350743025541306, + 0.0, + 0.08583849668502808, + -0.6194911599159241, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.667573869228363, + -0.9370280504226685, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.031350743025541306, + 0.0, + -0.020192652940750122, + -0.652868926525116, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.667573869228363, + -0.9370280504226685, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.031350743025541306, + 0.0, + -0.022189460694789886, + -0.6534975171089172, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.667573869228363, + -0.9370280504226685, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.031350743025541306, + 0.0, + -0.0283612459897995, + -0.6554403305053711, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.667573869228363, + -0.9370280504226685, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.031350743025541306, + 0.0, + -0.1291772723197937, + -0.6871764063835144, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.667573869228363, + -0.9370280504226685, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.031350743025541306, + 0.0, + -0.16412679851055145, + -0.698178231716156, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.667573869228363, + -0.9370280504226685, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.031350743025541306, + 0.0, + -0.2361845076084137, + -0.7208614349365234, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.667573869228363, + -0.9370280504226685, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.031350743025541306, + 0.0, + -0.27194851636886597, + -0.6991024017333984, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.667573869228363, + -0.9370280504226685, + 0.5856673121452332, + -0.15034116804599762, + -0.9675087928771973, + -0.5715683102607727, + 0.031350743025541306, + 0.0 + ], + "max": [ + 1.990814447402954, + 2.6244874000549316, + 1.5704457759857178, + 0.752098798751831, + 0.0, + 0.0, + 0.6594608426094055, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18532215058803558, + -0.1596960425376892, + 0.9801202416419983, + 0.2582111060619354, + 1.0, + 1.9639666080474854, + 2.550234079360962, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.1596960425376892, + 0.9801202416419983, + 0.2582111060619354, + 0.0, + 1.9498789310455322, + 2.522022247314453, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.1596960425376892, + 0.9801202416419983, + 0.2582111060619354, + 0.0, + 1.9007421731948853, + 2.423621892929077, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.1596960425376892, + 0.9801202416419983, + 0.2582111060619354, + 0.0, + 1.8912361860275269, + 2.404585361480713, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.1596960425376892, + 0.9801202416419983, + 0.2582111060619354, + 0.0, + 1.845258355140686, + 2.3125107288360596, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.1596960425376892, + 0.9801202416419983, + 0.2582111060619354, + 0.0, + 1.8346858024597168, + 2.2913384437561035, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.1596960425376892, + 0.9801202416419983, + 0.2582111060619354, + 0.0, + 1.7925443649291992, + 2.206946611404419, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.1596960425376892, + 0.9801202416419983, + 0.2582111060619354, + 0.0, + 1.77860426902771, + 2.179030418395996, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.1596960425376892, + 0.9801202416419983, + 0.2582111060619354, + 0.0, + 1.740576982498169, + 2.102877616882324, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.1596960425376892, + 0.9801202416419983, + 0.2582111060619354, + 0.0, + 1.7230682373046875, + 2.067814826965332, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.1596960425376892, + 0.9801202416419983, + 0.2582111060619354, + 0.0, + 1.6886824369430542, + 1.99895441532135, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.1596960425376892, + 0.9801202416419983, + 0.2582111060619354, + 0.0, + 1.6673283576965332, + 1.956191062927246, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.1596960425376892, + 0.9801202416419983, + 0.2582111060619354, + 0.0, + 1.6367881298065186, + 1.8950315713882446, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.1596960425376892, + 0.9801202416419983, + 0.2582111060619354, + 0.0, + 1.6117109060287476, + 1.844812273979187, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.1596960425376892, + 0.9801202416419983, + 0.2582111060619354, + 0.0, + 1.5848937034606934, + 1.79110848903656, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.1596960425376892, + 0.9801202416419983, + 0.2582111060619354, + 0.0, + 1.5560705661773682, + 1.73338782787323, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.1596960425376892, + 0.9801202416419983, + 0.2582111060619354, + 0.0, + 1.5329992771148682, + 1.687185525894165, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.1596960425376892, + 0.9801202416419983, + 0.2582111060619354, + 0.0, + 1.5003535747528076, + 1.6218096017837524, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.1596960425376892, + 0.9801202416419983, + 0.2582111060619354, + 0.0, + 1.481104850769043, + 1.5832624435424805, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.1596960425376892, + 0.9801202416419983, + 0.2582111060619354, + 0.0, + 1.4448127746582031, + 1.5105843544006348, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.1596960425376892, + 0.9801202416419983, + 0.2582111060619354, + 0.0, + 1.4292104244232178, + 1.4793392419815063, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.1596960425376892, + 0.9801202416419983, + 0.2582111060619354, + 0.0, + 1.3889962434768677, + 1.3988069295883179, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.1596960425376892, + 0.9801202416419983, + 0.2582111060619354, + 0.0, + 1.3773159980773926, + 1.3754162788391113, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.1596960425376892, + 0.9801202416419983, + 0.2582111060619354, + 0.0, + 1.3335548639297485, + 1.287781000137329, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.1596960425376892, + 0.9801202416419983, + 0.2582111060619354, + 0.0, + 1.3254214525222778, + 1.2714930772781372, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.1596960425376892, + 0.9801202416419983, + 0.2582111060619354, + 0.0, + 1.2776389122009277, + 1.1758043766021729, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.1596960425376892, + 0.9801202416419983, + 0.2582111060619354, + 0.0, + 1.2735271453857422, + 1.1675701141357422, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.1596960425376892, + 0.9801202416419983, + 0.2582111060619354, + 0.0, + 1.222297191619873, + 1.0649776458740234, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.1596960425376892, + 0.9801202416419983, + 0.2582111060619354, + 0.0, + 1.2216328382492065, + 1.0636471509933472, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.1596960425376892, + 0.9801202416419983, + 0.2582111060619354, + 0.0, + 1.2131738662719727, + 1.0467073917388916, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.1596960425376892, + 0.9801202416419983, + 0.2582111060619354, + 0.0, + 1.1697382926940918, + 0.9597240090370178, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.1596960425376892, + 0.9801202416419983, + 0.2582111060619354, + 0.0, + 1.1663269996643066, + 0.9528924822807312, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.1596960425376892, + 0.9801202416419983, + 0.2582111060619354, + 0.0, + 1.1178439855575562, + 0.8558010458946228, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.1596960425376892, + 0.9801202416419983, + 0.2582111060619354, + 0.0, + 1.1109486818313599, + 0.8419926166534424, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.1596960425376892, + 0.9801202416419983, + 0.2582111060619354, + 0.0, + 1.0659494400024414, + 0.7518778443336487, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.1596960425376892, + 0.9801202416419983, + 0.2582111060619354, + 0.0, + 1.055069088935852, + 0.730089008808136, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.1596960425376892, + 0.9801202416419983, + 0.2582111060619354, + 0.0, + 1.0140550136566162, + 0.6479547619819641, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.1596960425376892, + 0.9801202416419983, + 0.2582111060619354, + 0.0, + 0.9995912909507751, + 0.618989884853363, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.1596960425376892, + 0.9801202416419983, + 0.2582111060619354, + 0.0, + 1.022346019744873, + 0.544007420539856, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.1596960425376892, + 0.9801202416419983, + 0.2582111060619354, + 0.0, + 1.0321977138519287, + 0.5618076920509338, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.1596960425376892, + 0.9801202416419983, + 0.2582111060619354, + 0.0, + 1.0798766613006592, + 0.6479547619819641, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.1596960425376892, + 0.9801202416419983, + 0.2582111060619354, + 0.0, + 1.0911595821380615, + 0.6683408617973328, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.1596960425376892, + 0.9801202416419983, + 0.2582111060619354, + 0.0, + 1.1373939514160156, + 0.7518778443336487, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.1596960425376892, + 0.9801202416419983, + 0.2582111060619354, + 0.0, + 1.1496779918670654, + 0.7740728259086609, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.1596960425376892, + 0.9801202416419983, + 0.2582111060619354, + 0.0, + 1.194911241531372, + 0.8558009266853333, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.1596960425376892, + 0.9801202416419983, + 0.2582111060619354, + 0.0, + 1.2086092233657837, + 0.8805505633354187, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.1596960425376892, + 0.9801202416419983, + 0.2582111060619354, + 0.0, + 1.2524285316467285, + 0.9597240090370178, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.1596960425376892, + 0.9801202416419983, + 0.2582111060619354, + 0.0, + 1.2671582698822021, + 0.9863379597663879, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.1596960425376892, + 0.9801202416419983, + 0.2582111060619354, + 0.0, + 1.309945821762085, + 1.0636471509933472, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.1596960425376892, + 0.9801202416419983, + 0.2582111060619354, + 0.0, + 1.3260588645935059, + 1.0927603244781494, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.1596960425376892, + 0.9801202416419983, + 0.2582111060619354, + 0.0, + 1.3674631118774414, + 1.1675701141357422, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.1596960425376892, + 0.9801202416419983, + 0.2582111060619354, + 0.0, + 1.3846385478973389, + 1.1986029148101807, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.1596960425376892, + 0.9801202416419983, + 0.2582111060619354, + 0.0, + 1.4249804019927979, + 1.2714930772781372, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.1596960425376892, + 0.9801202416419983, + 0.2582111060619354, + 0.0, + 1.4435083866119385, + 1.3049697875976562, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.1596960425376892, + 0.9801202416419983, + 0.2582111060619354, + 0.0, + 1.4824976921081543, + 1.3754162788391113, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.1596960425376892, + 0.9801202416419983, + 0.2582111060619354, + 0.0, + 1.502118706703186, + 1.4108678102493286, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.1596960425376892, + 0.9801202416419983, + 0.2582111060619354, + 0.0, + 1.5400149822235107, + 1.4793392419815063, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.1596960425376892, + 0.9801202416419983, + 0.2582111060619354, + 0.0, + 1.5609580278396606, + 1.5171793699264526, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.1596960425376892, + 0.9801202416419983, + 0.2582111060619354, + 0.0, + 1.5975323915481567, + 1.583262324333191, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.1596960425376892, + 0.9801202416419983, + 0.2582111060619354, + 0.0, + 1.6195989847183228, + 1.623132586479187, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.1596960425376892, + 0.9801202416419983, + 0.2582111060619354, + 0.0, + 1.6550498008728027, + 1.6871856451034546, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.26957446336746216, + 0.9557759761810303, + 0.2582111060619354, + 0.0, + 1.6784077882766724, + 1.7293890714645386, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.26957446336746216, + 0.9557759761810303, + 0.2582111060619354, + 0.0, + 1.7125669717788696, + 1.79110848903656, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.26957446336746216, + 0.9557759761810303, + 0.2582111060619354, + 0.0, + 1.7370792627334595, + 1.835397720336914, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.26957446336746216, + 0.9557759761810303, + 0.2582111060619354, + 0.0, + 1.770084261894226, + 1.8950315713882446, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.26957446336746216, + 0.9557759761810303, + 0.2582111060619354, + 0.0, + 1.795857310295105, + 1.941598653793335, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.26957446336746216, + 0.9557759761810303, + 0.2582111060619354, + 0.0, + 1.827601432800293, + 1.99895441532135, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.26957446336746216, + 0.9557759761810303, + 0.2582111060619354, + 0.0, + 1.8545595407485962, + 2.0476627349853516, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.26957446336746216, + 0.9557759761810303, + 0.2582111060619354, + 0.0, + 1.885118842124939, + 2.102877616882324, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.26957446336746216, + 0.9557759761810303, + 0.2582111060619354, + 0.0, + 1.9133679866790771, + 2.153918504714966, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.26957446336746216, + 0.9557759761810303, + 0.2582111060619354, + 0.0, + 1.9429421424865723, + 2.2073535919189453, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.26957446336746216, + 0.9557759761810303, + 0.2582111060619354, + 0.0, + 1.9725162982940674, + 2.2607884407043457, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.26957446336746216, + 0.9557759761810303, + 0.2582111060619354, + 0.0, + 2.002457857131958, + 2.314887523651123, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.26957446336746216, + 0.9557759761810303, + 0.2582111060619354, + 0.0, + 1.9514752626419067, + 2.3195559978485107, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.1157145500183105, + 3.104732036590576, + 0.6887670755386353, + 0.18422850966453552, + -0.26957446336746216, + 0.9557759761810303, + 0.2582111060619354, + 0.0 + ], + "count": [ + 1760 + ] + }, + "action.applied": { + "mean": [ + 0.27382806661665776, + 0.7195108142258091, + -1.2367160943760114, + -0.2628744873895564, + 0.7091968797824599, + -1.23274396200749, + 0.17335508688860995, + 0.8601147457618605, + -1.3704672803255644, + -0.16319558505307544, + 0.8234769923443144, + -1.366900267993862, + 0.0032640104278744853, + 1.992578265545043, + -1.3007430581545287, + 0.04166028095771914, + 0.5843646645207297, + -0.08179581088617686, + 0.0033210227414118975, + -0.0033210227414118975 + ], + "std": [ + 0.15296974301664612, + 0.1092806020965561, + 0.2096797900852609, + 0.14234851597374365, + 0.1338058167297423, + 0.18301052428779335, + 0.14277971867018385, + 0.1748284536212135, + 0.21082291971104516, + 0.13215676776052707, + 0.09576241873085024, + 0.21983330600293743, + 0.10977398512768838, + 0.24394773135197226, + 0.2692815032815862, + 0.17280538462325054, + 0.12175602739471025, + 0.2714432680602789, + 0.010257027073928894, + 0.010257027073928894 + ], + "min": [ + -0.220983624458313, + 0.38166680932044983, + -1.7048439979553223, + -0.5124147534370422, + 0.4262953996658325, + -1.5818058252334595, + -0.14315667748451233, + 0.46185922622680664, + -1.7350691556930542, + -0.5760918855667114, + 0.5598447322845459, + -1.776942253112793, + -0.10719331353902817, + 1.7056587934494019, + -1.6322354078292847, + -0.5885590314865112, + 0.25262802839279175, + -0.48018699884414673, + 0.0, + -0.03500000014901161 + ], + "max": [ + 0.7110285758972168, + 1.0154993534088135, + -0.8285277485847473, + 0.18003538250923157, + 0.9711083769798279, + -0.8366576433181763, + 0.48797938227653503, + 1.212509036064148, + -0.9792181253433228, + 0.31699806451797485, + 1.0967656373977661, + -0.9619280099868774, + 0.35070592164993286, + 2.392486095428467, + -0.9876317977905273, + 0.3408372700214386, + 0.7941334247589111, + 0.8419483304023743, + 0.03500000014901161, + 0.0 + ], + "count": [ + 1760 + ] + }, + "extra.reward": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 1760 + ] + }, + "next.truncated": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 1760 + ] + }, + "sim_step_idx": { + "mean": [ + 1860.0 + ], + "std": [ + 1016.1363097537653 + ], + "min": [ + 101.0 + ], + "max": [ + 3619.0 + ], + "count": [ + 1760 + ] + }, + "timestamp": { + "mean": [ + 35.18000000172549 + ], + "std": [ + 20.32272619452815 + ], + "min": [ + 0.0 + ], + "max": [ + 70.36000061035156 + ], + "count": [ + 1760 + ] + }, + "frame_index": { + "mean": [ + 879.5 + ], + "std": [ + 508.06815487688266 + ], + "min": [ + 0.0 + ], + "max": [ + 1759.0 + ], + "count": [ + 1760 + ] + }, + "episode_index": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 1760 + ] + }, + "index": { + "mean": [ + 879.5 + ], + "std": [ + 508.06815487688266 + ], + "min": [ + 0.0 + ], + "max": [ + 1759.0 + ], + "count": [ + 1760 + ] + }, + "task_index": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 1760 + ] + }, + "next.done": { + "mean": [ + 0.0005681818181818182 + ], + "std": [ + 0.023829792017625872 + ], + "min": [ + 0.0 + ], + "max": [ + 1.0 + ], + "count": [ + 1760 + ] + }, + "observation.images.head": { + "mean": [ + [ + [ + 0.5135758586041789 + ] + ], + [ + [ + 0.5090591896477096 + ] + ], + [ + [ + 0.47057977035351856 + ] + ] + ], + "std": [ + [ + [ + 0.14236689175936237 + ] + ], + [ + [ + 0.12311749448150991 + ] + ], + [ + [ + 0.12962246175922168 + ] + ] + ], + "min": [ + [ + [ + 0.0 + ] + ], + [ + [ + 0.00784313725490196 + ] + ], + [ + [ + 0.00392156862745098 + ] + ] + ], + "max": [ + [ + [ + 0.8784313725490196 + ] + ], + [ + [ + 0.8745098039215686 + ] + ], + [ + [ + 0.8745098039215686 + ] + ] + ], + "count": [ + 100 + ] + }, + "observation.images.wrist": { + "mean": [ + [ + [ + 0.5516025493956724 + ] + ], + [ + [ + 0.5838218010701658 + ] + ], + [ + [ + 0.5351692686603778 + ] + ] + ], + "std": [ + [ + [ + 0.1763725095964489 + ] + ], + [ + [ + 0.1548781629447147 + ] + ], + [ + [ + 0.16553257917636788 + ] + ] + ], + "min": [ + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ] + ], + "max": [ + [ + [ + 0.9333333333333333 + ] + ], + [ + [ + 0.9333333333333333 + ] + ], + [ + [ + 0.9294117647058824 + ] + ] + ], + "count": [ + 100 + ] + } +} \ No newline at end of file diff --git a/N032/go2_arm/dr_off/seed_1016/rec/stationpuzzle/000/lerobot_v21/meta/tasks.jsonl b/N032/go2_arm/dr_off/seed_1016/rec/stationpuzzle/000/lerobot_v21/meta/tasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fb913afcd6e7b4df3ccfb60e7f408d983dbc3a03 --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1016/rec/stationpuzzle/000/lerobot_v21/meta/tasks.jsonl @@ -0,0 +1 @@ +{"task_index": 0, "task": "Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap."} diff --git a/N032/go2_arm/dr_off/seed_1016/rec/stationpuzzle/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 b/N032/go2_arm/dr_off/seed_1016/rec/stationpuzzle/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..69f28af278664c43083d851cffaef5e0a3bafe37 --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1016/rec/stationpuzzle/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:e7e0c075cbb7b4708f57c8c7bd6bebde3289cf103f2c6bab8a0d799ccc02e72f +size 15390723 diff --git a/N032/go2_arm/dr_off/seed_1016/rec/stationpuzzle/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 b/N032/go2_arm/dr_off/seed_1016/rec/stationpuzzle/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a70da52798923d5dfe109d3dc390b93076a4ef2d --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1016/rec/stationpuzzle/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:b2ffbe9b69a21d6d0043829ab4e6e93e3735e0d8291e94c915e15e170e01c694 +size 31640919 diff --git a/N032/go2_arm/dr_off/seed_1016/rec/stationpuzzle/000/run_meta.json b/N032/go2_arm/dr_off/seed_1016/rec/stationpuzzle/000/run_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..457036ee027aeba5f9100a3f9a8112a900c91b31 --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1016/rec/stationpuzzle/000/run_meta.json @@ -0,0 +1,1613 @@ +{ + "run_id": "stationpuzzle/000", + "created": "2026-11-08 02:49:58", + "num_envs": 1, + "session_id": null, + "record_config": { + "output_dir": "/mnt/scratch/xc536_atomic/n032_go2_off_1016_r2/out/rec", + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "json_round": null, + "schema": { + "source": "robot_manager", + "nan_policy": "from_raw" + }, + "lerobot": { + "subsample_every": 2 + } + }, + "config": { + "env_string": "StationPuzzleEnv-V0", + "env": { + "sim": { + "device": "cpu", + "use_fabric": false, + "decimation": 4, + "dt": 0.005, + "seed": 1016, + "soft_resets": 2, + "enable_scene_query_support": true, + "scene": { + "num_envs": 1, + "env_spacing": 16 + }, + "render": { + "rendering_mode": "performance", + "enable_reflections": false, + "enable_global_illumination": false, + "enable_translucency": false, + "enable_dl_denoiser": false + } + }, + "robot": { + "Go2Plus": { + "name": "go2plus", + "type": "mobilemanip", + "common": { + "pos": [ + [ + -3.4, + -2.2, + 0.44999999999999996 + ], + [ + -3.4, + -2.2, + 0.44999999999999996 + ] + ], + "ori": [ + [ + 0, + 0, + 40.0 + ], + [ + 0, + 0, + 40.0 + ] + ], + "initial_joint_pos": null + }, + "action": { + "base_action": "unified", + "arm_action": "ik_curobo", + "eef_action": "binary" + }, + "reset": "default", + "planner": { + "dual_mode": true, + "base_joint_names": [ + "base_x", + "base_y", + "base_yaw", + "base_height" + ], + "ik": { + "type": "go2plus", + "enable": true, + "ik_num_instances": 1, + "ik_batch_size": 1, + "ik_max_goalset": 128, + "ik_num_seeds": 64, + "ik_position_threshold": 0.005, + "ik_rotation_threshold": 0.05, + "microbatch_wait_ms": 20.0, + "relative_to_world_frame": false, + "eef_num": 1, + "debug": false, + "seed_use_live_joint_pos": true + }, + "motiongen": { + "type": "go2plus", + "enable": true, + "batch_size": 1, + "debug": false, + "motiongen_num_instances": 1, + "microbatch_wait_ms": 400.0, + "mode": "position", + "relative_to_world_frame": false, + "eef_num": 1, + "seed_use_live_joint_pos": true, + "anchor_ik_seeds_to_current_state": false, + "num_trajopt_seeds": 1, + "num_ik_seeds": 4, + "max_attempts": 4, + "joint_limit_retry_weight": 100000000.0, + "start_state_limit_inset": 0.002 + }, + "body": { + "type": "nav", + "dwb_type": "dwb_quadruped", + "dwb_quadruped": { + "device": "cpu", + "dt": 0.02, + "debug": false, + "num_rollout_steps": 60, + "num_speed_samples": 11, + "num_steer_samples": 11, + "num_vx_samples": 7, + "num_vy_samples": 7, + "num_yaw_samples": 7, + "max_accel": 1.5, + "max_steer_rate": 1.5, + "max_accel_vx": 1.5, + "max_accel_vy": 1.5, + "max_yaw_accel": 1.5, + "w_goal": 6.0, + "w_path": 24.0, + "w_vel": 0.2, + "w_vy": 0.0, + "dilate_radius": 0.2, + "goal_cost_mode": "path", + "room_size": 12.0, + "occupancy_update_interval": 25, + "scan_height": 0.38, + "scan_min_z": 0.15, + "scan_max_z": 0.63, + "goal_pos_threshold": 0.16, + "goal_yaw_threshold": 0.08, + "goal_yaw_hysteresis": 0.02, + "kp_goal_yaw": 4.0, + "heading_reference": "path", + "turn_yaw_threshold": 0.8, + "heading_lookahead": 0.8, + "heading_min_leg": 0.35, + "route_yaw_gain": 2.0, + "min_vx": -0.35, + "max_vx": 0.35, + "min_vy": -0.25, + "max_vy": 0.25, + "min_yaw_rate": -0.8, + "max_yaw_rate": 0.8, + "dynamic_window_source": "command", + "default_height": 0.35, + "safety_min_progress_speed": 0.1, + "safety_stop_distance": 0.2, + "safety_enabled": true, + "safety_deceleration": 0.5, + "safety_reaction_time": 0.5, + "safety_release_distance": 0.35, + "scan_type": "3d", + "robot_type": "quadruped", + "velocity_frame": "body" + }, + "p_controller": { + "velocity_frame": "body", + "nav_upgrade_distance": 0.03, + "nav_heading_target": -1, + "kp_linear_x": 3.0, + "kd_linear_x": 0.4, + "kp_linear_y": 3.0, + "kd_linear_y": 0.4, + "kp_angular": 1.5, + "kd_angular": 0.2, + "kp_angular_turning_only": 1.5, + "kd_angular_turning_only": 0.2, + "min_vel": -0.4, + "max_vel": 0.5, + "linear_dead_zone": 0.01, + "angular_dead_zone": 0.05 + } + }, + "arm": { + "type": "default" + }, + "eef": { + "type": "default" + } + }, + "physics": { + "robot_radius": 0.5 + } + } + }, + "camera": { + "enable_tiled": false, + "colorize_depth": false, + "head": { + "camera": { + "type": "camera", + "mesh": "pinhole", + "resolution": [ + 640, + 480 + ], + "frequency": 25, + "focal_length": 1.8231182098388672, + "horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.4407838582992554, + "clipping_range": [ + 0.05, + 30.0 + ], + "focus_distance": 3.0, + "mode": "RGB", + "mount_link": "Robot_0/Bodies/go2_base", + "pos": [ + 0.332051, + 0.038027, + 0.093559 + ], + "ori": [ + 169.9473, + -88.6452, + 81.5985 + ] + }, + "annotator": { + "enabled": true, + "rgb_capture": { + "type": "rgb", + "device": "cpu" + } + } + }, + "wrist": { + "camera": { + "type": "camera", + "mesh": "pinhole", + "resolution": [ + 640, + 480 + ], + "frequency": 25, + "focal_length": 1.8517500162124634, + "horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.4393036365509033, + "clipping_range": [ + 0.05, + 30.0 + ], + "focus_distance": 3.0, + "mode": "RGB", + "mount_link": "Robot_0/Bodies/piper_link6", + "pos": [ + -0.074987, + 0.005289, + 0.045821 + ], + "ori": [ + 179.3135, + -20.212, + 88.9402 + ] + }, + "annotator": { + "enabled": true, + "rgb_capture": { + "type": "rgb", + "device": "cpu" + } + } + } + }, + "nav": { + "navmesh": { + "enabled": true, + "visualize": false, + "bake_timeout_s": 180, + "agent_height_cm": 65, + "min_agent_radius_cm": 30.0, + "max_agent_radius_cm": 30.0, + "max_step_height_cm": 20, + "max_floor_slope_deg": 30, + "agent_island_radius_cm": 5, + "auto_exclude_rigid_bodies": true, + "validate_path_clearance": true, + "validate_path_window": true, + "navmesh_offset_z_m": 0, + "verbose": false + }, + "occupancymap": { + "cell_size": 0.05 + } + }, + "scene": { + "background": { + "intensity": [ + 1000, + 1000 + ] + }, + "terrain": { + "type": "nav_room", + "collision": true, + "hide_top_walls": true, + "usd": [ + "$MAGICSIM_ASSETS/Room/Collected_SimpleRoom" + ], + "annotation": "Annotation", + "random": false, + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0, + "friction_combine_mode": "multiply", + "restitution_combine_mode": "multiply" + } + }, + "objects": { + "table_A": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "table_A_1": { + "pos": [ + -0.25625379571040385, + 0.03468828088051888, + 0.18 + ], + "ori": [ + 0.0, + 0.0, + -0.020084178950554588 + ], + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.45, + 0.35 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "table_B": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "table_B_1": { + "pos": [ + 1.8729888091603093, + 3.2878527785956155, + 0.18 + ], + "ori": [ + 0.0, + 0.0, + -7.434817113870423 + ], + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.45, + 0.35 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "board_0": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "board_0_1": { + "pos": [ + -0.2563239027190175, + -0.16531170683199914, + 0.33999999999999997 + ], + "ori": [ + 0.0, + 0.0, + -0.020084178950554588 + ], + "primitive_params": { + "size": [ + 0.25, + 0.04, + 0.02 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.55, + 0.58 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "board_1": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "board_1_1": { + "pos": [ + -0.2562678171121266, + -0.005311716661984718, + 0.33999999999999997 + ], + "ori": [ + 0.0, + 0.0, + -0.020084178950554588 + ], + "primitive_params": { + "size": [ + 0.25, + 0.04, + 0.02 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.55, + 0.58 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "board_2": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "board_2_1": { + "pos": [ + -0.361295853464644, + -0.08527490556746975, + 0.33999999999999997 + ], + "ori": [ + 0.0, + 0.0, + -0.020084178950554588 + ], + "primitive_params": { + "size": [ + 0.04, + 0.1, + 0.02 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.55, + 0.58 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "board_3": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "board_3_1": { + "pos": [ + -0.1512958663665001, + -0.08534851792651407, + 0.33999999999999997 + ], + "ori": [ + 0.0, + 0.0, + -0.020084178950554588 + ], + "primitive_params": { + "size": [ + 0.04, + 0.1, + 0.02 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.55, + 0.58 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "board_4": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "board_4_1": { + "pos": [ + -0.2862853420211577, + -0.05530119753882216, + 0.33999999999999997 + ], + "ori": [ + 0.0, + 0.0, + -0.020084178950554588 + ], + "primitive_params": { + "size": [ + 0.09, + 0.04, + 0.02 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.55, + 0.58 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "picture": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "picture_1": { + "pos": [ + -0.2561836887017902, + 0.23468826859303688, + 0.42999999999999994 + ], + "ori": [ + 0.0, + 0.0, + -0.020084178950554588 + ], + "primitive_params": { + "size": [ + 0.25, + 0.008, + 0.2 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.55, + 0.58 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "picture_bar": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "picture_bar_1": { + "pos": [ + -0.25618544137700555, + 0.22968826890022392, + 0.40499999999999997 + ], + "ori": [ + 0.0, + 0.0, + -0.020084178950554588 + ], + "primitive_params": { + "size": [ + 0.15, + 0.002, + 0.05 + ] + }, + "visual": { + "color": [ + [ + 0.1, + 0.6, + 0.6 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "picture_cap": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "picture_cap_1": { + "pos": [ + -0.20618544444887604, + 0.22967074214807054, + 0.45499999999999996 + ], + "ori": [ + 0.0, + 0.0, + -0.020084178950554588 + ], + "primitive_params": { + "size": [ + 0.05, + 0.002, + 0.05 + ] + }, + "visual": { + "color": [ + [ + 0.1, + 0.6, + 0.6 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "tile": { + "usd": [ + "$MAGICSIM_ASSETS/Object/MMB_A07/tile_L/Object.usda" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "tile_1": { + "pos": [ + 2.061134726469487, + 3.1598892059674095, + 0.33099999999999996 + ], + "ori": [ + 0.0, + 0.0, + -0.4981047218821857 + ], + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.06, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + } + } + } + }, + "cand_O": { + "usd": [ + "$MAGICSIM_ASSETS/Object/MMB_A07/tile_O/Object.usda" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "cand_O_1": { + "pos": [ + 1.633648405326248, + 3.18062466132951, + 0.33099999999999996 + ], + "ori": [ + 0.0, + 0.0, + -4.664103378149745 + ], + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.06, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + } + } + } + } + } + } + }, + "task": { + "new_seed_per_episode": true, + "observation": {}, + "reward": {}, + "termination": { + "timeout_steps": 30000, + "success_hold_frames": 10, + "fall_height": 0.08, + "fall_tilt": 1.0, + "lift_height": 0.12, + "grasp_distance": 0.25 + }, + "grasp": { + "mode": "generated", + "debug": false, + "floor_z": 0.03 + }, + "stance": { + "radii": [ + 0.54, + 0.58, + 0.5, + 0.46 + ], + "heights": [ + 0.26, + 0.22, + 0.3 + ], + "bearings_deg": [ + 0, + -25, + 25 + ], + "yaw_offsets_deg": [ + 0.0 + ], + "include_current": true + }, + "station": { + "task_id": "N032", + "task_version": "EXT60-MobileAvatar-v3", + "family_id": "puzzle_completion", + "primary_category": "C2", + "stage": "full", + "layout": { + "floor_z": 0.03, + "start": { + "x": -3.4, + "y": -2.2, + "yaw_deg": 40.0, + "radius": 0.3, + "yaw_spread_deg": 20.0 + }, + "stations": { + "A": { + "center": [ + -0.25625379571040385, + 0.03468828088051888 + ], + "facing_deg": 89.97991582104945, + "standoff": 0.7, + "table": { + "width": 0.9, + "depth": 0.5, + "height": 0.3 + } + }, + "B": { + "center": [ + 1.8729888091603093, + 3.2878527785956155 + ], + "facing_deg": 82.56518288612958, + "standoff": 0.7, + "table": { + "width": 0.9, + "depth": 0.5, + "height": 0.3 + } + } + } + }, + "route": [ + "A", + "B", + "A" + ], + "puzzle": { + "target": "tile", + "candidates": [ + "cand_O" + ], + "board": { + "across": 0.0, + "along": -0.12 + } + }, + "dr": { + "enabled": true, + "stations": { + "center_m": 0.25, + "facing_deg": 8.0 + }, + "objects": { + "across_m": 0.025, + "along_m": 0.02, + "yaw_deg": 8.0 + } + }, + "place_check": { + "tile": { + "at": { + "station": "A", + "across": 0.0, + "along": -0.145, + "z": 0.004 + }, + "yaw_deg": 0.0, + "clearance": 0.004 + } + }, + "success": { + "pos_tol": 0.012, + "yaw_deg": 6.0, + "upright_deg": 8.0, + "rest_z_tol": 0.006, + "max_penetration": 0.003, + "release_dist": 0.15, + "rest_speed": 0.03, + "lift": 0.08 + }, + "objects": { + "board_0": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.25, + 0.04, + 0.02 + ], + "at": { + "station": "A", + "across": 0.0, + "along": -0.2, + "z": 0.01 + }, + "color": [ + 0.55, + 0.55, + 0.58 + ], + "pos": [ + -0.2563239027190175, + -0.16531170683199914, + 0.33999999999999997 + ], + "yaw_deg": -0.020084178950554588 + }, + "board_1": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.25, + 0.04, + 0.02 + ], + "at": { + "station": "A", + "across": 0.0, + "along": -0.04, + "z": 0.01 + }, + "color": [ + 0.55, + 0.55, + 0.58 + ], + "pos": [ + -0.2562678171121266, + -0.005311716661984718, + 0.33999999999999997 + ], + "yaw_deg": -0.020084178950554588 + }, + "board_2": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.04, + 0.1, + 0.02 + ], + "at": { + "station": "A", + "across": -0.105, + "along": -0.12, + "z": 0.01 + }, + "color": [ + 0.55, + 0.55, + 0.58 + ], + "pos": [ + -0.361295853464644, + -0.08527490556746975, + 0.33999999999999997 + ], + "yaw_deg": -0.020084178950554588 + }, + "board_3": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.04, + 0.1, + 0.02 + ], + "at": { + "station": "A", + "across": 0.105, + "along": -0.12, + "z": 0.01 + }, + "color": [ + 0.55, + 0.55, + 0.58 + ], + "pos": [ + -0.1512958663665001, + -0.08534851792651407, + 0.33999999999999997 + ], + "yaw_deg": -0.020084178950554588 + }, + "board_4": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.09, + 0.04, + 0.02 + ], + "at": { + "station": "A", + "across": -0.03, + "along": -0.09, + "z": 0.01 + }, + "color": [ + 0.55, + 0.55, + 0.58 + ], + "pos": [ + -0.2862853420211577, + -0.05530119753882216, + 0.33999999999999997 + ], + "yaw_deg": -0.020084178950554588 + }, + "picture": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.25, + 0.008, + 0.2 + ], + "at": { + "station": "A", + "across": 0.0, + "along": 0.2, + "z": 0.1 + }, + "color": [ + 0.55, + 0.55, + 0.58 + ], + "pos": [ + -0.2561836887017902, + 0.23468826859303688, + 0.42999999999999994 + ], + "yaw_deg": -0.020084178950554588 + }, + "picture_bar": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.15, + 0.002, + 0.05 + ], + "at": { + "station": "A", + "across": 0.0, + "along": 0.195, + "z": 0.075 + }, + "color": [ + 0.1, + 0.6, + 0.6 + ], + "collision": false, + "pos": [ + -0.25618544137700555, + 0.22968826890022392, + 0.40499999999999997 + ], + "yaw_deg": -0.020084178950554588 + }, + "picture_cap": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.05, + 0.002, + 0.05 + ], + "at": { + "station": "A", + "across": 0.05, + "along": 0.195, + "z": 0.125 + }, + "color": [ + 0.1, + 0.6, + 0.6 + ], + "collision": false, + "pos": [ + -0.20618544444887604, + 0.22967074214807054, + 0.45499999999999996 + ], + "yaw_deg": -0.020084178950554588 + }, + "tile": { + "jitter": true, + "catalog": "tile_L", + "type": "rigid", + "at": { + "station": "B", + "across": 0.2031223747282544, + "along": -0.10254200604942633, + "z": 0.001 + }, + "yaw_deg": -0.4981047218821857, + "friction": { + "static": 1.5, + "dynamic": 1.5 + }, + "asset": "$MAGICSIM_ASSETS/Object/MMB_A07/tile_L/Object.usda", + "parts": [ + { + "name": "body0", + "center": [ + 0.0, + 0.0, + 0.01 + ], + "half": [ + 0.07500000000000001, + 0.025, + 0.01 + ], + "rpy_deg": [ + 0.0, + 0.0, + 0.0 + ] + }, + { + "name": "body1", + "center": [ + 0.05, + 0.05, + 0.01 + ], + "half": [ + 0.025, + 0.025, + 0.01 + ], + "rpy_deg": [ + 0.0, + 0.0, + 0.0 + ] + }, + { + "name": "knob", + "center": [ + 0.0, + 0.0, + 0.042499999999999996 + ], + "half": [ + 0.018, + 0.018, + 0.0225 + ], + "rpy_deg": [ + 0.0, + 0.0, + 0.0 + ] + } + ], + "mass": 0.06, + "com": [ + 0.0125, + 0.0125, + 0.01 + ], + "grasp": { + "part": "knob", + "thin_axis": 0, + "min_elevation_deg": 40.0, + "inset": 0.006, + "min_overlap_x": 0.016 + }, + "pos": [ + 2.061134726469487, + 3.1598892059674095, + 0.33099999999999996 + ] + }, + "cand_O": { + "jitter": true, + "catalog": "tile_O", + "type": "rigid", + "at": { + "station": "B", + "across": -0.22345307678796922, + "along": -0.13729683359012743, + "z": 0.001 + }, + "yaw_deg": -4.664103378149745, + "friction": { + "static": 1.5, + "dynamic": 1.5 + }, + "asset": "$MAGICSIM_ASSETS/Object/MMB_A07/tile_O/Object.usda", + "parts": [ + { + "name": "body0", + "center": [ + 0.025, + 0.0, + 0.01 + ], + "half": [ + 0.05, + 0.025, + 0.01 + ], + "rpy_deg": [ + 0.0, + 0.0, + 0.0 + ] + }, + { + "name": "body1", + "center": [ + 0.025, + 0.05, + 0.01 + ], + "half": [ + 0.05, + 0.025, + 0.01 + ], + "rpy_deg": [ + 0.0, + 0.0, + 0.0 + ] + }, + { + "name": "knob", + "center": [ + 0.025, + 0.025, + 0.042499999999999996 + ], + "half": [ + 0.018, + 0.018, + 0.0225 + ], + "rpy_deg": [ + 0.0, + 0.0, + 0.0 + ] + } + ], + "mass": 0.06, + "com": [ + 0.025, + 0.025, + 0.01 + ], + "grasp": { + "part": "knob", + "thin_axis": 0, + "min_elevation_deg": 40.0, + "inset": 0.006, + "min_overlap_x": 0.016 + }, + "pos": [ + 1.633648405326248, + 3.18062466132951, + 0.33099999999999996 + ] + } + }, + "planner_seeds": "lean", + "report_jsonl": "/mnt/scratch/xc536_atomic/n032_go2_off_1016_r2/out/report.episodes.jsonl", + "dr_applied": true, + "level": "easy" + }, + "command": { + "StationPuzzle": { + "obj_type": "rigid", + "obj_name": "tile", + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.05, + "settle_ticks": 120 + } + } + }, + "collect": { + "global_planner": { + "NavTo": { + "use_navmesh": true, + "use_absolute": true, + "translation_threshold": 0.2, + "rotation_threshold": 0.15, + "num_path_segments": 30, + "start_forward_offset": 0.0, + "visualize_path": false, + "carry_arm": true + }, + "RetractMoveL": { + "translation_threshold": 0.06, + "rotation_threshold": 0.3, + "motiongen_distance_threshold": 0.05, + "timeout_steps": 2000, + "base_pos_threshold": 0.12, + "base_rot_threshold": 0.5, + "eef_pos_threshold": 0.03, + "eef_rot_threshold": 0.3, + "base_waypoint_max_steps": 20, + "arm_waypoint_max_steps": 8 + }, + "MobileMoveL": { + "translation_threshold": 0.006, + "rotation_threshold": 0.2, + "motiongen_distance_threshold": 0.05, + "timeout_steps": 1500, + "stall_release_ticks": 100, + "stall_release_factor": 5.0, + "reactive": false, + "base_pos_threshold": 0.12, + "base_rot_threshold": 0.5, + "eef_pos_threshold": 0.03, + "eef_rot_threshold": 0.3, + "waypoint_max_steps": 8, + "interp_steps": 60, + "interp_validate_target": true, + "retry_mobile_on_locked_plan_failure": true + }, + "MobileServoL": { + "base_pos_threshold": 0.12, + "waypoint_max_steps": 20, + "translation_threshold": 0.05, + "timeout_steps": 300 + }, + "ParallelGripper": { + "gripper_threshold": 0.0005, + "timeout_steps": 60 + } + }, + "atomic_skill": { + "NavToPose": { + "robot_id": 0, + "show_marker": false + }, + "Move": { + "arm_planner": "MobileMoveL", + "hand_planner": "ParallelGripper", + "obstacle_avoid_paths": [], + "obstacle_ignore_paths": [], + "close_value": 1.0, + "open_value": 0.0, + "hold_steps": 10 + }, + "ReachStance": { + "check_current_first": true, + "stance_margin": 0.03, + "max_reach": 0.85, + "max_walks": 4, + "reject_radius": 0.05, + "obstacle_avoidance": [ + "dynamic" + ], + "walk_planner": "MobileServoL", + "strategy_kwargs": { + "reach_steps": 2 + }, + "debug": false + }, + "Grasp": { + "pre_grasp_offset": 0.1, + "retrieval_offset": 0.1, + "mobile": true, + "pre_grasp_planner": "MobileMoveL", + "pre_grasp_mode": -1, + "grasp_mode": 4, + "retrieval_mode": 4, + "goalset_lock_base": true, + "reactive": false, + "viz_grasp": false + } + }, + "command": { + "StationPuzzle": { + "obj_type": "rigid", + "obj_name": "tile", + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.05, + "settle_ticks": 120 + } + }, + "auto_collect": {}, + "record": { + "output_dir": "/mnt/scratch/xc536_atomic/n032_go2_off_1016_r2/out/rec", + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "json_round": null, + "schema": { + "source": "robot_manager", + "nan_policy": "from_raw" + }, + "lerobot": { + "subsample_every": 2 + } + } + }, + "visual_dr": { + "keep": [ + "tile", + "cand_O", + "cand_J", + "picture_bar", + "picture_cap" + ] + } + }, + "git_sha": null, + "collect_runtime": { + "max_trajectories": 1 + } +} \ No newline at end of file diff --git a/N032/go2_arm/dr_off/seed_1016/rec/stationpuzzle/000/sim_info/0/actions.npz b/N032/go2_arm/dr_off/seed_1016/rec/stationpuzzle/000/sim_info/0/actions.npz new file mode 100644 index 0000000000000000000000000000000000000000..0f00db80b4ef1edb6a4cf512092fc20f5b5f2041 --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1016/rec/stationpuzzle/000/sim_info/0/actions.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:361878ee96ffc3dc3b20043bdf13d2b139762eedf463916c77bdeed02e6a7cd8 +size 1029020 diff --git a/N032/go2_arm/dr_off/seed_1016/rec/stationpuzzle/000/sim_info/0/device_commands.jsonl b/N032/go2_arm/dr_off/seed_1016/rec/stationpuzzle/000/sim_info/0/device_commands.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N032/go2_arm/dr_off/seed_1016/rec/stationpuzzle/000/sim_info/0/device_events.jsonl b/N032/go2_arm/dr_off/seed_1016/rec/stationpuzzle/000/sim_info/0/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N032/go2_arm/dr_off/seed_1016/rec/stationpuzzle/000/sim_info/0/scene_snapshot.json b/N032/go2_arm/dr_off/seed_1016/rec/stationpuzzle/000/sim_info/0/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..eefe1388708d22d429d1aeac3b43ea676fddbb0a --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1016/rec/stationpuzzle/000/sim_info/0/scene_snapshot.json @@ -0,0 +1,773 @@ +{ + "trajectory_id": 0, + "env_id": 0, + "run_id": "stationpuzzle/000", + "task_type": "PuzzleCommand", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])", + "avatars": "avatar_manager.set_avatars_state(snapshot['avatars'], env_ids=[env_id]) (present when the scene has animated avatars)" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "table_A": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.25625379571040385, + 0.03468828088051888, + 0.18 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + -0.00017526753072161227 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.45, + 0.35 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + } + }, + "type_specific": {} + } + ], + "table_B": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 1.8729888091603093, + 3.2878527785956155, + 0.18 + ], + "ori": [ + 0.9978959560394287, + 0.0, + 0.0, + -0.06483551114797592 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.45, + 0.35 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + } + }, + "type_specific": {} + } + ], + "board_0": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.2563239027190175, + -0.16531170683199914, + 0.33999999999999997 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + -0.00017526753072161227 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.55, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.25, + 0.04, + 0.02 + ] + } + }, + "type_specific": {} + } + ], + "board_1": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.2562678171121266, + -0.005311716661984718, + 0.33999999999999997 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + -0.00017526753072161227 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.55, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.25, + 0.04, + 0.02 + ] + } + }, + "type_specific": {} + } + ], + "board_2": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.361295853464644, + -0.08527490556746975, + 0.33999999999999997 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + -0.00017526753072161227 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.55, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.04, + 0.1, + 0.02 + ] + } + }, + "type_specific": {} + } + ], + "board_3": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.1512958663665001, + -0.08534851792651407, + 0.33999999999999997 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + -0.00017526753072161227 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.55, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.04, + 0.1, + 0.02 + ] + } + }, + "type_specific": {} + } + ], + "board_4": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.2862853420211577, + -0.05530119753882216, + 0.33999999999999997 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + -0.00017526753072161227 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.55, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.09, + 0.04, + 0.02 + ] + } + }, + "type_specific": {} + } + ], + "picture": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.2561836887017902, + 0.23468826859303688, + 0.42999999999999994 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + -0.00017526753072161227 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.55, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.25, + 0.008, + 0.2 + ] + } + }, + "type_specific": {} + } + ], + "picture_bar": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.25618544137700555, + 0.22968826890022392, + 0.40499999999999997 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + -0.00017526753072161227 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.1, + 0.6, + 0.6 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.15, + 0.002, + 0.05 + ] + } + }, + "type_specific": {} + } + ], + "picture_cap": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.20618544444887604, + 0.22967074214807054, + 0.45499999999999996 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + -0.00017526753072161227 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.1, + 0.6, + 0.6 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.05, + 0.002, + 0.05 + ] + } + }, + "type_specific": {} + } + ], + "tile": [ + { + "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MMB_A07/tile_L/Object.usda", + "pose": { + "pos": [ + 2.0611348152160645, + 3.1598892211914062, + 0.33000001311302185 + ], + "ori": [ + 0.9999904632568359, + 3.0151568353176117e-07, + 1.2479722499847412e-07, + -0.004340122453868389 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.06, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.340981720612035e-06, + 1.1290711881883908e-05, + 6.982767786212207e-07 + ], + "angular_velocity": [ + -0.0010557766072452068, + -0.0005613382672891021, + 0.00013932389265391976 + ] + } + } + ], + "cand_O": [ + { + "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MMB_A07/tile_O/Object.usda", + "pose": { + "pos": [ + 1.6336485147476196, + 3.1806247234344482, + 0.33000001311302185 + ], + "ori": [ + 0.9991717338562012, + -1.4029015460437222e-07, + -2.4483597371727228e-08, + -0.04069023206830025 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.06, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.1717438560008304e-06, + 8.511852684023324e-06, + -2.1372848095779773e-06 + ], + "angular_velocity": [ + -0.0001185322180390358, + -5.841787060489878e-05, + 2.1623412976623513e-05 + ] + } + } + ] + } + ], + "artifacts": [ + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1000.0, + "texture": null, + "color": [ + 0.85, + 0.85, + 0.85 + ] + } + } + }, + "robots": { + "Go2Plus": { + "root_pose": [ + [ + -3.199971914291382, + -2.033930540084839, + 0.3519573211669922, + 0.9593559503555298, + 0.0054574087262153625, + -0.005047701299190521, + 0.282100647687912 + ] + ], + "root_vel": [ + [ + -0.001001587021164596, + -0.000760264287237078, + -0.0007829022943042219, + -0.006292286794632673, + 0.010295898653566837, + -0.0015745452838018537 + ] + ], + "joint_pos": [ + [ + 0.04205912724137306, + -0.036508217453956604, + -0.07507628947496414, + 0.08049227297306061, + -0.00010370785457780585, + 0.6489418745040894, + 0.7321053147315979, + 1.0182216167449951, + 1.0109533071517944, + 1.7056596279144287, + -1.5216588973999023, + -1.5528384447097778, + -1.5944993495941162, + -1.6173592805862427, + -0.9956306219100952, + 4.3547330278670415e-05, + 0.6994913816452026, + -5.461738328449428e-05, + 0.03500000014901161, + -0.03499830141663551 + ] + ], + "joint_vel": [ + [ + 0.0012162781786173582, + 0.000776234082877636, + -0.0007686649914830923, + -0.0019631567411124706, + 0.0004812670813407749, + -0.007304721511900425, + -0.006982308812439442, + -0.02240118384361267, + -0.024012025445699692, + -0.03689265251159668, + -0.018503796309232712, + -0.021336300298571587, + 0.008175879716873169, + 0.008746347390115261, + -0.026734089478850365, + -0.0005145955365151167, + 0.011384314857423306, + 0.0005463649868033826, + 1.7494589599209576e-07, + 3.0008679914317327e-06 + ] + ] + } + }, + "cameras": { + "cameras": { + "head": [ + [ + 0.33205100893974304, + 0.038026999682188034, + 0.09355899691581726, + -0.5022302269935608, + -0.499491810798645, + 0.5120040774345398, + 0.4859265089035034 + ] + ], + "wrist": [ + [ + -0.0749870017170906, + 0.005288999993354082, + 0.04582099989056587, + 0.1271296590566635, + 0.701795220375061, + -0.6904057860374451, + -0.12108422070741653 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/N032/go2_arm/dr_off/seed_1016/rec/stationpuzzle/000/sim_info/0/sim_states.npz b/N032/go2_arm/dr_off/seed_1016/rec/stationpuzzle/000/sim_info/0/sim_states.npz new file mode 100644 index 0000000000000000000000000000000000000000..d69bee334d4ca7dac0e2dd9ac18ada8d7d657728 --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1016/rec/stationpuzzle/000/sim_info/0/sim_states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dff5c3bda98d6c8901865196625291c19d3fd7adc2b79e017a7d1ad7e79b8993 +size 843582 diff --git a/N032/go2_arm/dr_off/seed_1016/rec/stationpuzzle/000/sim_info/magicsim_manifest.json b/N032/go2_arm/dr_off/seed_1016/rec/stationpuzzle/000/sim_info/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..13e73f29a03de55f10231014d0155814f0ab41b4 --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1016/rec/stationpuzzle/000/sim_info/magicsim_manifest.json @@ -0,0 +1,259 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 03:05:09" + }, + "embodiment": { + "robots": [ + { + "name": "Go2Plus", + "cfg": "Go2PlusCfg", + "type": "mobilemanip", + "joint_names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 12, + "nan_policy": "from_raw", + "segments": [ + { + "name": "Go2Plus.base_action", + "start": 0, + "end": 4, + "names": [ + "base_action_0", + "base_action_1", + "base_action_2", + "base_action_3" + ], + "source": "Go2UnifiedLocomotionAction", + "names_source": "fallback" + }, + { + "name": "Go2Plus.arm_action", + "start": 4, + "end": 11, + "names": [ + "eef0.pos_x", + "eef0.pos_y", + "eef0.pos_z", + "eef0.quat_w", + "eef0.quat_x", + "eef0.quat_y", + "eef0.quat_z" + ], + "source": "Go2PlusCuroboIKAction", + "names_source": "pose_layout" + }, + { + "name": "Go2Plus.eef_action", + "start": 11, + "end": 12, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 26, + "segments": [ + { + "name": "Go2Plus.joint_pos", + "start": 0, + "end": 24, + "names": [ + "joint_0", + "joint_1", + "joint_2", + "joint_3", + "joint_4", + "joint_5", + "joint_6", + "joint_7", + "joint_8", + "joint_9", + "joint_10", + "joint_11", + "joint_12", + "joint_13", + "joint_14", + "joint_15", + "joint_16", + "joint_17", + "joint_18", + "joint_19", + "joint_20", + "joint_21", + "joint_22", + "joint_23" + ], + "source": "ObservationManager", + "names_source": "fallback_dim_mismatch(joint_names=20,obs=24)" + }, + { + "name": "Go2Plus.gripper_pos", + "start": 24, + "end": 26, + "names": [ + "gripper_0", + "gripper_1" + ], + "source": "ObservationManager", + "names_source": "generated" + } + ] + }, + "joint_vel_layout": { + "dim": 20, + "segments": [ + { + "name": "Go2Plus.joint_vel", + "start": 0, + "end": 20, + "names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "action_levels": { + "L0": "task command list (collect.auto_collect_info.current_action)", + "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)", + "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)", + "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy", + "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)" + }, + "cameras": { + "head": { + "intrinsics": { + "K": [ + [ + 607.7061061683956, + 0.0, + 320.0 + ], + [ + 0.0, + 607.3754374751866, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 55.53991912549515, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.33205100893974304, + 0.038026999682188034, + 0.09355899691581726 + ], + "quat": [ + -0.5022302269935608, + -0.499491810798645, + 0.5120040774345398, + 0.4859265089035034 + ] + }, + "wrist": { + "intrinsics": { + "K": [ + [ + 617.2500342478374, + 0.0, + 320.0 + ], + [ + 0.0, + 617.548655622722, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 54.807019583348044, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + -0.0749870017170906, + 0.005288999993354082, + 0.04582099989056587 + ], + "quat": [ + 0.1271296590566635, + 0.701795220375061, + -0.6904057860374451, + -0.12108422070741653 + ] + } + }, + "generated_run": { + "run_id": "stationpuzzle/000", + "task_type": "PuzzleCommand" + } +} \ No newline at end of file diff --git a/N032/go2_arm/dr_off/seed_1016/report.episodes.jsonl b/N032/go2_arm/dr_off/seed_1016/report.episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cfd513c338f0335d7f1b4b698ee5305cd7ea7c08 --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1016/report.episodes.jsonl @@ -0,0 +1 @@ +{"task_id": "N032", "task_version": "EXT60-MobileAvatar-v3", "instruction": null, "agent_id": "a07", "family_id": "puzzle_completion", "primary_category": "C2", "level": "easy", "embodiment": "go2_arm", "scene_seed": 1016, "execution_mode": "expert_privileged_command", "station_layout": {"A": {"center": [-0.25625379571040385, 0.03468828088051888], "facing": 1.57, "stand": [-0.257, -0.915, 1.57]}, "B": {"center": [1.8729888091603093, 3.2878527785956155], "facing": 1.441, "stand": [1.75, 2.346, 1.441]}}, "spawn_pose": [-3.192, -2.029, 0.567], "base_path": [[-3.192, -2.029, 0.567], [-3.196, -2.031, 0.574], [-3.198, -2.033, 0.572], [-3.199, -2.033, 0.572], [-3.2, -2.034, 0.572], [-3.136, -2.003, 0.514], [-3.003, -1.949, 0.367], [-2.843, -1.897, 0.326], [-2.68, -1.844, 0.33], [-2.517, -1.787, 0.337], [-2.354, -1.729, 0.341], [-2.193, -1.67, 0.339], [-2.032, -1.612, 0.337], [-1.872, -1.554, 0.335], [-1.71, -1.495, 0.34], [-1.548, -1.436, 0.34], [-1.386, -1.377, 0.341], [-1.225, -1.32, 0.34], [-1.064, -1.26, 0.338], [-0.902, -1.202, 0.335], [-0.741, -1.143, 0.34], [-0.581, -1.084, 0.34], [-0.445, -1.03, 0.341], [-0.369, -1.006, 0.358], [-0.359, -0.998, 0.674], [-0.356, -0.999, 1.081], [-0.353, -1.001, 1.494], [-0.351, -1.004, 1.855], [-0.346, -1.009, 1.841], [-0.348, -1.016, 1.499], [-0.353, -1.022, 1.08], [-0.334, -0.998, 0.694], [-0.222, -0.921, 0.555], [-0.082, -0.828, 0.56], [0.058, -0.727, 0.588], [0.197, -0.625, 0.595], [0.333, -0.519, 0.598], [0.454, -0.392, 0.596], [0.573, -0.263, 0.738], [0.675, -0.128, 1.005], [0.747, 0.027, 1.086], [0.821, 0.182, 1.074], [0.902, 0.333, 1.063], [0.986, 0.484, 1.056], [1.071, 0.633, 1.051], [1.154, 0.783, 1.05], [1.237, 0.933, 1.057], [1.321, 1.084, 1.056], [1.405, 1.234, 1.058], [1.489, 1.384, 1.058], [1.571, 1.532, 1.054], [1.655, 1.682, 1.052], [1.739, 1.833, 1.056], [1.821, 1.984, 1.057], [1.891, 2.118, 1.058], [1.931, 2.19, 1.11], [1.936, 2.203, 1.445], [1.94, 2.242, 1.513], [1.957, 2.348, 1.479], [1.968, 2.463, 1.465], [1.981, 2.573, 1.461], [1.985, 2.606, 1.464], [1.981, 2.592, 1.46], [1.983, 2.598, 1.461], [1.982, 2.597, 1.462], [1.98, 2.598, 1.453], [1.982, 2.595, 1.451], [1.986, 2.604, 1.45], [1.982, 2.592, 1.45], [1.978, 2.582, 1.45], [1.977, 2.576, 1.452], [1.978, 2.58, 1.454], [1.977, 2.577, 1.452], [1.979, 2.578, 1.454], [1.978, 2.578, 1.455], [1.979, 2.581, 1.456], [1.978, 2.578, 1.456], [1.978, 2.574, 1.511], [1.978, 2.563, 1.842], [1.983, 2.559, 2.246], [1.989, 2.559, 2.664], [1.993, 2.561, 3.086], [1.997, 2.565, -2.776], [1.999, 2.57, -2.357], [1.962, 2.519, -2.042], [1.907, 2.412, -1.99], [1.855, 2.309, -2.019], [1.803, 2.211, -2.042], [1.751, 2.113, -2.046], [1.7, 2.013, -2.043], [1.648, 1.914, -2.043], [1.601, 1.813, -2.041], [1.552, 1.711, -2.04], [1.502, 1.612, -2.04], [1.451, 1.513, -2.039], [1.4, 1.413, -2.04], [1.35, 1.314, -2.041], [1.299, 1.213, -2.04], [1.252, 1.113, -2.039], [1.201, 1.012, -2.039], [1.15, 0.913, -2.039], [1.1, 0.814, -2.04], [1.051, 0.713, -2.041], [1.001, 0.613, -2.041], [0.951, 0.514, -2.039], [0.901, 0.414, -2.039], [0.85, 0.314, -2.04], [0.802, 0.215, -2.042], [0.753, 0.115, -2.041], [0.702, 0.014, -2.041], [0.651, -0.086, -2.04], [0.6, -0.188, -2.039], [0.55, -0.288, -2.04], [0.49, -0.381, -2.039], [0.39, -0.464, -2.044], [0.351, -0.487, -2.336], [0.328, -0.511, -2.719], [0.227, -0.561, -2.892], [0.116, -0.6, -2.89], [0.012, -0.638, -2.863], [-0.082, -0.671, -2.85], [-0.132, -0.691, -2.917], [-0.134, -0.693, 3.019], [-0.132, -0.697, 2.6], [-0.13, -0.706, 2.178], [-0.135, -0.711, 1.752], [-0.132, -0.704, 1.508], [-0.131, -0.692, 1.515], [-0.134, -0.685, 1.539], [-0.135, -0.68, 1.542], [-0.135, -0.678, 1.542], [-0.135, -0.68, 1.542], [-0.134, -0.678, 1.541], [-0.134, -0.677, 1.542], [-0.134, -0.676, 1.542], [-0.134, -0.676, 1.542], [-0.134, -0.676, 1.542], [-0.134, -0.676, 1.542], [-0.134, -0.676, 1.542], [-0.134, -0.676, 1.542], [-0.134, -0.676, 1.542], [-0.134, -0.676, 1.542], [-0.134, -0.676, 1.542], [-0.134, -0.676, 1.542], [-0.134, -0.678, 1.543]], "stage_events": [{"tick": 466, "event": "enter_station", "station": "A", "xy": [-0.966, -1.225]}, {"tick": 1100, "event": "leave_station", "station": "A", "xy": [1.067, 0.627]}, {"tick": 1303, "event": "enter_station", "station": "B", "xy": [1.746, 1.845]}, {"tick": 2265, "event": "leave_station", "station": "B", "xy": [1.621, 1.857]}, {"tick": 2558, "event": "enter_station", "station": "A", "xy": [1.037, 0.685]}], "transport_state": {"tile": {"held": false, "grasps": 1}}, "manipulation_success": true, "mobile_success": true, "full_success": true, "failure_reason": null, "fail_class_hint": null, "distance_to_first_interaction": 2.387, "interstation_path_lengths": [4.323, 3.113], "station_transition_order": ["A", "B", "A"], "final_approach_pose": [-0.134, -0.678, 1.543], "regrasp_events": 0, "control_ticks": 3222, "wall_s": 736.1, "phase": "done", "state": "success: task sequence complete", "check": {"tile": {"held": false, "dist_wrist": 0.37, "err_across": -0.0, "err_along": -0.0001, "yaw_err_deg": 0.0, "tilt_deg": 0.0, "z_err": 0.0, "overlap": false, "at_rest": true, "in_notch": true}, "released": true, "intruders": [], "manipulation_success": true}, "route": ["A", "B", "A"], "total_path_m": 11.83, "planner_seeds": "lean"} diff --git a/N032/go2_arm/dr_off/seed_1016/report.json b/N032/go2_arm/dr_off/seed_1016/report.json new file mode 100644 index 0000000000000000000000000000000000000000..a3eb1cef168c0ff397fc3b652892deb3da3a1ac3 --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1016/report.json @@ -0,0 +1,968 @@ +{ + "task_id": "N032", + "level": "easy", + "seed": 1016, + "episodes_requested": 1, + "episodes": [ + { + "task_id": "N032", + "task_version": "EXT60-MobileAvatar-v3", + "instruction": null, + "agent_id": "a07", + "family_id": "puzzle_completion", + "primary_category": "C2", + "level": "easy", + "embodiment": "go2_arm", + "scene_seed": 1016, + "execution_mode": "expert_privileged_command", + "station_layout": { + "A": { + "center": [ + -0.25625379571040385, + 0.03468828088051888 + ], + "facing": 1.57, + "stand": [ + -0.257, + -0.915, + 1.57 + ] + }, + "B": { + "center": [ + 1.8729888091603093, + 3.2878527785956155 + ], + "facing": 1.441, + "stand": [ + 1.75, + 2.346, + 1.441 + ] + } + }, + "spawn_pose": [ + -3.192, + -2.029, + 0.567 + ], + "base_path": [ + [ + -3.192, + -2.029, + 0.567 + ], + [ + -3.196, + -2.031, + 0.574 + ], + [ + -3.198, + -2.033, + 0.572 + ], + [ + -3.199, + -2.033, + 0.572 + ], + [ + -3.2, + -2.034, + 0.572 + ], + [ + -3.136, + -2.003, + 0.514 + ], + [ + -3.003, + -1.949, + 0.367 + ], + [ + -2.843, + -1.897, + 0.326 + ], + [ + -2.68, + -1.844, + 0.33 + ], + [ + -2.517, + -1.787, + 0.337 + ], + [ + -2.354, + -1.729, + 0.341 + ], + [ + -2.193, + -1.67, + 0.339 + ], + [ + -2.032, + -1.612, + 0.337 + ], + [ + -1.872, + -1.554, + 0.335 + ], + [ + -1.71, + -1.495, + 0.34 + ], + [ + -1.548, + -1.436, + 0.34 + ], + [ + -1.386, + -1.377, + 0.341 + ], + [ + -1.225, + -1.32, + 0.34 + ], + [ + -1.064, + -1.26, + 0.338 + ], + [ + -0.902, + -1.202, + 0.335 + ], + [ + -0.741, + -1.143, + 0.34 + ], + [ + -0.581, + -1.084, + 0.34 + ], + [ + -0.445, + -1.03, + 0.341 + ], + [ + -0.369, + -1.006, + 0.358 + ], + [ + -0.359, + -0.998, + 0.674 + ], + [ + -0.356, + -0.999, + 1.081 + ], + [ + -0.353, + -1.001, + 1.494 + ], + [ + -0.351, + -1.004, + 1.855 + ], + [ + -0.346, + -1.009, + 1.841 + ], + [ + -0.348, + -1.016, + 1.499 + ], + [ + -0.353, + -1.022, + 1.08 + ], + [ + -0.334, + -0.998, + 0.694 + ], + [ + -0.222, + -0.921, + 0.555 + ], + [ + -0.082, + -0.828, + 0.56 + ], + [ + 0.058, + -0.727, + 0.588 + ], + [ + 0.197, + -0.625, + 0.595 + ], + [ + 0.333, + -0.519, + 0.598 + ], + [ + 0.454, + -0.392, + 0.596 + ], + [ + 0.573, + -0.263, + 0.738 + ], + [ + 0.675, + -0.128, + 1.005 + ], + [ + 0.747, + 0.027, + 1.086 + ], + [ + 0.821, + 0.182, + 1.074 + ], + [ + 0.902, + 0.333, + 1.063 + ], + [ + 0.986, + 0.484, + 1.056 + ], + [ + 1.071, + 0.633, + 1.051 + ], + [ + 1.154, + 0.783, + 1.05 + ], + [ + 1.237, + 0.933, + 1.057 + ], + [ + 1.321, + 1.084, + 1.056 + ], + [ + 1.405, + 1.234, + 1.058 + ], + [ + 1.489, + 1.384, + 1.058 + ], + [ + 1.571, + 1.532, + 1.054 + ], + [ + 1.655, + 1.682, + 1.052 + ], + [ + 1.739, + 1.833, + 1.056 + ], + [ + 1.821, + 1.984, + 1.057 + ], + [ + 1.891, + 2.118, + 1.058 + ], + [ + 1.931, + 2.19, + 1.11 + ], + [ + 1.936, + 2.203, + 1.445 + ], + [ + 1.94, + 2.242, + 1.513 + ], + [ + 1.957, + 2.348, + 1.479 + ], + [ + 1.968, + 2.463, + 1.465 + ], + [ + 1.981, + 2.573, + 1.461 + ], + [ + 1.985, + 2.606, + 1.464 + ], + [ + 1.981, + 2.592, + 1.46 + ], + [ + 1.983, + 2.598, + 1.461 + ], + [ + 1.982, + 2.597, + 1.462 + ], + [ + 1.98, + 2.598, + 1.453 + ], + [ + 1.982, + 2.595, + 1.451 + ], + [ + 1.986, + 2.604, + 1.45 + ], + [ + 1.982, + 2.592, + 1.45 + ], + [ + 1.978, + 2.582, + 1.45 + ], + [ + 1.977, + 2.576, + 1.452 + ], + [ + 1.978, + 2.58, + 1.454 + ], + [ + 1.977, + 2.577, + 1.452 + ], + [ + 1.979, + 2.578, + 1.454 + ], + [ + 1.978, + 2.578, + 1.455 + ], + [ + 1.979, + 2.581, + 1.456 + ], + [ + 1.978, + 2.578, + 1.456 + ], + [ + 1.978, + 2.574, + 1.511 + ], + [ + 1.978, + 2.563, + 1.842 + ], + [ + 1.983, + 2.559, + 2.246 + ], + [ + 1.989, + 2.559, + 2.664 + ], + [ + 1.993, + 2.561, + 3.086 + ], + [ + 1.997, + 2.565, + -2.776 + ], + [ + 1.999, + 2.57, + -2.357 + ], + [ + 1.962, + 2.519, + -2.042 + ], + [ + 1.907, + 2.412, + -1.99 + ], + [ + 1.855, + 2.309, + -2.019 + ], + [ + 1.803, + 2.211, + -2.042 + ], + [ + 1.751, + 2.113, + -2.046 + ], + [ + 1.7, + 2.013, + -2.043 + ], + [ + 1.648, + 1.914, + -2.043 + ], + [ + 1.601, + 1.813, + -2.041 + ], + [ + 1.552, + 1.711, + -2.04 + ], + [ + 1.502, + 1.612, + -2.04 + ], + [ + 1.451, + 1.513, + -2.039 + ], + [ + 1.4, + 1.413, + -2.04 + ], + [ + 1.35, + 1.314, + -2.041 + ], + [ + 1.299, + 1.213, + -2.04 + ], + [ + 1.252, + 1.113, + -2.039 + ], + [ + 1.201, + 1.012, + -2.039 + ], + [ + 1.15, + 0.913, + -2.039 + ], + [ + 1.1, + 0.814, + -2.04 + ], + [ + 1.051, + 0.713, + -2.041 + ], + [ + 1.001, + 0.613, + -2.041 + ], + [ + 0.951, + 0.514, + -2.039 + ], + [ + 0.901, + 0.414, + -2.039 + ], + [ + 0.85, + 0.314, + -2.04 + ], + [ + 0.802, + 0.215, + -2.042 + ], + [ + 0.753, + 0.115, + -2.041 + ], + [ + 0.702, + 0.014, + -2.041 + ], + [ + 0.651, + -0.086, + -2.04 + ], + [ + 0.6, + -0.188, + -2.039 + ], + [ + 0.55, + -0.288, + -2.04 + ], + [ + 0.49, + -0.381, + -2.039 + ], + [ + 0.39, + -0.464, + -2.044 + ], + [ + 0.351, + -0.487, + -2.336 + ], + [ + 0.328, + -0.511, + -2.719 + ], + [ + 0.227, + -0.561, + -2.892 + ], + [ + 0.116, + -0.6, + -2.89 + ], + [ + 0.012, + -0.638, + -2.863 + ], + [ + -0.082, + -0.671, + -2.85 + ], + [ + -0.132, + -0.691, + -2.917 + ], + [ + -0.134, + -0.693, + 3.019 + ], + [ + -0.132, + -0.697, + 2.6 + ], + [ + -0.13, + -0.706, + 2.178 + ], + [ + -0.135, + -0.711, + 1.752 + ], + [ + -0.132, + -0.704, + 1.508 + ], + [ + -0.131, + -0.692, + 1.515 + ], + [ + -0.134, + -0.685, + 1.539 + ], + [ + -0.135, + -0.68, + 1.542 + ], + [ + -0.135, + -0.678, + 1.542 + ], + [ + -0.135, + -0.68, + 1.542 + ], + [ + -0.134, + -0.678, + 1.541 + ], + [ + -0.134, + -0.677, + 1.542 + ], + [ + -0.134, + -0.676, + 1.542 + ], + [ + -0.134, + -0.676, + 1.542 + ], + [ + -0.134, + -0.676, + 1.542 + ], + [ + -0.134, + -0.676, + 1.542 + ], + [ + -0.134, + -0.676, + 1.542 + ], + [ + -0.134, + -0.676, + 1.542 + ], + [ + -0.134, + -0.676, + 1.542 + ], + [ + -0.134, + -0.676, + 1.542 + ], + [ + -0.134, + -0.676, + 1.542 + ], + [ + -0.134, + -0.676, + 1.542 + ], + [ + -0.134, + -0.678, + 1.543 + ] + ], + "stage_events": [ + { + "tick": 466, + "event": "enter_station", + "station": "A", + "xy": [ + -0.966, + -1.225 + ] + }, + { + "tick": 1100, + "event": "leave_station", + "station": "A", + "xy": [ + 1.067, + 0.627 + ] + }, + { + "tick": 1303, + "event": "enter_station", + "station": "B", + "xy": [ + 1.746, + 1.845 + ] + }, + { + "tick": 2265, + "event": "leave_station", + "station": "B", + "xy": [ + 1.621, + 1.857 + ] + }, + { + "tick": 2558, + "event": "enter_station", + "station": "A", + "xy": [ + 1.037, + 0.685 + ] + } + ], + "transport_state": { + "tile": { + "held": false, + "grasps": 1 + } + }, + "manipulation_success": true, + "mobile_success": true, + "full_success": true, + "failure_reason": null, + "fail_class_hint": null, + "distance_to_first_interaction": 2.387, + "interstation_path_lengths": [ + 4.323, + 3.113 + ], + "station_transition_order": [ + "A", + "B", + "A" + ], + "final_approach_pose": [ + -0.134, + -0.678, + 1.543 + ], + "regrasp_events": 0, + "control_ticks": 3222, + "wall_s": 736.1, + "phase": "done", + "state": "success: task sequence complete", + "check": { + "tile": { + "held": false, + "dist_wrist": 0.37, + "err_across": -0.0, + "err_along": -0.0001, + "yaw_err_deg": 0.0, + "tilt_deg": 0.0, + "z_err": 0.0, + "overlap": false, + "at_rest": true, + "in_notch": true + }, + "released": true, + "intruders": [], + "manipulation_success": true + }, + "route": [ + "A", + "B", + "A" + ], + "total_path_m": 11.83, + "planner_seeds": "lean" + } + ], + "error": null, + "collect": { + "task": "N032", + "robot": "go2_arm", + "visual_dr": false, + "env": { + "MMB_COLLECT": "1", + "MMB_TASK_ID": "N032", + "MMB_CLEAN_VIEW": "1", + "MMB_REAL_ROBOT_LOOK": "1", + "MMB_VISUAL_DR": "0" + }, + "cameras": { + "head": { + "link": "Robot_0/Bodies/go2_base", + "pos": [ + 0.332051, + 0.038027, + 0.093559 + ], + "ori": [ + 169.9473, + -88.6452, + 81.5985 + ], + "focal_length": 1.8231182098388672, + "horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.4407838582992554 + }, + "wrist": { + "link": "Robot_0/Bodies/piper_link6", + "pos": [ + -0.074987, + 0.005289, + 0.045821 + ], + "ori": [ + 179.3135, + -20.212, + 88.9402 + ], + "focal_length": 1.8517500162124634, + "horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.4393036365509033 + } + }, + "resolution": [ + 640, + 480 + ], + "camera_hz": 25, + "record": { + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + } + }, + "review_cameras": [], + "policy_obs_signature": [ + "/camera_info[0]/rgb[0]:(480, 640, 4):uint8", + "/camera_info[1]/rgb[0]:(480, 640, 4):uint8", + "/robot_state[0]/Go2Plus/base_ang_vel:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/base_lin_vel:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/base_pos:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/base_quat:(1, 4):torch.float32", + "/robot_state[0]/Go2Plus/eef_pos:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/eef_quat:(1, 4):torch.float32", + "/robot_state[0]/Go2Plus/eef_relative_pos:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/eef_relative_quat:(1, 4):torch.float32", + "/robot_state[0]/Go2Plus/finger_joint_pos:(1, 2):torch.float32", + "/robot_state[0]/Go2Plus/gripper_pos:(1, 2):torch.float32", + "/robot_state[0]/Go2Plus/joint_effort:(1, 20):torch.float32", + "/robot_state[0]/Go2Plus/joint_pos:(1, 24):torch.float32", + "/robot_state[0]/Go2Plus/joint_vel:(1, 20):torch.float32" + ], + "n_success": 1, + "elapsed_s": 925.2, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 34.1 + } +} diff --git a/N032/go2_arm/dr_on/seed_2018/check.json b/N032/go2_arm/dr_on/seed_2018/check.json new file mode 100644 index 0000000000000000000000000000000000000000..221666f093b4201a41ab699e57392adda8598f52 --- /dev/null +++ b/N032/go2_arm/dr_on/seed_2018/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'; expected 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "1750 rows vs ceil(3499/2) = 1750" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..3599, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "32.49 MB, 1750 frames at 25 fps, mean luma 93..138, std 35, new picture 1749x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1750 vs 1750" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "51.97 MB, 1750 frames at 25 fps, mean luma 67..169, std 42, new picture 1749x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1750 vs 1750" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationpuzzle/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N032/go2_arm/dr_on/seed_2018/check.txt b/N032/go2_arm/dr_on/seed_2018/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..b27591e22511b695a53c359615412bf1b49b6d6b --- /dev/null +++ b/N032/go2_arm/dr_on/seed_2018/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n032_go2_on_2018/out task=N032 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n032_go2_on_2018/out/rec/stationpuzzle/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1750 videos 2 robot_type Go2PlusCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 1750 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5'] +[PASS] action shape: parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y'] +[PASS] task text = MobileBench instruction: task_index 0: 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'; expected 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.' +rows 1750 at dataset fps 25 = 70.00 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1750 rows vs ceil(3499/2) = 1750 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..3599, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 32.49 MB, 1750 frames at 25 fps, mean luma 93..138, std 35, new picture 1749x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1750 vs 1750 +[PASS] video observation.images.wrist decodes, 640x480, not black: 51.97 MB, 1750 frames at 25 fps, mean luma 67..169, std 42, new picture 1749x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1750 vs 1750 +parquet size 6.92 MB +[PASS] sim_info present: rec/stationpuzzle/000/sim_info +dataset size 91.68 MB; whole cell dir 93.7 MB +RESULT: ALL PASS diff --git a/N032/go2_arm/dr_on/seed_2018/rec/stationpuzzle/000/completed/0.json b/N032/go2_arm/dr_on/seed_2018/rec/stationpuzzle/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..8ccdef7d6fe05159c409af74707fd6bc60bede10 --- /dev/null +++ b/N032/go2_arm/dr_on/seed_2018/rec/stationpuzzle/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationpuzzle/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N032/go2_arm/dr_on/seed_2018/rec/stationpuzzle/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N032/go2_arm/dr_on/seed_2018/rec/stationpuzzle/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..2a5532238b9a9d8191755b6f0a448e154c6cfa55 --- /dev/null +++ b/N032/go2_arm/dr_on/seed_2018/rec/stationpuzzle/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3d784d71a9411129261c697d2576b113412a4dd49183d89a88b5647cb3428aa6 +size 6919442 diff --git a/N032/go2_arm/dr_on/seed_2018/rec/stationpuzzle/000/lerobot_v21/meta/episodes.jsonl b/N032/go2_arm/dr_on/seed_2018/rec/stationpuzzle/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c149af7cd547bc5889b744837d5fda8ef27a4566 --- /dev/null +++ b/N032/go2_arm/dr_on/seed_2018/rec/stationpuzzle/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap."], "length": 1750, "magicsim/control_steps": 3499, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a small gray board 0, a small gray board 1, a small gray board 2, a small gray board 3, a small gray board 4, a medium gray picture, a small gray picture bar, a small gray picture cap, a small tile and a small cand O. The gray table B is to the right of the cand O. The gray board 0 is to the right of the gray board 4. The gray board 1 is in front of the gray board 4. The gray board 2 is behind the gray board 4. The gray board 3 is to the right of the gray board 1. The gray board 4 is behind the gray board 1. The tile is on top of the gray table B. The tile is to the right of the gray table B. The cand O is on top of the gray table B. The cand O is to the left of the gray table B. The scene is viewed from front, at table height."} diff --git a/N032/go2_arm/dr_on/seed_2018/rec/stationpuzzle/000/lerobot_v21/meta/episodes_stats.jsonl b/N032/go2_arm/dr_on/seed_2018/rec/stationpuzzle/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..06757b46c821b3ad5ac3b38bb6b668ce8ac1f1f2 --- /dev/null +++ b/N032/go2_arm/dr_on/seed_2018/rec/stationpuzzle/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.17180833109255347, -0.003434777465249811, 0.017526515787999544, 0.3376457085268838, 0.49671188012191225, 0.5120617896786758, 0.6341606767688479, 0.06469057794527283, -0.6139705431461334, 0.46191340962052346, 0.13251050336978265, 0.44285714285714284], "std": [0.15190468860408476, 0.017214849651142974, 0.3260500064914225, 0.02628998512156523, 1.405018400100115, 1.400567769471577, 0.05142060066446687, 0.10991842339377922, 0.2387139690314078, 0.558847704593978, 0.08096200201843662, 0.4967239614489647], "min": [0.0, -0.16999998688697815, -0.800000011920929, 0.28999999165534973, -2.9175009727478027, -1.814424991607666, 0.486257940530777, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.02099730260670185, 0.0], "max": [0.3499999940395355, 0.09999996423721313, 0.800000011920929, 0.3700000047683716, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.19545592367649078, -0.19418030977249146, 0.9737604260444641, 0.25591960549354553, 1.0], "count": [1750]}, "action_is_hold": {"mean": [0.09142857142857143, 0.09142857142857143, 0.09142857142857143, 0.09142857142857143, 0.12114285714285715, 0.12114285714285715, 0.12114285714285715, 0.12114285714285715, 0.12114285714285715, 0.12114285714285715, 0.12114285714285715, 0.9628571428571429], "std": [0.2882176048667085, 0.2882176048667085, 0.2882176048667085, 0.2882176048667085, 0.3262932198286091, 0.3262932198286091, 0.3262932198286091, 0.3262932198286091, 0.3262932198286091, 0.3262932198286091, 0.3262932198286091, 0.18911177992426598], "min": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], "count": [1750]}, "observation.state": {"mean": [-0.014516505972099757, 0.004593265014718782, -0.03933597738898659, 0.07696419870010245, 0.0021382606988112067, 0.7069128633226667, 0.7445237089225224, 0.8778937674931118, 0.8555253716877529, 1.9778495668002538, -1.485327082497733, -1.4829758318492345, -1.4858968787874494, -1.528251685687474, -1.2694062584468297, 0.02414159774491668, 0.5739964534470013, -0.060118378394556006, 0.027233001980398384, -0.027551706291735173, 0.5058420658571912, 0.358313870107489, 0.22461554610729217, 0.3667185490642275, -0.027551706291735173, -0.027233001980398384], "std": [0.04907754532348384, 0.047882638921183, 0.04443813057914761, 0.04534186508705753, 0.1093748740267095, 0.12126318640035348, 0.15035180862160039, 0.13613305245541882, 0.11706916479851011, 0.23714836264853342, 0.15385599132113442, 0.15588691812623393, 0.1630880143813653, 0.16775240371021216, 0.2571876545282853, 0.1926042146240828, 0.13447911514697944, 0.28213660623750414, 0.00869436024396937, 0.00833695944894896, 1.4676894814108963, 1.367902782635965, 1.6268638168706022, 0.02582951025533031, 0.00833695944894896, 0.00869436024396937], "min": [-0.17781387269496918, -0.08895106613636017, -0.20421062409877777, -0.09315098822116852, -0.43330445885658264, 0.4767291843891144, 0.43910372257232666, 0.5967307090759277, 0.608282744884491, 1.7043063640594482, -1.8196566104888916, -1.80870521068573, -1.822434902191162, -1.8478901386260986, -1.5965421199798584, -0.7512173652648926, 0.2289629876613617, -0.4531416594982147, 0.01735321246087551, -0.03500000014901161, -3.1801035404205322, -2.082017183303833, -3.130143642425537, 0.3168349266052246, -0.03500000014901161, -0.03500000014901161], "max": [0.14967483282089233, 0.17516858875751495, 0.17855191230773926, 0.2200639396905899, 0.320761501789093, 0.9133984446525574, 1.0222618579864502, 1.165391445159912, 1.0774974822998047, 2.4000916481018066, -1.1115696430206299, -1.2302733659744263, -1.1951580047607422, -1.204481840133667, -0.9818494915962219, 0.3238510191440582, 0.7908502221107483, 0.9877858757972717, 0.03500000014901161, -0.017934713512659073, 2.2528157234191895, 2.302032470703125, 3.1274445056915283, 0.40085360407829285, -0.017934713512659073, -0.01735321246087551], "count": [1750]}, "observation.joint_vel": {"mean": [0.0008921462079618192, -0.008110698728618445, 0.012294215886984603, -0.0008880478182826274, 0.0004444918294398771, 0.011041854152063284, 0.014491564797079524, 0.01754769223269042, 0.0009921127182273527, -0.0048750673639879095, -0.015025668261830495, -0.037541091167933444, -0.01281814701712366, 0.0009634475624479819, -0.002109067663737473, -0.005013374113089282, 0.009316894658475317, 0.003910742984487505, 0.001921993092663119, 9.902418837887288e-05], "std": [0.4785782595158618, 0.45624213958236304, 0.5527131019050046, 0.5941960182757373, 0.10042278320616593, 1.213318960067272, 1.171792122875599, 0.9409920493430951, 0.8252944661726205, 0.1137629905040291, 0.7171076362746681, 0.9717711612171034, 1.0572266597076623, 1.1312576169900626, 0.12733995002122195, 0.10059852530437484, 0.08332233190216726, 0.14755200771319626, 0.008808332441872567, 0.008327787085362628], "min": [-3.016585350036621, -3.8993265628814697, -2.606541633605957, -2.936803102493286, -1.1465609073638916, -4.222830772399902, -4.492340564727783, -3.9250330924987793, -4.4572601318359375, -1.2177542448043823, -4.251596927642822, -5.8656325340271, -4.162914276123047, -4.93916654586792, -0.8828994035720825, -0.8711538910865784, -0.5282226204872131, -0.9192085862159729, -0.20007607340812683, -0.179171621799469], "max": [3.551690101623535, 2.4566781520843506, 6.022436618804932, 3.242755174636841, 0.7728365063667297, 1.680661678314209, 2.271230936050415, 4.37477445602417, 5.864171981811523, 1.048368215560913, 3.032073736190796, 5.3688063621521, 3.462895154953003, 3.1899232864379883, 0.9982339143753052, 0.5316119194030762, 0.3855869174003601, 1.3656022548675537, 0.19211308658123016, 0.20023567974567413], "count": [1750]}, "observation.eef_pose": {"mean": [0.49617640826957565, 0.5129168243772749, 0.6325588153260094, 0.06479589401192165, -0.6149690864852496, 0.4607748300598136, 0.13252246309178217], "std": [1.4043662386674458, 1.3997194769060866, 0.051752308533535275, 0.10992056419545711, 0.2388266515258857, 0.5586757411576186, 0.08062020290085394], "min": [-2.9175145626068115, -1.8144395351409912, 0.48715078830718994, -0.12458950281143188, -0.9682589173316956, -0.48692530393600464, 0.02118206024169922], "max": [2.392711639404297, 2.7966108322143555, 0.6900733709335327, 0.195603609085083, -0.1943519413471222, 0.9737989902496338, 0.25654536485671997], "count": [1750]}, "observation.environment_state": {"mean": [-0.6235383749008179, -0.17278850078582764, 0.3400000035762787, 0.9977563619613647, 0.0, 0.0, -0.06694954633712769, -0.6021624803543091, -0.014222842641174793, 0.3400000035762787, 0.9977563619613647, 0.0, 0.0, -0.06694954633712769, -0.7169091701507568, -0.07947773486375809, 0.3400000035762787, 0.9977563619613647, 0.0, 0.0, -0.06694954633712769, -0.5087917447090149, -0.10753361880779266, 0.3400000035762787, 0.9977563619613647, 0.0, 0.0, -0.06694954633712769, -0.6385735273361206, -0.059766627848148346, 0.3400000035762787, 0.9977563619613647, 0.0, 0.0, -0.06694954633712769, 1.8936716318130493, 2.863258123397827, 0.3299999773672649, 0.9993757009506226, -2.465769057389148e-07, 3.7443290905071214e-08, -0.03532955724000931, -0.5700985789299011, 0.22362565994262695, 0.4300000071525574, 0.9977563619613647, 0.0, 0.0, -0.06694954633712769, -0.5707666277885437, 0.21867047250270844, 0.4050000011920929, 0.9977563619613647, 0.0, 0.0, -0.06694954633712769, -0.5212148427963257, 0.21199050545692444, 0.45500001311302185, 0.9977563619613647, 0.0, 0.0, -0.06694954633712769, -0.5968185067176819, 0.02541857399046421, 0.18000000715255737, 0.9977563619613647, 0.0, 0.0, -0.06694954633712769, 2.093942642211914, 2.9789223670959473, 0.18000000715255737, 0.9996835589408875, 0.0, 0.0, -0.02515515871345997, 1.3422220392232496, 1.6674703443827374, 0.3851267832347325, 0.8125737956081118, -0.0012288554954348503, -0.003415820641209208, 0.2669300103353869], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.913458207302212e-08, 0.0, 1.7709150779968758e-07, 1.6048405368856082e-07, 1.2159506301467698e-07, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.240476843615013, 1.4310157640652201, 0.06870828049178758, 0.301630106897917, 0.0037092780382563363, 0.005099590460735429, 0.4212345335436861], "min": [-0.6235383749008179, -0.17278850078582764, 0.3400000035762787, 0.9977563619613647, 0.0, 0.0, -0.06694954633712769, -0.6021624803543091, -0.014222842641174793, 0.3400000035762787, 0.9977563619613647, 0.0, 0.0, -0.06694954633712769, -0.7169091701507568, -0.07947773486375809, 0.3400000035762787, 0.9977563619613647, 0.0, 0.0, -0.06694954633712769, -0.5087917447090149, -0.10753361880779266, 0.3400000035762787, 0.9977563619613647, 0.0, 0.0, -0.06694954633712769, -0.6385735273361206, -0.059766627848148346, 0.3400000035762787, 0.9977563619613647, 0.0, 0.0, -0.06694954633712769, 1.8936716318130493, 2.863258123397827, 0.3299999237060547, 0.9993757009506226, -9.140853762801271e-07, -6.817472808506864e-07, -0.035329971462488174, -0.5700985789299011, 0.22362565994262695, 0.4300000071525574, 0.9977563619613647, 0.0, 0.0, -0.06694954633712769, -0.5707666277885437, 0.21867047250270844, 0.4050000011920929, 0.9977563619613647, 0.0, 0.0, -0.06694954633712769, -0.5212148427963257, 0.21199050545692444, 0.45500001311302185, 0.9977563619613647, 0.0, 0.0, -0.06694954633712769, -0.5968185067176819, 0.02541857399046421, 0.18000000715255737, 0.9977563619613647, 0.0, 0.0, -0.06694954633712769, 2.093942642211914, 2.9789223670959473, 0.18000000715255737, 0.9996835589408875, 0.0, 0.0, -0.02515515871345997, -1.1686958074569702, -0.9990864992141724, 0.3299975097179413, 0.2576937675476074, -0.027327435091137886, -0.018508221954107285, -0.06615255028009415], "max": [-0.6235383749008179, -0.17278850078582764, 0.3400000035762787, 0.9977563619613647, 0.0, 0.0, -0.06694954633712769, -0.6021624803543091, -0.014222842641174793, 0.3400000035762787, 0.9977563619613647, 0.0, 0.0, -0.06694954633712769, -0.7169091701507568, -0.07947773486375809, 0.3400000035762787, 0.9977563619613647, 0.0, 0.0, -0.06694954633712769, -0.5087917447090149, -0.10753361880779266, 0.3400000035762787, 0.9977563619613647, 0.0, 0.0, -0.06694954633712769, -0.6385735273361206, -0.059766627848148346, 0.3400000035762787, 0.9977563619613647, 0.0, 0.0, -0.06694954633712769, 1.8936716318130493, 2.863258123397827, 0.33000004291534424, 0.9993757009506226, 2.1715761988616578e-07, 4.316662511882896e-07, -0.035329319536685944, -0.5700985789299011, 0.22362565994262695, 0.4300000071525574, 0.9977563619613647, 0.0, 0.0, -0.06694954633712769, -0.5707666277885437, 0.21867047250270844, 0.4050000011920929, 0.9977563619613647, 0.0, 0.0, -0.06694954633712769, -0.5212148427963257, 0.21199050545692444, 0.45500001311302185, 0.9977563619613647, 0.0, 0.0, -0.06694954633712769, -0.5968185067176819, 0.02541857399046421, 0.18000000715255737, 0.9977563619613647, 0.0, 0.0, -0.06694954633712769, 2.093942642211914, 2.9789223670959473, 0.18000000715255737, 0.9996835589408875, 0.0, 0.0, -0.02515515871345997, 2.3159258365631104, 2.8539247512817383, 0.4956037998199463, 0.9999933242797852, 0.009341771714389324, 0.008358195424079895, 0.9661453366279602], "count": [1750]}, "action.command": {"mean": [0.4009389279939451, 0.5513907766093255, 1.3432086962181449, 0.7468782602107689, 0.0, 0.0, 0.664510531784737, 1.4258777633289987, 0.5353645486430167, 0.5018978839975107, 0.6412830300464432, 0.051151504112475384, -0.6061994631439254, 0.42887762170987415, 0.12934317693274144, 0.5384615384615384, 0.20767986879189143, 0.3599501508549168, 1.4636174571065224, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3007636262033774, 0.15025704605933513, 0.6552359485227194, 0.02563350514847801, -0.5908648268448259, 0.3442592251936761, 0.1295568284582518, 0.0, 0.2273281113373186, 0.36238316771375584, 1.4636174571065224, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3007636262033774, 0.15025704605933513, 0.6552359485227194, 0.02563350514847801, -0.5908648268448259, 0.3442592251936761, 0.1295568284582518, 0.0, 0.20931261917537225, 0.33700514513079594, 1.4636174571065224, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3007636262033774, 0.15025704605933513, 0.6552359485227194, 0.02563350514847801, -0.5908648268448259, 0.3442592251936761, 0.1295568284582518, 0.0, 0.20565418578590808, 0.31854643138382727, 1.4636174571065224, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3007636262033774, 0.15025704605933513, 0.6552359485227194, 0.02563350514847801, -0.5908648268448259, 0.3442592251936761, 0.1295568284582518, 0.0, 0.23873851763154672, 0.32729087758762565, 1.4636174571065224, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3007636262033774, 0.15025704605933513, 0.6552359485227194, 0.02563350514847801, -0.5908648268448259, 0.3442592251936761, 0.1295568284582518, 0.0, 0.2412088241038462, 0.3091407021718045, 1.4636174571065224, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3007636262033774, 0.15025704605933513, 0.6552359485227194, 0.02563350514847801, -0.5908648268448259, 0.3442592251936761, 0.1295568284582518, 0.0, 0.24218567245674932, 0.30558440785028945, 1.4636174571065224, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3007636262033774, 0.15025704605933513, 0.6552359485227194, 0.02563350514847801, -0.5908648268448259, 0.3442592251936761, 0.1295568284582518, 0.0, 0.23207328080133413, 0.2792201559912709, 1.4636174571065224, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3007636262033774, 0.15025704605933513, 0.6552359485227194, 0.02563350514847801, -0.5908648268448259, 0.3442592251936761, 0.1295568284582518, 0.0, 0.26527392973959696, 0.29306647044345424, 1.4636174571065224, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3007636262033774, 0.15025704605933513, 0.6552359485227194, 0.02563350514847801, -0.5908648268448259, 0.3442592251936761, 0.1295568284582518, 0.0, 0.30047463338245406, 0.3115928005972667, 1.4636174571065224, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3007636262033774, 0.15025704605933513, 0.6552359485227194, 0.02563350514847801, -0.5908648268448259, 0.3442592251936761, 0.1295568284582518, 0.0, 0.2813643594167223, 0.27702807053362477, 1.4636174571065224, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3007636262033774, 0.15025704605933513, 0.6552359485227194, 0.02563350514847801, -0.5908648268448259, 0.3442592251936761, 0.1295568284582518, 0.0, 0.2835228293760052, 0.27246844873268733, 1.4636174571065224, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3007636262033774, 0.15025704605933513, 0.6552359485227194, 0.02563350514847801, -0.5908648268448259, 0.3442592251936761, 0.1295568284582518, 0.0, 0.2911476953009681, 0.258343624170854, 1.4636174571065224, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3007636262033774, 0.15025704605933513, 0.6552359485227194, 0.02563350514847801, -0.5908648268448259, 0.3442592251936761, 0.1295568284582518, 0.0, 0.3129136294999382, 0.26005423024109714, 1.4636174571065224, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3007636262033774, 0.15025704605933513, 0.6552359485227194, 0.02563350514847801, -0.5908648268448259, 0.3442592251936761, 0.1295568284582518, 0.0, 0.3200317011904517, 0.24824887274698235, 1.4636174571065224, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3007636262033774, 0.15025704605933513, 0.6552359485227194, 0.02563350514847801, -0.5908648268448259, 0.3442592251936761, 0.1295568284582518, 0.0, 0.30599941451679213, 0.2267206662868356, 1.4636174571065224, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3007636262033774, 0.15025704605933513, 0.6552359485227194, 0.02563350514847801, -0.5908648268448259, 0.3442592251936761, 0.1295568284582518, 0.0, 0.3216452484350324, 0.2262977902360541, 1.4636174571065224, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3007636262033774, 0.15025704605933513, 0.6552359485227194, 0.02563350514847801, -0.5908648268448259, 0.3442592251936761, 0.1295568284582518, 0.0, 0.3224153886467343, 0.20681853738289996, 1.4636174571065224, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3007636262033774, 0.15025704605933513, 0.6552359485227194, 0.02563350514847801, -0.5908648268448259, 0.3442592251936761, 0.1295568284582518, 0.0, 0.34140369313531344, 0.21100789912076176, 1.4636174571065224, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3007636262033774, 0.15025704605933513, 0.6552359485227194, 0.02563350514847801, -0.5908648268448259, 0.3442592251936761, 0.1295568284582518, 0.0, 0.3331145846943476, 0.18362240646673544, 1.4636174571065224, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3007636262033774, 0.15025704605933513, 0.6552359485227194, 0.02563350514847801, -0.5908648268448259, 0.3442592251936761, 0.1295568284582518, 0.0, 0.3578162676869077, 0.19598292057484262, 1.4636174571065224, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3007636262033774, 0.15025704605933513, 0.6552359485227194, 0.02563350514847801, -0.5908648268448259, 0.3442592251936761, 0.1295568284582518, 0.0, 0.371383574517701, 0.19727725601096532, 1.4636174571065224, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3007636262033774, 0.15025704605933513, 0.6552359485227194, 0.02563350514847801, -0.5908648268448259, 0.3442592251936761, 0.1295568284582518, 0.0, 0.3627063406810601, 0.17371260895389892, 1.4636174571065224, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3007636262033774, 0.15025704605933513, 0.6552359485227194, 0.02563350514847801, -0.5908648268448259, 0.3442592251936761, 0.1295568284582518, 0.0, 0.3903123958839033, 0.1849719568525897, 1.4636174571065224, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3007636262033774, 0.15025704605933513, 0.6552359485227194, 0.02563350514847801, -0.5908648268448259, 0.3442592251936761, 0.1295568284582518, 0.0, 0.4054462385227491, 0.1723488025585478, 1.4636174571065224, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3007636262033774, 0.15025704605933513, 0.6552359485227194, 0.02563350514847801, -0.5908648268448259, 0.3442592251936761, 0.1295568284582518, 0.0, 0.4009132663076393, 0.16172838081375823, 1.4636174571065224, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3007636262033774, 0.15025704605933513, 0.6552359485227194, 0.02563350514847801, -0.5908648268448259, 0.3442592251936761, 0.1295568284582518, 0.0, 0.383722530598421, 0.1362054683673332, 1.4636174571065224, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3007636262033774, 0.15025704605933513, 0.6552359485227194, 0.02563350514847801, -0.5908648268448259, 0.3442592251936761, 0.1295568284582518, 0.0, 0.4104786484311315, 0.13787892745129732, 1.4636174571065224, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3007636262033774, 0.15025704605933513, 0.6552359485227194, 0.02563350514847801, -0.5908648268448259, 0.3442592251936761, 0.1295568284582518, 0.0, 0.4405301050660999, 0.14219338956238337, 1.4636174571065224, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3007636262033774, 0.15025704605933513, 0.6552359485227194, 0.02563350514847801, -0.5908648268448259, 0.3442592251936761, 0.1295568284582518, 0.0, 0.41961311485976854, 0.11378111079896344, 1.4636174571065224, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3007636262033774, 0.15025704605933513, 0.6552359485227194, 0.02563350514847801, -0.5908648268448259, 0.3442592251936761, 0.1295568284582518, 0.0, 0.41309938500615845, 0.10279102645907941, 1.4636174571065224, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3007636262033774, 0.15025704605933513, 0.6552359485227194, 0.02563350514847801, -0.5908648268448259, 0.3442592251936761, 0.1295568284582518, 0.0, 0.4279629917823121, 0.08924081163426323, 1.4636174571065224, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3007636262033774, 0.15025704605933513, 0.6552359485227194, 0.02563350514847801, -0.5908648268448259, 0.3442592251936761, 0.1295568284582518, 0.0, 0.4642213523138517, 0.10631697494614573, 1.4636174571065224, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3007636262033774, 0.15025704605933513, 0.6552359485227194, 0.02563350514847801, -0.5908648268448259, 0.3442592251936761, 0.1295568284582518, 0.0, 0.4518719684129978, 0.08437646755862935, 1.4636174571065224, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3007636262033774, 0.15025704605933513, 0.6552359485227194, 0.02563350514847801, -0.5908648268448259, 0.3442592251936761, 0.1295568284582518, 0.0, 0.44967029822920157, 0.07272337635815393, 1.4636174571065224, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3007636262033774, 0.15025704605933513, 0.6552359485227194, 0.02563350514847801, -0.5908648268448259, 0.3442592251936761, 0.1295568284582518, 0.0, 0.48420634404385937, 0.09004004547162037, 1.4636174571065224, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3007636262033774, 0.15025704605933513, 0.6552359485227194, 0.02563350514847801, -0.5908648268448259, 0.3442592251936761, 0.1295568284582518, 0.0, 0.4702549514910167, 0.07049077452943664, 1.4636174571065224, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3007636262033774, 0.15025704605933513, 0.6552359485227194, 0.02563350514847801, -0.5908648268448259, 0.3442592251936761, 0.1295568284582518, 0.0, 0.48434682810156915, 0.07994354077338174, 1.4636174571065224, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3007636262033774, 0.15025704605933513, 0.6552359485227194, 0.02563350514847801, -0.5908648268448259, 0.3442592251936761, 0.1295568284582518, 0.0, 0.49065025984991545, 0.07615446856081735, 1.4636174571065224, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3007636262033774, 0.15025704605933513, 0.6552359485227194, 0.02563350514847801, -0.5908648268448259, 0.3442592251936761, 0.1295568284582518, 0.0, 0.4844492964165979, 0.06979297793559948, 1.4636174571065224, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3007636262033774, 0.15025704605933513, 0.6552359485227194, 0.02563350514847801, -0.5908648268448259, 0.3442592251936761, 0.1295568284582518, 0.0, 0.48051843698054675, 0.06794393363108694, 1.4636174571065224, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3007636262033774, 0.15025704605933513, 0.6552359485227194, 0.02563350514847801, -0.5908648268448259, 0.3442592251936761, 0.1295568284582518, 0.0, 0.4845268449025174, 0.05970444260281998, 1.4636174571065224, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3007636262033774, 0.15025704605933513, 0.6552359485227194, 0.02563350514847801, -0.5908648268448259, 0.3442592251936761, 0.1295568284582518, 0.0, 0.501819830060504, 0.07412557736600293, 1.4636174571065224, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3007636262033774, 0.15025704605933513, 0.6552359485227194, 0.02563350514847801, -0.5908648268448259, 0.3442592251936761, 0.1295568284582518, 0.0, 0.4845157784398131, 0.0494781473441104, 1.4636174571065224, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3007636262033774, 0.15025704605933513, 0.6552359485227194, 0.02563350514847801, -0.5908648268448259, 0.3442592251936761, 0.1295568284582518, 0.0, 0.5022275109670152, 0.0704541609377043, 1.4636174571065224, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3007636262033774, 0.15025704605933513, 0.6552359485227194, 0.02563350514847801, -0.5908648268448259, 0.3442592251936761, 0.1295568284582518, 0.0, 0.48479677189344145, 0.03960352017540313, 1.4636174571065224, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3007636262033774, 0.15025704605933513, 0.6552359485227194, 0.02563350514847801, -0.5908648268448259, 0.3442592251936761, 0.1295568284582518, 0.0, 0.510871151251773, 0.07014134006270804, 1.4636174571065224, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3007636262033774, 0.15025704605933513, 0.6552359485227194, 0.02563350514847801, -0.5908648268448259, 0.3442592251936761, 0.1295568284582518, 0.0, 0.5122196913763071, 0.0639166633204935, 1.4636174571065224, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3007636262033774, 0.15025704605933513, 0.6552359485227194, 0.02563350514847801, -0.5908648268448259, 0.3442592251936761, 0.1295568284582518, 0.0, 0.522413578193058, 0.06996634992844888, 1.4636174571065224, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3007636262033774, 0.15025704605933513, 0.6552359485227194, 0.02563350514847801, -0.5908648268448259, 0.3442592251936761, 0.1295568284582518, 0.0, 0.5249221655115422, 0.06965185922558836, 1.4636174571065224, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3007636262033774, 0.15025704605933513, 0.6552359485227194, 0.02563350514847801, -0.5908648268448259, 0.3442592251936761, 0.1295568284582518, 0.0, 0.5007640621402772, 0.03813339582172896, 1.4636174571065224, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3007636262033774, 0.15025704605933513, 0.6552359485227194, 0.02563350514847801, -0.5908648268448259, 0.3442592251936761, 0.1295568284582518, 0.0, 0.525029784540751, 0.05931536784886566, 1.4636174571065224, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3007636262033774, 0.15025704605933513, 0.6552359485227194, 0.02563350514847801, -0.5908648268448259, 0.3442592251936761, 0.1295568284582518, 0.0, 0.4987314693099784, 0.03453374784985347, 1.4636174571065224, 0.0, 0.0, 0.0, 0.0, 2.0, 0.3007636262033774, 0.15025704605933513, 0.6552359485227194, 0.02563350514847801, -0.5908648268448259, 0.3442592251936761, 0.1295568284582518, 0.0, 0.8137898952953486, 0.29011036046472805, 1.47032277429453, 0.0, 0.0, 0.0, 0.0, 2.0, 0.7628956540296766, 0.5147528488220156, 0.6507694676331396, 0.0023349777919096115, -0.6778283302660517, 0.19075951200742353, 0.15443669231686444, 0.0, 0.7906747664243108, 0.2617096399350645, 1.47032277429453, 0.0, 0.0, 0.0, 0.0, 2.0, 0.7628956540296766, 0.5147528488220156, 0.6507694676331396, 0.0023349777919096115, -0.6778283302660517, 0.19075951200742353, 0.15443669231686444, 0.0, 0.7912292890406553, 0.2679194691415611, 1.47032277429453, 0.0, 0.0, 0.0, 0.0, 2.0, 0.7628956540296766, 0.5147528488220156, 0.6507694676331396, 0.0023349777919096115, -0.6778283302660517, 0.19075951200742353, 0.15443669231686444, 0.0, 0.7742128921789604, 0.24771514265295352, 1.47032277429453, 0.0, 0.0, 0.0, 0.0, 2.0, 0.7628956540296766, 0.5147528488220156, 0.6507694676331396, 0.0023349777919096115, -0.6778283302660517, 0.19075951200742353, 0.15443669231686444, 0.0, 0.7691305759187522, 0.2463607173958583, 1.47032277429453, 0.0, 0.0, 0.0, 0.0, 2.0, 0.7628956540296766, 0.5147528488220156, 0.6507694676331396, 0.0023349777919096115, -0.6778283302660517, 0.19075951200742353, 0.15443669231686444, 0.0, 0.752461289340108, 0.22704019634419406, 1.47032277429453, 0.0, 0.0, 0.0, 0.0, 2.0, 0.7628956540296766, 0.5147528488220156, 0.6507694676331396, 0.0023349777919096115, -0.6778283302660517, 0.19075951200742353, 0.15443669231686444, 0.0, 0.7510783612634597, 0.22987428248302708, 1.47032277429453, 0.0, 0.0, 0.0, 0.0, 2.0, 0.7628956540296766, 0.5147528488220156, 0.6507694676331396, 0.0023349777919096115, -0.6778283302660517, 0.19075951200742353, 0.15443669231686444, 0.0, 0.748065384673773, 0.22828390358880973, 1.47032277429453, 0.0, 0.0, 0.0, 0.0, 2.0, 0.7628956540296766, 0.5147528488220156, 0.6507694676331396, 0.0023349777919096115, -0.6778283302660517, 0.19075951200742353, 0.15443669231686444, 0.0, 0.7250009330309086, 0.20328006949509536, 1.47032277429453, 0.0, 0.0, 0.0, 0.0, 2.0, 0.7628956540296766, 0.5147528488220156, 0.6507694676331396, 0.0023349777919096115, -0.6778283302660517, 0.19075951200742353, 0.15443669231686444, 0.0, 0.7310371470781799, 0.21357412171787796, 1.47032277429453, 0.0, 0.0, 0.0, 0.0, 2.0, 0.7628956540296766, 0.5147528488220156, 0.6507694676331396, 0.0023349777919096115, -0.6778283302660517, 0.19075951200742353, 0.15443669231686444, 0.0, 0.7394791051714241, 0.22788722027545194, 1.47032277429453, 0.0, 0.0, 0.0, 0.0, 2.0, 0.7628956540296766, 0.5147528488220156, 0.6507694676331396, 0.0023349777919096115, -0.6778283302660517, 0.19075951200742353, 0.15443669231686444, 0.0, 0.7145880321274555, 0.1995957695789417, 1.47032277429453, 0.0, 0.0, 0.0, 0.0, 2.0, 0.7628956540296766, 0.5147528488220156, 0.6507694676331396, 0.0023349777919096115, -0.6778283302660517, 0.19075951200742353, 0.15443669231686444, 0.0, 0.7019692783606352, 0.21337842112056382, 1.47032277429453, 0.0, 0.0, 0.0, 0.0, 2.0, 0.7628956540296766, 0.5147528488220156, 0.6507694676331396, 0.0023349777919096115, -0.6778283302660517, 0.19075951200742353, 0.15443669231686444, 0.0, 0.6973967492408957, 0.23118669087667346, 1.47032277429453, 0.0, 0.0, 0.0, 0.0, 2.0, 0.7628956540296766, 0.5147528488220156, 0.6507694676331396, 0.0023349777919096115, -0.6778283302660517, 0.19075951200742353, 0.15443669231686444, 0.0, 0.6651757492461713, 0.2381625783992113, 1.47032277429453, 0.0, 0.0, 0.0, 0.0, 2.0, 0.7628956540296766, 0.5147528488220156, 0.6507694676331396, 0.0023349777919096115, -0.6778283302660517, 0.19075951200742353, 0.15443669231686444, 0.0, 0.6532236030130456, 0.2567258527089362, 1.47032277429453, 0.0, 0.0, 0.0, 0.0, 2.0, 0.7628956540296766, 0.5147528488220156, 0.6507694676331396, 0.0023349777919096115, -0.6778283302660517, 0.19075951200742353, 0.15443669231686444, 0.0, 0.6283189070773424, 0.26285115881943805, 1.47032277429453, 0.0, 0.0, 0.0, 0.0, 2.0, 0.7628956540296766, 0.5147528488220156, 0.6507694676331396, 0.0023349777919096115, -0.6778283302660517, 0.19075951200742353, 0.15443669231686444, 0.0, 0.5932913776097437, 0.2787302023571405, 1.47032277429453, 0.0, 0.0, 0.0, 0.0, 2.0, 0.7628956540296766, 0.5147528488220156, 0.6507694676331396, 0.0023349777919096115, -0.6778283302660517, 0.19075951200742353, 0.15443669231686444, 0.0, 0.590260575256587, 0.2874075956175018, 1.47032277429453, 0.0, 0.0, 0.0, 0.0, 2.0, 0.7628956540296766, 0.5147528488220156, 0.6507694676331396, 0.0023349777919096115, -0.6778283302660517, 0.19075951200742353, 0.15443669231686444, 0.0, 0.5819069311708586, 0.3116236235556742, 1.47032277429453, 0.0, 0.0, 0.0, 0.0, 2.0, 0.7628956540296766, 0.5147528488220156, 0.6507694676331396, 0.0023349777919096115, -0.6778283302660517, 0.19075951200742353, 0.15443669231686444, 0.0, 0.551836004535274, 0.3116885086357843, 1.47032277429453, 0.0, 0.0, 0.0, 0.0, 2.0, 0.7628956540296766, 0.5147528488220156, 0.6507694676331396, 0.0023349777919096115, -0.6778283302660517, 0.19075951200742353, 0.15443669231686444, 0.0, 0.5618147436046201, 0.3425865502537045, 1.47032277429453, 0.0, 0.0, 0.0, 0.0, 2.0, 0.7628956540296766, 0.5147528488220156, 0.6507694676331396, 0.0023349777919096115, -0.6778283302660517, 0.19075951200742353, 0.15443669231686444, 0.0, 0.5132898882841964, 0.3362137348582056, 1.47032277429453, 0.0, 0.0, 0.0, 0.0, 2.0, 0.7628956540296766, 0.5147528488220156, 0.6507694676331396, 0.0023349777919096115, -0.6778283302660517, 0.19075951200742353, 0.15443669231686444, 0.0, 0.5048149016112962, 0.36578473560979674, 1.47032277429453, 0.0, 0.0, 0.0, 0.0, 2.0, 0.7628956540296766, 0.5147528488220156, 0.6507694676331396, 0.0023349777919096115, -0.6778283302660517, 0.19075951200742353, 0.15443669231686444, 0.0, 0.4744377100692134, 0.38599808788449197, 1.47032277429453, 0.0, 0.0, 0.0, 0.0, 2.0, 0.7628956540296766, 0.5147528488220156, 0.6507694676331396, 0.0023349777919096115, -0.6778283302660517, 0.19075951200742353, 0.15443669231686444, 0.0, 2.2734928131103516, 2.0563883781433105, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 0.9555656260205311, 0.4697066069466327, 0.6739269242896735, 0.11143034422288675, -0.3969022387701911, 0.8954709885014567, 0.049270477802456206, 0.0, 2.273834466934204, 2.0186595916748047, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 0.9555656260205311, 0.4697066069466327, 0.6739269242896735, 0.11143034422288675, -0.3969022387701911, 0.8954709885014567, 0.049270477802456206, 0.0], "std": [2.1233082605267226, 1.8691168992283005, 0.34655987071213407, 0.017157270407512505, 0.0, 0.0, 0.017441247498164753, 1.096764974953951, 1.4132042556278097, 1.4116574147124883, 0.04290149490865731, 0.10985301191697143, 0.2531170761775207, 0.5882074084255366, 0.08435585064744765, 0.4985185152621432, 2.1057063251753054, 1.8535854824563032, 0.039053318693188406, 0.0, 0.0, 0.0, 0.0, 0.0, 1.34097096754107, 1.2249202922525595, 0.0199564708483404, 0.10974640384466712, 0.2851152802866911, 0.6426460587012744, 0.09269876033318537, 0.0, 2.076116612679142, 1.8240623481588185, 0.039053318693188406, 0.0, 0.0, 0.0, 0.0, 0.0, 1.34097096754107, 1.2249202922525595, 0.0199564708483404, 0.10974640384466712, 0.2851152802866911, 0.6426460587012744, 0.09269876033318537, 0.0, 2.051451765237655, 1.7947199370302043, 0.039053318693188406, 0.0, 0.0, 0.0, 0.0, 0.0, 1.34097096754107, 1.2249202922525595, 0.0199564708483404, 0.10974640384466712, 0.2851152802866911, 0.6426460587012744, 0.09269876033318537, 0.0, 2.004887913744439, 1.7575274940048544, 0.039053318693188406, 0.0, 0.0, 0.0, 0.0, 0.0, 1.34097096754107, 1.2249202922525595, 0.0199564708483404, 0.10974640384466712, 0.2851152802866911, 0.6426460587012744, 0.09269876033318537, 0.0, 1.9555230468464042, 1.7204177015445241, 0.039053318693188406, 0.0, 0.0, 0.0, 0.0, 0.0, 1.34097096754107, 1.2249202922525595, 0.0199564708483404, 0.10974640384466712, 0.2851152802866911, 0.6426460587012744, 0.09269876033318537, 0.0, 1.914082068719832, 1.6720794214644115, 0.039053318693188406, 0.0, 0.0, 0.0, 0.0, 0.0, 1.34097096754107, 1.2249202922525595, 0.0199564708483404, 0.10974640384466712, 0.2851152802866911, 0.6426460587012744, 0.09269876033318537, 0.0, 1.901676389948958, 1.6619536207210241, 0.039053318693188406, 0.0, 0.0, 0.0, 0.0, 0.0, 1.34097096754107, 1.2249202922525595, 0.0199564708483404, 0.10974640384466712, 0.2851152802866911, 0.6426460587012744, 0.09269876033318537, 0.0, 1.850801935076956, 1.6169479875718724, 0.039053318693188406, 0.0, 0.0, 0.0, 0.0, 0.0, 1.34097096754107, 1.2249202922525595, 0.0199564708483404, 0.10974640384466712, 0.2851152802866911, 0.6426460587012744, 0.09269876033318537, 0.0, 1.817607574685243, 1.5920773456359516, 0.039053318693188406, 0.0, 0.0, 0.0, 0.0, 0.0, 1.34097096754107, 1.2249202922525595, 0.0199564708483404, 0.10974640384466712, 0.2851152802866911, 0.6426460587012744, 0.09269876033318537, 0.0, 1.7935445944374082, 1.5749981390407224, 0.039053318693188406, 0.0, 0.0, 0.0, 0.0, 0.0, 1.34097096754107, 1.2249202922525595, 0.0199564708483404, 0.10974640384466712, 0.2851152802866911, 0.6426460587012744, 0.09269876033318537, 0.0, 1.744176731921215, 1.5260726136366016, 0.039053318693188406, 0.0, 0.0, 0.0, 0.0, 0.0, 1.34097096754107, 1.2249202922525595, 0.0199564708483404, 0.10974640384466712, 0.2851152802866911, 0.6426460587012744, 0.09269876033318537, 0.0, 1.7243822148711367, 1.5115696959163605, 0.039053318693188406, 0.0, 0.0, 0.0, 0.0, 0.0, 1.34097096754107, 1.2249202922525595, 0.0199564708483404, 0.10974640384466712, 0.2851152802866911, 0.6426460587012744, 0.09269876033318537, 0.0, 1.6834034030656535, 1.4650074935916657, 0.039053318693188406, 0.0, 0.0, 0.0, 0.0, 0.0, 1.34097096754107, 1.2249202922525595, 0.0199564708483404, 0.10974640384466712, 0.2851152802866911, 0.6426460587012744, 0.09269876033318537, 0.0, 1.6423791391954796, 1.4317218320779208, 0.039053318693188406, 0.0, 0.0, 0.0, 0.0, 0.0, 1.34097096754107, 1.2249202922525595, 0.0199564708483404, 0.10974640384466712, 0.2851152802866911, 0.6426460587012744, 0.09269876033318537, 0.0, 1.589904265933321, 1.3915388176174257, 0.039053318693188406, 0.0, 0.0, 0.0, 0.0, 0.0, 1.34097096754107, 1.2249202922525595, 0.0199564708483404, 0.10974640384466712, 0.2851152802866911, 0.6426460587012744, 0.09269876033318537, 0.0, 1.5712063323648076, 1.3650440337244787, 0.039053318693188406, 0.0, 0.0, 0.0, 0.0, 0.0, 1.34097096754107, 1.2249202922525595, 0.0199564708483404, 0.10974640384466712, 0.2851152802866911, 0.6426460587012744, 0.09269876033318537, 0.0, 1.5530542519693695, 1.3381499521003666, 0.039053318693188406, 0.0, 0.0, 0.0, 0.0, 0.0, 1.34097096754107, 1.2249202922525595, 0.0199564708483404, 0.10974640384466712, 0.2851152802866911, 0.6426460587012744, 0.09269876033318537, 0.0, 1.4957339526046551, 1.290910071974512, 0.039053318693188406, 0.0, 0.0, 0.0, 0.0, 0.0, 1.34097096754107, 1.2249202922525595, 0.0199564708483404, 0.10974640384466712, 0.2851152802866911, 0.6426460587012744, 0.09269876033318537, 0.0, 1.462725465923018, 1.2683238575757507, 0.039053318693188406, 0.0, 0.0, 0.0, 0.0, 0.0, 1.34097096754107, 1.2249202922525595, 0.0199564708483404, 0.10974640384466712, 0.2851152802866911, 0.6426460587012744, 0.09269876033318537, 0.0, 1.4232878515248488, 1.2193645490269507, 0.039053318693188406, 0.0, 0.0, 0.0, 0.0, 0.0, 1.34097096754107, 1.2249202922525595, 0.0199564708483404, 0.10974640384466712, 0.2851152802866911, 0.6426460587012744, 0.09269876033318537, 0.0, 1.4064503848943504, 1.206894554430419, 0.039053318693188406, 0.0, 0.0, 0.0, 0.0, 0.0, 1.34097096754107, 1.2249202922525595, 0.0199564708483404, 0.10974640384466712, 0.2851152802866911, 0.6426460587012744, 0.09269876033318537, 0.0, 1.378212456999421, 1.1868630975733891, 0.039053318693188406, 0.0, 0.0, 0.0, 0.0, 0.0, 1.34097096754107, 1.2249202922525595, 0.0199564708483404, 0.10974640384466712, 0.2851152802866911, 0.6426460587012744, 0.09269876033318537, 0.0, 1.341366988288227, 1.1472216489898537, 0.039053318693188406, 0.0, 0.0, 0.0, 0.0, 0.0, 1.34097096754107, 1.2249202922525595, 0.0199564708483404, 0.10974640384466712, 0.2851152802866911, 0.6426460587012744, 0.09269876033318537, 0.0, 1.316424778610121, 1.1276323043992165, 0.039053318693188406, 0.0, 0.0, 0.0, 0.0, 0.0, 1.34097096754107, 1.2249202922525595, 0.0199564708483404, 0.10974640384466712, 0.2851152802866911, 0.6426460587012744, 0.09269876033318537, 0.0, 1.265615194051692, 1.0749209216677116, 0.039053318693188406, 0.0, 0.0, 0.0, 0.0, 0.0, 1.34097096754107, 1.2249202922525595, 0.0199564708483404, 0.10974640384466712, 0.2851152802866911, 0.6426460587012744, 0.09269876033318537, 0.0, 1.2496773385376296, 1.0582280347466122, 0.039053318693188406, 0.0, 0.0, 0.0, 0.0, 0.0, 1.34097096754107, 1.2249202922525595, 0.0199564708483404, 0.10974640384466712, 0.2851152802866911, 0.6426460587012744, 0.09269876033318537, 0.0, 1.2273051246186149, 1.0289674843047985, 0.039053318693188406, 0.0, 0.0, 0.0, 0.0, 0.0, 1.34097096754107, 1.2249202922525595, 0.0199564708483404, 0.10974640384466712, 0.2851152802866911, 0.6426460587012744, 0.09269876033318537, 0.0, 1.1856176880610647, 0.990219508112755, 0.039053318693188406, 0.0, 0.0, 0.0, 0.0, 0.0, 1.34097096754107, 1.2249202922525595, 0.0199564708483404, 0.10974640384466712, 0.2851152802866911, 0.6426460587012744, 0.09269876033318537, 0.0, 1.1458542457833496, 0.9527419831281408, 0.039053318693188406, 0.0, 0.0, 0.0, 0.0, 0.0, 1.34097096754107, 1.2249202922525595, 0.0199564708483404, 0.10974640384466712, 0.2851152802866911, 0.6426460587012744, 0.09269876033318537, 0.0, 1.1247469360180102, 0.9236937020421245, 0.039053318693188406, 0.0, 0.0, 0.0, 0.0, 0.0, 1.34097096754107, 1.2249202922525595, 0.0199564708483404, 0.10974640384466712, 0.2851152802866911, 0.6426460587012744, 0.09269876033318537, 0.0, 1.111242693028762, 0.9095771791093018, 0.039053318693188406, 0.0, 0.0, 0.0, 0.0, 0.0, 1.34097096754107, 1.2249202922525595, 0.0199564708483404, 0.10974640384466712, 0.2851152802866911, 0.6426460587012744, 0.09269876033318537, 0.0, 1.0675958143928728, 0.85903220031708, 0.039053318693188406, 0.0, 0.0, 0.0, 0.0, 0.0, 1.34097096754107, 1.2249202922525595, 0.0199564708483404, 0.10974640384466712, 0.2851152802866911, 0.6426460587012744, 0.09269876033318537, 0.0, 1.0518037561962001, 0.8421713358157613, 0.039053318693188406, 0.0, 0.0, 0.0, 0.0, 0.0, 1.34097096754107, 1.2249202922525595, 0.0199564708483404, 0.10974640384466712, 0.2851152802866911, 0.6426460587012744, 0.09269876033318537, 0.0, 1.0239951455252951, 0.813513988407052, 0.039053318693188406, 0.0, 0.0, 0.0, 0.0, 0.0, 1.34097096754107, 1.2249202922525595, 0.0199564708483404, 0.10974640384466712, 0.2851152802866911, 0.6426460587012744, 0.09269876033318537, 0.0, 0.9943121023252517, 0.7901257790063417, 0.039053318693188406, 0.0, 0.0, 0.0, 0.0, 0.0, 1.34097096754107, 1.2249202922525595, 0.0199564708483404, 0.10974640384466712, 0.2851152802866911, 0.6426460587012744, 0.09269876033318537, 0.0, 0.9880926367092803, 0.7781543344952042, 0.039053318693188406, 0.0, 0.0, 0.0, 0.0, 0.0, 1.34097096754107, 1.2249202922525595, 0.0199564708483404, 0.10974640384466712, 0.2851152802866911, 0.6426460587012744, 0.09269876033318537, 0.0, 0.964937479734733, 0.7392454169137523, 0.039053318693188406, 0.0, 0.0, 0.0, 0.0, 0.0, 1.34097096754107, 1.2249202922525595, 0.0199564708483404, 0.10974640384466712, 0.2851152802866911, 0.6426460587012744, 0.09269876033318537, 0.0, 0.9386355517264404, 0.7186001454811112, 0.039053318693188406, 0.0, 0.0, 0.0, 0.0, 0.0, 1.34097096754107, 1.2249202922525595, 0.0199564708483404, 0.10974640384466712, 0.2851152802866911, 0.6426460587012744, 0.09269876033318537, 0.0, 0.8967259383048772, 0.679295348122595, 0.039053318693188406, 0.0, 0.0, 0.0, 0.0, 0.0, 1.34097096754107, 1.2249202922525595, 0.0199564708483404, 0.10974640384466712, 0.2851152802866911, 0.6426460587012744, 0.09269876033318537, 0.0, 0.8935748944458027, 0.666454392064857, 0.039053318693188406, 0.0, 0.0, 0.0, 0.0, 0.0, 1.34097096754107, 1.2249202922525595, 0.0199564708483404, 0.10974640384466712, 0.2851152802866911, 0.6426460587012744, 0.09269876033318537, 0.0, 0.893941396360136, 0.6543399968368577, 0.039053318693188406, 0.0, 0.0, 0.0, 0.0, 0.0, 1.34097096754107, 1.2249202922525595, 0.0199564708483404, 0.10974640384466712, 0.2851152802866911, 0.6426460587012744, 0.09269876033318537, 0.0, 0.8538527295919484, 0.6236852543993848, 0.039053318693188406, 0.0, 0.0, 0.0, 0.0, 0.0, 1.34097096754107, 1.2249202922525595, 0.0199564708483404, 0.10974640384466712, 0.2851152802866911, 0.6426460587012744, 0.09269876033318537, 0.0, 0.8336490924349561, 0.6108903236488996, 0.039053318693188406, 0.0, 0.0, 0.0, 0.0, 0.0, 1.34097096754107, 1.2249202922525595, 0.0199564708483404, 0.10974640384466712, 0.2851152802866911, 0.6426460587012744, 0.09269876033318537, 0.0, 0.8199076096274768, 0.5921582487917953, 0.039053318693188406, 0.0, 0.0, 0.0, 0.0, 0.0, 1.34097096754107, 1.2249202922525595, 0.0199564708483404, 0.10974640384466712, 0.2851152802866911, 0.6426460587012744, 0.09269876033318537, 0.0, 0.8191131471980412, 0.5969451693250898, 0.039053318693188406, 0.0, 0.0, 0.0, 0.0, 0.0, 1.34097096754107, 1.2249202922525595, 0.0199564708483404, 0.10974640384466712, 0.2851152802866911, 0.6426460587012744, 0.09269876033318537, 0.0, 0.7925679738764496, 0.5738723594268086, 0.039053318693188406, 0.0, 0.0, 0.0, 0.0, 0.0, 1.34097096754107, 1.2249202922525595, 0.0199564708483404, 0.10974640384466712, 0.2851152802866911, 0.6426460587012744, 0.09269876033318537, 0.0, 0.7935881718850595, 0.5872049892631651, 0.039053318693188406, 0.0, 0.0, 0.0, 0.0, 0.0, 1.34097096754107, 1.2249202922525595, 0.0199564708483404, 0.10974640384466712, 0.2851152802866911, 0.6426460587012744, 0.09269876033318537, 0.0, 0.7747276939947334, 0.5768179024037544, 0.039053318693188406, 0.0, 0.0, 0.0, 0.0, 0.0, 1.34097096754107, 1.2249202922525595, 0.0199564708483404, 0.10974640384466712, 0.2851152802866911, 0.6426460587012744, 0.09269876033318537, 0.0, 0.7671509145774679, 0.5867071804157767, 0.039053318693188406, 0.0, 0.0, 0.0, 0.0, 0.0, 1.34097096754107, 1.2249202922525595, 0.0199564708483404, 0.10974640384466712, 0.2851152802866911, 0.6426460587012744, 0.09269876033318537, 0.0, 0.7596533324291098, 0.5833207712318003, 0.039053318693188406, 0.0, 0.0, 0.0, 0.0, 0.0, 1.34097096754107, 1.2249202922525595, 0.0199564708483404, 0.10974640384466712, 0.2851152802866911, 0.6426460587012744, 0.09269876033318537, 0.0, 0.7611302111599434, 0.587867192506518, 0.039053318693188406, 0.0, 0.0, 0.0, 0.0, 0.0, 1.34097096754107, 1.2249202922525595, 0.0199564708483404, 0.10974640384466712, 0.2851152802866911, 0.6426460587012744, 0.09269876033318537, 0.0, 0.7508318924145454, 0.5997183501603455, 0.039053318693188406, 0.0, 0.0, 0.0, 0.0, 0.0, 1.34097096754107, 1.2249202922525595, 0.0199564708483404, 0.10974640384466712, 0.2851152802866911, 0.6426460587012744, 0.09269876033318537, 0.0, 0.7544516684314738, 0.5907235911976343, 0.039053318693188406, 0.0, 0.0, 0.0, 0.0, 0.0, 1.34097096754107, 1.2249202922525595, 0.0199564708483404, 0.10974640384466712, 0.2851152802866911, 0.6426460587012744, 0.09269876033318537, 0.0, 0.5364758493024792, 0.45259172544662357, 0.041007874039393544, 0.0, 0.0, 0.0, 0.0, 0.0, 1.011480811247357, 1.0851340698772913, 0.019817348810312642, 0.11106533304704926, 0.24928541122921635, 0.631030889054398, 0.08731758830171431, 0.0, 0.5619315460245639, 0.48570809983973456, 0.041007874039393544, 0.0, 0.0, 0.0, 0.0, 0.0, 1.011480811247357, 1.0851340698772913, 0.019817348810312642, 0.11106533304704926, 0.24928541122921635, 0.631030889054398, 0.08731758830171431, 0.0, 0.607121846201638, 0.5495181707902578, 0.041007874039393544, 0.0, 0.0, 0.0, 0.0, 0.0, 1.011480811247357, 1.0851340698772913, 0.019817348810312642, 0.11106533304704926, 0.24928541122921635, 0.631030889054398, 0.08731758830171431, 0.0, 0.6316860769254227, 0.5821132406416061, 0.041007874039393544, 0.0, 0.0, 0.0, 0.0, 0.0, 1.011480811247357, 1.0851340698772913, 0.019817348810312642, 0.11106533304704926, 0.24928541122921635, 0.631030889054398, 0.08731758830171431, 0.0, 0.6777948749236754, 0.6465384936677947, 0.041007874039393544, 0.0, 0.0, 0.0, 0.0, 0.0, 1.011480811247357, 1.0851340698772913, 0.019817348810312642, 0.11106533304704926, 0.24928541122921635, 0.631030889054398, 0.08731758830171431, 0.0, 0.7057654001039756, 0.6839802262398035, 0.041007874039393544, 0.0, 0.0, 0.0, 0.0, 0.0, 1.011480811247357, 1.0851340698772913, 0.019817348810312642, 0.11106533304704926, 0.24928541122921635, 0.631030889054398, 0.08731758830171431, 0.0, 0.7448439526317017, 0.7389355278098791, 0.041007874039393544, 0.0, 0.0, 0.0, 0.0, 0.0, 1.011480811247357, 1.0851340698772913, 0.019817348810312642, 0.11106533304704926, 0.24928541122921635, 0.631030889054398, 0.08731758830171431, 0.0, 0.7656552214699667, 0.7679271505258363, 0.041007874039393544, 0.0, 0.0, 0.0, 0.0, 0.0, 1.011480811247357, 1.0851340698772913, 0.019817348810312642, 0.11106533304704926, 0.24928541122921635, 0.631030889054398, 0.08731758830171431, 0.0, 0.8186809532620475, 0.8399385100477529, 0.041007874039393544, 0.0, 0.0, 0.0, 0.0, 0.0, 1.011480811247357, 1.0851340698772913, 0.019817348810312642, 0.11106533304704926, 0.24928541122921635, 0.631030889054398, 0.08731758830171431, 0.0, 0.8358727909940351, 0.8649170826830428, 0.041007874039393544, 0.0, 0.0, 0.0, 0.0, 0.0, 1.011480811247357, 1.0851340698772913, 0.019817348810312642, 0.11106533304704926, 0.24928541122921635, 0.631030889054398, 0.08731758830171431, 0.0, 0.8592233206187774, 0.898873185100154, 0.041007874039393544, 0.0, 0.0, 0.0, 0.0, 0.0, 1.011480811247357, 1.0851340698772913, 0.019817348810312642, 0.11106533304704926, 0.24928541122921635, 0.631030889054398, 0.08731758830171431, 0.0, 0.9056169878086324, 0.9613092187100593, 0.041007874039393544, 0.0, 0.0, 0.0, 0.0, 0.0, 1.011480811247357, 1.0851340698772913, 0.019817348810312642, 0.11106533304704926, 0.24928541122921635, 0.631030889054398, 0.08731758830171431, 0.0, 0.9423180634032591, 0.9898611617443066, 0.041007874039393544, 0.0, 0.0, 0.0, 0.0, 0.0, 1.011480811247357, 1.0851340698772913, 0.019817348810312642, 0.11106533304704926, 0.24928541122921635, 0.631030889054398, 0.08731758830171431, 0.0, 0.9759679548512888, 1.020445237761256, 0.041007874039393544, 0.0, 0.0, 0.0, 0.0, 0.0, 1.011480811247357, 1.0851340698772913, 0.019817348810312642, 0.11106533304704926, 0.24928541122921635, 0.631030889054398, 0.08731758830171431, 0.0, 1.0248674380662322, 1.048785424214466, 0.041007874039393544, 0.0, 0.0, 0.0, 0.0, 0.0, 1.011480811247357, 1.0851340698772913, 0.019817348810312642, 0.11106533304704926, 0.24928541122921635, 0.631030889054398, 0.08731758830171431, 0.0, 1.0683784355362602, 1.084529350935437, 0.041007874039393544, 0.0, 0.0, 0.0, 0.0, 0.0, 1.011480811247357, 1.0851340698772913, 0.019817348810312642, 0.11106533304704926, 0.24928541122921635, 0.631030889054398, 0.08731758830171431, 0.0, 1.1073392441029728, 1.1075927094285027, 0.041007874039393544, 0.0, 0.0, 0.0, 0.0, 0.0, 1.011480811247357, 1.0851340698772913, 0.019817348810312642, 0.11106533304704926, 0.24928541122921635, 0.631030889054398, 0.08731758830171431, 0.0, 1.1736728839471477, 1.1515031090181695, 0.041007874039393544, 0.0, 0.0, 0.0, 0.0, 0.0, 1.011480811247357, 1.0851340698772913, 0.019817348810312642, 0.11106533304704926, 0.24928541122921635, 0.631030889054398, 0.08731758830171431, 0.0, 1.1910116588404858, 1.1668373523038322, 0.041007874039393544, 0.0, 0.0, 0.0, 0.0, 0.0, 1.011480811247357, 1.0851340698772913, 0.019817348810312642, 0.11106533304704926, 0.24928541122921635, 0.631030889054398, 0.08731758830171431, 0.0, 1.2392763870999113, 1.2095744451877808, 0.041007874039393544, 0.0, 0.0, 0.0, 0.0, 0.0, 1.011480811247357, 1.0851340698772913, 0.019817348810312642, 0.11106533304704926, 0.24928541122921635, 0.631030889054398, 0.08731758830171431, 0.0, 1.2746762020747715, 1.2258436302884508, 0.041007874039393544, 0.0, 0.0, 0.0, 0.0, 0.0, 1.011480811247357, 1.0851340698772913, 0.019817348810312642, 0.11106533304704926, 0.24928541122921635, 0.631030889054398, 0.08731758830171431, 0.0, 1.3120348968591833, 1.2692781763307492, 0.041007874039393544, 0.0, 0.0, 0.0, 0.0, 0.0, 1.011480811247357, 1.0851340698772913, 0.019817348810312642, 0.11106533304704926, 0.24928541122921635, 0.631030889054398, 0.08731758830171431, 0.0, 1.3588714803205846, 1.2853011104335343, 0.041007874039393544, 0.0, 0.0, 0.0, 0.0, 0.0, 1.011480811247357, 1.0851340698772913, 0.019817348810312642, 0.11106533304704926, 0.24928541122921635, 0.631030889054398, 0.08731758830171431, 0.0, 1.4157833542837244, 1.3365609237749947, 0.041007874039393544, 0.0, 0.0, 0.0, 0.0, 0.0, 1.011480811247357, 1.0851340698772913, 0.019817348810312642, 0.11106533304704926, 0.24928541122921635, 0.631030889054398, 0.08731758830171431, 0.0, 1.4432916440554169, 1.324069125586186, 0.041007874039393544, 0.0, 0.0, 0.0, 0.0, 0.0, 1.011480811247357, 1.0851340698772913, 0.019817348810312642, 0.11106533304704926, 0.24928541122921635, 0.631030889054398, 0.08731758830171431, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0154284415906807, 1.017384769065876, 0.004063772072770505, 0.00891260672401253, 0.1400923568015037, 0.07584027035475922, 0.017282065415911013, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0154284415906807, 1.017384769065876, 0.004063772072770505, 0.00891260672401253, 0.1400923568015037, 0.07584027035475922, 0.017282065415911013, 0.0], "min": [-3.1799674034118652, -2.081770896911621, 0.28999999165534973, 0.6490073204040527, 0.0, 0.0, 0.6590474843978882, -1.0, -2.9175009727478027, -1.814424991607666, 0.486257940530777, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.02099730260670185, 0.0, -3.1193201541900635, -2.054044008255005, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9175009727478027, -1.814424991607666, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.02099730260670185, 0.0, -3.1016478538513184, -2.045964479446411, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9175009727478027, -1.814424991607666, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.02099730260670185, 0.0, -3.0890285968780518, -2.0401952266693115, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9175009727478027, -1.814424991607666, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.02099730260670185, 0.0, -3.0069518089294434, -2.002671003341675, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9175009727478027, -1.814424991607666, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.02099730260670185, 0.0, -2.92671275138855, -1.965986967086792, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9175009727478027, -1.814424991607666, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.02099730260670185, 0.0, -2.9122557640075684, -1.959377408027649, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9175009727478027, -1.814424991607666, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.02099730260670185, 0.0, -2.892009973526001, -1.9501214027404785, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9175009727478027, -1.814424991607666, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.02099730260670185, 0.0, -2.8171749114990234, -1.9159080982208252, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9175009727478027, -1.814424991607666, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.02099730260670185, 0.0, -2.763262987136841, -1.8912603855133057, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9175009727478027, -1.814424991607666, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.02099730260670185, 0.0, -2.721989393234253, -1.8723907470703125, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9175009727478027, -1.814424991607666, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.02099730260670185, 0.0, -2.664698362350464, -1.8461982011795044, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9175009727478027, -1.814424991607666, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.02099730260670185, 0.0, -2.6269989013671875, -1.8289625644683838, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9175009727478027, -1.814424991607666, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.02099730260670185, 0.0, -2.60007905960083, -1.8166552782058716, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9175009727478027, -1.814424991607666, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.02099730260670185, 0.0, -2.5323030948638916, -1.785669207572937, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9175009727478027, -1.814424991607666, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.02099730260670185, 0.0, -2.4377641677856445, -1.7424476146697998, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9175009727478027, -1.814424991607666, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.02099730260670185, 0.0, -2.4376070499420166, -1.7423758506774902, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9175009727478027, -1.814424991607666, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.02099730260670185, 0.0, -2.4373867511749268, -1.7422751188278198, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9175009727478027, -1.814424991607666, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.02099730260670185, 0.0, -2.3424227237701416, -1.6988590955734253, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9175009727478027, -1.814424991607666, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.02099730260670185, 0.0, -2.2740092277526855, -1.667581558227539, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9175009727478027, -1.814424991607666, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.02099730260670185, 0.0, -2.24723744392395, -1.6553418636322021, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9175009727478027, -1.814424991607666, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.02099730260670185, 0.0, -2.210076093673706, -1.6383522748947144, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9175009727478027, -1.814424991607666, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.02099730260670185, 0.0, -2.152350425720215, -1.611961007118225, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9175009727478027, -1.814424991607666, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.02099730260670185, 0.0, -2.111130475997925, -1.5931159257888794, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9175009727478027, -1.814424991607666, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.02099730260670185, 0.0, -2.05765438079834, -1.5686675310134888, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9175009727478027, -1.814424991607666, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.02099730260670185, 0.0, -1.982764482498169, -1.5344290733337402, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9175009727478027, -1.814424991607666, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.02099730260670185, 0.0, -1.9628560543060303, -1.525327205657959, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9175009727478027, -1.814424991607666, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.02099730260670185, 0.0, -1.9485135078430176, -1.5187699794769287, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9175009727478027, -1.814424991607666, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.02099730260670185, 0.0, -1.8676705360412598, -1.4818098545074463, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9175009727478027, -1.814424991607666, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.02099730260670185, 0.0, -1.784754753112793, -1.4439021348953247, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9175009727478027, -1.814424991607666, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.02099730260670185, 0.0, -1.7724850177764893, -1.4382926225662231, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9175009727478027, -1.814424991607666, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.02099730260670185, 0.0, -1.7554535865783691, -1.4305061101913452, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9175009727478027, -1.814424991607666, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.02099730260670185, 0.0, -1.6777015924453735, -1.3949592113494873, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9175009727478027, -1.814424991607666, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.02099730260670185, 0.0, -1.62218177318573, -1.3695764541625977, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9175009727478027, -1.814424991607666, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.02099730260670185, 0.0, -1.583005666732788, -1.351665735244751, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9175009727478027, -1.814424991607666, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.02099730260670185, 0.0, -1.528141975402832, -1.326582908630371, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9175009727478027, -1.814424991607666, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.02099730260670185, 0.0, -1.4881037473678589, -1.3082780838012695, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9175009727478027, -1.814424991607666, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.02099730260670185, 0.0, -1.4592596292495728, -1.2950910329818726, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9175009727478027, -1.814424991607666, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.02099730260670185, 0.0, -1.3929184675216675, -1.264760971069336, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9175009727478027, -1.814424991607666, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.02099730260670185, 0.0, -1.3008309602737427, -1.2226600646972656, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9175009727478027, -1.814424991607666, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.02099730260670185, 0.0, -1.2977490425109863, -1.221251130104065, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9175009727478027, -1.814424991607666, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.02099730260670185, 0.0, -1.295548439025879, -1.2202450037002563, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9175009727478027, -1.814424991607666, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.02099730260670185, 0.0, -1.2030529975891113, -1.177957534790039, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9175009727478027, -1.814424991607666, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.02099730260670185, 0.0, -1.1332330703735352, -1.146036982536316, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9175009727478027, -1.814424991607666, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.02099730260670185, 0.0, -1.1083569526672363, -1.1346640586853027, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9175009727478027, -1.814424991607666, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.02099730260670185, 0.0, -1.0735198259353638, -1.1187371015548706, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9175009727478027, -1.814424991607666, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.02099730260670185, 0.0, -1.0133408308029175, -1.0912243127822876, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9175009727478027, -1.814424991607666, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.02099730260670185, 0.0, -0.9701024293899536, -1.0714564323425293, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9175009727478027, -1.814424991607666, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.02099730260670185, 0.0, -0.9180329442024231, -1.0476510524749756, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9175009727478027, -1.814424991607666, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.02099730260670185, 0.0, -0.8448220491409302, -1.0141801834106445, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9175009727478027, -1.814424991607666, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.02099730260670185, 0.0, -0.8224834203720093, -1.00396728515625, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9175009727478027, -1.814424991607666, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.02099730260670185, 0.0, -0.8071338534355164, -0.9969497323036194, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9175009727478027, -1.814424991607666, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.02099730260670185, 0.0, -0.7262594699859619, -0.9599753618240356, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9175009727478027, -1.814424991607666, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.02099730260670185, 0.0, -0.7237380146980286, -0.9160650372505188, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9175009727478027, -1.814424991607666, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.02099730260670185, 0.0, 0.3751862347126007, -0.07991261035203934, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -1.1136696338653564, -0.9532161951065063, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.025672201067209244, 0.0, 0.33125942945480347, -0.1353881061077118, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -1.1136696338653564, -0.9532161951065063, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.025672201067209244, 0.0, 0.29486796259880066, -0.18134713172912598, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -1.1136696338653564, -0.9532161951065063, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.025672201067209244, 0.0, 0.2577687203884125, -0.2282000333070755, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -1.1136696338653564, -0.9532161951065063, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.025672201067209244, 0.0, 0.21498948335647583, -0.2822262644767761, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -1.1136696338653564, -0.9532161951065063, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.025672201067209244, 0.0, 0.17545248568058014, -0.33215782046318054, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -1.1136696338653564, -0.9532161951065063, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.025672201067209244, 0.0, 0.14212031662464142, -0.3742532432079315, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -1.1136696338653564, -0.9532161951065063, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.025672201067209244, 0.0, 0.12209278345108032, -0.39954614639282227, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -1.1136696338653564, -0.9532161951065063, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.025672201067209244, 0.0, 0.05567637085914612, -0.4834239184856415, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -1.1136696338653564, -0.9532161951065063, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.025672201067209244, 0.0, 0.04765714704990387, -0.49355146288871765, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -1.1136696338653564, -0.9532161951065063, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.025672201067209244, 0.0, 0.03700853884220123, -0.506999671459198, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -1.1136696338653564, -0.9532161951065063, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.025672201067209244, 0.0, -0.025812353938817978, -0.586336612701416, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -1.1136696338653564, -0.9532161951065063, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.025672201067209244, 0.0, -0.06843660771846771, -0.5958970189094543, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -1.1136696338653564, -0.9532161951065063, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.025672201067209244, 0.0, -0.10052009671926498, -0.6030932068824768, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -1.1136696338653564, -0.9532161951065063, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.025672201067209244, 0.0, -0.1727195829153061, -0.6192872524261475, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -1.1136696338653564, -0.9532161951065063, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.025672201067209244, 0.0, -0.22024478018283844, -0.6299469470977783, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -1.1136696338653564, -0.9532161951065063, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.025672201067209244, 0.0, -0.2770024538040161, -0.6426774263381958, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -1.1136696338653564, -0.9532161951065063, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.025672201067209244, 0.0, -0.3662620186805725, -0.662697970867157, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -1.1136696338653564, -0.9532161951065063, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.025672201067209244, 0.0, -0.3834683895111084, -0.6665573120117188, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -1.1136696338653564, -0.9532161951065063, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.025672201067209244, 0.0, -0.43128156661987305, -0.6772816181182861, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -1.1136696338653564, -0.9532161951065063, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.025672201067209244, 0.0, -0.49029412865638733, -0.6905178427696228, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -1.1136696338653564, -0.9532161951065063, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.025672201067209244, 0.0, -0.5108585357666016, -0.6951303482055664, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -1.1136696338653564, -0.9532161951065063, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.025672201067209244, 0.0, -0.5976753234863281, -0.7146029472351074, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -1.1136696338653564, -0.9532161951065063, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.025672201067209244, 0.0, -0.652679443359375, -0.7269401550292969, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -1.1136696338653564, -0.9532161951065063, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.025672201067209244, 0.0, -0.7055464386940002, -0.6965139508247375, 1.4367961883544922, 0.0, 0.0, 0.0, 0.0, 2.0, -1.1136696338653564, -0.9532161951065063, 0.5852968692779541, -0.12521661818027496, -0.9682230353355408, -0.48587968945503235, 0.025672201067209244, 0.0, 2.2734928131103516, 2.0563883781433105, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9037655591964722, -0.7801995873451233, 0.6664674878120422, 0.08181320875883102, -0.7819979786872864, 0.6105861663818359, 0.025672201067209244, 0.0, 2.273834466934204, 2.0186595916748047, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9037655591964722, -0.7801995873451233, 0.6664674878120422, 0.08181320875883102, -0.7819979786872864, 0.6105861663818359, 0.025672201067209244, 0.0], "max": [2.2447714805603027, 2.314312219619751, 1.5204813480377197, 0.7521013021469116, 0.0, 0.0, 0.7607821822166443, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.19545592367649078, -0.19418030977249146, 0.9737604260444641, 0.25591960549354553, 1.0, 2.2195181846618652, 2.2493069171905518, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.19418030977249146, 0.9737604260444641, 0.25591960549354553, 0.0, 2.193801164627075, 2.2168288230895996, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.19418030977249146, 0.9737604260444641, 0.25591960549354553, 0.0, 2.1491661071777344, 2.160459041595459, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.19418030977249146, 0.9737604260444641, 0.25591960549354553, 0.0, 2.1054422855377197, 2.1052401065826416, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.19418030977249146, 0.9737604260444641, 0.25591960549354553, 0.0, 2.079904079437256, 2.0729877948760986, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.19418030977249146, 0.9737604260444641, 0.25591960549354553, 0.0, 2.0215041637420654, 1.9992339611053467, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.19418030977249146, 0.9737604260444641, 0.25591960549354553, 0.0, 2.010457754135132, 1.9852834939956665, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.19418030977249146, 0.9737604260444641, 0.25591960549354553, 0.0, 1.953495740890503, 1.9133456945419312, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.19418030977249146, 0.9737604260444641, 0.25591960549354553, 0.0, 1.9413450956344604, 1.8980005979537964, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.19418030977249146, 0.9737604260444641, 0.25591960549354553, 0.0, 1.9389941692352295, 1.8950315713882446, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.19418030977249146, 0.9737604260444641, 0.25591960549354553, 0.0, 1.871604561805725, 1.8099247217178345, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.19418030977249146, 0.9737604260444641, 0.25591960549354553, 0.0, 1.8567053079605103, 1.791108250617981, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.19418030977249146, 0.9737604260444641, 0.25591960549354553, 0.0, 1.8024110794067383, 1.7225396633148193, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.19418030977249146, 0.9737604260444641, 0.25591960549354553, 0.0, 1.7744166851043701, 1.6871854066848755, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.19418030977249146, 0.9737604260444641, 0.25591960549354553, 0.0, 1.7329422235488892, 1.6348069906234741, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.19418030977249146, 0.9737604260444641, 0.25591960549354553, 0.0, 1.69212806224823, 1.5832624435424805, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.19418030977249146, 0.9737604260444641, 0.25591960549354553, 0.0, 1.663480281829834, 1.5470829010009766, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.19418030977249146, 0.9737604260444641, 0.25591960549354553, 0.0, 1.6098392009735107, 1.4793392419815063, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.19418030977249146, 0.9737604260444641, 0.25591960549354553, 0.0, 1.5942796468734741, 1.4596890211105347, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.19418030977249146, 0.9737604260444641, 0.25591960549354553, 0.0, 1.527550458908081, 1.3754162788391113, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.19418030977249146, 0.9737604260444641, 0.25591960549354553, 0.0, 1.5245493650436401, 1.3716261386871338, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.19418030977249146, 0.9737604260444641, 0.25591960549354553, 0.0, 1.508911371231079, 1.3518768548965454, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.19418030977249146, 0.9737604260444641, 0.25591960549354553, 0.0, 1.4555100202560425, 1.2844358682632446, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.19418030977249146, 0.9737604260444641, 0.25591960549354553, 0.0, 1.4452615976333618, 1.2714930772781372, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.19418030977249146, 0.9737604260444641, 0.25591960549354553, 0.0, 1.3858554363250732, 1.196468710899353, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.19418030977249146, 0.9737604260444641, 0.25591960549354553, 0.0, 1.3629728555679321, 1.1675701141357422, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.19418030977249146, 0.9737604260444641, 0.25591960549354553, 0.0, 1.3165791034698486, 1.1089792251586914, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.19418030977249146, 0.9737604260444641, 0.25591960549354553, 0.0, 1.2806841135025024, 1.0636471509933472, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.19418030977249146, 0.9737604260444641, 0.25591960549354553, 0.0, 1.2471929788589478, 1.0213509798049927, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.19418030977249146, 0.9737604260444641, 0.25591960549354553, 0.0, 1.1983953714370728, 0.9597240686416626, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.19418030977249146, 0.9737604260444641, 0.25591960549354553, 0.0, 1.1776483058929443, 0.9335224628448486, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.19418030977249146, 0.9737604260444641, 0.25591960549354553, 0.0, 1.116106629371643, 0.8558010458946228, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.19418030977249146, 0.9737604260444641, 0.25591960549354553, 0.0, 1.1085305213928223, 0.8462331891059875, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.19418030977249146, 0.9737604260444641, 0.25591960549354553, 0.0, 1.0663400888442993, 0.7929505109786987, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.19418030977249146, 0.9737604260444641, 0.25591960549354553, 0.0, 1.0387686491012573, 0.7581303715705872, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.19418030977249146, 0.9737604260444641, 0.25591960549354553, 0.0, 1.0338177680969238, 0.7518778443336487, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.19418030977249146, 0.9737604260444641, 0.25591960549354553, 0.0, 0.9696781635284424, 0.6708754897117615, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.19418030977249146, 0.9737604260444641, 0.25591960549354553, 0.0, 0.9568560719490051, 0.6479547619819641, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.19418030977249146, 0.9737604260444641, 0.25591960549354553, 0.0, 0.995991587638855, 0.5830126404762268, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.19418030977249146, 0.9737604260444641, 0.25591960549354553, 0.0, 1.0208988189697266, 0.5440317988395691, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.19418030977249146, 0.9737604260444641, 0.25591960549354553, 0.0, 1.064849615097046, 0.4954187572002411, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.19418030977249146, 0.9737604260444641, 0.25591960549354553, 0.0, 1.0851593017578125, 0.4401087462902069, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.19418030977249146, 0.9737604260444641, 0.25591960549354553, 0.0, 1.1337077617645264, 0.40789490938186646, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.19418030977249146, 0.9737604260444641, 0.25591960549354553, 0.0, 1.1490932703018188, 0.3594059944152832, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.19418030977249146, 0.9737604260444641, 0.25591960549354553, 0.0, 1.2025659084320068, 0.44010865688323975, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.19418030977249146, 0.9737604260444641, 0.25591960549354553, 0.0, 1.2134625911712646, 0.4565543830394745, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.19418030977249146, 0.9737604260444641, 0.25591960549354553, 0.0, 1.2714240550994873, 0.5440317988395691, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.19418030977249146, 0.9737604260444641, 0.25591960549354553, 0.0, 1.2772878408432007, 0.5528817176818848, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.19418030977249146, 0.9737604260444641, 0.25591960549354553, 0.0, 1.3402820825576782, 0.6479547619819641, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.19418030977249146, 0.9737604260444641, 0.25591960549354553, 0.0, 1.3417658805847168, 0.6501941680908203, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.19418030977249146, 0.9737604260444641, 0.25591960549354553, 0.0, 1.3603159189224243, 0.6781904697418213, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.19418030977249146, 0.9737604260444641, 0.25591960549354553, 0.0, 1.4055240154266357, 0.7464200854301453, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.19418030977249146, 0.9737604260444641, 0.25591960549354553, 0.0, 1.4091402292251587, 0.7518778443336487, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.19418030977249146, 0.9737604260444641, 0.25591960549354553, 0.0, 1.469977617263794, 0.8436956405639648, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.22752417623996735, 0.9660947322845459, 0.25591960549354553, 0.0, 1.4779984951019287, 0.8558010458946228, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.22752417623996735, 0.9660947322845459, 0.25591960549354553, 0.0, 1.533827304840088, 0.9400598406791687, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.22752417623996735, 0.9660947322845459, 0.25591960549354553, 0.0, 1.5468565225601196, 0.9597240090370178, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.22752417623996735, 0.9660947322845459, 0.25591960549354553, 0.0, 1.5981719493865967, 1.0371710062026978, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.22752417623996735, 0.9660947322845459, 0.25591960549354553, 0.0, 1.6157146692276, 1.0636471509933472, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.22752417623996735, 0.9660947322845459, 0.25591960549354553, 0.0, 1.6621304750442505, 1.1336995363235474, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.22752417623996735, 0.9660947322845459, 0.25591960549354553, 0.0, 1.684572696685791, 1.1675701141357422, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.22752417623996735, 0.9660947322845459, 0.25591960549354553, 0.0, 1.726366400718689, 1.2306466102600098, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.22752417623996735, 0.9660947322845459, 0.25591960549354553, 0.0, 1.753430724143982, 1.2714930772781372, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.22752417623996735, 0.9660947322845459, 0.25591960549354553, 0.0, 1.7904337644577026, 1.3273394107818604, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.22752417623996735, 0.9660947322845459, 0.25591960549354553, 0.0, 1.8222888708114624, 1.3754162788391113, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.22752417623996735, 0.9660947322845459, 0.25591960549354553, 0.0, 1.8545608520507812, 1.4241220951080322, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.22752417623996735, 0.9660947322845459, 0.25591960549354553, 0.0, 1.8911470174789429, 1.4793391227722168, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.22752417623996735, 0.9660947322845459, 0.25591960549354553, 0.0, 1.9187371730804443, 1.5209791660308838, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.22752417623996735, 0.9660947322845459, 0.25591960549354553, 0.0, 1.960005283355713, 1.5832624435424805, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.22752417623996735, 0.9660947322845459, 0.25591960549354553, 0.0, 1.9827553033828735, 1.6175975799560547, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.22752417623996735, 0.9660947322845459, 0.25591960549354553, 0.0, 2.0288634300231934, 1.6871854066848755, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.22752417623996735, 0.9660947322845459, 0.25591960549354553, 0.0, 2.0470404624938965, 1.7146188020706177, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.22752417623996735, 0.9660947322845459, 0.25591960549354553, 0.0, 2.097721576690674, 1.79110848903656, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.22752417623996735, 0.9660947322845459, 0.25591960549354553, 0.0, 2.110949754714966, 1.8110729455947876, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.22752417623996735, 0.9660947322845459, 0.25591960549354553, 0.0, 2.166623592376709, 1.8950977325439453, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.22752417623996735, 0.9660947322845459, 0.25591960549354553, 0.0, 2.175386667251587, 1.9083232879638672, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.22752417623996735, 0.9660947322845459, 0.25591960549354553, 0.0, 2.236523151397705, 2.0005924701690674, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.22752417623996735, 0.9660947322845459, 0.25591960549354553, 0.0, 2.239792585372925, 2.005526542663574, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.796553373336792, 0.6901288032531738, 0.18422900140285492, -0.22752417623996735, 0.9660947322845459, 0.25591960549354553, 0.0, 2.2734928131103516, 2.0563883781433105, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.3134846687316895, 0.6901288032531738, 0.13126149773597717, -0.22752417623996735, 0.9660947322845459, 0.09544239193201065, 0.0, 2.273834466934204, 2.0186595916748047, 1.5204813480377197, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3925557136535645, 2.3134846687316895, 0.6901288032531738, 0.13126149773597717, -0.22752417623996735, 0.9660947322845459, 0.09544239193201065, 0.0], "count": [1750]}, "action.applied": {"mean": [0.27507927704070295, 0.7220716772079467, -1.2351343804427555, -0.24756432044080326, 0.7063706274032593, -1.238234490633011, 0.16909697678685187, 0.8664285458496639, -1.3737092088631222, -0.17217050196656158, 0.8211436420168196, -1.3618423469407217, 0.0021695929897146667, 1.9770567356518336, -1.26971140732084, 0.023982496204588512, 0.5747377242616245, -0.05929186912467061, 0.003360000014305115, -0.003360000014305115], "std": [0.15646503173561413, 0.11245951138995158, 0.20721877857700777, 0.14344778500249808, 0.13386703652020066, 0.18588077792767344, 0.14406590125231103, 0.17499419307928554, 0.21131036991626523, 0.1348595434437479, 0.09264160337667535, 0.22072291153849571, 0.1099130436107631, 0.2371928540048914, 0.2574300183743802, 0.19272600454157562, 0.13502947136189847, 0.2821086726649104, 0.01031069352202994, 0.01031069352202994], "min": [-0.21437956392765045, 0.41678300499916077, -1.7175920009613037, -0.51857990026474, 0.3207217752933502, -1.5930492877960205, -0.15191051363945007, 0.40601080656051636, -1.7808829545974731, -0.5914562940597534, 0.5680055022239685, -1.735100269317627, -0.45905131101608276, 1.7055602073669434, -1.6103969812393188, -0.7515394687652588, 0.2290593832731247, -0.4534420669078827, 0.0, -0.03500000014901161], "max": [0.729544997215271, 0.9822482466697693, -0.8330560922622681, 0.1470213234424591, 1.0093969106674194, -0.834476888179779, 0.4905255138874054, 1.1982645988464355, -0.9820154905319214, 0.300035297870636, 1.0812647342681885, -0.9046538472175598, 0.320869505405426, 2.4036965370178223, -0.9786801934242249, 0.3242942690849304, 0.8012593984603882, 0.9880178570747375, 0.03500000014901161, 0.0], "count": [1750]}, "extra.reward": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1750]}, "next.truncated": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1750]}, "sim_step_idx": {"mean": [1850.0], "std": [1010.3628061246119], "min": [101.0], "max": [3599.0], "count": [1750]}, "timestamp": {"mean": [34.979999999991485], "std": [20.207256118940705], "min": [0.0], "max": [69.95999908447266], "count": [1750]}, "frame_index": {"mean": [874.5], "std": [505.18140306230595], "min": [0.0], "max": [1749.0], "count": [1750]}, "episode_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1750]}, "index": {"mean": [874.5], "std": [505.18140306230595], "min": [0.0], "max": [1749.0], "count": [1750]}, "task_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1750]}, "next.done": {"mean": [0.0005714285714285715], "std": [0.023897741332944554], "min": [0.0], "max": [1.0], "count": [1750]}, "observation.images.head": {"mean": [[[0.48494932980312244]], [[0.4558489412188574]], [[0.40312761375575973]]], "std": [[[0.17563839749246718]], [[0.15144294964322205]], [[0.1528646854506486]]], "min": [[[0.0]], [[0.00784313725490196]], [[0.00392156862745098]]], "max": [[[0.8941176470588236]], [[0.8745098039215686]], [[0.8745098039215686]]], "count": [100]}, "observation.images.wrist": {"mean": [[[0.46029159365525263]], [[0.48045899369126926]], [[0.44819746502613744]]], "std": [[[0.19217733082806673]], [[0.2075487463012002]], [[0.22043524440829346]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9411764705882353]], [[0.9372549019607843]], [[0.9411764705882353]]], "count": [100]}}} diff --git a/N032/go2_arm/dr_on/seed_2018/rec/stationpuzzle/000/lerobot_v21/meta/extra/episode_000000.json b/N032/go2_arm/dr_on/seed_2018/rec/stationpuzzle/000/lerobot_v21/meta/extra/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..4f567673e613eb546b3bf1a71fe8b479cee677f0 --- /dev/null +++ b/N032/go2_arm/dr_on/seed_2018/rec/stationpuzzle/000/lerobot_v21/meta/extra/episode_000000.json @@ -0,0 +1,751 @@ +{ + "episode_index": 0, + "trajectory_id": 0, + "env_id": 0, + "task_type": "PuzzleCommand", + "subsample_every": 2, + "control_steps": 3499, + "language": { + "scene": { + "objects": [ + { + "id": "table_A_1", + "cat_name": "table_A", + "inst_id": 1, + "noun": "table A", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 3.311184105853162, + -0.37369938031434086, + -0.20008670441998594 + ], + "bbox": { + "extent": [ + 1.0324010106051318, + 0.7383218556912083, + 0.30000001192092896 + ], + "center": [ + 1.1102230246251565e-16, + 2.7755575615628914e-17, + 0.0 + ] + } + }, + { + "id": "table_B_1", + "cat_name": "table_B", + "inst_id": 1, + "noun": "table B", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 7.303949849850592, + -0.2321696314935817, + -0.23430688584389914 + ], + "bbox": { + "extent": [ + 0.9502307215016588, + 0.5904153392231417, + 0.30000001192092896 + ], + "center": [ + -1.942890293094024e-16, + 2.220446049250313e-16, + 0.0 + ] + } + }, + { + "id": "board_0_1", + "cat_name": "board_0", + "inst_id": 1, + "noun": "board 0", + "color": "gray", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.1521682201378467, + -0.49281069031553465, + -0.03844993904783044 + ], + "bbox": { + "extent": [ + 0.2605920825190077, + 0.10620051632942532, + 0.019999999552965164 + ], + "center": [ + -2.7755575615628914e-17, + 1.3877787807814457e-17, + 0.0 + ] + } + }, + { + "id": "board_1_1", + "cat_name": "board_1", + "inst_id": 1, + "noun": "board 1", + "color": "gray", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.280467212539525, + -0.3972196815374575, + -0.039764317039020114 + ], + "bbox": { + "extent": [ + 0.2605920825190077, + 0.10620051632942526, + 0.019999999552965164 + ], + "center": [ + 1.3877787807814457e-17, + 0.0, + 0.0 + ] + } + }, + { + "id": "board_2_1", + "cat_name": "board_2", + "inst_id": 1, + "noun": "board 2", + "color": "gray", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.153586515628368, + -0.3608149183113622, + -0.038773375168397094 + ], + "bbox": { + "extent": [ + 0.06648020638991405, + 0.1105920840091238, + 0.019999999552965164 + ], + "center": [ + -3.469446951953614e-17, + -6.938893903907228e-18, + 0.0 + ] + } + }, + { + "id": "board_3_1", + "cat_name": "board_3", + "inst_id": 1, + "noun": "board 3", + "color": "gray", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.2790489170490047, + -0.5292154535416302, + -0.03944088091845347 + ], + "bbox": { + "extent": [ + 0.06648020638991411, + 0.11059208400912382, + 0.019999999552965164 + ], + "center": [ + 3.469446951953614e-18, + 1.0408340855860843e-17, + 0.0 + ] + } + }, + { + "id": "board_4_1", + "cat_name": "board_4", + "inst_id": 1, + "noun": "board 4", + "color": "gray", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.2224505772110525, + -0.40303465246199693, + -0.03925821595247957 + ], + "bbox": { + "extent": [ + 0.10059208609528628, + 0.06383218625339449, + 0.019999999552965164 + ], + "center": [ + 4.5102810375396984e-17, + 0.0, + 0.0 + ] + } + }, + { + "id": "picture_1", + "cat_name": "picture", + "inst_id": 1, + "noun": "picture", + "color": "gray", + "size": "medium", + "material": null, + "category": "geometry", + "pos": [ + 3.473679494459607, + -0.2536208521989277, + 0.04826062447097759 + ], + "bbox": { + "extent": [ + 0.2521184166517712, + 0.07420051760347457, + 0.20000000298023224 + ], + "center": [ + 2.7755575615628914e-17, + 0.0, + 0.0 + ] + } + }, + { + "id": "picture_bar_1", + "cat_name": "picture_bar", + "inst_id": 1, + "noun": "picture bar", + "color": "gray", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.46945798613662, + -0.25666704793752454, + 0.023302668645207237 + ], + "bbox": { + "extent": [ + 0.1505296101234073, + 0.04172031200743517, + 0.05000000074505806 + ], + "center": [ + -1.3877787807814457e-17, + -1.3877787807814457e-17, + 0.0 + ] + } + }, + { + "id": "picture_cap_1", + "cat_name": "picture_cap", + "inst_id": 1, + "noun": "picture cap", + "color": "gray", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.499754316095736, + -0.2966444600399776, + 0.07314179898070775 + ], + "bbox": { + "extent": [ + 0.05052960490800087, + 0.015240103736986754, + 0.05000000074505806 + ], + "center": [ + 2.0816681711721685e-17, + 2.7755575615628914e-17, + 0.0 + ] + } + }, + { + "id": "tile_1", + "cat_name": "tile", + "inst_id": 1, + "noun": "tile", + "color": null, + "size": "small", + "material": null, + "category": "rigid", + "pos": [ + 7.367843191706041, + -0.4807359565200496, + -0.08425687356159195 + ], + "bbox": { + "extent": [ + 0.15238132024161294, + 0.10239573379598613, + 0.06500012395985189 + ], + "center": [ + 7.174298201094442e-06, + 0.02440110199837038, + 0.03249997735233323 + ] + } + }, + { + "id": "cand_O_1", + "cat_name": "cand_O", + "inst_id": 1, + "noun": "cand O", + "color": null, + "size": "small", + "material": null, + "category": "rigid", + "pos": [ + 7.082506640480624, + -0.16951698670231402, + -0.08256954938813996 + ], + "bbox": { + "extent": [ + 0.1140876836313322, + 0.11408768052398537, + 0.06500004449184921 + ], + "center": [ + 0.024999996875163136, + 0.024999997451102297, + 0.032499996524136515 + ] + } + } + ], + "relations": [ + { + "subject": "table_B_1", + "relation": "right_of", + "object": "cand_O_1" + }, + { + "subject": "board_0_1", + "relation": "right_of", + "object": "board_4_1" + }, + { + "subject": "board_1_1", + "relation": "in_front_of", + "object": "board_4_1" + }, + { + "subject": "board_2_1", + "relation": "behind", + "object": "board_4_1" + }, + { + "subject": "board_3_1", + "relation": "right_of", + "object": "board_1_1" + }, + { + "subject": "board_4_1", + "relation": "behind", + "object": "board_1_1" + }, + { + "subject": "tile_1", + "relation": "on_top_of", + "object": "table_B_1" + }, + { + "subject": "tile_1", + "relation": "right_of", + "object": "table_B_1" + }, + { + "subject": "cand_O_1", + "relation": "on_top_of", + "object": "table_B_1" + }, + { + "subject": "cand_O_1", + "relation": "left_of", + "object": "table_B_1" + } + ], + "cameras": [ + { + "name": "head", + "intrinsics": { + "K": [ + [ + 607.7061061683956, + 0.0, + 320.0 + ], + [ + 0.0, + 607.3754374751866, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 55.53991912549515, + "resolution": [ + 640, + 480 + ] + }, + "pos_robot": [ + 3.968941844335208, + -1.0291363614922957, + -0.29056711869794727 + ], + "viewpoint": "front, at table height", + "extrinsics": { + "R": [ + [ + 0.0034545225363202814, + -0.9995776319673901, + 0.028855223868669955 + ], + [ + -0.02338972540530354, + 0.0287667346071393, + 0.9993124615081647 + ], + [ + -0.9997204544368945, + -0.0041270631819024794, + -0.023280471000004077 + ] + ], + "t": [ + 0.03416419479862187, + -0.08682200219228882, + 0.33429322289826396 + ] + } + }, + { + "name": "wrist", + "intrinsics": { + "K": [ + [ + 617.2500342478374, + 0.0, + 320.0 + ], + [ + 0.0, + 617.548655622722, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 54.807019583348044, + "resolution": [ + 640, + 480 + ] + }, + "pos_robot": [ + 3.6605270956344453, + -0.7611484961464735, + -0.33632170223136654 + ], + "viewpoint": "front, at table height", + "extrinsics": { + "R": [ + [ + 0.017356943317221596, + -0.9998337334638687, + 0.005589449560045617 + ], + [ + -0.9382601518788614, + -0.014355819960515381, + 0.34563246061317376 + ], + [ + -0.3454947523696107, + -0.011243480820582297, + -0.9383533237667454 + ] + ], + "t": [ + 0.006333551580298355, + -0.08611861262827436, + 0.017148138726427706 + ] + } + } + ], + "robots": [ + { + "name": "Go2Plus", + "model": "go2plus", + "type": "mobilemanip", + "noun": "Unitree Go2 EDU quadruped with a Piper arm", + "arms": 1, + "arm_layout": null, + "mobile": true, + "dexterous": false, + "base_pose": { + "pos": [ + -3.4, + -2.2, + 0.44999999999999996 + ], + "ori": [ + 0.9396926164627075, + 0.0, + 0.0, + 0.3420201539993286 + ] + }, + "facing_yaw_deg": 40.000001288448495, + "gripper": "parallel gripper" + } + ], + "lighting": [], + "background": { + "name": null, + "kind": "background", + "type": "dome", + "pose": null, + "setting": null, + "time_of_day": null, + "indoor": false, + "intensity": 1000.0, + "ambient": "dim" + }, + "effects": [], + "caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a small gray board 0, a small gray board 1, a small gray board 2, a small gray board 3, a small gray board 4, a medium gray picture, a small gray picture bar, a small gray picture cap, a small tile and a small cand O. The gray table B is to the right of the cand O. The gray board 0 is to the right of the gray board 4. The gray board 1 is in front of the gray board 4. The gray board 2 is behind the gray board 4. The gray board 3 is to the right of the gray board 1. The gray board 4 is behind the gray board 1. The tile is on top of the gray table B. The tile is to the right of the gray table B. The cand O is on top of the gray table B. The cand O is to the left of the gray table B. The scene is viewed from front, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n [cand O]e B] [tile]\n\n\n\n [[p[picture cap]]\n [b[board 4]\n\n\n[robot]" + }, + "task": { + "task_type": "StationPuzzle", + "instruction": "Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.", + "template_id": -1, + "slots": { + "obj": 1.4367962046139595, + "support": null + }, + "generic_instruction": "Stationpuzzle the 1.4367962046139595.", + "task_id": "N032", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_1276": { + "frame_idx": 1276, + "caption": "Computing a grasp pose for the small tile; the right gripper is below and to the left of and in front of the tile.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "NavTo", + "planner_state": "finished", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_1303": { + "frame_idx": 1303, + "caption": "Working on the small tile; the right gripper is below and to the left of and in front of the tile.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_1594": { + "frame_idx": 1594, + "caption": "Computing a grasp pose for the small tile; the right gripper is below and to the left of and in front of the tile.", + "skill": "ReachStance", + "phase": "verify", + "skill_state": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_1608": { + "frame_idx": 1608, + "caption": "Pre-grasping the small tile, servoing the arm toward it; the right gripper is below and to the left of and in front of the tile.", + "skill": "Grasp", + "phase": "pre_grasp", + "skill_state": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_1609": { + "frame_idx": 1609, + "caption": "Pre-grasping the small tile, moving the arm toward it; the right gripper is below and to the left of and in front of the tile.", + "skill": "Grasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_1663": { + "frame_idx": 1663, + "caption": "Grasping the small tile, moving the arm in to make contact; the right gripper is below and to the left of and in front of the tile.", + "skill": "Grasp", + "phase": "grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_1712": { + "frame_idx": 1712, + "caption": "Grasping the small tile, moving the arm in to make contact; the right gripper is below and in front of the tile.", + "skill": "Grasp", + "phase": "grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below", + "in_front_of" + ] + }, + "frame_1715": { + "frame_idx": 1715, + "caption": "Grasping the small tile, moving the arm in to make contact; the right gripper is below the tile.", + "skill": "Grasp", + "phase": "grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_1725": { + "frame_idx": 1725, + "caption": "Closing the right gripper on the tile; the right gripper is below the tile.", + "skill": "Grasp", + "phase": "close_gripper", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_1785": { + "frame_idx": 1785, + "caption": "Lifting the tile away with the gripper; the right gripper is below the tile.", + "skill": "Grasp", + "phase": "retrieval", + "skill_state": "running", + "planner": "ParallelGripper", + "planner_state": "finished", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_1786": { + "frame_idx": 1786, + "caption": "Lifting the tile away with the arm; the right gripper is below the tile.", + "skill": "Grasp", + "phase": "retrieval", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_1848": { + "frame_idx": 1848, + "caption": "Done — the small tile is grasped; the right gripper is below the tile.", + "skill": "Grasp", + "phase": "completed", + "skill_state": "finished", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + } + } + }, + "depth_range": [ + 0.1, + 20.0 + ], + "annotation_sidecar": null, + "annotation_sidecar_keys": [], + "terminated": true, + "truncated": false +} \ No newline at end of file diff --git a/N032/go2_arm/dr_on/seed_2018/rec/stationpuzzle/000/lerobot_v21/meta/info.json b/N032/go2_arm/dr_on/seed_2018/rec/stationpuzzle/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..b56d99b77d4fb2e07942a6152323e5d9359f302e --- /dev/null +++ b/N032/go2_arm/dr_on/seed_2018/rec/stationpuzzle/000/lerobot_v21/meta/info.json @@ -0,0 +1,350 @@ +{ + "codebase_version": "v2.1", + "robot_type": "Go2PlusCfg", + "total_episodes": 1, + "total_frames": 1750, + "total_tasks": 1, + "total_videos": 2, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 25, + "splits": { + "train": "0:1" + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", + "features": { + "action": { + "dtype": "float32", + "shape": [ + 12 + ], + "names": [ + "base_action_0", + "base_action_1", + "base_action_2", + "base_action_3", + "eef0.pos_x", + "eef0.pos_y", + "eef0.pos_z", + "eef0.quat_w", + "eef0.quat_x", + "eef0.quat_y", + "eef0.quat_z", + "gripper" + ] + }, + "action_is_hold": { + "dtype": "bool", + "shape": [ + 12 + ], + "names": null + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 26 + ], + "names": [ + "joint_0", + "joint_1", + "joint_2", + "joint_3", + "joint_4", + "joint_5", + "joint_6", + "joint_7", + "joint_8", + "joint_9", + "joint_10", + "joint_11", + "joint_12", + "joint_13", + "joint_14", + "joint_15", + "joint_16", + "joint_17", + "joint_18", + "joint_19", + "joint_20", + "joint_21", + "joint_22", + "joint_23", + "gripper_0", + "gripper_1" + ] + }, + "observation.joint_vel": { + "dtype": "float32", + "shape": [ + 20 + ], + "names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ] + }, + "observation.eef_pose": { + "dtype": "float32", + "shape": [ + 7 + ], + "names": null + }, + "observation.environment_state": { + "dtype": "float32", + "shape": [ + 84 + ], + "names": [ + "object_pose.board_0.0", + "object_pose.board_0.1", + "object_pose.board_0.2", + "object_pose.board_0.3", + "object_pose.board_0.4", + "object_pose.board_0.5", + "object_pose.board_0.6", + "object_pose.board_1.0", + "object_pose.board_1.1", + "object_pose.board_1.2", + "object_pose.board_1.3", + "object_pose.board_1.4", + "object_pose.board_1.5", + "object_pose.board_1.6", + "object_pose.board_2.0", + "object_pose.board_2.1", + "object_pose.board_2.2", + "object_pose.board_2.3", + "object_pose.board_2.4", + "object_pose.board_2.5", + "object_pose.board_2.6", + "object_pose.board_3.0", + "object_pose.board_3.1", + "object_pose.board_3.2", + "object_pose.board_3.3", + "object_pose.board_3.4", + "object_pose.board_3.5", + "object_pose.board_3.6", + "object_pose.board_4.0", + "object_pose.board_4.1", + "object_pose.board_4.2", + "object_pose.board_4.3", + "object_pose.board_4.4", + "object_pose.board_4.5", + "object_pose.board_4.6", + "object_pose.cand_O.0", + "object_pose.cand_O.1", + "object_pose.cand_O.2", + "object_pose.cand_O.3", + "object_pose.cand_O.4", + "object_pose.cand_O.5", + "object_pose.cand_O.6", + "object_pose.picture.0", + "object_pose.picture.1", + "object_pose.picture.2", + "object_pose.picture.3", + "object_pose.picture.4", + "object_pose.picture.5", + "object_pose.picture.6", + "object_pose.picture_bar.0", + "object_pose.picture_bar.1", + "object_pose.picture_bar.2", + "object_pose.picture_bar.3", + "object_pose.picture_bar.4", + "object_pose.picture_bar.5", + "object_pose.picture_bar.6", + "object_pose.picture_cap.0", + "object_pose.picture_cap.1", + "object_pose.picture_cap.2", + "object_pose.picture_cap.3", + "object_pose.picture_cap.4", + "object_pose.picture_cap.5", + "object_pose.picture_cap.6", + "object_pose.table_A.0", + "object_pose.table_A.1", + "object_pose.table_A.2", + "object_pose.table_A.3", + "object_pose.table_A.4", + "object_pose.table_A.5", + "object_pose.table_A.6", + "object_pose.table_B.0", + "object_pose.table_B.1", + "object_pose.table_B.2", + "object_pose.table_B.3", + "object_pose.table_B.4", + "object_pose.table_B.5", + "object_pose.table_B.6", + "object_pose.tile.0", + "object_pose.tile.1", + "object_pose.tile.2", + "object_pose.tile.3", + "object_pose.tile.4", + "object_pose.tile.5", + "object_pose.tile.6" + ] + }, + "action.command": { + "dtype": "float32", + "shape": [ + 1296 + ], + "names": null + }, + "action.applied": { + "dtype": "float32", + "shape": [ + 20 + ], + "names": null + }, + "narration": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "collect_info": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "extra.reward": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "extra.action_info": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "next.truncated": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "sim_step_idx": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "next.done": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "observation.images.head": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25, + "video.codec": "libsvtav1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.wrist": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25, + "video.codec": "libsvtav1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + } + } +} \ No newline at end of file diff --git a/N032/go2_arm/dr_on/seed_2018/rec/stationpuzzle/000/lerobot_v21/meta/magicsim_manifest.json b/N032/go2_arm/dr_on/seed_2018/rec/stationpuzzle/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..f14a2ed02196ba9a903a1d98820152deed8ea095 --- /dev/null +++ b/N032/go2_arm/dr_on/seed_2018/rec/stationpuzzle/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,290 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 03:15:26" + }, + "embodiment": { + "robots": [ + { + "name": "Go2Plus", + "cfg": "Go2PlusCfg", + "type": "mobilemanip", + "joint_names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 12, + "nan_policy": "from_raw", + "segments": [ + { + "name": "Go2Plus.base_action", + "start": 0, + "end": 4, + "names": [ + "base_action_0", + "base_action_1", + "base_action_2", + "base_action_3" + ], + "source": "Go2UnifiedLocomotionAction", + "names_source": "fallback" + }, + { + "name": "Go2Plus.arm_action", + "start": 4, + "end": 11, + "names": [ + "eef0.pos_x", + "eef0.pos_y", + "eef0.pos_z", + "eef0.quat_w", + "eef0.quat_x", + "eef0.quat_y", + "eef0.quat_z" + ], + "source": "Go2PlusCuroboIKAction", + "names_source": "pose_layout" + }, + { + "name": "Go2Plus.eef_action", + "start": 11, + "end": 12, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 26, + "segments": [ + { + "name": "Go2Plus.joint_pos", + "start": 0, + "end": 24, + "names": [ + "joint_0", + "joint_1", + "joint_2", + "joint_3", + "joint_4", + "joint_5", + "joint_6", + "joint_7", + "joint_8", + "joint_9", + "joint_10", + "joint_11", + "joint_12", + "joint_13", + "joint_14", + "joint_15", + "joint_16", + "joint_17", + "joint_18", + "joint_19", + "joint_20", + "joint_21", + "joint_22", + "joint_23" + ], + "source": "ObservationManager", + "names_source": "fallback_dim_mismatch(joint_names=20,obs=24)" + }, + { + "name": "Go2Plus.gripper_pos", + "start": 24, + "end": 26, + "names": [ + "gripper_0", + "gripper_1" + ], + "source": "ObservationManager", + "names_source": "generated" + } + ] + }, + "joint_vel_layout": { + "dim": 20, + "segments": [ + { + "name": "Go2Plus.joint_vel", + "start": 0, + "end": 20, + "names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "action_levels": { + "L0": "task command list (collect.auto_collect_info.current_action)", + "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)", + "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)", + "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy", + "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)" + }, + "cameras": { + "head": { + "intrinsics": { + "K": [ + [ + 607.7061061683956, + 0.0, + 320.0 + ], + [ + 0.0, + 607.3754374751866, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 55.53991912549515, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.33205100893974304, + 0.038026999682188034, + 0.09355899691581726 + ], + "quat": [ + -0.5022302269935608, + -0.499491810798645, + 0.5120040774345398, + 0.4859265089035034 + ] + }, + "wrist": { + "intrinsics": { + "K": [ + [ + 617.2500342478374, + 0.0, + 320.0 + ], + [ + 0.0, + 617.548655622722, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 54.807019583348044, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + -0.0749870017170906, + 0.005288999993354082, + 0.04582099989056587 + ], + "quat": [ + 0.1271296590566635, + 0.701795220375061, + -0.6904057860374451, + -0.12108422070741653 + ] + } + }, + "lerobot": { + "codebase_version": "v2.1", + "video_keys": [ + "observation.images.head", + "observation.images.wrist" + ], + "columns": [ + "action", + "action.applied", + "action.command", + "action_is_hold", + "collect_info", + "episode_index", + "extra.action_info", + "extra.reward", + "frame_index", + "index", + "narration", + "next.done", + "next.truncated", + "observation.eef_pose", + "observation.environment_state", + "observation.images.head", + "observation.images.wrist", + "observation.joint_vel", + "observation.state", + "sim_step_idx", + "task_index", + "timestamp" + ] + }, + "generated_run": { + "run_id": "stationpuzzle/000", + "task_type": "PuzzleCommand" + } +} \ No newline at end of file diff --git a/N032/go2_arm/dr_on/seed_2018/rec/stationpuzzle/000/lerobot_v21/meta/stats.json b/N032/go2_arm/dr_on/seed_2018/rec/stationpuzzle/000/lerobot_v21/meta/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..56bfed488824303fd11353c369e0e33590f8cceb --- /dev/null +++ b/N032/go2_arm/dr_on/seed_2018/rec/stationpuzzle/000/lerobot_v21/meta/stats.json @@ -0,0 +1,6313 @@ +{ + "action": { + "mean": [ + 0.17180833109255347, + -0.003434777465249811, + 0.017526515787999544, + 0.3376457085268838, + 0.49671188012191225, + 0.5120617896786758, + 0.6341606767688479, + 0.06469057794527283, + -0.6139705431461334, + 0.46191340962052346, + 0.13251050336978265, + 0.44285714285714284 + ], + "std": [ + 0.15190468860408476, + 0.017214849651142974, + 0.3260500064914225, + 0.02628998512156523, + 1.405018400100115, + 1.400567769471577, + 0.05142060066446687, + 0.10991842339377922, + 0.2387139690314078, + 0.558847704593978, + 0.08096200201843662, + 0.4967239614489647 + ], + "min": [ + 0.0, + -0.16999998688697815, + -0.800000011920929, + 0.28999999165534973, + -2.9175009727478027, + -1.814424991607666, + 0.486257940530777, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.02099730260670185, + 0.0 + ], + "max": [ + 0.3499999940395355, + 0.09999996423721313, + 0.800000011920929, + 0.3700000047683716, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.19545592367649078, + -0.19418030977249146, + 0.9737604260444641, + 0.25591960549354553, + 1.0 + ], + "count": [ + 1750 + ] + }, + "action_is_hold": { + "mean": [ + 0.09142857142857143, + 0.09142857142857143, + 0.09142857142857143, + 0.09142857142857143, + 0.12114285714285715, + 0.12114285714285715, + 0.12114285714285715, + 0.12114285714285715, + 0.12114285714285715, + 0.12114285714285715, + 0.12114285714285715, + 0.9628571428571429 + ], + "std": [ + 0.2882176048667085, + 0.2882176048667085, + 0.2882176048667085, + 0.2882176048667085, + 0.3262932198286091, + 0.3262932198286091, + 0.3262932198286091, + 0.3262932198286091, + 0.3262932198286091, + 0.3262932198286091, + 0.3262932198286091, + 0.18911177992426598 + ], + "min": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "max": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "count": [ + 1750 + ] + }, + "observation.state": { + "mean": [ + -0.014516505972099757, + 0.004593265014718782, + -0.03933597738898659, + 0.07696419870010245, + 0.0021382606988112067, + 0.7069128633226667, + 0.7445237089225224, + 0.8778937674931118, + 0.8555253716877529, + 1.9778495668002538, + -1.485327082497733, + -1.4829758318492345, + -1.4858968787874494, + -1.528251685687474, + -1.2694062584468297, + 0.02414159774491668, + 0.5739964534470013, + -0.060118378394556006, + 0.027233001980398384, + -0.027551706291735173, + 0.5058420658571912, + 0.358313870107489, + 0.22461554610729217, + 0.3667185490642275, + -0.027551706291735173, + -0.027233001980398384 + ], + "std": [ + 0.04907754532348384, + 0.047882638921183, + 0.04443813057914761, + 0.04534186508705753, + 0.1093748740267095, + 0.12126318640035348, + 0.15035180862160039, + 0.13613305245541882, + 0.11706916479851011, + 0.23714836264853342, + 0.15385599132113442, + 0.15588691812623393, + 0.1630880143813653, + 0.16775240371021216, + 0.2571876545282853, + 0.1926042146240828, + 0.13447911514697944, + 0.28213660623750414, + 0.00869436024396937, + 0.00833695944894896, + 1.4676894814108963, + 1.367902782635965, + 1.6268638168706022, + 0.02582951025533031, + 0.00833695944894896, + 0.00869436024396937 + ], + "min": [ + -0.17781387269496918, + -0.08895106613636017, + -0.20421062409877777, + -0.09315098822116852, + -0.43330445885658264, + 0.4767291843891144, + 0.43910372257232666, + 0.5967307090759277, + 0.608282744884491, + 1.7043063640594482, + -1.8196566104888916, + -1.80870521068573, + -1.822434902191162, + -1.8478901386260986, + -1.5965421199798584, + -0.7512173652648926, + 0.2289629876613617, + -0.4531416594982147, + 0.01735321246087551, + -0.03500000014901161, + -3.1801035404205322, + -2.082017183303833, + -3.130143642425537, + 0.3168349266052246, + -0.03500000014901161, + -0.03500000014901161 + ], + "max": [ + 0.14967483282089233, + 0.17516858875751495, + 0.17855191230773926, + 0.2200639396905899, + 0.320761501789093, + 0.9133984446525574, + 1.0222618579864502, + 1.165391445159912, + 1.0774974822998047, + 2.4000916481018066, + -1.1115696430206299, + -1.2302733659744263, + -1.1951580047607422, + -1.204481840133667, + -0.9818494915962219, + 0.3238510191440582, + 0.7908502221107483, + 0.9877858757972717, + 0.03500000014901161, + -0.017934713512659073, + 2.2528157234191895, + 2.302032470703125, + 3.1274445056915283, + 0.40085360407829285, + -0.017934713512659073, + -0.01735321246087551 + ], + "count": [ + 1750 + ] + }, + "observation.joint_vel": { + "mean": [ + 0.0008921462079618192, + -0.008110698728618445, + 0.012294215886984603, + -0.0008880478182826274, + 0.0004444918294398771, + 0.011041854152063284, + 0.014491564797079524, + 0.01754769223269042, + 0.0009921127182273527, + -0.0048750673639879095, + -0.015025668261830495, + -0.037541091167933444, + -0.01281814701712366, + 0.0009634475624479819, + -0.002109067663737473, + -0.005013374113089282, + 0.009316894658475317, + 0.003910742984487505, + 0.001921993092663119, + 9.902418837887288e-05 + ], + "std": [ + 0.4785782595158618, + 0.45624213958236304, + 0.5527131019050046, + 0.5941960182757373, + 0.10042278320616593, + 1.213318960067272, + 1.171792122875599, + 0.9409920493430951, + 0.8252944661726205, + 0.1137629905040291, + 0.7171076362746681, + 0.9717711612171034, + 1.0572266597076623, + 1.1312576169900626, + 0.12733995002122195, + 0.10059852530437484, + 0.08332233190216726, + 0.14755200771319626, + 0.008808332441872567, + 0.008327787085362628 + ], + "min": [ + -3.016585350036621, + -3.8993265628814697, + -2.606541633605957, + -2.936803102493286, + -1.1465609073638916, + -4.222830772399902, + -4.492340564727783, + -3.9250330924987793, + -4.4572601318359375, + -1.2177542448043823, + -4.251596927642822, + -5.8656325340271, + -4.162914276123047, + -4.93916654586792, + -0.8828994035720825, + -0.8711538910865784, + -0.5282226204872131, + -0.9192085862159729, + -0.20007607340812683, + -0.179171621799469 + ], + "max": [ + 3.551690101623535, + 2.4566781520843506, + 6.022436618804932, + 3.242755174636841, + 0.7728365063667297, + 1.680661678314209, + 2.271230936050415, + 4.37477445602417, + 5.864171981811523, + 1.048368215560913, + 3.032073736190796, + 5.3688063621521, + 3.462895154953003, + 3.1899232864379883, + 0.9982339143753052, + 0.5316119194030762, + 0.3855869174003601, + 1.3656022548675537, + 0.19211308658123016, + 0.20023567974567413 + ], + "count": [ + 1750 + ] + }, + "observation.eef_pose": { + "mean": [ + 0.49617640826957565, + 0.5129168243772749, + 0.6325588153260094, + 0.06479589401192165, + -0.6149690864852496, + 0.4607748300598136, + 0.13252246309178217 + ], + "std": [ + 1.4043662386674458, + 1.3997194769060866, + 0.051752308533535275, + 0.10992056419545711, + 0.2388266515258857, + 0.5586757411576186, + 0.08062020290085394 + ], + "min": [ + -2.9175145626068115, + -1.8144395351409912, + 0.48715078830718994, + -0.12458950281143188, + -0.9682589173316956, + -0.48692530393600464, + 0.02118206024169922 + ], + "max": [ + 2.392711639404297, + 2.7966108322143555, + 0.6900733709335327, + 0.195603609085083, + -0.1943519413471222, + 0.9737989902496338, + 0.25654536485671997 + ], + "count": [ + 1750 + ] + }, + "observation.environment_state": { + "mean": [ + -0.6235383749008179, + -0.17278850078582764, + 0.3400000035762787, + 0.9977563619613647, + 0.0, + 0.0, + -0.06694954633712769, + -0.6021624803543091, + -0.014222842641174793, + 0.3400000035762787, + 0.9977563619613647, + 0.0, + 0.0, + -0.06694954633712769, + -0.7169091701507568, + -0.07947773486375809, + 0.3400000035762787, + 0.9977563619613647, + 0.0, + 0.0, + -0.06694954633712769, + -0.5087917447090149, + -0.10753361880779266, + 0.3400000035762787, + 0.9977563619613647, + 0.0, + 0.0, + -0.06694954633712769, + -0.6385735273361206, + -0.059766627848148346, + 0.3400000035762787, + 0.9977563619613647, + 0.0, + 0.0, + -0.06694954633712769, + 1.8936716318130493, + 2.863258123397827, + 0.3299999773672649, + 0.9993757009506226, + -2.465769057389148e-07, + 3.7443290905071214e-08, + -0.03532955724000931, + -0.5700985789299011, + 0.22362565994262695, + 0.4300000071525574, + 0.9977563619613647, + 0.0, + 0.0, + -0.06694954633712769, + -0.5707666277885437, + 0.21867047250270844, + 0.4050000011920929, + 0.9977563619613647, + 0.0, + 0.0, + -0.06694954633712769, + -0.5212148427963257, + 0.21199050545692444, + 0.45500001311302185, + 0.9977563619613647, + 0.0, + 0.0, + -0.06694954633712769, + -0.5968185067176819, + 0.02541857399046421, + 0.18000000715255737, + 0.9977563619613647, + 0.0, + 0.0, + -0.06694954633712769, + 2.093942642211914, + 2.9789223670959473, + 0.18000000715255737, + 0.9996835589408875, + 0.0, + 0.0, + -0.02515515871345997, + 1.3422220392232496, + 1.6674703443827374, + 0.3851267832347325, + 0.8125737956081118, + -0.0012288554954348503, + -0.003415820641209208, + 0.2669300103353869 + ], + "std": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.913458207302212e-08, + 0.0, + 1.7709150779968758e-07, + 1.6048405368856082e-07, + 1.2159506301467698e-07, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.240476843615013, + 1.4310157640652201, + 0.06870828049178758, + 0.301630106897917, + 0.0037092780382563363, + 0.005099590460735429, + 0.4212345335436861 + ], + "min": [ + -0.6235383749008179, + -0.17278850078582764, + 0.3400000035762787, + 0.9977563619613647, + 0.0, + 0.0, + -0.06694954633712769, + -0.6021624803543091, + -0.014222842641174793, + 0.3400000035762787, + 0.9977563619613647, + 0.0, + 0.0, + -0.06694954633712769, + -0.7169091701507568, + -0.07947773486375809, + 0.3400000035762787, + 0.9977563619613647, + 0.0, + 0.0, + -0.06694954633712769, + -0.5087917447090149, + -0.10753361880779266, + 0.3400000035762787, + 0.9977563619613647, + 0.0, + 0.0, + -0.06694954633712769, + -0.6385735273361206, + -0.059766627848148346, + 0.3400000035762787, + 0.9977563619613647, + 0.0, + 0.0, + -0.06694954633712769, + 1.8936716318130493, + 2.863258123397827, + 0.3299999237060547, + 0.9993757009506226, + -9.140853762801271e-07, + -6.817472808506864e-07, + -0.035329971462488174, + -0.5700985789299011, + 0.22362565994262695, + 0.4300000071525574, + 0.9977563619613647, + 0.0, + 0.0, + -0.06694954633712769, + -0.5707666277885437, + 0.21867047250270844, + 0.4050000011920929, + 0.9977563619613647, + 0.0, + 0.0, + -0.06694954633712769, + -0.5212148427963257, + 0.21199050545692444, + 0.45500001311302185, + 0.9977563619613647, + 0.0, + 0.0, + -0.06694954633712769, + -0.5968185067176819, + 0.02541857399046421, + 0.18000000715255737, + 0.9977563619613647, + 0.0, + 0.0, + -0.06694954633712769, + 2.093942642211914, + 2.9789223670959473, + 0.18000000715255737, + 0.9996835589408875, + 0.0, + 0.0, + -0.02515515871345997, + -1.1686958074569702, + -0.9990864992141724, + 0.3299975097179413, + 0.2576937675476074, + -0.027327435091137886, + -0.018508221954107285, + -0.06615255028009415 + ], + "max": [ + -0.6235383749008179, + -0.17278850078582764, + 0.3400000035762787, + 0.9977563619613647, + 0.0, + 0.0, + -0.06694954633712769, + -0.6021624803543091, + -0.014222842641174793, + 0.3400000035762787, + 0.9977563619613647, + 0.0, + 0.0, + -0.06694954633712769, + -0.7169091701507568, + -0.07947773486375809, + 0.3400000035762787, + 0.9977563619613647, + 0.0, + 0.0, + -0.06694954633712769, + -0.5087917447090149, + -0.10753361880779266, + 0.3400000035762787, + 0.9977563619613647, + 0.0, + 0.0, + -0.06694954633712769, + -0.6385735273361206, + -0.059766627848148346, + 0.3400000035762787, + 0.9977563619613647, + 0.0, + 0.0, + -0.06694954633712769, + 1.8936716318130493, + 2.863258123397827, + 0.33000004291534424, + 0.9993757009506226, + 2.1715761988616578e-07, + 4.316662511882896e-07, + -0.035329319536685944, + -0.5700985789299011, + 0.22362565994262695, + 0.4300000071525574, + 0.9977563619613647, + 0.0, + 0.0, + -0.06694954633712769, + -0.5707666277885437, + 0.21867047250270844, + 0.4050000011920929, + 0.9977563619613647, + 0.0, + 0.0, + -0.06694954633712769, + -0.5212148427963257, + 0.21199050545692444, + 0.45500001311302185, + 0.9977563619613647, + 0.0, + 0.0, + -0.06694954633712769, + -0.5968185067176819, + 0.02541857399046421, + 0.18000000715255737, + 0.9977563619613647, + 0.0, + 0.0, + -0.06694954633712769, + 2.093942642211914, + 2.9789223670959473, + 0.18000000715255737, + 0.9996835589408875, + 0.0, + 0.0, + -0.02515515871345997, + 2.3159258365631104, + 2.8539247512817383, + 0.4956037998199463, + 0.9999933242797852, + 0.009341771714389324, + 0.008358195424079895, + 0.9661453366279602 + ], + "count": [ + 1750 + ] + }, + "action.command": { + "mean": [ + 0.4009389279939451, + 0.5513907766093255, + 1.3432086962181449, + 0.7468782602107689, + 0.0, + 0.0, + 0.664510531784737, + 1.4258777633289987, + 0.5353645486430167, + 0.5018978839975107, + 0.6412830300464432, + 0.051151504112475384, + -0.6061994631439254, + 0.42887762170987415, + 0.12934317693274144, + 0.5384615384615384, + 0.20767986879189143, + 0.3599501508549168, + 1.4636174571065224, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3007636262033774, + 0.15025704605933513, + 0.6552359485227194, + 0.02563350514847801, + -0.5908648268448259, + 0.3442592251936761, + 0.1295568284582518, + 0.0, + 0.2273281113373186, + 0.36238316771375584, + 1.4636174571065224, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3007636262033774, + 0.15025704605933513, + 0.6552359485227194, + 0.02563350514847801, + -0.5908648268448259, + 0.3442592251936761, + 0.1295568284582518, + 0.0, + 0.20931261917537225, + 0.33700514513079594, + 1.4636174571065224, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3007636262033774, + 0.15025704605933513, + 0.6552359485227194, + 0.02563350514847801, + -0.5908648268448259, + 0.3442592251936761, + 0.1295568284582518, + 0.0, + 0.20565418578590808, + 0.31854643138382727, + 1.4636174571065224, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3007636262033774, + 0.15025704605933513, + 0.6552359485227194, + 0.02563350514847801, + -0.5908648268448259, + 0.3442592251936761, + 0.1295568284582518, + 0.0, + 0.23873851763154672, + 0.32729087758762565, + 1.4636174571065224, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3007636262033774, + 0.15025704605933513, + 0.6552359485227194, + 0.02563350514847801, + -0.5908648268448259, + 0.3442592251936761, + 0.1295568284582518, + 0.0, + 0.2412088241038462, + 0.3091407021718045, + 1.4636174571065224, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3007636262033774, + 0.15025704605933513, + 0.6552359485227194, + 0.02563350514847801, + -0.5908648268448259, + 0.3442592251936761, + 0.1295568284582518, + 0.0, + 0.24218567245674932, + 0.30558440785028945, + 1.4636174571065224, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3007636262033774, + 0.15025704605933513, + 0.6552359485227194, + 0.02563350514847801, + -0.5908648268448259, + 0.3442592251936761, + 0.1295568284582518, + 0.0, + 0.23207328080133413, + 0.2792201559912709, + 1.4636174571065224, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3007636262033774, + 0.15025704605933513, + 0.6552359485227194, + 0.02563350514847801, + -0.5908648268448259, + 0.3442592251936761, + 0.1295568284582518, + 0.0, + 0.26527392973959696, + 0.29306647044345424, + 1.4636174571065224, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3007636262033774, + 0.15025704605933513, + 0.6552359485227194, + 0.02563350514847801, + -0.5908648268448259, + 0.3442592251936761, + 0.1295568284582518, + 0.0, + 0.30047463338245406, + 0.3115928005972667, + 1.4636174571065224, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3007636262033774, + 0.15025704605933513, + 0.6552359485227194, + 0.02563350514847801, + -0.5908648268448259, + 0.3442592251936761, + 0.1295568284582518, + 0.0, + 0.2813643594167223, + 0.27702807053362477, + 1.4636174571065224, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3007636262033774, + 0.15025704605933513, + 0.6552359485227194, + 0.02563350514847801, + -0.5908648268448259, + 0.3442592251936761, + 0.1295568284582518, + 0.0, + 0.2835228293760052, + 0.27246844873268733, + 1.4636174571065224, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3007636262033774, + 0.15025704605933513, + 0.6552359485227194, + 0.02563350514847801, + -0.5908648268448259, + 0.3442592251936761, + 0.1295568284582518, + 0.0, + 0.2911476953009681, + 0.258343624170854, + 1.4636174571065224, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3007636262033774, + 0.15025704605933513, + 0.6552359485227194, + 0.02563350514847801, + -0.5908648268448259, + 0.3442592251936761, + 0.1295568284582518, + 0.0, + 0.3129136294999382, + 0.26005423024109714, + 1.4636174571065224, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3007636262033774, + 0.15025704605933513, + 0.6552359485227194, + 0.02563350514847801, + -0.5908648268448259, + 0.3442592251936761, + 0.1295568284582518, + 0.0, + 0.3200317011904517, + 0.24824887274698235, + 1.4636174571065224, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3007636262033774, + 0.15025704605933513, + 0.6552359485227194, + 0.02563350514847801, + -0.5908648268448259, + 0.3442592251936761, + 0.1295568284582518, + 0.0, + 0.30599941451679213, + 0.2267206662868356, + 1.4636174571065224, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3007636262033774, + 0.15025704605933513, + 0.6552359485227194, + 0.02563350514847801, + -0.5908648268448259, + 0.3442592251936761, + 0.1295568284582518, + 0.0, + 0.3216452484350324, + 0.2262977902360541, + 1.4636174571065224, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3007636262033774, + 0.15025704605933513, + 0.6552359485227194, + 0.02563350514847801, + -0.5908648268448259, + 0.3442592251936761, + 0.1295568284582518, + 0.0, + 0.3224153886467343, + 0.20681853738289996, + 1.4636174571065224, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3007636262033774, + 0.15025704605933513, + 0.6552359485227194, + 0.02563350514847801, + -0.5908648268448259, + 0.3442592251936761, + 0.1295568284582518, + 0.0, + 0.34140369313531344, + 0.21100789912076176, + 1.4636174571065224, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3007636262033774, + 0.15025704605933513, + 0.6552359485227194, + 0.02563350514847801, + -0.5908648268448259, + 0.3442592251936761, + 0.1295568284582518, + 0.0, + 0.3331145846943476, + 0.18362240646673544, + 1.4636174571065224, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3007636262033774, + 0.15025704605933513, + 0.6552359485227194, + 0.02563350514847801, + -0.5908648268448259, + 0.3442592251936761, + 0.1295568284582518, + 0.0, + 0.3578162676869077, + 0.19598292057484262, + 1.4636174571065224, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3007636262033774, + 0.15025704605933513, + 0.6552359485227194, + 0.02563350514847801, + -0.5908648268448259, + 0.3442592251936761, + 0.1295568284582518, + 0.0, + 0.371383574517701, + 0.19727725601096532, + 1.4636174571065224, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3007636262033774, + 0.15025704605933513, + 0.6552359485227194, + 0.02563350514847801, + -0.5908648268448259, + 0.3442592251936761, + 0.1295568284582518, + 0.0, + 0.3627063406810601, + 0.17371260895389892, + 1.4636174571065224, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3007636262033774, + 0.15025704605933513, + 0.6552359485227194, + 0.02563350514847801, + -0.5908648268448259, + 0.3442592251936761, + 0.1295568284582518, + 0.0, + 0.3903123958839033, + 0.1849719568525897, + 1.4636174571065224, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3007636262033774, + 0.15025704605933513, + 0.6552359485227194, + 0.02563350514847801, + -0.5908648268448259, + 0.3442592251936761, + 0.1295568284582518, + 0.0, + 0.4054462385227491, + 0.1723488025585478, + 1.4636174571065224, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3007636262033774, + 0.15025704605933513, + 0.6552359485227194, + 0.02563350514847801, + -0.5908648268448259, + 0.3442592251936761, + 0.1295568284582518, + 0.0, + 0.4009132663076393, + 0.16172838081375823, + 1.4636174571065224, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3007636262033774, + 0.15025704605933513, + 0.6552359485227194, + 0.02563350514847801, + -0.5908648268448259, + 0.3442592251936761, + 0.1295568284582518, + 0.0, + 0.383722530598421, + 0.1362054683673332, + 1.4636174571065224, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3007636262033774, + 0.15025704605933513, + 0.6552359485227194, + 0.02563350514847801, + -0.5908648268448259, + 0.3442592251936761, + 0.1295568284582518, + 0.0, + 0.4104786484311315, + 0.13787892745129732, + 1.4636174571065224, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3007636262033774, + 0.15025704605933513, + 0.6552359485227194, + 0.02563350514847801, + -0.5908648268448259, + 0.3442592251936761, + 0.1295568284582518, + 0.0, + 0.4405301050660999, + 0.14219338956238337, + 1.4636174571065224, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3007636262033774, + 0.15025704605933513, + 0.6552359485227194, + 0.02563350514847801, + -0.5908648268448259, + 0.3442592251936761, + 0.1295568284582518, + 0.0, + 0.41961311485976854, + 0.11378111079896344, + 1.4636174571065224, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3007636262033774, + 0.15025704605933513, + 0.6552359485227194, + 0.02563350514847801, + -0.5908648268448259, + 0.3442592251936761, + 0.1295568284582518, + 0.0, + 0.41309938500615845, + 0.10279102645907941, + 1.4636174571065224, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3007636262033774, + 0.15025704605933513, + 0.6552359485227194, + 0.02563350514847801, + -0.5908648268448259, + 0.3442592251936761, + 0.1295568284582518, + 0.0, + 0.4279629917823121, + 0.08924081163426323, + 1.4636174571065224, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3007636262033774, + 0.15025704605933513, + 0.6552359485227194, + 0.02563350514847801, + -0.5908648268448259, + 0.3442592251936761, + 0.1295568284582518, + 0.0, + 0.4642213523138517, + 0.10631697494614573, + 1.4636174571065224, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3007636262033774, + 0.15025704605933513, + 0.6552359485227194, + 0.02563350514847801, + -0.5908648268448259, + 0.3442592251936761, + 0.1295568284582518, + 0.0, + 0.4518719684129978, + 0.08437646755862935, + 1.4636174571065224, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3007636262033774, + 0.15025704605933513, + 0.6552359485227194, + 0.02563350514847801, + -0.5908648268448259, + 0.3442592251936761, + 0.1295568284582518, + 0.0, + 0.44967029822920157, + 0.07272337635815393, + 1.4636174571065224, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3007636262033774, + 0.15025704605933513, + 0.6552359485227194, + 0.02563350514847801, + -0.5908648268448259, + 0.3442592251936761, + 0.1295568284582518, + 0.0, + 0.48420634404385937, + 0.09004004547162037, + 1.4636174571065224, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3007636262033774, + 0.15025704605933513, + 0.6552359485227194, + 0.02563350514847801, + -0.5908648268448259, + 0.3442592251936761, + 0.1295568284582518, + 0.0, + 0.4702549514910167, + 0.07049077452943664, + 1.4636174571065224, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3007636262033774, + 0.15025704605933513, + 0.6552359485227194, + 0.02563350514847801, + -0.5908648268448259, + 0.3442592251936761, + 0.1295568284582518, + 0.0, + 0.48434682810156915, + 0.07994354077338174, + 1.4636174571065224, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3007636262033774, + 0.15025704605933513, + 0.6552359485227194, + 0.02563350514847801, + -0.5908648268448259, + 0.3442592251936761, + 0.1295568284582518, + 0.0, + 0.49065025984991545, + 0.07615446856081735, + 1.4636174571065224, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3007636262033774, + 0.15025704605933513, + 0.6552359485227194, + 0.02563350514847801, + -0.5908648268448259, + 0.3442592251936761, + 0.1295568284582518, + 0.0, + 0.4844492964165979, + 0.06979297793559948, + 1.4636174571065224, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3007636262033774, + 0.15025704605933513, + 0.6552359485227194, + 0.02563350514847801, + -0.5908648268448259, + 0.3442592251936761, + 0.1295568284582518, + 0.0, + 0.48051843698054675, + 0.06794393363108694, + 1.4636174571065224, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3007636262033774, + 0.15025704605933513, + 0.6552359485227194, + 0.02563350514847801, + -0.5908648268448259, + 0.3442592251936761, + 0.1295568284582518, + 0.0, + 0.4845268449025174, + 0.05970444260281998, + 1.4636174571065224, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3007636262033774, + 0.15025704605933513, + 0.6552359485227194, + 0.02563350514847801, + -0.5908648268448259, + 0.3442592251936761, + 0.1295568284582518, + 0.0, + 0.501819830060504, + 0.07412557736600293, + 1.4636174571065224, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3007636262033774, + 0.15025704605933513, + 0.6552359485227194, + 0.02563350514847801, + -0.5908648268448259, + 0.3442592251936761, + 0.1295568284582518, + 0.0, + 0.4845157784398131, + 0.0494781473441104, + 1.4636174571065224, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3007636262033774, + 0.15025704605933513, + 0.6552359485227194, + 0.02563350514847801, + -0.5908648268448259, + 0.3442592251936761, + 0.1295568284582518, + 0.0, + 0.5022275109670152, + 0.0704541609377043, + 1.4636174571065224, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3007636262033774, + 0.15025704605933513, + 0.6552359485227194, + 0.02563350514847801, + -0.5908648268448259, + 0.3442592251936761, + 0.1295568284582518, + 0.0, + 0.48479677189344145, + 0.03960352017540313, + 1.4636174571065224, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3007636262033774, + 0.15025704605933513, + 0.6552359485227194, + 0.02563350514847801, + -0.5908648268448259, + 0.3442592251936761, + 0.1295568284582518, + 0.0, + 0.510871151251773, + 0.07014134006270804, + 1.4636174571065224, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3007636262033774, + 0.15025704605933513, + 0.6552359485227194, + 0.02563350514847801, + -0.5908648268448259, + 0.3442592251936761, + 0.1295568284582518, + 0.0, + 0.5122196913763071, + 0.0639166633204935, + 1.4636174571065224, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3007636262033774, + 0.15025704605933513, + 0.6552359485227194, + 0.02563350514847801, + -0.5908648268448259, + 0.3442592251936761, + 0.1295568284582518, + 0.0, + 0.522413578193058, + 0.06996634992844888, + 1.4636174571065224, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3007636262033774, + 0.15025704605933513, + 0.6552359485227194, + 0.02563350514847801, + -0.5908648268448259, + 0.3442592251936761, + 0.1295568284582518, + 0.0, + 0.5249221655115422, + 0.06965185922558836, + 1.4636174571065224, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3007636262033774, + 0.15025704605933513, + 0.6552359485227194, + 0.02563350514847801, + -0.5908648268448259, + 0.3442592251936761, + 0.1295568284582518, + 0.0, + 0.5007640621402772, + 0.03813339582172896, + 1.4636174571065224, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3007636262033774, + 0.15025704605933513, + 0.6552359485227194, + 0.02563350514847801, + -0.5908648268448259, + 0.3442592251936761, + 0.1295568284582518, + 0.0, + 0.525029784540751, + 0.05931536784886566, + 1.4636174571065224, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3007636262033774, + 0.15025704605933513, + 0.6552359485227194, + 0.02563350514847801, + -0.5908648268448259, + 0.3442592251936761, + 0.1295568284582518, + 0.0, + 0.4987314693099784, + 0.03453374784985347, + 1.4636174571065224, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.3007636262033774, + 0.15025704605933513, + 0.6552359485227194, + 0.02563350514847801, + -0.5908648268448259, + 0.3442592251936761, + 0.1295568284582518, + 0.0, + 0.8137898952953486, + 0.29011036046472805, + 1.47032277429453, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.7628956540296766, + 0.5147528488220156, + 0.6507694676331396, + 0.0023349777919096115, + -0.6778283302660517, + 0.19075951200742353, + 0.15443669231686444, + 0.0, + 0.7906747664243108, + 0.2617096399350645, + 1.47032277429453, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.7628956540296766, + 0.5147528488220156, + 0.6507694676331396, + 0.0023349777919096115, + -0.6778283302660517, + 0.19075951200742353, + 0.15443669231686444, + 0.0, + 0.7912292890406553, + 0.2679194691415611, + 1.47032277429453, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.7628956540296766, + 0.5147528488220156, + 0.6507694676331396, + 0.0023349777919096115, + -0.6778283302660517, + 0.19075951200742353, + 0.15443669231686444, + 0.0, + 0.7742128921789604, + 0.24771514265295352, + 1.47032277429453, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.7628956540296766, + 0.5147528488220156, + 0.6507694676331396, + 0.0023349777919096115, + -0.6778283302660517, + 0.19075951200742353, + 0.15443669231686444, + 0.0, + 0.7691305759187522, + 0.2463607173958583, + 1.47032277429453, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.7628956540296766, + 0.5147528488220156, + 0.6507694676331396, + 0.0023349777919096115, + -0.6778283302660517, + 0.19075951200742353, + 0.15443669231686444, + 0.0, + 0.752461289340108, + 0.22704019634419406, + 1.47032277429453, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.7628956540296766, + 0.5147528488220156, + 0.6507694676331396, + 0.0023349777919096115, + -0.6778283302660517, + 0.19075951200742353, + 0.15443669231686444, + 0.0, + 0.7510783612634597, + 0.22987428248302708, + 1.47032277429453, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.7628956540296766, + 0.5147528488220156, + 0.6507694676331396, + 0.0023349777919096115, + -0.6778283302660517, + 0.19075951200742353, + 0.15443669231686444, + 0.0, + 0.748065384673773, + 0.22828390358880973, + 1.47032277429453, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.7628956540296766, + 0.5147528488220156, + 0.6507694676331396, + 0.0023349777919096115, + -0.6778283302660517, + 0.19075951200742353, + 0.15443669231686444, + 0.0, + 0.7250009330309086, + 0.20328006949509536, + 1.47032277429453, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.7628956540296766, + 0.5147528488220156, + 0.6507694676331396, + 0.0023349777919096115, + -0.6778283302660517, + 0.19075951200742353, + 0.15443669231686444, + 0.0, + 0.7310371470781799, + 0.21357412171787796, + 1.47032277429453, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.7628956540296766, + 0.5147528488220156, + 0.6507694676331396, + 0.0023349777919096115, + -0.6778283302660517, + 0.19075951200742353, + 0.15443669231686444, + 0.0, + 0.7394791051714241, + 0.22788722027545194, + 1.47032277429453, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.7628956540296766, + 0.5147528488220156, + 0.6507694676331396, + 0.0023349777919096115, + -0.6778283302660517, + 0.19075951200742353, + 0.15443669231686444, + 0.0, + 0.7145880321274555, + 0.1995957695789417, + 1.47032277429453, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.7628956540296766, + 0.5147528488220156, + 0.6507694676331396, + 0.0023349777919096115, + -0.6778283302660517, + 0.19075951200742353, + 0.15443669231686444, + 0.0, + 0.7019692783606352, + 0.21337842112056382, + 1.47032277429453, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.7628956540296766, + 0.5147528488220156, + 0.6507694676331396, + 0.0023349777919096115, + -0.6778283302660517, + 0.19075951200742353, + 0.15443669231686444, + 0.0, + 0.6973967492408957, + 0.23118669087667346, + 1.47032277429453, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.7628956540296766, + 0.5147528488220156, + 0.6507694676331396, + 0.0023349777919096115, + -0.6778283302660517, + 0.19075951200742353, + 0.15443669231686444, + 0.0, + 0.6651757492461713, + 0.2381625783992113, + 1.47032277429453, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.7628956540296766, + 0.5147528488220156, + 0.6507694676331396, + 0.0023349777919096115, + -0.6778283302660517, + 0.19075951200742353, + 0.15443669231686444, + 0.0, + 0.6532236030130456, + 0.2567258527089362, + 1.47032277429453, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.7628956540296766, + 0.5147528488220156, + 0.6507694676331396, + 0.0023349777919096115, + -0.6778283302660517, + 0.19075951200742353, + 0.15443669231686444, + 0.0, + 0.6283189070773424, + 0.26285115881943805, + 1.47032277429453, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.7628956540296766, + 0.5147528488220156, + 0.6507694676331396, + 0.0023349777919096115, + -0.6778283302660517, + 0.19075951200742353, + 0.15443669231686444, + 0.0, + 0.5932913776097437, + 0.2787302023571405, + 1.47032277429453, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.7628956540296766, + 0.5147528488220156, + 0.6507694676331396, + 0.0023349777919096115, + -0.6778283302660517, + 0.19075951200742353, + 0.15443669231686444, + 0.0, + 0.590260575256587, + 0.2874075956175018, + 1.47032277429453, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.7628956540296766, + 0.5147528488220156, + 0.6507694676331396, + 0.0023349777919096115, + -0.6778283302660517, + 0.19075951200742353, + 0.15443669231686444, + 0.0, + 0.5819069311708586, + 0.3116236235556742, + 1.47032277429453, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.7628956540296766, + 0.5147528488220156, + 0.6507694676331396, + 0.0023349777919096115, + -0.6778283302660517, + 0.19075951200742353, + 0.15443669231686444, + 0.0, + 0.551836004535274, + 0.3116885086357843, + 1.47032277429453, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.7628956540296766, + 0.5147528488220156, + 0.6507694676331396, + 0.0023349777919096115, + -0.6778283302660517, + 0.19075951200742353, + 0.15443669231686444, + 0.0, + 0.5618147436046201, + 0.3425865502537045, + 1.47032277429453, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.7628956540296766, + 0.5147528488220156, + 0.6507694676331396, + 0.0023349777919096115, + -0.6778283302660517, + 0.19075951200742353, + 0.15443669231686444, + 0.0, + 0.5132898882841964, + 0.3362137348582056, + 1.47032277429453, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.7628956540296766, + 0.5147528488220156, + 0.6507694676331396, + 0.0023349777919096115, + -0.6778283302660517, + 0.19075951200742353, + 0.15443669231686444, + 0.0, + 0.5048149016112962, + 0.36578473560979674, + 1.47032277429453, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.7628956540296766, + 0.5147528488220156, + 0.6507694676331396, + 0.0023349777919096115, + -0.6778283302660517, + 0.19075951200742353, + 0.15443669231686444, + 0.0, + 0.4744377100692134, + 0.38599808788449197, + 1.47032277429453, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.7628956540296766, + 0.5147528488220156, + 0.6507694676331396, + 0.0023349777919096115, + -0.6778283302660517, + 0.19075951200742353, + 0.15443669231686444, + 0.0, + 2.2734928131103516, + 2.0563883781433105, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.9555656260205311, + 0.4697066069466327, + 0.6739269242896735, + 0.11143034422288675, + -0.3969022387701911, + 0.8954709885014567, + 0.049270477802456206, + 0.0, + 2.273834466934204, + 2.0186595916748047, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.9555656260205311, + 0.4697066069466327, + 0.6739269242896735, + 0.11143034422288675, + -0.3969022387701911, + 0.8954709885014567, + 0.049270477802456206, + 0.0 + ], + "std": [ + 2.1233082605267226, + 1.8691168992283005, + 0.34655987071213407, + 0.017157270407512505, + 0.0, + 0.0, + 0.017441247498164753, + 1.096764974953951, + 1.4132042556278097, + 1.4116574147124883, + 0.04290149490865731, + 0.10985301191697143, + 0.2531170761775207, + 0.5882074084255366, + 0.08435585064744765, + 0.4985185152621432, + 2.1057063251753054, + 1.8535854824563032, + 0.039053318693188406, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.34097096754107, + 1.2249202922525595, + 0.0199564708483404, + 0.10974640384466712, + 0.2851152802866911, + 0.6426460587012744, + 0.09269876033318537, + 0.0, + 2.076116612679142, + 1.8240623481588185, + 0.039053318693188406, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.34097096754107, + 1.2249202922525595, + 0.0199564708483404, + 0.10974640384466712, + 0.2851152802866911, + 0.6426460587012744, + 0.09269876033318537, + 0.0, + 2.051451765237655, + 1.7947199370302043, + 0.039053318693188406, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.34097096754107, + 1.2249202922525595, + 0.0199564708483404, + 0.10974640384466712, + 0.2851152802866911, + 0.6426460587012744, + 0.09269876033318537, + 0.0, + 2.004887913744439, + 1.7575274940048544, + 0.039053318693188406, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.34097096754107, + 1.2249202922525595, + 0.0199564708483404, + 0.10974640384466712, + 0.2851152802866911, + 0.6426460587012744, + 0.09269876033318537, + 0.0, + 1.9555230468464042, + 1.7204177015445241, + 0.039053318693188406, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.34097096754107, + 1.2249202922525595, + 0.0199564708483404, + 0.10974640384466712, + 0.2851152802866911, + 0.6426460587012744, + 0.09269876033318537, + 0.0, + 1.914082068719832, + 1.6720794214644112, + 0.039053318693188406, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.34097096754107, + 1.2249202922525595, + 0.0199564708483404, + 0.10974640384466712, + 0.2851152802866911, + 0.6426460587012744, + 0.09269876033318537, + 0.0, + 1.901676389948958, + 1.6619536207210241, + 0.039053318693188406, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.34097096754107, + 1.2249202922525595, + 0.0199564708483404, + 0.10974640384466712, + 0.2851152802866911, + 0.6426460587012744, + 0.09269876033318537, + 0.0, + 1.850801935076956, + 1.6169479875718724, + 0.039053318693188406, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.34097096754107, + 1.2249202922525595, + 0.0199564708483404, + 0.10974640384466712, + 0.2851152802866911, + 0.6426460587012744, + 0.09269876033318537, + 0.0, + 1.817607574685243, + 1.5920773456359516, + 0.039053318693188406, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.34097096754107, + 1.2249202922525595, + 0.0199564708483404, + 0.10974640384466712, + 0.2851152802866911, + 0.6426460587012744, + 0.09269876033318537, + 0.0, + 1.7935445944374082, + 1.5749981390407224, + 0.039053318693188406, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.34097096754107, + 1.2249202922525595, + 0.0199564708483404, + 0.10974640384466712, + 0.2851152802866911, + 0.6426460587012744, + 0.09269876033318537, + 0.0, + 1.744176731921215, + 1.5260726136366016, + 0.039053318693188406, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.34097096754107, + 1.2249202922525595, + 0.0199564708483404, + 0.10974640384466712, + 0.2851152802866911, + 0.6426460587012744, + 0.09269876033318537, + 0.0, + 1.7243822148711367, + 1.5115696959163605, + 0.039053318693188406, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.34097096754107, + 1.2249202922525595, + 0.0199564708483404, + 0.10974640384466712, + 0.2851152802866911, + 0.6426460587012744, + 0.09269876033318537, + 0.0, + 1.6834034030656535, + 1.4650074935916657, + 0.039053318693188406, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.34097096754107, + 1.2249202922525595, + 0.0199564708483404, + 0.10974640384466712, + 0.2851152802866911, + 0.6426460587012744, + 0.09269876033318537, + 0.0, + 1.6423791391954796, + 1.4317218320779208, + 0.039053318693188406, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.34097096754107, + 1.2249202922525595, + 0.0199564708483404, + 0.10974640384466712, + 0.2851152802866911, + 0.6426460587012744, + 0.09269876033318537, + 0.0, + 1.589904265933321, + 1.3915388176174257, + 0.039053318693188406, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.34097096754107, + 1.2249202922525595, + 0.0199564708483404, + 0.10974640384466712, + 0.2851152802866911, + 0.6426460587012744, + 0.09269876033318537, + 0.0, + 1.5712063323648076, + 1.3650440337244787, + 0.039053318693188406, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.34097096754107, + 1.2249202922525595, + 0.0199564708483404, + 0.10974640384466712, + 0.2851152802866911, + 0.6426460587012744, + 0.09269876033318537, + 0.0, + 1.5530542519693695, + 1.3381499521003666, + 0.039053318693188406, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.34097096754107, + 1.2249202922525595, + 0.0199564708483404, + 0.10974640384466712, + 0.2851152802866911, + 0.6426460587012744, + 0.09269876033318537, + 0.0, + 1.4957339526046551, + 1.290910071974512, + 0.039053318693188406, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.34097096754107, + 1.2249202922525595, + 0.0199564708483404, + 0.10974640384466712, + 0.2851152802866911, + 0.6426460587012744, + 0.09269876033318537, + 0.0, + 1.462725465923018, + 1.2683238575757507, + 0.039053318693188406, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.34097096754107, + 1.2249202922525595, + 0.0199564708483404, + 0.10974640384466712, + 0.2851152802866911, + 0.6426460587012744, + 0.09269876033318537, + 0.0, + 1.4232878515248488, + 1.2193645490269507, + 0.039053318693188406, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.34097096754107, + 1.2249202922525595, + 0.0199564708483404, + 0.10974640384466712, + 0.2851152802866911, + 0.6426460587012744, + 0.09269876033318537, + 0.0, + 1.4064503848943504, + 1.206894554430419, + 0.039053318693188406, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.34097096754107, + 1.2249202922525595, + 0.0199564708483404, + 0.10974640384466712, + 0.2851152802866911, + 0.6426460587012744, + 0.09269876033318537, + 0.0, + 1.378212456999421, + 1.1868630975733891, + 0.039053318693188406, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.34097096754107, + 1.2249202922525595, + 0.0199564708483404, + 0.10974640384466712, + 0.2851152802866911, + 0.6426460587012744, + 0.09269876033318537, + 0.0, + 1.341366988288227, + 1.1472216489898537, + 0.039053318693188406, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.34097096754107, + 1.2249202922525595, + 0.0199564708483404, + 0.10974640384466712, + 0.2851152802866911, + 0.6426460587012744, + 0.09269876033318537, + 0.0, + 1.316424778610121, + 1.1276323043992165, + 0.039053318693188406, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.34097096754107, + 1.2249202922525595, + 0.0199564708483404, + 0.10974640384466712, + 0.2851152802866911, + 0.6426460587012744, + 0.09269876033318537, + 0.0, + 1.265615194051692, + 1.0749209216677116, + 0.039053318693188406, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.34097096754107, + 1.2249202922525595, + 0.0199564708483404, + 0.10974640384466712, + 0.2851152802866911, + 0.6426460587012744, + 0.09269876033318537, + 0.0, + 1.2496773385376296, + 1.0582280347466122, + 0.039053318693188406, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.34097096754107, + 1.2249202922525595, + 0.0199564708483404, + 0.10974640384466712, + 0.2851152802866911, + 0.6426460587012744, + 0.09269876033318537, + 0.0, + 1.2273051246186149, + 1.0289674843047985, + 0.039053318693188406, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.34097096754107, + 1.2249202922525595, + 0.0199564708483404, + 0.10974640384466712, + 0.2851152802866911, + 0.6426460587012744, + 0.09269876033318537, + 0.0, + 1.1856176880610647, + 0.990219508112755, + 0.039053318693188406, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.34097096754107, + 1.2249202922525595, + 0.0199564708483404, + 0.10974640384466712, + 0.2851152802866911, + 0.6426460587012744, + 0.09269876033318537, + 0.0, + 1.1458542457833498, + 0.9527419831281408, + 0.039053318693188406, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.34097096754107, + 1.2249202922525595, + 0.0199564708483404, + 0.10974640384466712, + 0.2851152802866911, + 0.6426460587012744, + 0.09269876033318537, + 0.0, + 1.1247469360180102, + 0.9236937020421245, + 0.039053318693188406, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.34097096754107, + 1.2249202922525595, + 0.0199564708483404, + 0.10974640384466712, + 0.2851152802866911, + 0.6426460587012744, + 0.09269876033318537, + 0.0, + 1.111242693028762, + 0.9095771791093018, + 0.039053318693188406, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.34097096754107, + 1.2249202922525595, + 0.0199564708483404, + 0.10974640384466712, + 0.2851152802866911, + 0.6426460587012744, + 0.09269876033318537, + 0.0, + 1.0675958143928728, + 0.85903220031708, + 0.039053318693188406, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.34097096754107, + 1.2249202922525595, + 0.0199564708483404, + 0.10974640384466712, + 0.2851152802866911, + 0.6426460587012744, + 0.09269876033318537, + 0.0, + 1.0518037561962001, + 0.8421713358157613, + 0.039053318693188406, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.34097096754107, + 1.2249202922525595, + 0.0199564708483404, + 0.10974640384466712, + 0.2851152802866911, + 0.6426460587012744, + 0.09269876033318537, + 0.0, + 1.0239951455252951, + 0.813513988407052, + 0.039053318693188406, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.34097096754107, + 1.2249202922525595, + 0.0199564708483404, + 0.10974640384466712, + 0.2851152802866911, + 0.6426460587012744, + 0.09269876033318537, + 0.0, + 0.9943121023252517, + 0.7901257790063417, + 0.039053318693188406, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.34097096754107, + 1.2249202922525595, + 0.0199564708483404, + 0.10974640384466712, + 0.2851152802866911, + 0.6426460587012744, + 0.09269876033318537, + 0.0, + 0.9880926367092804, + 0.7781543344952042, + 0.039053318693188406, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.34097096754107, + 1.2249202922525595, + 0.0199564708483404, + 0.10974640384466712, + 0.2851152802866911, + 0.6426460587012744, + 0.09269876033318537, + 0.0, + 0.964937479734733, + 0.7392454169137523, + 0.039053318693188406, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.34097096754107, + 1.2249202922525595, + 0.0199564708483404, + 0.10974640384466712, + 0.2851152802866911, + 0.6426460587012744, + 0.09269876033318537, + 0.0, + 0.9386355517264404, + 0.7186001454811112, + 0.039053318693188406, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.34097096754107, + 1.2249202922525595, + 0.0199564708483404, + 0.10974640384466712, + 0.2851152802866911, + 0.6426460587012744, + 0.09269876033318537, + 0.0, + 0.8967259383048772, + 0.679295348122595, + 0.039053318693188406, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.34097096754107, + 1.2249202922525595, + 0.0199564708483404, + 0.10974640384466712, + 0.2851152802866911, + 0.6426460587012744, + 0.09269876033318537, + 0.0, + 0.8935748944458027, + 0.666454392064857, + 0.039053318693188406, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.34097096754107, + 1.2249202922525595, + 0.0199564708483404, + 0.10974640384466712, + 0.2851152802866911, + 0.6426460587012744, + 0.09269876033318537, + 0.0, + 0.893941396360136, + 0.6543399968368577, + 0.039053318693188406, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.34097096754107, + 1.2249202922525595, + 0.0199564708483404, + 0.10974640384466712, + 0.2851152802866911, + 0.6426460587012744, + 0.09269876033318537, + 0.0, + 0.8538527295919484, + 0.6236852543993848, + 0.039053318693188406, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.34097096754107, + 1.2249202922525595, + 0.0199564708483404, + 0.10974640384466712, + 0.2851152802866911, + 0.6426460587012744, + 0.09269876033318537, + 0.0, + 0.8336490924349562, + 0.6108903236488996, + 0.039053318693188406, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.34097096754107, + 1.2249202922525595, + 0.0199564708483404, + 0.10974640384466712, + 0.2851152802866911, + 0.6426460587012744, + 0.09269876033318537, + 0.0, + 0.8199076096274768, + 0.5921582487917953, + 0.039053318693188406, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.34097096754107, + 1.2249202922525595, + 0.0199564708483404, + 0.10974640384466712, + 0.2851152802866911, + 0.6426460587012744, + 0.09269876033318537, + 0.0, + 0.8191131471980412, + 0.5969451693250898, + 0.039053318693188406, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.34097096754107, + 1.2249202922525595, + 0.0199564708483404, + 0.10974640384466712, + 0.2851152802866911, + 0.6426460587012744, + 0.09269876033318537, + 0.0, + 0.7925679738764496, + 0.5738723594268086, + 0.039053318693188406, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.34097096754107, + 1.2249202922525595, + 0.0199564708483404, + 0.10974640384466712, + 0.2851152802866911, + 0.6426460587012744, + 0.09269876033318537, + 0.0, + 0.7935881718850595, + 0.5872049892631651, + 0.039053318693188406, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.34097096754107, + 1.2249202922525595, + 0.0199564708483404, + 0.10974640384466712, + 0.2851152802866911, + 0.6426460587012744, + 0.09269876033318537, + 0.0, + 0.7747276939947334, + 0.5768179024037544, + 0.039053318693188406, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.34097096754107, + 1.2249202922525595, + 0.0199564708483404, + 0.10974640384466712, + 0.2851152802866911, + 0.6426460587012744, + 0.09269876033318537, + 0.0, + 0.767150914577468, + 0.5867071804157767, + 0.039053318693188406, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.34097096754107, + 1.2249202922525595, + 0.0199564708483404, + 0.10974640384466712, + 0.2851152802866911, + 0.6426460587012744, + 0.09269876033318537, + 0.0, + 0.7596533324291098, + 0.5833207712318003, + 0.039053318693188406, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.34097096754107, + 1.2249202922525595, + 0.0199564708483404, + 0.10974640384466712, + 0.2851152802866911, + 0.6426460587012744, + 0.09269876033318537, + 0.0, + 0.7611302111599434, + 0.587867192506518, + 0.039053318693188406, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.34097096754107, + 1.2249202922525595, + 0.0199564708483404, + 0.10974640384466712, + 0.2851152802866911, + 0.6426460587012744, + 0.09269876033318537, + 0.0, + 0.7508318924145454, + 0.5997183501603455, + 0.039053318693188406, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.34097096754107, + 1.2249202922525595, + 0.0199564708483404, + 0.10974640384466712, + 0.2851152802866911, + 0.6426460587012744, + 0.09269876033318537, + 0.0, + 0.7544516684314738, + 0.5907235911976343, + 0.039053318693188406, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.34097096754107, + 1.2249202922525595, + 0.0199564708483404, + 0.10974640384466712, + 0.2851152802866911, + 0.6426460587012744, + 0.09269876033318537, + 0.0, + 0.5364758493024792, + 0.45259172544662357, + 0.041007874039393544, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.011480811247357, + 1.0851340698772913, + 0.019817348810312642, + 0.11106533304704926, + 0.24928541122921635, + 0.631030889054398, + 0.08731758830171431, + 0.0, + 0.5619315460245639, + 0.48570809983973456, + 0.041007874039393544, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.011480811247357, + 1.0851340698772913, + 0.019817348810312642, + 0.11106533304704926, + 0.24928541122921635, + 0.631030889054398, + 0.08731758830171431, + 0.0, + 0.607121846201638, + 0.5495181707902578, + 0.041007874039393544, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.011480811247357, + 1.0851340698772913, + 0.019817348810312642, + 0.11106533304704926, + 0.24928541122921635, + 0.631030889054398, + 0.08731758830171431, + 0.0, + 0.6316860769254226, + 0.5821132406416061, + 0.041007874039393544, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.011480811247357, + 1.0851340698772913, + 0.019817348810312642, + 0.11106533304704926, + 0.24928541122921635, + 0.631030889054398, + 0.08731758830171431, + 0.0, + 0.6777948749236754, + 0.6465384936677947, + 0.041007874039393544, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.011480811247357, + 1.0851340698772913, + 0.019817348810312642, + 0.11106533304704926, + 0.24928541122921635, + 0.631030889054398, + 0.08731758830171431, + 0.0, + 0.7057654001039756, + 0.6839802262398035, + 0.041007874039393544, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.011480811247357, + 1.0851340698772913, + 0.019817348810312642, + 0.11106533304704926, + 0.24928541122921635, + 0.631030889054398, + 0.08731758830171431, + 0.0, + 0.7448439526317017, + 0.7389355278098791, + 0.041007874039393544, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.011480811247357, + 1.0851340698772913, + 0.019817348810312642, + 0.11106533304704926, + 0.24928541122921635, + 0.631030889054398, + 0.08731758830171431, + 0.0, + 0.7656552214699667, + 0.7679271505258363, + 0.041007874039393544, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.011480811247357, + 1.0851340698772913, + 0.019817348810312642, + 0.11106533304704926, + 0.24928541122921635, + 0.631030889054398, + 0.08731758830171431, + 0.0, + 0.8186809532620475, + 0.8399385100477528, + 0.041007874039393544, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.011480811247357, + 1.0851340698772913, + 0.019817348810312642, + 0.11106533304704926, + 0.24928541122921635, + 0.631030889054398, + 0.08731758830171431, + 0.0, + 0.8358727909940351, + 0.8649170826830428, + 0.041007874039393544, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.011480811247357, + 1.0851340698772913, + 0.019817348810312642, + 0.11106533304704926, + 0.24928541122921635, + 0.631030889054398, + 0.08731758830171431, + 0.0, + 0.8592233206187774, + 0.8988731851001539, + 0.041007874039393544, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.011480811247357, + 1.0851340698772913, + 0.019817348810312642, + 0.11106533304704926, + 0.24928541122921635, + 0.631030889054398, + 0.08731758830171431, + 0.0, + 0.9056169878086324, + 0.9613092187100593, + 0.041007874039393544, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.011480811247357, + 1.0851340698772913, + 0.019817348810312642, + 0.11106533304704926, + 0.24928541122921635, + 0.631030889054398, + 0.08731758830171431, + 0.0, + 0.9423180634032591, + 0.9898611617443066, + 0.041007874039393544, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.011480811247357, + 1.0851340698772913, + 0.019817348810312642, + 0.11106533304704926, + 0.24928541122921635, + 0.631030889054398, + 0.08731758830171431, + 0.0, + 0.9759679548512888, + 1.020445237761256, + 0.041007874039393544, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.011480811247357, + 1.0851340698772913, + 0.019817348810312642, + 0.11106533304704926, + 0.24928541122921635, + 0.631030889054398, + 0.08731758830171431, + 0.0, + 1.0248674380662322, + 1.048785424214466, + 0.041007874039393544, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.011480811247357, + 1.0851340698772913, + 0.019817348810312642, + 0.11106533304704926, + 0.24928541122921635, + 0.631030889054398, + 0.08731758830171431, + 0.0, + 1.0683784355362602, + 1.084529350935437, + 0.041007874039393544, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.011480811247357, + 1.0851340698772913, + 0.019817348810312642, + 0.11106533304704926, + 0.24928541122921635, + 0.631030889054398, + 0.08731758830171431, + 0.0, + 1.1073392441029728, + 1.1075927094285027, + 0.041007874039393544, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.011480811247357, + 1.0851340698772913, + 0.019817348810312642, + 0.11106533304704926, + 0.24928541122921635, + 0.631030889054398, + 0.08731758830171431, + 0.0, + 1.1736728839471477, + 1.1515031090181695, + 0.041007874039393544, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.011480811247357, + 1.0851340698772913, + 0.019817348810312642, + 0.11106533304704926, + 0.24928541122921635, + 0.631030889054398, + 0.08731758830171431, + 0.0, + 1.1910116588404858, + 1.1668373523038322, + 0.041007874039393544, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.011480811247357, + 1.0851340698772913, + 0.019817348810312642, + 0.11106533304704926, + 0.24928541122921635, + 0.631030889054398, + 0.08731758830171431, + 0.0, + 1.2392763870999113, + 1.2095744451877808, + 0.041007874039393544, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.011480811247357, + 1.0851340698772913, + 0.019817348810312642, + 0.11106533304704926, + 0.24928541122921635, + 0.631030889054398, + 0.08731758830171431, + 0.0, + 1.2746762020747715, + 1.2258436302884508, + 0.041007874039393544, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.011480811247357, + 1.0851340698772913, + 0.019817348810312642, + 0.11106533304704926, + 0.24928541122921635, + 0.631030889054398, + 0.08731758830171431, + 0.0, + 1.3120348968591833, + 1.2692781763307492, + 0.041007874039393544, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.011480811247357, + 1.0851340698772913, + 0.019817348810312642, + 0.11106533304704926, + 0.24928541122921635, + 0.631030889054398, + 0.08731758830171431, + 0.0, + 1.3588714803205846, + 1.2853011104335343, + 0.041007874039393544, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.011480811247357, + 1.0851340698772913, + 0.019817348810312642, + 0.11106533304704926, + 0.24928541122921635, + 0.631030889054398, + 0.08731758830171431, + 0.0, + 1.4157833542837244, + 1.3365609237749947, + 0.041007874039393544, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.011480811247357, + 1.0851340698772913, + 0.019817348810312642, + 0.11106533304704926, + 0.24928541122921635, + 0.631030889054398, + 0.08731758830171431, + 0.0, + 1.4432916440554169, + 1.324069125586186, + 0.041007874039393544, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.011480811247357, + 1.0851340698772913, + 0.019817348810312642, + 0.11106533304704926, + 0.24928541122921635, + 0.631030889054398, + 0.08731758830171431, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0154284415906807, + 1.017384769065876, + 0.004063772072770505, + 0.00891260672401253, + 0.1400923568015037, + 0.07584027035475922, + 0.017282065415911013, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0154284415906807, + 1.017384769065876, + 0.004063772072770505, + 0.00891260672401253, + 0.1400923568015037, + 0.07584027035475922, + 0.017282065415911013, + 0.0 + ], + "min": [ + -3.1799674034118652, + -2.081770896911621, + 0.28999999165534973, + 0.6490073204040527, + 0.0, + 0.0, + 0.6590474843978882, + -1.0, + -2.9175009727478027, + -1.814424991607666, + 0.486257940530777, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.02099730260670185, + 0.0, + -3.1193201541900635, + -2.054044008255005, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9175009727478027, + -1.814424991607666, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.02099730260670185, + 0.0, + -3.1016478538513184, + -2.045964479446411, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9175009727478027, + -1.814424991607666, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.02099730260670185, + 0.0, + -3.0890285968780518, + -2.0401952266693115, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9175009727478027, + -1.814424991607666, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.02099730260670185, + 0.0, + -3.0069518089294434, + -2.002671003341675, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9175009727478027, + -1.814424991607666, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.02099730260670185, + 0.0, + -2.92671275138855, + -1.965986967086792, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9175009727478027, + -1.814424991607666, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.02099730260670185, + 0.0, + -2.9122557640075684, + -1.959377408027649, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9175009727478027, + -1.814424991607666, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.02099730260670185, + 0.0, + -2.892009973526001, + -1.9501214027404785, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9175009727478027, + -1.814424991607666, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.02099730260670185, + 0.0, + -2.8171749114990234, + -1.9159080982208252, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9175009727478027, + -1.814424991607666, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.02099730260670185, + 0.0, + -2.763262987136841, + -1.8912603855133057, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9175009727478027, + -1.814424991607666, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.02099730260670185, + 0.0, + -2.721989393234253, + -1.8723907470703125, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9175009727478027, + -1.814424991607666, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.02099730260670185, + 0.0, + -2.664698362350464, + -1.8461982011795044, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9175009727478027, + -1.814424991607666, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.02099730260670185, + 0.0, + -2.6269989013671875, + -1.8289625644683838, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9175009727478027, + -1.814424991607666, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.02099730260670185, + 0.0, + -2.60007905960083, + -1.8166552782058716, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9175009727478027, + -1.814424991607666, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.02099730260670185, + 0.0, + -2.5323030948638916, + -1.785669207572937, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9175009727478027, + -1.814424991607666, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.02099730260670185, + 0.0, + -2.4377641677856445, + -1.7424476146697998, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9175009727478027, + -1.814424991607666, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.02099730260670185, + 0.0, + -2.4376070499420166, + -1.7423758506774902, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9175009727478027, + -1.814424991607666, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.02099730260670185, + 0.0, + -2.4373867511749268, + -1.7422751188278198, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9175009727478027, + -1.814424991607666, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.02099730260670185, + 0.0, + -2.3424227237701416, + -1.6988590955734253, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9175009727478027, + -1.814424991607666, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.02099730260670185, + 0.0, + -2.2740092277526855, + -1.667581558227539, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9175009727478027, + -1.814424991607666, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.02099730260670185, + 0.0, + -2.24723744392395, + -1.6553418636322021, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9175009727478027, + -1.814424991607666, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.02099730260670185, + 0.0, + -2.210076093673706, + -1.6383522748947144, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9175009727478027, + -1.814424991607666, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.02099730260670185, + 0.0, + -2.152350425720215, + -1.611961007118225, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9175009727478027, + -1.814424991607666, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.02099730260670185, + 0.0, + -2.111130475997925, + -1.5931159257888794, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9175009727478027, + -1.814424991607666, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.02099730260670185, + 0.0, + -2.05765438079834, + -1.5686675310134888, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9175009727478027, + -1.814424991607666, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.02099730260670185, + 0.0, + -1.982764482498169, + -1.5344290733337402, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9175009727478027, + -1.814424991607666, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.02099730260670185, + 0.0, + -1.9628560543060303, + -1.525327205657959, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9175009727478027, + -1.814424991607666, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.02099730260670185, + 0.0, + -1.9485135078430176, + -1.5187699794769287, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9175009727478027, + -1.814424991607666, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.02099730260670185, + 0.0, + -1.8676705360412598, + -1.4818098545074463, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9175009727478027, + -1.814424991607666, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.02099730260670185, + 0.0, + -1.784754753112793, + -1.4439021348953247, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9175009727478027, + -1.814424991607666, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.02099730260670185, + 0.0, + -1.7724850177764893, + -1.4382926225662231, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9175009727478027, + -1.814424991607666, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.02099730260670185, + 0.0, + -1.7554535865783691, + -1.4305061101913452, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9175009727478027, + -1.814424991607666, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.02099730260670185, + 0.0, + -1.6777015924453735, + -1.3949592113494873, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9175009727478027, + -1.814424991607666, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.02099730260670185, + 0.0, + -1.62218177318573, + -1.3695764541625977, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9175009727478027, + -1.814424991607666, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.02099730260670185, + 0.0, + -1.583005666732788, + -1.351665735244751, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9175009727478027, + -1.814424991607666, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.02099730260670185, + 0.0, + -1.528141975402832, + -1.326582908630371, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9175009727478027, + -1.814424991607666, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.02099730260670185, + 0.0, + -1.4881037473678589, + -1.3082780838012695, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9175009727478027, + -1.814424991607666, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.02099730260670185, + 0.0, + -1.4592596292495728, + -1.2950910329818726, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9175009727478027, + -1.814424991607666, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.02099730260670185, + 0.0, + -1.3929184675216675, + -1.264760971069336, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9175009727478027, + -1.814424991607666, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.02099730260670185, + 0.0, + -1.3008309602737427, + -1.2226600646972656, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9175009727478027, + -1.814424991607666, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.02099730260670185, + 0.0, + -1.2977490425109863, + -1.221251130104065, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9175009727478027, + -1.814424991607666, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.02099730260670185, + 0.0, + -1.295548439025879, + -1.2202450037002563, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9175009727478027, + -1.814424991607666, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.02099730260670185, + 0.0, + -1.2030529975891113, + -1.177957534790039, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9175009727478027, + -1.814424991607666, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.02099730260670185, + 0.0, + -1.1332330703735352, + -1.146036982536316, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9175009727478027, + -1.814424991607666, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.02099730260670185, + 0.0, + -1.1083569526672363, + -1.1346640586853027, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9175009727478027, + -1.814424991607666, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.02099730260670185, + 0.0, + -1.0735198259353638, + -1.1187371015548706, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9175009727478027, + -1.814424991607666, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.02099730260670185, + 0.0, + -1.0133408308029175, + -1.0912243127822876, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9175009727478027, + -1.814424991607666, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.02099730260670185, + 0.0, + -0.9701024293899536, + -1.0714564323425293, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9175009727478027, + -1.814424991607666, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.02099730260670185, + 0.0, + -0.9180329442024231, + -1.0476510524749756, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9175009727478027, + -1.814424991607666, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.02099730260670185, + 0.0, + -0.8448220491409302, + -1.0141801834106445, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9175009727478027, + -1.814424991607666, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.02099730260670185, + 0.0, + -0.8224834203720093, + -1.00396728515625, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9175009727478027, + -1.814424991607666, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.02099730260670185, + 0.0, + -0.8071338534355164, + -0.9969497323036194, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9175009727478027, + -1.814424991607666, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.02099730260670185, + 0.0, + -0.7262594699859619, + -0.9599753618240356, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9175009727478027, + -1.814424991607666, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.02099730260670185, + 0.0, + -0.7237380146980286, + -0.9160650372505188, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9175009727478027, + -1.814424991607666, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.02099730260670185, + 0.0, + 0.3751862347126007, + -0.07991261035203934, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.1136696338653564, + -0.9532161951065063, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.025672201067209244, + 0.0, + 0.33125942945480347, + -0.1353881061077118, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.1136696338653564, + -0.9532161951065063, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.025672201067209244, + 0.0, + 0.29486796259880066, + -0.18134713172912598, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.1136696338653564, + -0.9532161951065063, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.025672201067209244, + 0.0, + 0.2577687203884125, + -0.2282000333070755, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.1136696338653564, + -0.9532161951065063, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.025672201067209244, + 0.0, + 0.21498948335647583, + -0.2822262644767761, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.1136696338653564, + -0.9532161951065063, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.025672201067209244, + 0.0, + 0.17545248568058014, + -0.33215782046318054, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.1136696338653564, + -0.9532161951065063, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.025672201067209244, + 0.0, + 0.14212031662464142, + -0.3742532432079315, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.1136696338653564, + -0.9532161951065063, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.025672201067209244, + 0.0, + 0.12209278345108032, + -0.39954614639282227, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.1136696338653564, + -0.9532161951065063, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.025672201067209244, + 0.0, + 0.05567637085914612, + -0.4834239184856415, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.1136696338653564, + -0.9532161951065063, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.025672201067209244, + 0.0, + 0.04765714704990387, + -0.49355146288871765, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.1136696338653564, + -0.9532161951065063, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.025672201067209244, + 0.0, + 0.03700853884220123, + -0.506999671459198, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.1136696338653564, + -0.9532161951065063, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.025672201067209244, + 0.0, + -0.025812353938817978, + -0.586336612701416, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.1136696338653564, + -0.9532161951065063, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.025672201067209244, + 0.0, + -0.06843660771846771, + -0.5958970189094543, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.1136696338653564, + -0.9532161951065063, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.025672201067209244, + 0.0, + -0.10052009671926498, + -0.6030932068824768, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.1136696338653564, + -0.9532161951065063, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.025672201067209244, + 0.0, + -0.1727195829153061, + -0.6192872524261475, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.1136696338653564, + -0.9532161951065063, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.025672201067209244, + 0.0, + -0.22024478018283844, + -0.6299469470977783, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.1136696338653564, + -0.9532161951065063, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.025672201067209244, + 0.0, + -0.2770024538040161, + -0.6426774263381958, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.1136696338653564, + -0.9532161951065063, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.025672201067209244, + 0.0, + -0.3662620186805725, + -0.662697970867157, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.1136696338653564, + -0.9532161951065063, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.025672201067209244, + 0.0, + -0.3834683895111084, + -0.6665573120117188, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.1136696338653564, + -0.9532161951065063, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.025672201067209244, + 0.0, + -0.43128156661987305, + -0.6772816181182861, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.1136696338653564, + -0.9532161951065063, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.025672201067209244, + 0.0, + -0.49029412865638733, + -0.6905178427696228, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.1136696338653564, + -0.9532161951065063, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.025672201067209244, + 0.0, + -0.5108585357666016, + -0.6951303482055664, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.1136696338653564, + -0.9532161951065063, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.025672201067209244, + 0.0, + -0.5976753234863281, + -0.7146029472351074, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.1136696338653564, + -0.9532161951065063, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.025672201067209244, + 0.0, + -0.652679443359375, + -0.7269401550292969, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.1136696338653564, + -0.9532161951065063, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.025672201067209244, + 0.0, + -0.7055464386940002, + -0.6965139508247375, + 1.4367961883544922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -1.1136696338653564, + -0.9532161951065063, + 0.5852968692779541, + -0.12521661818027496, + -0.9682230353355408, + -0.48587968945503235, + 0.025672201067209244, + 0.0, + 2.2734928131103516, + 2.0563883781433105, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9037655591964722, + -0.7801995873451233, + 0.6664674878120422, + 0.08181320875883102, + -0.7819979786872864, + 0.6105861663818359, + 0.025672201067209244, + 0.0, + 2.273834466934204, + 2.0186595916748047, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.9037655591964722, + -0.7801995873451233, + 0.6664674878120422, + 0.08181320875883102, + -0.7819979786872864, + 0.6105861663818359, + 0.025672201067209244, + 0.0 + ], + "max": [ + 2.2447714805603027, + 2.314312219619751, + 1.5204813480377197, + 0.7521013021469116, + 0.0, + 0.0, + 0.7607821822166443, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.19545592367649078, + -0.19418030977249146, + 0.9737604260444641, + 0.25591960549354553, + 1.0, + 2.2195181846618652, + 2.2493069171905518, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.19418030977249146, + 0.9737604260444641, + 0.25591960549354553, + 0.0, + 2.193801164627075, + 2.2168288230895996, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.19418030977249146, + 0.9737604260444641, + 0.25591960549354553, + 0.0, + 2.1491661071777344, + 2.160459041595459, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.19418030977249146, + 0.9737604260444641, + 0.25591960549354553, + 0.0, + 2.1054422855377197, + 2.1052401065826416, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.19418030977249146, + 0.9737604260444641, + 0.25591960549354553, + 0.0, + 2.079904079437256, + 2.0729877948760986, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.19418030977249146, + 0.9737604260444641, + 0.25591960549354553, + 0.0, + 2.0215041637420654, + 1.9992339611053467, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.19418030977249146, + 0.9737604260444641, + 0.25591960549354553, + 0.0, + 2.010457754135132, + 1.9852834939956665, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.19418030977249146, + 0.9737604260444641, + 0.25591960549354553, + 0.0, + 1.953495740890503, + 1.9133456945419312, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.19418030977249146, + 0.9737604260444641, + 0.25591960549354553, + 0.0, + 1.9413450956344604, + 1.8980005979537964, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.19418030977249146, + 0.9737604260444641, + 0.25591960549354553, + 0.0, + 1.9389941692352295, + 1.8950315713882446, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.19418030977249146, + 0.9737604260444641, + 0.25591960549354553, + 0.0, + 1.871604561805725, + 1.8099247217178345, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.19418030977249146, + 0.9737604260444641, + 0.25591960549354553, + 0.0, + 1.8567053079605103, + 1.791108250617981, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.19418030977249146, + 0.9737604260444641, + 0.25591960549354553, + 0.0, + 1.8024110794067383, + 1.7225396633148193, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.19418030977249146, + 0.9737604260444641, + 0.25591960549354553, + 0.0, + 1.7744166851043701, + 1.6871854066848755, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.19418030977249146, + 0.9737604260444641, + 0.25591960549354553, + 0.0, + 1.7329422235488892, + 1.6348069906234741, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.19418030977249146, + 0.9737604260444641, + 0.25591960549354553, + 0.0, + 1.69212806224823, + 1.5832624435424805, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.19418030977249146, + 0.9737604260444641, + 0.25591960549354553, + 0.0, + 1.663480281829834, + 1.5470829010009766, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.19418030977249146, + 0.9737604260444641, + 0.25591960549354553, + 0.0, + 1.6098392009735107, + 1.4793392419815063, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.19418030977249146, + 0.9737604260444641, + 0.25591960549354553, + 0.0, + 1.5942796468734741, + 1.4596890211105347, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.19418030977249146, + 0.9737604260444641, + 0.25591960549354553, + 0.0, + 1.527550458908081, + 1.3754162788391113, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.19418030977249146, + 0.9737604260444641, + 0.25591960549354553, + 0.0, + 1.5245493650436401, + 1.3716261386871338, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.19418030977249146, + 0.9737604260444641, + 0.25591960549354553, + 0.0, + 1.508911371231079, + 1.3518768548965454, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.19418030977249146, + 0.9737604260444641, + 0.25591960549354553, + 0.0, + 1.4555100202560425, + 1.2844358682632446, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.19418030977249146, + 0.9737604260444641, + 0.25591960549354553, + 0.0, + 1.4452615976333618, + 1.2714930772781372, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.19418030977249146, + 0.9737604260444641, + 0.25591960549354553, + 0.0, + 1.3858554363250732, + 1.196468710899353, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.19418030977249146, + 0.9737604260444641, + 0.25591960549354553, + 0.0, + 1.3629728555679321, + 1.1675701141357422, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.19418030977249146, + 0.9737604260444641, + 0.25591960549354553, + 0.0, + 1.3165791034698486, + 1.1089792251586914, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.19418030977249146, + 0.9737604260444641, + 0.25591960549354553, + 0.0, + 1.2806841135025024, + 1.0636471509933472, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.19418030977249146, + 0.9737604260444641, + 0.25591960549354553, + 0.0, + 1.2471929788589478, + 1.0213509798049927, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.19418030977249146, + 0.9737604260444641, + 0.25591960549354553, + 0.0, + 1.1983953714370728, + 0.9597240686416626, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.19418030977249146, + 0.9737604260444641, + 0.25591960549354553, + 0.0, + 1.1776483058929443, + 0.9335224628448486, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.19418030977249146, + 0.9737604260444641, + 0.25591960549354553, + 0.0, + 1.116106629371643, + 0.8558010458946228, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.19418030977249146, + 0.9737604260444641, + 0.25591960549354553, + 0.0, + 1.1085305213928223, + 0.8462331891059875, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.19418030977249146, + 0.9737604260444641, + 0.25591960549354553, + 0.0, + 1.0663400888442993, + 0.7929505109786987, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.19418030977249146, + 0.9737604260444641, + 0.25591960549354553, + 0.0, + 1.0387686491012573, + 0.7581303715705872, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.19418030977249146, + 0.9737604260444641, + 0.25591960549354553, + 0.0, + 1.0338177680969238, + 0.7518778443336487, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.19418030977249146, + 0.9737604260444641, + 0.25591960549354553, + 0.0, + 0.9696781635284424, + 0.6708754897117615, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.19418030977249146, + 0.9737604260444641, + 0.25591960549354553, + 0.0, + 0.9568560719490051, + 0.6479547619819641, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.19418030977249146, + 0.9737604260444641, + 0.25591960549354553, + 0.0, + 0.995991587638855, + 0.5830126404762268, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.19418030977249146, + 0.9737604260444641, + 0.25591960549354553, + 0.0, + 1.0208988189697266, + 0.5440317988395691, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.19418030977249146, + 0.9737604260444641, + 0.25591960549354553, + 0.0, + 1.064849615097046, + 0.4954187572002411, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.19418030977249146, + 0.9737604260444641, + 0.25591960549354553, + 0.0, + 1.0851593017578125, + 0.4401087462902069, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.19418030977249146, + 0.9737604260444641, + 0.25591960549354553, + 0.0, + 1.1337077617645264, + 0.40789490938186646, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.19418030977249146, + 0.9737604260444641, + 0.25591960549354553, + 0.0, + 1.1490932703018188, + 0.3594059944152832, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.19418030977249146, + 0.9737604260444641, + 0.25591960549354553, + 0.0, + 1.2025659084320068, + 0.44010865688323975, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.19418030977249146, + 0.9737604260444641, + 0.25591960549354553, + 0.0, + 1.2134625911712646, + 0.4565543830394745, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.19418030977249146, + 0.9737604260444641, + 0.25591960549354553, + 0.0, + 1.2714240550994873, + 0.5440317988395691, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.19418030977249146, + 0.9737604260444641, + 0.25591960549354553, + 0.0, + 1.2772878408432007, + 0.5528817176818848, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.19418030977249146, + 0.9737604260444641, + 0.25591960549354553, + 0.0, + 1.3402820825576782, + 0.6479547619819641, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.19418030977249146, + 0.9737604260444641, + 0.25591960549354553, + 0.0, + 1.3417658805847168, + 0.6501941680908203, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.19418030977249146, + 0.9737604260444641, + 0.25591960549354553, + 0.0, + 1.3603159189224243, + 0.6781904697418213, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.19418030977249146, + 0.9737604260444641, + 0.25591960549354553, + 0.0, + 1.4055240154266357, + 0.7464200854301453, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.19418030977249146, + 0.9737604260444641, + 0.25591960549354553, + 0.0, + 1.4091402292251587, + 0.7518778443336487, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.19418030977249146, + 0.9737604260444641, + 0.25591960549354553, + 0.0, + 1.469977617263794, + 0.8436956405639648, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.22752417623996735, + 0.9660947322845459, + 0.25591960549354553, + 0.0, + 1.4779984951019287, + 0.8558010458946228, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.22752417623996735, + 0.9660947322845459, + 0.25591960549354553, + 0.0, + 1.533827304840088, + 0.9400598406791687, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.22752417623996735, + 0.9660947322845459, + 0.25591960549354553, + 0.0, + 1.5468565225601196, + 0.9597240090370178, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.22752417623996735, + 0.9660947322845459, + 0.25591960549354553, + 0.0, + 1.5981719493865967, + 1.0371710062026978, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.22752417623996735, + 0.9660947322845459, + 0.25591960549354553, + 0.0, + 1.6157146692276, + 1.0636471509933472, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.22752417623996735, + 0.9660947322845459, + 0.25591960549354553, + 0.0, + 1.6621304750442505, + 1.1336995363235474, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.22752417623996735, + 0.9660947322845459, + 0.25591960549354553, + 0.0, + 1.684572696685791, + 1.1675701141357422, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.22752417623996735, + 0.9660947322845459, + 0.25591960549354553, + 0.0, + 1.726366400718689, + 1.2306466102600098, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.22752417623996735, + 0.9660947322845459, + 0.25591960549354553, + 0.0, + 1.753430724143982, + 1.2714930772781372, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.22752417623996735, + 0.9660947322845459, + 0.25591960549354553, + 0.0, + 1.7904337644577026, + 1.3273394107818604, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.22752417623996735, + 0.9660947322845459, + 0.25591960549354553, + 0.0, + 1.8222888708114624, + 1.3754162788391113, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.22752417623996735, + 0.9660947322845459, + 0.25591960549354553, + 0.0, + 1.8545608520507812, + 1.4241220951080322, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.22752417623996735, + 0.9660947322845459, + 0.25591960549354553, + 0.0, + 1.8911470174789429, + 1.4793391227722168, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.22752417623996735, + 0.9660947322845459, + 0.25591960549354553, + 0.0, + 1.9187371730804443, + 1.5209791660308838, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.22752417623996735, + 0.9660947322845459, + 0.25591960549354553, + 0.0, + 1.960005283355713, + 1.5832624435424805, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.22752417623996735, + 0.9660947322845459, + 0.25591960549354553, + 0.0, + 1.9827553033828735, + 1.6175975799560547, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.22752417623996735, + 0.9660947322845459, + 0.25591960549354553, + 0.0, + 2.0288634300231934, + 1.6871854066848755, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.22752417623996735, + 0.9660947322845459, + 0.25591960549354553, + 0.0, + 2.0470404624938965, + 1.7146188020706177, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.22752417623996735, + 0.9660947322845459, + 0.25591960549354553, + 0.0, + 2.097721576690674, + 1.79110848903656, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.22752417623996735, + 0.9660947322845459, + 0.25591960549354553, + 0.0, + 2.110949754714966, + 1.8110729455947876, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.22752417623996735, + 0.9660947322845459, + 0.25591960549354553, + 0.0, + 2.166623592376709, + 1.8950977325439453, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.22752417623996735, + 0.9660947322845459, + 0.25591960549354553, + 0.0, + 2.175386667251587, + 1.9083232879638672, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.22752417623996735, + 0.9660947322845459, + 0.25591960549354553, + 0.0, + 2.236523151397705, + 2.0005924701690674, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.22752417623996735, + 0.9660947322845459, + 0.25591960549354553, + 0.0, + 2.239792585372925, + 2.005526542663574, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.796553373336792, + 0.6901288032531738, + 0.18422900140285492, + -0.22752417623996735, + 0.9660947322845459, + 0.25591960549354553, + 0.0, + 2.2734928131103516, + 2.0563883781433105, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.3134846687316895, + 0.6901288032531738, + 0.13126149773597717, + -0.22752417623996735, + 0.9660947322845459, + 0.09544239193201065, + 0.0, + 2.273834466934204, + 2.0186595916748047, + 1.5204813480377197, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.3925557136535645, + 2.3134846687316895, + 0.6901288032531738, + 0.13126149773597717, + -0.22752417623996735, + 0.9660947322845459, + 0.09544239193201065, + 0.0 + ], + "count": [ + 1750 + ] + }, + "action.applied": { + "mean": [ + 0.27507927704070295, + 0.7220716772079467, + -1.2351343804427555, + -0.24756432044080326, + 0.7063706274032593, + -1.238234490633011, + 0.16909697678685187, + 0.8664285458496639, + -1.3737092088631222, + -0.17217050196656158, + 0.8211436420168196, + -1.3618423469407217, + 0.0021695929897146667, + 1.9770567356518336, + -1.26971140732084, + 0.023982496204588512, + 0.5747377242616245, + -0.05929186912467061, + 0.003360000014305115, + -0.003360000014305115 + ], + "std": [ + 0.15646503173561413, + 0.11245951138995158, + 0.20721877857700777, + 0.14344778500249808, + 0.13386703652020066, + 0.18588077792767344, + 0.14406590125231103, + 0.17499419307928554, + 0.21131036991626523, + 0.1348595434437479, + 0.09264160337667535, + 0.22072291153849571, + 0.1099130436107631, + 0.2371928540048914, + 0.2574300183743802, + 0.19272600454157562, + 0.13502947136189847, + 0.2821086726649104, + 0.01031069352202994, + 0.01031069352202994 + ], + "min": [ + -0.21437956392765045, + 0.41678300499916077, + -1.7175920009613037, + -0.51857990026474, + 0.3207217752933502, + -1.5930492877960205, + -0.15191051363945007, + 0.40601080656051636, + -1.7808829545974731, + -0.5914562940597534, + 0.5680055022239685, + -1.735100269317627, + -0.45905131101608276, + 1.7055602073669434, + -1.6103969812393188, + -0.7515394687652588, + 0.2290593832731247, + -0.4534420669078827, + 0.0, + -0.03500000014901161 + ], + "max": [ + 0.729544997215271, + 0.9822482466697693, + -0.8330560922622681, + 0.1470213234424591, + 1.0093969106674194, + -0.834476888179779, + 0.4905255138874054, + 1.1982645988464355, + -0.9820154905319214, + 0.300035297870636, + 1.0812647342681885, + -0.9046538472175598, + 0.320869505405426, + 2.4036965370178223, + -0.9786801934242249, + 0.3242942690849304, + 0.8012593984603882, + 0.9880178570747375, + 0.03500000014901161, + 0.0 + ], + "count": [ + 1750 + ] + }, + "extra.reward": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 1750 + ] + }, + "next.truncated": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 1750 + ] + }, + "sim_step_idx": { + "mean": [ + 1850.0 + ], + "std": [ + 1010.3628061246119 + ], + "min": [ + 101.0 + ], + "max": [ + 3599.0 + ], + "count": [ + 1750 + ] + }, + "timestamp": { + "mean": [ + 34.979999999991485 + ], + "std": [ + 20.207256118940705 + ], + "min": [ + 0.0 + ], + "max": [ + 69.95999908447266 + ], + "count": [ + 1750 + ] + }, + "frame_index": { + "mean": [ + 874.5 + ], + "std": [ + 505.18140306230595 + ], + "min": [ + 0.0 + ], + "max": [ + 1749.0 + ], + "count": [ + 1750 + ] + }, + "episode_index": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 1750 + ] + }, + "index": { + "mean": [ + 874.5 + ], + "std": [ + 505.18140306230595 + ], + "min": [ + 0.0 + ], + "max": [ + 1749.0 + ], + "count": [ + 1750 + ] + }, + "task_index": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 1750 + ] + }, + "next.done": { + "mean": [ + 0.0005714285714285715 + ], + "std": [ + 0.023897741332944554 + ], + "min": [ + 0.0 + ], + "max": [ + 1.0 + ], + "count": [ + 1750 + ] + }, + "observation.images.head": { + "mean": [ + [ + [ + 0.48494932980312244 + ] + ], + [ + [ + 0.4558489412188574 + ] + ], + [ + [ + 0.40312761375575973 + ] + ] + ], + "std": [ + [ + [ + 0.17563839749246718 + ] + ], + [ + [ + 0.15144294964322205 + ] + ], + [ + [ + 0.15286468545064863 + ] + ] + ], + "min": [ + [ + [ + 0.0 + ] + ], + [ + [ + 0.00784313725490196 + ] + ], + [ + [ + 0.00392156862745098 + ] + ] + ], + "max": [ + [ + [ + 0.8941176470588236 + ] + ], + [ + [ + 0.8745098039215686 + ] + ], + [ + [ + 0.8745098039215686 + ] + ] + ], + "count": [ + 100 + ] + }, + "observation.images.wrist": { + "mean": [ + [ + [ + 0.46029159365525263 + ] + ], + [ + [ + 0.48045899369126926 + ] + ], + [ + [ + 0.44819746502613744 + ] + ] + ], + "std": [ + [ + [ + 0.19217733082806673 + ] + ], + [ + [ + 0.2075487463012002 + ] + ], + [ + [ + 0.22043524440829346 + ] + ] + ], + "min": [ + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ] + ], + "max": [ + [ + [ + 0.9411764705882353 + ] + ], + [ + [ + 0.9372549019607843 + ] + ], + [ + [ + 0.9411764705882353 + ] + ] + ], + "count": [ + 100 + ] + } +} \ No newline at end of file diff --git a/N032/go2_arm/dr_on/seed_2018/rec/stationpuzzle/000/lerobot_v21/meta/tasks.jsonl b/N032/go2_arm/dr_on/seed_2018/rec/stationpuzzle/000/lerobot_v21/meta/tasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fb913afcd6e7b4df3ccfb60e7f408d983dbc3a03 --- /dev/null +++ b/N032/go2_arm/dr_on/seed_2018/rec/stationpuzzle/000/lerobot_v21/meta/tasks.jsonl @@ -0,0 +1 @@ +{"task_index": 0, "task": "Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap."} diff --git a/N032/go2_arm/dr_on/seed_2018/rec/stationpuzzle/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 b/N032/go2_arm/dr_on/seed_2018/rec/stationpuzzle/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..fc7184845a7a21593669aa536a86752269cc0fc2 --- /dev/null +++ b/N032/go2_arm/dr_on/seed_2018/rec/stationpuzzle/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:b58d153c5c266e1d40aebc68d491683e451c99f35b0b67352cbcc335c4b5d985 +size 32491851 diff --git a/N032/go2_arm/dr_on/seed_2018/rec/stationpuzzle/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 b/N032/go2_arm/dr_on/seed_2018/rec/stationpuzzle/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0a9548ae8700bfbfb076449dbd6d0d512daa4939 --- /dev/null +++ b/N032/go2_arm/dr_on/seed_2018/rec/stationpuzzle/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 sha256:2a45e9517c66ad0da6a518e3d2f337d104a18843ee8d256f2070aa48fd4cf6ba +size 51974933 diff --git a/N032/go2_arm/dr_on/seed_2018/rec/stationpuzzle/000/run_meta.json b/N032/go2_arm/dr_on/seed_2018/rec/stationpuzzle/000/run_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..77d1564483cfe6518db857a760707225d48bc40d --- /dev/null +++ b/N032/go2_arm/dr_on/seed_2018/rec/stationpuzzle/000/run_meta.json @@ -0,0 +1,1613 @@ +{ + "run_id": "stationpuzzle/000", + "created": "2026-11-08 02:59:17", + "num_envs": 1, + "session_id": null, + "record_config": { + "output_dir": "/mnt/scratch/xc536_atomic/n032_go2_on_2018/out/rec", + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "json_round": null, + "schema": { + "source": "robot_manager", + "nan_policy": "from_raw" + }, + "lerobot": { + "subsample_every": 2 + } + }, + "config": { + "env_string": "StationPuzzleEnv-V0", + "env": { + "sim": { + "device": "cpu", + "use_fabric": false, + "decimation": 4, + "dt": 0.005, + "seed": 2018, + "soft_resets": 2, + "enable_scene_query_support": true, + "scene": { + "num_envs": 1, + "env_spacing": 16 + }, + "render": { + "rendering_mode": "performance", + "enable_reflections": false, + "enable_global_illumination": false, + "enable_translucency": false, + "enable_dl_denoiser": false + } + }, + "robot": { + "Go2Plus": { + "name": "go2plus", + "type": "mobilemanip", + "common": { + "pos": [ + [ + -3.4, + -2.2, + 0.44999999999999996 + ], + [ + -3.4, + -2.2, + 0.44999999999999996 + ] + ], + "ori": [ + [ + 0, + 0, + 40.0 + ], + [ + 0, + 0, + 40.0 + ] + ], + "initial_joint_pos": null + }, + "action": { + "base_action": "unified", + "arm_action": "ik_curobo", + "eef_action": "binary" + }, + "reset": "default", + "planner": { + "dual_mode": true, + "base_joint_names": [ + "base_x", + "base_y", + "base_yaw", + "base_height" + ], + "ik": { + "type": "go2plus", + "enable": true, + "ik_num_instances": 1, + "ik_batch_size": 1, + "ik_max_goalset": 128, + "ik_num_seeds": 64, + "ik_position_threshold": 0.005, + "ik_rotation_threshold": 0.05, + "microbatch_wait_ms": 20.0, + "relative_to_world_frame": false, + "eef_num": 1, + "debug": false, + "seed_use_live_joint_pos": true + }, + "motiongen": { + "type": "go2plus", + "enable": true, + "batch_size": 1, + "debug": false, + "motiongen_num_instances": 1, + "microbatch_wait_ms": 400.0, + "mode": "position", + "relative_to_world_frame": false, + "eef_num": 1, + "seed_use_live_joint_pos": true, + "anchor_ik_seeds_to_current_state": false, + "num_trajopt_seeds": 1, + "num_ik_seeds": 4, + "max_attempts": 4, + "joint_limit_retry_weight": 100000000.0, + "start_state_limit_inset": 0.002 + }, + "body": { + "type": "nav", + "dwb_type": "dwb_quadruped", + "dwb_quadruped": { + "device": "cpu", + "dt": 0.02, + "debug": false, + "num_rollout_steps": 60, + "num_speed_samples": 11, + "num_steer_samples": 11, + "num_vx_samples": 7, + "num_vy_samples": 7, + "num_yaw_samples": 7, + "max_accel": 1.5, + "max_steer_rate": 1.5, + "max_accel_vx": 1.5, + "max_accel_vy": 1.5, + "max_yaw_accel": 1.5, + "w_goal": 6.0, + "w_path": 24.0, + "w_vel": 0.2, + "w_vy": 0.0, + "dilate_radius": 0.2, + "goal_cost_mode": "path", + "room_size": 12.0, + "occupancy_update_interval": 25, + "scan_height": 0.38, + "scan_min_z": 0.15, + "scan_max_z": 0.63, + "goal_pos_threshold": 0.16, + "goal_yaw_threshold": 0.08, + "goal_yaw_hysteresis": 0.02, + "kp_goal_yaw": 4.0, + "heading_reference": "path", + "turn_yaw_threshold": 0.8, + "heading_lookahead": 0.8, + "heading_min_leg": 0.35, + "route_yaw_gain": 2.0, + "min_vx": -0.35, + "max_vx": 0.35, + "min_vy": -0.25, + "max_vy": 0.25, + "min_yaw_rate": -0.8, + "max_yaw_rate": 0.8, + "dynamic_window_source": "command", + "default_height": 0.35, + "safety_min_progress_speed": 0.1, + "safety_stop_distance": 0.2, + "safety_enabled": true, + "safety_deceleration": 0.5, + "safety_reaction_time": 0.5, + "safety_release_distance": 0.35, + "scan_type": "3d", + "robot_type": "quadruped", + "velocity_frame": "body" + }, + "p_controller": { + "velocity_frame": "body", + "nav_upgrade_distance": 0.03, + "nav_heading_target": -1, + "kp_linear_x": 3.0, + "kd_linear_x": 0.4, + "kp_linear_y": 3.0, + "kd_linear_y": 0.4, + "kp_angular": 1.5, + "kd_angular": 0.2, + "kp_angular_turning_only": 1.5, + "kd_angular_turning_only": 0.2, + "min_vel": -0.4, + "max_vel": 0.5, + "linear_dead_zone": 0.01, + "angular_dead_zone": 0.05 + } + }, + "arm": { + "type": "default" + }, + "eef": { + "type": "default" + } + }, + "physics": { + "robot_radius": 0.5 + } + } + }, + "camera": { + "enable_tiled": false, + "colorize_depth": false, + "head": { + "camera": { + "type": "camera", + "mesh": "pinhole", + "resolution": [ + 640, + 480 + ], + "frequency": 25, + "focal_length": 1.8231182098388672, + "horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.4407838582992554, + "clipping_range": [ + 0.05, + 30.0 + ], + "focus_distance": 3.0, + "mode": "RGB", + "mount_link": "Robot_0/Bodies/go2_base", + "pos": [ + 0.332051, + 0.038027, + 0.093559 + ], + "ori": [ + 169.9473, + -88.6452, + 81.5985 + ] + }, + "annotator": { + "enabled": true, + "rgb_capture": { + "type": "rgb", + "device": "cpu" + } + } + }, + "wrist": { + "camera": { + "type": "camera", + "mesh": "pinhole", + "resolution": [ + 640, + 480 + ], + "frequency": 25, + "focal_length": 1.8517500162124634, + "horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.4393036365509033, + "clipping_range": [ + 0.05, + 30.0 + ], + "focus_distance": 3.0, + "mode": "RGB", + "mount_link": "Robot_0/Bodies/piper_link6", + "pos": [ + -0.074987, + 0.005289, + 0.045821 + ], + "ori": [ + 179.3135, + -20.212, + 88.9402 + ] + }, + "annotator": { + "enabled": true, + "rgb_capture": { + "type": "rgb", + "device": "cpu" + } + } + } + }, + "nav": { + "navmesh": { + "enabled": true, + "visualize": false, + "bake_timeout_s": 180, + "agent_height_cm": 65, + "min_agent_radius_cm": 30.0, + "max_agent_radius_cm": 30.0, + "max_step_height_cm": 20, + "max_floor_slope_deg": 30, + "agent_island_radius_cm": 5, + "auto_exclude_rigid_bodies": true, + "validate_path_clearance": true, + "validate_path_window": true, + "navmesh_offset_z_m": 0, + "verbose": false + }, + "occupancymap": { + "cell_size": 0.05 + } + }, + "scene": { + "background": { + "intensity": [ + 1000, + 1000 + ] + }, + "terrain": { + "type": "nav_room", + "collision": true, + "hide_top_walls": true, + "usd": [ + "$MAGICSIM_ASSETS/Room/Collected_SimpleRoom" + ], + "annotation": "Annotation", + "random": false, + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0, + "friction_combine_mode": "multiply", + "restitution_combine_mode": "multiply" + } + }, + "objects": { + "table_A": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "table_A_1": { + "pos": [ + -0.5968185000774023, + 0.025418573902369523, + 0.18 + ], + "ori": [ + 0.0, + 0.0, + -7.6776414552050625 + ], + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.45, + 0.35 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "table_B": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "table_B_1": { + "pos": [ + 2.0939426170169484, + 2.9789223554795106, + 0.18 + ], + "ori": [ + 0.0, + 0.0, + -2.8828382752248274 + ], + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.45, + 0.35 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "board_0": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "board_0_1": { + "pos": [ + -0.6235383928037583, + -0.1727885080414703, + 0.33999999999999997 + ], + "ori": [ + 0.0, + 0.0, + -7.6776414552050625 + ], + "primitive_params": { + "size": [ + 0.25, + 0.04, + 0.02 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.55, + 0.58 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "board_1": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "board_1_1": { + "pos": [ + -0.6021624786226736, + -0.014222842486398438, + 0.33999999999999997 + ], + "ori": [ + 0.0, + 0.0, + -7.6776414552050625 + ], + "primitive_params": { + "size": [ + 0.25, + 0.04, + 0.02 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.55, + 0.58 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "board_2": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "board_2_1": { + "pos": [ + -0.7169091537337319, + -0.07947773158259744, + 0.33999999999999997 + ], + "ori": [ + 0.0, + 0.0, + -7.6776414552050625 + ], + "primitive_params": { + "size": [ + 0.04, + 0.1, + 0.02 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.55, + 0.58 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "board_3": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "board_3_1": { + "pos": [ + -0.5087917176927, + -0.10753361894527128, + 0.33999999999999997 + ], + "ori": [ + 0.0, + 0.0, + -7.6776414552050625 + ], + "primitive_params": { + "size": [ + 0.04, + 0.1, + 0.02 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.55, + 0.58 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "board_4": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "board_4_1": { + "pos": [ + -0.6385735140958385, + -0.059766629063404984, + 0.33999999999999997 + ], + "ori": [ + 0.0, + 0.0, + -7.6776414552050625 + ], + "primitive_params": { + "size": [ + 0.09, + 0.04, + 0.02 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.55, + 0.58 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "picture": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "picture_1": { + "pos": [ + -0.5700986073510463, + 0.22362565584620933, + 0.42999999999999994 + ], + "ori": [ + 0.0, + 0.0, + -7.6776414552050625 + ], + "primitive_params": { + "size": [ + 0.25, + 0.008, + 0.2 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.55, + 0.58 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "picture_bar": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "picture_bar_1": { + "pos": [ + -0.5707666046692053, + 0.21867047879761334, + 0.40499999999999997 + ], + "ori": [ + 0.0, + 0.0, + -7.6776414552050625 + ], + "primitive_params": { + "size": [ + 0.15, + 0.002, + 0.05 + ] + }, + "visual": { + "color": [ + [ + 0.1, + 0.6, + 0.6 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "picture_cap": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "picture_cap_1": { + "pos": [ + -0.5212148341832453, + 0.21199050561602434, + 0.45499999999999996 + ], + "ori": [ + 0.0, + 0.0, + -7.6776414552050625 + ], + "primitive_params": { + "size": [ + 0.05, + 0.002, + 0.05 + ] + }, + "visual": { + "color": [ + [ + 0.1, + 0.6, + 0.6 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "tile": { + "usd": [ + "$MAGICSIM_ASSETS/Object/MMB_A07/tile_L/Object.usda" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "tile_1": { + "pos": [ + 2.3156803509295365, + 2.8496362811523936, + 0.33099999999999996 + ], + "ori": [ + 0.0, + 0.0, + -0.6862575921938454 + ], + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.06, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + } + } + } + }, + "cand_O": { + "usd": [ + "$MAGICSIM_ASSETS/Object/MMB_A07/tile_O/Object.usda" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "cand_O_1": { + "pos": [ + 1.8936716438672072, + 2.8632580313516343, + 0.33099999999999996 + ], + "ori": [ + 0.0, + 0.0, + -4.04939988074449 + ], + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.06, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + } + } + } + } + } + } + }, + "task": { + "new_seed_per_episode": true, + "observation": {}, + "reward": {}, + "termination": { + "timeout_steps": 30000, + "success_hold_frames": 10, + "fall_height": 0.08, + "fall_tilt": 1.0, + "lift_height": 0.12, + "grasp_distance": 0.25 + }, + "grasp": { + "mode": "generated", + "debug": false, + "floor_z": 0.03 + }, + "stance": { + "radii": [ + 0.54, + 0.58, + 0.5, + 0.46 + ], + "heights": [ + 0.26, + 0.22, + 0.3 + ], + "bearings_deg": [ + 0, + -25, + 25 + ], + "yaw_offsets_deg": [ + 0.0 + ], + "include_current": true + }, + "station": { + "task_id": "N032", + "task_version": "EXT60-MobileAvatar-v3", + "family_id": "puzzle_completion", + "primary_category": "C2", + "stage": "full", + "layout": { + "floor_z": 0.03, + "start": { + "x": -3.4, + "y": -2.2, + "yaw_deg": 40.0, + "radius": 0.3, + "yaw_spread_deg": 20.0 + }, + "stations": { + "A": { + "center": [ + -0.5968185000774023, + 0.025418573902369523 + ], + "facing_deg": 82.32235854479494, + "standoff": 0.7, + "table": { + "width": 0.9, + "depth": 0.5, + "height": 0.3 + } + }, + "B": { + "center": [ + 2.0939426170169484, + 2.9789223554795106 + ], + "facing_deg": 87.11716172477517, + "standoff": 0.7, + "table": { + "width": 0.9, + "depth": 0.5, + "height": 0.3 + } + } + } + }, + "route": [ + "A", + "B", + "A" + ], + "puzzle": { + "target": "tile", + "candidates": [ + "cand_O" + ], + "board": { + "across": 0.0, + "along": -0.12 + } + }, + "dr": { + "enabled": true, + "stations": { + "center_m": 0.25, + "facing_deg": 8.0 + }, + "objects": { + "across_m": 0.025, + "along_m": 0.02, + "yaw_deg": 8.0 + } + }, + "place_check": { + "tile": { + "at": { + "station": "A", + "across": 0.0, + "along": -0.145, + "z": 0.004 + }, + "yaw_deg": 0.0, + "clearance": 0.004 + } + }, + "success": { + "pos_tol": 0.012, + "yaw_deg": 6.0, + "upright_deg": 8.0, + "rest_z_tol": 0.006, + "max_penetration": 0.003, + "release_dist": 0.15, + "rest_speed": 0.03, + "lift": 0.08 + }, + "objects": { + "board_0": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.25, + 0.04, + 0.02 + ], + "at": { + "station": "A", + "across": 0.0, + "along": -0.2, + "z": 0.01 + }, + "color": [ + 0.55, + 0.55, + 0.58 + ], + "pos": [ + -0.6235383928037583, + -0.1727885080414703, + 0.33999999999999997 + ], + "yaw_deg": -7.6776414552050625 + }, + "board_1": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.25, + 0.04, + 0.02 + ], + "at": { + "station": "A", + "across": 0.0, + "along": -0.04, + "z": 0.01 + }, + "color": [ + 0.55, + 0.55, + 0.58 + ], + "pos": [ + -0.6021624786226736, + -0.014222842486398438, + 0.33999999999999997 + ], + "yaw_deg": -7.6776414552050625 + }, + "board_2": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.04, + 0.1, + 0.02 + ], + "at": { + "station": "A", + "across": -0.105, + "along": -0.12, + "z": 0.01 + }, + "color": [ + 0.55, + 0.55, + 0.58 + ], + "pos": [ + -0.7169091537337319, + -0.07947773158259744, + 0.33999999999999997 + ], + "yaw_deg": -7.6776414552050625 + }, + "board_3": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.04, + 0.1, + 0.02 + ], + "at": { + "station": "A", + "across": 0.105, + "along": -0.12, + "z": 0.01 + }, + "color": [ + 0.55, + 0.55, + 0.58 + ], + "pos": [ + -0.5087917176927, + -0.10753361894527128, + 0.33999999999999997 + ], + "yaw_deg": -7.6776414552050625 + }, + "board_4": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.09, + 0.04, + 0.02 + ], + "at": { + "station": "A", + "across": -0.03, + "along": -0.09, + "z": 0.01 + }, + "color": [ + 0.55, + 0.55, + 0.58 + ], + "pos": [ + -0.6385735140958385, + -0.059766629063404984, + 0.33999999999999997 + ], + "yaw_deg": -7.6776414552050625 + }, + "picture": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.25, + 0.008, + 0.2 + ], + "at": { + "station": "A", + "across": 0.0, + "along": 0.2, + "z": 0.1 + }, + "color": [ + 0.55, + 0.55, + 0.58 + ], + "pos": [ + -0.5700986073510463, + 0.22362565584620933, + 0.42999999999999994 + ], + "yaw_deg": -7.6776414552050625 + }, + "picture_bar": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.15, + 0.002, + 0.05 + ], + "at": { + "station": "A", + "across": 0.0, + "along": 0.195, + "z": 0.075 + }, + "color": [ + 0.1, + 0.6, + 0.6 + ], + "collision": false, + "pos": [ + -0.5707666046692053, + 0.21867047879761334, + 0.40499999999999997 + ], + "yaw_deg": -7.6776414552050625 + }, + "picture_cap": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.05, + 0.002, + 0.05 + ], + "at": { + "station": "A", + "across": 0.05, + "along": 0.195, + "z": 0.125 + }, + "color": [ + 0.1, + 0.6, + 0.6 + ], + "collision": false, + "pos": [ + -0.5212148341832453, + 0.21199050561602434, + 0.45499999999999996 + ], + "yaw_deg": -7.6776414552050625 + }, + "tile": { + "jitter": true, + "catalog": "tile_L", + "type": "rigid", + "at": { + "station": "B", + "across": 0.22795940439723528, + "along": -0.11797042681309698, + "z": 0.001 + }, + "yaw_deg": -0.6862575921938454, + "friction": { + "static": 1.5, + "dynamic": 1.5 + }, + "asset": "$MAGICSIM_ASSETS/Object/MMB_A07/tile_L/Object.usda", + "parts": [ + { + "name": "body0", + "center": [ + 0.0, + 0.0, + 0.01 + ], + "half": [ + 0.07500000000000001, + 0.025, + 0.01 + ], + "rpy_deg": [ + 0.0, + 0.0, + 0.0 + ] + }, + { + "name": "body1", + "center": [ + 0.05, + 0.05, + 0.01 + ], + "half": [ + 0.025, + 0.025, + 0.01 + ], + "rpy_deg": [ + 0.0, + 0.0, + 0.0 + ] + }, + { + "name": "knob", + "center": [ + 0.0, + 0.0, + 0.042499999999999996 + ], + "half": [ + 0.018, + 0.018, + 0.0225 + ], + "rpy_deg": [ + 0.0, + 0.0, + 0.0 + ] + } + ], + "mass": 0.06, + "com": [ + 0.0125, + 0.0125, + 0.01 + ], + "grasp": { + "part": "knob", + "thin_axis": 0, + "min_elevation_deg": 40.0, + "inset": 0.006, + "min_overlap_x": 0.016 + }, + "pos": [ + 2.3156803509295365, + 2.8496362811523936, + 0.33099999999999996 + ] + }, + "cand_O": { + "jitter": true, + "catalog": "tile_O", + "type": "rigid", + "at": { + "station": "B", + "across": -0.19420032595536543, + "along": -0.1255903338682264, + "z": 0.001 + }, + "yaw_deg": -4.04939988074449, + "friction": { + "static": 1.5, + "dynamic": 1.5 + }, + "asset": "$MAGICSIM_ASSETS/Object/MMB_A07/tile_O/Object.usda", + "parts": [ + { + "name": "body0", + "center": [ + 0.025, + 0.0, + 0.01 + ], + "half": [ + 0.05, + 0.025, + 0.01 + ], + "rpy_deg": [ + 0.0, + 0.0, + 0.0 + ] + }, + { + "name": "body1", + "center": [ + 0.025, + 0.05, + 0.01 + ], + "half": [ + 0.05, + 0.025, + 0.01 + ], + "rpy_deg": [ + 0.0, + 0.0, + 0.0 + ] + }, + { + "name": "knob", + "center": [ + 0.025, + 0.025, + 0.042499999999999996 + ], + "half": [ + 0.018, + 0.018, + 0.0225 + ], + "rpy_deg": [ + 0.0, + 0.0, + 0.0 + ] + } + ], + "mass": 0.06, + "com": [ + 0.025, + 0.025, + 0.01 + ], + "grasp": { + "part": "knob", + "thin_axis": 0, + "min_elevation_deg": 40.0, + "inset": 0.006, + "min_overlap_x": 0.016 + }, + "pos": [ + 1.8936716438672072, + 2.8632580313516343, + 0.33099999999999996 + ] + } + }, + "planner_seeds": "lean", + "report_jsonl": "/mnt/scratch/xc536_atomic/n032_go2_on_2018/out/report.episodes.jsonl", + "dr_applied": true, + "level": "easy" + }, + "command": { + "StationPuzzle": { + "obj_type": "rigid", + "obj_name": "tile", + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.05, + "settle_ticks": 120 + } + } + }, + "collect": { + "global_planner": { + "NavTo": { + "use_navmesh": true, + "use_absolute": true, + "translation_threshold": 0.2, + "rotation_threshold": 0.15, + "num_path_segments": 30, + "start_forward_offset": 0.0, + "visualize_path": false, + "carry_arm": true + }, + "RetractMoveL": { + "translation_threshold": 0.06, + "rotation_threshold": 0.3, + "motiongen_distance_threshold": 0.05, + "timeout_steps": 2000, + "base_pos_threshold": 0.12, + "base_rot_threshold": 0.5, + "eef_pos_threshold": 0.03, + "eef_rot_threshold": 0.3, + "base_waypoint_max_steps": 20, + "arm_waypoint_max_steps": 8 + }, + "MobileMoveL": { + "translation_threshold": 0.006, + "rotation_threshold": 0.2, + "motiongen_distance_threshold": 0.05, + "timeout_steps": 1500, + "stall_release_ticks": 100, + "stall_release_factor": 5.0, + "reactive": false, + "base_pos_threshold": 0.12, + "base_rot_threshold": 0.5, + "eef_pos_threshold": 0.03, + "eef_rot_threshold": 0.3, + "waypoint_max_steps": 8, + "interp_steps": 60, + "interp_validate_target": true, + "retry_mobile_on_locked_plan_failure": true + }, + "MobileServoL": { + "base_pos_threshold": 0.12, + "waypoint_max_steps": 20, + "translation_threshold": 0.05, + "timeout_steps": 300 + }, + "ParallelGripper": { + "gripper_threshold": 0.0005, + "timeout_steps": 60 + } + }, + "atomic_skill": { + "NavToPose": { + "robot_id": 0, + "show_marker": false + }, + "Move": { + "arm_planner": "MobileMoveL", + "hand_planner": "ParallelGripper", + "obstacle_avoid_paths": [], + "obstacle_ignore_paths": [], + "close_value": 1.0, + "open_value": 0.0, + "hold_steps": 10 + }, + "ReachStance": { + "check_current_first": true, + "stance_margin": 0.03, + "max_reach": 0.85, + "max_walks": 4, + "reject_radius": 0.05, + "obstacle_avoidance": [ + "dynamic" + ], + "walk_planner": "MobileServoL", + "strategy_kwargs": { + "reach_steps": 2 + }, + "debug": false + }, + "Grasp": { + "pre_grasp_offset": 0.1, + "retrieval_offset": 0.1, + "mobile": true, + "pre_grasp_planner": "MobileMoveL", + "pre_grasp_mode": -1, + "grasp_mode": 4, + "retrieval_mode": 4, + "goalset_lock_base": true, + "reactive": false, + "viz_grasp": false + } + }, + "command": { + "StationPuzzle": { + "obj_type": "rigid", + "obj_name": "tile", + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.05, + "settle_ticks": 120 + } + }, + "auto_collect": {}, + "record": { + "output_dir": "/mnt/scratch/xc536_atomic/n032_go2_on_2018/out/rec", + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "json_round": null, + "schema": { + "source": "robot_manager", + "nan_policy": "from_raw" + }, + "lerobot": { + "subsample_every": 2 + } + } + }, + "visual_dr": { + "keep": [ + "tile", + "cand_O", + "cand_J", + "picture_bar", + "picture_cap" + ] + } + }, + "git_sha": null, + "collect_runtime": { + "max_trajectories": 1 + } +} \ No newline at end of file diff --git a/N032/go2_arm/dr_on/seed_2018/rec/stationpuzzle/000/sim_info/0/actions.npz b/N032/go2_arm/dr_on/seed_2018/rec/stationpuzzle/000/sim_info/0/actions.npz new file mode 100644 index 0000000000000000000000000000000000000000..6806c71aac41899180847eeab2e52d22d03e91b3 --- /dev/null +++ b/N032/go2_arm/dr_on/seed_2018/rec/stationpuzzle/000/sim_info/0/actions.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:711f3cb77a2080c71e4767aa32dc520cc5a1da32b9e240364ed6111a3cd0f46b +size 1014706 diff --git a/N032/go2_arm/dr_on/seed_2018/rec/stationpuzzle/000/sim_info/0/device_commands.jsonl b/N032/go2_arm/dr_on/seed_2018/rec/stationpuzzle/000/sim_info/0/device_commands.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N032/go2_arm/dr_on/seed_2018/rec/stationpuzzle/000/sim_info/0/device_events.jsonl b/N032/go2_arm/dr_on/seed_2018/rec/stationpuzzle/000/sim_info/0/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N032/go2_arm/dr_on/seed_2018/rec/stationpuzzle/000/sim_info/0/scene_snapshot.json b/N032/go2_arm/dr_on/seed_2018/rec/stationpuzzle/000/sim_info/0/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..fc4207e04a10c7f72a76fcd64f4e3123a740ac02 --- /dev/null +++ b/N032/go2_arm/dr_on/seed_2018/rec/stationpuzzle/000/sim_info/0/scene_snapshot.json @@ -0,0 +1,773 @@ +{ + "trajectory_id": 0, + "env_id": 0, + "run_id": "stationpuzzle/000", + "task_type": "PuzzleCommand", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])", + "avatars": "avatar_manager.set_avatars_state(snapshot['avatars'], env_ids=[env_id]) (present when the scene has animated avatars)" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "table_A": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.5968185000774023, + 0.025418573902369523, + 0.18 + ], + "ori": [ + 0.9977563619613647, + 0.0, + 0.0, + -0.06694994866847992 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.45, + 0.35 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + } + }, + "type_specific": {} + } + ], + "table_B": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 2.0939426170169484, + 2.9789223554795106, + 0.18 + ], + "ori": [ + 0.9996835589408875, + 0.0, + 0.0, + -0.025154856964945793 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.45, + 0.35 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + } + }, + "type_specific": {} + } + ], + "board_0": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.6235383928037583, + -0.1727885080414703, + 0.33999999999999997 + ], + "ori": [ + 0.9977563619613647, + 0.0, + 0.0, + -0.06694994866847992 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.55, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.25, + 0.04, + 0.02 + ] + } + }, + "type_specific": {} + } + ], + "board_1": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.6021624786226736, + -0.014222842486398438, + 0.33999999999999997 + ], + "ori": [ + 0.9977563619613647, + 0.0, + 0.0, + -0.06694994866847992 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.55, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.25, + 0.04, + 0.02 + ] + } + }, + "type_specific": {} + } + ], + "board_2": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.7169091537337319, + -0.07947773158259744, + 0.33999999999999997 + ], + "ori": [ + 0.9977563619613647, + 0.0, + 0.0, + -0.06694994866847992 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.55, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.04, + 0.1, + 0.02 + ] + } + }, + "type_specific": {} + } + ], + "board_3": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.5087917176927, + -0.10753361894527128, + 0.33999999999999997 + ], + "ori": [ + 0.9977563619613647, + 0.0, + 0.0, + -0.06694994866847992 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.55, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.04, + 0.1, + 0.02 + ] + } + }, + "type_specific": {} + } + ], + "board_4": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.6385735140958385, + -0.059766629063404984, + 0.33999999999999997 + ], + "ori": [ + 0.9977563619613647, + 0.0, + 0.0, + -0.06694994866847992 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.55, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.09, + 0.04, + 0.02 + ] + } + }, + "type_specific": {} + } + ], + "picture": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.5700986073510463, + 0.22362565584620933, + 0.42999999999999994 + ], + "ori": [ + 0.9977563619613647, + 0.0, + 0.0, + -0.06694994866847992 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.55, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.25, + 0.008, + 0.2 + ] + } + }, + "type_specific": {} + } + ], + "picture_bar": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.5707666046692053, + 0.21867047879761334, + 0.40499999999999997 + ], + "ori": [ + 0.9977563619613647, + 0.0, + 0.0, + -0.06694994866847992 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.1, + 0.6, + 0.6 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.15, + 0.002, + 0.05 + ] + } + }, + "type_specific": {} + } + ], + "picture_cap": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.5212148341832453, + 0.21199050561602434, + 0.45499999999999996 + ], + "ori": [ + 0.9977563619613647, + 0.0, + 0.0, + -0.06694994866847992 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.1, + 0.6, + 0.6 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.05, + 0.002, + 0.05 + ] + } + }, + "type_specific": {} + } + ], + "tile": [ + { + "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MMB_A07/tile_L/Object.usda", + "pose": { + "pos": [ + 2.3156802654266357, + 2.8496363162994385, + 0.33000001311302185 + ], + "ori": [ + 0.9999820590019226, + 2.0745210349559784e-07, + -7.636845111846924e-08, + -0.005990160163491964 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.06, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.699071385199204e-05, + 7.142131653381512e-05, + -7.967967576405499e-06 + ], + "angular_velocity": [ + -0.0011845926055684686, + -0.0010701027931645513, + -0.0007801930187270045 + ] + } + } + ], + "cand_O": [ + { + "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MMB_A07/tile_O/Object.usda", + "pose": { + "pos": [ + 1.8936716318130493, + 2.863258123397827, + 0.32999998331069946 + ], + "ori": [ + 0.9993756413459778, + -2.112952302013582e-07, + 1.2199039645111043e-07, + -0.035329606384038925 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.06, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.2227516208440647e-06, + 8.171326953743119e-06, + -7.534782184848154e-07 + ], + "angular_velocity": [ + -0.00016115992912091315, + -2.953076000267174e-05, + 2.8232736440259032e-05 + ] + } + } + ] + } + ], + "artifacts": [ + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1000.0, + "texture": null, + "color": [ + 0.85, + 0.85, + 0.85 + ] + } + } + }, + "robots": { + "Go2Plus": { + "root_pose": [ + [ + -3.1799674034118652, + -2.081770896911621, + 0.35280314087867737, + 0.9217514395713806, + 0.002739105373620987, + -0.003461882472038269, + 0.38775601983070374 + ] + ], + "root_vel": [ + [ + -0.004454310983419418, + -0.004834234714508057, + -0.0007041710778139532, + -0.006723165977746248, + 0.008180529810488224, + 0.0037298554088920355 + ] + ], + "joint_pos": [ + [ + 0.03240816667675972, + -0.024937480688095093, + -0.0978018045425415, + 0.08384255319833755, + -2.0900082745356485e-05, + 0.6710785031318665, + 0.7328522801399231, + 0.9681193828582764, + 0.9711979627609253, + 1.7056190967559814, + -1.5383912324905396, + -1.55576491355896, + -1.6197296380996704, + -1.6151673793792725, + -0.9955907464027405, + 1.5395575246657245e-05, + 0.6994322538375854, + -3.4956217405124335e-06, + 0.034999992698431015, + -0.03499887138605118 + ] + ], + "joint_vel": [ + [ + -0.003352006897330284, + -0.003026248887181282, + 0.0028730432968586683, + 0.001224920037202537, + 0.0005060398834757507, + -0.02562997303903103, + -0.021994780749082565, + -0.03728274255990982, + -0.03130165487527847, + -0.03617512807250023, + -0.015570336952805519, + -0.015840234234929085, + 0.004549802280962467, + 0.0016118441708385944, + -0.027308227494359016, + -0.00016282348951790482, + 0.011978019960224628, + 0.0001833987917052582, + 2.0628147012757836e-07, + -3.676712731248699e-05 + ] + ] + } + }, + "cameras": { + "cameras": { + "head": [ + [ + 0.33205100893974304, + 0.038026999682188034, + 0.09355899691581726, + -0.5022302269935608, + -0.499491810798645, + 0.5120040774345398, + 0.4859265089035034 + ] + ], + "wrist": [ + [ + -0.0749870017170906, + 0.005288999993354082, + 0.04582099989056587, + 0.1271296590566635, + 0.701795220375061, + -0.6904057860374451, + -0.12108422070741653 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/N032/go2_arm/dr_on/seed_2018/rec/stationpuzzle/000/sim_info/0/sim_states.npz b/N032/go2_arm/dr_on/seed_2018/rec/stationpuzzle/000/sim_info/0/sim_states.npz new file mode 100644 index 0000000000000000000000000000000000000000..6ec924608155d69b95a2a17c2c63532ca0302d8a --- /dev/null +++ b/N032/go2_arm/dr_on/seed_2018/rec/stationpuzzle/000/sim_info/0/sim_states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:29d0a1601e9b29d36c4f3e3b985eba8cd153b5aa66d2220a603cdcfb0edd2d85 +size 835080 diff --git a/N032/go2_arm/dr_on/seed_2018/rec/stationpuzzle/000/sim_info/magicsim_manifest.json b/N032/go2_arm/dr_on/seed_2018/rec/stationpuzzle/000/sim_info/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..d123bafe3ea6435db4b62bed9c20c6056b4b35cf --- /dev/null +++ b/N032/go2_arm/dr_on/seed_2018/rec/stationpuzzle/000/sim_info/magicsim_manifest.json @@ -0,0 +1,259 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 03:15:51" + }, + "embodiment": { + "robots": [ + { + "name": "Go2Plus", + "cfg": "Go2PlusCfg", + "type": "mobilemanip", + "joint_names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 12, + "nan_policy": "from_raw", + "segments": [ + { + "name": "Go2Plus.base_action", + "start": 0, + "end": 4, + "names": [ + "base_action_0", + "base_action_1", + "base_action_2", + "base_action_3" + ], + "source": "Go2UnifiedLocomotionAction", + "names_source": "fallback" + }, + { + "name": "Go2Plus.arm_action", + "start": 4, + "end": 11, + "names": [ + "eef0.pos_x", + "eef0.pos_y", + "eef0.pos_z", + "eef0.quat_w", + "eef0.quat_x", + "eef0.quat_y", + "eef0.quat_z" + ], + "source": "Go2PlusCuroboIKAction", + "names_source": "pose_layout" + }, + { + "name": "Go2Plus.eef_action", + "start": 11, + "end": 12, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 26, + "segments": [ + { + "name": "Go2Plus.joint_pos", + "start": 0, + "end": 24, + "names": [ + "joint_0", + "joint_1", + "joint_2", + "joint_3", + "joint_4", + "joint_5", + "joint_6", + "joint_7", + "joint_8", + "joint_9", + "joint_10", + "joint_11", + "joint_12", + "joint_13", + "joint_14", + "joint_15", + "joint_16", + "joint_17", + "joint_18", + "joint_19", + "joint_20", + "joint_21", + "joint_22", + "joint_23" + ], + "source": "ObservationManager", + "names_source": "fallback_dim_mismatch(joint_names=20,obs=24)" + }, + { + "name": "Go2Plus.gripper_pos", + "start": 24, + "end": 26, + "names": [ + "gripper_0", + "gripper_1" + ], + "source": "ObservationManager", + "names_source": "generated" + } + ] + }, + "joint_vel_layout": { + "dim": 20, + "segments": [ + { + "name": "Go2Plus.joint_vel", + "start": 0, + "end": 20, + "names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "action_levels": { + "L0": "task command list (collect.auto_collect_info.current_action)", + "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)", + "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)", + "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy", + "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)" + }, + "cameras": { + "head": { + "intrinsics": { + "K": [ + [ + 607.7061061683956, + 0.0, + 320.0 + ], + [ + 0.0, + 607.3754374751866, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 55.53991912549515, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.33205100893974304, + 0.038026999682188034, + 0.09355899691581726 + ], + "quat": [ + -0.5022302269935608, + -0.499491810798645, + 0.5120040774345398, + 0.4859265089035034 + ] + }, + "wrist": { + "intrinsics": { + "K": [ + [ + 617.2500342478374, + 0.0, + 320.0 + ], + [ + 0.0, + 617.548655622722, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 54.807019583348044, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + -0.0749870017170906, + 0.005288999993354082, + 0.04582099989056587 + ], + "quat": [ + 0.1271296590566635, + 0.701795220375061, + -0.6904057860374451, + -0.12108422070741653 + ] + } + }, + "generated_run": { + "run_id": "stationpuzzle/000", + "task_type": "PuzzleCommand" + } +} \ No newline at end of file diff --git a/N032/go2_arm/dr_on/seed_2018/rec/stationpuzzle/000/visual_dr.json b/N032/go2_arm/dr_on/seed_2018/rec/stationpuzzle/000/visual_dr.json new file mode 100644 index 0000000000000000000000000000000000000000..8395288b30097151ee7f6d7bd3d5b2aefa2c806d --- /dev/null +++ b/N032/go2_arm/dr_on/seed_2018/rec/stationpuzzle/000/visual_dr.json @@ -0,0 +1,684 @@ +{ + "version": 1, + "settings": { + "enabled": false, + "keep": [ + "tile", + "cand_O", + "cand_J", + "picture_bar", + "picture_cap" + ], + "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": 2018, + "seeds": { + "0": 2018 + }, + "lights": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/RectLight", + "type": "RectLight", + "intensity": 17134.264624, + "intensity_base": 15000.0, + "enable_color_temperature": true, + "color_temperature_k": 6469.04287, + "rotate_deg": [ + -3.11, + -0.083, + -3.719 + ] + } + ], + "domes": [ + { + "path": "/World/background", + "type": "DomeLight", + "intensity": 956.863851, + "intensity_base": 1000.0, + "enable_color_temperature": true, + "color_temperature_k": 6483.310318, + "rotate_deg": [ + 0.0, + 0.0, + 333.435 + ], + "dome": { + "path": "/World/background", + "hdr_base": null, + "color": [ + 0.65297, + 0.74681, + 0.765935 + ] + } + } + ], + "materials": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light", + "shader": "omnipbr", + "color": [ + 0.7015, + 0.8239, + 0.7988 + ], + "color_base": [ + 1.0, + 1.0, + 1.0 + ], + "roughness": 0.548602, + "roughness_base": 0.5, + "bound_prims": 1 + } + ], + "display_colors": [], + "swapped": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/ParquetFloor", + "role": "ground", + "mdl": "Ground/Fabric_Carpet_Long_Floor.mdl", + "material": "/MmbVdrLooks/Ground_Fabric_Carpet_Long_Floor", + "bound_prims": 1, + "pool_size": 42, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic", + "role": "wall", + "mdl": "Source/Paint/Chalk_Paint.mdl", + "material": "/MmbVdrLooks/Source_Paint_Chalk_Paint", + "bound_prims": 17, + "pool_size": 28, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic2", + "role": "wall", + "mdl": "Source/Masonry/Facade_Brick_Grey.mdl", + "material": "/MmbVdrLooks/Source_Masonry_Facade_Brick_Grey", + "bound_prims": 22, + "pool_size": 28, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WoodWall", + "role": "wall", + "mdl": "Source/Masonry/Sandstone_Brick_Vintage.mdl", + "material": "/MmbVdrLooks/Source_Masonry_Sandstone_Brick_Vintage", + "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": { + "tile": 3, + "cand_O": 3, + "cand_J": 0, + "picture_bar": 1, + "picture_cap": 1 + }, + "physics_skip": { + "physics_binding": 16, + "rigid_body": 222, + "examples": [ + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calf_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calf_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calf_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calflower_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calflower1_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_foot_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_foot_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_hip/go2_FL_hip_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_hip/go2_FL_hip_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_hip/go2_FL_hip_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_thigh/go2_FL_thigh_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_thigh/go2_FL_thigh_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_thigh/go2_FL_thigh_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calf_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calf_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calf_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calflower_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calflower1_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_foot_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_foot_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_hip/go2_FR_hip_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_hip/go2_FR_hip_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_hip/go2_FR_hip_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_thigh/go2_FR_thigh_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_thigh/go2_FR_thigh_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_thigh/go2_FR_thigh_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calf_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calf_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calf_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calflower_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calflower1_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_foot_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_foot_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_hip/go2_RL_hip_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_hip/go2_RL_hip_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_hip/go2_RL_hip_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_thigh/go2_RL_thigh_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_thigh/go2_RL_thigh_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_thigh/go2_RL_thigh_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RR_calf/go2_RR_calf_geometry/visual_0", + "rigid_body" + ] + ] + }, + "material_library": { + "root": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Material", + "pool_sizes": { + "ground": 42, + "wall": 28, + "furniture": 38, + "object": 54 + } + }, + "no_swap": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass", + "reason": "glass", + "bound_prims": 1 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light", + "reason": "emissive", + "bound_prims": 1 + } + ], + "unsupported": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass", + "mdl": "OmniGlass.mdl", + "bound_prims": 1 + } + ] + }, + { + "env_ids": [ + 0 + ], + "reset_index": 1, + "episode_seed": 2019, + "seeds": { + "0": 2019 + }, + "lights": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/RectLight", + "type": "RectLight", + "intensity": 14748.784183, + "intensity_base": 15000.0, + "enable_color_temperature": true, + "color_temperature_k": 3866.643425, + "rotate_deg": [ + -2.787, + 0.439, + -4.694 + ] + } + ], + "domes": [ + { + "path": "/World/background", + "type": "DomeLight", + "intensity": 842.811294, + "intensity_base": 1000.0, + "enable_color_temperature": true, + "color_temperature_k": 5320.844168, + "rotate_deg": [ + 0.0, + 0.0, + 13.238 + ], + "dome": { + "path": "/World/background", + "hdr_base": null, + "hdr": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Background/champagne_castle_1_4k.hdr", + "color": [ + 0.83232, + 0.732615, + 0.788205 + ] + } + } + ], + "materials": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light", + "shader": "omnipbr", + "color": [ + 0.7559, + 0.9461, + 0.8032 + ], + "color_base": [ + 1.0, + 1.0, + 1.0 + ], + "roughness": 0.431598, + "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/Wood/Wood_Tiles_Pine.mdl", + "material": "/MmbVdrLooks/Source_Wood_Wood_Tiles_Pine", + "bound_prims": 1, + "pool_size": 42, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic", + "role": "wall", + "mdl": "Source/Paint/Chalk_Paint.mdl", + "material": "/MmbVdrLooks/Source_Paint_Chalk_Paint", + "bound_prims": 17, + "pool_size": 28, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic2", + "role": "wall", + "mdl": "Source/Paint/Paint_Gun_Metal.mdl", + "material": "/MmbVdrLooks/Source_Paint_Paint_Gun_Metal", + "bound_prims": 22, + "pool_size": 28, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WoodWall", + "role": "wall", + "mdl": "Source/Stone/Ardesia_Grigia.mdl", + "material": "/MmbVdrLooks/Source_Stone_Ardesia_Grigia", + "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": { + "tile": 3, + "cand_O": 3, + "cand_J": 0, + "picture_bar": 1, + "picture_cap": 1 + }, + "physics_skip": { + "physics_binding": 16, + "rigid_body": 222, + "examples": [ + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calf_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calf_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calf_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calflower_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calflower1_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_foot_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_foot_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_hip/go2_FL_hip_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_hip/go2_FL_hip_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_hip/go2_FL_hip_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_thigh/go2_FL_thigh_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_thigh/go2_FL_thigh_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_thigh/go2_FL_thigh_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calf_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calf_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calf_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calflower_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calflower1_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_foot_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_foot_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_hip/go2_FR_hip_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_hip/go2_FR_hip_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_hip/go2_FR_hip_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_thigh/go2_FR_thigh_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_thigh/go2_FR_thigh_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_thigh/go2_FR_thigh_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calf_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calf_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calf_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calflower_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calflower1_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_foot_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_foot_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_hip/go2_RL_hip_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_hip/go2_RL_hip_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_hip/go2_RL_hip_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_thigh/go2_RL_thigh_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_thigh/go2_RL_thigh_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_thigh/go2_RL_thigh_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RR_calf/go2_RR_calf_geometry/visual_0", + "rigid_body" + ] + ] + }, + "material_library": { + "root": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Material", + "pool_sizes": { + "ground": 42, + "wall": 28, + "furniture": 38, + "object": 54 + } + }, + "no_swap": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass", + "reason": "glass", + "bound_prims": 1 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light", + "reason": "emissive", + "bound_prims": 1 + } + ], + "unsupported": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass", + "mdl": "OmniGlass.mdl", + "bound_prims": 1 + } + ] + } + ] +} \ No newline at end of file diff --git a/N032/go2_arm/dr_on/seed_2018/report.episodes.jsonl b/N032/go2_arm/dr_on/seed_2018/report.episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..48354a88d80c658383f08503eaa6f49c6132ca1b --- /dev/null +++ b/N032/go2_arm/dr_on/seed_2018/report.episodes.jsonl @@ -0,0 +1 @@ +{"task_id": "N032", "task_version": "EXT60-MobileAvatar-v3", "instruction": null, "agent_id": "a07", "family_id": "puzzle_completion", "primary_category": "C2", "level": "easy", "embodiment": "go2_arm", "scene_seed": 2018, "execution_mode": "expert_privileged_command", "station_layout": {"A": {"center": [-0.5968185000774023, 0.025418573902369523], "facing": 1.437, "stand": [-0.724, -0.916, 1.437]}, "B": {"center": [2.0939426170169484, 2.9789223554795106], "facing": 1.52, "stand": [2.046, 2.03, 1.52]}}, "spawn_pose": [-3.164, -2.068, 0.785], "base_path": [[-3.164, -2.068, 0.785], [-3.168, -2.07, 0.794], [-3.173, -2.075, 0.795], [-3.177, -2.079, 0.796], [-3.18, -2.082, 0.796], [-3.118, -2.046, 0.727], [-3.008, -1.98, 0.498], [-2.857, -1.919, 0.401], [-2.698, -1.859, 0.403], [-2.54, -1.792, 0.412], [-2.385, -1.721, 0.416], [-2.229, -1.65, 0.42], [-2.071, -1.578, 0.421], [-1.915, -1.508, 0.422], [-1.76, -1.437, 0.418], [-1.603, -1.366, 0.417], [-1.448, -1.294, 0.42], [-1.293, -1.222, 0.421], [-1.136, -1.151, 0.422], [-0.986, -1.081, 0.419], [-0.874, -1.024, 0.418], [-0.826, -1.005, 0.499], [-0.818, -1.001, 0.856], [-0.815, -1.002, 1.259], [-0.812, -1.004, 1.637], [-0.81, -1.009, 1.782], [-0.817, -1.013, 1.465], [-0.821, -1.015, 1.041], [-0.808, -0.995, 0.635], [-0.697, -0.933, 0.468], [-0.547, -0.861, 0.477], [-0.397, -0.776, 0.505], [-0.251, -0.688, 0.513], [-0.103, -0.603, 0.511], [0.045, -0.517, 0.512], [0.193, -0.431, 0.514], [0.342, -0.345, 0.515], [0.491, -0.26, 0.514], [0.639, -0.174, 0.511], [0.777, -0.072, 0.51], [0.906, 0.048, 0.559], [1.031, 0.162, 0.828], [1.127, 0.3, 0.993], [1.211, 0.451, 1.0], [1.301, 0.596, 0.985], [1.395, 0.738, 0.979], [1.492, 0.882, 0.979], [1.588, 1.025, 0.979], [1.683, 1.167, 0.976], [1.778, 1.31, 0.975], [1.874, 1.454, 0.98], [1.969, 1.597, 0.978], [2.065, 1.739, 0.98], [2.147, 1.857, 0.979], [2.194, 1.927, 1.051], [2.196, 1.945, 1.384], [2.197, 1.943, 1.726], [2.202, 1.937, 1.836], [2.213, 1.936, 1.7], [2.215, 1.962, 1.586], [2.213, 2.061, 1.495], [2.226, 2.172, 1.462], [2.236, 2.28, 1.457], [2.238, 2.301, 1.455], [2.235, 2.283, 1.448], [2.236, 2.288, 1.448], [2.236, 2.288, 1.447], [2.231, 2.289, 1.441], [2.234, 2.291, 1.443], [2.236, 2.287, 1.446], [2.237, 2.281, 1.452], [2.238, 2.275, 1.456], [2.237, 2.274, 1.456], [2.237, 2.273, 1.457], [2.238, 2.271, 1.456], [2.237, 2.266, 1.454], [2.236, 2.266, 1.455], [2.237, 2.269, 1.456], [2.237, 2.271, 1.456], [2.239, 2.268, 1.555], [2.236, 2.261, 1.905], [2.241, 2.259, 2.316], [2.246, 2.26, 2.736], [2.25, 2.264, -3.13], [2.252, 2.27, -2.716], [2.227, 2.254, -2.337], [2.162, 2.173, -2.197], [2.098, 2.084, -2.218], [2.027, 1.995, -2.244], [1.951, 1.9, -2.254], [1.877, 1.806, -2.252], [1.808, 1.72, -2.25], [1.735, 1.627, -2.25], [1.659, 1.535, -2.249], [1.585, 1.444, -2.245], [1.511, 1.348, -2.246], [1.434, 1.249, -2.247], [1.362, 1.153, -2.25], [1.286, 1.058, -2.252], [1.215, 0.969, -2.254], [1.147, 0.883, -2.252], [1.076, 0.792, -2.249], [0.999, 0.698, -2.247], [0.922, 0.602, -2.248], [0.842, 0.505, -2.246], [0.769, 0.409, -2.248], [0.699, 0.321, -2.249], [0.628, 0.227, -2.25], [0.557, 0.137, -2.251], [0.483, 0.044, -2.251], [0.407, -0.05, -2.251], [0.332, -0.145, -2.251], [0.262, -0.232, -2.25], [0.187, -0.328, -2.248], [0.112, -0.419, -2.25], [0.027, -0.502, -2.247], [-0.097, -0.57, -2.304], [-0.236, -0.642, -2.626], [-0.378, -0.678, -2.92], [-0.505, -0.684, -2.973], [-0.579, -0.691, -3.025], [-0.584, -0.69, 2.914], [-0.584, -0.694, 2.495], [-0.583, -0.701, 2.068], [-0.587, -0.703, 1.641], [-0.584, -0.697, 1.378], [-0.581, -0.684, 1.379], [-0.584, -0.677, 1.41], [-0.585, -0.672, 1.415], [-0.585, -0.67, 1.415], [-0.585, -0.671, 1.414], [-0.584, -0.67, 1.414], [-0.584, -0.669, 1.415], [-0.583, -0.668, 1.415], [-0.583, -0.668, 1.415], [-0.583, -0.668, 1.415], [-0.583, -0.668, 1.415], [-0.583, -0.668, 1.415], [-0.583, -0.668, 1.415], [-0.583, -0.668, 1.414], [-0.583, -0.668, 1.414], [-0.583, -0.668, 1.414], [-0.584, -0.668, 1.414], [-0.584, -0.67, 1.415]], "stage_events": [{"tick": 423, "event": "enter_station", "station": "A", "xy": [-1.312, -1.231]}, {"tick": 991, "event": "leave_station", "station": "A", "xy": [0.855, -0.0]}, {"tick": 1266, "event": "enter_station", "station": "B", "xy": [1.931, 1.54]}, {"tick": 2313, "event": "leave_station", "station": "B", "xy": [1.697, 1.581]}, {"tick": 2618, "event": "enter_station", "station": "A", "xy": [0.792, 0.44]}], "transport_state": {"tile": {"held": false, "grasps": 1}}, "manipulation_success": true, "mobile_success": true, "full_success": true, "failure_reason": null, "fail_class_hint": null, "distance_to_first_interaction": 2.08, "interstation_path_lengths": [4.442, 3.361], "station_transition_order": ["A", "B", "A"], "final_approach_pose": [-0.584, -0.67, 1.415], "regrasp_events": 0, "control_ticks": 3180, "wall_s": 823.4, "phase": "done", "state": "success: task sequence complete", "check": {"tile": {"held": false, "dist_wrist": 0.351, "err_across": 0.0, "err_along": -0.0001, "yaw_err_deg": 0.2, "tilt_deg": 0.0, "z_err": 0.0, "overlap": false, "at_rest": true, "in_notch": true}, "released": true, "intruders": [], "manipulation_success": true}, "route": ["A", "B", "A"], "total_path_m": 11.84, "planner_seeds": "lean"} diff --git a/N032/go2_arm/dr_on/seed_2018/report.json b/N032/go2_arm/dr_on/seed_2018/report.json new file mode 100644 index 0000000000000000000000000000000000000000..db95bee2b44c6f8423639b73729310c2e35d038a --- /dev/null +++ b/N032/go2_arm/dr_on/seed_2018/report.json @@ -0,0 +1,963 @@ +{ + "task_id": "N032", + "level": "easy", + "seed": 2018, + "episodes_requested": 1, + "episodes": [ + { + "task_id": "N032", + "task_version": "EXT60-MobileAvatar-v3", + "instruction": null, + "agent_id": "a07", + "family_id": "puzzle_completion", + "primary_category": "C2", + "level": "easy", + "embodiment": "go2_arm", + "scene_seed": 2018, + "execution_mode": "expert_privileged_command", + "station_layout": { + "A": { + "center": [ + -0.5968185000774023, + 0.025418573902369523 + ], + "facing": 1.437, + "stand": [ + -0.724, + -0.916, + 1.437 + ] + }, + "B": { + "center": [ + 2.0939426170169484, + 2.9789223554795106 + ], + "facing": 1.52, + "stand": [ + 2.046, + 2.03, + 1.52 + ] + } + }, + "spawn_pose": [ + -3.164, + -2.068, + 0.785 + ], + "base_path": [ + [ + -3.164, + -2.068, + 0.785 + ], + [ + -3.168, + -2.07, + 0.794 + ], + [ + -3.173, + -2.075, + 0.795 + ], + [ + -3.177, + -2.079, + 0.796 + ], + [ + -3.18, + -2.082, + 0.796 + ], + [ + -3.118, + -2.046, + 0.727 + ], + [ + -3.008, + -1.98, + 0.498 + ], + [ + -2.857, + -1.919, + 0.401 + ], + [ + -2.698, + -1.859, + 0.403 + ], + [ + -2.54, + -1.792, + 0.412 + ], + [ + -2.385, + -1.721, + 0.416 + ], + [ + -2.229, + -1.65, + 0.42 + ], + [ + -2.071, + -1.578, + 0.421 + ], + [ + -1.915, + -1.508, + 0.422 + ], + [ + -1.76, + -1.437, + 0.418 + ], + [ + -1.603, + -1.366, + 0.417 + ], + [ + -1.448, + -1.294, + 0.42 + ], + [ + -1.293, + -1.222, + 0.421 + ], + [ + -1.136, + -1.151, + 0.422 + ], + [ + -0.986, + -1.081, + 0.419 + ], + [ + -0.874, + -1.024, + 0.418 + ], + [ + -0.826, + -1.005, + 0.499 + ], + [ + -0.818, + -1.001, + 0.856 + ], + [ + -0.815, + -1.002, + 1.259 + ], + [ + -0.812, + -1.004, + 1.637 + ], + [ + -0.81, + -1.009, + 1.782 + ], + [ + -0.817, + -1.013, + 1.465 + ], + [ + -0.821, + -1.015, + 1.041 + ], + [ + -0.808, + -0.995, + 0.635 + ], + [ + -0.697, + -0.933, + 0.468 + ], + [ + -0.547, + -0.861, + 0.477 + ], + [ + -0.397, + -0.776, + 0.505 + ], + [ + -0.251, + -0.688, + 0.513 + ], + [ + -0.103, + -0.603, + 0.511 + ], + [ + 0.045, + -0.517, + 0.512 + ], + [ + 0.193, + -0.431, + 0.514 + ], + [ + 0.342, + -0.345, + 0.515 + ], + [ + 0.491, + -0.26, + 0.514 + ], + [ + 0.639, + -0.174, + 0.511 + ], + [ + 0.777, + -0.072, + 0.51 + ], + [ + 0.906, + 0.048, + 0.559 + ], + [ + 1.031, + 0.162, + 0.828 + ], + [ + 1.127, + 0.3, + 0.993 + ], + [ + 1.211, + 0.451, + 1.0 + ], + [ + 1.301, + 0.596, + 0.985 + ], + [ + 1.395, + 0.738, + 0.979 + ], + [ + 1.492, + 0.882, + 0.979 + ], + [ + 1.588, + 1.025, + 0.979 + ], + [ + 1.683, + 1.167, + 0.976 + ], + [ + 1.778, + 1.31, + 0.975 + ], + [ + 1.874, + 1.454, + 0.98 + ], + [ + 1.969, + 1.597, + 0.978 + ], + [ + 2.065, + 1.739, + 0.98 + ], + [ + 2.147, + 1.857, + 0.979 + ], + [ + 2.194, + 1.927, + 1.051 + ], + [ + 2.196, + 1.945, + 1.384 + ], + [ + 2.197, + 1.943, + 1.726 + ], + [ + 2.202, + 1.937, + 1.836 + ], + [ + 2.213, + 1.936, + 1.7 + ], + [ + 2.215, + 1.962, + 1.586 + ], + [ + 2.213, + 2.061, + 1.495 + ], + [ + 2.226, + 2.172, + 1.462 + ], + [ + 2.236, + 2.28, + 1.457 + ], + [ + 2.238, + 2.301, + 1.455 + ], + [ + 2.235, + 2.283, + 1.448 + ], + [ + 2.236, + 2.288, + 1.448 + ], + [ + 2.236, + 2.288, + 1.447 + ], + [ + 2.231, + 2.289, + 1.441 + ], + [ + 2.234, + 2.291, + 1.443 + ], + [ + 2.236, + 2.287, + 1.446 + ], + [ + 2.237, + 2.281, + 1.452 + ], + [ + 2.238, + 2.275, + 1.456 + ], + [ + 2.237, + 2.274, + 1.456 + ], + [ + 2.237, + 2.273, + 1.457 + ], + [ + 2.238, + 2.271, + 1.456 + ], + [ + 2.237, + 2.266, + 1.454 + ], + [ + 2.236, + 2.266, + 1.455 + ], + [ + 2.237, + 2.269, + 1.456 + ], + [ + 2.237, + 2.271, + 1.456 + ], + [ + 2.239, + 2.268, + 1.555 + ], + [ + 2.236, + 2.261, + 1.905 + ], + [ + 2.241, + 2.259, + 2.316 + ], + [ + 2.246, + 2.26, + 2.736 + ], + [ + 2.25, + 2.264, + -3.13 + ], + [ + 2.252, + 2.27, + -2.716 + ], + [ + 2.227, + 2.254, + -2.337 + ], + [ + 2.162, + 2.173, + -2.197 + ], + [ + 2.098, + 2.084, + -2.218 + ], + [ + 2.027, + 1.995, + -2.244 + ], + [ + 1.951, + 1.9, + -2.254 + ], + [ + 1.877, + 1.806, + -2.252 + ], + [ + 1.808, + 1.72, + -2.25 + ], + [ + 1.735, + 1.627, + -2.25 + ], + [ + 1.659, + 1.535, + -2.249 + ], + [ + 1.585, + 1.444, + -2.245 + ], + [ + 1.511, + 1.348, + -2.246 + ], + [ + 1.434, + 1.249, + -2.247 + ], + [ + 1.362, + 1.153, + -2.25 + ], + [ + 1.286, + 1.058, + -2.252 + ], + [ + 1.215, + 0.969, + -2.254 + ], + [ + 1.147, + 0.883, + -2.252 + ], + [ + 1.076, + 0.792, + -2.249 + ], + [ + 0.999, + 0.698, + -2.247 + ], + [ + 0.922, + 0.602, + -2.248 + ], + [ + 0.842, + 0.505, + -2.246 + ], + [ + 0.769, + 0.409, + -2.248 + ], + [ + 0.699, + 0.321, + -2.249 + ], + [ + 0.628, + 0.227, + -2.25 + ], + [ + 0.557, + 0.137, + -2.251 + ], + [ + 0.483, + 0.044, + -2.251 + ], + [ + 0.407, + -0.05, + -2.251 + ], + [ + 0.332, + -0.145, + -2.251 + ], + [ + 0.262, + -0.232, + -2.25 + ], + [ + 0.187, + -0.328, + -2.248 + ], + [ + 0.112, + -0.419, + -2.25 + ], + [ + 0.027, + -0.502, + -2.247 + ], + [ + -0.097, + -0.57, + -2.304 + ], + [ + -0.236, + -0.642, + -2.626 + ], + [ + -0.378, + -0.678, + -2.92 + ], + [ + -0.505, + -0.684, + -2.973 + ], + [ + -0.579, + -0.691, + -3.025 + ], + [ + -0.584, + -0.69, + 2.914 + ], + [ + -0.584, + -0.694, + 2.495 + ], + [ + -0.583, + -0.701, + 2.068 + ], + [ + -0.587, + -0.703, + 1.641 + ], + [ + -0.584, + -0.697, + 1.378 + ], + [ + -0.581, + -0.684, + 1.379 + ], + [ + -0.584, + -0.677, + 1.41 + ], + [ + -0.585, + -0.672, + 1.415 + ], + [ + -0.585, + -0.67, + 1.415 + ], + [ + -0.585, + -0.671, + 1.414 + ], + [ + -0.584, + -0.67, + 1.414 + ], + [ + -0.584, + -0.669, + 1.415 + ], + [ + -0.583, + -0.668, + 1.415 + ], + [ + -0.583, + -0.668, + 1.415 + ], + [ + -0.583, + -0.668, + 1.415 + ], + [ + -0.583, + -0.668, + 1.415 + ], + [ + -0.583, + -0.668, + 1.415 + ], + [ + -0.583, + -0.668, + 1.415 + ], + [ + -0.583, + -0.668, + 1.414 + ], + [ + -0.583, + -0.668, + 1.414 + ], + [ + -0.583, + -0.668, + 1.414 + ], + [ + -0.584, + -0.668, + 1.414 + ], + [ + -0.584, + -0.67, + 1.415 + ] + ], + "stage_events": [ + { + "tick": 423, + "event": "enter_station", + "station": "A", + "xy": [ + -1.312, + -1.231 + ] + }, + { + "tick": 991, + "event": "leave_station", + "station": "A", + "xy": [ + 0.855, + -0.0 + ] + }, + { + "tick": 1266, + "event": "enter_station", + "station": "B", + "xy": [ + 1.931, + 1.54 + ] + }, + { + "tick": 2313, + "event": "leave_station", + "station": "B", + "xy": [ + 1.697, + 1.581 + ] + }, + { + "tick": 2618, + "event": "enter_station", + "station": "A", + "xy": [ + 0.792, + 0.44 + ] + } + ], + "transport_state": { + "tile": { + "held": false, + "grasps": 1 + } + }, + "manipulation_success": true, + "mobile_success": true, + "full_success": true, + "failure_reason": null, + "fail_class_hint": null, + "distance_to_first_interaction": 2.08, + "interstation_path_lengths": [ + 4.442, + 3.361 + ], + "station_transition_order": [ + "A", + "B", + "A" + ], + "final_approach_pose": [ + -0.584, + -0.67, + 1.415 + ], + "regrasp_events": 0, + "control_ticks": 3180, + "wall_s": 823.4, + "phase": "done", + "state": "success: task sequence complete", + "check": { + "tile": { + "held": false, + "dist_wrist": 0.351, + "err_across": 0.0, + "err_along": -0.0001, + "yaw_err_deg": 0.2, + "tilt_deg": 0.0, + "z_err": 0.0, + "overlap": false, + "at_rest": true, + "in_notch": true + }, + "released": true, + "intruders": [], + "manipulation_success": true + }, + "route": [ + "A", + "B", + "A" + ], + "total_path_m": 11.84, + "planner_seeds": "lean" + } + ], + "error": null, + "collect": { + "task": "N032", + "robot": "go2_arm", + "visual_dr": true, + "env": { + "MMB_COLLECT": "1", + "MMB_TASK_ID": "N032", + "MMB_CLEAN_VIEW": "1", + "MMB_REAL_ROBOT_LOOK": "1", + "MMB_VISUAL_DR": "1" + }, + "cameras": { + "head": { + "link": "Robot_0/Bodies/go2_base", + "pos": [ + 0.332051, + 0.038027, + 0.093559 + ], + "ori": [ + 169.9473, + -88.6452, + 81.5985 + ], + "focal_length": 1.8231182098388672, + "horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.4407838582992554 + }, + "wrist": { + "link": "Robot_0/Bodies/piper_link6", + "pos": [ + -0.074987, + 0.005289, + 0.045821 + ], + "ori": [ + 179.3135, + -20.212, + 88.9402 + ], + "focal_length": 1.8517500162124634, + "horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.4393036365509033 + } + }, + "resolution": [ + 640, + 480 + ], + "camera_hz": 25, + "record": { + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + } + }, + "review_cameras": [], + "policy_obs_signature": [ + "/camera_info[0]/rgb[0]:(480, 640, 4):uint8", + "/camera_info[1]/rgb[0]:(480, 640, 4):uint8", + "/robot_state[0]/Go2Plus/base_ang_vel:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/base_lin_vel:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/base_pos:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/base_quat:(1, 4):torch.float32", + "/robot_state[0]/Go2Plus/eef_pos:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/eef_quat:(1, 4):torch.float32", + "/robot_state[0]/Go2Plus/eef_relative_pos:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/eef_relative_quat:(1, 4):torch.float32", + "/robot_state[0]/Go2Plus/finger_joint_pos:(1, 2):torch.float32", + "/robot_state[0]/Go2Plus/gripper_pos:(1, 2):torch.float32", + "/robot_state[0]/Go2Plus/joint_effort:(1, 20):torch.float32", + "/robot_state[0]/Go2Plus/joint_pos:(1, 24):torch.float32", + "/robot_state[0]/Go2Plus/joint_vel:(1, 20):torch.float32" + ], + "n_success": 1, + "elapsed_s": 1114.5, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 34.6 + } +} diff --git a/N032/sawyer_umi/dr_off/seed_1020/check.json b/N032/sawyer_umi/dr_off/seed_1020/check.json new file mode 100644 index 0000000000000000000000000000000000000000..6dda8ad98f8aa0b76f922420d58148e5c14c6a1c --- /dev/null +++ b/N032/sawyer_umi/dr_off/seed_1020/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'; expected 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "2709 rows vs ceil(5418/2) = 2709" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..5517, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "32.02 MB, 2709 frames at 25 fps, mean luma 103..150, std 27, new picture 2708x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2709 vs 2709" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "50.65 MB, 2709 frames at 25 fps, mean luma 110..173, std 25, new picture 2708x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2709 vs 2709" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationpuzzlexr/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N032/sawyer_umi/dr_off/seed_1020/check.txt b/N032/sawyer_umi/dr_off/seed_1020/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..068d404d2bee79755ad72ca2e4bdcb910fdec052 --- /dev/null +++ b/N032/sawyer_umi/dr_off/seed_1020/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n032_saw_off_1020/out task=N032 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n032_saw_off_1020/out/rec/stationpuzzlexr/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2709 videos 2 robot_type RidgebackSawyerUmiCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 2709 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1'] +[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z'] +[PASS] task text = MobileBench instruction: task_index 0: 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'; expected 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.' +rows 2709 at dataset fps 25 = 108.36 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2709 rows vs ceil(5418/2) = 2709 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..5517, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 32.02 MB, 2709 frames at 25 fps, mean luma 103..150, std 27, new picture 2708x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2709 vs 2709 +[PASS] video observation.images.wrist decodes, 640x480, not black: 50.65 MB, 2709 frames at 25 fps, mean luma 110..173, std 25, new picture 2708x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2709 vs 2709 +parquet size 3.63 MB +[PASS] sim_info present: rec/stationpuzzlexr/000/sim_info +dataset size 86.50 MB; whole cell dir 88.2 MB +RESULT: ALL PASS diff --git a/N032/sawyer_umi/dr_off/seed_1020/rec/stationpuzzlexr/000/completed/0.json b/N032/sawyer_umi/dr_off/seed_1020/rec/stationpuzzlexr/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..0ea26fd1750065ae505310bf089fab096819eb7a --- /dev/null +++ b/N032/sawyer_umi/dr_off/seed_1020/rec/stationpuzzlexr/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationpuzzlexr/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N032/sawyer_umi/dr_off/seed_1020/rec/stationpuzzlexr/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N032/sawyer_umi/dr_off/seed_1020/rec/stationpuzzlexr/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..25bef9e7fd5db1aa89622941a6bf7638cda6a833 --- /dev/null +++ b/N032/sawyer_umi/dr_off/seed_1020/rec/stationpuzzlexr/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:138209982c991d5c44a2af258668dcfddb47e697e5089e0c05402c304afd875a +size 3626939 diff --git a/N032/sawyer_umi/dr_off/seed_1020/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes.jsonl b/N032/sawyer_umi/dr_off/seed_1020/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d3399051331483466c1bec17453c7312e4bb73b5 --- /dev/null +++ b/N032/sawyer_umi/dr_off/seed_1020/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap."], "length": 2709, "magicsim/control_steps": 5418, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a small gray board 0, a small gray board 1, a small gray board 2, a small gray board 3, a small gray board 4, a medium gray picture, a small gray picture bar, a small gray picture cap, a small tile and a small cand O. The gray table B is in front of the cand O. The gray board 0 is to the right of the gray board 4. The gray board 1 is in front of the gray board 4. The gray board 2 is behind the gray board 4. The gray board 3 is to the right of the gray board 1. The gray board 4 is behind the gray board 1. The tile is on top of the gray table B. The tile is to the right of the gray table B. The cand O is on top of the gray table B. The cand O is behind the gray table B. The scene is viewed from front, at table height."} diff --git a/N032/sawyer_umi/dr_off/seed_1020/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes_stats.jsonl b/N032/sawyer_umi/dr_off/seed_1020/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f487e9f15fc8765e72df463376a511b6d1841cf4 --- /dev/null +++ b/N032/sawyer_umi/dr_off/seed_1020/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.10486008956115288, 0.0006713657830723233, 0.008751744131166412, 0.5566104957541667, 0.5177689088077376, 1.0395523944918454, 0.21835426556069545, 0.05139457794052785, 0.279209227212483, 0.17130552527373372, 0.3920265780730897], "std": [0.13135112350869027, 0.017775326569998993, 0.23485774242799567, 1.248673890432211, 1.6128386222912465, 0.2872250285847652, 0.5013578491753069, 0.2934892126898132, 0.3965111936895464, 0.5896267877696553, 0.48820256058053685], "min": [0.0, -0.13135124742984772, -0.800000011920929, -3.1327784061431885, -2.005103588104248, 0.5887400507926941, -0.6565650105476379, -0.6322447061538696, -0.306342214345932, -0.7626506686210632, 0.0], "max": [0.30000001192092896, 0.1740768849849701, 0.800000011920929, 2.0608694553375244, 2.888509750366211, 1.3731142282485962, 0.8582556247711182, 0.6889145374298096, 0.9377099275588989, 0.9763996601104736, 1.0], "count": [2709]}, "action_is_hold": {"mean": [0.07419712070874862, 0.07419712070874862, 0.07419712070874862, 0.08527131782945736, 0.08527131782945736, 0.08527131782945736, 0.08527131782945736, 0.08527131782945736, 0.08527131782945736, 0.08527131782945736, 0.9926172019195275], "std": [0.26209141150995346, 0.26209141150995346, 0.26209141150995346, 0.27928501604111255, 0.27928501604111255, 0.27928501604111255, 0.27928501604111255, 0.27928501604111255, 0.27928501604111255, 0.27928501604111255, 0.08560544593059204], "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": [2709]}, "observation.state": {"mean": [1.2707306343763682, -2.6785195419030594, 1.7541447719246226, 0.25153789275619726, -0.251947653746739, -0.7428082903105557, -1.1414733037757365, 1.0917436286680546, -1.3103313041488611, -1.9113806247623173, 0.46892053201142314, 0.014014301516517459, -0.014209256649175593, -0.014209256649175593, -0.014014301516517459], "std": [1.8954437940494, 0.5322130824380757, 1.170470370030425, 0.2667371137790555, 0.2657800086970754, 0.6372072717842477, 0.9179092051209958, 0.42910847669252883, 0.9470418713287407, 0.35603542108779485, 0.440855644919135, 0.009026194952275884, 0.00913398689946491, 0.00913398689946491, 0.009026194952275884], "min": [-3.390869379043579, -3.404782295227051, 0.2635454535484314, -0.7268537878990173, -0.6526938080787659, -1.6114460229873657, -2.6466403007507324, 0.4969383776187897, -2.9662551879882812, -2.4802141189575195, -0.14107802510261536, 0.0, -0.020833000540733337, -0.020833000540733337, -0.020833000540733337], "max": [3.4610702991485596, -1.9933546781539917, 4.245883941650391, 0.6527682542800903, 0.7267224192619324, 0.1202227771282196, 0.28334933519363403, 1.5989564657211304, 0.0054937428794801235, -1.2119615077972412, 1.3841029405593872, 0.020833000540733337, 0.0, 0.0, -0.0], "count": [2709]}, "observation.joint_vel": {"mean": [0.029294957385220272, -0.007057316675035424, 0.00931959462955022, -0.006865545414067694, 0.006209126731517959, 0.005463004784259623, -0.02551916837836136, 0.0019413765524123243, -0.02282312028336348, 0.004947442509122706, 0.0008647278002375927, 7.509993276222272e-05, 0.0002466225123825022], "std": [0.15366991483965753, 0.06294803847623731, 0.23976071820137965, 0.06297383825481029, 0.05751669268720975, 0.06538874015665082, 0.08991566811894548, 0.05431565440817056, 0.13116429963889578, 0.07996083028669777, 0.11149667038232214, 0.006982420150979932, 0.006972702752539977], "min": [-0.326829195022583, -0.15632924437522888, -0.8001611828804016, -1.332605004310608, -0.21014070510864258, -0.13408847153186798, -2.0513181686401367, -0.18543864786624908, -0.3328830301761627, -1.3657631874084473, -0.4118169844150543, -0.08448029309511185, -0.10008681565523148], "max": [0.3240591883659363, 0.17213472723960876, 2.364957094192505, 0.4926187992095947, 1.8002314567565918, 0.7701419591903687, 0.20049895346164703, 0.19269946217536926, 3.503582000732422, 0.32583895325660706, 3.010937452316284, 0.10001004487276077, 0.031036488711833954], "count": [2709]}, "observation.eef_pose": {"mean": [0.5571225336357475, 0.5176160066901135, 1.0383151379754596, 0.19631274933412798, 0.05312418515786072, 0.27743992475114126, 0.19674028943565422], "std": [1.2491090505520268, 1.612035081965019, 0.286817869543957, 0.5103259580871544, 0.29365981820507475, 0.40075629307732136, 0.5793833782589188], "min": [-3.1327784061431885, -2.009394645690918, 0.5908232927322388, -0.6606248021125793, -0.6320792436599731, -0.3058062791824341, -0.6947436928749084], "max": [2.0852434635162354, 2.8742127418518066, 1.3740767240524292, 0.8548044562339783, 0.6893460750579834, 0.9510846138000488, 0.976394534111023], "count": [2709]}, "observation.environment_state": {"mean": [-0.32558968663215637, -0.40974992513656616, 0.3400000035762787, 0.9981967210769653, 0.0, 0.0, -0.06002754345536232, -0.30641549825668335, -0.2509029805660248, 0.3400000035762787, 0.9981967210769653, 0.0, 0.0, -0.06002754345536232, -0.420245885848999, -0.3177434206008911, 0.3400000035762787, 0.9981967210769653, 0.0, 0.0, -0.06002754345536232, -0.2117592841386795, -0.3429095149040222, 0.3400000035762787, 0.9981967210769653, 0.0, 0.0, -0.06002754345536232, -0.34219124913215637, -0.29694750905036926, 0.3400000035762787, 0.9981967210769653, 0.0, 0.0, -0.06002754345536232, 1.5879861277907306, 2.8465384305205546, 0.3300000108577704, 0.99898761510849, 2.419788931569583e-07, -3.558400004260463e-08, -0.044985733663641954, -0.2776542603969574, -0.012632571160793304, 0.4300000071525574, 0.9981967210769653, 0.0, 0.0, -0.06002754345536232, -0.2782534658908844, -0.017596537247300148, 0.4050000011920929, 0.9981967210769653, 0.0, 0.0, -0.06002754345536232, -0.22861377894878387, -0.02358846366405487, 0.45500001311302185, 0.9981967210769653, 0.0, 0.0, -0.06002754345536232, -0.3016219735145569, -0.21119125187397003, 0.18000000715255737, 0.9981967210769653, 0.0, 0.0, -0.06002754345536232, 1.7923485040664673, 2.958927869796753, 0.18000000715255737, 0.9995346665382385, 0.0, 0.0, -0.0305032841861248, 1.146307519392271, 1.4334698743484269, 0.4511231914487172, 0.8689113647273741, 0.0011147922614560516, -0.00012678548221133694, 0.1466545172240205], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 4.0796938347364795e-08, 1.1905675045178123e-07, 2.161858279931942e-08, 0.0, 1.9752851566889428e-07, 2.6112157600964564e-07, 1.063445829042003e-07, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0610025324327537, 1.5986267954828355, 0.1792456685026512, 0.27371323596826563, 0.006496934536955506, 0.01260346691707818, 0.3851808025687161], "min": [-0.32558968663215637, -0.40974992513656616, 0.3400000035762787, 0.9981967210769653, 0.0, 0.0, -0.06002754345536232, -0.30641549825668335, -0.2509029805660248, 0.3400000035762787, 0.9981967210769653, 0.0, 0.0, -0.06002754345536232, -0.420245885848999, -0.3177434206008911, 0.3400000035762787, 0.9981967210769653, 0.0, 0.0, -0.06002754345536232, -0.2117592841386795, -0.3429095149040222, 0.3400000035762787, 0.9981967210769653, 0.0, 0.0, -0.06002754345536232, -0.34219124913215637, -0.29694750905036926, 0.3400000035762787, 0.9981967210769653, 0.0, 0.0, -0.06002754345536232, 1.5879861116409302, 2.8465383052825928, 0.3299999535083771, 0.99898761510849, -3.618260109305993e-07, -5.428955205388775e-07, -0.04498613253235817, -0.2776542603969574, -0.012632571160793304, 0.4300000071525574, 0.9981967210769653, 0.0, 0.0, -0.06002754345536232, -0.2782534658908844, -0.017596537247300148, 0.4050000011920929, 0.9981967210769653, 0.0, 0.0, -0.06002754345536232, -0.22861377894878387, -0.02358846366405487, 0.45500001311302185, 0.9981967210769653, 0.0, 0.0, -0.06002754345536232, -0.3016219735145569, -0.21119125187397003, 0.18000000715255737, 0.9981967210769653, 0.0, 0.0, -0.06002754345536232, 1.7923485040664673, 2.958927869796753, 0.18000000715255737, 0.9995346665382385, 0.0, 0.0, -0.0305032841861248, -0.873093843460083, -1.3340246677398682, 0.32999998331069946, 0.2063421756029129, -0.03621893748641014, -0.07471497356891632, -0.12876838445663452], "max": [-0.32558968663215637, -0.40974992513656616, 0.3400000035762787, 0.9981967210769653, 0.0, 0.0, -0.06002754345536232, -0.30641549825668335, -0.2509029805660248, 0.3400000035762787, 0.9981967210769653, 0.0, 0.0, -0.06002754345536232, -0.420245885848999, -0.3177434206008911, 0.3400000035762787, 0.9981967210769653, 0.0, 0.0, -0.06002754345536232, -0.2117592841386795, -0.3429095149040222, 0.3400000035762787, 0.9981967210769653, 0.0, 0.0, -0.06002754345536232, -0.34219124913215637, -0.29694750905036926, 0.3400000035762787, 0.9981967210769653, 0.0, 0.0, -0.06002754345536232, 1.5879862308502197, 2.846538543701172, 0.3300000727176666, 0.99898761510849, 9.736833135320921e-07, 5.883249514226918e-07, -0.044985413551330566, -0.2776542603969574, -0.012632571160793304, 0.4300000071525574, 0.9981967210769653, 0.0, 0.0, -0.06002754345536232, -0.2782534658908844, -0.017596537247300148, 0.4050000011920929, 0.9981967210769653, 0.0, 0.0, -0.06002754345536232, -0.22861377894878387, -0.02358846366405487, 0.45500001311302185, 0.9981967210769653, 0.0, 0.0, -0.06002754345536232, -0.3016219735145569, -0.21119125187397003, 0.18000000715255737, 0.9981967210769653, 0.0, 0.0, -0.06002754345536232, 1.7923485040664673, 2.958927869796753, 0.18000000715255737, 0.9995346665382385, 0.0, 0.0, -0.0305032841861248, 2.0542032718658447, 2.8069612979888916, 0.7378383874893188, 0.9999901652336121, 0.038064513355493546, 0.05366585776209831, 0.978461742401123], "count": [2709]}, "action.command": {"mean": [-0.1354587335773951, -0.10113298632692562, 1.4689956346453537, 0.0, 0.0, 0.0, 0.0, 0.6634382566585957, 0.5709624870276624, 0.5169267445634314, 1.0540943443294106, 0.19121202028524115, 0.054974162178768014, 0.2529975094267222, 0.18067643814137668, 0.5, -0.11097717545438542, -0.09522921601757732, 1.4689956346453537, 0.0, 0.0, 0.0, 0.0, 2.0, 0.2803489251341535, -0.12225274134324281, 1.2078481786809807, -0.14508405783290945, 0.050543070997191485, -0.02305336323671119, 0.4008289067375608, 0.0, -0.07225932642882568, -0.13905155866947758, 1.4689956346453537, 0.0, 0.0, 0.0, 0.0, 2.0, 0.2803489251341535, -0.12225274134324281, 1.2078481786809807, -0.14508405783290945, 0.050543070997191485, -0.02305336323671119, 0.4008289067375608, 0.0, -0.06567119797244343, -0.15220274987699683, 1.4689956346453537, 0.0, 0.0, 0.0, 0.0, 2.0, 0.2803489251341535, -0.12225274134324281, 1.2078481786809807, -0.14508405783290945, 0.050543070997191485, -0.02305336323671119, 0.4008289067375608, 0.0, -0.05815938895966809, -0.19498584468291835, 1.4689956346453537, 0.0, 0.0, 0.0, 0.0, 2.0, 0.2803489251341535, -0.12225274134324281, 1.2078481786809807, -0.14508405783290945, 0.050543070997191485, -0.02305336323671119, 0.4008289067375608, 0.0, -0.017500531009711554, -0.20205673276076672, 1.4689956346453537, 0.0, 0.0, 0.0, 0.0, 2.0, 0.2803489251341535, -0.12225274134324281, 1.2078481786809807, -0.14508405783290945, 0.050543070997191485, -0.02305336323671119, 0.4008289067375608, 0.0, -0.021100052384309894, -0.24494516693348448, 1.4689956346453537, 0.0, 0.0, 0.0, 0.0, 2.0, 0.2803489251341535, -0.12225274134324281, 1.2078481786809807, -0.14508405783290945, 0.050543070997191485, -0.02305336323671119, 0.4008289067375608, 0.0, 0.0309274013776446, -0.24942542423847983, 1.4689956346453537, 0.0, 0.0, 0.0, 0.0, 2.0, 0.2803489251341535, -0.12225274134324281, 1.2078481786809807, -0.14508405783290945, 0.050543070997191485, -0.02305336323671119, 0.4008289067375608, 0.0, 0.0604011377392898, -0.277330928494316, 1.4689956346453537, 0.0, 0.0, 0.0, 0.0, 2.0, 0.2803489251341535, -0.12225274134324281, 1.2078481786809807, -0.14508405783290945, 0.050543070997191485, -0.02305336323671119, 0.4008289067375608, 0.0, 0.07667648284716377, -0.2972518924021825, 1.4689956346453537, 0.0, 0.0, 0.0, 0.0, 2.0, 0.2803489251341535, -0.12225274134324281, 1.2078481786809807, -0.14508405783290945, 0.050543070997191485, -0.02305336323671119, 0.4008289067375608, 0.0, 0.10494792214127087, -0.3203894623502373, 1.4689956346453537, 0.0, 0.0, 0.0, 0.0, 2.0, 0.2803489251341535, -0.12225274134324281, 1.2078481786809807, -0.14508405783290945, 0.050543070997191485, -0.02305336323671119, 0.4008289067375608, 0.0, 0.1256036531977258, -0.3441076442664367, 1.4689956346453537, 0.0, 0.0, 0.0, 0.0, 2.0, 0.2803489251341535, -0.12225274134324281, 1.2078481786809807, -0.14508405783290945, 0.050543070997191485, -0.02305336323671119, 0.4008289067375608, 0.0, 0.1365387221090658, -0.37056386991359264, 1.4689956346453537, 0.0, 0.0, 0.0, 0.0, 2.0, 0.2803489251341535, -0.12225274134324281, 1.2078481786809807, -0.14508405783290945, 0.050543070997191485, -0.02305336323671119, 0.4008289067375608, 0.0, 0.16364841820371204, -0.37215898442997164, 1.4689956346453537, 0.0, 0.0, 0.0, 0.0, 2.0, 0.2803489251341535, -0.12225274134324281, 1.2078481786809807, -0.14508405783290945, 0.050543070997191485, -0.02305336323671119, 0.4008289067375608, 0.0, 0.18853732644210217, -0.3610588744217652, 1.4689956346453537, 0.0, 0.0, 0.0, 0.0, 2.0, 0.2803489251341535, -0.12225274134324281, 1.2078481786809807, -0.14508405783290945, 0.050543070997191485, -0.02305336323671119, 0.4008289067375608, 0.0, 0.19052575014564146, -0.38052183832143593, 1.4689956346453537, 0.0, 0.0, 0.0, 0.0, 2.0, 0.2803489251341535, -0.12225274134324281, 1.2078481786809807, -0.14508405783290945, 0.050543070997191485, -0.02305336323671119, 0.4008289067375608, 0.0, 0.21515689484417178, -0.3751366856837377, 1.4689956346453537, 0.0, 0.0, 0.0, 0.0, 2.0, 0.2803489251341535, -0.12225274134324281, 1.2078481786809807, -0.14508405783290945, 0.050543070997191485, -0.02305336323671119, 0.4008289067375608, 0.0, 0.2130595773588622, -0.39716597051079094, 1.4689956346453537, 0.0, 0.0, 0.0, 0.0, 2.0, 0.2803489251341535, -0.12225274134324281, 1.2078481786809807, -0.14508405783290945, 0.050543070997191485, -0.02305336323671119, 0.4008289067375608, 0.0, 0.2217150640279445, -0.3900042996135862, 1.4689956346453537, 0.0, 0.0, 0.0, 0.0, 2.0, 0.2803489251341535, -0.12225274134324281, 1.2078481786809807, -0.14508405783290945, 0.050543070997191485, -0.02305336323671119, 0.4008289067375608, 0.0, 0.23459194997512617, -0.4156699966655548, 1.4689956346453537, 0.0, 0.0, 0.0, 0.0, 2.0, 0.2803489251341535, -0.12225274134324281, 1.2078481786809807, -0.14508405783290945, 0.050543070997191485, -0.02305336323671119, 0.4008289067375608, 0.0, 0.2634325685980018, -0.40022220387729496, 1.4689956346453537, 0.0, 0.0, 0.0, 0.0, 2.0, 0.2803489251341535, -0.12225274134324281, 1.2078481786809807, -0.14508405783290945, 0.050543070997191485, -0.02305336323671119, 0.4008289067375608, 0.0, 0.26018269665897154, -0.42656356753480484, 1.4689956346453537, 0.0, 0.0, 0.0, 0.0, 2.0, 0.2803489251341535, -0.12225274134324281, 1.2078481786809807, -0.14508405783290945, 0.050543070997191485, -0.02305336323671119, 0.4008289067375608, 0.0, 0.2900064801024558, -0.40271617804031706, 1.4689956346453537, 0.0, 0.0, 0.0, 0.0, 2.0, 0.2803489251341535, -0.12225274134324281, 1.2078481786809807, -0.14508405783290945, 0.050543070997191485, -0.02305336323671119, 0.4008289067375608, 0.0, 0.31682242576732383, -0.3755553992359399, 1.4689956346453537, 0.0, 0.0, 0.0, 0.0, 2.0, 0.2803489251341535, -0.12225274134324281, 1.2078481786809807, -0.14508405783290945, 0.050543070997191485, -0.02305336323671119, 0.4008289067375608, 0.0, 0.30903682412018424, -0.4056137522039976, 1.4689956346453537, 0.0, 0.0, 0.0, 0.0, 2.0, 0.2803489251341535, -0.12225274134324281, 1.2078481786809807, -0.14508405783290945, 0.050543070997191485, -0.02305336323671119, 0.4008289067375608, 0.0, 0.3374220252557613, -0.3963042086876896, 1.4689956346453537, 0.0, 0.0, 0.0, 0.0, 2.0, 0.2803489251341535, -0.12225274134324281, 1.2078481786809807, -0.14508405783290945, 0.050543070997191485, -0.02305336323671119, 0.4008289067375608, 0.0, 0.3645982799571674, -0.38978940043517074, 1.4689956346453537, 0.0, 0.0, 0.0, 0.0, 2.0, 0.2803489251341535, -0.12225274134324281, 1.2078481786809807, -0.14508405783290945, 0.050543070997191485, -0.02305336323671119, 0.4008289067375608, 0.0, 0.3577568502405325, -0.4176443187300295, 1.4689956346453537, 0.0, 0.0, 0.0, 0.0, 2.0, 0.2803489251341535, -0.12225274134324281, 1.2078481786809807, -0.14508405783290945, 0.050543070997191485, -0.02305336323671119, 0.4008289067375608, 0.0, 0.3745012975676091, -0.41163772220955147, 1.4689956346453537, 0.0, 0.0, 0.0, 0.0, 2.0, 0.2803489251341535, -0.12225274134324281, 1.2078481786809807, -0.14508405783290945, 0.050543070997191485, -0.02305336323671119, 0.4008289067375608, 0.0, 0.37996070666084125, -0.43511783465027287, 1.4689956346453537, 0.0, 0.0, 0.0, 0.0, 2.0, 0.2803489251341535, -0.12225274134324281, 1.2078481786809807, -0.14508405783290945, 0.050543070997191485, -0.02305336323671119, 0.4008289067375608, 0.0, 0.37665993209489046, -0.4597686762112197, 1.4689956346453537, 0.0, 0.0, 0.0, 0.0, 2.0, 0.2803489251341535, -0.12225274134324281, 1.2078481786809807, -0.14508405783290945, 0.050543070997191485, -0.02305336323671119, 0.4008289067375608, 0.0, 0.4152744664896003, -0.4265399697566137, 1.4689956346453537, 0.0, 0.0, 0.0, 0.0, 2.0, 0.2803489251341535, -0.12225274134324281, 1.2078481786809807, -0.14508405783290945, 0.050543070997191485, -0.02305336323671119, 0.4008289067375608, 0.0, 0.4297956582240142, -0.44751575966589313, 1.4689956346453537, 0.0, 0.0, 0.0, 0.0, 2.0, 0.2803489251341535, -0.12225274134324281, 1.2078481786809807, -0.14508405783290945, 0.050543070997191485, -0.02305336323671119, 0.4008289067375608, 0.0, 0.44280258797141664, -0.4338912086715865, 1.4689956346453537, 0.0, 0.0, 0.0, 0.0, 2.0, 0.2803489251341535, -0.12225274134324281, 1.2078481786809807, -0.14508405783290945, 0.050543070997191485, -0.02305336323671119, 0.4008289067375608, 0.0, 0.44524827065946754, -0.45089665094317305, 1.4689956346453537, 0.0, 0.0, 0.0, 0.0, 2.0, 0.2803489251341535, -0.12225274134324281, 1.2078481786809807, -0.14508405783290945, 0.050543070997191485, -0.02305336323671119, 0.4008289067375608, 0.0, 0.47728257278167524, -0.4285903414263996, 1.4689956346453537, 0.0, 0.0, 0.0, 0.0, 2.0, 0.2803489251341535, -0.12225274134324281, 1.2078481786809807, -0.14508405783290945, 0.050543070997191485, -0.02305336323671119, 0.4008289067375608, 0.0, 0.47111672110953184, -0.4601964010942451, 1.4689956346453537, 0.0, 0.0, 0.0, 0.0, 2.0, 0.2803489251341535, -0.12225274134324281, 1.2078481786809807, -0.14508405783290945, 0.050543070997191485, -0.02305336323671119, 0.4008289067375608, 0.0, 0.4818378172847381, -0.4274783196928199, 1.4689956346453537, 0.0, 0.0, 0.0, 0.0, 2.0, 0.2803489251341535, -0.12225274134324281, 1.2078481786809807, -0.14508405783290945, 0.050543070997191485, -0.02305336323671119, 0.4008289067375608, 0.0, 0.5044239113945107, -0.40835598800900724, 1.4689956346453537, 0.0, 0.0, 0.0, 0.0, 2.0, 0.2803489251341535, -0.12225274134324281, 1.2078481786809807, -0.14508405783290945, 0.050543070997191485, -0.02305336323671119, 0.4008289067375608, 0.0, 0.46224535734892935, -0.3978361237517611, 1.4689956346453537, 0.0, 0.0, 0.0, 0.0, 2.0, 0.2803489251341535, -0.12225274134324281, 1.2078481786809807, -0.14508405783290945, 0.050543070997191485, -0.02305336323671119, 0.4008289067375608, 0.0, 0.48139550494575084, -0.3777341405377117, 1.4689956346453537, 0.0, 0.0, 0.0, 0.0, 2.0, 0.2803489251341535, -0.12225274134324281, 1.2078481786809807, -0.14508405783290945, 0.050543070997191485, -0.02305336323671119, 0.4008289067375608, 0.0, 0.49320605956831354, -0.31208587733939225, 1.4689956346453537, 0.0, 0.0, 0.0, 0.0, 2.0, 0.2803489251341535, -0.12225274134324281, 1.2078481786809807, -0.14508405783290945, 0.050543070997191485, -0.02305336323671119, 0.4008289067375608, 0.0, 0.737067631900657, -0.03558193320451781, 1.4750689794850904, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8034978998868272, 0.2966629707131737, 1.1530906811010007, -0.11892496136038802, 0.10558608748278646, 0.0069183964542178225, 0.2172781902748023, 0.0, 0.7034565649146951, -0.017498202102128848, 1.4750689794850904, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8034978998868272, 0.2966629707131737, 1.1530906811010007, -0.11892496136038802, 0.10558608748278646, 0.0069183964542178225, 0.2172781902748023, 0.0, 0.6834794421095488, -0.0025865622731142267, 1.4750689794850904, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8034978998868272, 0.2966629707131737, 1.1530906811010007, -0.11892496136038802, 0.10558608748278646, 0.0069183964542178225, 0.2172781902748023, 0.0, 0.6456934431091298, 0.012093995892724325, 1.4750689794850904, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8034978998868272, 0.2966629707131737, 1.1530906811010007, -0.11892496136038802, 0.10558608748278646, 0.0069183964542178225, 0.2172781902748023, 0.0, 0.6299663112433844, 0.03191200799720232, 1.4750689794850904, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8034978998868272, 0.2966629707131737, 1.1530906811010007, -0.11892496136038802, 0.10558608748278646, 0.0069183964542178225, 0.2172781902748023, 0.0, 0.6302608469890993, 0.06183883963629257, 1.4750689794850904, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8034978998868272, 0.2966629707131737, 1.1530906811010007, -0.11892496136038802, 0.10558608748278646, 0.0069183964542178225, 0.2172781902748023, 0.0, 0.5797331163356471, 0.07264906583830368, 1.4750689794850904, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8034978998868272, 0.2966629707131737, 1.1530906811010007, -0.11892496136038802, 0.10558608748278646, 0.0069183964542178225, 0.2172781902748023, 0.0, 0.5813816279865974, 0.14679612253987512, 1.4750689794850904, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8034978998868272, 0.2966629707131737, 1.1530906811010007, -0.11892496136038802, 0.10558608748278646, 0.0069183964542178225, 0.2172781902748023, 0.0, 1.941603660583496, 1.9980381727218628, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 1.089385928752277, 0.7018590940276223, 1.3730804922994873, -0.4463653630913703, -0.08408273789734348, -0.13734034963057073, 0.866898517093748, 0.0], "std": [2.130786405129056, 1.878303225772015, 0.0273388914788605, 0.0, 0.0, 0.0, 0.0, 1.491069393509372, 1.2605441839000378, 1.6202659887312554, 0.2825124374881577, 0.49521457479340064, 0.30637955794408755, 0.3933722290609394, 0.6082074603335272, 0.5, 2.1155196220340406, 1.8703541725448214, 0.0273388914788605, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2505367463973798, 1.2954068523704179, 0.18601169986161334, 0.34180840099638093, 0.40831208925543555, 0.2533395486901666, 0.6837162182317323, 0.0, 2.042268520275379, 1.7812564652628589, 0.0273388914788605, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2505367463973798, 1.2954068523704179, 0.18601169986161334, 0.34180840099638093, 0.40831208925543555, 0.2533395486901666, 0.6837162182317323, 0.0, 2.010511488502283, 1.7538534445135463, 0.0273388914788605, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2505367463973798, 1.2954068523704179, 0.18601169986161334, 0.34180840099638093, 0.40831208925543555, 0.2533395486901666, 0.6837162182317323, 0.0, 1.935128391633923, 1.6787874252587784, 0.0273388914788605, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2505367463973798, 1.2954068523704179, 0.18601169986161334, 0.34180840099638093, 0.40831208925543555, 0.2533395486901666, 0.6837162182317323, 0.0, 1.9132530926714144, 1.6463100343076473, 0.0273388914788605, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2505367463973798, 1.2954068523704179, 0.18601169986161334, 0.34180840099638093, 0.40831208925543555, 0.2533395486901666, 0.6837162182317323, 0.0, 1.8859212872570665, 1.589607215746787, 0.0273388914788605, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2505367463973798, 1.2954068523704179, 0.18601169986161334, 0.34180840099638093, 0.40831208925543555, 0.2533395486901666, 0.6837162182317323, 0.0, 1.820538513444665, 1.5424639471617547, 0.0273388914788605, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2505367463973798, 1.2954068523704179, 0.18601169986161334, 0.34180840099638093, 0.40831208925543555, 0.2533395486901666, 0.6837162182317323, 0.0, 1.7676837163692782, 1.4811352075902218, 0.0273388914788605, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2505367463973798, 1.2954068523704179, 0.18601169986161334, 0.34180840099638093, 0.40831208925543555, 0.2533395486901666, 0.6837162182317323, 0.0, 1.7307633002022786, 1.439728396804686, 0.0273388914788605, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2505367463973798, 1.2954068523704179, 0.18601169986161334, 0.34180840099638093, 0.40831208925543555, 0.2533395486901666, 0.6837162182317323, 0.0, 1.6653276701761142, 1.3811029652592837, 0.0273388914788605, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2505367463973798, 1.2954068523704179, 0.18601169986161334, 0.34180840099638093, 0.40831208925543555, 0.2533395486901666, 0.6837162182317323, 0.0, 1.6446467203867676, 1.337227719834209, 0.0273388914788605, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2505367463973798, 1.2954068523704179, 0.18601169986161334, 0.34180840099638093, 0.40831208925543555, 0.2533395486901666, 0.6837162182317323, 0.0, 1.629518722687739, 1.296116499910457, 0.0273388914788605, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2505367463973798, 1.2954068523704179, 0.18601169986161334, 0.34180840099638093, 0.40831208925543555, 0.2533395486901666, 0.6837162182317323, 0.0, 1.5599047035032074, 1.2275719075581062, 0.0273388914788605, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2505367463973798, 1.2954068523704179, 0.18601169986161334, 0.34180840099638093, 0.40831208925543555, 0.2533395486901666, 0.6837162182317323, 0.0, 1.5133454674919353, 1.1731701058854676, 0.0273388914788605, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2505367463973798, 1.2954068523704179, 0.18601169986161334, 0.34180840099638093, 0.40831208925543555, 0.2533395486901666, 0.6837162182317323, 0.0, 1.4750980029744498, 1.1149065017387623, 0.0273388914788605, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2505367463973798, 1.2954068523704179, 0.18601169986161334, 0.34180840099638093, 0.40831208925543555, 0.2533395486901666, 0.6837162182317323, 0.0, 1.4236618026377506, 1.0704298497209963, 0.0273388914788605, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2505367463973798, 1.2954068523704179, 0.18601169986161334, 0.34180840099638093, 0.40831208925543555, 0.2533395486901666, 0.6837162182317323, 0.0, 1.3911110992474072, 1.0123372878552797, 0.0273388914788605, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2505367463973798, 1.2954068523704179, 0.18601169986161334, 0.34180840099638093, 0.40831208925543555, 0.2533395486901666, 0.6837162182317323, 0.0, 1.3785676874376158, 0.9868915295362077, 0.0273388914788605, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2505367463973798, 1.2954068523704179, 0.18601169986161334, 0.34180840099638093, 0.40831208925543555, 0.2533395486901666, 0.6837162182317323, 0.0, 1.3086581366612933, 0.9171331790532656, 0.0273388914788605, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2505367463973798, 1.2954068523704179, 0.18601169986161334, 0.34180840099638093, 0.40831208925543555, 0.2533395486901666, 0.6837162182317323, 0.0, 1.2642083510924467, 0.8904944971410197, 0.0273388914788605, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2505367463973798, 1.2954068523704179, 0.18601169986161334, 0.34180840099638093, 0.40831208925543555, 0.2533395486901666, 0.6837162182317323, 0.0, 1.2301134994590897, 0.8328529590560269, 0.0273388914788605, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2505367463973798, 1.2954068523704179, 0.18601169986161334, 0.34180840099638093, 0.40831208925543555, 0.2533395486901666, 0.6837162182317323, 0.0, 1.1967251717526248, 0.8224006862418427, 0.0273388914788605, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2505367463973798, 1.2954068523704179, 0.18601169986161334, 0.34180840099638093, 0.40831208925543555, 0.2533395486901666, 0.6837162182317323, 0.0, 1.1749901424507208, 0.8167128959346237, 0.0273388914788605, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2505367463973798, 1.2954068523704179, 0.18601169986161334, 0.34180840099638093, 0.40831208925543555, 0.2533395486901666, 0.6837162182317323, 0.0, 1.1498116896780115, 0.7829458885433163, 0.0273388914788605, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2505367463973798, 1.2954068523704179, 0.18601169986161334, 0.34180840099638093, 0.40831208925543555, 0.2533395486901666, 0.6837162182317323, 0.0, 1.09990825258228, 0.7638196102293845, 0.0273388914788605, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2505367463973798, 1.2954068523704179, 0.18601169986161334, 0.34180840099638093, 0.40831208925543555, 0.2533395486901666, 0.6837162182317323, 0.0, 1.0523686620023092, 0.7539249161896475, 0.0273388914788605, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2505367463973798, 1.2954068523704179, 0.18601169986161334, 0.34180840099638093, 0.40831208925543555, 0.2533395486901666, 0.6837162182317323, 0.0, 1.0299584145865235, 0.7388241991295178, 0.0273388914788605, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2505367463973798, 1.2954068523704179, 0.18601169986161334, 0.34180840099638093, 0.40831208925543555, 0.2533395486901666, 0.6837162182317323, 0.0, 1.0063577174645764, 0.7482586834821477, 0.0273388914788605, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2505367463973798, 1.2954068523704179, 0.18601169986161334, 0.34180840099638093, 0.40831208925543555, 0.2533395486901666, 0.6837162182317323, 0.0, 0.9674481071658273, 0.7459137590183359, 0.0273388914788605, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2505367463973798, 1.2954068523704179, 0.18601169986161334, 0.34180840099638093, 0.40831208925543555, 0.2533395486901666, 0.6837162182317323, 0.0, 0.9434471921987578, 0.7396784407575375, 0.0273388914788605, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2505367463973798, 1.2954068523704179, 0.18601169986161334, 0.34180840099638093, 0.40831208925543555, 0.2533395486901666, 0.6837162182317323, 0.0, 0.9164301242210731, 0.7800258180473912, 0.0273388914788605, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2505367463973798, 1.2954068523704179, 0.18601169986161334, 0.34180840099638093, 0.40831208925543555, 0.2533395486901666, 0.6837162182317323, 0.0, 0.8625940385213606, 0.7760323793896996, 0.0273388914788605, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2505367463973798, 1.2954068523704179, 0.18601169986161334, 0.34180840099638093, 0.40831208925543555, 0.2533395486901666, 0.6837162182317323, 0.0, 0.8693005029555286, 0.8338314228385293, 0.0273388914788605, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2505367463973798, 1.2954068523704179, 0.18601169986161334, 0.34180840099638093, 0.40831208925543555, 0.2533395486901666, 0.6837162182317323, 0.0, 0.8494736939499322, 0.8477832340428055, 0.0273388914788605, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2505367463973798, 1.2954068523704179, 0.18601169986161334, 0.34180840099638093, 0.40831208925543555, 0.2533395486901666, 0.6837162182317323, 0.0, 0.8306235935348387, 0.900897427010311, 0.0273388914788605, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2505367463973798, 1.2954068523704179, 0.18601169986161334, 0.34180840099638093, 0.40831208925543555, 0.2533395486901666, 0.6837162182317323, 0.0, 0.8175650551940262, 0.9314856907195118, 0.0273388914788605, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2505367463973798, 1.2954068523704179, 0.18601169986161334, 0.34180840099638093, 0.40831208925543555, 0.2533395486901666, 0.6837162182317323, 0.0, 0.8007065846384436, 0.9811973101420958, 0.0273388914788605, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2505367463973798, 1.2954068523704179, 0.18601169986161334, 0.34180840099638093, 0.40831208925543555, 0.2533395486901666, 0.6837162182317323, 0.0, 0.7700978711714129, 0.9937997880804164, 0.0273388914788605, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2505367463973798, 1.2954068523704179, 0.18601169986161334, 0.34180840099638093, 0.40831208925543555, 0.2533395486901666, 0.6837162182317323, 0.0, 0.7966791510804138, 1.0555957702946, 0.0273388914788605, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2505367463973798, 1.2954068523704179, 0.18601169986161334, 0.34180840099638093, 0.40831208925543555, 0.2533395486901666, 0.6837162182317323, 0.0, 0.7884969878530885, 1.0756372011127453, 0.0273388914788605, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2505367463973798, 1.2954068523704179, 0.18601169986161334, 0.34180840099638093, 0.40831208925543555, 0.2533395486901666, 0.6837162182317323, 0.0, 0.8096654668017282, 1.0945143944713691, 0.0273388914788605, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2505367463973798, 1.2954068523704179, 0.18601169986161334, 0.34180840099638093, 0.40831208925543555, 0.2533395486901666, 0.6837162182317323, 0.0, 0.7876684836873625, 1.185387598412058, 0.029101815290815233, 0.0, 0.0, 0.0, 0.0, 0.0, 0.825681418779334, 1.2143011587232384, 0.18444677005111976, 0.3866005942297805, 0.4579601419297828, 0.2860130843105286, 0.6974664855255576, 0.0, 0.8575766404375859, 1.2502760752768194, 0.029101815290815233, 0.0, 0.0, 0.0, 0.0, 0.0, 0.825681418779334, 1.2143011587232384, 0.18444677005111976, 0.3866005942297805, 0.4579601419297828, 0.2860130843105286, 0.6974664855255576, 0.0, 0.9046740482476281, 1.295993371542941, 0.029101815290815233, 0.0, 0.0, 0.0, 0.0, 0.0, 0.825681418779334, 1.2143011587232384, 0.18444677005111976, 0.3866005942297805, 0.4579601419297828, 0.2860130843105286, 0.6974664855255576, 0.0, 0.9757393017438766, 1.3592396742095407, 0.029101815290815233, 0.0, 0.0, 0.0, 0.0, 0.0, 0.825681418779334, 1.2143011587232384, 0.18444677005111976, 0.3866005942297805, 0.4579601419297828, 0.2860130843105286, 0.6974664855255576, 0.0, 1.0235799797225604, 1.4091051917106547, 0.029101815290815233, 0.0, 0.0, 0.0, 0.0, 0.0, 0.825681418779334, 1.2143011587232384, 0.18444677005111976, 0.3866005942297805, 0.4579601419297828, 0.2860130843105286, 0.6974664855255576, 0.0, 1.0630488779954907, 1.4602046875004813, 0.029101815290815233, 0.0, 0.0, 0.0, 0.0, 0.0, 0.825681418779334, 1.2143011587232384, 0.18444677005111976, 0.3866005942297805, 0.4579601419297828, 0.2860130843105286, 0.6974664855255576, 0.0, 1.1463262431112455, 1.529629509187614, 0.029101815290815233, 0.0, 0.0, 0.0, 0.0, 0.0, 0.825681418779334, 1.2143011587232384, 0.18444677005111976, 0.3866005942297805, 0.4579601419297828, 0.2860130843105286, 0.6974664855255576, 0.0, 1.188944038287509, 1.551872107232314, 0.029101815290815233, 0.0, 0.0, 0.0, 0.0, 0.0, 0.825681418779334, 1.2143011587232384, 0.18444677005111976, 0.3866005942297805, 0.4579601419297828, 0.2860130843105286, 0.6974664855255576, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6852634790099281, 1.1586598069441587, 5.768925966815788e-09, 0.1392451732995248, 0.01999442393009039, 0.014805283925334202, 0.05748220208270513, 0.0], "min": [-3.390864849090576, -2.3895936012268066, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, -1.0, -3.1327784061431885, -2.005103588104248, 0.5897411704063416, -0.6565650105476379, -0.6322447061538696, -0.306342214345932, -0.7626506686210632, 0.0, -3.359362840652466, -2.378038167953491, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.005103588104248, 0.9984443187713623, -0.6565650105476379, -0.6322447061538696, -0.306342214345932, -0.6946159601211548, 0.0, -3.2639577388763428, -2.3430421352386475, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.005103588104248, 0.9984443187713623, -0.6565650105476379, -0.6322447061538696, -0.306342214345932, -0.6946159601211548, 0.0, -3.2056524753570557, -2.321654796600342, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.005103588104248, 0.9984443187713623, -0.6565650105476379, -0.6322447061538696, -0.306342214345932, -0.6946159601211548, 0.0, -3.08009672164917, -2.2755990028381348, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.005103588104248, 0.9984443187713623, -0.6565650105476379, -0.6322447061538696, -0.306342214345932, -0.6946159601211548, 0.0, -3.0565273761749268, -2.266953468322754, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.005103588104248, 0.9984443187713623, -0.6565650105476379, -0.6322447061538696, -0.306342214345932, -0.6946159601211548, 0.0, -3.0446841716766357, -2.2626092433929443, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.005103588104248, 0.9984443187713623, -0.6565650105476379, -0.6322447061538696, -0.306342214345932, -0.6946159601211548, 0.0, -2.9086434841156006, -2.21270751953125, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.005103588104248, 0.9984443187713623, -0.6565650105476379, -0.6322447061538696, -0.306342214345932, -0.6946159601211548, 0.0, -2.8224706649780273, -2.181097984313965, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.005103588104248, 0.9984443187713623, -0.6565650105476379, -0.6322447061538696, -0.306342214345932, -0.6946159601211548, 0.0, -2.760737657546997, -2.1584534645080566, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.005103588104248, 0.9984443187713623, -0.6565650105476379, -0.6322447061538696, -0.306342214345932, -0.6946159601211548, 0.0, -2.6377720832824707, -2.1133477687835693, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.005103588104248, 0.9984443187713623, -0.6565650105476379, -0.6322447061538696, -0.306342214345932, -0.6946159601211548, 0.0, -2.6126861572265625, -2.1041460037231445, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.005103588104248, 0.9984443187713623, -0.6565650105476379, -0.6322447061538696, -0.306342214345932, -0.6946159601211548, 0.0, -2.59936261177063, -2.0992586612701416, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.005103588104248, 0.9984443187713623, -0.6565650105476379, -0.6322447061538696, -0.306342214345932, -0.6946159601211548, 0.0, -2.4640250205993652, -2.049614906311035, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.005103588104248, 0.9984443187713623, -0.6565650105476379, -0.6322447061538696, -0.306342214345932, -0.6946159601211548, 0.0, -2.3717517852783203, -2.015767812728882, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.005103588104248, 0.9984443187713623, -0.6565650105476379, -0.6322447061538696, -0.306342214345932, -0.6946159601211548, 0.0, -2.3153581619262695, -1.9950817823410034, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.005103588104248, 0.9984443187713623, -0.6565650105476379, -0.6322447061538696, -0.306342214345932, -0.6946159601211548, 0.0, -2.209144353866577, -1.9561209678649902, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.005103588104248, 0.9984443187713623, -0.6565650105476379, -0.6322447061538696, -0.306342214345932, -0.6946159601211548, 0.0, -2.1668155193328857, -1.9405940771102905, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.005103588104248, 0.9984443187713623, -0.6565650105476379, -0.6322447061538696, -0.306342214345932, -0.6946159601211548, 0.0, -2.1441445350646973, -1.932278037071228, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.005103588104248, 0.9984443187713623, -0.6565650105476379, -0.6322447061538696, -0.306342214345932, -0.6946159601211548, 0.0, -2.0185935497283936, -1.8862240314483643, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.005103588104248, 0.9984443187713623, -0.6565650105476379, -0.6322447061538696, -0.306342214345932, -0.6946159601211548, 0.0, -1.9165363311767578, -1.8487879037857056, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.005103588104248, 0.9984443187713623, -0.6565650105476379, -0.6322447061538696, -0.306342214345932, -0.6946159601211548, 0.0, -1.8703714609146118, -1.831853985786438, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.005103588104248, 0.9984443187713623, -0.6565650105476379, -0.6322447061538696, -0.306342214345932, -0.6946159601211548, 0.0, -1.7841770648956299, -1.8002365827560425, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.005103588104248, 0.9984443187713623, -0.6565650105476379, -0.6322447061538696, -0.306342214345932, -0.6946159601211548, 0.0, -1.7218815088272095, -1.7773855924606323, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.005103588104248, 0.9984443187713623, -0.6565650105476379, -0.6322447061538696, -0.306342214345932, -0.6946159601211548, 0.0, -1.688294529914856, -1.7650654315948486, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.005103588104248, 0.9984443187713623, -0.6565650105476379, -0.6322447061538696, -0.306342214345932, -0.6946159601211548, 0.0, -1.5730185508728027, -1.722780466079712, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.005103588104248, 0.9984443187713623, -0.6565650105476379, -0.6322447061538696, -0.306342214345932, -0.6946159601211548, 0.0, -1.4591718912124634, -1.6810197830200195, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.005103588104248, 0.9984443187713623, -0.6565650105476379, -0.6322447061538696, -0.306342214345932, -0.6946159601211548, 0.0, -1.4241557121276855, -1.6681753396987915, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.005103588104248, 0.9984443187713623, -0.6565650105476379, -0.6322447061538696, -0.306342214345932, -0.6946159601211548, 0.0, -1.3592091798782349, -1.6443519592285156, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.005103588104248, 0.9984443187713623, -0.6565650105476379, -0.6322447061538696, -0.306342214345932, -0.6946159601211548, 0.0, -1.2756445407867432, -1.613699197769165, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.005103588104248, 0.9984443187713623, -0.6565650105476379, -0.6322447061538696, -0.306342214345932, -0.6946159601211548, 0.0, -1.2309834957122803, -1.597316861152649, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.005103588104248, 0.9984443187713623, -0.6565650105476379, -0.6322447061538696, -0.306342214345932, -0.6946159601211548, 0.0, -1.1271507740020752, -1.5592294931411743, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.005103588104248, 0.9984443187713623, -0.6565650105476379, -0.6322447061538696, -0.306342214345932, -0.6946159601211548, 0.0, -1.0041288137435913, -1.5141031742095947, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.005103588104248, 0.9984443187713623, -0.6565650105476379, -0.6322447061538696, -0.306342214345932, -0.6946159601211548, 0.0, -0.977500855922699, -1.504335641860962, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.005103588104248, 0.9984443187713623, -0.6565650105476379, -0.6322447061538696, -0.306342214345932, -0.6946159601211548, 0.0, -0.9240394830703735, -1.4847252368927002, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.005103588104248, 0.9984443187713623, -0.6565650105476379, -0.6322447061538696, -0.306342214345932, -0.6946159601211548, 0.0, -0.8249830603599548, -1.4483897686004639, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.005103588104248, 0.9984443187713623, -0.6565650105476379, -0.6322447061538696, -0.306342214345932, -0.6946159601211548, 0.0, -0.7779640555381775, -1.4311424493789673, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.005103588104248, 0.9984443187713623, -0.6565650105476379, -0.6322447061538696, -0.306342214345932, -0.6946159601211548, 0.0, -0.6687172651290894, -1.3910690546035767, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.005103588104248, 0.9984443187713623, -0.6565650105476379, -0.6322447061538696, -0.306342214345932, -0.6946159601211548, 0.0, -0.550628125667572, -1.3477522134780884, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.005103588104248, 0.9984443187713623, -0.6565650105476379, -0.6322447061538696, -0.306342214345932, -0.6946159601211548, 0.0, -0.5124639868736267, -1.333752989768982, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.005103588104248, 0.9984443187713623, -0.6565650105476379, -0.6322447061538696, -0.306342214345932, -0.6946159601211548, 0.0, -0.43588370084762573, -1.3056622743606567, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.005103588104248, 0.9984443187713623, -0.6565650105476379, -0.6322447061538696, -0.306342214345932, -0.6946159601211548, 0.0, -0.41546857357025146, -1.1543450355529785, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.005103588104248, 0.9984443187713623, -0.6565650105476379, -0.6322447061538696, -0.306342214345932, -0.6946159601211548, 0.0, 0.07666019350290298, -1.0294502973556519, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -0.8620344400405884, -1.3313401937484741, 0.9984443187713623, -0.6565650105476379, -0.6322447061538696, -0.306342214345932, -0.6946159601211548, 0.0, -0.015564195811748505, -1.065771222114563, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -0.8620344400405884, -1.3313401937484741, 0.9984443187713623, -0.6565650105476379, -0.6322447061538696, -0.306342214345932, -0.6946159601211548, 0.0, -0.07502935081720352, -1.0891904830932617, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -0.8620344400405884, -1.3313401937484741, 0.9984443187713623, -0.6565650105476379, -0.6322447061538696, -0.306342214345932, -0.6946159601211548, 0.0, -0.17239882051944733, -1.127537727355957, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -0.8620344400405884, -1.3313401937484741, 0.9984443187713623, -0.6565650105476379, -0.6322447061538696, -0.306342214345932, -0.6946159601211548, 0.0, -0.22823716700077057, -1.1495286226272583, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -0.8620344400405884, -1.3313401937484741, 0.9984443187713623, -0.6565650105476379, -0.6322447061538696, -0.306342214345932, -0.6946159601211548, 0.0, -0.26103466749191284, -1.162445306777954, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -0.8620344400405884, -1.3313401937484741, 0.9984443187713623, -0.6565650105476379, -0.6322447061538696, -0.306342214345932, -0.6946159601211548, 0.0, -0.3813849091529846, -1.2098431587219238, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -0.8620344400405884, -1.3313401937484741, 0.9984443187713623, -0.6565650105476379, -0.6322447061538696, -0.306342214345932, -0.6946159601211548, 0.0, -0.41546857357025146, -1.1543450355529785, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -0.8620344400405884, -1.3313401937484741, 0.9984443187713623, -0.6565650105476379, -0.6322447061538696, -0.306342214345932, -0.6946159601211548, 0.0, 1.941603660583496, 1.9980381727218628, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, -0.5497602224349976, -0.8211873769760132, 1.3730804920196533, -0.6565650105476379, -0.12565982341766357, -0.15582376718521118, 0.7364583015441895, 0.0], "max": [1.924364686012268, 1.9524919986724854, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0608694553375244, 2.888509750366211, 1.3731142282485962, 0.8582556247711182, 0.6889145374298096, 0.9377099275588989, 0.9763996601104736, 1.0, 1.922519564628601, 1.9488272666931152, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0020101070404053, 2.4468066692352295, 1.3730814456939697, 0.7093103528022766, 0.6889145374298096, 0.7048879861831665, 0.9763996601104736, 0.0, 1.8480234146118164, 1.8008660078048706, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0020101070404053, 2.4468066692352295, 1.3730814456939697, 0.7093103528022766, 0.6889145374298096, 0.7048879861831665, 0.9763996601104736, 0.0, 1.8264504671096802, 1.7580186128616333, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0020101070404053, 2.4468066692352295, 1.3730814456939697, 0.7093103528022766, 0.6889145374298096, 0.7048879861831665, 0.9763996601104736, 0.0, 1.763271450996399, 1.6325350999832153, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0020101070404053, 2.4468066692352295, 1.3730814456939697, 0.7093103528022766, 0.6889145374298096, 0.7048879861831665, 0.9763996601104736, 0.0, 1.73891282081604, 1.5841548442840576, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0020101070404053, 2.4468066692352295, 1.3730814456939697, 0.7093103528022766, 0.6889145374298096, 0.7048879861831665, 0.9763996601104736, 0.0, 1.683250904083252, 1.4736013412475586, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0020101070404053, 2.4468066692352295, 1.3730814456939697, 0.7093103528022766, 0.6889145374298096, 0.7048879861831665, 0.9763996601104736, 0.0, 1.6546019315719604, 1.416700005531311, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0020101070404053, 2.4468066692352295, 1.3730814456939697, 0.7093103528022766, 0.6889145374298096, 0.7048879861831665, 0.9763996601104736, 0.0, 1.6046334505081177, 1.3174546957015991, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0020101070404053, 2.4468066692352295, 1.3730814456939697, 0.7093103528022766, 0.6889145374298096, 0.7048879861831665, 0.9763996601104736, 0.0, 1.5706263780593872, 1.2499111890792847, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0020101070404053, 2.4468066692352295, 1.3730814456939697, 0.7093103528022766, 0.6889145374298096, 0.7048879861831665, 0.9763996601104736, 0.0, 1.5261480808258057, 1.1615701913833618, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0020101070404053, 2.4468066692352295, 1.3730814456939697, 0.7093103528022766, 0.6889145374298096, 0.7048879861831665, 0.9763996601104736, 0.0, 1.4868110418319702, 1.0834405422210693, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0020101070404053, 2.4468066692352295, 1.3730814456939697, 0.7093103528022766, 0.6889145374298096, 0.7048879861831665, 0.9763996601104736, 0.0, 1.4476627111434937, 1.0056856870651245, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0020101070404053, 2.4468066692352295, 1.3730814456939697, 0.7093103528022766, 0.6889145374298096, 0.7048879861831665, 0.9763996601104736, 0.0, 1.4029980897903442, 0.9169747233390808, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0020101070404053, 2.4468066692352295, 1.3730814456939697, 0.7093103528022766, 0.6889145374298096, 0.7048879861831665, 0.9763996601104736, 0.0, 1.369177222251892, 0.8498010635375977, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0020101070404053, 2.4468066692352295, 1.3730814456939697, 0.7093103528022766, 0.6889145374298096, 0.7048879861831665, 0.9763996601104736, 0.0, 1.3190412521362305, 0.7502230405807495, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0020101070404053, 2.4468066692352295, 1.3730814456939697, 0.7093103528022766, 0.6889145374298096, 0.7048879861831665, 0.9763996601104736, 0.0, 1.2906889915466309, 0.6939108967781067, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0020101070404053, 2.4468066692352295, 1.3730814456939697, 0.7093103528022766, 0.6889145374298096, 0.7048879861831665, 0.9763996601104736, 0.0, 1.2351925373077393, 0.5836862921714783, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0020101070404053, 2.4468066692352295, 1.3730814456939697, 0.7093103528022766, 0.6889145374298096, 0.7048879861831665, 0.9763996601104736, 0.0, 1.2121845483779907, 0.5379888415336609, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0020101070404053, 2.4468066692352295, 1.3730814456939697, 0.7093103528022766, 0.6889145374298096, 0.7048879861831665, 0.9763996601104736, 0.0, 1.1492516994476318, 0.41299426555633545, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0020101070404053, 2.4468066692352295, 1.3730814456939697, 0.7093103528022766, 0.6889145374298096, 0.7048879861831665, 0.9763996601104736, 0.0, 1.1336774826049805, 0.3820614218711853, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0020101070404053, 2.4468066692352295, 1.3730814456939697, 0.7093103528022766, 0.6889145374298096, 0.7048879861831665, 0.9763996601104736, 0.0, 1.0574508905410767, 0.23066329956054688, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0020101070404053, 2.4468066692352295, 1.3730814456939697, 0.7093103528022766, 0.6889145374298096, 0.7048879861831665, 0.9763996601104736, 0.0, 1.0548346042633057, 0.2254669964313507, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0020101070404053, 2.4468066692352295, 1.3730814456939697, 0.7093103528022766, 0.6889145374298096, 0.7048879861831665, 0.9763996601104736, 0.0, 1.0473263263702393, 0.2105543613433838, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0020101070404053, 2.4468066692352295, 1.3730814456939697, 0.7093103528022766, 0.6889145374298096, 0.7048879861831665, 0.9763996601104736, 0.0, 0.9753419160842896, 0.06758194416761398, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0020101070404053, 2.4468066692352295, 1.3730814456939697, 0.7093103528022766, 0.6889145374298096, 0.7048879861831665, 0.9763996601104736, 0.0, 0.9934374094009399, 0.06779701262712479, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0020101070404053, 2.4468066692352295, 1.3730814456939697, 0.7093103528022766, 0.6889145374298096, 0.7048879861831665, 0.9763996601104736, 0.0, 1.0683536529541016, 0.2115171104669571, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0020101070404053, 2.4468066692352295, 1.3730814456939697, 0.7093103528022766, 0.6889145374298096, 0.7048879861831665, 0.9763996601104736, 0.0, 1.075629472732544, 0.22547514736652374, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0020101070404053, 2.4468066692352295, 1.3730814456939697, 0.7093103528022766, 0.6889145374298096, 0.7048879861831665, 0.9763996601104736, 0.0, 1.1266967058181763, 0.3234429657459259, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0020101070404053, 2.4468066692352295, 1.3730814456939697, 0.7093103528022766, 0.6889145374298096, 0.7048879861831665, 0.9763996601104736, 0.0, 1.157219409942627, 0.3819980323314667, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0020101070404053, 2.4468066692352295, 1.3730814456939697, 0.7093103528022766, 0.6889145374298096, 0.7048879861831665, 0.9763996601104736, 0.0, 1.1616724729537964, 0.3905407786369324, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0020101070404053, 2.4468066692352295, 1.3730814456939697, 0.7093103528022766, 0.6889145374298096, 0.7048879861831665, 0.9763996601104736, 0.0, 1.238525390625, 0.5379763245582581, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0020101070404053, 2.4468066692352295, 1.3730814456939697, 0.7093103528022766, 0.6889145374298096, 0.7048879861831665, 0.9763996601104736, 0.0, 1.2495213747024536, 0.5590712428092957, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0020101070404053, 2.4468066692352295, 1.3730814456939697, 0.7093103528022766, 0.6889145374298096, 0.7048879861831665, 0.9763996601104736, 0.0, 1.319809913635254, 0.6939135789871216, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0020101070404053, 2.4468066692352295, 1.3730814456939697, 0.7093103528022766, 0.6889145374298096, 0.7048879861831665, 0.9763996601104736, 0.0, 1.3347771167755127, 0.7226269245147705, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0020101070404053, 2.4468066692352295, 1.3730814456939697, 0.7093103528022766, 0.6889145374298096, 0.7048879861831665, 0.9763996601104736, 0.0, 1.4010685682296753, 0.8498010635375977, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0020101070404053, 2.4468066692352295, 1.3730814456939697, 0.7093103528022766, 0.6889145374298096, 0.7048879861831665, 0.9763996601104736, 0.0, 1.4204866886138916, 0.8870530128479004, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0020101070404053, 2.4468066692352295, 1.3730814456939697, 0.7093103528022766, 0.6889145374298096, 0.7048879861831665, 0.9763996601104736, 0.0, 1.482325792312622, 1.0056856870651245, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0020101070404053, 2.4468066692352295, 1.3730814456939697, 0.7093103528022766, 0.6889145374298096, 0.7048879861831665, 0.9763996601104736, 0.0, 1.5056421756744385, 1.050416111946106, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0020101070404053, 2.4468066692352295, 1.3730814456939697, 0.7093103528022766, 0.6889145374298096, 0.7048879861831665, 0.9763996601104736, 0.0, 1.5635828971862793, 1.1615701913833618, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0020101070404053, 2.4468066692352295, 1.3730814456939697, 0.7093103528022766, 0.6889145374298096, 0.7048879861831665, 0.9763996601104736, 0.0, 1.591244101524353, 1.2146357297897339, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0020101070404053, 2.4468066692352295, 1.3730814456939697, 0.7093103528022766, 0.6889145374298096, 0.7048879861831665, 0.9763996601104736, 0.0, 1.6448400020599365, 1.3174546957015991, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0020101070404053, 2.4468066692352295, 1.3730814456939697, 0.7093103528022766, 0.6889145374298096, 0.7048879861831665, 0.9763996601104736, 0.0, 1.6765204668045044, 1.3782308101654053, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0020101070404053, 2.4468066692352295, 1.3730806112289429, 0.7093103528022766, 0.6889145374298096, 0.7048879861831665, 0.9763996601104736, 0.0, 1.726288914680481, 1.4737070798873901, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0020101070404053, 2.4468066692352295, 1.3730806112289429, 0.7093103528022766, 0.6889145374298096, 0.7048879861831665, 0.9763996601104736, 0.0, 1.7624849081039429, 1.543145775794983, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0020101070404053, 2.4468066692352295, 1.3730806112289429, 0.7093103528022766, 0.6889145374298096, 0.7048879861831665, 0.9763996601104736, 0.0, 1.8094584941864014, 1.6332602500915527, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0020101070404053, 2.4468066692352295, 1.3730806112289429, 0.7093103528022766, 0.6889145374298096, 0.7048879861831665, 0.9763996601104736, 0.0, 1.8507909774780273, 1.7125529050827026, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0020101070404053, 2.4468066692352295, 1.3730806112289429, 0.7093103528022766, 0.6889145374298096, 0.7048879861831665, 0.9763996601104736, 0.0, 1.8981600999832153, 1.8034261465072632, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0020101070404053, 2.4468066692352295, 1.3730806112289429, 0.7093103528022766, 0.6889145374298096, 0.7048879861831665, 0.9763996601104736, 0.0, 1.9469573497772217, 1.8970394134521484, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0020101070404053, 2.4468066692352295, 1.3730806112289429, 0.7093103528022766, 0.6889145374298096, 0.7048879861831665, 0.9763996601104736, 0.0, 1.9994361400604248, 1.9977152347564697, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0020101070404053, 2.4468066692352295, 1.3730806112289429, 0.7093103528022766, 0.6889145374298096, 0.7048879861831665, 0.9763996601104736, 0.0, 1.941603660583496, 1.9980381727218628, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 1.983877182006836, 2.416239023208618, 1.3730806112289429, -0.14174684882164001, -0.04764673486351967, -0.1037345677614212, 0.9763996601104736, 0.0], "count": [2709]}, "action.applied": {"mean": [0.10486008956115288, 0.0006713657830723233, 0.008751744131166412, 0.25113906559615434, -0.742589174033725, -1.1432225991677902, 1.091837033876945, -1.3120047691006083, -1.9110059441126066, 0.46891432288943397, 0.0027164561476664332, -0.0027164561476664332], "std": [0.13135112350869027, 0.017775326569998993, 0.23485774242799567, 0.2677598447737461, 0.6368726841322029, 0.9183027860693497, 0.4289340506491859, 0.9471234024652229, 0.3559361879635243, 0.4408263301128092, 0.01304171582845319, 0.01304171582845319], "min": [0.0, -0.13135124742984772, -0.800000011920929, -0.7267671227455139, -1.6056755781173706, -2.6466639041900635, 0.49845650792121887, -2.9661812782287598, -2.4826598167419434, -0.14572347700595856, -0.009999999776482582, -0.020833000540733337], "max": [0.30000001192092896, 0.1740768849849701, 0.800000011920929, 0.6528155207633972, 0.12038655579090118, 0.2856505215167999, 1.5990126132965088, 0.005616994574666023, -1.2106492519378662, 1.3847877979278564, 0.020833000540733337, 0.009999999776482582], "count": [2709]}, "extra.reward": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [2709]}, "next.truncated": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [2709]}, "sim_step_idx": {"mean": [2809.0], "std": [1564.041772673181], "min": [101.0], "max": [5517.0], "count": [2709]}, "timestamp": {"mean": [54.16000000089572], "std": [31.280835451614717], "min": [0.0], "max": [108.31999969482422], "count": [2709]}, "frame_index": {"mean": [1354.0], "std": [782.0208863365905], "min": [0.0], "max": [2708.0], "count": [2709]}, "episode_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [2709]}, "index": {"mean": [1354.0], "std": [782.0208863365905], "min": [0.0], "max": [2708.0], "count": [2709]}, "task_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [2709]}, "next.done": {"mean": [0.00036913990402362494], "std": [0.019209467451100314], "min": [0.0], "max": [1.0], "count": [2709]}, "observation.images.head": {"mean": [[[0.5445451807487194]], [[0.48782250279683914]], [[0.42369015370514457]]], "std": [[[0.12564338312490003]], [[0.14339230650173548]], [[0.143265789103494]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9137254901960784]], [[0.9058823529411765]], [[0.9019607843137255]]], "count": [100]}, "observation.images.wrist": {"mean": [[[0.5826582199687637]], [[0.5475603979977243]], [[0.46780167636765235]]], "std": [[[0.11635834639106661]], [[0.11506500781725931]], [[0.16085103910757242]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "count": [100]}}} diff --git a/N032/sawyer_umi/dr_off/seed_1020/rec/stationpuzzlexr/000/lerobot_v21/meta/extra/episode_000000.json b/N032/sawyer_umi/dr_off/seed_1020/rec/stationpuzzlexr/000/lerobot_v21/meta/extra/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..7564a1255c79dfab7b36ffeae1de792d79accd0f --- /dev/null +++ b/N032/sawyer_umi/dr_off/seed_1020/rec/stationpuzzlexr/000/lerobot_v21/meta/extra/episode_000000.json @@ -0,0 +1,569 @@ +{ + "episode_index": 0, + "trajectory_id": 0, + "env_id": 0, + "task_type": "PuzzleXRCommand", + "subsample_every": 2, + "control_steps": 5418, + "language": { + "scene": { + "objects": [ + { + "id": "table_A_1", + "cat_name": "table_A", + "inst_id": 1, + "noun": "table A", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 3.7795612316390277, + -0.04715592462470069, + 0.13000004285690514 + ], + "bbox": { + "extent": [ + 1.0189749409592745, + 0.7141549309688697, + 0.30000001192092896 + ], + "center": [ + 5.551115123125783e-17, + 0.0, + 0.0 + ] + } + }, + { + "id": "table_B_1", + "cat_name": "table_B", + "inst_id": 1, + "noun": "table B", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 7.334794439073961, + 1.292502447099989, + 0.1300000765057242 + ], + "bbox": { + "extent": [ + 0.9608646831689687, + 0.6095564697172327, + 0.30000001192092896 + ], + "center": [ + -1.1102230246251565e-16, + 0.0, + 0.0 + ] + } + }, + { + "id": "board_0_1", + "cat_name": "board_0", + "inst_id": 1, + "noun": "board 0", + "color": "gray", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.643699572915389, + -0.19392652720815148, + 0.29000004256363066 + ], + "bbox": { + "extent": [ + 0.2595179969713468, + 0.09948748150649656, + 0.019999999552965164 + ], + "center": [ + -1.3877787807814457e-17, + 0.0, + 0.0 + ] + } + }, + { + "id": "board_1_1", + "cat_name": "board_1", + "inst_id": 1, + "noun": "board 1", + "color": "gray", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.7523888981819216, + -0.07651004381205483, + 0.2900000427982502 + ], + "bbox": { + "extent": [ + 0.2595179969713468, + 0.09948748150649656, + 0.019999999552965164 + ], + "center": [ + 1.3877787807814457e-17, + 0.0, + 0.0 + ] + } + }, + { + "id": "board_2_1", + "cat_name": "board_2", + "inst_id": 1, + "noun": "board 2", + "color": "gray", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.6209896683199667, + -0.06389091580394123, + 0.2900000409093417 + ], + "bbox": { + "extent": [ + 0.06379499242072986, + 0.10951799846146287, + 0.019999999552965164 + ], + "center": [ + 0.0, + -2.7755575615628914e-17, + 0.0 + ] + } + }, + { + "id": "board_3_1", + "cat_name": "board_3", + "inst_id": 1, + "noun": "board 3", + "color": "gray", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.7750988027773436, + -0.20654565521626464, + 0.29000004445253913 + ], + "bbox": { + "extent": [ + 0.0637949924207298, + 0.10951799846146287, + 0.019999999552965164 + ], + "center": [ + -1.0408340855860843e-17, + -2.7755575615628914e-17, + 0.0 + ] + } + }, + { + "id": "board_4_1", + "cat_name": "board_4", + "inst_id": 1, + "noun": "board 4", + "color": "gray", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.696407893399362, + -0.09282344638586025, + 0.2900000422187606 + ], + "bbox": { + "extent": [ + 0.0995180005476255, + 0.061415493621109485, + 0.019999999552965164 + ], + "center": [ + -1.0408340855860843e-17, + -2.7755575615628914e-17, + 0.0 + ] + } + }, + { + "id": "picture_1", + "cat_name": "picture", + "inst_id": 1, + "noun": "picture", + "color": "gray", + "size": "medium", + "material": null, + "category": "geometry", + "pos": [ + 3.915422884877704, + 0.0996146822167804, + 0.3800000431501795 + ], + "bbox": { + "extent": [ + 0.2519035995272342, + 0.06748748278054578, + 0.20000000298023224 + ], + "center": [ + 4.163336342344337e-17, + -3.469446951953614e-18, + 0.0 + ] + } + }, + { + "id": "picture_bar_1", + "cat_name": "picture_bar", + "inst_id": 1, + "noun": "picture bar", + "color": "gray", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.912026343797573, + 0.09594541685101636, + 0.35500004314284767 + ], + "bbox": { + "extent": [ + 0.15047590584227305, + 0.03769249095362672, + 0.05000000074505806 + ], + "center": [ + -2.0816681711721685e-17, + -1.0408340855860843e-17, + 0.0 + ] + } + }, + { + "id": "picture_cap_1", + "cat_name": "picture_cap", + "inst_id": 1, + "noun": "picture cap", + "color": "gray", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.948718994189956, + 0.06198000322449658, + 0.40500004398646605 + ], + "bbox": { + "extent": [ + 0.05047590062686664, + 0.013897496752394656, + 0.05000000074505806 + ], + "center": [ + 3.469446951953614e-18, + 0.0, + 0.0 + ] + } + }, + { + "id": "tile_1", + "cat_name": "tile", + "inst_id": 1, + "noun": "tile", + "color": null, + "size": "small", + "material": null, + "category": "rigid", + "pos": [ + 7.406578668737797, + 1.052880718765423, + 0.28000012286997145 + ], + "bbox": { + "extent": [ + 0.16881895374789796, + 0.11980985657613644, + 0.06500008777623828 + ], + "center": [ + 0.0004954480191837821, + 0.020047549746780784, + 0.032499988830547194 + ] + } + }, + { + "id": "cand_O_1", + "cat_name": "cand_O", + "inst_id": 1, + "noun": "cand O", + "color": null, + "size": "small", + "material": null, + "category": "rigid", + "pos": [ + 7.103353697572649, + 1.321322194081392, + 0.2800001160255584 + ], + "bbox": { + "extent": [ + 0.11790342308005644, + 0.11790339428358321, + 0.06500012728929899 + ], + "center": [ + 0.02499998805510759, + 0.02499999536598989, + 0.03249998876933771 + ] + } + } + ], + "relations": [ + { + "subject": "table_B_1", + "relation": "in_front_of", + "object": "cand_O_1" + }, + { + "subject": "board_0_1", + "relation": "right_of", + "object": "board_4_1" + }, + { + "subject": "board_1_1", + "relation": "in_front_of", + "object": "board_4_1" + }, + { + "subject": "board_2_1", + "relation": "behind", + "object": "board_4_1" + }, + { + "subject": "board_3_1", + "relation": "right_of", + "object": "board_1_1" + }, + { + "subject": "board_4_1", + "relation": "behind", + "object": "board_1_1" + }, + { + "subject": "tile_1", + "relation": "on_top_of", + "object": "table_B_1" + }, + { + "subject": "tile_1", + "relation": "right_of", + "object": "table_B_1" + }, + { + "subject": "cand_O_1", + "relation": "on_top_of", + "object": "table_B_1" + }, + { + "subject": "cand_O_1", + "relation": "behind", + "object": "table_B_1" + } + ], + "cameras": [ + { + "name": "head", + "intrinsics": { + "K": [ + [ + 355.55555555555554, + 0.0, + 320.0 + ], + [ + 0.0, + 355.55555555555554, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 83.97442499163331, + "resolution": [ + 640, + 480 + ] + }, + "pos_robot": [ + 4.32316348504566, + -0.18001805857848424, + -0.094999950279115 + ], + "viewpoint": "front, at table height", + "extrinsics": { + "R": [ + [ + -8.039232568535226e-08, + -0.9999999999999964, + 2.5347603738179458e-08 + ], + [ + 0.8191520331270514, + -8.039232568535226e-08, + -0.5735764522919431 + ], + [ + 0.5735764522919431, + -2.5347603738179458e-08, + 0.819152033127055 + ] + ], + "t": [ + 1.855362002599171e-08, + -0.2032392724571752, + -0.08737481710326404 + ] + } + }, + { + "name": "wrist", + "intrinsics": { + "K": [ + [ + 320.0, + 0.0, + 320.0 + ], + [ + 0.0, + 320.0, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 90.0, + "resolution": [ + 640, + 480 + ] + }, + "pos_robot": [ + 4.196159914368672, + -0.08805973096973718, + -0.01999995181560376 + ], + "viewpoint": "front, at table height", + "extrinsics": { + "R": [ + [ + 0.0, + 1.0, + -1.4782795217992896e-16 + ], + [ + 1.0, + 0.0, + 2.5363269588459423e-17 + ], + [ + 2.5363269588459423e-17, + -1.4782795217992896e-16, + -1.0 + ] + ], + "t": [ + 4.4348384662715026e-18, + -0.05979999899864197, + 0.029999999329447746 + ] + } + } + ], + "robots": [ + { + "name": "RidgebackSawyerUmi", + "model": "ridgebacksawyer_umi", + "type": "mobilemanip", + "noun": "Ridgeback-Sawyer mobile manipulator with a UMI gripper", + "arms": 1, + "arm_layout": null, + "mobile": true, + "dexterous": false, + "base_pose": { + "pos": [ + -3.4, + -2.2, + 0.05 + ], + "ori": [ + 0.9396926164627075, + 0.0, + 0.0, + 0.3420201539993286 + ] + }, + "facing_yaw_deg": 40.000001288448495, + "gripper": "parallel gripper" + } + ], + "lighting": [], + "background": { + "name": null, + "kind": "background", + "type": "dome", + "pose": null, + "setting": null, + "time_of_day": null, + "indoor": false, + "intensity": 1000.0, + "ambient": "dim" + }, + "effects": [], + "caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a small gray board 0, a small gray board 1, a small gray board 2, a small gray board 3, a small gray board 4, a medium gray picture, a small gray picture bar, a small gray picture cap, a small tile and a small cand O. The gray table B is in front of the cand O. The gray board 0 is to the right of the gray board 4. The gray board 1 is in front of the gray board 4. The gray board 2 is behind the gray board 4. The gray board 3 is to the right of the gray board 1. The gray board 4 is behind the gray board 1. The tile is on top of the gray table B. The tile is to the right of the gray table B. The cand O is on top of the gray table B. The cand O is behind the gray table B. The scene is viewed from front, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n[cand O]le]\n\n\n\n [picture cap]\n\n\n\n [robot]" + }, + "task": { + "task_type": "StationPuzzleXR", + "instruction": "Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.", + "template_id": -1, + "slots": { + "obj": 1.4506690936101554, + "support": null + }, + "generic_instruction": "Stationpuzzlexr the 1.4506690936101554.", + "task_id": "N032", + "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 +} \ No newline at end of file diff --git a/N032/sawyer_umi/dr_off/seed_1020/rec/stationpuzzlexr/000/lerobot_v21/meta/info.json b/N032/sawyer_umi/dr_off/seed_1020/rec/stationpuzzlexr/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..039b748d86accefed453c1de8f943e8644fdbadf --- /dev/null +++ b/N032/sawyer_umi/dr_off/seed_1020/rec/stationpuzzlexr/000/lerobot_v21/meta/info.json @@ -0,0 +1,331 @@ +{ + "codebase_version": "v2.1", + "robot_type": "RidgebackSawyerUmiCfg", + "total_episodes": 1, + "total_frames": 2709, + "total_tasks": 1, + "total_videos": 2, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 25, + "splits": { + "train": "0:1" + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", + "features": { + "action": { + "dtype": "float32", + "shape": [ + 11 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "frame0.pos_x", + "frame0.pos_y", + "frame0.pos_z", + "frame0.quat_w", + "frame0.quat_x", + "frame0.quat_y", + "frame0.quat_z", + "gripper" + ] + }, + "action_is_hold": { + "dtype": "bool", + "shape": [ + 11 + ], + "names": null + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 15 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint", + "gripper_0", + "gripper_1" + ] + }, + "observation.joint_vel": { + "dtype": "float32", + "shape": [ + 13 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ] + }, + "observation.eef_pose": { + "dtype": "float32", + "shape": [ + 7 + ], + "names": null + }, + "observation.environment_state": { + "dtype": "float32", + "shape": [ + 84 + ], + "names": [ + "object_pose.board_0.0", + "object_pose.board_0.1", + "object_pose.board_0.2", + "object_pose.board_0.3", + "object_pose.board_0.4", + "object_pose.board_0.5", + "object_pose.board_0.6", + "object_pose.board_1.0", + "object_pose.board_1.1", + "object_pose.board_1.2", + "object_pose.board_1.3", + "object_pose.board_1.4", + "object_pose.board_1.5", + "object_pose.board_1.6", + "object_pose.board_2.0", + "object_pose.board_2.1", + "object_pose.board_2.2", + "object_pose.board_2.3", + "object_pose.board_2.4", + "object_pose.board_2.5", + "object_pose.board_2.6", + "object_pose.board_3.0", + "object_pose.board_3.1", + "object_pose.board_3.2", + "object_pose.board_3.3", + "object_pose.board_3.4", + "object_pose.board_3.5", + "object_pose.board_3.6", + "object_pose.board_4.0", + "object_pose.board_4.1", + "object_pose.board_4.2", + "object_pose.board_4.3", + "object_pose.board_4.4", + "object_pose.board_4.5", + "object_pose.board_4.6", + "object_pose.cand_O.0", + "object_pose.cand_O.1", + "object_pose.cand_O.2", + "object_pose.cand_O.3", + "object_pose.cand_O.4", + "object_pose.cand_O.5", + "object_pose.cand_O.6", + "object_pose.picture.0", + "object_pose.picture.1", + "object_pose.picture.2", + "object_pose.picture.3", + "object_pose.picture.4", + "object_pose.picture.5", + "object_pose.picture.6", + "object_pose.picture_bar.0", + "object_pose.picture_bar.1", + "object_pose.picture_bar.2", + "object_pose.picture_bar.3", + "object_pose.picture_bar.4", + "object_pose.picture_bar.5", + "object_pose.picture_bar.6", + "object_pose.picture_cap.0", + "object_pose.picture_cap.1", + "object_pose.picture_cap.2", + "object_pose.picture_cap.3", + "object_pose.picture_cap.4", + "object_pose.picture_cap.5", + "object_pose.picture_cap.6", + "object_pose.table_A.0", + "object_pose.table_A.1", + "object_pose.table_A.2", + "object_pose.table_A.3", + "object_pose.table_A.4", + "object_pose.table_A.5", + "object_pose.table_A.6", + "object_pose.table_B.0", + "object_pose.table_B.1", + "object_pose.table_B.2", + "object_pose.table_B.3", + "object_pose.table_B.4", + "object_pose.table_B.5", + "object_pose.table_B.6", + "object_pose.tile.0", + "object_pose.tile.1", + "object_pose.tile.2", + "object_pose.tile.3", + "object_pose.tile.4", + "object_pose.tile.5", + "object_pose.tile.6" + ] + }, + "action.command": { + "dtype": "float32", + "shape": [ + 816 + ], + "names": null + }, + "action.applied": { + "dtype": "float32", + "shape": [ + 12 + ], + "names": null + }, + "narration": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "collect_info": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "extra.reward": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "extra.action_info": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "next.truncated": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "sim_step_idx": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "next.done": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "observation.images.head": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25, + "video.codec": "libsvtav1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.wrist": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25, + "video.codec": "libsvtav1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + } + } +} \ No newline at end of file diff --git a/N032/sawyer_umi/dr_off/seed_1020/rec/stationpuzzlexr/000/lerobot_v21/meta/magicsim_manifest.json b/N032/sawyer_umi/dr_off/seed_1020/rec/stationpuzzlexr/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..5141b44049088b4e2d6f5c96a812f5fafccd9077 --- /dev/null +++ b/N032/sawyer_umi/dr_off/seed_1020/rec/stationpuzzlexr/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,264 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 03:08:07" + }, + "embodiment": { + "robots": [ + { + "name": "RidgebackSawyerUmi", + "cfg": "RidgebackSawyerUmiCfg", + "type": "mobilemanip", + "joint_names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 11, + "nan_policy": "from_raw", + "segments": [ + { + "name": "RidgebackSawyerUmi.base_action", + "start": 0, + "end": 3, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint" + ], + "source": "HolonomicAction", + "names_source": "_joint_names" + }, + { + "name": "RidgebackSawyerUmi.arm_action", + "start": 3, + "end": 10, + "names": [ + "frame0.pos_x", + "frame0.pos_y", + "frame0.pos_z", + "frame0.quat_w", + "frame0.quat_x", + "frame0.quat_y", + "frame0.quat_z" + ], + "source": "PinkInverseKinematicsAction", + "names_source": "pink_layout" + }, + { + "name": "RidgebackSawyerUmi.eef_action", + "start": 10, + "end": 11, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 15, + "segments": [ + { + "name": "RidgebackSawyerUmi.joint_pos", + "start": 0, + "end": 13, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ], + "source": "ObservationManager", + "names_source": "joint_names" + }, + { + "name": "RidgebackSawyerUmi.gripper_pos", + "start": 13, + "end": 15, + "names": [ + "gripper_0", + "gripper_1" + ], + "source": "ObservationManager", + "names_source": "generated" + } + ] + }, + "joint_vel_layout": { + "dim": 13, + "segments": [ + { + "name": "RidgebackSawyerUmi.joint_vel", + "start": 0, + "end": 13, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "action_levels": { + "L0": "task command list (collect.auto_collect_info.current_action)", + "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)", + "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)", + "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy", + "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)" + }, + "cameras": { + "head": { + "intrinsics": { + "K": [ + [ + 355.55555555555554, + 0.0, + 320.0 + ], + [ + 0.0, + 355.55555555555554, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 83.97442499163331, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.21660000085830688, + 0.0, + -0.04500000178813934 + ], + "quat": [ + -0.6743797063827515, + 0.21263112127780914, + -0.21263112127780914, + 0.6743797659873962 + ] + }, + "wrist": { + "intrinsics": { + "K": [ + [ + 320.0, + 0.0, + 320.0 + ], + [ + 0.0, + 320.0, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 90.0, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.05979999899864197, + 0.0, + 0.029999999329447746 + ], + "quat": [ + 6.123234262925839e-17, + 0.7071067690849304, + 0.7071067690849304, + -4.329780301713277e-17 + ] + } + }, + "lerobot": { + "codebase_version": "v2.1", + "video_keys": [ + "observation.images.head", + "observation.images.wrist" + ], + "columns": [ + "action", + "action.applied", + "action.command", + "action_is_hold", + "collect_info", + "episode_index", + "extra.action_info", + "extra.reward", + "frame_index", + "index", + "narration", + "next.done", + "next.truncated", + "observation.eef_pose", + "observation.environment_state", + "observation.images.head", + "observation.images.wrist", + "observation.joint_vel", + "observation.state", + "sim_step_idx", + "task_index", + "timestamp" + ] + }, + "generated_run": { + "run_id": "stationpuzzlexr/000", + "task_type": "PuzzleXRCommand" + } +} \ No newline at end of file diff --git a/N032/sawyer_umi/dr_off/seed_1020/rec/stationpuzzlexr/000/lerobot_v21/meta/stats.json b/N032/sawyer_umi/dr_off/seed_1020/rec/stationpuzzlexr/000/lerobot_v21/meta/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..0a7e7bd1e40c3ab9fbb3e360e287c93ee08294b1 --- /dev/null +++ b/N032/sawyer_umi/dr_off/seed_1020/rec/stationpuzzlexr/000/lerobot_v21/meta/stats.json @@ -0,0 +1,4281 @@ +{ + "action": { + "mean": [ + 0.10486008956115288, + 0.0006713657830723233, + 0.008751744131166412, + 0.5566104957541667, + 0.5177689088077376, + 1.0395523944918454, + 0.21835426556069545, + 0.05139457794052785, + 0.279209227212483, + 0.17130552527373372, + 0.3920265780730897 + ], + "std": [ + 0.13135112350869027, + 0.017775326569998993, + 0.23485774242799567, + 1.248673890432211, + 1.6128386222912465, + 0.2872250285847652, + 0.5013578491753069, + 0.2934892126898132, + 0.3965111936895464, + 0.5896267877696553, + 0.48820256058053685 + ], + "min": [ + 0.0, + -0.13135124742984772, + -0.800000011920929, + -3.1327784061431885, + -2.005103588104248, + 0.5887400507926941, + -0.6565650105476379, + -0.6322447061538696, + -0.306342214345932, + -0.7626506686210632, + 0.0 + ], + "max": [ + 0.30000001192092896, + 0.1740768849849701, + 0.800000011920929, + 2.0608694553375244, + 2.888509750366211, + 1.3731142282485962, + 0.8582556247711182, + 0.6889145374298096, + 0.9377099275588989, + 0.9763996601104736, + 1.0 + ], + "count": [ + 2709 + ] + }, + "action_is_hold": { + "mean": [ + 0.07419712070874862, + 0.07419712070874862, + 0.07419712070874862, + 0.08527131782945736, + 0.08527131782945736, + 0.08527131782945736, + 0.08527131782945736, + 0.08527131782945736, + 0.08527131782945736, + 0.08527131782945736, + 0.9926172019195275 + ], + "std": [ + 0.26209141150995346, + 0.26209141150995346, + 0.26209141150995346, + 0.27928501604111255, + 0.27928501604111255, + 0.27928501604111255, + 0.27928501604111255, + 0.27928501604111255, + 0.27928501604111255, + 0.27928501604111255, + 0.08560544593059204 + ], + "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": [ + 2709 + ] + }, + "observation.state": { + "mean": [ + 1.2707306343763682, + -2.6785195419030594, + 1.7541447719246226, + 0.25153789275619726, + -0.251947653746739, + -0.7428082903105557, + -1.1414733037757365, + 1.0917436286680546, + -1.3103313041488611, + -1.9113806247623173, + 0.46892053201142314, + 0.014014301516517459, + -0.014209256649175593, + -0.014209256649175593, + -0.014014301516517459 + ], + "std": [ + 1.8954437940494, + 0.5322130824380757, + 1.170470370030425, + 0.2667371137790555, + 0.2657800086970754, + 0.6372072717842477, + 0.9179092051209958, + 0.42910847669252883, + 0.9470418713287407, + 0.35603542108779485, + 0.440855644919135, + 0.009026194952275884, + 0.00913398689946491, + 0.00913398689946491, + 0.009026194952275884 + ], + "min": [ + -3.390869379043579, + -3.404782295227051, + 0.2635454535484314, + -0.7268537878990173, + -0.6526938080787659, + -1.6114460229873657, + -2.6466403007507324, + 0.4969383776187897, + -2.9662551879882812, + -2.4802141189575195, + -0.14107802510261536, + 0.0, + -0.020833000540733337, + -0.020833000540733337, + -0.020833000540733337 + ], + "max": [ + 3.4610702991485596, + -1.9933546781539917, + 4.245883941650391, + 0.6527682542800903, + 0.7267224192619324, + 0.1202227771282196, + 0.28334933519363403, + 1.5989564657211304, + 0.0054937428794801235, + -1.2119615077972412, + 1.3841029405593872, + 0.020833000540733337, + 0.0, + 0.0, + -0.0 + ], + "count": [ + 2709 + ] + }, + "observation.joint_vel": { + "mean": [ + 0.029294957385220272, + -0.007057316675035424, + 0.00931959462955022, + -0.006865545414067694, + 0.006209126731517959, + 0.005463004784259623, + -0.02551916837836136, + 0.0019413765524123243, + -0.02282312028336348, + 0.004947442509122706, + 0.0008647278002375927, + 7.509993276222272e-05, + 0.0002466225123825022 + ], + "std": [ + 0.15366991483965753, + 0.06294803847623731, + 0.23976071820137965, + 0.06297383825481029, + 0.05751669268720975, + 0.06538874015665082, + 0.08991566811894548, + 0.05431565440817056, + 0.13116429963889578, + 0.07996083028669777, + 0.11149667038232212, + 0.006982420150979932, + 0.006972702752539977 + ], + "min": [ + -0.326829195022583, + -0.15632924437522888, + -0.8001611828804016, + -1.332605004310608, + -0.21014070510864258, + -0.13408847153186798, + -2.0513181686401367, + -0.18543864786624908, + -0.3328830301761627, + -1.3657631874084473, + -0.4118169844150543, + -0.08448029309511185, + -0.10008681565523148 + ], + "max": [ + 0.3240591883659363, + 0.17213472723960876, + 2.364957094192505, + 0.4926187992095947, + 1.8002314567565918, + 0.7701419591903687, + 0.20049895346164703, + 0.19269946217536926, + 3.503582000732422, + 0.32583895325660706, + 3.010937452316284, + 0.10001004487276077, + 0.031036488711833954 + ], + "count": [ + 2709 + ] + }, + "observation.eef_pose": { + "mean": [ + 0.5571225336357475, + 0.5176160066901135, + 1.0383151379754596, + 0.19631274933412798, + 0.05312418515786072, + 0.27743992475114126, + 0.19674028943565422 + ], + "std": [ + 1.2491090505520266, + 1.612035081965019, + 0.286817869543957, + 0.5103259580871544, + 0.29365981820507475, + 0.40075629307732136, + 0.5793833782589188 + ], + "min": [ + -3.1327784061431885, + -2.009394645690918, + 0.5908232927322388, + -0.6606248021125793, + -0.6320792436599731, + -0.3058062791824341, + -0.6947436928749084 + ], + "max": [ + 2.0852434635162354, + 2.8742127418518066, + 1.3740767240524292, + 0.8548044562339783, + 0.6893460750579834, + 0.9510846138000488, + 0.976394534111023 + ], + "count": [ + 2709 + ] + }, + "observation.environment_state": { + "mean": [ + -0.32558968663215637, + -0.40974992513656616, + 0.3400000035762787, + 0.9981967210769653, + 0.0, + 0.0, + -0.06002754345536232, + -0.30641549825668335, + -0.2509029805660248, + 0.3400000035762787, + 0.9981967210769653, + 0.0, + 0.0, + -0.06002754345536232, + -0.420245885848999, + -0.3177434206008911, + 0.3400000035762787, + 0.9981967210769653, + 0.0, + 0.0, + -0.06002754345536232, + -0.2117592841386795, + -0.3429095149040222, + 0.3400000035762787, + 0.9981967210769653, + 0.0, + 0.0, + -0.06002754345536232, + -0.34219124913215637, + -0.29694750905036926, + 0.3400000035762787, + 0.9981967210769653, + 0.0, + 0.0, + -0.06002754345536232, + 1.5879861277907306, + 2.8465384305205546, + 0.3300000108577704, + 0.99898761510849, + 2.419788931569583e-07, + -3.558400004260463e-08, + -0.044985733663641954, + -0.2776542603969574, + -0.012632571160793304, + 0.4300000071525574, + 0.9981967210769653, + 0.0, + 0.0, + -0.06002754345536232, + -0.2782534658908844, + -0.017596537247300148, + 0.4050000011920929, + 0.9981967210769653, + 0.0, + 0.0, + -0.06002754345536232, + -0.22861377894878387, + -0.02358846366405487, + 0.45500001311302185, + 0.9981967210769653, + 0.0, + 0.0, + -0.06002754345536232, + -0.3016219735145569, + -0.21119125187397003, + 0.18000000715255737, + 0.9981967210769653, + 0.0, + 0.0, + -0.06002754345536232, + 1.7923485040664673, + 2.958927869796753, + 0.18000000715255737, + 0.9995346665382385, + 0.0, + 0.0, + -0.0305032841861248, + 1.146307519392271, + 1.4334698743484269, + 0.4511231914487172, + 0.8689113647273741, + 0.0011147922614560516, + -0.00012678548221133694, + 0.1466545172240205 + ], + "std": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 4.0796938347364795e-08, + 1.1905675045178123e-07, + 2.161858279931942e-08, + 0.0, + 1.9752851566889428e-07, + 2.6112157600964564e-07, + 1.063445829042003e-07, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0610025324327537, + 1.5986267954828355, + 0.1792456685026512, + 0.27371323596826563, + 0.006496934536955506, + 0.01260346691707818, + 0.3851808025687161 + ], + "min": [ + -0.32558968663215637, + -0.40974992513656616, + 0.3400000035762787, + 0.9981967210769653, + 0.0, + 0.0, + -0.06002754345536232, + -0.30641549825668335, + -0.2509029805660248, + 0.3400000035762787, + 0.9981967210769653, + 0.0, + 0.0, + -0.06002754345536232, + -0.420245885848999, + -0.3177434206008911, + 0.3400000035762787, + 0.9981967210769653, + 0.0, + 0.0, + -0.06002754345536232, + -0.2117592841386795, + -0.3429095149040222, + 0.3400000035762787, + 0.9981967210769653, + 0.0, + 0.0, + -0.06002754345536232, + -0.34219124913215637, + -0.29694750905036926, + 0.3400000035762787, + 0.9981967210769653, + 0.0, + 0.0, + -0.06002754345536232, + 1.5879861116409302, + 2.8465383052825928, + 0.3299999535083771, + 0.99898761510849, + -3.618260109305993e-07, + -5.428955205388775e-07, + -0.04498613253235817, + -0.2776542603969574, + -0.012632571160793304, + 0.4300000071525574, + 0.9981967210769653, + 0.0, + 0.0, + -0.06002754345536232, + -0.2782534658908844, + -0.017596537247300148, + 0.4050000011920929, + 0.9981967210769653, + 0.0, + 0.0, + -0.06002754345536232, + -0.22861377894878387, + -0.02358846366405487, + 0.45500001311302185, + 0.9981967210769653, + 0.0, + 0.0, + -0.06002754345536232, + -0.3016219735145569, + -0.21119125187397003, + 0.18000000715255737, + 0.9981967210769653, + 0.0, + 0.0, + -0.06002754345536232, + 1.7923485040664673, + 2.958927869796753, + 0.18000000715255737, + 0.9995346665382385, + 0.0, + 0.0, + -0.0305032841861248, + -0.873093843460083, + -1.3340246677398682, + 0.32999998331069946, + 0.2063421756029129, + -0.03621893748641014, + -0.07471497356891632, + -0.12876838445663452 + ], + "max": [ + -0.32558968663215637, + -0.40974992513656616, + 0.3400000035762787, + 0.9981967210769653, + 0.0, + 0.0, + -0.06002754345536232, + -0.30641549825668335, + -0.2509029805660248, + 0.3400000035762787, + 0.9981967210769653, + 0.0, + 0.0, + -0.06002754345536232, + -0.420245885848999, + -0.3177434206008911, + 0.3400000035762787, + 0.9981967210769653, + 0.0, + 0.0, + -0.06002754345536232, + -0.2117592841386795, + -0.3429095149040222, + 0.3400000035762787, + 0.9981967210769653, + 0.0, + 0.0, + -0.06002754345536232, + -0.34219124913215637, + -0.29694750905036926, + 0.3400000035762787, + 0.9981967210769653, + 0.0, + 0.0, + -0.06002754345536232, + 1.5879862308502197, + 2.846538543701172, + 0.3300000727176666, + 0.99898761510849, + 9.736833135320921e-07, + 5.883249514226918e-07, + -0.044985413551330566, + -0.2776542603969574, + -0.012632571160793304, + 0.4300000071525574, + 0.9981967210769653, + 0.0, + 0.0, + -0.06002754345536232, + -0.2782534658908844, + -0.017596537247300148, + 0.4050000011920929, + 0.9981967210769653, + 0.0, + 0.0, + -0.06002754345536232, + -0.22861377894878387, + -0.02358846366405487, + 0.45500001311302185, + 0.9981967210769653, + 0.0, + 0.0, + -0.06002754345536232, + -0.3016219735145569, + -0.21119125187397003, + 0.18000000715255737, + 0.9981967210769653, + 0.0, + 0.0, + -0.06002754345536232, + 1.7923485040664673, + 2.958927869796753, + 0.18000000715255737, + 0.9995346665382385, + 0.0, + 0.0, + -0.0305032841861248, + 2.0542032718658447, + 2.8069612979888916, + 0.7378383874893188, + 0.9999901652336121, + 0.038064513355493546, + 0.05366585776209831, + 0.978461742401123 + ], + "count": [ + 2709 + ] + }, + "action.command": { + "mean": [ + -0.1354587335773951, + -0.10113298632692562, + 1.4689956346453537, + 0.0, + 0.0, + 0.0, + 0.0, + 0.6634382566585957, + 0.5709624870276624, + 0.5169267445634314, + 1.0540943443294106, + 0.19121202028524115, + 0.054974162178768014, + 0.2529975094267222, + 0.18067643814137668, + 0.5, + -0.11097717545438542, + -0.09522921601757732, + 1.4689956346453537, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.2803489251341535, + -0.12225274134324281, + 1.2078481786809807, + -0.14508405783290945, + 0.050543070997191485, + -0.02305336323671119, + 0.4008289067375608, + 0.0, + -0.07225932642882568, + -0.13905155866947758, + 1.4689956346453537, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.2803489251341535, + -0.12225274134324281, + 1.2078481786809807, + -0.14508405783290945, + 0.050543070997191485, + -0.02305336323671119, + 0.4008289067375608, + 0.0, + -0.06567119797244343, + -0.15220274987699683, + 1.4689956346453537, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.2803489251341535, + -0.12225274134324281, + 1.2078481786809807, + -0.14508405783290945, + 0.050543070997191485, + -0.02305336323671119, + 0.4008289067375608, + 0.0, + -0.05815938895966809, + -0.19498584468291835, + 1.4689956346453537, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.2803489251341535, + -0.12225274134324281, + 1.2078481786809807, + -0.14508405783290945, + 0.050543070997191485, + -0.02305336323671119, + 0.4008289067375608, + 0.0, + -0.017500531009711554, + -0.20205673276076672, + 1.4689956346453537, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.2803489251341535, + -0.12225274134324281, + 1.2078481786809807, + -0.14508405783290945, + 0.050543070997191485, + -0.02305336323671119, + 0.4008289067375608, + 0.0, + -0.021100052384309894, + -0.24494516693348448, + 1.4689956346453537, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.2803489251341535, + -0.12225274134324281, + 1.2078481786809807, + -0.14508405783290945, + 0.050543070997191485, + -0.02305336323671119, + 0.4008289067375608, + 0.0, + 0.0309274013776446, + -0.24942542423847983, + 1.4689956346453537, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.2803489251341535, + -0.12225274134324281, + 1.2078481786809807, + -0.14508405783290945, + 0.050543070997191485, + -0.02305336323671119, + 0.4008289067375608, + 0.0, + 0.0604011377392898, + -0.277330928494316, + 1.4689956346453537, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.2803489251341535, + -0.12225274134324281, + 1.2078481786809807, + -0.14508405783290945, + 0.050543070997191485, + -0.02305336323671119, + 0.4008289067375608, + 0.0, + 0.07667648284716377, + -0.2972518924021825, + 1.4689956346453537, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.2803489251341535, + -0.12225274134324281, + 1.2078481786809807, + -0.14508405783290945, + 0.050543070997191485, + -0.02305336323671119, + 0.4008289067375608, + 0.0, + 0.10494792214127087, + -0.3203894623502373, + 1.4689956346453537, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.2803489251341535, + -0.12225274134324281, + 1.2078481786809807, + -0.14508405783290945, + 0.050543070997191485, + -0.02305336323671119, + 0.4008289067375608, + 0.0, + 0.1256036531977258, + -0.3441076442664367, + 1.4689956346453537, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.2803489251341535, + -0.12225274134324281, + 1.2078481786809807, + -0.14508405783290945, + 0.050543070997191485, + -0.02305336323671119, + 0.4008289067375608, + 0.0, + 0.1365387221090658, + -0.37056386991359264, + 1.4689956346453537, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.2803489251341535, + -0.12225274134324281, + 1.2078481786809807, + -0.14508405783290945, + 0.050543070997191485, + -0.02305336323671119, + 0.4008289067375608, + 0.0, + 0.16364841820371204, + -0.37215898442997164, + 1.4689956346453537, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.2803489251341535, + -0.12225274134324281, + 1.2078481786809807, + -0.14508405783290945, + 0.050543070997191485, + -0.02305336323671119, + 0.4008289067375608, + 0.0, + 0.18853732644210217, + -0.3610588744217652, + 1.4689956346453537, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.2803489251341535, + -0.12225274134324281, + 1.2078481786809807, + -0.14508405783290945, + 0.050543070997191485, + -0.02305336323671119, + 0.4008289067375608, + 0.0, + 0.19052575014564146, + -0.38052183832143593, + 1.4689956346453537, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.2803489251341535, + -0.12225274134324281, + 1.2078481786809807, + -0.14508405783290945, + 0.050543070997191485, + -0.02305336323671119, + 0.4008289067375608, + 0.0, + 0.21515689484417178, + -0.3751366856837377, + 1.4689956346453537, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.2803489251341535, + -0.12225274134324281, + 1.2078481786809807, + -0.14508405783290945, + 0.050543070997191485, + -0.02305336323671119, + 0.4008289067375608, + 0.0, + 0.2130595773588622, + -0.39716597051079094, + 1.4689956346453537, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.2803489251341535, + -0.12225274134324281, + 1.2078481786809807, + -0.14508405783290945, + 0.050543070997191485, + -0.02305336323671119, + 0.4008289067375608, + 0.0, + 0.2217150640279445, + -0.3900042996135862, + 1.4689956346453537, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.2803489251341535, + -0.12225274134324281, + 1.2078481786809807, + -0.14508405783290945, + 0.050543070997191485, + -0.02305336323671119, + 0.4008289067375608, + 0.0, + 0.23459194997512617, + -0.4156699966655548, + 1.4689956346453537, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.2803489251341535, + -0.12225274134324281, + 1.2078481786809807, + -0.14508405783290945, + 0.050543070997191485, + -0.02305336323671119, + 0.4008289067375608, + 0.0, + 0.2634325685980018, + -0.40022220387729496, + 1.4689956346453537, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.2803489251341535, + -0.12225274134324281, + 1.2078481786809807, + -0.14508405783290945, + 0.050543070997191485, + -0.02305336323671119, + 0.4008289067375608, + 0.0, + 0.26018269665897154, + -0.42656356753480484, + 1.4689956346453537, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.2803489251341535, + -0.12225274134324281, + 1.2078481786809807, + -0.14508405783290945, + 0.050543070997191485, + -0.02305336323671119, + 0.4008289067375608, + 0.0, + 0.2900064801024558, + -0.40271617804031706, + 1.4689956346453537, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.2803489251341535, + -0.12225274134324281, + 1.2078481786809807, + -0.14508405783290945, + 0.050543070997191485, + -0.02305336323671119, + 0.4008289067375608, + 0.0, + 0.31682242576732383, + -0.3755553992359399, + 1.4689956346453537, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.2803489251341535, + -0.12225274134324281, + 1.2078481786809807, + -0.14508405783290945, + 0.050543070997191485, + -0.02305336323671119, + 0.4008289067375608, + 0.0, + 0.30903682412018424, + -0.4056137522039976, + 1.4689956346453537, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.2803489251341535, + -0.12225274134324281, + 1.2078481786809807, + -0.14508405783290945, + 0.050543070997191485, + -0.02305336323671119, + 0.4008289067375608, + 0.0, + 0.3374220252557613, + -0.3963042086876896, + 1.4689956346453537, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.2803489251341535, + -0.12225274134324281, + 1.2078481786809807, + -0.14508405783290945, + 0.050543070997191485, + -0.02305336323671119, + 0.4008289067375608, + 0.0, + 0.3645982799571674, + -0.38978940043517074, + 1.4689956346453537, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.2803489251341535, + -0.12225274134324281, + 1.2078481786809807, + -0.14508405783290945, + 0.050543070997191485, + -0.02305336323671119, + 0.4008289067375608, + 0.0, + 0.3577568502405325, + -0.4176443187300295, + 1.4689956346453537, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.2803489251341535, + -0.12225274134324281, + 1.2078481786809807, + -0.14508405783290945, + 0.050543070997191485, + -0.02305336323671119, + 0.4008289067375608, + 0.0, + 0.3745012975676091, + -0.41163772220955147, + 1.4689956346453537, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.2803489251341535, + -0.12225274134324281, + 1.2078481786809807, + -0.14508405783290945, + 0.050543070997191485, + -0.02305336323671119, + 0.4008289067375608, + 0.0, + 0.37996070666084125, + -0.43511783465027287, + 1.4689956346453537, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.2803489251341535, + -0.12225274134324281, + 1.2078481786809807, + -0.14508405783290945, + 0.050543070997191485, + -0.02305336323671119, + 0.4008289067375608, + 0.0, + 0.37665993209489046, + -0.4597686762112197, + 1.4689956346453537, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.2803489251341535, + -0.12225274134324281, + 1.2078481786809807, + -0.14508405783290945, + 0.050543070997191485, + -0.02305336323671119, + 0.4008289067375608, + 0.0, + 0.4152744664896003, + -0.4265399697566137, + 1.4689956346453537, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.2803489251341535, + -0.12225274134324281, + 1.2078481786809807, + -0.14508405783290945, + 0.050543070997191485, + -0.02305336323671119, + 0.4008289067375608, + 0.0, + 0.4297956582240142, + -0.44751575966589313, + 1.4689956346453537, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.2803489251341535, + -0.12225274134324281, + 1.2078481786809807, + -0.14508405783290945, + 0.050543070997191485, + -0.02305336323671119, + 0.4008289067375608, + 0.0, + 0.44280258797141664, + -0.4338912086715865, + 1.4689956346453537, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.2803489251341535, + -0.12225274134324281, + 1.2078481786809807, + -0.14508405783290945, + 0.050543070997191485, + -0.02305336323671119, + 0.4008289067375608, + 0.0, + 0.44524827065946754, + -0.45089665094317305, + 1.4689956346453537, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.2803489251341535, + -0.12225274134324281, + 1.2078481786809807, + -0.14508405783290945, + 0.050543070997191485, + -0.02305336323671119, + 0.4008289067375608, + 0.0, + 0.47728257278167524, + -0.4285903414263996, + 1.4689956346453537, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.2803489251341535, + -0.12225274134324281, + 1.2078481786809807, + -0.14508405783290945, + 0.050543070997191485, + -0.02305336323671119, + 0.4008289067375608, + 0.0, + 0.47111672110953184, + -0.4601964010942451, + 1.4689956346453537, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.2803489251341535, + -0.12225274134324281, + 1.2078481786809807, + -0.14508405783290945, + 0.050543070997191485, + -0.02305336323671119, + 0.4008289067375608, + 0.0, + 0.4818378172847381, + -0.4274783196928199, + 1.4689956346453537, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.2803489251341535, + -0.12225274134324281, + 1.2078481786809807, + -0.14508405783290945, + 0.050543070997191485, + -0.02305336323671119, + 0.4008289067375608, + 0.0, + 0.5044239113945107, + -0.40835598800900724, + 1.4689956346453537, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.2803489251341535, + -0.12225274134324281, + 1.2078481786809807, + -0.14508405783290945, + 0.050543070997191485, + -0.02305336323671119, + 0.4008289067375608, + 0.0, + 0.46224535734892935, + -0.3978361237517611, + 1.4689956346453537, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.2803489251341535, + -0.12225274134324281, + 1.2078481786809807, + -0.14508405783290945, + 0.050543070997191485, + -0.02305336323671119, + 0.4008289067375608, + 0.0, + 0.48139550494575084, + -0.3777341405377117, + 1.4689956346453537, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.2803489251341535, + -0.12225274134324281, + 1.2078481786809807, + -0.14508405783290945, + 0.050543070997191485, + -0.02305336323671119, + 0.4008289067375608, + 0.0, + 0.49320605956831354, + -0.31208587733939225, + 1.4689956346453537, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.2803489251341535, + -0.12225274134324281, + 1.2078481786809807, + -0.14508405783290945, + 0.050543070997191485, + -0.02305336323671119, + 0.4008289067375608, + 0.0, + 0.737067631900657, + -0.03558193320451781, + 1.4750689794850904, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.8034978998868272, + 0.2966629707131737, + 1.1530906811010007, + -0.11892496136038802, + 0.10558608748278646, + 0.0069183964542178225, + 0.2172781902748023, + 0.0, + 0.7034565649146951, + -0.017498202102128848, + 1.4750689794850904, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.8034978998868272, + 0.2966629707131737, + 1.1530906811010007, + -0.11892496136038802, + 0.10558608748278646, + 0.0069183964542178225, + 0.2172781902748023, + 0.0, + 0.6834794421095488, + -0.0025865622731142267, + 1.4750689794850904, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.8034978998868272, + 0.2966629707131737, + 1.1530906811010007, + -0.11892496136038802, + 0.10558608748278646, + 0.0069183964542178225, + 0.2172781902748023, + 0.0, + 0.6456934431091298, + 0.012093995892724325, + 1.4750689794850904, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.8034978998868272, + 0.2966629707131737, + 1.1530906811010007, + -0.11892496136038802, + 0.10558608748278646, + 0.0069183964542178225, + 0.2172781902748023, + 0.0, + 0.6299663112433844, + 0.03191200799720232, + 1.4750689794850904, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.8034978998868272, + 0.2966629707131737, + 1.1530906811010007, + -0.11892496136038802, + 0.10558608748278646, + 0.0069183964542178225, + 0.2172781902748023, + 0.0, + 0.6302608469890993, + 0.06183883963629257, + 1.4750689794850904, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.8034978998868272, + 0.2966629707131737, + 1.1530906811010007, + -0.11892496136038802, + 0.10558608748278646, + 0.0069183964542178225, + 0.2172781902748023, + 0.0, + 0.5797331163356471, + 0.07264906583830368, + 1.4750689794850904, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.8034978998868272, + 0.2966629707131737, + 1.1530906811010007, + -0.11892496136038802, + 0.10558608748278646, + 0.0069183964542178225, + 0.2172781902748023, + 0.0, + 0.5813816279865974, + 0.14679612253987512, + 1.4750689794850904, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.8034978998868272, + 0.2966629707131737, + 1.1530906811010007, + -0.11892496136038802, + 0.10558608748278646, + 0.0069183964542178225, + 0.2172781902748023, + 0.0, + 1.941603660583496, + 1.9980381727218628, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.089385928752277, + 0.7018590940276223, + 1.3730804922994873, + -0.4463653630913703, + -0.08408273789734348, + -0.13734034963057073, + 0.866898517093748, + 0.0 + ], + "std": [ + 2.130786405129056, + 1.878303225772015, + 0.0273388914788605, + 0.0, + 0.0, + 0.0, + 0.0, + 1.491069393509372, + 1.2605441839000378, + 1.6202659887312554, + 0.2825124374881577, + 0.49521457479340064, + 0.30637955794408755, + 0.3933722290609394, + 0.6082074603335272, + 0.5, + 2.1155196220340406, + 1.8703541725448214, + 0.0273388914788605, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2505367463973798, + 1.295406852370418, + 0.18601169986161334, + 0.34180840099638093, + 0.40831208925543555, + 0.2533395486901666, + 0.6837162182317323, + 0.0, + 2.042268520275379, + 1.7812564652628589, + 0.0273388914788605, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2505367463973798, + 1.295406852370418, + 0.18601169986161334, + 0.34180840099638093, + 0.40831208925543555, + 0.2533395486901666, + 0.6837162182317323, + 0.0, + 2.010511488502283, + 1.7538534445135463, + 0.0273388914788605, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2505367463973798, + 1.295406852370418, + 0.18601169986161334, + 0.34180840099638093, + 0.40831208925543555, + 0.2533395486901666, + 0.6837162182317323, + 0.0, + 1.9351283916339228, + 1.6787874252587784, + 0.0273388914788605, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2505367463973798, + 1.295406852370418, + 0.18601169986161334, + 0.34180840099638093, + 0.40831208925543555, + 0.2533395486901666, + 0.6837162182317323, + 0.0, + 1.9132530926714144, + 1.6463100343076473, + 0.0273388914788605, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2505367463973798, + 1.295406852370418, + 0.18601169986161334, + 0.34180840099638093, + 0.40831208925543555, + 0.2533395486901666, + 0.6837162182317323, + 0.0, + 1.8859212872570663, + 1.589607215746787, + 0.0273388914788605, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2505367463973798, + 1.295406852370418, + 0.18601169986161334, + 0.34180840099638093, + 0.40831208925543555, + 0.2533395486901666, + 0.6837162182317323, + 0.0, + 1.820538513444665, + 1.5424639471617547, + 0.0273388914788605, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2505367463973798, + 1.295406852370418, + 0.18601169986161334, + 0.34180840099638093, + 0.40831208925543555, + 0.2533395486901666, + 0.6837162182317323, + 0.0, + 1.7676837163692782, + 1.4811352075902218, + 0.0273388914788605, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2505367463973798, + 1.295406852370418, + 0.18601169986161334, + 0.34180840099638093, + 0.40831208925543555, + 0.2533395486901666, + 0.6837162182317323, + 0.0, + 1.7307633002022786, + 1.439728396804686, + 0.0273388914788605, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2505367463973798, + 1.295406852370418, + 0.18601169986161334, + 0.34180840099638093, + 0.40831208925543555, + 0.2533395486901666, + 0.6837162182317323, + 0.0, + 1.6653276701761142, + 1.3811029652592837, + 0.0273388914788605, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2505367463973798, + 1.295406852370418, + 0.18601169986161334, + 0.34180840099638093, + 0.40831208925543555, + 0.2533395486901666, + 0.6837162182317323, + 0.0, + 1.6446467203867676, + 1.337227719834209, + 0.0273388914788605, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2505367463973798, + 1.295406852370418, + 0.18601169986161334, + 0.34180840099638093, + 0.40831208925543555, + 0.2533395486901666, + 0.6837162182317323, + 0.0, + 1.629518722687739, + 1.296116499910457, + 0.0273388914788605, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2505367463973798, + 1.295406852370418, + 0.18601169986161334, + 0.34180840099638093, + 0.40831208925543555, + 0.2533395486901666, + 0.6837162182317323, + 0.0, + 1.5599047035032074, + 1.2275719075581062, + 0.0273388914788605, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2505367463973798, + 1.295406852370418, + 0.18601169986161334, + 0.34180840099638093, + 0.40831208925543555, + 0.2533395486901666, + 0.6837162182317323, + 0.0, + 1.5133454674919353, + 1.1731701058854676, + 0.0273388914788605, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2505367463973798, + 1.295406852370418, + 0.18601169986161334, + 0.34180840099638093, + 0.40831208925543555, + 0.2533395486901666, + 0.6837162182317323, + 0.0, + 1.4750980029744498, + 1.1149065017387623, + 0.0273388914788605, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2505367463973798, + 1.295406852370418, + 0.18601169986161334, + 0.34180840099638093, + 0.40831208925543555, + 0.2533395486901666, + 0.6837162182317323, + 0.0, + 1.4236618026377506, + 1.0704298497209963, + 0.0273388914788605, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2505367463973798, + 1.295406852370418, + 0.18601169986161334, + 0.34180840099638093, + 0.40831208925543555, + 0.2533395486901666, + 0.6837162182317323, + 0.0, + 1.3911110992474072, + 1.0123372878552797, + 0.0273388914788605, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2505367463973798, + 1.295406852370418, + 0.18601169986161334, + 0.34180840099638093, + 0.40831208925543555, + 0.2533395486901666, + 0.6837162182317323, + 0.0, + 1.3785676874376158, + 0.9868915295362077, + 0.0273388914788605, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2505367463973798, + 1.295406852370418, + 0.18601169986161334, + 0.34180840099638093, + 0.40831208925543555, + 0.2533395486901666, + 0.6837162182317323, + 0.0, + 1.3086581366612933, + 0.9171331790532656, + 0.0273388914788605, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2505367463973798, + 1.295406852370418, + 0.18601169986161334, + 0.34180840099638093, + 0.40831208925543555, + 0.2533395486901666, + 0.6837162182317323, + 0.0, + 1.2642083510924467, + 0.8904944971410197, + 0.0273388914788605, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2505367463973798, + 1.295406852370418, + 0.18601169986161334, + 0.34180840099638093, + 0.40831208925543555, + 0.2533395486901666, + 0.6837162182317323, + 0.0, + 1.2301134994590897, + 0.8328529590560269, + 0.0273388914788605, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2505367463973798, + 1.295406852370418, + 0.18601169986161334, + 0.34180840099638093, + 0.40831208925543555, + 0.2533395486901666, + 0.6837162182317323, + 0.0, + 1.1967251717526248, + 0.8224006862418427, + 0.0273388914788605, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2505367463973798, + 1.295406852370418, + 0.18601169986161334, + 0.34180840099638093, + 0.40831208925543555, + 0.2533395486901666, + 0.6837162182317323, + 0.0, + 1.1749901424507208, + 0.8167128959346237, + 0.0273388914788605, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2505367463973798, + 1.295406852370418, + 0.18601169986161334, + 0.34180840099638093, + 0.40831208925543555, + 0.2533395486901666, + 0.6837162182317323, + 0.0, + 1.1498116896780115, + 0.7829458885433163, + 0.0273388914788605, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2505367463973798, + 1.295406852370418, + 0.18601169986161334, + 0.34180840099638093, + 0.40831208925543555, + 0.2533395486901666, + 0.6837162182317323, + 0.0, + 1.09990825258228, + 0.7638196102293845, + 0.0273388914788605, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2505367463973798, + 1.295406852370418, + 0.18601169986161334, + 0.34180840099638093, + 0.40831208925543555, + 0.2533395486901666, + 0.6837162182317323, + 0.0, + 1.0523686620023092, + 0.7539249161896475, + 0.0273388914788605, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2505367463973798, + 1.295406852370418, + 0.18601169986161334, + 0.34180840099638093, + 0.40831208925543555, + 0.2533395486901666, + 0.6837162182317323, + 0.0, + 1.0299584145865235, + 0.7388241991295178, + 0.0273388914788605, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2505367463973798, + 1.295406852370418, + 0.18601169986161334, + 0.34180840099638093, + 0.40831208925543555, + 0.2533395486901666, + 0.6837162182317323, + 0.0, + 1.0063577174645764, + 0.7482586834821477, + 0.0273388914788605, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2505367463973798, + 1.295406852370418, + 0.18601169986161334, + 0.34180840099638093, + 0.40831208925543555, + 0.2533395486901666, + 0.6837162182317323, + 0.0, + 0.9674481071658274, + 0.7459137590183359, + 0.0273388914788605, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2505367463973798, + 1.295406852370418, + 0.18601169986161334, + 0.34180840099638093, + 0.40831208925543555, + 0.2533395486901666, + 0.6837162182317323, + 0.0, + 0.9434471921987578, + 0.7396784407575375, + 0.0273388914788605, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2505367463973798, + 1.295406852370418, + 0.18601169986161334, + 0.34180840099638093, + 0.40831208925543555, + 0.2533395486901666, + 0.6837162182317323, + 0.0, + 0.9164301242210731, + 0.7800258180473912, + 0.0273388914788605, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2505367463973798, + 1.295406852370418, + 0.18601169986161334, + 0.34180840099638093, + 0.40831208925543555, + 0.2533395486901666, + 0.6837162182317323, + 0.0, + 0.8625940385213606, + 0.7760323793896996, + 0.0273388914788605, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2505367463973798, + 1.295406852370418, + 0.18601169986161334, + 0.34180840099638093, + 0.40831208925543555, + 0.2533395486901666, + 0.6837162182317323, + 0.0, + 0.8693005029555286, + 0.8338314228385293, + 0.0273388914788605, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2505367463973798, + 1.295406852370418, + 0.18601169986161334, + 0.34180840099638093, + 0.40831208925543555, + 0.2533395486901666, + 0.6837162182317323, + 0.0, + 0.8494736939499322, + 0.8477832340428055, + 0.0273388914788605, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2505367463973798, + 1.295406852370418, + 0.18601169986161334, + 0.34180840099638093, + 0.40831208925543555, + 0.2533395486901666, + 0.6837162182317323, + 0.0, + 0.8306235935348387, + 0.900897427010311, + 0.0273388914788605, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2505367463973798, + 1.295406852370418, + 0.18601169986161334, + 0.34180840099638093, + 0.40831208925543555, + 0.2533395486901666, + 0.6837162182317323, + 0.0, + 0.8175650551940262, + 0.9314856907195118, + 0.0273388914788605, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2505367463973798, + 1.295406852370418, + 0.18601169986161334, + 0.34180840099638093, + 0.40831208925543555, + 0.2533395486901666, + 0.6837162182317323, + 0.0, + 0.8007065846384436, + 0.9811973101420958, + 0.0273388914788605, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2505367463973798, + 1.295406852370418, + 0.18601169986161334, + 0.34180840099638093, + 0.40831208925543555, + 0.2533395486901666, + 0.6837162182317323, + 0.0, + 0.7700978711714129, + 0.9937997880804164, + 0.0273388914788605, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2505367463973798, + 1.295406852370418, + 0.18601169986161334, + 0.34180840099638093, + 0.40831208925543555, + 0.2533395486901666, + 0.6837162182317323, + 0.0, + 0.7966791510804138, + 1.0555957702946, + 0.0273388914788605, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2505367463973798, + 1.295406852370418, + 0.18601169986161334, + 0.34180840099638093, + 0.40831208925543555, + 0.2533395486901666, + 0.6837162182317323, + 0.0, + 0.7884969878530885, + 1.0756372011127453, + 0.0273388914788605, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2505367463973798, + 1.295406852370418, + 0.18601169986161334, + 0.34180840099638093, + 0.40831208925543555, + 0.2533395486901666, + 0.6837162182317323, + 0.0, + 0.8096654668017282, + 1.0945143944713691, + 0.0273388914788605, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2505367463973798, + 1.295406852370418, + 0.18601169986161334, + 0.34180840099638093, + 0.40831208925543555, + 0.2533395486901666, + 0.6837162182317323, + 0.0, + 0.7876684836873625, + 1.185387598412058, + 0.029101815290815233, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.825681418779334, + 1.2143011587232384, + 0.18444677005111976, + 0.3866005942297805, + 0.45796014192978274, + 0.2860130843105286, + 0.6974664855255576, + 0.0, + 0.8575766404375859, + 1.2502760752768194, + 0.029101815290815233, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.825681418779334, + 1.2143011587232384, + 0.18444677005111976, + 0.3866005942297805, + 0.45796014192978274, + 0.2860130843105286, + 0.6974664855255576, + 0.0, + 0.9046740482476281, + 1.295993371542941, + 0.029101815290815233, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.825681418779334, + 1.2143011587232384, + 0.18444677005111976, + 0.3866005942297805, + 0.45796014192978274, + 0.2860130843105286, + 0.6974664855255576, + 0.0, + 0.9757393017438766, + 1.3592396742095407, + 0.029101815290815233, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.825681418779334, + 1.2143011587232384, + 0.18444677005111976, + 0.3866005942297805, + 0.45796014192978274, + 0.2860130843105286, + 0.6974664855255576, + 0.0, + 1.0235799797225604, + 1.4091051917106547, + 0.029101815290815233, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.825681418779334, + 1.2143011587232384, + 0.18444677005111976, + 0.3866005942297805, + 0.45796014192978274, + 0.2860130843105286, + 0.6974664855255576, + 0.0, + 1.0630488779954907, + 1.4602046875004813, + 0.029101815290815233, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.825681418779334, + 1.2143011587232384, + 0.18444677005111976, + 0.3866005942297805, + 0.45796014192978274, + 0.2860130843105286, + 0.6974664855255576, + 0.0, + 1.1463262431112455, + 1.529629509187614, + 0.029101815290815233, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.825681418779334, + 1.2143011587232384, + 0.18444677005111976, + 0.3866005942297805, + 0.45796014192978274, + 0.2860130843105286, + 0.6974664855255576, + 0.0, + 1.188944038287509, + 1.551872107232314, + 0.029101815290815233, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.825681418779334, + 1.2143011587232384, + 0.18444677005111976, + 0.3866005942297805, + 0.45796014192978274, + 0.2860130843105286, + 0.6974664855255576, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.6852634790099281, + 1.1586598069441587, + 5.768925966815788e-09, + 0.1392451732995248, + 0.01999442393009039, + 0.014805283925334204, + 0.05748220208270513, + 0.0 + ], + "min": [ + -3.390864849090576, + -2.3895936012268066, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0, + -3.1327784061431885, + -2.005103588104248, + 0.5897411704063416, + -0.6565650105476379, + -0.6322447061538696, + -0.306342214345932, + -0.7626506686210632, + 0.0, + -3.359362840652466, + -2.378038167953491, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.005103588104248, + 0.9984443187713623, + -0.6565650105476379, + -0.6322447061538696, + -0.306342214345932, + -0.6946159601211548, + 0.0, + -3.2639577388763428, + -2.3430421352386475, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.005103588104248, + 0.9984443187713623, + -0.6565650105476379, + -0.6322447061538696, + -0.306342214345932, + -0.6946159601211548, + 0.0, + -3.2056524753570557, + -2.321654796600342, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.005103588104248, + 0.9984443187713623, + -0.6565650105476379, + -0.6322447061538696, + -0.306342214345932, + -0.6946159601211548, + 0.0, + -3.08009672164917, + -2.2755990028381348, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.005103588104248, + 0.9984443187713623, + -0.6565650105476379, + -0.6322447061538696, + -0.306342214345932, + -0.6946159601211548, + 0.0, + -3.0565273761749268, + -2.266953468322754, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.005103588104248, + 0.9984443187713623, + -0.6565650105476379, + -0.6322447061538696, + -0.306342214345932, + -0.6946159601211548, + 0.0, + -3.0446841716766357, + -2.2626092433929443, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.005103588104248, + 0.9984443187713623, + -0.6565650105476379, + -0.6322447061538696, + -0.306342214345932, + -0.6946159601211548, + 0.0, + -2.9086434841156006, + -2.21270751953125, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.005103588104248, + 0.9984443187713623, + -0.6565650105476379, + -0.6322447061538696, + -0.306342214345932, + -0.6946159601211548, + 0.0, + -2.8224706649780273, + -2.181097984313965, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.005103588104248, + 0.9984443187713623, + -0.6565650105476379, + -0.6322447061538696, + -0.306342214345932, + -0.6946159601211548, + 0.0, + -2.760737657546997, + -2.1584534645080566, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.005103588104248, + 0.9984443187713623, + -0.6565650105476379, + -0.6322447061538696, + -0.306342214345932, + -0.6946159601211548, + 0.0, + -2.6377720832824707, + -2.1133477687835693, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.005103588104248, + 0.9984443187713623, + -0.6565650105476379, + -0.6322447061538696, + -0.306342214345932, + -0.6946159601211548, + 0.0, + -2.6126861572265625, + -2.1041460037231445, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.005103588104248, + 0.9984443187713623, + -0.6565650105476379, + -0.6322447061538696, + -0.306342214345932, + -0.6946159601211548, + 0.0, + -2.59936261177063, + -2.0992586612701416, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.005103588104248, + 0.9984443187713623, + -0.6565650105476379, + -0.6322447061538696, + -0.306342214345932, + -0.6946159601211548, + 0.0, + -2.4640250205993652, + -2.049614906311035, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.005103588104248, + 0.9984443187713623, + -0.6565650105476379, + -0.6322447061538696, + -0.306342214345932, + -0.6946159601211548, + 0.0, + -2.3717517852783203, + -2.015767812728882, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.005103588104248, + 0.9984443187713623, + -0.6565650105476379, + -0.6322447061538696, + -0.306342214345932, + -0.6946159601211548, + 0.0, + -2.3153581619262695, + -1.9950817823410034, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.005103588104248, + 0.9984443187713623, + -0.6565650105476379, + -0.6322447061538696, + -0.306342214345932, + -0.6946159601211548, + 0.0, + -2.209144353866577, + -1.9561209678649902, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.005103588104248, + 0.9984443187713623, + -0.6565650105476379, + -0.6322447061538696, + -0.306342214345932, + -0.6946159601211548, + 0.0, + -2.1668155193328857, + -1.9405940771102905, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.005103588104248, + 0.9984443187713623, + -0.6565650105476379, + -0.6322447061538696, + -0.306342214345932, + -0.6946159601211548, + 0.0, + -2.1441445350646973, + -1.932278037071228, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.005103588104248, + 0.9984443187713623, + -0.6565650105476379, + -0.6322447061538696, + -0.306342214345932, + -0.6946159601211548, + 0.0, + -2.0185935497283936, + -1.8862240314483643, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.005103588104248, + 0.9984443187713623, + -0.6565650105476379, + -0.6322447061538696, + -0.306342214345932, + -0.6946159601211548, + 0.0, + -1.9165363311767578, + -1.8487879037857056, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.005103588104248, + 0.9984443187713623, + -0.6565650105476379, + -0.6322447061538696, + -0.306342214345932, + -0.6946159601211548, + 0.0, + -1.8703714609146118, + -1.831853985786438, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.005103588104248, + 0.9984443187713623, + -0.6565650105476379, + -0.6322447061538696, + -0.306342214345932, + -0.6946159601211548, + 0.0, + -1.7841770648956299, + -1.8002365827560425, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.005103588104248, + 0.9984443187713623, + -0.6565650105476379, + -0.6322447061538696, + -0.306342214345932, + -0.6946159601211548, + 0.0, + -1.7218815088272095, + -1.7773855924606323, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.005103588104248, + 0.9984443187713623, + -0.6565650105476379, + -0.6322447061538696, + -0.306342214345932, + -0.6946159601211548, + 0.0, + -1.688294529914856, + -1.7650654315948486, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.005103588104248, + 0.9984443187713623, + -0.6565650105476379, + -0.6322447061538696, + -0.306342214345932, + -0.6946159601211548, + 0.0, + -1.5730185508728027, + -1.722780466079712, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.005103588104248, + 0.9984443187713623, + -0.6565650105476379, + -0.6322447061538696, + -0.306342214345932, + -0.6946159601211548, + 0.0, + -1.4591718912124634, + -1.6810197830200195, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.005103588104248, + 0.9984443187713623, + -0.6565650105476379, + -0.6322447061538696, + -0.306342214345932, + -0.6946159601211548, + 0.0, + -1.4241557121276855, + -1.6681753396987915, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.005103588104248, + 0.9984443187713623, + -0.6565650105476379, + -0.6322447061538696, + -0.306342214345932, + -0.6946159601211548, + 0.0, + -1.3592091798782349, + -1.6443519592285156, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.005103588104248, + 0.9984443187713623, + -0.6565650105476379, + -0.6322447061538696, + -0.306342214345932, + -0.6946159601211548, + 0.0, + -1.2756445407867432, + -1.613699197769165, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.005103588104248, + 0.9984443187713623, + -0.6565650105476379, + -0.6322447061538696, + -0.306342214345932, + -0.6946159601211548, + 0.0, + -1.2309834957122803, + -1.597316861152649, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.005103588104248, + 0.9984443187713623, + -0.6565650105476379, + -0.6322447061538696, + -0.306342214345932, + -0.6946159601211548, + 0.0, + -1.1271507740020752, + -1.5592294931411743, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.005103588104248, + 0.9984443187713623, + -0.6565650105476379, + -0.6322447061538696, + -0.306342214345932, + -0.6946159601211548, + 0.0, + -1.0041288137435913, + -1.5141031742095947, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.005103588104248, + 0.9984443187713623, + -0.6565650105476379, + -0.6322447061538696, + -0.306342214345932, + -0.6946159601211548, + 0.0, + -0.977500855922699, + -1.504335641860962, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.005103588104248, + 0.9984443187713623, + -0.6565650105476379, + -0.6322447061538696, + -0.306342214345932, + -0.6946159601211548, + 0.0, + -0.9240394830703735, + -1.4847252368927002, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.005103588104248, + 0.9984443187713623, + -0.6565650105476379, + -0.6322447061538696, + -0.306342214345932, + -0.6946159601211548, + 0.0, + -0.8249830603599548, + -1.4483897686004639, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.005103588104248, + 0.9984443187713623, + -0.6565650105476379, + -0.6322447061538696, + -0.306342214345932, + -0.6946159601211548, + 0.0, + -0.7779640555381775, + -1.4311424493789673, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.005103588104248, + 0.9984443187713623, + -0.6565650105476379, + -0.6322447061538696, + -0.306342214345932, + -0.6946159601211548, + 0.0, + -0.6687172651290894, + -1.3910690546035767, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.005103588104248, + 0.9984443187713623, + -0.6565650105476379, + -0.6322447061538696, + -0.306342214345932, + -0.6946159601211548, + 0.0, + -0.550628125667572, + -1.3477522134780884, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.005103588104248, + 0.9984443187713623, + -0.6565650105476379, + -0.6322447061538696, + -0.306342214345932, + -0.6946159601211548, + 0.0, + -0.5124639868736267, + -1.333752989768982, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.005103588104248, + 0.9984443187713623, + -0.6565650105476379, + -0.6322447061538696, + -0.306342214345932, + -0.6946159601211548, + 0.0, + -0.43588370084762573, + -1.3056622743606567, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.005103588104248, + 0.9984443187713623, + -0.6565650105476379, + -0.6322447061538696, + -0.306342214345932, + -0.6946159601211548, + 0.0, + -0.41546857357025146, + -1.1543450355529785, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.005103588104248, + 0.9984443187713623, + -0.6565650105476379, + -0.6322447061538696, + -0.306342214345932, + -0.6946159601211548, + 0.0, + 0.07666019350290298, + -1.0294502973556519, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.8620344400405884, + -1.3313401937484741, + 0.9984443187713623, + -0.6565650105476379, + -0.6322447061538696, + -0.306342214345932, + -0.6946159601211548, + 0.0, + -0.015564195811748505, + -1.065771222114563, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.8620344400405884, + -1.3313401937484741, + 0.9984443187713623, + -0.6565650105476379, + -0.6322447061538696, + -0.306342214345932, + -0.6946159601211548, + 0.0, + -0.07502935081720352, + -1.0891904830932617, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.8620344400405884, + -1.3313401937484741, + 0.9984443187713623, + -0.6565650105476379, + -0.6322447061538696, + -0.306342214345932, + -0.6946159601211548, + 0.0, + -0.17239882051944733, + -1.127537727355957, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.8620344400405884, + -1.3313401937484741, + 0.9984443187713623, + -0.6565650105476379, + -0.6322447061538696, + -0.306342214345932, + -0.6946159601211548, + 0.0, + -0.22823716700077057, + -1.1495286226272583, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.8620344400405884, + -1.3313401937484741, + 0.9984443187713623, + -0.6565650105476379, + -0.6322447061538696, + -0.306342214345932, + -0.6946159601211548, + 0.0, + -0.26103466749191284, + -1.162445306777954, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.8620344400405884, + -1.3313401937484741, + 0.9984443187713623, + -0.6565650105476379, + -0.6322447061538696, + -0.306342214345932, + -0.6946159601211548, + 0.0, + -0.3813849091529846, + -1.2098431587219238, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.8620344400405884, + -1.3313401937484741, + 0.9984443187713623, + -0.6565650105476379, + -0.6322447061538696, + -0.306342214345932, + -0.6946159601211548, + 0.0, + -0.41546857357025146, + -1.1543450355529785, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.8620344400405884, + -1.3313401937484741, + 0.9984443187713623, + -0.6565650105476379, + -0.6322447061538696, + -0.306342214345932, + -0.6946159601211548, + 0.0, + 1.941603660583496, + 1.9980381727218628, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.5497602224349976, + -0.8211873769760132, + 1.3730804920196533, + -0.6565650105476379, + -0.12565982341766357, + -0.15582376718521118, + 0.7364583015441895, + 0.0 + ], + "max": [ + 1.924364686012268, + 1.9524919986724854, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0608694553375244, + 2.888509750366211, + 1.3731142282485962, + 0.8582556247711182, + 0.6889145374298096, + 0.9377099275588989, + 0.9763996601104736, + 1.0, + 1.922519564628601, + 1.9488272666931152, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0020101070404053, + 2.4468066692352295, + 1.3730814456939697, + 0.7093103528022766, + 0.6889145374298096, + 0.7048879861831665, + 0.9763996601104736, + 0.0, + 1.8480234146118164, + 1.8008660078048706, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0020101070404053, + 2.4468066692352295, + 1.3730814456939697, + 0.7093103528022766, + 0.6889145374298096, + 0.7048879861831665, + 0.9763996601104736, + 0.0, + 1.8264504671096802, + 1.7580186128616333, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0020101070404053, + 2.4468066692352295, + 1.3730814456939697, + 0.7093103528022766, + 0.6889145374298096, + 0.7048879861831665, + 0.9763996601104736, + 0.0, + 1.763271450996399, + 1.6325350999832153, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0020101070404053, + 2.4468066692352295, + 1.3730814456939697, + 0.7093103528022766, + 0.6889145374298096, + 0.7048879861831665, + 0.9763996601104736, + 0.0, + 1.73891282081604, + 1.5841548442840576, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0020101070404053, + 2.4468066692352295, + 1.3730814456939697, + 0.7093103528022766, + 0.6889145374298096, + 0.7048879861831665, + 0.9763996601104736, + 0.0, + 1.683250904083252, + 1.4736013412475586, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0020101070404053, + 2.4468066692352295, + 1.3730814456939697, + 0.7093103528022766, + 0.6889145374298096, + 0.7048879861831665, + 0.9763996601104736, + 0.0, + 1.6546019315719604, + 1.416700005531311, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0020101070404053, + 2.4468066692352295, + 1.3730814456939697, + 0.7093103528022766, + 0.6889145374298096, + 0.7048879861831665, + 0.9763996601104736, + 0.0, + 1.6046334505081177, + 1.3174546957015991, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0020101070404053, + 2.4468066692352295, + 1.3730814456939697, + 0.7093103528022766, + 0.6889145374298096, + 0.7048879861831665, + 0.9763996601104736, + 0.0, + 1.5706263780593872, + 1.2499111890792847, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0020101070404053, + 2.4468066692352295, + 1.3730814456939697, + 0.7093103528022766, + 0.6889145374298096, + 0.7048879861831665, + 0.9763996601104736, + 0.0, + 1.5261480808258057, + 1.1615701913833618, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0020101070404053, + 2.4468066692352295, + 1.3730814456939697, + 0.7093103528022766, + 0.6889145374298096, + 0.7048879861831665, + 0.9763996601104736, + 0.0, + 1.4868110418319702, + 1.0834405422210693, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0020101070404053, + 2.4468066692352295, + 1.3730814456939697, + 0.7093103528022766, + 0.6889145374298096, + 0.7048879861831665, + 0.9763996601104736, + 0.0, + 1.4476627111434937, + 1.0056856870651245, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0020101070404053, + 2.4468066692352295, + 1.3730814456939697, + 0.7093103528022766, + 0.6889145374298096, + 0.7048879861831665, + 0.9763996601104736, + 0.0, + 1.4029980897903442, + 0.9169747233390808, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0020101070404053, + 2.4468066692352295, + 1.3730814456939697, + 0.7093103528022766, + 0.6889145374298096, + 0.7048879861831665, + 0.9763996601104736, + 0.0, + 1.369177222251892, + 0.8498010635375977, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0020101070404053, + 2.4468066692352295, + 1.3730814456939697, + 0.7093103528022766, + 0.6889145374298096, + 0.7048879861831665, + 0.9763996601104736, + 0.0, + 1.3190412521362305, + 0.7502230405807495, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0020101070404053, + 2.4468066692352295, + 1.3730814456939697, + 0.7093103528022766, + 0.6889145374298096, + 0.7048879861831665, + 0.9763996601104736, + 0.0, + 1.2906889915466309, + 0.6939108967781067, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0020101070404053, + 2.4468066692352295, + 1.3730814456939697, + 0.7093103528022766, + 0.6889145374298096, + 0.7048879861831665, + 0.9763996601104736, + 0.0, + 1.2351925373077393, + 0.5836862921714783, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0020101070404053, + 2.4468066692352295, + 1.3730814456939697, + 0.7093103528022766, + 0.6889145374298096, + 0.7048879861831665, + 0.9763996601104736, + 0.0, + 1.2121845483779907, + 0.5379888415336609, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0020101070404053, + 2.4468066692352295, + 1.3730814456939697, + 0.7093103528022766, + 0.6889145374298096, + 0.7048879861831665, + 0.9763996601104736, + 0.0, + 1.1492516994476318, + 0.41299426555633545, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0020101070404053, + 2.4468066692352295, + 1.3730814456939697, + 0.7093103528022766, + 0.6889145374298096, + 0.7048879861831665, + 0.9763996601104736, + 0.0, + 1.1336774826049805, + 0.3820614218711853, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0020101070404053, + 2.4468066692352295, + 1.3730814456939697, + 0.7093103528022766, + 0.6889145374298096, + 0.7048879861831665, + 0.9763996601104736, + 0.0, + 1.0574508905410767, + 0.23066329956054688, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0020101070404053, + 2.4468066692352295, + 1.3730814456939697, + 0.7093103528022766, + 0.6889145374298096, + 0.7048879861831665, + 0.9763996601104736, + 0.0, + 1.0548346042633057, + 0.2254669964313507, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0020101070404053, + 2.4468066692352295, + 1.3730814456939697, + 0.7093103528022766, + 0.6889145374298096, + 0.7048879861831665, + 0.9763996601104736, + 0.0, + 1.0473263263702393, + 0.2105543613433838, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0020101070404053, + 2.4468066692352295, + 1.3730814456939697, + 0.7093103528022766, + 0.6889145374298096, + 0.7048879861831665, + 0.9763996601104736, + 0.0, + 0.9753419160842896, + 0.06758194416761398, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0020101070404053, + 2.4468066692352295, + 1.3730814456939697, + 0.7093103528022766, + 0.6889145374298096, + 0.7048879861831665, + 0.9763996601104736, + 0.0, + 0.9934374094009399, + 0.06779701262712479, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0020101070404053, + 2.4468066692352295, + 1.3730814456939697, + 0.7093103528022766, + 0.6889145374298096, + 0.7048879861831665, + 0.9763996601104736, + 0.0, + 1.0683536529541016, + 0.2115171104669571, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0020101070404053, + 2.4468066692352295, + 1.3730814456939697, + 0.7093103528022766, + 0.6889145374298096, + 0.7048879861831665, + 0.9763996601104736, + 0.0, + 1.075629472732544, + 0.22547514736652374, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0020101070404053, + 2.4468066692352295, + 1.3730814456939697, + 0.7093103528022766, + 0.6889145374298096, + 0.7048879861831665, + 0.9763996601104736, + 0.0, + 1.1266967058181763, + 0.3234429657459259, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0020101070404053, + 2.4468066692352295, + 1.3730814456939697, + 0.7093103528022766, + 0.6889145374298096, + 0.7048879861831665, + 0.9763996601104736, + 0.0, + 1.157219409942627, + 0.3819980323314667, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0020101070404053, + 2.4468066692352295, + 1.3730814456939697, + 0.7093103528022766, + 0.6889145374298096, + 0.7048879861831665, + 0.9763996601104736, + 0.0, + 1.1616724729537964, + 0.3905407786369324, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0020101070404053, + 2.4468066692352295, + 1.3730814456939697, + 0.7093103528022766, + 0.6889145374298096, + 0.7048879861831665, + 0.9763996601104736, + 0.0, + 1.238525390625, + 0.5379763245582581, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0020101070404053, + 2.4468066692352295, + 1.3730814456939697, + 0.7093103528022766, + 0.6889145374298096, + 0.7048879861831665, + 0.9763996601104736, + 0.0, + 1.2495213747024536, + 0.5590712428092957, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0020101070404053, + 2.4468066692352295, + 1.3730814456939697, + 0.7093103528022766, + 0.6889145374298096, + 0.7048879861831665, + 0.9763996601104736, + 0.0, + 1.319809913635254, + 0.6939135789871216, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0020101070404053, + 2.4468066692352295, + 1.3730814456939697, + 0.7093103528022766, + 0.6889145374298096, + 0.7048879861831665, + 0.9763996601104736, + 0.0, + 1.3347771167755127, + 0.7226269245147705, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0020101070404053, + 2.4468066692352295, + 1.3730814456939697, + 0.7093103528022766, + 0.6889145374298096, + 0.7048879861831665, + 0.9763996601104736, + 0.0, + 1.4010685682296753, + 0.8498010635375977, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0020101070404053, + 2.4468066692352295, + 1.3730814456939697, + 0.7093103528022766, + 0.6889145374298096, + 0.7048879861831665, + 0.9763996601104736, + 0.0, + 1.4204866886138916, + 0.8870530128479004, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0020101070404053, + 2.4468066692352295, + 1.3730814456939697, + 0.7093103528022766, + 0.6889145374298096, + 0.7048879861831665, + 0.9763996601104736, + 0.0, + 1.482325792312622, + 1.0056856870651245, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0020101070404053, + 2.4468066692352295, + 1.3730814456939697, + 0.7093103528022766, + 0.6889145374298096, + 0.7048879861831665, + 0.9763996601104736, + 0.0, + 1.5056421756744385, + 1.050416111946106, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0020101070404053, + 2.4468066692352295, + 1.3730814456939697, + 0.7093103528022766, + 0.6889145374298096, + 0.7048879861831665, + 0.9763996601104736, + 0.0, + 1.5635828971862793, + 1.1615701913833618, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0020101070404053, + 2.4468066692352295, + 1.3730814456939697, + 0.7093103528022766, + 0.6889145374298096, + 0.7048879861831665, + 0.9763996601104736, + 0.0, + 1.591244101524353, + 1.2146357297897339, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0020101070404053, + 2.4468066692352295, + 1.3730814456939697, + 0.7093103528022766, + 0.6889145374298096, + 0.7048879861831665, + 0.9763996601104736, + 0.0, + 1.6448400020599365, + 1.3174546957015991, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0020101070404053, + 2.4468066692352295, + 1.3730814456939697, + 0.7093103528022766, + 0.6889145374298096, + 0.7048879861831665, + 0.9763996601104736, + 0.0, + 1.6765204668045044, + 1.3782308101654053, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0020101070404053, + 2.4468066692352295, + 1.3730806112289429, + 0.7093103528022766, + 0.6889145374298096, + 0.7048879861831665, + 0.9763996601104736, + 0.0, + 1.726288914680481, + 1.4737070798873901, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0020101070404053, + 2.4468066692352295, + 1.3730806112289429, + 0.7093103528022766, + 0.6889145374298096, + 0.7048879861831665, + 0.9763996601104736, + 0.0, + 1.7624849081039429, + 1.543145775794983, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0020101070404053, + 2.4468066692352295, + 1.3730806112289429, + 0.7093103528022766, + 0.6889145374298096, + 0.7048879861831665, + 0.9763996601104736, + 0.0, + 1.8094584941864014, + 1.6332602500915527, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0020101070404053, + 2.4468066692352295, + 1.3730806112289429, + 0.7093103528022766, + 0.6889145374298096, + 0.7048879861831665, + 0.9763996601104736, + 0.0, + 1.8507909774780273, + 1.7125529050827026, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0020101070404053, + 2.4468066692352295, + 1.3730806112289429, + 0.7093103528022766, + 0.6889145374298096, + 0.7048879861831665, + 0.9763996601104736, + 0.0, + 1.8981600999832153, + 1.8034261465072632, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0020101070404053, + 2.4468066692352295, + 1.3730806112289429, + 0.7093103528022766, + 0.6889145374298096, + 0.7048879861831665, + 0.9763996601104736, + 0.0, + 1.9469573497772217, + 1.8970394134521484, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0020101070404053, + 2.4468066692352295, + 1.3730806112289429, + 0.7093103528022766, + 0.6889145374298096, + 0.7048879861831665, + 0.9763996601104736, + 0.0, + 1.9994361400604248, + 1.9977152347564697, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0020101070404053, + 2.4468066692352295, + 1.3730806112289429, + 0.7093103528022766, + 0.6889145374298096, + 0.7048879861831665, + 0.9763996601104736, + 0.0, + 1.941603660583496, + 1.9980381727218628, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.983877182006836, + 2.416239023208618, + 1.3730806112289429, + -0.14174684882164001, + -0.04764673486351967, + -0.1037345677614212, + 0.9763996601104736, + 0.0 + ], + "count": [ + 2709 + ] + }, + "action.applied": { + "mean": [ + 0.10486008956115288, + 0.0006713657830723233, + 0.008751744131166412, + 0.25113906559615434, + -0.742589174033725, + -1.1432225991677902, + 1.091837033876945, + -1.3120047691006083, + -1.9110059441126066, + 0.46891432288943397, + 0.0027164561476664332, + -0.0027164561476664332 + ], + "std": [ + 0.13135112350869027, + 0.017775326569998993, + 0.23485774242799567, + 0.2677598447737461, + 0.6368726841322029, + 0.9183027860693497, + 0.4289340506491859, + 0.9471234024652229, + 0.3559361879635243, + 0.4408263301128092, + 0.01304171582845319, + 0.01304171582845319 + ], + "min": [ + 0.0, + -0.13135124742984772, + -0.800000011920929, + -0.7267671227455139, + -1.6056755781173706, + -2.6466639041900635, + 0.49845650792121887, + -2.9661812782287598, + -2.4826598167419434, + -0.14572347700595856, + -0.009999999776482582, + -0.020833000540733337 + ], + "max": [ + 0.30000001192092896, + 0.1740768849849701, + 0.800000011920929, + 0.6528155207633972, + 0.12038655579090118, + 0.2856505215167999, + 1.5990126132965088, + 0.005616994574666023, + -1.2106492519378662, + 1.3847877979278564, + 0.020833000540733337, + 0.009999999776482582 + ], + "count": [ + 2709 + ] + }, + "extra.reward": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 2709 + ] + }, + "next.truncated": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 2709 + ] + }, + "sim_step_idx": { + "mean": [ + 2809.0 + ], + "std": [ + 1564.041772673181 + ], + "min": [ + 101.0 + ], + "max": [ + 5517.0 + ], + "count": [ + 2709 + ] + }, + "timestamp": { + "mean": [ + 54.16000000089572 + ], + "std": [ + 31.280835451614717 + ], + "min": [ + 0.0 + ], + "max": [ + 108.31999969482422 + ], + "count": [ + 2709 + ] + }, + "frame_index": { + "mean": [ + 1354.0 + ], + "std": [ + 782.0208863365905 + ], + "min": [ + 0.0 + ], + "max": [ + 2708.0 + ], + "count": [ + 2709 + ] + }, + "episode_index": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 2709 + ] + }, + "index": { + "mean": [ + 1354.0 + ], + "std": [ + 782.0208863365905 + ], + "min": [ + 0.0 + ], + "max": [ + 2708.0 + ], + "count": [ + 2709 + ] + }, + "task_index": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 2709 + ] + }, + "next.done": { + "mean": [ + 0.00036913990402362494 + ], + "std": [ + 0.019209467451100314 + ], + "min": [ + 0.0 + ], + "max": [ + 1.0 + ], + "count": [ + 2709 + ] + }, + "observation.images.head": { + "mean": [ + [ + [ + 0.5445451807487194 + ] + ], + [ + [ + 0.48782250279683914 + ] + ], + [ + [ + 0.42369015370514457 + ] + ] + ], + "std": [ + [ + [ + 0.12564338312490003 + ] + ], + [ + [ + 0.14339230650173548 + ] + ], + [ + [ + 0.143265789103494 + ] + ] + ], + "min": [ + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ] + ], + "max": [ + [ + [ + 0.9137254901960784 + ] + ], + [ + [ + 0.9058823529411765 + ] + ], + [ + [ + 0.9019607843137255 + ] + ] + ], + "count": [ + 100 + ] + }, + "observation.images.wrist": { + "mean": [ + [ + [ + 0.5826582199687637 + ] + ], + [ + [ + 0.5475603979977243 + ] + ], + [ + [ + 0.46780167636765235 + ] + ] + ], + "std": [ + [ + [ + 0.11635834639106661 + ] + ], + [ + [ + 0.11506500781725931 + ] + ], + [ + [ + 0.16085103910757242 + ] + ] + ], + "min": [ + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ] + ], + "max": [ + [ + [ + 1.0 + ] + ], + [ + [ + 1.0 + ] + ], + [ + [ + 1.0 + ] + ] + ], + "count": [ + 100 + ] + } +} \ No newline at end of file diff --git a/N032/sawyer_umi/dr_off/seed_1020/rec/stationpuzzlexr/000/lerobot_v21/meta/tasks.jsonl b/N032/sawyer_umi/dr_off/seed_1020/rec/stationpuzzlexr/000/lerobot_v21/meta/tasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fb913afcd6e7b4df3ccfb60e7f408d983dbc3a03 --- /dev/null +++ b/N032/sawyer_umi/dr_off/seed_1020/rec/stationpuzzlexr/000/lerobot_v21/meta/tasks.jsonl @@ -0,0 +1 @@ +{"task_index": 0, "task": "Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap."} diff --git a/N032/sawyer_umi/dr_off/seed_1020/rec/stationpuzzlexr/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 b/N032/sawyer_umi/dr_off/seed_1020/rec/stationpuzzlexr/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e7961a00950af1c0232cb593c5442e987b831a65 --- /dev/null +++ b/N032/sawyer_umi/dr_off/seed_1020/rec/stationpuzzlexr/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 sha256:5d41abbaf3bbf28209acdf168a8d9e0cd77f75aa951ba4e9848c4ce48ac6adec +size 32020469 diff --git a/N032/sawyer_umi/dr_off/seed_1020/rec/stationpuzzlexr/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 b/N032/sawyer_umi/dr_off/seed_1020/rec/stationpuzzlexr/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a3fb933323dbbe0330475f1f2d99a52b2327b620 --- /dev/null +++ b/N032/sawyer_umi/dr_off/seed_1020/rec/stationpuzzlexr/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:fdead79cb81feaec434b4227250de265cfe03c9e501559c3dbdbcaef3f882ba1 +size 50646381 diff --git a/N032/sawyer_umi/dr_off/seed_1020/rec/stationpuzzlexr/000/run_meta.json b/N032/sawyer_umi/dr_off/seed_1020/rec/stationpuzzlexr/000/run_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e3ebb9dec2328cd14975c8de0057d6ced3398fcd --- /dev/null +++ b/N032/sawyer_umi/dr_off/seed_1020/rec/stationpuzzlexr/000/run_meta.json @@ -0,0 +1,1626 @@ +{ + "run_id": "stationpuzzlexr/000", + "created": "2026-11-08 02:47:46", + "num_envs": 1, + "session_id": null, + "record_config": { + "output_dir": "/mnt/scratch/xc536_atomic/n032_saw_off_1020/out/rec", + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "json_round": null, + "schema": { + "source": "robot_manager", + "nan_policy": "from_raw" + }, + "lerobot": { + "subsample_every": 2 + } + }, + "config": { + "env_string": "StationPuzzleXREnv-V0", + "env": { + "sim": { + "device": "cpu", + "use_fabric": false, + "decimation": 4, + "dt": 0.005, + "seed": 1020, + "soft_resets": 2, + "enable_scene_query_support": true, + "scene": { + "num_envs": 1, + "env_spacing": 16 + }, + "render": { + "rendering_mode": "performance", + "enable_reflections": false, + "enable_global_illumination": false, + "enable_translucency": false, + "enable_dl_denoiser": false + } + }, + "nav": { + "navmesh": { + "enabled": true, + "visualize": false, + "bake_timeout_s": 180, + "agent_height_cm": 150, + "min_agent_radius_cm": 45.0, + "max_agent_radius_cm": 45.0, + "max_step_height_cm": 20, + "max_floor_slope_deg": 30, + "agent_island_radius_cm": 5, + "auto_exclude_rigid_bodies": true, + "validate_path_clearance": true, + "validate_path_window": true, + "navmesh_offset_z_m": 0, + "verbose": false + }, + "occupancymap": { + "cell_size": 0.05 + } + }, + "scene": { + "background": { + "intensity": [ + 1000, + 1000 + ] + }, + "terrain": { + "type": "nav_room", + "collision": true, + "hide_top_walls": true, + "usd": [ + "$MAGICSIM_ASSETS/Room/Collected_SimpleRoom" + ], + "annotation": "Annotation", + "random": false, + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0, + "friction_combine_mode": "multiply", + "restitution_combine_mode": "multiply" + } + }, + "objects": { + "table_A": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "table_A_1": { + "pos": [ + -0.3016219675206666, + -0.21119125015845192, + 0.18 + ], + "ori": [ + 0.0, + 0.0, + -6.882783466069554 + ], + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.45, + 0.35 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "table_B": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "table_B_1": { + "pos": [ + 1.7923484539399928, + 2.958927925239849, + 0.18 + ], + "ori": [ + 0.0, + 0.0, + -3.496053188578813 + ], + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.45, + 0.35 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "board_0": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "board_0_1": { + "pos": [ + -0.32558967242550446, + -0.4097499294489695, + 0.33999999999999997 + ], + "ori": [ + 0.0, + 0.0, + -6.882783466069554 + ], + "primitive_params": { + "size": [ + 0.25, + 0.04, + 0.02 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.55, + 0.58 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "board_1": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "board_1_1": { + "pos": [ + -0.3064155085016342, + -0.2509029860165554, + 0.33999999999999997 + ], + "ori": [ + 0.0, + 0.0, + -6.882783466069554 + ], + "primitive_params": { + "size": [ + 0.25, + 0.04, + 0.02 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.55, + 0.58 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "board_2": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "board_2_1": { + "pos": [ + -0.42024589709109106, + -0.3177434126577226, + 0.33999999999999997 + ], + "ori": [ + 0.0, + 0.0, + -6.882783466069554 + ], + "primitive_params": { + "size": [ + 0.04, + 0.1, + 0.02 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.55, + 0.58 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "board_3": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "board_3_1": { + "pos": [ + -0.21175928383604758, + -0.34290950280780236, + 0.33999999999999997 + ], + "ori": [ + 0.0, + 0.0, + -6.882783466069554 + ], + "primitive_params": { + "size": [ + 0.04, + 0.1, + 0.02 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.55, + 0.58 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "board_4": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "board_4_1": { + "pos": [ + -0.3421912366214213, + -0.29694750010345916, + 0.33999999999999997 + ], + "ori": [ + 0.0, + 0.0, + -6.882783466069554 + ], + "primitive_params": { + "size": [ + 0.09, + 0.04, + 0.02 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.55, + 0.58 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "picture": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "picture_1": { + "pos": [ + -0.27765426261582876, + -0.012632570867934317, + 0.42999999999999994 + ], + "ori": [ + 0.0, + 0.0, + -6.882783466069554 + ], + "primitive_params": { + "size": [ + 0.25, + 0.008, + 0.2 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.55, + 0.58 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "picture_bar": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "picture_bar_1": { + "pos": [ + -0.2782534552384497, + -0.01759653785019727, + 0.40499999999999997 + ], + "ori": [ + 0.0, + 0.0, + -6.882783466069554 + ], + "primitive_params": { + "size": [ + 0.15, + 0.002, + 0.05 + ] + }, + "visual": { + "color": [ + [ + 0.1, + 0.6, + 0.6 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "picture_cap": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "picture_cap_1": { + "pos": [ + -0.2286137854158203, + -0.023588464076406745, + 0.45499999999999996 + ], + "ori": [ + 0.0, + 0.0, + -6.882783466069554 + ], + "primitive_params": { + "size": [ + 0.05, + 0.002, + 0.05 + ] + }, + "visual": { + "color": [ + [ + 0.1, + 0.6, + 0.6 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "tile": { + "usd": [ + "$MAGICSIM_ASSETS/Object/MMB_A07/tile_L/Object.usda" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "tile_1": { + "pos": [ + 1.9910222429846973, + 2.8069403193060967, + 0.33099999999999996 + ], + "ori": [ + 0.0, + 0.0, + -5.712891641764173 + ], + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.06, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + } + } + } + }, + "cand_O": { + "usd": [ + "$MAGICSIM_ASSETS/Object/MMB_A07/tile_O/Object.usda" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "cand_O_1": { + "pos": [ + 1.5879860884291843, + 2.8465384986233895, + 0.33099999999999996 + ], + "ori": [ + 0.0, + 0.0, + -5.156821756635676 + ], + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.06, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + } + } + } + } + } + }, + "robot": { + "RidgebackSawyerUmi": { + "name": "ridgebacksawyer_umi", + "type": "mobilemanip", + "common": { + "pos": [ + [ + -3.4, + -2.2, + 0.05 + ], + [ + -3.4, + -2.2, + 0.05 + ] + ], + "ori": [ + [ + 0, + 0, + 40.0 + ], + [ + 0, + 0, + 40.0 + ] + ], + "initial_joint_pos": { + "dummy_base_.*": 0.0, + "head_pan": 0.0, + "right_j0": 0.0, + "right_j1": -1.6, + "right_j2": 0.0, + "right_j3": 0.5, + "right_j4": 0.0, + "right_j5": -2.32, + "right_j6": 0.0, + "right_gripper_l_finger_joint": 0.0, + "right_gripper_r_finger_joint": 0.0 + } + }, + "action": { + "base_action": "holonomic_action", + "arm_action": "ik_pink", + "eef_action": "binary" + }, + "planner": { + "dual_mode": true, + "base_joint_names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint" + ], + "ik": { + "type": "ridgebacksawyer_umi", + "model_tuning": "ridgeback_sawyer_umi", + "enable": true, + "ik_num_instances": 1, + "ik_batch_size": 1, + "ik_num_seeds": 32, + "ik_position_threshold": 0.005, + "ik_rotation_threshold": 0.05, + "microbatch_wait_ms": 20.0, + "relative_to_world_frame": false + }, + "motiongen": { + "type": "ridgebacksawyer_umi", + "model_tuning": "ridgeback_sawyer_umi", + "enable": true, + "motiongen_num_instances": 1, + "batch_size": 1, + "microbatch_wait_ms": 20.0, + "mode": "position", + "relative_to_world_frame": false, + "start_state_limit_inset": 0.002 + }, + "body": { + "type": "nav", + "dwb_type": "dwb_holonomic", + "dwb_holonomic": { + "device": "cpu", + "dt": 0.02, + "debug": false, + "num_rollout_steps": 60, + "num_speed_samples": 11, + "num_steer_samples": 11, + "num_vx_samples": 7, + "num_vy_samples": 7, + "num_yaw_samples": 7, + "max_accel": 1.5, + "max_steer_rate": 1.5, + "max_accel_vx": 1.5, + "max_accel_vy": 1.5, + "max_yaw_accel": 1.5, + "w_goal": 6.0, + "w_path": 8.0, + "w_vel": 0.2, + "w_vy": 0.0, + "goal_cost_mode": "path", + "dilate_radius": 0.36, + "room_size": 12.0, + "occupancy_update_interval": 25, + "scan_height": 0.35, + "scan_min_z": 0.12, + "scan_max_z": 1.65, + "goal_pos_threshold": 0.05, + "goal_yaw_threshold": 0.05, + "kp_goal_yaw": 1.5, + "heading_reference": "path", + "turn_yaw_threshold": 0.8, + "heading_lookahead": 0.8, + "heading_min_leg": 0.35, + "route_yaw_gain": 2.0, + "goal_yaw_hysteresis": 0.02, + "min_vx": -0.3, + "max_vx": 0.3, + "min_vy": -0.3, + "max_vy": 0.3, + "min_yaw_rate": -0.8, + "max_yaw_rate": 0.8, + "safety_enabled": true, + "safety_deceleration": 0.5, + "safety_reaction_time": 0.5, + "scan_type": "3d" + }, + "p_controller": { + "kp_angular_turning_only": 2.0, + "kd_angular_turning_only": 1.0, + "kp_linear_x": 3.0, + "kp_linear_y": 3.0, + "kp_angular": 2.0, + "kd_linear_x": 1.0, + "kd_linear_y": 1.0, + "min_vel": -0.4, + "max_vel": 0.5, + "linear_dead_zone": 0.01, + "angular_dead_zone": 0.05, + "nav_heading_target": -1, + "nav_upgrade_distance": 0.03 + } + }, + "arm": { + "type": "default" + }, + "eef": { + "type": "default" + } + }, + "physics": { + "robot_radius": 0.66, + "wheel_base": 0.01 + }, + "reset": "default" + } + }, + "camera": { + "enable_tiled": false, + "colorize_depth": false, + "head": { + "camera": { + "type": "camera", + "mesh": "pinhole", + "resolution": [ + 640, + 480 + ], + "frequency": 25, + "focal_length": 2.0, + "horizontal_aperture": 3.6, + "vertical_aperture": 2.7, + "clipping_range": [ + 0.05, + 30.0 + ], + "focus_distance": 3.0, + "mode": "RGB", + "mount_link": "Robot_0/head", + "pos": [ + 0.2166, + 0.0, + -0.045 + ], + "ori": [ + -0.0, + 35.0, + -90.0 + ] + }, + "annotator": { + "enabled": true, + "rgb_capture": { + "type": "rgb", + "device": "cpu" + } + } + }, + "wrist": { + "camera": { + "type": "camera", + "mesh": "pinhole", + "resolution": [ + 640, + 480 + ], + "frequency": 25, + "focal_length": 1.8, + "horizontal_aperture": 3.6, + "vertical_aperture": 2.7, + "clipping_range": [ + 0.05, + 30.0 + ], + "focus_distance": 3.0, + "mode": "RGB", + "mount_link": "Robot_0/right_electric_gripper_base", + "pos": [ + 0.0598, + 0.0, + 0.03 + ], + "ori": [ + 180.0, + 0.0, + -90.0 + ] + }, + "annotator": { + "enabled": true, + "rgb_capture": { + "type": "rgb", + "device": "cpu" + } + } + } + } + }, + "task": { + "new_seed_per_episode": true, + "observation": {}, + "reward": {}, + "termination": { + "timeout_steps": 30000, + "success_hold_frames": 10, + "fall_height": 0.02, + "fall_tilt": 1.0, + "lift_height": 0.12, + "grasp_distance": 0.25 + }, + "station": { + "robot": { + "key": "RidgebackSawyerUmi", + "embodiment": "sawyer_umi", + "base_link": "torso", + "tcp_in_wrist": [ + 0.17174, + 0.00789, + 0.0, + 0.5, + 0.5, + 0.5, + 0.5 + ], + "wrist_ref_back": 0.0, + "spawn_dz": 0.02, + "finger_joints": [ + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ], + "dwb": { + "key": "dwb_holonomic", + "add_floor": false + } + }, + "task_id": "N032", + "task_version": "EXT60-MobileAvatar-v3", + "family_id": "puzzle_completion", + "primary_category": "C2", + "stage": "full", + "layout": { + "floor_z": 0.03, + "start": { + "x": -3.4, + "y": -2.2, + "yaw_deg": 40.0, + "radius": 0.3, + "yaw_spread_deg": 20.0 + }, + "stations": { + "A": { + "center": [ + -0.3016219675206666, + -0.21119125015845192 + ], + "facing_deg": 83.11721653393045, + "standoff": 0.7, + "table": { + "width": 0.9, + "depth": 0.5, + "height": 0.3 + } + }, + "B": { + "center": [ + 1.7923484539399928, + 2.958927925239849 + ], + "facing_deg": 86.50394681142119, + "standoff": 0.7, + "table": { + "width": 0.9, + "depth": 0.5, + "height": 0.3 + } + } + } + }, + "route": [ + "A", + "B", + "A" + ], + "puzzle": { + "target": "tile", + "candidates": [ + "cand_O" + ], + "board": { + "across": 0.0, + "along": -0.12 + } + }, + "dr": { + "enabled": true, + "stations": { + "center_m": 0.25, + "facing_deg": 8.0 + }, + "objects": { + "across_m": 0.025, + "along_m": 0.02, + "yaw_deg": 8.0 + } + }, + "place_check": { + "tile": { + "at": { + "station": "A", + "across": 0.0, + "along": -0.145, + "z": 0.004 + }, + "yaw_deg": 0.0, + "clearance": 0.004 + } + }, + "success": { + "pos_tol": 0.012, + "yaw_deg": 6.0, + "upright_deg": 8.0, + "rest_z_tol": 0.006, + "max_penetration": 0.003, + "release_dist": 0.15, + "rest_speed": 0.03, + "lift": 0.08 + }, + "objects": { + "board_0": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.25, + 0.04, + 0.02 + ], + "at": { + "station": "A", + "across": 0.0, + "along": -0.2, + "z": 0.01 + }, + "color": [ + 0.55, + 0.55, + 0.58 + ], + "pos": [ + -0.32558967242550446, + -0.4097499294489695, + 0.33999999999999997 + ], + "yaw_deg": -6.882783466069554 + }, + "board_1": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.25, + 0.04, + 0.02 + ], + "at": { + "station": "A", + "across": 0.0, + "along": -0.04, + "z": 0.01 + }, + "color": [ + 0.55, + 0.55, + 0.58 + ], + "pos": [ + -0.3064155085016342, + -0.2509029860165554, + 0.33999999999999997 + ], + "yaw_deg": -6.882783466069554 + }, + "board_2": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.04, + 0.1, + 0.02 + ], + "at": { + "station": "A", + "across": -0.105, + "along": -0.12, + "z": 0.01 + }, + "color": [ + 0.55, + 0.55, + 0.58 + ], + "pos": [ + -0.42024589709109106, + -0.3177434126577226, + 0.33999999999999997 + ], + "yaw_deg": -6.882783466069554 + }, + "board_3": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.04, + 0.1, + 0.02 + ], + "at": { + "station": "A", + "across": 0.105, + "along": -0.12, + "z": 0.01 + }, + "color": [ + 0.55, + 0.55, + 0.58 + ], + "pos": [ + -0.21175928383604758, + -0.34290950280780236, + 0.33999999999999997 + ], + "yaw_deg": -6.882783466069554 + }, + "board_4": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.09, + 0.04, + 0.02 + ], + "at": { + "station": "A", + "across": -0.03, + "along": -0.09, + "z": 0.01 + }, + "color": [ + 0.55, + 0.55, + 0.58 + ], + "pos": [ + -0.3421912366214213, + -0.29694750010345916, + 0.33999999999999997 + ], + "yaw_deg": -6.882783466069554 + }, + "picture": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.25, + 0.008, + 0.2 + ], + "at": { + "station": "A", + "across": 0.0, + "along": 0.2, + "z": 0.1 + }, + "color": [ + 0.55, + 0.55, + 0.58 + ], + "pos": [ + -0.27765426261582876, + -0.012632570867934317, + 0.42999999999999994 + ], + "yaw_deg": -6.882783466069554 + }, + "picture_bar": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.15, + 0.002, + 0.05 + ], + "at": { + "station": "A", + "across": 0.0, + "along": 0.195, + "z": 0.075 + }, + "color": [ + 0.1, + 0.6, + 0.6 + ], + "collision": false, + "pos": [ + -0.2782534552384497, + -0.01759653785019727, + 0.40499999999999997 + ], + "yaw_deg": -6.882783466069554 + }, + "picture_cap": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.05, + 0.002, + 0.05 + ], + "at": { + "station": "A", + "across": 0.05, + "along": 0.195, + "z": 0.125 + }, + "color": [ + 0.1, + 0.6, + 0.6 + ], + "collision": false, + "pos": [ + -0.2286137854158203, + -0.023588464076406745, + 0.45499999999999996 + ], + "yaw_deg": -6.882783466069554 + }, + "tile": { + "jitter": true, + "catalog": "tile_L", + "type": "rigid", + "at": { + "station": "B", + "across": 0.2075722286277285, + "along": -0.1395896726601626, + "z": 0.001 + }, + "yaw_deg": -5.712891641764173, + "friction": { + "static": 1.5, + "dynamic": 1.5 + }, + "asset": "$MAGICSIM_ASSETS/Object/MMB_A07/tile_L/Object.usda", + "parts": [ + { + "name": "body0", + "center": [ + 0.0, + 0.0, + 0.01 + ], + "half": [ + 0.07500000000000001, + 0.025, + 0.01 + ], + "rpy_deg": [ + 0.0, + 0.0, + 0.0 + ] + }, + { + "name": "body1", + "center": [ + 0.05, + 0.05, + 0.01 + ], + "half": [ + 0.025, + 0.025, + 0.01 + ], + "rpy_deg": [ + 0.0, + 0.0, + 0.0 + ] + }, + { + "name": "knob", + "center": [ + 0.0, + 0.0, + 0.042499999999999996 + ], + "half": [ + 0.018, + 0.018, + 0.0225 + ], + "rpy_deg": [ + 0.0, + 0.0, + 0.0 + ] + } + ], + "mass": 0.06, + "com": [ + 0.0125, + 0.0125, + 0.01 + ], + "grasp": { + "part": "knob", + "thin_axis": 0, + "min_elevation_deg": 40.0, + "inset": 0.006, + "min_overlap_x": 0.016 + }, + "pos": [ + 1.9910222429846973, + 2.8069403193060967, + 0.33099999999999996 + ] + }, + "cand_O": { + "jitter": true, + "catalog": "tile_O", + "type": "rigid", + "at": { + "station": "B", + "across": -0.1971285645804709, + "along": -0.12464224275418359, + "z": 0.001 + }, + "yaw_deg": -5.156821756635676, + "friction": { + "static": 1.5, + "dynamic": 1.5 + }, + "asset": "$MAGICSIM_ASSETS/Object/MMB_A07/tile_O/Object.usda", + "parts": [ + { + "name": "body0", + "center": [ + 0.025, + 0.0, + 0.01 + ], + "half": [ + 0.05, + 0.025, + 0.01 + ], + "rpy_deg": [ + 0.0, + 0.0, + 0.0 + ] + }, + { + "name": "body1", + "center": [ + 0.025, + 0.05, + 0.01 + ], + "half": [ + 0.05, + 0.025, + 0.01 + ], + "rpy_deg": [ + 0.0, + 0.0, + 0.0 + ] + }, + { + "name": "knob", + "center": [ + 0.025, + 0.025, + 0.042499999999999996 + ], + "half": [ + 0.018, + 0.018, + 0.0225 + ], + "rpy_deg": [ + 0.0, + 0.0, + 0.0 + ] + } + ], + "mass": 0.06, + "com": [ + 0.025, + 0.025, + 0.01 + ], + "grasp": { + "part": "knob", + "thin_axis": 0, + "min_elevation_deg": 40.0, + "inset": 0.006, + "min_overlap_x": 0.016 + }, + "pos": [ + 1.5879860884291843, + 2.8465384986233895, + 0.33099999999999996 + ] + } + }, + "report_jsonl": "/mnt/scratch/xc536_atomic/n032_saw_off_1020/out/report.episodes.jsonl", + "dr_applied": true, + "level": "easy" + }, + "command": { + "StationPuzzle": { + "obj_type": "rigid", + "obj_name": "tile", + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.05, + "settle_ticks": 120 + }, + "StationPuzzleXR": { + "obj_type": "rigid", + "obj_name": "tile", + "grasp_part": "knob", + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.015, + "lift": 0.03, + "over_top": 0.022, + "pre_clear": 0.1, + "carry_ahead": 0.5, + "carry_z": 0.8, + "settle_ticks": 120, + "look_ticks": 30, + "hover": 0.035, + "remeasure_lower": true, + "recenter_clear": 0.02 + } + } + }, + "collect": { + "global_planner": { + "NavTo": { + "use_navmesh": true, + "use_absolute": true, + "translation_threshold": 0.12, + "rotation_threshold": 0.12, + "num_path_segments": 30, + "start_forward_offset": 0.0, + "visualize_path": false, + "carry_arm": true + }, + "RetractMoveL": { + "translation_threshold": 0.02, + "rotation_threshold": 0.2, + "motiongen_distance_threshold": 0.05, + "timeout_steps": 1800, + "base_pos_threshold": 0.12, + "base_rot_threshold": 0.5, + "eef_pos_threshold": 0.03, + "eef_rot_threshold": 0.3, + "base_waypoint_max_steps": 20, + "arm_waypoint_max_steps": 8, + "move_strategy_distance_threshold": 0.1, + "debug": false, + "debug_viz": false + }, + "MobileMoveL": { + "translation_threshold": 0.006, + "rotation_threshold": 0.08, + "motiongen_distance_threshold": 0.05, + "timeout_steps": 1800, + "stall_release_ticks": 100, + "stall_release_factor": 5.0, + "reactive": false, + "base_pos_threshold": 0.12, + "base_rot_threshold": 0.5, + "eef_pos_threshold": 0.03, + "eef_rot_threshold": 0.3, + "waypoint_max_steps": 20, + "interp_steps": 100, + "interp_validate_target": true, + "retry_mobile_on_locked_plan_failure": true, + "debug": false, + "debug_viz": false + }, + "MobileServoL": { + "base_pos_threshold": 0.12, + "waypoint_max_steps": 20, + "translation_threshold": 0.05, + "timeout_steps": 300 + }, + "ParallelGripper": { + "gripper_threshold": 0.0005, + "timeout_steps": 60 + } + }, + "atomic_skill": { + "NavToPose": { + "robot_id": 0, + "show_marker": false + }, + "Move": { + "arm_planner": "MobileMoveL", + "hand_planner": "ParallelGripper", + "obstacle_avoid_paths": [ + "dynamic/table_A", + "dynamic/table_B" + ], + "obstacle_ignore_paths": [], + "close_value": 1.0, + "open_value": 0.0, + "hold_steps": 10 + }, + "StationNavXR": { + "robot_id": 0, + "show_marker": false + }, + "ReachStance": { + "max_walks": 4 + } + }, + "command": { + "StationPuzzle": { + "obj_type": "rigid", + "obj_name": "tile", + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.05, + "settle_ticks": 120 + }, + "StationPuzzleXR": { + "obj_type": "rigid", + "obj_name": "tile", + "grasp_part": "knob", + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.015, + "lift": 0.03, + "over_top": 0.022, + "pre_clear": 0.1, + "carry_ahead": 0.5, + "carry_z": 0.8, + "settle_ticks": 120, + "look_ticks": 30, + "hover": 0.035, + "remeasure_lower": true, + "recenter_clear": 0.02 + } + }, + "auto_collect": {}, + "record": { + "output_dir": "/mnt/scratch/xc536_atomic/n032_saw_off_1020/out/rec", + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "json_round": null, + "schema": { + "source": "robot_manager", + "nan_policy": "from_raw" + }, + "lerobot": { + "subsample_every": 2 + } + } + }, + "visual_dr": { + "keep": [ + "tile", + "cand_O", + "cand_J", + "picture_bar", + "picture_cap" + ] + } + }, + "git_sha": null, + "collect_runtime": { + "max_trajectories": 1 + } +} \ No newline at end of file diff --git a/N032/sawyer_umi/dr_off/seed_1020/rec/stationpuzzlexr/000/sim_info/0/actions.npz b/N032/sawyer_umi/dr_off/seed_1020/rec/stationpuzzlexr/000/sim_info/0/actions.npz new file mode 100644 index 0000000000000000000000000000000000000000..c6b2b7dc53485c856bdb47bef8ee0a029afbe838 --- /dev/null +++ b/N032/sawyer_umi/dr_off/seed_1020/rec/stationpuzzlexr/000/sim_info/0/actions.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:713ff306c34b37abf3301cef068be447a8520681f5e7657735b809925760523d +size 788582 diff --git a/N032/sawyer_umi/dr_off/seed_1020/rec/stationpuzzlexr/000/sim_info/0/device_commands.jsonl b/N032/sawyer_umi/dr_off/seed_1020/rec/stationpuzzlexr/000/sim_info/0/device_commands.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N032/sawyer_umi/dr_off/seed_1020/rec/stationpuzzlexr/000/sim_info/0/device_events.jsonl b/N032/sawyer_umi/dr_off/seed_1020/rec/stationpuzzlexr/000/sim_info/0/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N032/sawyer_umi/dr_off/seed_1020/rec/stationpuzzlexr/000/sim_info/0/scene_snapshot.json b/N032/sawyer_umi/dr_off/seed_1020/rec/stationpuzzlexr/000/sim_info/0/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..fc5e72f00709c7f141f6a59b72530dfd8c02ff46 --- /dev/null +++ b/N032/sawyer_umi/dr_off/seed_1020/rec/stationpuzzlexr/000/sim_info/0/scene_snapshot.json @@ -0,0 +1,759 @@ +{ + "trajectory_id": 0, + "env_id": 0, + "run_id": "stationpuzzlexr/000", + "task_type": "PuzzleXRCommand", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])", + "avatars": "avatar_manager.set_avatars_state(snapshot['avatars'], env_ids=[env_id]) (present when the scene has animated avatars)" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "table_A": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.3016219675206666, + -0.21119125015845192, + 0.18 + ], + "ori": [ + 0.9981967210769653, + 0.0, + 0.0, + -0.060027509927749634 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.45, + 0.35 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + } + }, + "type_specific": {} + } + ], + "table_B": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 1.7923484539399928, + 2.958927925239849, + 0.18 + ], + "ori": [ + 0.9995346665382385, + 0.0, + 0.0, + -0.03050408698618412 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.45, + 0.35 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + } + }, + "type_specific": {} + } + ], + "board_0": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.32558967242550446, + -0.4097499294489695, + 0.33999999999999997 + ], + "ori": [ + 0.9981967210769653, + 0.0, + 0.0, + -0.060027509927749634 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.55, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.25, + 0.04, + 0.02 + ] + } + }, + "type_specific": {} + } + ], + "board_1": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.3064155085016342, + -0.2509029860165554, + 0.33999999999999997 + ], + "ori": [ + 0.9981967210769653, + 0.0, + 0.0, + -0.060027509927749634 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.55, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.25, + 0.04, + 0.02 + ] + } + }, + "type_specific": {} + } + ], + "board_2": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.42024589709109106, + -0.3177434126577226, + 0.33999999999999997 + ], + "ori": [ + 0.9981967210769653, + 0.0, + 0.0, + -0.060027509927749634 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.55, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.04, + 0.1, + 0.02 + ] + } + }, + "type_specific": {} + } + ], + "board_3": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.21175928383604758, + -0.34290950280780236, + 0.33999999999999997 + ], + "ori": [ + 0.9981967210769653, + 0.0, + 0.0, + -0.060027509927749634 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.55, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.04, + 0.1, + 0.02 + ] + } + }, + "type_specific": {} + } + ], + "board_4": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.3421912366214213, + -0.29694750010345916, + 0.33999999999999997 + ], + "ori": [ + 0.9981967210769653, + 0.0, + 0.0, + -0.060027509927749634 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.55, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.09, + 0.04, + 0.02 + ] + } + }, + "type_specific": {} + } + ], + "picture": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.27765426261582876, + -0.012632570867934317, + 0.42999999999999994 + ], + "ori": [ + 0.9981967210769653, + 0.0, + 0.0, + -0.060027509927749634 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.55, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.25, + 0.008, + 0.2 + ] + } + }, + "type_specific": {} + } + ], + "picture_bar": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.2782534552384497, + -0.01759653785019727, + 0.40499999999999997 + ], + "ori": [ + 0.9981967210769653, + 0.0, + 0.0, + -0.060027509927749634 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.1, + 0.6, + 0.6 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.15, + 0.002, + 0.05 + ] + } + }, + "type_specific": {} + } + ], + "picture_cap": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.2286137854158203, + -0.023588464076406745, + 0.45499999999999996 + ], + "ori": [ + 0.9981967210769653, + 0.0, + 0.0, + -0.060027509927749634 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.1, + 0.6, + 0.6 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.05, + 0.002, + 0.05 + ] + } + }, + "type_specific": {} + } + ], + "tile": [ + { + "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MMB_A07/tile_L/Object.usda", + "pose": { + "pos": [ + 1.9910223484039307, + 2.8069403171539307, + 0.33000004291534424 + ], + "ori": [ + 0.998757541179657, + 2.4598557502031326e-07, + -1.862645149230957e-07, + -0.04983355477452278 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.06, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.5097312434118066e-07, + 4.591850029100897e-07, + -1.1247153452131897e-05 + ], + "angular_velocity": [ + -0.00011676619033096358, + -4.145610728301108e-05, + 2.2105748485046206e-06 + ] + } + } + ], + "cand_O": [ + { + "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MMB_A07/tile_O/Object.usda", + "pose": { + "pos": [ + 1.5879861116409302, + 2.846538543701172, + 0.32999998331069946 + ], + "ori": [ + 0.9989875555038452, + 4.909564950139611e-07, + -1.8802218448854546e-07, + -0.044985897839069366 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.06, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.709967124152172e-07, + 2.3047292074807046e-07, + -4.655899829231203e-06 + ], + "angular_velocity": [ + 4.1153267375193536e-05, + -8.573447848903015e-05, + -6.185247457324294e-06 + ] + } + } + ] + } + ], + "artifacts": [ + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1000.0, + "texture": null, + "color": [ + 0.85, + 0.85, + 0.85 + ] + } + } + }, + "robots": { + "RidgebackSawyerUmi": { + "root_pose": [ + [ + -3.390869379043579, + -2.389617443084717, + 0.05000000074505806, + 0.9512148499488831, + 0.0, + 0.0, + 0.3085293471813202 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.600000023841858, + 0.0, + 0.5, + 0.0, + -2.319999933242798, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "head": [ + [ + 0.21660000085830688, + 0.0, + -0.04500000178813934, + -0.6743797063827515, + 0.21263112127780914, + -0.21263112127780914, + 0.6743797659873962 + ] + ], + "wrist": [ + [ + 0.05979999899864197, + 0.0, + 0.029999999329447746, + 6.123234262925839e-17, + 0.7071067690849304, + 0.7071067690849304, + -4.329780301713277e-17 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/N032/sawyer_umi/dr_off/seed_1020/rec/stationpuzzlexr/000/sim_info/0/sim_states.npz b/N032/sawyer_umi/dr_off/seed_1020/rec/stationpuzzlexr/000/sim_info/0/sim_states.npz new file mode 100644 index 0000000000000000000000000000000000000000..ea7af30e7f409325902bac448f9ea021c0bf374c --- /dev/null +++ b/N032/sawyer_umi/dr_off/seed_1020/rec/stationpuzzlexr/000/sim_info/0/sim_states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1c2994139de4ad136dcbf44f162659b89ff7482043eed7609d25d2427f3d31eb +size 756808 diff --git a/N032/sawyer_umi/dr_off/seed_1020/rec/stationpuzzlexr/000/sim_info/magicsim_manifest.json b/N032/sawyer_umi/dr_off/seed_1020/rec/stationpuzzlexr/000/sim_info/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..ac09e078aacf924bd0d22aa3f06b46c6b2128ea5 --- /dev/null +++ b/N032/sawyer_umi/dr_off/seed_1020/rec/stationpuzzlexr/000/sim_info/magicsim_manifest.json @@ -0,0 +1,233 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 03:08:40" + }, + "embodiment": { + "robots": [ + { + "name": "RidgebackSawyerUmi", + "cfg": "RidgebackSawyerUmiCfg", + "type": "mobilemanip", + "joint_names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 11, + "nan_policy": "from_raw", + "segments": [ + { + "name": "RidgebackSawyerUmi.base_action", + "start": 0, + "end": 3, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint" + ], + "source": "HolonomicAction", + "names_source": "_joint_names" + }, + { + "name": "RidgebackSawyerUmi.arm_action", + "start": 3, + "end": 10, + "names": [ + "frame0.pos_x", + "frame0.pos_y", + "frame0.pos_z", + "frame0.quat_w", + "frame0.quat_x", + "frame0.quat_y", + "frame0.quat_z" + ], + "source": "PinkInverseKinematicsAction", + "names_source": "pink_layout" + }, + { + "name": "RidgebackSawyerUmi.eef_action", + "start": 10, + "end": 11, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 15, + "segments": [ + { + "name": "RidgebackSawyerUmi.joint_pos", + "start": 0, + "end": 13, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ], + "source": "ObservationManager", + "names_source": "joint_names" + }, + { + "name": "RidgebackSawyerUmi.gripper_pos", + "start": 13, + "end": 15, + "names": [ + "gripper_0", + "gripper_1" + ], + "source": "ObservationManager", + "names_source": "generated" + } + ] + }, + "joint_vel_layout": { + "dim": 13, + "segments": [ + { + "name": "RidgebackSawyerUmi.joint_vel", + "start": 0, + "end": 13, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "action_levels": { + "L0": "task command list (collect.auto_collect_info.current_action)", + "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)", + "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)", + "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy", + "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)" + }, + "cameras": { + "head": { + "intrinsics": { + "K": [ + [ + 355.55555555555554, + 0.0, + 320.0 + ], + [ + 0.0, + 355.55555555555554, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 83.97442499163331, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.21660000085830688, + 0.0, + -0.04500000178813934 + ], + "quat": [ + -0.6743797063827515, + 0.21263112127780914, + -0.21263112127780914, + 0.6743797659873962 + ] + }, + "wrist": { + "intrinsics": { + "K": [ + [ + 320.0, + 0.0, + 320.0 + ], + [ + 0.0, + 320.0, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 90.0, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.05979999899864197, + 0.0, + 0.029999999329447746 + ], + "quat": [ + 6.123234262925839e-17, + 0.7071067690849304, + 0.7071067690849304, + -4.329780301713277e-17 + ] + } + }, + "generated_run": { + "run_id": "stationpuzzlexr/000", + "task_type": "PuzzleXRCommand" + } +} \ No newline at end of file diff --git a/N032/sawyer_umi/dr_off/seed_1020/report.episodes.jsonl b/N032/sawyer_umi/dr_off/seed_1020/report.episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b35c5d3f69a3a1200b45f2f59e05d487c5ec35e6 --- /dev/null +++ b/N032/sawyer_umi/dr_off/seed_1020/report.episodes.jsonl @@ -0,0 +1 @@ +{"task_id": "N032", "task_version": "EXT60-MobileAvatar-v3", "instruction": null, "agent_id": "a07", "family_id": "puzzle_completion", "primary_category": "C2", "level": "easy", "embodiment": "sawyer_umi", "scene_seed": 1020, "execution_mode": "expert_privileged_command", "station_layout": {"A": {"center": [-0.3016219675206666, -0.21119125015845192], "facing": 1.451, "stand": [-0.415, -1.154, 1.451]}, "B": {"center": [1.7923484539399928, 2.958927925239849], "facing": 1.51, "stand": [1.734, 2.011, 1.51]}}, "spawn_pose": [-3.391, -2.39, 0.627], "base_path": [[-3.391, -2.39, 0.627], [-3.391, -2.39, 0.627], [-3.391, -2.39, 0.627], [-3.391, -2.39, 0.627], [-3.391, -2.39, 0.627], [-3.294, -2.337, 0.482], [-3.155, -2.28, 0.399], [-3.013, -2.232, 0.368], [-2.87, -2.185, 0.358], [-2.727, -2.139, 0.354], [-2.586, -2.089, 0.352], [-2.445, -2.038, 0.352], [-2.303, -1.988, 0.352], [-2.162, -1.938, 0.352], [-2.021, -1.888, 0.352], [-1.88, -1.837, 0.352], [-1.739, -1.785, 0.352], [-1.599, -1.733, 0.352], [-1.458, -1.682, 0.352], [-1.317, -1.63, 0.352], [-1.176, -1.579, 0.352], [-1.035, -1.527, 0.352], [-0.894, -1.475, 0.352], [-0.753, -1.423, 0.352], [-0.636, -1.336, 0.352], [-0.557, -1.272, 0.352], [-0.506, -1.23, 0.352], [-0.473, -1.203, 0.352], [-0.452, -1.185, 0.383], [-0.452, -1.185, 0.783], [-0.452, -1.185, 1.129], [-0.452, -1.185, 1.3], [-0.452, -1.185, 1.395], [-0.451, -1.186, 1.271], [-0.451, -1.186, 0.871], [-0.435, -1.175, 0.524], [-0.302, -1.119, 0.355], [-0.157, -1.081, 0.294], [-0.01, -1.05, 0.272], [0.137, -1.016, 0.264], [0.276, -0.981, 0.465], [0.388, -0.871, 0.444], [0.501, -0.762, 0.546], [0.619, -0.67, 0.873], [0.702, -0.545, 1.012], [0.769, -0.41, 1.062], [0.834, -0.275, 1.08], [0.898, -0.139, 1.087], [0.963, -0.005, 1.089], [1.03, 0.129, 1.09], [1.097, 0.262, 1.09], [1.165, 0.396, 1.09], [1.233, 0.529, 1.09], [1.302, 0.662, 1.09], [1.371, 0.795, 1.09], [1.441, 0.928, 1.09], [1.511, 1.061, 1.09], [1.58, 1.194, 1.09], [1.649, 1.327, 1.09], [1.718, 1.46, 1.09], [1.787, 1.593, 1.09], [1.844, 1.725, 1.09], [1.879, 1.821, 1.09], [1.902, 1.884, 1.09], [1.916, 1.924, 1.09], [1.925, 1.951, 1.09], [1.924, 1.953, 1.314], [1.924, 1.952, 1.393], [1.924, 1.952, 1.393], [1.924, 1.952, 1.393], [1.924, 1.952, 1.393], [1.924, 1.952, 1.393], [1.924, 1.952, 1.393], [1.924, 1.952, 1.393], [1.924, 1.952, 1.393], [1.924, 1.952, 1.393], [1.924, 1.952, 1.393], [1.924, 1.952, 1.393], [1.924, 1.952, 1.393], [1.924, 1.952, 1.393], [1.924, 1.952, 1.393], [1.924, 1.952, 1.393], [1.924, 1.952, 1.393], [1.924, 1.952, 1.393], [1.924, 1.952, 1.393], [1.924, 1.952, 1.393], [1.924, 1.952, 1.393], [1.924, 1.952, 1.393], [1.924, 1.952, 1.393], [1.924, 1.952, 1.393], [1.924, 1.952, 1.393], [1.924, 1.952, 1.393], [1.924, 1.952, 1.393], [1.924, 1.952, 1.393], [1.924, 1.952, 1.393], [1.924, 1.952, 1.393], [1.924, 1.952, 1.393], [1.924, 1.952, 1.393], [1.924, 1.952, 1.393], [1.924, 1.952, 1.393], [1.924, 1.952, 1.393], [1.924, 1.952, 1.393], [1.924, 1.952, 1.393], [1.924, 1.952, 1.393], [1.924, 1.952, 1.393], [1.924, 1.952, 1.393], [1.924, 1.952, 1.393], [1.924, 1.952, 1.393], [1.924, 1.952, 1.393], [1.924, 1.952, 1.393], [1.924, 1.952, 1.393], [1.924, 1.952, 1.393], [1.924, 1.952, 1.393], [1.924, 1.952, 1.393], [1.924, 1.952, 1.393], [1.924, 1.952, 1.393], [1.924, 1.952, 1.393], [1.924, 1.952, 1.393], [1.924, 1.952, 1.393], [1.924, 1.952, 1.393], [1.924, 1.952, 1.393], [1.924, 1.952, 1.393], [1.924, 1.952, 1.393], [1.924, 1.953, 1.696], [1.924, 1.952, 2.096], [1.924, 1.952, 2.497], [1.924, 1.952, 2.897], [1.924, 1.952, -2.987], [1.924, 1.952, -2.587], [1.898, 1.924, -2.263], [1.837, 1.827, -2.118], [1.779, 1.709, -2.066], [1.729, 1.599, -2.048], [1.688, 1.505, -2.041], [1.636, 1.395, -2.039], [1.593, 1.303, -2.038], [1.539, 1.194, -2.037], [1.493, 1.102, -2.037], [1.438, 0.993, -2.037], [1.393, 0.901, -2.037], [1.338, 0.792, -2.037], [1.292, 0.701, -2.037], [1.237, 0.592, -2.037], [1.192, 0.5, -2.037], [1.137, 0.392, -2.037], [1.09, 0.3, -2.037], [1.036, 0.192, -2.037], [0.989, 0.1, -2.037], [0.935, -0.008, -2.037], [0.889, -0.1, -2.037], [0.834, -0.207, -2.037], [0.789, -0.299, -2.037], [0.734, -0.407, -2.037], [0.689, -0.498, -2.037], [0.634, -0.607, -2.037], [0.551, -0.697, -2.037], [0.437, -0.807, -2.129], [0.339, -0.92, -2.484], [0.21, -0.993, -2.665], [0.075, -1.049, -2.73], [-0.026, -1.084, -2.753], [-0.128, -1.116, -2.762], [-0.229, -1.13, -2.765], [-0.295, -1.139, -2.766], [-0.339, -1.145, -2.766], [-0.367, -1.148, -2.781], [-0.368, -1.147, 3.102], [-0.368, -1.147, 2.702], [-0.368, -1.147, 2.302], [-0.368, -1.148, 1.907], [-0.368, -1.148, 1.664], [-0.368, -1.148, 1.57], [-0.368, -1.148, 1.57], [-0.368, -1.148, 1.57], [-0.368, -1.148, 1.57], [-0.368, -1.148, 1.57], [-0.368, -1.148, 1.57], [-0.368, -1.148, 1.57], [-0.368, -1.148, 1.57], [-0.368, -1.148, 1.57], [-0.368, -1.148, 1.57], [-0.368, -1.148, 1.57], [-0.368, -1.148, 1.57], [-0.368, -1.148, 1.57], [-0.368, -1.148, 1.57], [-0.368, -1.148, 1.57], [-0.368, -1.148, 1.57], [-0.368, -1.148, 1.57], [-0.368, -1.148, 1.57], [-0.368, -1.148, 1.57], [-0.368, -1.148, 1.57], [-0.368, -1.148, 1.57], [-0.368, -1.148, 1.57], [-0.368, -1.148, 1.57], [-0.368, -1.148, 1.57], [-0.368, -1.148, 1.57], [-0.368, -1.148, 1.57], [-0.368, -1.148, 1.57], [-0.368, -1.148, 1.57], [-0.368, -1.148, 1.57], [-0.368, -1.148, 1.57], [-0.368, -1.148, 1.57], [-0.368, -1.148, 1.57], [-0.368, -1.148, 1.57], [-0.368, -1.148, 1.57], [-0.368, -1.148, 1.57], [-0.368, -1.148, 1.57], [-0.368, -1.148, 1.57], [-0.368, -1.148, 1.57], [-0.368, -1.148, 1.57], [-0.368, -1.148, 1.57], [-0.368, -1.148, 1.57], [-0.368, -1.148, 1.57], [-0.368, -1.148, 1.57], [-0.368, -1.148, 1.57], [-0.368, -1.148, 1.57], [-0.368, -1.148, 1.57], [-0.368, -1.148, 1.57], [-0.368, -1.148, 1.57], [-0.368, -1.148, 1.57], [-0.368, -1.148, 1.57]], "stage_events": [{"tick": 539, "event": "enter_station", "station": "A", "xy": [-0.961, -1.5]}, {"tick": 1245, "event": "leave_station", "station": "A", "xy": [1.081, 0.23]}, {"tick": 1486, "event": "enter_station", "station": "B", "xy": [1.747, 1.513]}, {"tick": 3325, "event": "leave_station", "station": "B", "xy": [1.69, 1.51]}, {"tick": 3635, "event": "enter_station", "station": "A", "xy": [1.069, 0.257]}], "transport_state": {"tile": {"held": false, "grasps": 2}}, "manipulation_success": true, "mobile_success": true, "full_success": true, "failure_reason": null, "fail_class_hint": null, "distance_to_first_interaction": 2.589, "interstation_path_lengths": [4.293, 2.38], "station_transition_order": ["A", "B", "A"], "final_approach_pose": [-0.368, -1.148, 1.57], "regrasp_events": 1, "control_ticks": 5022, "wall_s": 1099.6, "phase": "done", "state": "success: task sequence complete", "check": {"tile": {"held": false, "dist_wrist": 1.107, "err_across": 0.0004, "err_along": -0.0002, "yaw_err_deg": 0.0, "tilt_deg": 0.0, "z_err": 0.0, "overlap": false, "at_rest": true, "in_notch": true}, "released": true, "intruders": [], "manipulation_success": true}, "route": ["A", "B", "A"], "total_path_m": 11.41, "planner_seeds": "default"} diff --git a/N032/sawyer_umi/dr_off/seed_1020/report.json b/N032/sawyer_umi/dr_off/seed_1020/report.json new file mode 100644 index 0000000000000000000000000000000000000000..1ce1bec0fc7908b21d1392a1f562ba3ce7bf8e9d --- /dev/null +++ b/N032/sawyer_umi/dr_off/seed_1020/report.json @@ -0,0 +1,1350 @@ +{ + "task_id": "N032", + "robot": "sawyer_umi", + "level": "easy", + "seed": 1020, + "episodes_requested": 1, + "episodes": [ + { + "task_id": "N032", + "task_version": "EXT60-MobileAvatar-v3", + "instruction": null, + "agent_id": "a07", + "family_id": "puzzle_completion", + "primary_category": "C2", + "level": "easy", + "embodiment": "sawyer_umi", + "scene_seed": 1020, + "execution_mode": "expert_privileged_command", + "station_layout": { + "A": { + "center": [ + -0.3016219675206666, + -0.21119125015845192 + ], + "facing": 1.451, + "stand": [ + -0.415, + -1.154, + 1.451 + ] + }, + "B": { + "center": [ + 1.7923484539399928, + 2.958927925239849 + ], + "facing": 1.51, + "stand": [ + 1.734, + 2.011, + 1.51 + ] + } + }, + "spawn_pose": [ + -3.391, + -2.39, + 0.627 + ], + "base_path": [ + [ + -3.391, + -2.39, + 0.627 + ], + [ + -3.391, + -2.39, + 0.627 + ], + [ + -3.391, + -2.39, + 0.627 + ], + [ + -3.391, + -2.39, + 0.627 + ], + [ + -3.391, + -2.39, + 0.627 + ], + [ + -3.294, + -2.337, + 0.482 + ], + [ + -3.155, + -2.28, + 0.399 + ], + [ + -3.013, + -2.232, + 0.368 + ], + [ + -2.87, + -2.185, + 0.358 + ], + [ + -2.727, + -2.139, + 0.354 + ], + [ + -2.586, + -2.089, + 0.352 + ], + [ + -2.445, + -2.038, + 0.352 + ], + [ + -2.303, + -1.988, + 0.352 + ], + [ + -2.162, + -1.938, + 0.352 + ], + [ + -2.021, + -1.888, + 0.352 + ], + [ + -1.88, + -1.837, + 0.352 + ], + [ + -1.739, + -1.785, + 0.352 + ], + [ + -1.599, + -1.733, + 0.352 + ], + [ + -1.458, + -1.682, + 0.352 + ], + [ + -1.317, + -1.63, + 0.352 + ], + [ + -1.176, + -1.579, + 0.352 + ], + [ + -1.035, + -1.527, + 0.352 + ], + [ + -0.894, + -1.475, + 0.352 + ], + [ + -0.753, + -1.423, + 0.352 + ], + [ + -0.636, + -1.336, + 0.352 + ], + [ + -0.557, + -1.272, + 0.352 + ], + [ + -0.506, + -1.23, + 0.352 + ], + [ + -0.473, + -1.203, + 0.352 + ], + [ + -0.452, + -1.185, + 0.383 + ], + [ + -0.452, + -1.185, + 0.783 + ], + [ + -0.452, + -1.185, + 1.129 + ], + [ + -0.452, + -1.185, + 1.3 + ], + [ + -0.452, + -1.185, + 1.395 + ], + [ + -0.451, + -1.186, + 1.271 + ], + [ + -0.451, + -1.186, + 0.871 + ], + [ + -0.435, + -1.175, + 0.524 + ], + [ + -0.302, + -1.119, + 0.355 + ], + [ + -0.157, + -1.081, + 0.294 + ], + [ + -0.01, + -1.05, + 0.272 + ], + [ + 0.137, + -1.016, + 0.264 + ], + [ + 0.276, + -0.981, + 0.465 + ], + [ + 0.388, + -0.871, + 0.444 + ], + [ + 0.501, + -0.762, + 0.546 + ], + [ + 0.619, + -0.67, + 0.873 + ], + [ + 0.702, + -0.545, + 1.012 + ], + [ + 0.769, + -0.41, + 1.062 + ], + [ + 0.834, + -0.275, + 1.08 + ], + [ + 0.898, + -0.139, + 1.087 + ], + [ + 0.963, + -0.005, + 1.089 + ], + [ + 1.03, + 0.129, + 1.09 + ], + [ + 1.097, + 0.262, + 1.09 + ], + [ + 1.165, + 0.396, + 1.09 + ], + [ + 1.233, + 0.529, + 1.09 + ], + [ + 1.302, + 0.662, + 1.09 + ], + [ + 1.371, + 0.795, + 1.09 + ], + [ + 1.441, + 0.928, + 1.09 + ], + [ + 1.511, + 1.061, + 1.09 + ], + [ + 1.58, + 1.194, + 1.09 + ], + [ + 1.649, + 1.327, + 1.09 + ], + [ + 1.718, + 1.46, + 1.09 + ], + [ + 1.787, + 1.593, + 1.09 + ], + [ + 1.844, + 1.725, + 1.09 + ], + [ + 1.879, + 1.821, + 1.09 + ], + [ + 1.902, + 1.884, + 1.09 + ], + [ + 1.916, + 1.924, + 1.09 + ], + [ + 1.925, + 1.951, + 1.09 + ], + [ + 1.924, + 1.953, + 1.314 + ], + [ + 1.924, + 1.952, + 1.393 + ], + [ + 1.924, + 1.952, + 1.393 + ], + [ + 1.924, + 1.952, + 1.393 + ], + [ + 1.924, + 1.952, + 1.393 + ], + [ + 1.924, + 1.952, + 1.393 + ], + [ + 1.924, + 1.952, + 1.393 + ], + [ + 1.924, + 1.952, + 1.393 + ], + [ + 1.924, + 1.952, + 1.393 + ], + [ + 1.924, + 1.952, + 1.393 + ], + [ + 1.924, + 1.952, + 1.393 + ], + [ + 1.924, + 1.952, + 1.393 + ], + [ + 1.924, + 1.952, + 1.393 + ], + [ + 1.924, + 1.952, + 1.393 + ], + [ + 1.924, + 1.952, + 1.393 + ], + [ + 1.924, + 1.952, + 1.393 + ], + [ + 1.924, + 1.952, + 1.393 + ], + [ + 1.924, + 1.952, + 1.393 + ], + [ + 1.924, + 1.952, + 1.393 + ], + [ + 1.924, + 1.952, + 1.393 + ], + [ + 1.924, + 1.952, + 1.393 + ], + [ + 1.924, + 1.952, + 1.393 + ], + [ + 1.924, + 1.952, + 1.393 + ], + [ + 1.924, + 1.952, + 1.393 + ], + [ + 1.924, + 1.952, + 1.393 + ], + [ + 1.924, + 1.952, + 1.393 + ], + [ + 1.924, + 1.952, + 1.393 + ], + [ + 1.924, + 1.952, + 1.393 + ], + [ + 1.924, + 1.952, + 1.393 + ], + [ + 1.924, + 1.952, + 1.393 + ], + [ + 1.924, + 1.952, + 1.393 + ], + [ + 1.924, + 1.952, + 1.393 + ], + [ + 1.924, + 1.952, + 1.393 + ], + [ + 1.924, + 1.952, + 1.393 + ], + [ + 1.924, + 1.952, + 1.393 + ], + [ + 1.924, + 1.952, + 1.393 + ], + [ + 1.924, + 1.952, + 1.393 + ], + [ + 1.924, + 1.952, + 1.393 + ], + [ + 1.924, + 1.952, + 1.393 + ], + [ + 1.924, + 1.952, + 1.393 + ], + [ + 1.924, + 1.952, + 1.393 + ], + [ + 1.924, + 1.952, + 1.393 + ], + [ + 1.924, + 1.952, + 1.393 + ], + [ + 1.924, + 1.952, + 1.393 + ], + [ + 1.924, + 1.952, + 1.393 + ], + [ + 1.924, + 1.952, + 1.393 + ], + [ + 1.924, + 1.952, + 1.393 + ], + [ + 1.924, + 1.952, + 1.393 + ], + [ + 1.924, + 1.952, + 1.393 + ], + [ + 1.924, + 1.952, + 1.393 + ], + [ + 1.924, + 1.952, + 1.393 + ], + [ + 1.924, + 1.952, + 1.393 + ], + [ + 1.924, + 1.952, + 1.393 + ], + [ + 1.924, + 1.952, + 1.393 + ], + [ + 1.924, + 1.952, + 1.393 + ], + [ + 1.924, + 1.952, + 1.393 + ], + [ + 1.924, + 1.952, + 1.393 + ], + [ + 1.924, + 1.953, + 1.696 + ], + [ + 1.924, + 1.952, + 2.096 + ], + [ + 1.924, + 1.952, + 2.497 + ], + [ + 1.924, + 1.952, + 2.897 + ], + [ + 1.924, + 1.952, + -2.987 + ], + [ + 1.924, + 1.952, + -2.587 + ], + [ + 1.898, + 1.924, + -2.263 + ], + [ + 1.837, + 1.827, + -2.118 + ], + [ + 1.779, + 1.709, + -2.066 + ], + [ + 1.729, + 1.599, + -2.048 + ], + [ + 1.688, + 1.505, + -2.041 + ], + [ + 1.636, + 1.395, + -2.039 + ], + [ + 1.593, + 1.303, + -2.038 + ], + [ + 1.539, + 1.194, + -2.037 + ], + [ + 1.493, + 1.102, + -2.037 + ], + [ + 1.438, + 0.993, + -2.037 + ], + [ + 1.393, + 0.901, + -2.037 + ], + [ + 1.338, + 0.792, + -2.037 + ], + [ + 1.292, + 0.701, + -2.037 + ], + [ + 1.237, + 0.592, + -2.037 + ], + [ + 1.192, + 0.5, + -2.037 + ], + [ + 1.137, + 0.392, + -2.037 + ], + [ + 1.09, + 0.3, + -2.037 + ], + [ + 1.036, + 0.192, + -2.037 + ], + [ + 0.989, + 0.1, + -2.037 + ], + [ + 0.935, + -0.008, + -2.037 + ], + [ + 0.889, + -0.1, + -2.037 + ], + [ + 0.834, + -0.207, + -2.037 + ], + [ + 0.789, + -0.299, + -2.037 + ], + [ + 0.734, + -0.407, + -2.037 + ], + [ + 0.689, + -0.498, + -2.037 + ], + [ + 0.634, + -0.607, + -2.037 + ], + [ + 0.551, + -0.697, + -2.037 + ], + [ + 0.437, + -0.807, + -2.129 + ], + [ + 0.339, + -0.92, + -2.484 + ], + [ + 0.21, + -0.993, + -2.665 + ], + [ + 0.075, + -1.049, + -2.73 + ], + [ + -0.026, + -1.084, + -2.753 + ], + [ + -0.128, + -1.116, + -2.762 + ], + [ + -0.229, + -1.13, + -2.765 + ], + [ + -0.295, + -1.139, + -2.766 + ], + [ + -0.339, + -1.145, + -2.766 + ], + [ + -0.367, + -1.148, + -2.781 + ], + [ + -0.368, + -1.147, + 3.102 + ], + [ + -0.368, + -1.147, + 2.702 + ], + [ + -0.368, + -1.147, + 2.302 + ], + [ + -0.368, + -1.148, + 1.907 + ], + [ + -0.368, + -1.148, + 1.664 + ], + [ + -0.368, + -1.148, + 1.57 + ], + [ + -0.368, + -1.148, + 1.57 + ], + [ + -0.368, + -1.148, + 1.57 + ], + [ + -0.368, + -1.148, + 1.57 + ], + [ + -0.368, + -1.148, + 1.57 + ], + [ + -0.368, + -1.148, + 1.57 + ], + [ + -0.368, + -1.148, + 1.57 + ], + [ + -0.368, + -1.148, + 1.57 + ], + [ + -0.368, + -1.148, + 1.57 + ], + [ + -0.368, + -1.148, + 1.57 + ], + [ + -0.368, + -1.148, + 1.57 + ], + [ + -0.368, + -1.148, + 1.57 + ], + [ + -0.368, + -1.148, + 1.57 + ], + [ + -0.368, + -1.148, + 1.57 + ], + [ + -0.368, + -1.148, + 1.57 + ], + [ + -0.368, + -1.148, + 1.57 + ], + [ + -0.368, + -1.148, + 1.57 + ], + [ + -0.368, + -1.148, + 1.57 + ], + [ + -0.368, + -1.148, + 1.57 + ], + [ + -0.368, + -1.148, + 1.57 + ], + [ + -0.368, + -1.148, + 1.57 + ], + [ + -0.368, + -1.148, + 1.57 + ], + [ + -0.368, + -1.148, + 1.57 + ], + [ + -0.368, + -1.148, + 1.57 + ], + [ + -0.368, + -1.148, + 1.57 + ], + [ + -0.368, + -1.148, + 1.57 + ], + [ + -0.368, + -1.148, + 1.57 + ], + [ + -0.368, + -1.148, + 1.57 + ], + [ + -0.368, + -1.148, + 1.57 + ], + [ + -0.368, + -1.148, + 1.57 + ], + [ + -0.368, + -1.148, + 1.57 + ], + [ + -0.368, + -1.148, + 1.57 + ], + [ + -0.368, + -1.148, + 1.57 + ], + [ + -0.368, + -1.148, + 1.57 + ], + [ + -0.368, + -1.148, + 1.57 + ], + [ + -0.368, + -1.148, + 1.57 + ], + [ + -0.368, + -1.148, + 1.57 + ], + [ + -0.368, + -1.148, + 1.57 + ], + [ + -0.368, + -1.148, + 1.57 + ], + [ + -0.368, + -1.148, + 1.57 + ], + [ + -0.368, + -1.148, + 1.57 + ], + [ + -0.368, + -1.148, + 1.57 + ], + [ + -0.368, + -1.148, + 1.57 + ], + [ + -0.368, + -1.148, + 1.57 + ], + [ + -0.368, + -1.148, + 1.57 + ], + [ + -0.368, + -1.148, + 1.57 + ], + [ + -0.368, + -1.148, + 1.57 + ], + [ + -0.368, + -1.148, + 1.57 + ], + [ + -0.368, + -1.148, + 1.57 + ], + [ + -0.368, + -1.148, + 1.57 + ] + ], + "stage_events": [ + { + "tick": 539, + "event": "enter_station", + "station": "A", + "xy": [ + -0.961, + -1.5 + ] + }, + { + "tick": 1245, + "event": "leave_station", + "station": "A", + "xy": [ + 1.081, + 0.23 + ] + }, + { + "tick": 1486, + "event": "enter_station", + "station": "B", + "xy": [ + 1.747, + 1.513 + ] + }, + { + "tick": 3325, + "event": "leave_station", + "station": "B", + "xy": [ + 1.69, + 1.51 + ] + }, + { + "tick": 3635, + "event": "enter_station", + "station": "A", + "xy": [ + 1.069, + 0.257 + ] + } + ], + "transport_state": { + "tile": { + "held": false, + "grasps": 2 + } + }, + "manipulation_success": true, + "mobile_success": true, + "full_success": true, + "failure_reason": null, + "fail_class_hint": null, + "distance_to_first_interaction": 2.589, + "interstation_path_lengths": [ + 4.293, + 2.38 + ], + "station_transition_order": [ + "A", + "B", + "A" + ], + "final_approach_pose": [ + -0.368, + -1.148, + 1.57 + ], + "regrasp_events": 1, + "control_ticks": 5022, + "wall_s": 1099.6, + "phase": "done", + "state": "success: task sequence complete", + "check": { + "tile": { + "held": false, + "dist_wrist": 1.107, + "err_across": 0.0004, + "err_along": -0.0002, + "yaw_err_deg": 0.0, + "tilt_deg": 0.0, + "z_err": 0.0, + "overlap": false, + "at_rest": true, + "in_notch": true + }, + "released": true, + "intruders": [], + "manipulation_success": true + }, + "route": [ + "A", + "B", + "A" + ], + "total_path_m": 11.41, + "planner_seeds": "default" + } + ], + "error": null, + "collect": { + "task": "N032", + "robot": "sawyer_umi", + "visual_dr": false, + "env": { + "MMB_COLLECT": "1", + "MMB_TASK_ID": "N032", + "MMB_CLEAN_VIEW": "1", + "MMB_REAL_ROBOT_LOOK": "1", + "MMB_VISUAL_DR": "0" + }, + "cameras": { + "head": { + "link": "Robot_0/head", + "pos": [ + 0.2166, + 0.0, + -0.045 + ], + "ori": [ + -0.0, + 35.0, + -90.0 + ], + "focal_length": 2.0, + "horizontal_aperture": 3.6, + "vertical_aperture": 2.7 + }, + "wrist": { + "link": "Robot_0/right_electric_gripper_base", + "pos": [ + 0.0598, + 0.0, + 0.03 + ], + "ori": [ + 180.0, + 0.0, + -90.0 + ], + "focal_length": 1.8, + "horizontal_aperture": 3.6, + "vertical_aperture": 2.7 + } + }, + "resolution": [ + 640, + 480 + ], + "camera_hz": 25, + "record": { + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + } + }, + "review_cameras": [], + "policy_obs_signature": [ + "/camera_info[0]/rgb[0]:(480, 640, 4):uint8", + "/camera_info[1]/rgb[0]:(480, 640, 4):uint8", + "/robot_state[0]/RidgebackSawyerUmi/base_ang_vel:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/base_heading_quat:(1, 4):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/base_lin_vel:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/base_pos:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/base_quat:(1, 4):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/eef_pos:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/eef_quat:(1, 4):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/eef_relative_pos:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/eef_relative_quat:(1, 4):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/eef_relatvie_pos_arm_base:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/gripper_pos:(1, 2):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/joint_effort:(1, 13):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/joint_pos:(1, 13):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/joint_vel:(1, 13):torch.float32" + ], + "n_success": 1, + "elapsed_s": 1346.4, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 40.1 + } +} diff --git a/N032/sawyer_umi/dr_on/seed_2021/check.json b/N032/sawyer_umi/dr_on/seed_2021/check.json new file mode 100644 index 0000000000000000000000000000000000000000..f62e9d3a0fccf0e760725477568f305e436304c0 --- /dev/null +++ b/N032/sawyer_umi/dr_on/seed_2021/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'; expected 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "2663 rows vs ceil(5326/2) = 2663" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..5425, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "62.98 MB, 2663 frames at 25 fps, mean luma 61..108, std 43, new picture 2662x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2663 vs 2663" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "61.73 MB, 2663 frames at 25 fps, mean luma 43..154, std 36, new picture 2662x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2663 vs 2663" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationpuzzlexr/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N032/sawyer_umi/dr_on/seed_2021/check.txt b/N032/sawyer_umi/dr_on/seed_2021/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..17dff93ae8b02fcf6069d3358241bfc344e6a284 --- /dev/null +++ b/N032/sawyer_umi/dr_on/seed_2021/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n032_saw_on_2021/out task=N032 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n032_saw_on_2021/out/rec/stationpuzzlexr/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2663 videos 2 robot_type RidgebackSawyerUmiCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 2663 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1'] +[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z'] +[PASS] task text = MobileBench instruction: task_index 0: 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'; expected 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.' +rows 2663 at dataset fps 25 = 106.52 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2663 rows vs ceil(5326/2) = 2663 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..5425, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 62.98 MB, 2663 frames at 25 fps, mean luma 61..108, std 43, new picture 2662x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2663 vs 2663 +[PASS] video observation.images.wrist decodes, 640x480, not black: 61.73 MB, 2663 frames at 25 fps, mean luma 43..154, std 36, new picture 2662x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2663 vs 2663 +parquet size 3.43 MB +[PASS] sim_info present: rec/stationpuzzlexr/000/sim_info +dataset size 128.34 MB; whole cell dir 130.0 MB +RESULT: ALL PASS diff --git a/N032/sawyer_umi/dr_on/seed_2021/rec/stationpuzzlexr/000/completed/0.json b/N032/sawyer_umi/dr_on/seed_2021/rec/stationpuzzlexr/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..0ea26fd1750065ae505310bf089fab096819eb7a --- /dev/null +++ b/N032/sawyer_umi/dr_on/seed_2021/rec/stationpuzzlexr/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationpuzzlexr/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N032/sawyer_umi/dr_on/seed_2021/rec/stationpuzzlexr/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N032/sawyer_umi/dr_on/seed_2021/rec/stationpuzzlexr/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..eabffbd985a9032ceb05c74670d85a642f40e829 --- /dev/null +++ b/N032/sawyer_umi/dr_on/seed_2021/rec/stationpuzzlexr/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ae882413c146ecd13ed65893d08c25a12fdd7c77d5a115b34e3d75d70849b3fd +size 3432159 diff --git a/N032/sawyer_umi/dr_on/seed_2021/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes.jsonl b/N032/sawyer_umi/dr_on/seed_2021/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bb82812d0fc883640d3c70d6d85a45ed8ad1a492 --- /dev/null +++ b/N032/sawyer_umi/dr_on/seed_2021/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap."], "length": 2663, "magicsim/control_steps": 5326, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a small gray board 0, a small gray board 1, a small gray board 2, a small gray board 3, a small gray board 4, a small gray picture, a small gray picture bar, a small gray picture cap, a small tile and a small cand O. The gray table B is to the right of the cand O. The gray board 0 is to the right of the gray board 4. The gray board 1 is in front of the gray board 4. The gray board 2 is behind the gray board 4. The gray board 3 is in front of the gray board 0. The gray board 4 is behind the gray board 1. The tile is on top of the gray table B. The tile is to the right of the gray table B. The cand O is on top of the gray table B. The cand O is to the left of the gray table B. The scene is viewed from front, at table height."} diff --git a/N032/sawyer_umi/dr_on/seed_2021/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes_stats.jsonl b/N032/sawyer_umi/dr_on/seed_2021/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8a4f436fb5afffa6cb6366847fca079008329aab --- /dev/null +++ b/N032/sawyer_umi/dr_on/seed_2021/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.10036869078855003, 0.00032646954164518885, 0.007461277756081433, 0.5403297951391125, 0.7977599047902179, 1.0355862004614576, 0.22977165129683405, 0.013453185989469443, 0.2902731272471363, 0.2034596991170703, 0.3815245963199399], "std": [0.13103110636416562, 0.01430417123036614, 0.23760278791012038, 1.2571666468465423, 1.4802734924764422, 0.29099003851642025, 0.5115121231814851, 0.28195311471139783, 0.3996161032580574, 0.5661574301195752, 0.48576082460696124], "min": [0.0, -0.13724054396152496, -0.800000011920929, -3.2127041816711426, -1.6484390497207642, 0.5887399911880493, -0.6951671242713928, -0.6689767241477966, -0.21951191127300262, -0.7130944728851318, 0.0], "max": [0.30000001192092896, 0.1126798763871193, 0.800000011920929, 2.0970516204833984, 2.951319456100464, 1.3731135129928589, 0.8743928670883179, 0.677974283695221, 0.9520970582962036, 0.9673556685447693, 1.0], "count": [2663]}, "action_is_hold": {"mean": [0.07435223432219301, 0.07435223432219301, 0.07435223432219301, 0.08674427337589186, 0.08674427337589186, 0.08674427337589186, 0.08674427337589186, 0.08674427337589186, 0.08674427337589186, 0.08674427337589186, 0.9924896733007886], "std": [0.2623432476232021, 0.2623432476232021, 0.2623432476232021, 0.2814599517025132, 0.2814599517025132, 0.2814599517025132, 0.2814599517025132, 0.2814599517025132, 0.2814599517025132, 0.2814599517025132, 0.08633609727155037], "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": [2663]}, "observation.state": {"mean": [1.0161731041690885, -3.6608590853200833, 1.776932840189717, 0.240360814033947, -0.24077284322874626, -0.7429975836146062, -1.122492969834746, 1.0905014715985253, -1.3062965739751466, -1.9064210278174056, 0.4733650825780754, 0.013994761404150615, -0.01430477115657806, -0.01430477115657806, -0.013994761404150615], "std": [1.8540864039569676, 0.32680580306117024, 1.0867783423269257, 0.2647229501709953, 0.2637592243801791, 0.6379329418972304, 0.9234553788555262, 0.42825749246029576, 0.9495151202418562, 0.3660332566274587, 0.44221539834011275, 0.009000046433768963, 0.009170087933489562, 0.009170087933489562, 0.009000046433768963], "min": [-3.356022596359253, -4.041664123535156, 0.3712384104728699, -0.7273626327514648, -0.6164960265159607, -1.61150324344635, -2.6471285820007324, 0.49694687128067017, -2.9662530422210693, -2.544146776199341, -0.1496100127696991, 0.0, -0.020833000540733337, -0.020833000540733337, -0.020833000540733337], "max": [3.1799557209014893, -2.0892906188964844, 4.129176616668701, 0.6165435910224915, 0.7272312045097351, 0.11810064315795898, 0.33954060077667236, 1.5955588817596436, 0.005528418812900782, -1.1909009218215942, 1.39764404296875, 0.020833000540733337, 0.0, 0.0, -0.0], "count": [2663]}, "observation.joint_vel": {"mean": [0.02750604000518997, -0.014629883323942102, 0.007251123861340283, -0.006522876343588523, 0.005624465127217064, 0.005282831503571739, -0.02510801916342758, 0.0018917383779947093, -0.024479423546380656, 0.005398500332162746, -4.981175274495257e-05, 2.0741837634557482e-06, 0.0005051573964166328], "std": [0.15354155198597846, 0.053651317933713825, 0.23882165282738904, 0.05873612796127487, 0.04689618726975565, 0.06402049814674962, 0.08305767992152745, 0.0560628204808157, 0.11288964552760601, 0.08008376302482711, 0.09578270710099546, 0.006163237300987957, 0.006318001103975567], "min": [-0.309972882270813, -0.1841459721326828, -0.8000959157943726, -0.3671676218509674, -0.21086600422859192, -0.1345360428094864, -0.20710991322994232, -0.18559907376766205, -0.33380481600761414, -0.24784064292907715, -0.4125634729862213, -0.04324377700686455, -0.10008679330348969], "max": [0.31806522607803345, 0.1774797886610031, 0.8000249266624451, 0.5005737543106079, 0.17298978567123413, 0.16277019679546356, 0.20074918866157532, 0.19194228947162628, 0.30397558212280273, 0.32628053426742554, 0.4120881259441376, 0.10001003742218018, 0.031635284423828125], "count": [2663]}, "observation.eef_pose": {"mean": [0.5409071956587367, 0.7976185861045381, 1.0341965707002885, 0.1988318959517538, 0.015441531666571646, 0.28780743318015006, 0.23370540240542403], "std": [1.2576947356184143, 1.4795079719714401, 0.2906442140075418, 0.523970989015005, 0.28208422496201163, 0.40468235953793463, 0.5521694385716917], "min": [-3.2127041816711426, -1.6512616872787476, 0.5908170342445374, -0.720842182636261, -0.669359028339386, -0.2198655754327774, -0.6844531297683716], "max": [2.097177267074585, 2.9385910034179688, 1.3740711212158203, 0.8702495098114014, 0.678334653377533, 0.9674966335296631, 0.9673889875411987], "count": [2663]}, "observation.environment_state": {"mean": [-0.3481718599796295, -0.009225467219948769, 0.3400000035762787, 0.9999797344207764, 0.0, 0.0, -0.006366376299411058, -0.346133291721344, 0.15076154470443726, 0.3400000035762787, 0.9999797344207764, 0.0, 0.0, -0.006366376299411058, -0.452144056558609, 0.07210586220026016, 0.3400000035762787, 0.9999797344207764, 0.0, 0.0, -0.006366376299411058, -0.2421610951423645, 0.06943021714687347, 0.3400000035762787, 0.9999797344207764, 0.0, 0.0, -0.006366376299411058, -0.3767679035663605, 0.1011478379368782, 0.3400000035762787, 0.9999797344207764, 0.0, 0.0, -0.006366376299411058, 1.557766406418818, 2.8584506590474694, 0.3300000153065086, 0.9992942771784489, 2.760993691603877e-07, -8.778590426777741e-09, 0.0375629620646853, -0.34307539463043213, 0.39074206352233887, 0.4300000071525574, 0.9999797344207764, 0.0, 0.0, -0.006366376299411058, -0.343139111995697, 0.3857424557209015, 0.4050000011920929, 0.9999797344207764, 0.0, 0.0, -0.006366376299411058, -0.2931431531906128, 0.3851054012775421, 0.45500001311302185, 0.9999797344207764, 0.0, 0.0, -0.006366376299411058, -0.345623642206192, 0.19075830280780792, 0.18000000715255737, 0.9999797344207764, 0.0, 0.0, -0.006366376299411058, 1.7353777885437012, 2.9771482944488525, 0.18000000715255737, 0.9990823268890381, 0.0, 0.0, 0.04283111169934273, 1.12008931026509, 1.6397084737194116, 0.44599457100240797, 0.8870954855554676, 0.0011612366867780573, -0.0002542264068717714, 0.18249468561780088], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 5.235327839187025e-08, 4.2618570801951407e-08, 2.2078773997639362e-08, 1.4611036033821692e-08, 2.636370915921375e-07, 1.6593094846178312e-07, 2.3719661151843977e-07, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0629465400106295, 1.4442115170990668, 0.1766241479567962, 0.24606243631449937, 0.007000463041112455, 0.012310741096304182, 0.3449762066320471], "min": [-0.3481718599796295, -0.009225467219948769, 0.3400000035762787, 0.9999797344207764, 0.0, 0.0, -0.006366376299411058, -0.346133291721344, 0.15076154470443726, 0.3400000035762787, 0.9999797344207764, 0.0, 0.0, -0.006366376299411058, -0.452144056558609, 0.07210586220026016, 0.3400000035762787, 0.9999797344207764, 0.0, 0.0, -0.006366376299411058, -0.2421610951423645, 0.06943021714687347, 0.3400000035762787, 0.9999797344207764, 0.0, 0.0, -0.006366376299411058, -0.3767679035663605, 0.1011478379368782, 0.3400000035762787, 0.9999797344207764, 0.0, 0.0, -0.006366376299411058, 1.557766318321228, 2.8584506511688232, 0.32999998331069946, 0.9992942214012146, -6.794263640585996e-07, -4.382825125048839e-07, 0.037562210112810135, -0.34307539463043213, 0.39074206352233887, 0.4300000071525574, 0.9999797344207764, 0.0, 0.0, -0.006366376299411058, -0.343139111995697, 0.3857424557209015, 0.4050000011920929, 0.9999797344207764, 0.0, 0.0, -0.006366376299411058, -0.2931431531906128, 0.3851054012775421, 0.45500001311302185, 0.9999797344207764, 0.0, 0.0, -0.006366376299411058, -0.345623642206192, 0.19075830280780792, 0.18000000715255737, 0.9999797344207764, 0.0, 0.0, -0.006366376299411058, 1.7353777885437012, 2.9771482944488525, 0.18000000715255737, 0.9990823268890381, 0.0, 0.0, 0.04283111169934273, -0.8176500201225281, -0.9074121713638306, 0.3299999237060547, 0.26770463585853577, -0.0356319323182106, -0.07311257719993591, -0.06012658774852753], "max": [-0.3481718599796295, -0.009225467219948769, 0.3400000035762787, 0.9999797344207764, 0.0, 0.0, -0.006366376299411058, -0.346133291721344, 0.15076154470443726, 0.3400000035762787, 0.9999797344207764, 0.0, 0.0, -0.006366376299411058, -0.452144056558609, 0.07210586220026016, 0.3400000035762787, 0.9999797344207764, 0.0, 0.0, -0.006366376299411058, -0.2421610951423645, 0.06943021714687347, 0.3400000035762787, 0.9999797344207764, 0.0, 0.0, -0.006366376299411058, -0.3767679035663605, 0.1011478379368782, 0.3400000035762787, 0.9999797344207764, 0.0, 0.0, -0.006366376299411058, 1.5577664375305176, 2.8584508895874023, 0.3300000727176666, 0.9992942810058594, 9.628413408790948e-07, 4.999274096917361e-07, 0.037563521414995193, -0.34307539463043213, 0.39074206352233887, 0.4300000071525574, 0.9999797344207764, 0.0, 0.0, -0.006366376299411058, -0.343139111995697, 0.3857424557209015, 0.4050000011920929, 0.9999797344207764, 0.0, 0.0, -0.006366376299411058, -0.2931431531906128, 0.3851054012775421, 0.45500001311302185, 0.9999797344207764, 0.0, 0.0, -0.006366376299411058, -0.345623642206192, 0.19075830280780792, 0.18000000715255737, 0.9999797344207764, 0.0, 0.0, -0.006366376299411058, 1.7353777885437012, 2.9771482944488525, 0.18000000715255737, 0.9990823268890381, 0.0, 0.0, 0.04283111169934273, 2.040196180343628, 2.870420455932617, 0.7376936078071594, 0.9999881386756897, 0.04180867224931717, 0.052183713763952255, 0.9634832739830017], "count": [2663]}, "action.command": {"mean": [-0.15651723617646682, 0.06321491781119981, 1.5883411169052124, 0.0, 0.0, 0.0, 0.0, 0.6196546052631579, 0.5564005703873638, 0.7985109250278727, 1.050174970768, 0.20369274308905005, 0.016464383105408997, 0.2646551981099612, 0.21346609641494152, 0.5, -0.15244235051831306, 0.045573578294868786, 1.5883411169052124, 0.0, 0.0, 0.0, 0.0, 2.0, 0.24089126604391434, 0.1665410319199929, 1.2129414183713967, -0.1495417230631319, 0.008723647735859725, -0.02011652884938203, 0.45443232526601224, 0.0, -0.1230529866323885, 0.03693393369894035, 1.5883411169052124, 0.0, 0.0, 0.0, 0.0, 2.0, 0.24089126604391434, 0.1665410319199929, 1.2129414183713967, -0.1495417230631319, 0.008723647735859725, -0.02011652884938203, 0.45443232526601224, 0.0, -0.11401960419410072, 0.00944286008327859, 1.5883411169052124, 0.0, 0.0, 0.0, 0.0, 2.0, 0.24089126604391434, 0.1665410319199929, 1.2129414183713967, -0.1495417230631319, 0.008723647735859725, -0.02011652884938203, 0.45443232526601224, 0.0, -0.07319872082414648, 0.012294101696929583, 1.5883411169052124, 0.0, 0.0, 0.0, 0.0, 2.0, 0.24089126604391434, 0.1665410319199929, 1.2129414183713967, -0.1495417230631319, 0.008723647735859725, -0.02011652884938203, 0.45443232526601224, 0.0, -0.07524257648653959, -0.02484493281036865, 1.5883411169052124, 0.0, 0.0, 0.0, 0.0, 2.0, 0.24089126604391434, 0.1665410319199929, 1.2129414183713967, -0.1495417230631319, 0.008723647735859725, -0.02011652884938203, 0.45443232526601224, 0.0, -0.06586412674061505, -0.03095632977641818, 1.5883411169052124, 0.0, 0.0, 0.0, 0.0, 2.0, 0.24089126604391434, 0.1665410319199929, 1.2129414183713967, -0.1495417230631319, 0.008723647735859725, -0.02011652884938203, 0.45443232526601224, 0.0, -0.036573405721581624, -0.05866957273722966, 1.5883411169052124, 0.0, 0.0, 0.0, 0.0, 2.0, 0.24089126604391434, 0.1665410319199929, 1.2129414183713967, -0.1495417230631319, 0.008723647735859725, -0.02011652884938203, 0.45443232526601224, 0.0, 0.00806914125792597, -0.04721905053887582, 1.5883411169052124, 0.0, 0.0, 0.0, 0.0, 2.0, 0.24089126604391434, 0.1665410319199929, 1.2129414183713967, -0.1495417230631319, 0.008723647735859725, -0.02011652884938203, 0.45443232526601224, 0.0, 0.0015771341795968537, -0.09261840105238346, 1.5883411169052124, 0.0, 0.0, 0.0, 0.0, 2.0, 0.24089126604391434, 0.1665410319199929, 1.2129414183713967, -0.1495417230631319, 0.008723647735859725, -0.02011652884938203, 0.45443232526601224, 0.0, 0.0458224541525394, -0.07802963965009935, 1.5883411169052124, 0.0, 0.0, 0.0, 0.0, 2.0, 0.24089126604391434, 0.1665410319199929, 1.2129414183713967, -0.1495417230631319, 0.008723647735859725, -0.02011652884938203, 0.45443232526601224, 0.0, 0.05697091753393843, -0.11520224641682261, 1.5883411169052124, 0.0, 0.0, 0.0, 0.0, 2.0, 0.24089126604391434, 0.1665410319199929, 1.2129414183713967, -0.1495417230631319, 0.008723647735859725, -0.02011652884938203, 0.45443232526601224, 0.0, 0.07184266009043848, -0.09896063359747928, 1.5883411169052124, 0.0, 0.0, 0.0, 0.0, 2.0, 0.24089126604391434, 0.1665410319199929, 1.2129414183713967, -0.1495417230631319, 0.008723647735859725, -0.02011652884938203, 0.45443232526601224, 0.0, 0.12385004336654186, -0.05417307768717851, 1.5883411169052124, 0.0, 0.0, 0.0, 0.0, 2.0, 0.24089126604391434, 0.1665410319199929, 1.2129414183713967, -0.1495417230631319, 0.008723647735859725, -0.02011652884938203, 0.45443232526601224, 0.0, 0.12285241977186123, -0.08899723058062842, 1.5883411169052124, 0.0, 0.0, 0.0, 0.0, 2.0, 0.24089126604391434, 0.1665410319199929, 1.2129414183713967, -0.1495417230631319, 0.008723647735859725, -0.02011652884938203, 0.45443232526601224, 0.0, 0.1343333845545296, -0.07977474725437092, 1.5883411169052124, 0.0, 0.0, 0.0, 0.0, 2.0, 0.24089126604391434, 0.1665410319199929, 1.2129414183713967, -0.1495417230631319, 0.008723647735859725, -0.02011652884938203, 0.45443232526601224, 0.0, 0.13325103338856054, -0.09347681230202215, 1.5883411169052124, 0.0, 0.0, 0.0, 0.0, 2.0, 0.24089126604391434, 0.1665410319199929, 1.2129414183713967, -0.1495417230631319, 0.008723647735859725, -0.02011652884938203, 0.45443232526601224, 0.0, 0.15645403936448574, -0.08679244861926001, 1.5883411169052124, 0.0, 0.0, 0.0, 0.0, 2.0, 0.24089126604391434, 0.1665410319199929, 1.2129414183713967, -0.1495417230631319, 0.008723647735859725, -0.02011652884938203, 0.45443232526601224, 0.0, 0.1383657901230788, -0.1320703516048234, 1.5883411169052124, 0.0, 0.0, 0.0, 0.0, 2.0, 0.24089126604391434, 0.1665410319199929, 1.2129414183713967, -0.1495417230631319, 0.008723647735859725, -0.02011652884938203, 0.45443232526601224, 0.0, 0.1802112503262394, -0.09113645598984636, 1.5883411169052124, 0.0, 0.0, 0.0, 0.0, 2.0, 0.24089126604391434, 0.1665410319199929, 1.2129414183713967, -0.1495417230631319, 0.008723647735859725, -0.02011652884938203, 0.45443232526601224, 0.0, 0.18436720601856846, -0.12381819560159188, 1.5883411169052124, 0.0, 0.0, 0.0, 0.0, 2.0, 0.24089126604391434, 0.1665410319199929, 1.2129414183713967, -0.1495417230631319, 0.008723647735859725, -0.02011652884938203, 0.45443232526601224, 0.0, 0.20445329990445069, -0.09472836916081703, 1.5883411169052124, 0.0, 0.0, 0.0, 0.0, 2.0, 0.24089126604391434, 0.1665410319199929, 1.2129414183713967, -0.1495417230631319, 0.008723647735859725, -0.02011652884938203, 0.45443232526601224, 0.0, 0.177765360608504, -0.1370351020834052, 1.5883411169052124, 0.0, 0.0, 0.0, 0.0, 2.0, 0.24089126604391434, 0.1665410319199929, 1.2129414183713967, -0.1495417230631319, 0.008723647735859725, -0.02011652884938203, 0.45443232526601224, 0.0, 0.22937276339767002, -0.09747474886312434, 1.5883411169052124, 0.0, 0.0, 0.0, 0.0, 2.0, 0.24089126604391434, 0.1665410319199929, 1.2129414183713967, -0.1495417230631319, 0.008723647735859725, -0.02011652884938203, 0.45443232526601224, 0.0, 0.22790014226293165, -0.1283694004295259, 1.5883411169052124, 0.0, 0.0, 0.0, 0.0, 2.0, 0.24089126604391434, 0.1665410319199929, 1.2129414183713967, -0.1495417230631319, 0.008723647735859725, -0.02011652884938203, 0.45443232526601224, 0.0, 0.2546654635045879, -0.09964485914763474, 1.5883411169052124, 0.0, 0.0, 0.0, 0.0, 2.0, 0.24089126604391434, 0.1665410319199929, 1.2129414183713967, -0.1495417230631319, 0.008723647735859725, -0.02011652884938203, 0.45443232526601224, 0.0, 0.24652852702485817, -0.1336115836495674, 1.5883411169052124, 0.0, 0.0, 0.0, 0.0, 2.0, 0.24089126604391434, 0.1665410319199929, 1.2129414183713967, -0.1495417230631319, 0.008723647735859725, -0.02011652884938203, 0.45443232526601224, 0.0, 0.28001388591931964, -0.10161861947539737, 1.5883411169052124, 0.0, 0.0, 0.0, 0.0, 2.0, 0.24089126604391434, 0.1665410319199929, 1.2129414183713967, -0.1495417230631319, 0.008723647735859725, -0.02011652884938203, 0.45443232526601224, 0.0, 0.2614933219195683, -0.1425144671372394, 1.5883411169052124, 0.0, 0.0, 0.0, 0.0, 2.0, 0.24089126604391434, 0.1665410319199929, 1.2129414183713967, -0.1495417230631319, 0.008723647735859725, -0.02011652884938203, 0.45443232526601224, 0.0, 0.30562825409038685, -0.10309744227368325, 1.5883411169052124, 0.0, 0.0, 0.0, 0.0, 2.0, 0.24089126604391434, 0.1665410319199929, 1.2129414183713967, -0.1495417230631319, 0.008723647735859725, -0.02011652884938203, 0.45443232526601224, 0.0, 0.3069844880543496, -0.14036453967546564, 1.5883411169052124, 0.0, 0.0, 0.0, 0.0, 2.0, 0.24089126604391434, 0.1665410319199929, 1.2129414183713967, -0.1495417230631319, 0.008723647735859725, -0.02011652884938203, 0.45443232526601224, 0.0, 0.31330886671584884, -0.13335008233762932, 1.5883411169052124, 0.0, 0.0, 0.0, 0.0, 2.0, 0.24089126604391434, 0.1665410319199929, 1.2129414183713967, -0.1495417230631319, 0.008723647735859725, -0.02011652884938203, 0.45443232526601224, 0.0, 0.33815746364571714, -0.09919782778459565, 1.5883411169052124, 0.0, 0.0, 0.0, 0.0, 2.0, 0.24089126604391434, 0.1665410319199929, 1.2129414183713967, -0.1495417230631319, 0.008723647735859725, -0.02011652884938203, 0.45443232526601224, 0.0, 0.37214842904004447, -0.08531320918995464, 1.5883411169052124, 0.0, 0.0, 0.0, 0.0, 2.0, 0.24089126604391434, 0.1665410319199929, 1.2129414183713967, -0.1495417230631319, 0.008723647735859725, -0.02011652884938203, 0.45443232526601224, 0.0, 0.37289194008002097, -0.10515376040250948, 1.5883411169052124, 0.0, 0.0, 0.0, 0.0, 2.0, 0.24089126604391434, 0.1665410319199929, 1.2129414183713967, -0.1495417230631319, 0.008723647735859725, -0.02011652884938203, 0.45443232526601224, 0.0, 0.3911572281903923, -0.09707353783307508, 1.5883411169052124, 0.0, 0.0, 0.0, 0.0, 2.0, 0.24089126604391434, 0.1665410319199929, 1.2129414183713967, -0.1495417230631319, 0.008723647735859725, -0.02011652884938203, 0.45443232526601224, 0.0, 0.41353749468502704, -0.09376882925709058, 1.5883411169052124, 0.0, 0.0, 0.0, 0.0, 2.0, 0.24089126604391434, 0.1665410319199929, 1.2129414183713967, -0.1495417230631319, 0.008723647735859725, -0.02011652884938203, 0.45443232526601224, 0.0, 0.40513118854117414, -0.1154756383049697, 1.5883411169052124, 0.0, 0.0, 0.0, 0.0, 2.0, 0.24089126604391434, 0.1665410319199929, 1.2129414183713967, -0.1495417230631319, 0.008723647735859725, -0.02011652884938203, 0.45443232526601224, 0.0, 0.3950384685149741, -0.07169234148891301, 1.5883411169052124, 0.0, 0.0, 0.0, 0.0, 2.0, 0.24089126604391434, 0.1665410319199929, 1.2129414183713967, -0.1495417230631319, 0.008723647735859725, -0.02011652884938203, 0.45443232526601224, 0.0, 0.40250690530500427, -0.06052426232332867, 1.5883411169052124, 0.0, 0.0, 0.0, 0.0, 2.0, 0.24089126604391434, 0.1665410319199929, 1.2129414183713967, -0.1495417230631319, 0.008723647735859725, -0.02011652884938203, 0.45443232526601224, 0.0, 0.39985202583119056, -0.02989292857488965, 1.5883411169052124, 0.0, 0.0, 0.0, 0.0, 2.0, 0.24089126604391434, 0.1665410319199929, 1.2129414183713967, -0.1495417230631319, 0.008723647735859725, -0.02011652884938203, 0.45443232526601224, 0.0, 0.408139514394235, -0.01817169710596554, 1.5883411169052124, 0.0, 0.0, 0.0, 0.0, 2.0, 0.24089126604391434, 0.1665410319199929, 1.2129414183713967, -0.1495417230631319, 0.008723647735859725, -0.02011652884938203, 0.45443232526601224, 0.0, 0.427459930752809, 0.017559657002439593, 1.5883411169052124, 0.0, 0.0, 0.0, 0.0, 2.0, 0.24089126604391434, 0.1665410319199929, 1.2129414183713967, -0.1495417230631319, 0.008723647735859725, -0.02011652884938203, 0.45443232526601224, 0.0, 0.39731428743271274, 0.04178296275839766, 1.5883411169052124, 0.0, 0.0, 0.0, 0.0, 2.0, 0.24089126604391434, 0.1665410319199929, 1.2129414183713967, -0.1495417230631319, 0.008723647735859725, -0.02011652884938203, 0.45443232526601224, 0.0, 0.6727066891644286, 0.36573406124362057, 1.599263020130019, 0.0, 0.0, 0.0, 0.0, 2.0, 0.7886122275819433, 0.5839851625379503, 1.1551916115642211, -0.11224776495614817, 0.052199126563850465, 0.014759651822438512, 0.2771837802439774, 0.0, 0.6265231047269594, 0.36946440644832473, 1.599263020130019, 0.0, 0.0, 0.0, 0.0, 2.0, 0.7886122275819433, 0.5839851625379503, 1.1551916115642211, -0.11224776495614817, 0.052199126563850465, 0.014759651822438512, 0.2771837802439774, 0.0, 0.6328249128371323, 0.41091218291169, 1.599263020130019, 0.0, 0.0, 0.0, 0.0, 2.0, 0.7886122275819433, 0.5839851625379503, 1.1551916115642211, -0.11224776495614817, 0.052199126563850465, 0.014759651822438512, 0.2771837802439774, 0.0, 2.0305778980255127, 2.0490074157714844, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1225413874086767, 1.016390311799132, 1.373079776763916, -0.44381057780863037, -0.08494958486223575, -0.1373734459981765, 0.8714930003527368, 0.0], "std": [2.1725235888519085, 1.7524214704719538, 0.04542946815490723, 0.0, 0.0, 0.0, 0.0, 1.4952199756020073, 1.2708568200383976, 1.491010544398972, 0.286712820729368, 0.5057104185722815, 0.2947240715575059, 0.39748564592311514, 0.5848313473333097, 0.5, 2.1513438018538986, 1.7193859224937593, 0.04542946815490723, 0.0, 0.0, 0.0, 0.0, 0.0, 1.271360310286629, 1.1922251836890574, 0.18540624483878818, 0.3495788403532478, 0.3973735472838255, 0.26278015733953014, 0.6492171491848366, 0.0, 2.1145787583698463, 1.6771696266259086, 0.04542946815490723, 0.0, 0.0, 0.0, 0.0, 0.0, 1.271360310286629, 1.1922251836890574, 0.18540624483878818, 0.3495788403532478, 0.3973735472838255, 0.26278015733953014, 0.6492171491848366, 0.0, 2.0443311265676947, 1.6139671268573668, 0.04542946815490723, 0.0, 0.0, 0.0, 0.0, 0.0, 1.271360310286629, 1.1922251836890574, 0.18540624483878818, 0.3495788403532478, 0.3973735472838255, 0.26278015733953014, 0.6492171491848366, 0.0, 1.978127465284959, 1.5719588646919687, 0.04542946815490723, 0.0, 0.0, 0.0, 0.0, 0.0, 1.271360310286629, 1.1922251836890574, 0.18540624483878818, 0.3495788403532478, 0.3973735472838255, 0.26278015733953014, 0.6492171491848366, 0.0, 1.9425334200918853, 1.5122535429143698, 0.04542946815490723, 0.0, 0.0, 0.0, 0.0, 0.0, 1.271360310286629, 1.1922251836890574, 0.18540624483878818, 0.3495788403532478, 0.3973735472838255, 0.26278015733953014, 0.6492171491848366, 0.0, 1.9268519768411174, 1.493060096939759, 0.04542946815490723, 0.0, 0.0, 0.0, 0.0, 0.0, 1.271360310286629, 1.1922251836890574, 0.18540624483878818, 0.3495788403532478, 0.3973735472838255, 0.26278015733953014, 0.6492171491848366, 0.0, 1.8443542331902407, 1.4122463126783464, 0.04542946815490723, 0.0, 0.0, 0.0, 0.0, 0.0, 1.271360310286629, 1.1922251836890574, 0.18540624483878818, 0.3495788403532478, 0.3973735472838255, 0.26278015733953014, 0.6492171491848366, 0.0, 1.8093792018450257, 1.3875787672073927, 0.04542946815490723, 0.0, 0.0, 0.0, 0.0, 0.0, 1.271360310286629, 1.1922251836890574, 0.18540624483878818, 0.3495788403532478, 0.3973735472838255, 0.26278015733953014, 0.6492171491848366, 0.0, 1.7492308796757603, 1.3133148558059178, 0.04542946815490723, 0.0, 0.0, 0.0, 0.0, 0.0, 1.271360310286629, 1.1922251836890574, 0.18540624483878818, 0.3495788403532478, 0.3973735472838255, 0.26278015733953014, 0.6492171491848366, 0.0, 1.704832095896789, 1.2906412194106136, 0.04542946815490723, 0.0, 0.0, 0.0, 0.0, 0.0, 1.271360310286629, 1.1922251836890574, 0.18540624483878818, 0.3495788403532478, 0.3973735472838255, 0.26278015733953014, 0.6492171491848366, 0.0, 1.6638332789133496, 1.2206856532535115, 0.04542946815490723, 0.0, 0.0, 0.0, 0.0, 0.0, 1.271360310286629, 1.1922251836890574, 0.18540624483878818, 0.3495788403532478, 0.3973735472838255, 0.26278015733953014, 0.6492171491848366, 0.0, 1.652993856526309, 1.2054630089936975, 0.04542946815490723, 0.0, 0.0, 0.0, 0.0, 0.0, 1.271360310286629, 1.1922251836890574, 0.18540624483878818, 0.3495788403532478, 0.3973735472838255, 0.26278015733953014, 0.6492171491848366, 0.0, 1.6058276331357728, 1.1788638933233797, 0.04542946815490723, 0.0, 0.0, 0.0, 0.0, 0.0, 1.271360310286629, 1.1922251836890574, 0.18540624483878818, 0.3495788403532478, 0.3973735472838255, 0.26278015733953014, 0.6492171491848366, 0.0, 1.5252118510772519, 1.094596491214127, 0.04542946815490723, 0.0, 0.0, 0.0, 0.0, 0.0, 1.271360310286629, 1.1922251836890574, 0.18540624483878818, 0.3495788403532478, 0.3973735472838255, 0.26278015733953014, 0.6492171491848366, 0.0, 1.5120234625561966, 1.0838216430791359, 0.04542946815490723, 0.0, 0.0, 0.0, 0.0, 0.0, 1.271360310286629, 1.1922251836890574, 0.18540624483878818, 0.3495788403532478, 0.3973735472838255, 0.26278015733953014, 0.6492171491848366, 0.0, 1.4701930305988513, 1.0173953596143477, 0.04542946815490723, 0.0, 0.0, 0.0, 0.0, 0.0, 1.271360310286629, 1.1922251836890574, 0.18540624483878818, 0.3495788403532478, 0.3973735472838255, 0.26278015733953014, 0.6492171491848366, 0.0, 1.423993013334812, 0.9922091755512089, 0.04542946815490723, 0.0, 0.0, 0.0, 0.0, 0.0, 1.271360310286629, 1.1922251836890574, 0.18540624483878818, 0.3495788403532478, 0.3973735472838255, 0.26278015733953014, 0.6492171491848366, 0.0, 1.3710930462751432, 0.9317475602591153, 0.04542946815490723, 0.0, 0.0, 0.0, 0.0, 0.0, 1.271360310286629, 1.1922251836890574, 0.18540624483878818, 0.3495788403532478, 0.3973735472838255, 0.26278015733953014, 0.6492171491848366, 0.0, 1.3400168927018912, 0.9110400047538048, 0.04542946815490723, 0.0, 0.0, 0.0, 0.0, 0.0, 1.271360310286629, 1.1922251836890574, 0.18540624483878818, 0.3495788403532478, 0.3973735472838255, 0.26278015733953014, 0.6492171491848366, 0.0, 1.2588313377638078, 0.8455638397450134, 0.04542946815490723, 0.0, 0.0, 0.0, 0.0, 0.0, 1.271360310286629, 1.1922251836890574, 0.18540624483878818, 0.3495788403532478, 0.3973735472838255, 0.26278015733953014, 0.6492171491848366, 0.0, 1.2605195064890038, 0.8444197046297295, 0.04542946815490723, 0.0, 0.0, 0.0, 0.0, 0.0, 1.271360310286629, 1.1922251836890574, 0.18540624483878818, 0.3495788403532478, 0.3973735472838255, 0.26278015733953014, 0.6492171491848366, 0.0, 1.2388410622006545, 0.8106913636116528, 0.04542946815490723, 0.0, 0.0, 0.0, 0.0, 0.0, 1.271360310286629, 1.1922251836890574, 0.18540624483878818, 0.3495788403532478, 0.3973735472838255, 0.26278015733953014, 0.6492171491848366, 0.0, 1.1862480620307507, 0.7963804903611987, 0.04542946815490723, 0.0, 0.0, 0.0, 0.0, 0.0, 1.271360310286629, 1.1922251836890574, 0.18540624483878818, 0.3495788403532478, 0.3973735472838255, 0.26278015733953014, 0.6492171491848366, 0.0, 1.1270790626804421, 0.7550994982767701, 0.04542946815490723, 0.0, 0.0, 0.0, 0.0, 0.0, 1.271360310286629, 1.1922251836890574, 0.18540624483878818, 0.3495788403532478, 0.3973735472838255, 0.26278015733953014, 0.6492171491848366, 0.0, 1.118393820173132, 0.7701852678626561, 0.04542946815490723, 0.0, 0.0, 0.0, 0.0, 0.0, 1.271360310286629, 1.1922251836890574, 0.18540624483878818, 0.3495788403532478, 0.3973735472838255, 0.26278015733953014, 0.6492171491848366, 0.0, 1.072587159785176, 0.7426647951478017, 0.04542946815490723, 0.0, 0.0, 0.0, 0.0, 0.0, 1.271360310286629, 1.1922251836890574, 0.18540624483878818, 0.3495788403532478, 0.3973735472838255, 0.26278015733953014, 0.6492171491848366, 0.0, 1.058213068134326, 0.7680575364442354, 0.04542946815490723, 0.0, 0.0, 0.0, 0.0, 0.0, 1.271360310286629, 1.1922251836890574, 0.18540624483878818, 0.3495788403532478, 0.3973735472838255, 0.26278015733953014, 0.6492171491848366, 0.0, 1.0277267437696578, 0.7543414157026828, 0.04542946815490723, 0.0, 0.0, 0.0, 0.0, 0.0, 1.271360310286629, 1.1922251836890574, 0.18540624483878818, 0.3495788403532478, 0.3973735472838255, 0.26278015733953014, 0.6492171491848366, 0.0, 1.0070305943877447, 0.7900115760076928, 0.04542946815490723, 0.0, 0.0, 0.0, 0.0, 0.0, 1.271360310286629, 1.1922251836890574, 0.18540624483878818, 0.3495788403532478, 0.3973735472838255, 0.26278015733953014, 0.6492171491848366, 0.0, 0.9409024322259635, 0.7715779671875465, 0.04542946815490723, 0.0, 0.0, 0.0, 0.0, 0.0, 1.271360310286629, 1.1922251836890574, 0.18540624483878818, 0.3495788403532478, 0.3973735472838255, 0.26278015733953014, 0.6492171491848366, 0.0, 0.9432100972574116, 0.7859224802778377, 0.04542946815490723, 0.0, 0.0, 0.0, 0.0, 0.0, 1.271360310286629, 1.1922251836890574, 0.18540624483878818, 0.3495788403532478, 0.3973735472838255, 0.26278015733953014, 0.6492171491848366, 0.0, 0.9582818917762799, 0.8281144116285258, 0.04542946815490723, 0.0, 0.0, 0.0, 0.0, 0.0, 1.271360310286629, 1.1922251836890574, 0.18540624483878818, 0.3495788403532478, 0.3973735472838255, 0.26278015733953014, 0.6492171491848366, 0.0, 0.9064533970857765, 0.8125493504682276, 0.04542946815490723, 0.0, 0.0, 0.0, 0.0, 0.0, 1.271360310286629, 1.1922251836890574, 0.18540624483878818, 0.3495788403532478, 0.3973735472838255, 0.26278015733953014, 0.6492171491848366, 0.0, 0.9022457841061506, 0.8823031499779285, 0.04542946815490723, 0.0, 0.0, 0.0, 0.0, 0.0, 1.271360310286629, 1.1922251836890574, 0.18540624483878818, 0.3495788403532478, 0.3973735472838255, 0.26278015733953014, 0.6492171491848366, 0.0, 0.8790124782586246, 0.8803059885609917, 0.04542946815490723, 0.0, 0.0, 0.0, 0.0, 0.0, 1.271360310286629, 1.1922251836890574, 0.18540624483878818, 0.3495788403532478, 0.3973735472838255, 0.26278015733953014, 0.6492171491848366, 0.0, 0.87253155679241, 0.94901115236152, 0.04542946815490723, 0.0, 0.0, 0.0, 0.0, 0.0, 1.271360310286629, 1.1922251836890574, 0.18540624483878818, 0.3495788403532478, 0.3973735472838255, 0.26278015733953014, 0.6492171491848366, 0.0, 0.8680055627495981, 0.9692648151264045, 0.04542946815490723, 0.0, 0.0, 0.0, 0.0, 0.0, 1.271360310286629, 1.1922251836890574, 0.18540624483878818, 0.3495788403532478, 0.3973735472838255, 0.26278015733953014, 0.6492171491848366, 0.0, 0.9033413245363553, 1.025729575617094, 0.04542946815490723, 0.0, 0.0, 0.0, 0.0, 0.0, 1.271360310286629, 1.1922251836890574, 0.18540624483878818, 0.3495788403532478, 0.3973735472838255, 0.26278015733953014, 0.6492171491848366, 0.0, 0.8801823143484312, 1.0310096891326994, 0.04542946815490723, 0.0, 0.0, 0.0, 0.0, 0.0, 1.271360310286629, 1.1922251836890574, 0.18540624483878818, 0.3495788403532478, 0.3973735472838255, 0.26278015733953014, 0.6492171491848366, 0.0, 0.907294757913703, 1.0882281641254612, 0.04542946815490723, 0.0, 0.0, 0.0, 0.0, 0.0, 1.271360310286629, 1.1922251836890574, 0.18540624483878818, 0.3495788403532478, 0.3973735472838255, 0.26278015733953014, 0.6492171491848366, 0.0, 0.9107282776648205, 1.1018833063262963, 0.04542946815490723, 0.0, 0.0, 0.0, 0.0, 0.0, 1.271360310286629, 1.1922251836890574, 0.18540624483878818, 0.3495788403532478, 0.3973735472838255, 0.26278015733953014, 0.6492171491848366, 0.0, 0.9383022933569977, 1.1532875379629954, 0.04542946815490723, 0.0, 0.0, 0.0, 0.0, 0.0, 1.271360310286629, 1.1922251836890574, 0.18540624483878818, 0.3495788403532478, 0.3973735472838255, 0.26278015733953014, 0.6492171491848366, 0.0, 0.9720297001008625, 1.1637176853994162, 0.04542946815490723, 0.0, 0.0, 0.0, 0.0, 0.0, 1.271360310286629, 1.1922251836890574, 0.18540624483878818, 0.3495788403532478, 0.3973735472838255, 0.26278015733953014, 0.6492171491848366, 0.0, 1.0558264811758211, 1.2942437268076579, 0.048559538909167865, 0.0, 0.0, 0.0, 0.0, 0.0, 0.8543996443429318, 1.1001396841297701, 0.18490254707286388, 0.39574912193017747, 0.4556553895758032, 0.29886268610444117, 0.6738460473613637, 0.0, 1.1268228962421585, 1.3414574167433408, 0.048559538909167865, 0.0, 0.0, 0.0, 0.0, 0.0, 0.8543996443429318, 1.1001396841297701, 0.18490254707286388, 0.39574912193017747, 0.4556553895758032, 0.29886268610444117, 0.6738460473613637, 0.0, 1.1672619396014818, 1.3788121432324814, 0.048559538909167865, 0.0, 0.0, 0.0, 0.0, 0.0, 0.8543996443429318, 1.1001396841297701, 0.18490254707286388, 0.39574912193017747, 0.4556553895758032, 0.29886268610444117, 0.6738460473613637, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7291544106668576, 1.0340427480904257, 0.0, 0.11799239241121427, 0.017798740954823214, 0.012097858154177046, 0.05530385592055456, 0.0], "min": [-3.3560163974761963, -2.0892891883850098, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, -1.0, -3.2127041816711426, -1.6484390497207642, 0.5897411108016968, -0.6951671242713928, -0.6689767241477966, -0.21951191127300262, -0.7130944728851318, 0.0, -3.349677085876465, -2.0866684913635254, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 0.9982810020446777, -0.6951671242713928, -0.6689767241477966, -0.21951191127300262, -0.6841845512390137, 0.0, -3.3067638874053955, -2.0689280033111572, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 0.9982810020446777, -0.6951671242713928, -0.6689767241477966, -0.21951191127300262, -0.6841845512390137, 0.0, -3.199604034423828, -2.024627923965454, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 0.9982810020446777, -0.6951671242713928, -0.6689767241477966, -0.21951191127300262, -0.6841845512390137, 0.0, -3.0651321411132812, -1.9690369367599487, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 0.9982810020446777, -0.6951671242713928, -0.6689767241477966, -0.21951191127300262, -0.6841845512390137, 0.0, -3.053161144256592, -1.9640880823135376, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 0.9982810020446777, -0.6951671242713928, -0.6689767241477966, -0.21951191127300262, -0.6841845512390137, 0.0, -3.033889055252075, -1.9561209678649902, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 0.9982810020446777, -0.6951671242713928, -0.6689767241477966, -0.21951191127300262, -0.6841845512390137, 0.0, -2.9081273078918457, -1.9041306972503662, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 0.9982810020446777, -0.6951671242713928, -0.6689767241477966, -0.21951191127300262, -0.6841845512390137, 0.0, -2.8295769691467285, -1.8716578483581543, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 0.9982810020446777, -0.6951671242713928, -0.6689767241477966, -0.21951191127300262, -0.6841845512390137, 0.0, -2.763155698776245, -1.8441991806030273, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 0.9982810020446777, -0.6951671242713928, -0.6689767241477966, -0.21951191127300262, -0.6841845512390137, 0.0, -2.6568124294281006, -1.8002365827560425, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 0.9982810020446777, -0.6951671242713928, -0.6689767241477966, -0.21951191127300262, -0.6841845512390137, 0.0, -2.6180005073547363, -1.784191608428955, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 0.9982810020446777, -0.6951671242713928, -0.6689767241477966, -0.21951191127300262, -0.6841845512390137, 0.0, -2.5935702323913574, -1.7740920782089233, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 0.9982810020446777, -0.6951671242713928, -0.6689767241477966, -0.21951191127300262, -0.6841845512390137, 0.0, -2.4723377227783203, -1.7239742279052734, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 0.9982810020446777, -0.6951671242713928, -0.6689767241477966, -0.21951191127300262, -0.6841845512390137, 0.0, -2.3562211990356445, -1.675971269607544, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 0.9982810020446777, -0.6951671242713928, -0.6689767241477966, -0.21951191127300262, -0.6841845512390137, 0.0, -2.3266751766204834, -1.6637569665908813, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 0.9982810020446777, -0.6951671242713928, -0.6689767241477966, -0.21951191127300262, -0.6841845512390137, 0.0, -2.279735565185547, -1.6443520784378052, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 0.9982810020446777, -0.6951671242713928, -0.6689767241477966, -0.21951191127300262, -0.6841845512390137, 0.0, -2.181480884552002, -1.6037333011627197, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 0.9982810020446777, -0.6951671242713928, -0.6689767241477966, -0.21951191127300262, -0.6841845512390137, 0.0, -2.1201119422912598, -1.5783631801605225, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 0.9982810020446777, -0.6951671242713928, -0.6689767241477966, -0.21951191127300262, -0.6841845512390137, 0.0, -2.0365095138549805, -1.5438016653060913, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 0.9982810020446777, -0.6951671242713928, -0.6689767241477966, -0.21951191127300262, -0.6841845512390137, 0.0, -1.9026585817337036, -1.4884673357009888, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 0.9982810020446777, -0.6951671242713928, -0.6689767241477966, -0.21951191127300262, -0.6841845512390137, 0.0, -1.8914850950241089, -1.483848214149475, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 0.9982810020446777, -0.6951671242713928, -0.6689767241477966, -0.21951191127300262, -0.6841845512390137, 0.0, -1.884451985359192, -1.4809406995773315, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 0.9982810020446777, -0.6951671242713928, -0.6689767241477966, -0.21951191127300262, -0.6841845512390137, 0.0, -1.745822548866272, -1.4236308336257935, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 0.9982810020446777, -0.6951671242713928, -0.6689767241477966, -0.21951191127300262, -0.6841845512390137, 0.0, -1.6471025943756104, -1.3828197717666626, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 0.9982810020446777, -0.6951671242713928, -0.6689767241477966, -0.21951191127300262, -0.6841845512390137, 0.0, -1.6001598834991455, -1.3634135723114014, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 0.9982810020446777, -0.6951671242713928, -0.6689767241477966, -0.21951191127300262, -0.6841845512390137, 0.0, -1.525581955909729, -1.3325828313827515, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 0.9982810020446777, -0.6951671242713928, -0.6689767241477966, -0.21951191127300262, -0.6841845512390137, 0.0, -1.4548345804214478, -1.3033356666564941, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 0.9982810020446777, -0.6951671242713928, -0.6689767241477966, -0.21951191127300262, -0.6841845512390137, 0.0, -1.4106491804122925, -1.2850693464279175, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 0.9982810020446777, -0.6951671242713928, -0.6689767241477966, -0.21951191127300262, -0.6841845512390137, 0.0, -1.309828519821167, -1.2433898448944092, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 0.9982810020446777, -0.6951671242713928, -0.6689767241477966, -0.21951191127300262, -0.6841845512390137, 0.0, -1.1751844882965088, -1.1877275705337524, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 0.9982810020446777, -0.6951671242713928, -0.6689767241477966, -0.21951191127300262, -0.6841845512390137, 0.0, -1.1646393537521362, -1.18336820602417, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 0.9982810020446777, -0.6951671242713928, -0.6689767241477966, -0.21951191127300262, -0.6841845512390137, 0.0, -1.1476329565048218, -1.176337718963623, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 0.9982810020446777, -0.6951671242713928, -0.6689767241477966, -0.21951191127300262, -0.6841845512390137, 0.0, -1.0185554027557373, -1.1229766607284546, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 0.9982810020446777, -0.6951671242713928, -0.6689767241477966, -0.21951191127300262, -0.6841845512390137, 0.0, -0.9403017163276672, -1.0906263589859009, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 0.9982810020446777, -0.6951671242713928, -0.6689767241477966, -0.21951191127300262, -0.6841845512390137, 0.0, -0.8726631999015808, -1.0626643896102905, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 0.9982810020446777, -0.6951671242713928, -0.6689767241477966, -0.21951191127300262, -0.6841845512390137, 0.0, -0.7617120742797852, -1.0167968273162842, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 0.9982810020446777, -0.6951671242713928, -0.6689767241477966, -0.21951191127300262, -0.6841845512390137, 0.0, -0.7274065017700195, -1.0026148557662964, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 0.9982810020446777, -0.6951671242713928, -0.6689767241477966, -0.21951191127300262, -0.6841845512390137, 0.0, -0.7081732749938965, -0.9946637749671936, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 0.9982810020446777, -0.6951671242713928, -0.6689767241477966, -0.21951191127300262, -0.6841845512390137, 0.0, -0.5833626985549927, -0.9430667161941528, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 0.9982810020446777, -0.6951671242713928, -0.6689767241477966, -0.21951191127300262, -0.6841845512390137, 0.0, -0.4812238812446594, -0.9008422493934631, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 0.9982810020446777, -0.6951671242713928, -0.6689767241477966, -0.21951191127300262, -0.6841845512390137, 0.0, -0.43952715396881104, -0.8836047053337097, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 0.9982810020446777, -0.6951671242713928, -0.6689767241477966, -0.21951191127300262, -0.6841845512390137, 0.0, -0.3675217628479004, -0.8538374900817871, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 0.9982810020446777, -0.6951671242713928, -0.6689767241477966, -0.21951191127300262, -0.6841845512390137, 0.0, -0.3577277660369873, -0.759164571762085, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 0.9982810020446777, -0.6951671242713928, -0.6689767241477966, -0.21951191127300262, -0.6841845512390137, 0.0, -0.22328050434589386, -0.7325769066810608, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -0.8067470788955688, -0.9036992788314819, 0.9982810020446777, -0.6951671242713928, -0.6689767241477966, -0.21951191127300262, -0.6841845512390137, 0.0, -0.32971251010894775, -0.768912672996521, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -0.8067470788955688, -0.9036992788314819, 0.9982810020446777, -0.6951671242713928, -0.6689767241477966, -0.21951191127300262, -0.6841845512390137, 0.0, -0.3577277660369873, -0.759164571762085, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -0.8067470788955688, -0.9036992788314819, 0.9982810020446777, -0.6951671242713928, -0.6689767241477966, -0.21951191127300262, -0.6841845512390137, 0.0, 2.0305778980255127, 2.0490074157714844, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, -0.5421628952026367, -0.38853245973587036, 1.373079776763916, -0.6951671242713928, -0.11989383399486542, -0.1581571400165558, 0.7001366019248962, 0.0], "max": [2.001044750213623, 2.010735034942627, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0970516204833984, 2.951319456100464, 1.3731135129928589, 0.8743928670883179, 0.677974283695221, 0.9520970582962036, 0.9673556685447693, 1.0, 1.961229920387268, 1.9503734111785889, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0970516204833984, 2.5051543712615967, 1.3730809688568115, 0.7093961834907532, 0.677974283695221, 0.7047845125198364, 0.9673556685447693, 0.0, 1.9193347692489624, 1.8868578672409058, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0970516204833984, 2.5051543712615967, 1.3730809688568115, 0.7093961834907532, 0.677974283695221, 0.7047845125198364, 0.9673556685447693, 0.0, 1.8535983562469482, 1.787197470664978, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0970516204833984, 2.5051543712615967, 1.3730809688568115, 0.7093961834907532, 0.677974283695221, 0.7047845125198364, 0.9673556685447693, 0.0, 1.8249144554138184, 1.7437108755111694, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0970516204833984, 2.5051543712615967, 1.3730809688568115, 0.7093961834907532, 0.677974283695221, 0.7047845125198364, 0.9673556685447693, 0.0, 1.7495542764663696, 1.629460334777832, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0970516204833984, 2.5051543712615967, 1.3730809688568115, 0.7093961834907532, 0.677974283695221, 0.7047845125198364, 0.9673556685447693, 0.0, 1.7291598320007324, 1.5985411405563354, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0970516204833984, 2.5051543712615967, 1.3730809688568115, 0.7093961834907532, 0.677974283695221, 0.7047845125198364, 0.9673556685447693, 0.0, 1.646575927734375, 1.4733390808105469, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0970516204833984, 2.5051543712615967, 1.3730809688568115, 0.7093961834907532, 0.677974283695221, 0.7047845125198364, 0.9673556685447693, 0.0, 1.6335341930389404, 1.4535670280456543, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0970516204833984, 2.5051543712615967, 1.3730809688568115, 0.7093961834907532, 0.677974283695221, 0.7047845125198364, 0.9673556685447693, 0.0, 1.5437538623809814, 1.3174546957015991, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0970516204833984, 2.5051543712615967, 1.3730809688568115, 0.7093961834907532, 0.677974283695221, 0.7047845125198364, 0.9673556685447693, 0.0, 1.537070631980896, 1.3073225021362305, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0970516204833984, 2.5051543712615967, 1.3730809688568115, 0.7093961834907532, 0.677974283695221, 0.7047845125198364, 0.9673556685447693, 0.0, 1.4507322311401367, 1.1764284372329712, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0970516204833984, 2.5051543712615967, 1.3730809688568115, 0.7093961834907532, 0.677974283695221, 0.7047845125198364, 0.9673556685447693, 0.0, 1.4416358470916748, 1.162637710571289, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0970516204833984, 2.5051543712615967, 1.3730809688568115, 0.7093961834907532, 0.677974283695221, 0.7047845125198364, 0.9673556685447693, 0.0, 1.4409316778182983, 1.1615701913833618, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0970516204833984, 2.5051543712615967, 1.3730809688568115, 0.7093961834907532, 0.677974283695221, 0.7047845125198364, 0.9673556685447693, 0.0, 1.3451029062271118, 1.0162880420684814, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0970516204833984, 2.5051543712615967, 1.3730809688568115, 0.7093961834907532, 0.677974283695221, 0.7047845125198364, 0.9673556685447693, 0.0, 1.3380995988845825, 1.0056706666946411, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0970516204833984, 2.5051543712615967, 1.3730809688568115, 0.7093961834907532, 0.677974283695221, 0.7047845125198364, 0.9673556685447693, 0.0, 1.2493962049484253, 0.8711910247802734, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0970516204833984, 2.5051543712615967, 1.3730809688568115, 0.7093961834907532, 0.677974283695221, 0.7047845125198364, 0.9673556685447693, 0.0, 1.2351018190383911, 0.8495197892189026, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0970516204833984, 2.5051543712615967, 1.3730809688568115, 0.7093961834907532, 0.677974283695221, 0.7047845125198364, 0.9673556685447693, 0.0, 1.1519430875778198, 0.723446249961853, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0970516204833984, 2.5051543712615967, 1.3730809688568115, 0.7093961834907532, 0.677974283695221, 0.7047845125198364, 0.9673556685447693, 0.0, 1.1316875219345093, 0.6927376389503479, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0970516204833984, 2.5051543712615967, 1.3730809688568115, 0.7093961834907532, 0.677974283695221, 0.7047845125198364, 0.9673556685447693, 0.0, 1.0537171363830566, 0.5745299458503723, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0970516204833984, 2.5051543712615967, 1.3730809688568115, 0.7093961834907532, 0.677974283695221, 0.7047845125198364, 0.9673556685447693, 0.0, 1.0282520055770874, 0.5359232425689697, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0970516204833984, 2.5051543712615967, 1.3730809688568115, 0.7093961834907532, 0.677974283695221, 0.7047845125198364, 0.9673556685447693, 0.0, 0.9542230367660522, 0.4236908555030823, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0970516204833984, 2.5051543712615967, 1.3730809688568115, 0.7093961834907532, 0.677974283695221, 0.7047845125198364, 0.9673556685447693, 0.0, 0.9636629819869995, 0.3809252679347992, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0970516204833984, 2.5051543712615967, 1.3730809688568115, 0.7093961834907532, 0.677974283695221, 0.7047845125198364, 0.9673556685447693, 0.0, 0.9726929068565369, 0.3952290117740631, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0970516204833984, 2.5051543712615967, 1.3730809688568115, 0.7093961834907532, 0.677974283695221, 0.7047845125198364, 0.9673556685447693, 0.0, 1.0619003772735596, 0.5365365743637085, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0970516204833984, 2.5051543712615967, 1.3730809688568115, 0.7093961834907532, 0.677974283695221, 0.7047845125198364, 0.9673556685447693, 0.0, 1.0697765350341797, 0.5490127801895142, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0970516204833984, 2.5051543712615967, 1.3730809688568115, 0.7093961834907532, 0.677974283695221, 0.7047845125198364, 0.9673556685447693, 0.0, 1.1607705354690552, 0.6931502223014832, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0970516204833984, 2.5051543712615967, 1.3730809688568115, 0.7093961834907532, 0.677974283695221, 0.7047845125198364, 0.9673556685447693, 0.0, 1.1653447151184082, 0.7003958225250244, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0970516204833984, 2.5051543712615967, 1.3730809688568115, 0.7093961834907532, 0.677974283695221, 0.7047845125198364, 0.9673556685447693, 0.0, 1.259568452835083, 0.8496494293212891, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0970516204833984, 2.5051543712615967, 1.3730809688568115, 0.7093961834907532, 0.677974283695221, 0.7047845125198364, 0.9673556685447693, 0.0, 1.2608351707458496, 0.8516559600830078, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0970516204833984, 2.5051543712615967, 1.3730809688568115, 0.7093961834907532, 0.677974283695221, 0.7047845125198364, 0.9673556685447693, 0.0, 1.285129189491272, 0.890138566493988, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0970516204833984, 2.5051543712615967, 1.3730809688568115, 0.7093961834907532, 0.677974283695221, 0.7047845125198364, 0.9673556685447693, 0.0, 1.3544780015945435, 0.99998939037323, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0970516204833984, 2.5051543712615967, 1.3730809688568115, 0.7093961834907532, 0.677974283695221, 0.7047845125198364, 0.9673556685447693, 0.0, 1.3580740690231323, 1.0056856870651245, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0970516204833984, 2.5051543712615967, 1.3730809688568115, 0.7093961834907532, 0.677974283695221, 0.7047845125198364, 0.9673556685447693, 0.0, 1.4490103721618652, 1.1497317552566528, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0970516204833984, 2.5051543712615967, 1.3730809688568115, 0.7093961834907532, 0.677974283695221, 0.7047845125198364, 0.9673556685447693, 0.0, 1.4564839601516724, 1.1615701913833618, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0970516204833984, 2.5051543712615967, 1.3730809688568115, 0.7093961834907532, 0.677974283695221, 0.7047845125198364, 0.9673556685447693, 0.0, 1.5425639152526855, 1.2979238033294678, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0970516204833984, 2.5051543712615967, 1.3730809688568115, 0.7093961834907532, 0.677974283695221, 0.7047845125198364, 0.9673556685447693, 0.0, 1.5548937320709229, 1.3174546957015991, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0970516204833984, 2.5051543712615967, 1.3730809688568115, 0.7093961834907532, 0.677974283695221, 0.7047845125198364, 0.9673556685447693, 0.0, 1.6369925737380981, 1.4475020170211792, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0970516204833984, 2.5051543712615967, 1.3730809688568115, 0.7093961834907532, 0.677974283695221, 0.7047845125198364, 0.9673556685447693, 0.0, 1.6533035039901733, 1.4733390808105469, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0970516204833984, 2.5051543712615967, 1.3730809688568115, 0.7093961834907532, 0.677974283695221, 0.7047845125198364, 0.9673556685447693, 0.0, 1.730689525604248, 1.5959211587905884, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0970516204833984, 2.5051543712615967, 1.3730809688568115, 0.7093961834907532, 0.677974283695221, 0.7047845125198364, 0.9673556685447693, 0.0, 1.7518643140792847, 1.629462718963623, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0970516204833984, 2.5051543712615967, 1.3730809688568115, 0.7093961834907532, 0.677974283695221, 0.7047845125198364, 0.9673556685447693, 0.0, 1.824471354484558, 1.7444746494293213, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0970516204833984, 2.5051543712615967, 1.3730809688568115, 0.7093961834907532, 0.677974283695221, 0.7047845125198364, 0.9673556685447693, 0.0, 1.851433515548706, 1.7871835231781006, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0970516204833984, 2.5051543712615967, 1.3730809688568115, 0.7093961834907532, 0.677974283695221, 0.7047845125198364, 0.9673556685447693, 0.0, 1.9168869256973267, 1.8908638954162598, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0970516204833984, 2.5051543712615967, 1.373079776763916, 0.7093961834907532, 0.677974283695221, 0.7047845125198364, 0.9673556685447693, 0.0, 1.9543651342391968, 1.950230598449707, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0970516204833984, 2.5051543712615967, 1.373079776763916, 0.7093961834907532, 0.677974283695221, 0.7047845125198364, 0.9673556685447693, 0.0, 2.0083200931549072, 2.0356969833374023, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0970516204833984, 2.5051543712615967, 1.373079776763916, 0.7093961834907532, 0.677974283695221, 0.7047845125198364, 0.9673556685447693, 0.0, 2.0305778980255127, 2.0490074157714844, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0970516204833984, 2.4744749069213867, 1.373079776763916, -0.19409215450286865, -0.03920930624008179, -0.11034727096557617, 0.9673556685447693, 0.0], "count": [2663]}, "action.applied": {"mean": [0.10036869078855003, 0.00032646954164518885, 0.007461277756081433, 0.23994105355127915, -0.7427691575722056, -1.1242610407213676, 1.09060461717891, -1.3079846467486012, -1.9060152759240436, 0.47336087888719836, 0.0030612871582419454, -0.0030612871582419454], "std": [0.13103110636416562, 0.01430417123036614, 0.23760278791012038, 0.2657507669081326, 0.6376045950164673, 0.9238979680912943, 0.4280899329230983, 0.9496017978567811, 0.3659576195830746, 0.44217567577994593, 0.013116394143285325, 0.013116394143285325], "min": [0.0, -0.13724054396152496, -0.800000011920929, -0.7272759079933167, -1.6057366132736206, -2.6471521854400635, 0.49847227334976196, -2.9661781787872314, -2.545281171798706, -0.15223200619220734, -0.009999999776482582, -0.020833000540733337], "max": [0.30000001192092896, 0.1126798763871193, 0.800000011920929, 0.6165550351142883, 0.11830062419176102, 0.3412241041660309, 1.595728874206543, 0.005652418360114098, -1.1896882057189941, 1.398475170135498, 0.020833000540733337, 0.009999999776482582], "count": [2663]}, "extra.reward": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [2663]}, "next.truncated": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [2663]}, "sim_step_idx": {"mean": [2763.0], "std": [1537.4836584497411], "min": [101.0], "max": [5425.0], "count": [2663]}, "timestamp": {"mean": [53.240000003890756], "std": [30.749673172308707], "min": [0.0], "max": [106.4800033569336], "count": [2663]}, "frame_index": {"mean": [1331.0], "std": [768.7418292248706], "min": [0.0], "max": [2662.0], "count": [2663]}, "episode_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [2663]}, "index": {"mean": [1331.0], "std": [768.7418292248706], "min": [0.0], "max": [2662.0], "count": [2663]}, "task_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [2663]}, "next.done": {"mean": [0.0003755163349605708], "std": [0.019374605091272146], "min": [0.0], "max": [1.0], "count": [2663]}, "observation.images.head": {"mean": [[[0.37866332441878886]], [[0.31997566268609196]], [[0.29372166324765975]]], "std": [[[0.2020248357190432]], [[0.179843909575283]], [[0.15860400086068427]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9764705882352941]], [[0.9647058823529412]], [[0.9725490196078431]]], "count": [100]}, "observation.images.wrist": {"mean": [[[0.45797536038028747]], [[0.4146268308206478]], [[0.35492693462315994]]], "std": [[[0.19729822067605812]], [[0.1790177322035956]], [[0.18048760323065935]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "count": [100]}}} diff --git a/N032/sawyer_umi/dr_on/seed_2021/rec/stationpuzzlexr/000/lerobot_v21/meta/extra/episode_000000.json b/N032/sawyer_umi/dr_on/seed_2021/rec/stationpuzzlexr/000/lerobot_v21/meta/extra/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..69299126939dd654ae265e9cc563eb38c4025e41 --- /dev/null +++ b/N032/sawyer_umi/dr_on/seed_2021/rec/stationpuzzlexr/000/lerobot_v21/meta/extra/episode_000000.json @@ -0,0 +1,569 @@ +{ + "episode_index": 0, + "trajectory_id": 0, + "env_id": 0, + "task_type": "PuzzleXRCommand", + "subsample_every": 2, + "control_steps": 5326, + "language": { + "scene": { + "objects": [ + { + "id": "table_A_1", + "cat_name": "table_A", + "inst_id": 1, + "noun": "table A", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 3.6544253673890426, + -0.9509282930902248, + 0.12999995440155626 + ], + "bbox": { + "extent": [ + 0.9127314386944949, + 0.5229166319583516, + 0.30000001192092896 + ], + "center": [ + 5.551115123125783e-17, + -2.7755575615628914e-17, + 0.0 + ] + } + }, + { + "id": "table_B_1", + "cat_name": "table_B", + "inst_id": 1, + "noun": "table B", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 7.130924878196758, + -0.8588009766811113, + 0.12999992237844718 + ], + "bbox": { + "extent": [ + 0.9852695819283602, + 0.6534852863204219, + 0.30000001192092896 + ], + "center": [ + -5.551115123125783e-17, + -2.220446049250313e-16, + 0.0 + ] + } + }, + { + "id": "board_0_1", + "cat_name": "board_0", + "inst_id": 1, + "noun": "board 0", + "color": "gray", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.495843949895098, + -1.0727968034876076, + 0.28999995502385006 + ], + "bbox": { + "extent": [ + 0.25101851698014266, + 0.04636573037410671, + 0.019999999552965164 + ], + "center": [ + -4.163336342344337e-17, + -1.734723475976807e-18, + 0.0 + ] + } + }, + { + "id": "board_1_1", + "cat_name": "board_1", + "inst_id": 1, + "noun": "board 1", + "color": "gray", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.6227090850934713, + -0.9753019960817852, + 0.289999954526015 + ], + "bbox": { + "extent": [ + 0.25101851698014255, + 0.046365730374106684, + 0.019999999552965164 + ], + "center": [ + -4.163336342344337e-17, + 0.0, + 0.0 + ] + } + }, + { + "id": "board_2_1", + "cat_name": "board_2", + "inst_id": 1, + "noun": "board 2", + "color": "gray", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.495295550134214, + -0.9407941548107634, + 0.289999955969611 + ], + "bbox": { + "extent": [ + 0.042546291651143625, + 0.10101851847025872, + 0.019999999552965164 + ], + "center": [ + -1.5612511283791264e-17, + 0.0, + 0.0 + ] + } + }, + { + "id": "board_3_1", + "cat_name": "board_3", + "inst_id": 1, + "noun": "board 3", + "color": "gray", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.623257484854355, + -1.1073046447586292, + 0.2899999535802541 + ], + "bbox": { + "extent": [ + 0.04254629165114357, + 0.10101851847025874, + 0.019999999552965164 + ], + "center": [ + 1.214306433183765e-17, + -6.938893903907228e-18, + 0.0 + ] + } + }, + { + "id": "board_4_1", + "cat_name": "board_4", + "inst_id": 1, + "noun": "board 4", + "color": "gray", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.564783453955388, + -0.9819819105464096, + 0.28999995502292514 + ], + "bbox": { + "extent": [ + 0.09101852055642133, + 0.04229166245353633, + 0.019999999552965164 + ], + "center": [ + -2.0816681711721685e-17, + 1.3877787807814457e-17, + 0.0 + ] + } + }, + { + "id": "picture_1", + "cat_name": "picture", + "inst_id": 1, + "noun": "picture", + "color": "gray", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.8130067887370447, + -0.8290597856143619, + 0.3799999537792623 + ], + "bbox": { + "extent": [ + 0.25020370341025705, + 0.01436573164815591, + 0.20000000298023224 + ], + "center": [ + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "id": "picture_bar_1", + "cat_name": "picture_bar", + "inst_id": 1, + "noun": "picture bar", + "color": "gray", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.809042253027092, + -0.8321064981676524, + 0.3549999537948197 + ], + "bbox": { + "extent": [ + 0.15005093181302875, + 0.005819439007671623, + 0.05000000074505806 + ], + "center": [ + 1.3877787807814457e-17, + -2.7755575615628914e-17, + 0.0 + ] + } + }, + { + "id": "picture_cap_1", + "cat_name": "picture_cap", + "inst_id": 1, + "noun": "picture cap", + "color": "gray", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.839509380811418, + -0.8717518532734269, + 0.4049999532259252 + ], + "bbox": { + "extent": [ + 0.05005092659762238, + 0.0032731463676015093, + 0.05000000074505806 + ], + "center": [ + 2.0816681711721685e-17, + -2.7755575615628914e-17, + 0.0 + ] + } + }, + { + "id": "tile_1", + "cat_name": "tile", + "inst_id": 1, + "noun": "tile", + "color": null, + "size": "small", + "material": null, + "category": "rigid", + "pos": [ + 7.186265462165458, + -1.1012797406998407, + 0.2799999630457613 + ], + "bbox": { + "extent": [ + 0.15542503871511681, + 0.11078458572295316, + 0.0650001171665544 + ], + "center": [ + 0.0009041662501597034, + 0.024967247184422028, + 0.032499994737936466 + ] + } + }, + { + "id": "cand_O_1", + "cat_name": "cand_O", + "inst_id": 1, + "noun": "cand O", + "color": null, + "size": "small", + "material": null, + "category": "rigid", + "pos": [ + 6.9277261286077545, + -0.7928827928363721, + 0.2799999676735983 + ], + "bbox": { + "extent": [ + 0.11497234046125807, + 0.11497235748254137, + 0.06500017600542057 + ], + "center": [ + 0.024999991408656084, + 0.02500001372541522, + 0.03249998468907553 + ] + } + } + ], + "relations": [ + { + "subject": "table_B_1", + "relation": "right_of", + "object": "cand_O_1" + }, + { + "subject": "board_0_1", + "relation": "right_of", + "object": "board_4_1" + }, + { + "subject": "board_1_1", + "relation": "in_front_of", + "object": "board_4_1" + }, + { + "subject": "board_2_1", + "relation": "behind", + "object": "board_4_1" + }, + { + "subject": "board_3_1", + "relation": "in_front_of", + "object": "board_0_1" + }, + { + "subject": "board_4_1", + "relation": "behind", + "object": "board_1_1" + }, + { + "subject": "tile_1", + "relation": "on_top_of", + "object": "table_B_1" + }, + { + "subject": "tile_1", + "relation": "right_of", + "object": "table_B_1" + }, + { + "subject": "cand_O_1", + "relation": "on_top_of", + "object": "table_B_1" + }, + { + "subject": "cand_O_1", + "relation": "left_of", + "object": "table_B_1" + } + ], + "cameras": [ + { + "name": "head", + "intrinsics": { + "K": [ + [ + 355.55555555555554, + 0.0, + 320.0 + ], + [ + 0.0, + 355.55555555555554, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 83.97442499163331, + "resolution": [ + 640, + 480 + ] + }, + "pos_robot": [ + 3.8529039086620664, + -1.5104731143949988, + -0.0950000532394344 + ], + "viewpoint": "front, at table height", + "extrinsics": { + "R": [ + [ + -8.039232568535226e-08, + -0.9999999999999964, + 2.5347603738179458e-08 + ], + [ + 0.8191520331270514, + -8.039232568535226e-08, + -0.5735764522919431 + ], + [ + 0.5735764522919431, + -2.5347603738179458e-08, + 0.819152033127055 + ] + ], + "t": [ + 1.855362002599171e-08, + -0.2032392724571752, + -0.08737481710326404 + ] + } + }, + { + "name": "wrist", + "intrinsics": { + "K": [ + [ + 320.0, + 0.0, + 320.0 + ], + [ + 0.0, + 320.0, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 90.0, + "resolution": [ + 640, + 480 + ] + }, + "pos_robot": [ + 3.75578266934621, + -1.3873727277651253, + -0.020000050331722842 + ], + "viewpoint": "front, at table height", + "extrinsics": { + "R": [ + [ + 0.0, + 1.0, + -1.4782795217992896e-16 + ], + [ + 1.0, + 0.0, + 2.5363269588459423e-17 + ], + [ + 2.5363269588459423e-17, + -1.4782795217992896e-16, + -1.0 + ] + ], + "t": [ + 4.4348384662715026e-18, + -0.05979999899864197, + 0.029999999329447746 + ] + } + } + ], + "robots": [ + { + "name": "RidgebackSawyerUmi", + "model": "ridgebacksawyer_umi", + "type": "mobilemanip", + "noun": "Ridgeback-Sawyer mobile manipulator with a UMI gripper", + "arms": 1, + "arm_layout": null, + "mobile": true, + "dexterous": false, + "base_pose": { + "pos": [ + -3.4, + -2.2, + 0.05 + ], + "ori": [ + 0.9396926164627075, + 0.0, + 0.0, + 0.3420201539993286 + ] + }, + "facing_yaw_deg": 40.000001288448495, + "gripper": "parallel gripper" + } + ], + "lighting": [], + "background": { + "name": null, + "kind": "background", + "type": "dome", + "pose": null, + "setting": null, + "time_of_day": null, + "indoor": false, + "intensity": 1000.0, + "ambient": "dim" + }, + "effects": [], + "caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a small gray board 0, a small gray board 1, a small gray board 2, a small gray board 3, a small gray board 4, a small gray picture, a small gray picture bar, a small gray picture cap, a small tile and a small cand O. The gray table B is to the right of the cand O. The gray board 0 is to the right of the gray board 4. The gray board 1 is in front of the gray board 4. The gray board 2 is behind the gray board 4. The gray board 3 is in front of the gray board 0. The gray board 4 is behind the gray board 1. The tile is on top of the gray table B. The tile is to the right of the gray table B. The cand O is on top of the gray table B. The cand O is to the left of the gray table B. The scene is viewed from front, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n [cand O]e]\n\n\n\n [picture cap]\n\n\n\n[robot]" + }, + "task": { + "task_type": "StationPuzzleXR", + "instruction": "Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.", + "template_id": -1, + "slots": { + "obj": 1.558054802834693, + "support": null + }, + "generic_instruction": "Stationpuzzlexr the 1.558054802834693.", + "task_id": "N032", + "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 +} \ No newline at end of file diff --git a/N032/sawyer_umi/dr_on/seed_2021/rec/stationpuzzlexr/000/lerobot_v21/meta/info.json b/N032/sawyer_umi/dr_on/seed_2021/rec/stationpuzzlexr/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..99ee1903cd5498bb83e8b0d61ecc2e8d152e4f5b --- /dev/null +++ b/N032/sawyer_umi/dr_on/seed_2021/rec/stationpuzzlexr/000/lerobot_v21/meta/info.json @@ -0,0 +1,331 @@ +{ + "codebase_version": "v2.1", + "robot_type": "RidgebackSawyerUmiCfg", + "total_episodes": 1, + "total_frames": 2663, + "total_tasks": 1, + "total_videos": 2, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 25, + "splits": { + "train": "0:1" + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", + "features": { + "action": { + "dtype": "float32", + "shape": [ + 11 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "frame0.pos_x", + "frame0.pos_y", + "frame0.pos_z", + "frame0.quat_w", + "frame0.quat_x", + "frame0.quat_y", + "frame0.quat_z", + "gripper" + ] + }, + "action_is_hold": { + "dtype": "bool", + "shape": [ + 11 + ], + "names": null + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 15 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint", + "gripper_0", + "gripper_1" + ] + }, + "observation.joint_vel": { + "dtype": "float32", + "shape": [ + 13 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ] + }, + "observation.eef_pose": { + "dtype": "float32", + "shape": [ + 7 + ], + "names": null + }, + "observation.environment_state": { + "dtype": "float32", + "shape": [ + 84 + ], + "names": [ + "object_pose.board_0.0", + "object_pose.board_0.1", + "object_pose.board_0.2", + "object_pose.board_0.3", + "object_pose.board_0.4", + "object_pose.board_0.5", + "object_pose.board_0.6", + "object_pose.board_1.0", + "object_pose.board_1.1", + "object_pose.board_1.2", + "object_pose.board_1.3", + "object_pose.board_1.4", + "object_pose.board_1.5", + "object_pose.board_1.6", + "object_pose.board_2.0", + "object_pose.board_2.1", + "object_pose.board_2.2", + "object_pose.board_2.3", + "object_pose.board_2.4", + "object_pose.board_2.5", + "object_pose.board_2.6", + "object_pose.board_3.0", + "object_pose.board_3.1", + "object_pose.board_3.2", + "object_pose.board_3.3", + "object_pose.board_3.4", + "object_pose.board_3.5", + "object_pose.board_3.6", + "object_pose.board_4.0", + "object_pose.board_4.1", + "object_pose.board_4.2", + "object_pose.board_4.3", + "object_pose.board_4.4", + "object_pose.board_4.5", + "object_pose.board_4.6", + "object_pose.cand_O.0", + "object_pose.cand_O.1", + "object_pose.cand_O.2", + "object_pose.cand_O.3", + "object_pose.cand_O.4", + "object_pose.cand_O.5", + "object_pose.cand_O.6", + "object_pose.picture.0", + "object_pose.picture.1", + "object_pose.picture.2", + "object_pose.picture.3", + "object_pose.picture.4", + "object_pose.picture.5", + "object_pose.picture.6", + "object_pose.picture_bar.0", + "object_pose.picture_bar.1", + "object_pose.picture_bar.2", + "object_pose.picture_bar.3", + "object_pose.picture_bar.4", + "object_pose.picture_bar.5", + "object_pose.picture_bar.6", + "object_pose.picture_cap.0", + "object_pose.picture_cap.1", + "object_pose.picture_cap.2", + "object_pose.picture_cap.3", + "object_pose.picture_cap.4", + "object_pose.picture_cap.5", + "object_pose.picture_cap.6", + "object_pose.table_A.0", + "object_pose.table_A.1", + "object_pose.table_A.2", + "object_pose.table_A.3", + "object_pose.table_A.4", + "object_pose.table_A.5", + "object_pose.table_A.6", + "object_pose.table_B.0", + "object_pose.table_B.1", + "object_pose.table_B.2", + "object_pose.table_B.3", + "object_pose.table_B.4", + "object_pose.table_B.5", + "object_pose.table_B.6", + "object_pose.tile.0", + "object_pose.tile.1", + "object_pose.tile.2", + "object_pose.tile.3", + "object_pose.tile.4", + "object_pose.tile.5", + "object_pose.tile.6" + ] + }, + "action.command": { + "dtype": "float32", + "shape": [ + 768 + ], + "names": null + }, + "action.applied": { + "dtype": "float32", + "shape": [ + 12 + ], + "names": null + }, + "narration": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "collect_info": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "extra.reward": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "extra.action_info": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "next.truncated": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "sim_step_idx": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "next.done": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "observation.images.head": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25, + "video.codec": "libsvtav1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.wrist": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25, + "video.codec": "libsvtav1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + } + } +} \ No newline at end of file diff --git a/N032/sawyer_umi/dr_on/seed_2021/rec/stationpuzzlexr/000/lerobot_v21/meta/magicsim_manifest.json b/N032/sawyer_umi/dr_on/seed_2021/rec/stationpuzzlexr/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..46e6b551c2e4e5a52f5b68db39fc4c1d9f055733 --- /dev/null +++ b/N032/sawyer_umi/dr_on/seed_2021/rec/stationpuzzlexr/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,264 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 03:08:30" + }, + "embodiment": { + "robots": [ + { + "name": "RidgebackSawyerUmi", + "cfg": "RidgebackSawyerUmiCfg", + "type": "mobilemanip", + "joint_names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 11, + "nan_policy": "from_raw", + "segments": [ + { + "name": "RidgebackSawyerUmi.base_action", + "start": 0, + "end": 3, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint" + ], + "source": "HolonomicAction", + "names_source": "_joint_names" + }, + { + "name": "RidgebackSawyerUmi.arm_action", + "start": 3, + "end": 10, + "names": [ + "frame0.pos_x", + "frame0.pos_y", + "frame0.pos_z", + "frame0.quat_w", + "frame0.quat_x", + "frame0.quat_y", + "frame0.quat_z" + ], + "source": "PinkInverseKinematicsAction", + "names_source": "pink_layout" + }, + { + "name": "RidgebackSawyerUmi.eef_action", + "start": 10, + "end": 11, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 15, + "segments": [ + { + "name": "RidgebackSawyerUmi.joint_pos", + "start": 0, + "end": 13, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ], + "source": "ObservationManager", + "names_source": "joint_names" + }, + { + "name": "RidgebackSawyerUmi.gripper_pos", + "start": 13, + "end": 15, + "names": [ + "gripper_0", + "gripper_1" + ], + "source": "ObservationManager", + "names_source": "generated" + } + ] + }, + "joint_vel_layout": { + "dim": 13, + "segments": [ + { + "name": "RidgebackSawyerUmi.joint_vel", + "start": 0, + "end": 13, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "action_levels": { + "L0": "task command list (collect.auto_collect_info.current_action)", + "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)", + "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)", + "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy", + "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)" + }, + "cameras": { + "head": { + "intrinsics": { + "K": [ + [ + 355.55555555555554, + 0.0, + 320.0 + ], + [ + 0.0, + 355.55555555555554, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 83.97442499163331, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.21660000085830688, + 0.0, + -0.04500000178813934 + ], + "quat": [ + -0.6743797063827515, + 0.21263112127780914, + -0.21263112127780914, + 0.6743797659873962 + ] + }, + "wrist": { + "intrinsics": { + "K": [ + [ + 320.0, + 0.0, + 320.0 + ], + [ + 0.0, + 320.0, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 90.0, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.05979999899864197, + 0.0, + 0.029999999329447746 + ], + "quat": [ + 6.123234262925839e-17, + 0.7071067690849304, + 0.7071067690849304, + -4.329780301713277e-17 + ] + } + }, + "lerobot": { + "codebase_version": "v2.1", + "video_keys": [ + "observation.images.head", + "observation.images.wrist" + ], + "columns": [ + "action", + "action.applied", + "action.command", + "action_is_hold", + "collect_info", + "episode_index", + "extra.action_info", + "extra.reward", + "frame_index", + "index", + "narration", + "next.done", + "next.truncated", + "observation.eef_pose", + "observation.environment_state", + "observation.images.head", + "observation.images.wrist", + "observation.joint_vel", + "observation.state", + "sim_step_idx", + "task_index", + "timestamp" + ] + }, + "generated_run": { + "run_id": "stationpuzzlexr/000", + "task_type": "PuzzleXRCommand" + } +} \ No newline at end of file diff --git a/N032/sawyer_umi/dr_on/seed_2021/rec/stationpuzzlexr/000/lerobot_v21/meta/stats.json b/N032/sawyer_umi/dr_on/seed_2021/rec/stationpuzzlexr/000/lerobot_v21/meta/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..3f1834e9b4b18dec09f9097a06db9d2e735d66ba --- /dev/null +++ b/N032/sawyer_umi/dr_on/seed_2021/rec/stationpuzzlexr/000/lerobot_v21/meta/stats.json @@ -0,0 +1,4089 @@ +{ + "action": { + "mean": [ + 0.10036869078855003, + 0.00032646954164518885, + 0.007461277756081433, + 0.5403297951391125, + 0.7977599047902179, + 1.0355862004614576, + 0.22977165129683405, + 0.013453185989469443, + 0.2902731272471363, + 0.2034596991170703, + 0.3815245963199399 + ], + "std": [ + 0.13103110636416562, + 0.01430417123036614, + 0.23760278791012038, + 1.2571666468465423, + 1.4802734924764422, + 0.29099003851642025, + 0.5115121231814851, + 0.28195311471139783, + 0.3996161032580574, + 0.5661574301195752, + 0.48576082460696124 + ], + "min": [ + 0.0, + -0.13724054396152496, + -0.800000011920929, + -3.2127041816711426, + -1.6484390497207642, + 0.5887399911880493, + -0.6951671242713928, + -0.6689767241477966, + -0.21951191127300262, + -0.7130944728851318, + 0.0 + ], + "max": [ + 0.30000001192092896, + 0.1126798763871193, + 0.800000011920929, + 2.0970516204833984, + 2.951319456100464, + 1.3731135129928589, + 0.8743928670883179, + 0.677974283695221, + 0.9520970582962036, + 0.9673556685447693, + 1.0 + ], + "count": [ + 2663 + ] + }, + "action_is_hold": { + "mean": [ + 0.07435223432219301, + 0.07435223432219301, + 0.07435223432219301, + 0.08674427337589186, + 0.08674427337589186, + 0.08674427337589186, + 0.08674427337589186, + 0.08674427337589186, + 0.08674427337589186, + 0.08674427337589186, + 0.9924896733007886 + ], + "std": [ + 0.2623432476232021, + 0.2623432476232021, + 0.2623432476232021, + 0.2814599517025132, + 0.2814599517025132, + 0.2814599517025132, + 0.2814599517025132, + 0.2814599517025132, + 0.2814599517025132, + 0.2814599517025132, + 0.08633609727155037 + ], + "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": [ + 2663 + ] + }, + "observation.state": { + "mean": [ + 1.0161731041690885, + -3.6608590853200833, + 1.776932840189717, + 0.240360814033947, + -0.24077284322874626, + -0.7429975836146062, + -1.122492969834746, + 1.0905014715985253, + -1.3062965739751466, + -1.9064210278174056, + 0.4733650825780754, + 0.013994761404150615, + -0.01430477115657806, + -0.01430477115657806, + -0.013994761404150615 + ], + "std": [ + 1.8540864039569676, + 0.32680580306117024, + 1.0867783423269257, + 0.2647229501709953, + 0.2637592243801791, + 0.6379329418972304, + 0.9234553788555261, + 0.42825749246029576, + 0.9495151202418562, + 0.3660332566274587, + 0.44221539834011275, + 0.009000046433768963, + 0.009170087933489562, + 0.009170087933489562, + 0.009000046433768963 + ], + "min": [ + -3.356022596359253, + -4.041664123535156, + 0.3712384104728699, + -0.7273626327514648, + -0.6164960265159607, + -1.61150324344635, + -2.6471285820007324, + 0.49694687128067017, + -2.9662530422210693, + -2.544146776199341, + -0.1496100127696991, + 0.0, + -0.020833000540733337, + -0.020833000540733337, + -0.020833000540733337 + ], + "max": [ + 3.1799557209014893, + -2.0892906188964844, + 4.129176616668701, + 0.6165435910224915, + 0.7272312045097351, + 0.11810064315795898, + 0.33954060077667236, + 1.5955588817596436, + 0.005528418812900782, + -1.1909009218215942, + 1.39764404296875, + 0.020833000540733337, + 0.0, + 0.0, + -0.0 + ], + "count": [ + 2663 + ] + }, + "observation.joint_vel": { + "mean": [ + 0.02750604000518997, + -0.014629883323942102, + 0.007251123861340283, + -0.006522876343588523, + 0.005624465127217064, + 0.005282831503571739, + -0.02510801916342758, + 0.0018917383779947093, + -0.024479423546380656, + 0.005398500332162746, + -4.981175274495257e-05, + 2.0741837634557482e-06, + 0.0005051573964166328 + ], + "std": [ + 0.15354155198597846, + 0.053651317933713825, + 0.23882165282738907, + 0.05873612796127487, + 0.04689618726975565, + 0.06402049814674962, + 0.08305767992152745, + 0.056062820480815706, + 0.11288964552760601, + 0.08008376302482711, + 0.09578270710099546, + 0.006163237300987957, + 0.006318001103975567 + ], + "min": [ + -0.309972882270813, + -0.1841459721326828, + -0.8000959157943726, + -0.3671676218509674, + -0.21086600422859192, + -0.1345360428094864, + -0.20710991322994232, + -0.18559907376766205, + -0.33380481600761414, + -0.24784064292907715, + -0.4125634729862213, + -0.04324377700686455, + -0.10008679330348969 + ], + "max": [ + 0.31806522607803345, + 0.1774797886610031, + 0.8000249266624451, + 0.5005737543106079, + 0.17298978567123413, + 0.16277019679546356, + 0.20074918866157532, + 0.19194228947162628, + 0.30397558212280273, + 0.32628053426742554, + 0.4120881259441376, + 0.10001003742218018, + 0.031635284423828125 + ], + "count": [ + 2663 + ] + }, + "observation.eef_pose": { + "mean": [ + 0.5409071956587367, + 0.7976185861045381, + 1.0341965707002885, + 0.1988318959517538, + 0.015441531666571646, + 0.28780743318015006, + 0.23370540240542403 + ], + "std": [ + 1.2576947356184143, + 1.4795079719714401, + 0.2906442140075418, + 0.523970989015005, + 0.28208422496201163, + 0.40468235953793463, + 0.5521694385716917 + ], + "min": [ + -3.2127041816711426, + -1.6512616872787476, + 0.5908170342445374, + -0.720842182636261, + -0.669359028339386, + -0.2198655754327774, + -0.6844531297683716 + ], + "max": [ + 2.097177267074585, + 2.9385910034179688, + 1.3740711212158203, + 0.8702495098114014, + 0.678334653377533, + 0.9674966335296631, + 0.9673889875411987 + ], + "count": [ + 2663 + ] + }, + "observation.environment_state": { + "mean": [ + -0.3481718599796295, + -0.009225467219948769, + 0.3400000035762787, + 0.9999797344207764, + 0.0, + 0.0, + -0.006366376299411058, + -0.346133291721344, + 0.15076154470443726, + 0.3400000035762787, + 0.9999797344207764, + 0.0, + 0.0, + -0.006366376299411058, + -0.452144056558609, + 0.07210586220026016, + 0.3400000035762787, + 0.9999797344207764, + 0.0, + 0.0, + -0.006366376299411058, + -0.2421610951423645, + 0.06943021714687347, + 0.3400000035762787, + 0.9999797344207764, + 0.0, + 0.0, + -0.006366376299411058, + -0.3767679035663605, + 0.1011478379368782, + 0.3400000035762787, + 0.9999797344207764, + 0.0, + 0.0, + -0.006366376299411058, + 1.557766406418818, + 2.8584506590474694, + 0.3300000153065086, + 0.9992942771784489, + 2.760993691603877e-07, + -8.778590426777741e-09, + 0.0375629620646853, + -0.34307539463043213, + 0.39074206352233887, + 0.4300000071525574, + 0.9999797344207764, + 0.0, + 0.0, + -0.006366376299411058, + -0.343139111995697, + 0.3857424557209015, + 0.4050000011920929, + 0.9999797344207764, + 0.0, + 0.0, + -0.006366376299411058, + -0.2931431531906128, + 0.3851054012775421, + 0.45500001311302185, + 0.9999797344207764, + 0.0, + 0.0, + -0.006366376299411058, + -0.345623642206192, + 0.19075830280780792, + 0.18000000715255737, + 0.9999797344207764, + 0.0, + 0.0, + -0.006366376299411058, + 1.7353777885437012, + 2.9771482944488525, + 0.18000000715255737, + 0.9990823268890381, + 0.0, + 0.0, + 0.04283111169934273, + 1.12008931026509, + 1.6397084737194116, + 0.44599457100240797, + 0.8870954855554676, + 0.0011612366867780573, + -0.0002542264068717714, + 0.18249468561780088 + ], + "std": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 5.235327839187025e-08, + 4.2618570801951407e-08, + 2.2078773997639362e-08, + 1.4611036033821692e-08, + 2.636370915921375e-07, + 1.6593094846178312e-07, + 2.3719661151843977e-07, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0629465400106295, + 1.4442115170990668, + 0.1766241479567962, + 0.24606243631449937, + 0.007000463041112455, + 0.012310741096304182, + 0.3449762066320471 + ], + "min": [ + -0.3481718599796295, + -0.009225467219948769, + 0.3400000035762787, + 0.9999797344207764, + 0.0, + 0.0, + -0.006366376299411058, + -0.346133291721344, + 0.15076154470443726, + 0.3400000035762787, + 0.9999797344207764, + 0.0, + 0.0, + -0.006366376299411058, + -0.452144056558609, + 0.07210586220026016, + 0.3400000035762787, + 0.9999797344207764, + 0.0, + 0.0, + -0.006366376299411058, + -0.2421610951423645, + 0.06943021714687347, + 0.3400000035762787, + 0.9999797344207764, + 0.0, + 0.0, + -0.006366376299411058, + -0.3767679035663605, + 0.1011478379368782, + 0.3400000035762787, + 0.9999797344207764, + 0.0, + 0.0, + -0.006366376299411058, + 1.557766318321228, + 2.8584506511688232, + 0.32999998331069946, + 0.9992942214012146, + -6.794263640585996e-07, + -4.382825125048839e-07, + 0.037562210112810135, + -0.34307539463043213, + 0.39074206352233887, + 0.4300000071525574, + 0.9999797344207764, + 0.0, + 0.0, + -0.006366376299411058, + -0.343139111995697, + 0.3857424557209015, + 0.4050000011920929, + 0.9999797344207764, + 0.0, + 0.0, + -0.006366376299411058, + -0.2931431531906128, + 0.3851054012775421, + 0.45500001311302185, + 0.9999797344207764, + 0.0, + 0.0, + -0.006366376299411058, + -0.345623642206192, + 0.19075830280780792, + 0.18000000715255737, + 0.9999797344207764, + 0.0, + 0.0, + -0.006366376299411058, + 1.7353777885437012, + 2.9771482944488525, + 0.18000000715255737, + 0.9990823268890381, + 0.0, + 0.0, + 0.04283111169934273, + -0.8176500201225281, + -0.9074121713638306, + 0.3299999237060547, + 0.26770463585853577, + -0.0356319323182106, + -0.07311257719993591, + -0.06012658774852753 + ], + "max": [ + -0.3481718599796295, + -0.009225467219948769, + 0.3400000035762787, + 0.9999797344207764, + 0.0, + 0.0, + -0.006366376299411058, + -0.346133291721344, + 0.15076154470443726, + 0.3400000035762787, + 0.9999797344207764, + 0.0, + 0.0, + -0.006366376299411058, + -0.452144056558609, + 0.07210586220026016, + 0.3400000035762787, + 0.9999797344207764, + 0.0, + 0.0, + -0.006366376299411058, + -0.2421610951423645, + 0.06943021714687347, + 0.3400000035762787, + 0.9999797344207764, + 0.0, + 0.0, + -0.006366376299411058, + -0.3767679035663605, + 0.1011478379368782, + 0.3400000035762787, + 0.9999797344207764, + 0.0, + 0.0, + -0.006366376299411058, + 1.5577664375305176, + 2.8584508895874023, + 0.3300000727176666, + 0.9992942810058594, + 9.628413408790948e-07, + 4.999274096917361e-07, + 0.037563521414995193, + -0.34307539463043213, + 0.39074206352233887, + 0.4300000071525574, + 0.9999797344207764, + 0.0, + 0.0, + -0.006366376299411058, + -0.343139111995697, + 0.3857424557209015, + 0.4050000011920929, + 0.9999797344207764, + 0.0, + 0.0, + -0.006366376299411058, + -0.2931431531906128, + 0.3851054012775421, + 0.45500001311302185, + 0.9999797344207764, + 0.0, + 0.0, + -0.006366376299411058, + -0.345623642206192, + 0.19075830280780792, + 0.18000000715255737, + 0.9999797344207764, + 0.0, + 0.0, + -0.006366376299411058, + 1.7353777885437012, + 2.9771482944488525, + 0.18000000715255737, + 0.9990823268890381, + 0.0, + 0.0, + 0.04283111169934273, + 2.040196180343628, + 2.870420455932617, + 0.7376936078071594, + 0.9999881386756897, + 0.04180867224931717, + 0.052183713763952255, + 0.9634832739830017 + ], + "count": [ + 2663 + ] + }, + "action.command": { + "mean": [ + -0.15651723617646682, + 0.06321491781119981, + 1.5883411169052124, + 0.0, + 0.0, + 0.0, + 0.0, + 0.6196546052631579, + 0.5564005703873638, + 0.7985109250278727, + 1.050174970768, + 0.20369274308905005, + 0.016464383105408997, + 0.2646551981099612, + 0.21346609641494152, + 0.5, + -0.15244235051831306, + 0.045573578294868786, + 1.5883411169052124, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.24089126604391434, + 0.1665410319199929, + 1.2129414183713967, + -0.1495417230631319, + 0.008723647735859725, + -0.02011652884938203, + 0.45443232526601224, + 0.0, + -0.1230529866323885, + 0.03693393369894035, + 1.5883411169052124, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.24089126604391434, + 0.1665410319199929, + 1.2129414183713967, + -0.1495417230631319, + 0.008723647735859725, + -0.02011652884938203, + 0.45443232526601224, + 0.0, + -0.11401960419410072, + 0.00944286008327859, + 1.5883411169052124, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.24089126604391434, + 0.1665410319199929, + 1.2129414183713967, + -0.1495417230631319, + 0.008723647735859725, + -0.02011652884938203, + 0.45443232526601224, + 0.0, + -0.07319872082414648, + 0.012294101696929583, + 1.5883411169052124, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.24089126604391434, + 0.1665410319199929, + 1.2129414183713967, + -0.1495417230631319, + 0.008723647735859725, + -0.02011652884938203, + 0.45443232526601224, + 0.0, + -0.07524257648653959, + -0.02484493281036865, + 1.5883411169052124, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.24089126604391434, + 0.1665410319199929, + 1.2129414183713967, + -0.1495417230631319, + 0.008723647735859725, + -0.02011652884938203, + 0.45443232526601224, + 0.0, + -0.06586412674061505, + -0.03095632977641818, + 1.5883411169052124, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.24089126604391434, + 0.1665410319199929, + 1.2129414183713967, + -0.1495417230631319, + 0.008723647735859725, + -0.02011652884938203, + 0.45443232526601224, + 0.0, + -0.036573405721581624, + -0.05866957273722966, + 1.5883411169052124, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.24089126604391434, + 0.1665410319199929, + 1.2129414183713967, + -0.1495417230631319, + 0.008723647735859725, + -0.02011652884938203, + 0.45443232526601224, + 0.0, + 0.00806914125792597, + -0.04721905053887582, + 1.5883411169052124, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.24089126604391434, + 0.1665410319199929, + 1.2129414183713967, + -0.1495417230631319, + 0.008723647735859725, + -0.02011652884938203, + 0.45443232526601224, + 0.0, + 0.0015771341795968537, + -0.09261840105238346, + 1.5883411169052124, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.24089126604391434, + 0.1665410319199929, + 1.2129414183713967, + -0.1495417230631319, + 0.008723647735859725, + -0.02011652884938203, + 0.45443232526601224, + 0.0, + 0.0458224541525394, + -0.07802963965009935, + 1.5883411169052124, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.24089126604391434, + 0.1665410319199929, + 1.2129414183713967, + -0.1495417230631319, + 0.008723647735859725, + -0.02011652884938203, + 0.45443232526601224, + 0.0, + 0.05697091753393843, + -0.11520224641682261, + 1.5883411169052124, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.24089126604391434, + 0.1665410319199929, + 1.2129414183713967, + -0.1495417230631319, + 0.008723647735859725, + -0.02011652884938203, + 0.45443232526601224, + 0.0, + 0.07184266009043848, + -0.09896063359747928, + 1.5883411169052124, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.24089126604391434, + 0.1665410319199929, + 1.2129414183713967, + -0.1495417230631319, + 0.008723647735859725, + -0.02011652884938203, + 0.45443232526601224, + 0.0, + 0.12385004336654186, + -0.05417307768717851, + 1.5883411169052124, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.24089126604391434, + 0.1665410319199929, + 1.2129414183713967, + -0.1495417230631319, + 0.008723647735859725, + -0.02011652884938203, + 0.45443232526601224, + 0.0, + 0.12285241977186123, + -0.08899723058062842, + 1.5883411169052124, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.24089126604391434, + 0.1665410319199929, + 1.2129414183713967, + -0.1495417230631319, + 0.008723647735859725, + -0.02011652884938203, + 0.45443232526601224, + 0.0, + 0.1343333845545296, + -0.07977474725437092, + 1.5883411169052124, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.24089126604391434, + 0.1665410319199929, + 1.2129414183713967, + -0.1495417230631319, + 0.008723647735859725, + -0.02011652884938203, + 0.45443232526601224, + 0.0, + 0.13325103338856054, + -0.09347681230202215, + 1.5883411169052124, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.24089126604391434, + 0.1665410319199929, + 1.2129414183713967, + -0.1495417230631319, + 0.008723647735859725, + -0.02011652884938203, + 0.45443232526601224, + 0.0, + 0.15645403936448574, + -0.08679244861926001, + 1.5883411169052124, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.24089126604391434, + 0.1665410319199929, + 1.2129414183713967, + -0.1495417230631319, + 0.008723647735859725, + -0.02011652884938203, + 0.45443232526601224, + 0.0, + 0.1383657901230788, + -0.1320703516048234, + 1.5883411169052124, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.24089126604391434, + 0.1665410319199929, + 1.2129414183713967, + -0.1495417230631319, + 0.008723647735859725, + -0.02011652884938203, + 0.45443232526601224, + 0.0, + 0.1802112503262394, + -0.09113645598984636, + 1.5883411169052124, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.24089126604391434, + 0.1665410319199929, + 1.2129414183713967, + -0.1495417230631319, + 0.008723647735859725, + -0.02011652884938203, + 0.45443232526601224, + 0.0, + 0.18436720601856846, + -0.12381819560159188, + 1.5883411169052124, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.24089126604391434, + 0.1665410319199929, + 1.2129414183713967, + -0.1495417230631319, + 0.008723647735859725, + -0.02011652884938203, + 0.45443232526601224, + 0.0, + 0.20445329990445069, + -0.09472836916081703, + 1.5883411169052124, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.24089126604391434, + 0.1665410319199929, + 1.2129414183713967, + -0.1495417230631319, + 0.008723647735859725, + -0.02011652884938203, + 0.45443232526601224, + 0.0, + 0.177765360608504, + -0.1370351020834052, + 1.5883411169052124, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.24089126604391434, + 0.1665410319199929, + 1.2129414183713967, + -0.1495417230631319, + 0.008723647735859725, + -0.02011652884938203, + 0.45443232526601224, + 0.0, + 0.22937276339767002, + -0.09747474886312434, + 1.5883411169052124, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.24089126604391434, + 0.1665410319199929, + 1.2129414183713967, + -0.1495417230631319, + 0.008723647735859725, + -0.02011652884938203, + 0.45443232526601224, + 0.0, + 0.22790014226293165, + -0.1283694004295259, + 1.5883411169052124, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.24089126604391434, + 0.1665410319199929, + 1.2129414183713967, + -0.1495417230631319, + 0.008723647735859725, + -0.02011652884938203, + 0.45443232526601224, + 0.0, + 0.2546654635045879, + -0.09964485914763474, + 1.5883411169052124, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.24089126604391434, + 0.1665410319199929, + 1.2129414183713967, + -0.1495417230631319, + 0.008723647735859725, + -0.02011652884938203, + 0.45443232526601224, + 0.0, + 0.24652852702485817, + -0.1336115836495674, + 1.5883411169052124, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.24089126604391434, + 0.1665410319199929, + 1.2129414183713967, + -0.1495417230631319, + 0.008723647735859725, + -0.02011652884938203, + 0.45443232526601224, + 0.0, + 0.28001388591931964, + -0.10161861947539737, + 1.5883411169052124, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.24089126604391434, + 0.1665410319199929, + 1.2129414183713967, + -0.1495417230631319, + 0.008723647735859725, + -0.02011652884938203, + 0.45443232526601224, + 0.0, + 0.2614933219195683, + -0.1425144671372394, + 1.5883411169052124, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.24089126604391434, + 0.1665410319199929, + 1.2129414183713967, + -0.1495417230631319, + 0.008723647735859725, + -0.02011652884938203, + 0.45443232526601224, + 0.0, + 0.30562825409038685, + -0.10309744227368325, + 1.5883411169052124, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.24089126604391434, + 0.1665410319199929, + 1.2129414183713967, + -0.1495417230631319, + 0.008723647735859725, + -0.02011652884938203, + 0.45443232526601224, + 0.0, + 0.3069844880543496, + -0.14036453967546564, + 1.5883411169052124, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.24089126604391434, + 0.1665410319199929, + 1.2129414183713967, + -0.1495417230631319, + 0.008723647735859725, + -0.02011652884938203, + 0.45443232526601224, + 0.0, + 0.31330886671584884, + -0.13335008233762932, + 1.5883411169052124, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.24089126604391434, + 0.1665410319199929, + 1.2129414183713967, + -0.1495417230631319, + 0.008723647735859725, + -0.02011652884938203, + 0.45443232526601224, + 0.0, + 0.33815746364571714, + -0.09919782778459565, + 1.5883411169052124, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.24089126604391434, + 0.1665410319199929, + 1.2129414183713967, + -0.1495417230631319, + 0.008723647735859725, + -0.02011652884938203, + 0.45443232526601224, + 0.0, + 0.37214842904004447, + -0.08531320918995464, + 1.5883411169052124, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.24089126604391434, + 0.1665410319199929, + 1.2129414183713967, + -0.1495417230631319, + 0.008723647735859725, + -0.02011652884938203, + 0.45443232526601224, + 0.0, + 0.37289194008002097, + -0.10515376040250948, + 1.5883411169052124, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.24089126604391434, + 0.1665410319199929, + 1.2129414183713967, + -0.1495417230631319, + 0.008723647735859725, + -0.02011652884938203, + 0.45443232526601224, + 0.0, + 0.3911572281903923, + -0.09707353783307508, + 1.5883411169052124, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.24089126604391434, + 0.1665410319199929, + 1.2129414183713967, + -0.1495417230631319, + 0.008723647735859725, + -0.02011652884938203, + 0.45443232526601224, + 0.0, + 0.41353749468502704, + -0.09376882925709058, + 1.5883411169052124, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.24089126604391434, + 0.1665410319199929, + 1.2129414183713967, + -0.1495417230631319, + 0.008723647735859725, + -0.02011652884938203, + 0.45443232526601224, + 0.0, + 0.40513118854117414, + -0.1154756383049697, + 1.5883411169052124, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.24089126604391434, + 0.1665410319199929, + 1.2129414183713967, + -0.1495417230631319, + 0.008723647735859725, + -0.02011652884938203, + 0.45443232526601224, + 0.0, + 0.3950384685149741, + -0.07169234148891301, + 1.5883411169052124, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.24089126604391434, + 0.1665410319199929, + 1.2129414183713967, + -0.1495417230631319, + 0.008723647735859725, + -0.02011652884938203, + 0.45443232526601224, + 0.0, + 0.40250690530500427, + -0.06052426232332867, + 1.5883411169052124, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.24089126604391434, + 0.1665410319199929, + 1.2129414183713967, + -0.1495417230631319, + 0.008723647735859725, + -0.02011652884938203, + 0.45443232526601224, + 0.0, + 0.39985202583119056, + -0.02989292857488965, + 1.5883411169052124, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.24089126604391434, + 0.1665410319199929, + 1.2129414183713967, + -0.1495417230631319, + 0.008723647735859725, + -0.02011652884938203, + 0.45443232526601224, + 0.0, + 0.408139514394235, + -0.01817169710596554, + 1.5883411169052124, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.24089126604391434, + 0.1665410319199929, + 1.2129414183713967, + -0.1495417230631319, + 0.008723647735859725, + -0.02011652884938203, + 0.45443232526601224, + 0.0, + 0.427459930752809, + 0.017559657002439593, + 1.5883411169052124, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.24089126604391434, + 0.1665410319199929, + 1.2129414183713967, + -0.1495417230631319, + 0.008723647735859725, + -0.02011652884938203, + 0.45443232526601224, + 0.0, + 0.39731428743271274, + 0.04178296275839766, + 1.5883411169052124, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.24089126604391434, + 0.1665410319199929, + 1.2129414183713967, + -0.1495417230631319, + 0.008723647735859725, + -0.02011652884938203, + 0.45443232526601224, + 0.0, + 0.6727066891644286, + 0.36573406124362057, + 1.599263020130019, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.7886122275819433, + 0.5839851625379503, + 1.1551916115642211, + -0.11224776495614817, + 0.052199126563850465, + 0.014759651822438512, + 0.2771837802439774, + 0.0, + 0.6265231047269594, + 0.36946440644832473, + 1.599263020130019, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.7886122275819433, + 0.5839851625379503, + 1.1551916115642211, + -0.11224776495614817, + 0.052199126563850465, + 0.014759651822438512, + 0.2771837802439774, + 0.0, + 0.6328249128371323, + 0.41091218291169, + 1.599263020130019, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.7886122275819433, + 0.5839851625379503, + 1.1551916115642211, + -0.11224776495614817, + 0.052199126563850465, + 0.014759651822438512, + 0.2771837802439774, + 0.0, + 2.0305778980255127, + 2.0490074157714844, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1225413874086767, + 1.016390311799132, + 1.373079776763916, + -0.44381057780863037, + -0.08494958486223575, + -0.1373734459981765, + 0.8714930003527368, + 0.0 + ], + "std": [ + 2.1725235888519085, + 1.7524214704719538, + 0.04542946815490723, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4952199756020073, + 1.2708568200383976, + 1.491010544398972, + 0.286712820729368, + 0.5057104185722815, + 0.2947240715575059, + 0.39748564592311514, + 0.5848313473333097, + 0.5, + 2.1513438018538986, + 1.7193859224937593, + 0.04542946815490723, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.271360310286629, + 1.1922251836890574, + 0.18540624483878818, + 0.3495788403532478, + 0.3973735472838255, + 0.26278015733953014, + 0.6492171491848366, + 0.0, + 2.1145787583698463, + 1.6771696266259086, + 0.04542946815490723, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.271360310286629, + 1.1922251836890574, + 0.18540624483878818, + 0.3495788403532478, + 0.3973735472838255, + 0.26278015733953014, + 0.6492171491848366, + 0.0, + 2.0443311265676947, + 1.6139671268573668, + 0.04542946815490723, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.271360310286629, + 1.1922251836890574, + 0.18540624483878818, + 0.3495788403532478, + 0.3973735472838255, + 0.26278015733953014, + 0.6492171491848366, + 0.0, + 1.9781274652849592, + 1.5719588646919687, + 0.04542946815490723, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.271360310286629, + 1.1922251836890574, + 0.18540624483878818, + 0.3495788403532478, + 0.3973735472838255, + 0.26278015733953014, + 0.6492171491848366, + 0.0, + 1.9425334200918853, + 1.5122535429143698, + 0.04542946815490723, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.271360310286629, + 1.1922251836890574, + 0.18540624483878818, + 0.3495788403532478, + 0.3973735472838255, + 0.26278015733953014, + 0.6492171491848366, + 0.0, + 1.9268519768411174, + 1.493060096939759, + 0.04542946815490723, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.271360310286629, + 1.1922251836890574, + 0.18540624483878818, + 0.3495788403532478, + 0.3973735472838255, + 0.26278015733953014, + 0.6492171491848366, + 0.0, + 1.8443542331902407, + 1.4122463126783464, + 0.04542946815490723, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.271360310286629, + 1.1922251836890574, + 0.18540624483878818, + 0.3495788403532478, + 0.3973735472838255, + 0.26278015733953014, + 0.6492171491848366, + 0.0, + 1.8093792018450259, + 1.3875787672073927, + 0.04542946815490723, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.271360310286629, + 1.1922251836890574, + 0.18540624483878818, + 0.3495788403532478, + 0.3973735472838255, + 0.26278015733953014, + 0.6492171491848366, + 0.0, + 1.7492308796757603, + 1.3133148558059178, + 0.04542946815490723, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.271360310286629, + 1.1922251836890574, + 0.18540624483878818, + 0.3495788403532478, + 0.3973735472838255, + 0.26278015733953014, + 0.6492171491848366, + 0.0, + 1.704832095896789, + 1.2906412194106138, + 0.04542946815490723, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.271360310286629, + 1.1922251836890574, + 0.18540624483878818, + 0.3495788403532478, + 0.3973735472838255, + 0.26278015733953014, + 0.6492171491848366, + 0.0, + 1.6638332789133496, + 1.2206856532535115, + 0.04542946815490723, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.271360310286629, + 1.1922251836890574, + 0.18540624483878818, + 0.3495788403532478, + 0.3973735472838255, + 0.26278015733953014, + 0.6492171491848366, + 0.0, + 1.652993856526309, + 1.2054630089936975, + 0.04542946815490723, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.271360310286629, + 1.1922251836890574, + 0.18540624483878818, + 0.3495788403532478, + 0.3973735472838255, + 0.26278015733953014, + 0.6492171491848366, + 0.0, + 1.6058276331357728, + 1.1788638933233797, + 0.04542946815490723, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.271360310286629, + 1.1922251836890574, + 0.18540624483878818, + 0.3495788403532478, + 0.3973735472838255, + 0.26278015733953014, + 0.6492171491848366, + 0.0, + 1.5252118510772519, + 1.094596491214127, + 0.04542946815490723, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.271360310286629, + 1.1922251836890574, + 0.18540624483878818, + 0.3495788403532478, + 0.3973735472838255, + 0.26278015733953014, + 0.6492171491848366, + 0.0, + 1.5120234625561966, + 1.0838216430791359, + 0.04542946815490723, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.271360310286629, + 1.1922251836890574, + 0.18540624483878818, + 0.3495788403532478, + 0.3973735472838255, + 0.26278015733953014, + 0.6492171491848366, + 0.0, + 1.4701930305988513, + 1.0173953596143477, + 0.04542946815490723, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.271360310286629, + 1.1922251836890574, + 0.18540624483878818, + 0.3495788403532478, + 0.3973735472838255, + 0.26278015733953014, + 0.6492171491848366, + 0.0, + 1.423993013334812, + 0.9922091755512089, + 0.04542946815490723, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.271360310286629, + 1.1922251836890574, + 0.18540624483878818, + 0.3495788403532478, + 0.3973735472838255, + 0.26278015733953014, + 0.6492171491848366, + 0.0, + 1.3710930462751432, + 0.9317475602591153, + 0.04542946815490723, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.271360310286629, + 1.1922251836890574, + 0.18540624483878818, + 0.3495788403532478, + 0.3973735472838255, + 0.26278015733953014, + 0.6492171491848366, + 0.0, + 1.3400168927018912, + 0.9110400047538048, + 0.04542946815490723, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.271360310286629, + 1.1922251836890574, + 0.18540624483878818, + 0.3495788403532478, + 0.3973735472838255, + 0.26278015733953014, + 0.6492171491848366, + 0.0, + 1.2588313377638078, + 0.8455638397450134, + 0.04542946815490723, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.271360310286629, + 1.1922251836890574, + 0.18540624483878818, + 0.3495788403532478, + 0.3973735472838255, + 0.26278015733953014, + 0.6492171491848366, + 0.0, + 1.2605195064890038, + 0.8444197046297295, + 0.04542946815490723, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.271360310286629, + 1.1922251836890574, + 0.18540624483878818, + 0.3495788403532478, + 0.3973735472838255, + 0.26278015733953014, + 0.6492171491848366, + 0.0, + 1.2388410622006545, + 0.8106913636116528, + 0.04542946815490723, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.271360310286629, + 1.1922251836890574, + 0.18540624483878818, + 0.3495788403532478, + 0.3973735472838255, + 0.26278015733953014, + 0.6492171491848366, + 0.0, + 1.1862480620307507, + 0.7963804903611987, + 0.04542946815490723, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.271360310286629, + 1.1922251836890574, + 0.18540624483878818, + 0.3495788403532478, + 0.3973735472838255, + 0.26278015733953014, + 0.6492171491848366, + 0.0, + 1.1270790626804421, + 0.7550994982767701, + 0.04542946815490723, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.271360310286629, + 1.1922251836890574, + 0.18540624483878818, + 0.3495788403532478, + 0.3973735472838255, + 0.26278015733953014, + 0.6492171491848366, + 0.0, + 1.118393820173132, + 0.7701852678626561, + 0.04542946815490723, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.271360310286629, + 1.1922251836890574, + 0.18540624483878818, + 0.3495788403532478, + 0.3973735472838255, + 0.26278015733953014, + 0.6492171491848366, + 0.0, + 1.072587159785176, + 0.7426647951478017, + 0.04542946815490723, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.271360310286629, + 1.1922251836890574, + 0.18540624483878818, + 0.3495788403532478, + 0.3973735472838255, + 0.26278015733953014, + 0.6492171491848366, + 0.0, + 1.058213068134326, + 0.7680575364442354, + 0.04542946815490723, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.271360310286629, + 1.1922251836890574, + 0.18540624483878818, + 0.3495788403532478, + 0.3973735472838255, + 0.26278015733953014, + 0.6492171491848366, + 0.0, + 1.0277267437696578, + 0.7543414157026828, + 0.04542946815490723, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.271360310286629, + 1.1922251836890574, + 0.18540624483878818, + 0.3495788403532478, + 0.3973735472838255, + 0.26278015733953014, + 0.6492171491848366, + 0.0, + 1.0070305943877447, + 0.7900115760076928, + 0.04542946815490723, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.271360310286629, + 1.1922251836890574, + 0.18540624483878818, + 0.3495788403532478, + 0.3973735472838255, + 0.26278015733953014, + 0.6492171491848366, + 0.0, + 0.9409024322259635, + 0.7715779671875465, + 0.04542946815490723, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.271360310286629, + 1.1922251836890574, + 0.18540624483878818, + 0.3495788403532478, + 0.3973735472838255, + 0.26278015733953014, + 0.6492171491848366, + 0.0, + 0.9432100972574117, + 0.7859224802778377, + 0.04542946815490723, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.271360310286629, + 1.1922251836890574, + 0.18540624483878818, + 0.3495788403532478, + 0.3973735472838255, + 0.26278015733953014, + 0.6492171491848366, + 0.0, + 0.9582818917762799, + 0.8281144116285258, + 0.04542946815490723, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.271360310286629, + 1.1922251836890574, + 0.18540624483878818, + 0.3495788403532478, + 0.3973735472838255, + 0.26278015733953014, + 0.6492171491848366, + 0.0, + 0.9064533970857765, + 0.8125493504682276, + 0.04542946815490723, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.271360310286629, + 1.1922251836890574, + 0.18540624483878818, + 0.3495788403532478, + 0.3973735472838255, + 0.26278015733953014, + 0.6492171491848366, + 0.0, + 0.9022457841061506, + 0.8823031499779285, + 0.04542946815490723, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.271360310286629, + 1.1922251836890574, + 0.18540624483878818, + 0.3495788403532478, + 0.3973735472838255, + 0.26278015733953014, + 0.6492171491848366, + 0.0, + 0.8790124782586246, + 0.8803059885609917, + 0.04542946815490723, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.271360310286629, + 1.1922251836890574, + 0.18540624483878818, + 0.3495788403532478, + 0.3973735472838255, + 0.26278015733953014, + 0.6492171491848366, + 0.0, + 0.87253155679241, + 0.94901115236152, + 0.04542946815490723, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.271360310286629, + 1.1922251836890574, + 0.18540624483878818, + 0.3495788403532478, + 0.3973735472838255, + 0.26278015733953014, + 0.6492171491848366, + 0.0, + 0.8680055627495981, + 0.9692648151264045, + 0.04542946815490723, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.271360310286629, + 1.1922251836890574, + 0.18540624483878818, + 0.3495788403532478, + 0.3973735472838255, + 0.26278015733953014, + 0.6492171491848366, + 0.0, + 0.9033413245363553, + 1.025729575617094, + 0.04542946815490723, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.271360310286629, + 1.1922251836890574, + 0.18540624483878818, + 0.3495788403532478, + 0.3973735472838255, + 0.26278015733953014, + 0.6492171491848366, + 0.0, + 0.8801823143484312, + 1.0310096891326994, + 0.04542946815490723, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.271360310286629, + 1.1922251836890574, + 0.18540624483878818, + 0.3495788403532478, + 0.3973735472838255, + 0.26278015733953014, + 0.6492171491848366, + 0.0, + 0.907294757913703, + 1.0882281641254612, + 0.04542946815490723, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.271360310286629, + 1.1922251836890574, + 0.18540624483878818, + 0.3495788403532478, + 0.3973735472838255, + 0.26278015733953014, + 0.6492171491848366, + 0.0, + 0.9107282776648205, + 1.1018833063262963, + 0.04542946815490723, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.271360310286629, + 1.1922251836890574, + 0.18540624483878818, + 0.3495788403532478, + 0.3973735472838255, + 0.26278015733953014, + 0.6492171491848366, + 0.0, + 0.9383022933569977, + 1.1532875379629954, + 0.04542946815490723, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.271360310286629, + 1.1922251836890574, + 0.18540624483878818, + 0.3495788403532478, + 0.3973735472838255, + 0.26278015733953014, + 0.6492171491848366, + 0.0, + 0.9720297001008625, + 1.1637176853994162, + 0.04542946815490723, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.271360310286629, + 1.1922251836890574, + 0.18540624483878818, + 0.3495788403532478, + 0.3973735472838255, + 0.26278015733953014, + 0.6492171491848366, + 0.0, + 1.0558264811758211, + 1.2942437268076579, + 0.048559538909167865, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.8543996443429318, + 1.1001396841297701, + 0.18490254707286388, + 0.39574912193017747, + 0.4556553895758032, + 0.29886268610444117, + 0.6738460473613637, + 0.0, + 1.1268228962421585, + 1.3414574167433408, + 0.048559538909167865, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.8543996443429318, + 1.1001396841297701, + 0.18490254707286388, + 0.39574912193017747, + 0.4556553895758032, + 0.29886268610444117, + 0.6738460473613637, + 0.0, + 1.1672619396014818, + 1.3788121432324814, + 0.048559538909167865, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.8543996443429318, + 1.1001396841297701, + 0.18490254707286388, + 0.39574912193017747, + 0.4556553895758032, + 0.29886268610444117, + 0.6738460473613637, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.7291544106668576, + 1.0340427480904257, + 0.0, + 0.11799239241121427, + 0.017798740954823214, + 0.012097858154177046, + 0.05530385592055457, + 0.0 + ], + "min": [ + -3.3560163974761963, + -2.0892891883850098, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0, + -3.2127041816711426, + -1.6484390497207642, + 0.5897411108016968, + -0.6951671242713928, + -0.6689767241477966, + -0.21951191127300262, + -0.7130944728851318, + 0.0, + -3.349677085876465, + -2.0866684913635254, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 0.9982810020446777, + -0.6951671242713928, + -0.6689767241477966, + -0.21951191127300262, + -0.6841845512390137, + 0.0, + -3.3067638874053955, + -2.0689280033111572, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 0.9982810020446777, + -0.6951671242713928, + -0.6689767241477966, + -0.21951191127300262, + -0.6841845512390137, + 0.0, + -3.199604034423828, + -2.024627923965454, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 0.9982810020446777, + -0.6951671242713928, + -0.6689767241477966, + -0.21951191127300262, + -0.6841845512390137, + 0.0, + -3.0651321411132812, + -1.9690369367599487, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 0.9982810020446777, + -0.6951671242713928, + -0.6689767241477966, + -0.21951191127300262, + -0.6841845512390137, + 0.0, + -3.053161144256592, + -1.9640880823135376, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 0.9982810020446777, + -0.6951671242713928, + -0.6689767241477966, + -0.21951191127300262, + -0.6841845512390137, + 0.0, + -3.033889055252075, + -1.9561209678649902, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 0.9982810020446777, + -0.6951671242713928, + -0.6689767241477966, + -0.21951191127300262, + -0.6841845512390137, + 0.0, + -2.9081273078918457, + -1.9041306972503662, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 0.9982810020446777, + -0.6951671242713928, + -0.6689767241477966, + -0.21951191127300262, + -0.6841845512390137, + 0.0, + -2.8295769691467285, + -1.8716578483581543, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 0.9982810020446777, + -0.6951671242713928, + -0.6689767241477966, + -0.21951191127300262, + -0.6841845512390137, + 0.0, + -2.763155698776245, + -1.8441991806030273, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 0.9982810020446777, + -0.6951671242713928, + -0.6689767241477966, + -0.21951191127300262, + -0.6841845512390137, + 0.0, + -2.6568124294281006, + -1.8002365827560425, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 0.9982810020446777, + -0.6951671242713928, + -0.6689767241477966, + -0.21951191127300262, + -0.6841845512390137, + 0.0, + -2.6180005073547363, + -1.784191608428955, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 0.9982810020446777, + -0.6951671242713928, + -0.6689767241477966, + -0.21951191127300262, + -0.6841845512390137, + 0.0, + -2.5935702323913574, + -1.7740920782089233, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 0.9982810020446777, + -0.6951671242713928, + -0.6689767241477966, + -0.21951191127300262, + -0.6841845512390137, + 0.0, + -2.4723377227783203, + -1.7239742279052734, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 0.9982810020446777, + -0.6951671242713928, + -0.6689767241477966, + -0.21951191127300262, + -0.6841845512390137, + 0.0, + -2.3562211990356445, + -1.675971269607544, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 0.9982810020446777, + -0.6951671242713928, + -0.6689767241477966, + -0.21951191127300262, + -0.6841845512390137, + 0.0, + -2.3266751766204834, + -1.6637569665908813, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 0.9982810020446777, + -0.6951671242713928, + -0.6689767241477966, + -0.21951191127300262, + -0.6841845512390137, + 0.0, + -2.279735565185547, + -1.6443520784378052, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 0.9982810020446777, + -0.6951671242713928, + -0.6689767241477966, + -0.21951191127300262, + -0.6841845512390137, + 0.0, + -2.181480884552002, + -1.6037333011627197, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 0.9982810020446777, + -0.6951671242713928, + -0.6689767241477966, + -0.21951191127300262, + -0.6841845512390137, + 0.0, + -2.1201119422912598, + -1.5783631801605225, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 0.9982810020446777, + -0.6951671242713928, + -0.6689767241477966, + -0.21951191127300262, + -0.6841845512390137, + 0.0, + -2.0365095138549805, + -1.5438016653060913, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 0.9982810020446777, + -0.6951671242713928, + -0.6689767241477966, + -0.21951191127300262, + -0.6841845512390137, + 0.0, + -1.9026585817337036, + -1.4884673357009888, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 0.9982810020446777, + -0.6951671242713928, + -0.6689767241477966, + -0.21951191127300262, + -0.6841845512390137, + 0.0, + -1.8914850950241089, + -1.483848214149475, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 0.9982810020446777, + -0.6951671242713928, + -0.6689767241477966, + -0.21951191127300262, + -0.6841845512390137, + 0.0, + -1.884451985359192, + -1.4809406995773315, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 0.9982810020446777, + -0.6951671242713928, + -0.6689767241477966, + -0.21951191127300262, + -0.6841845512390137, + 0.0, + -1.745822548866272, + -1.4236308336257935, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 0.9982810020446777, + -0.6951671242713928, + -0.6689767241477966, + -0.21951191127300262, + -0.6841845512390137, + 0.0, + -1.6471025943756104, + -1.3828197717666626, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 0.9982810020446777, + -0.6951671242713928, + -0.6689767241477966, + -0.21951191127300262, + -0.6841845512390137, + 0.0, + -1.6001598834991455, + -1.3634135723114014, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 0.9982810020446777, + -0.6951671242713928, + -0.6689767241477966, + -0.21951191127300262, + -0.6841845512390137, + 0.0, + -1.525581955909729, + -1.3325828313827515, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 0.9982810020446777, + -0.6951671242713928, + -0.6689767241477966, + -0.21951191127300262, + -0.6841845512390137, + 0.0, + -1.4548345804214478, + -1.3033356666564941, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 0.9982810020446777, + -0.6951671242713928, + -0.6689767241477966, + -0.21951191127300262, + -0.6841845512390137, + 0.0, + -1.4106491804122925, + -1.2850693464279175, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 0.9982810020446777, + -0.6951671242713928, + -0.6689767241477966, + -0.21951191127300262, + -0.6841845512390137, + 0.0, + -1.309828519821167, + -1.2433898448944092, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 0.9982810020446777, + -0.6951671242713928, + -0.6689767241477966, + -0.21951191127300262, + -0.6841845512390137, + 0.0, + -1.1751844882965088, + -1.1877275705337524, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 0.9982810020446777, + -0.6951671242713928, + -0.6689767241477966, + -0.21951191127300262, + -0.6841845512390137, + 0.0, + -1.1646393537521362, + -1.18336820602417, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 0.9982810020446777, + -0.6951671242713928, + -0.6689767241477966, + -0.21951191127300262, + -0.6841845512390137, + 0.0, + -1.1476329565048218, + -1.176337718963623, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 0.9982810020446777, + -0.6951671242713928, + -0.6689767241477966, + -0.21951191127300262, + -0.6841845512390137, + 0.0, + -1.0185554027557373, + -1.1229766607284546, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 0.9982810020446777, + -0.6951671242713928, + -0.6689767241477966, + -0.21951191127300262, + -0.6841845512390137, + 0.0, + -0.9403017163276672, + -1.0906263589859009, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 0.9982810020446777, + -0.6951671242713928, + -0.6689767241477966, + -0.21951191127300262, + -0.6841845512390137, + 0.0, + -0.8726631999015808, + -1.0626643896102905, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 0.9982810020446777, + -0.6951671242713928, + -0.6689767241477966, + -0.21951191127300262, + -0.6841845512390137, + 0.0, + -0.7617120742797852, + -1.0167968273162842, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 0.9982810020446777, + -0.6951671242713928, + -0.6689767241477966, + -0.21951191127300262, + -0.6841845512390137, + 0.0, + -0.7274065017700195, + -1.0026148557662964, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 0.9982810020446777, + -0.6951671242713928, + -0.6689767241477966, + -0.21951191127300262, + -0.6841845512390137, + 0.0, + -0.7081732749938965, + -0.9946637749671936, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 0.9982810020446777, + -0.6951671242713928, + -0.6689767241477966, + -0.21951191127300262, + -0.6841845512390137, + 0.0, + -0.5833626985549927, + -0.9430667161941528, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 0.9982810020446777, + -0.6951671242713928, + -0.6689767241477966, + -0.21951191127300262, + -0.6841845512390137, + 0.0, + -0.4812238812446594, + -0.9008422493934631, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 0.9982810020446777, + -0.6951671242713928, + -0.6689767241477966, + -0.21951191127300262, + -0.6841845512390137, + 0.0, + -0.43952715396881104, + -0.8836047053337097, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 0.9982810020446777, + -0.6951671242713928, + -0.6689767241477966, + -0.21951191127300262, + -0.6841845512390137, + 0.0, + -0.3675217628479004, + -0.8538374900817871, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 0.9982810020446777, + -0.6951671242713928, + -0.6689767241477966, + -0.21951191127300262, + -0.6841845512390137, + 0.0, + -0.3577277660369873, + -0.759164571762085, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 0.9982810020446777, + -0.6951671242713928, + -0.6689767241477966, + -0.21951191127300262, + -0.6841845512390137, + 0.0, + -0.22328050434589386, + -0.7325769066810608, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.8067470788955688, + -0.9036992788314819, + 0.9982810020446777, + -0.6951671242713928, + -0.6689767241477966, + -0.21951191127300262, + -0.6841845512390137, + 0.0, + -0.32971251010894775, + -0.768912672996521, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.8067470788955688, + -0.9036992788314819, + 0.9982810020446777, + -0.6951671242713928, + -0.6689767241477966, + -0.21951191127300262, + -0.6841845512390137, + 0.0, + -0.3577277660369873, + -0.759164571762085, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.8067470788955688, + -0.9036992788314819, + 0.9982810020446777, + -0.6951671242713928, + -0.6689767241477966, + -0.21951191127300262, + -0.6841845512390137, + 0.0, + 2.0305778980255127, + 2.0490074157714844, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.5421628952026367, + -0.38853245973587036, + 1.373079776763916, + -0.6951671242713928, + -0.11989383399486542, + -0.1581571400165558, + 0.7001366019248962, + 0.0 + ], + "max": [ + 2.001044750213623, + 2.010735034942627, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0970516204833984, + 2.951319456100464, + 1.3731135129928589, + 0.8743928670883179, + 0.677974283695221, + 0.9520970582962036, + 0.9673556685447693, + 1.0, + 1.961229920387268, + 1.9503734111785889, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0970516204833984, + 2.5051543712615967, + 1.3730809688568115, + 0.7093961834907532, + 0.677974283695221, + 0.7047845125198364, + 0.9673556685447693, + 0.0, + 1.9193347692489624, + 1.8868578672409058, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0970516204833984, + 2.5051543712615967, + 1.3730809688568115, + 0.7093961834907532, + 0.677974283695221, + 0.7047845125198364, + 0.9673556685447693, + 0.0, + 1.8535983562469482, + 1.787197470664978, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0970516204833984, + 2.5051543712615967, + 1.3730809688568115, + 0.7093961834907532, + 0.677974283695221, + 0.7047845125198364, + 0.9673556685447693, + 0.0, + 1.8249144554138184, + 1.7437108755111694, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0970516204833984, + 2.5051543712615967, + 1.3730809688568115, + 0.7093961834907532, + 0.677974283695221, + 0.7047845125198364, + 0.9673556685447693, + 0.0, + 1.7495542764663696, + 1.629460334777832, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0970516204833984, + 2.5051543712615967, + 1.3730809688568115, + 0.7093961834907532, + 0.677974283695221, + 0.7047845125198364, + 0.9673556685447693, + 0.0, + 1.7291598320007324, + 1.5985411405563354, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0970516204833984, + 2.5051543712615967, + 1.3730809688568115, + 0.7093961834907532, + 0.677974283695221, + 0.7047845125198364, + 0.9673556685447693, + 0.0, + 1.646575927734375, + 1.4733390808105469, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0970516204833984, + 2.5051543712615967, + 1.3730809688568115, + 0.7093961834907532, + 0.677974283695221, + 0.7047845125198364, + 0.9673556685447693, + 0.0, + 1.6335341930389404, + 1.4535670280456543, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0970516204833984, + 2.5051543712615967, + 1.3730809688568115, + 0.7093961834907532, + 0.677974283695221, + 0.7047845125198364, + 0.9673556685447693, + 0.0, + 1.5437538623809814, + 1.3174546957015991, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0970516204833984, + 2.5051543712615967, + 1.3730809688568115, + 0.7093961834907532, + 0.677974283695221, + 0.7047845125198364, + 0.9673556685447693, + 0.0, + 1.537070631980896, + 1.3073225021362305, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0970516204833984, + 2.5051543712615967, + 1.3730809688568115, + 0.7093961834907532, + 0.677974283695221, + 0.7047845125198364, + 0.9673556685447693, + 0.0, + 1.4507322311401367, + 1.1764284372329712, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0970516204833984, + 2.5051543712615967, + 1.3730809688568115, + 0.7093961834907532, + 0.677974283695221, + 0.7047845125198364, + 0.9673556685447693, + 0.0, + 1.4416358470916748, + 1.162637710571289, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0970516204833984, + 2.5051543712615967, + 1.3730809688568115, + 0.7093961834907532, + 0.677974283695221, + 0.7047845125198364, + 0.9673556685447693, + 0.0, + 1.4409316778182983, + 1.1615701913833618, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0970516204833984, + 2.5051543712615967, + 1.3730809688568115, + 0.7093961834907532, + 0.677974283695221, + 0.7047845125198364, + 0.9673556685447693, + 0.0, + 1.3451029062271118, + 1.0162880420684814, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0970516204833984, + 2.5051543712615967, + 1.3730809688568115, + 0.7093961834907532, + 0.677974283695221, + 0.7047845125198364, + 0.9673556685447693, + 0.0, + 1.3380995988845825, + 1.0056706666946411, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0970516204833984, + 2.5051543712615967, + 1.3730809688568115, + 0.7093961834907532, + 0.677974283695221, + 0.7047845125198364, + 0.9673556685447693, + 0.0, + 1.2493962049484253, + 0.8711910247802734, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0970516204833984, + 2.5051543712615967, + 1.3730809688568115, + 0.7093961834907532, + 0.677974283695221, + 0.7047845125198364, + 0.9673556685447693, + 0.0, + 1.2351018190383911, + 0.8495197892189026, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0970516204833984, + 2.5051543712615967, + 1.3730809688568115, + 0.7093961834907532, + 0.677974283695221, + 0.7047845125198364, + 0.9673556685447693, + 0.0, + 1.1519430875778198, + 0.723446249961853, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0970516204833984, + 2.5051543712615967, + 1.3730809688568115, + 0.7093961834907532, + 0.677974283695221, + 0.7047845125198364, + 0.9673556685447693, + 0.0, + 1.1316875219345093, + 0.6927376389503479, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0970516204833984, + 2.5051543712615967, + 1.3730809688568115, + 0.7093961834907532, + 0.677974283695221, + 0.7047845125198364, + 0.9673556685447693, + 0.0, + 1.0537171363830566, + 0.5745299458503723, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0970516204833984, + 2.5051543712615967, + 1.3730809688568115, + 0.7093961834907532, + 0.677974283695221, + 0.7047845125198364, + 0.9673556685447693, + 0.0, + 1.0282520055770874, + 0.5359232425689697, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0970516204833984, + 2.5051543712615967, + 1.3730809688568115, + 0.7093961834907532, + 0.677974283695221, + 0.7047845125198364, + 0.9673556685447693, + 0.0, + 0.9542230367660522, + 0.4236908555030823, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0970516204833984, + 2.5051543712615967, + 1.3730809688568115, + 0.7093961834907532, + 0.677974283695221, + 0.7047845125198364, + 0.9673556685447693, + 0.0, + 0.9636629819869995, + 0.3809252679347992, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0970516204833984, + 2.5051543712615967, + 1.3730809688568115, + 0.7093961834907532, + 0.677974283695221, + 0.7047845125198364, + 0.9673556685447693, + 0.0, + 0.9726929068565369, + 0.3952290117740631, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0970516204833984, + 2.5051543712615967, + 1.3730809688568115, + 0.7093961834907532, + 0.677974283695221, + 0.7047845125198364, + 0.9673556685447693, + 0.0, + 1.0619003772735596, + 0.5365365743637085, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0970516204833984, + 2.5051543712615967, + 1.3730809688568115, + 0.7093961834907532, + 0.677974283695221, + 0.7047845125198364, + 0.9673556685447693, + 0.0, + 1.0697765350341797, + 0.5490127801895142, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0970516204833984, + 2.5051543712615967, + 1.3730809688568115, + 0.7093961834907532, + 0.677974283695221, + 0.7047845125198364, + 0.9673556685447693, + 0.0, + 1.1607705354690552, + 0.6931502223014832, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0970516204833984, + 2.5051543712615967, + 1.3730809688568115, + 0.7093961834907532, + 0.677974283695221, + 0.7047845125198364, + 0.9673556685447693, + 0.0, + 1.1653447151184082, + 0.7003958225250244, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0970516204833984, + 2.5051543712615967, + 1.3730809688568115, + 0.7093961834907532, + 0.677974283695221, + 0.7047845125198364, + 0.9673556685447693, + 0.0, + 1.259568452835083, + 0.8496494293212891, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0970516204833984, + 2.5051543712615967, + 1.3730809688568115, + 0.7093961834907532, + 0.677974283695221, + 0.7047845125198364, + 0.9673556685447693, + 0.0, + 1.2608351707458496, + 0.8516559600830078, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0970516204833984, + 2.5051543712615967, + 1.3730809688568115, + 0.7093961834907532, + 0.677974283695221, + 0.7047845125198364, + 0.9673556685447693, + 0.0, + 1.285129189491272, + 0.890138566493988, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0970516204833984, + 2.5051543712615967, + 1.3730809688568115, + 0.7093961834907532, + 0.677974283695221, + 0.7047845125198364, + 0.9673556685447693, + 0.0, + 1.3544780015945435, + 0.99998939037323, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0970516204833984, + 2.5051543712615967, + 1.3730809688568115, + 0.7093961834907532, + 0.677974283695221, + 0.7047845125198364, + 0.9673556685447693, + 0.0, + 1.3580740690231323, + 1.0056856870651245, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0970516204833984, + 2.5051543712615967, + 1.3730809688568115, + 0.7093961834907532, + 0.677974283695221, + 0.7047845125198364, + 0.9673556685447693, + 0.0, + 1.4490103721618652, + 1.1497317552566528, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0970516204833984, + 2.5051543712615967, + 1.3730809688568115, + 0.7093961834907532, + 0.677974283695221, + 0.7047845125198364, + 0.9673556685447693, + 0.0, + 1.4564839601516724, + 1.1615701913833618, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0970516204833984, + 2.5051543712615967, + 1.3730809688568115, + 0.7093961834907532, + 0.677974283695221, + 0.7047845125198364, + 0.9673556685447693, + 0.0, + 1.5425639152526855, + 1.2979238033294678, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0970516204833984, + 2.5051543712615967, + 1.3730809688568115, + 0.7093961834907532, + 0.677974283695221, + 0.7047845125198364, + 0.9673556685447693, + 0.0, + 1.5548937320709229, + 1.3174546957015991, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0970516204833984, + 2.5051543712615967, + 1.3730809688568115, + 0.7093961834907532, + 0.677974283695221, + 0.7047845125198364, + 0.9673556685447693, + 0.0, + 1.6369925737380981, + 1.4475020170211792, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0970516204833984, + 2.5051543712615967, + 1.3730809688568115, + 0.7093961834907532, + 0.677974283695221, + 0.7047845125198364, + 0.9673556685447693, + 0.0, + 1.6533035039901733, + 1.4733390808105469, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0970516204833984, + 2.5051543712615967, + 1.3730809688568115, + 0.7093961834907532, + 0.677974283695221, + 0.7047845125198364, + 0.9673556685447693, + 0.0, + 1.730689525604248, + 1.5959211587905884, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0970516204833984, + 2.5051543712615967, + 1.3730809688568115, + 0.7093961834907532, + 0.677974283695221, + 0.7047845125198364, + 0.9673556685447693, + 0.0, + 1.7518643140792847, + 1.629462718963623, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0970516204833984, + 2.5051543712615967, + 1.3730809688568115, + 0.7093961834907532, + 0.677974283695221, + 0.7047845125198364, + 0.9673556685447693, + 0.0, + 1.824471354484558, + 1.7444746494293213, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0970516204833984, + 2.5051543712615967, + 1.3730809688568115, + 0.7093961834907532, + 0.677974283695221, + 0.7047845125198364, + 0.9673556685447693, + 0.0, + 1.851433515548706, + 1.7871835231781006, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0970516204833984, + 2.5051543712615967, + 1.3730809688568115, + 0.7093961834907532, + 0.677974283695221, + 0.7047845125198364, + 0.9673556685447693, + 0.0, + 1.9168869256973267, + 1.8908638954162598, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0970516204833984, + 2.5051543712615967, + 1.373079776763916, + 0.7093961834907532, + 0.677974283695221, + 0.7047845125198364, + 0.9673556685447693, + 0.0, + 1.9543651342391968, + 1.950230598449707, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0970516204833984, + 2.5051543712615967, + 1.373079776763916, + 0.7093961834907532, + 0.677974283695221, + 0.7047845125198364, + 0.9673556685447693, + 0.0, + 2.0083200931549072, + 2.0356969833374023, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0970516204833984, + 2.5051543712615967, + 1.373079776763916, + 0.7093961834907532, + 0.677974283695221, + 0.7047845125198364, + 0.9673556685447693, + 0.0, + 2.0305778980255127, + 2.0490074157714844, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0970516204833984, + 2.4744749069213867, + 1.373079776763916, + -0.19409215450286865, + -0.03920930624008179, + -0.11034727096557617, + 0.9673556685447693, + 0.0 + ], + "count": [ + 2663 + ] + }, + "action.applied": { + "mean": [ + 0.10036869078855003, + 0.00032646954164518885, + 0.007461277756081433, + 0.23994105355127915, + -0.7427691575722056, + -1.1242610407213676, + 1.09060461717891, + -1.3079846467486012, + -1.9060152759240436, + 0.47336087888719836, + 0.0030612871582419454, + -0.0030612871582419454 + ], + "std": [ + 0.13103110636416562, + 0.01430417123036614, + 0.23760278791012038, + 0.2657507669081326, + 0.6376045950164673, + 0.9238979680912943, + 0.4280899329230983, + 0.9496017978567811, + 0.3659576195830746, + 0.44217567577994593, + 0.013116394143285325, + 0.013116394143285325 + ], + "min": [ + 0.0, + -0.13724054396152496, + -0.800000011920929, + -0.7272759079933167, + -1.6057366132736206, + -2.6471521854400635, + 0.49847227334976196, + -2.9661781787872314, + -2.545281171798706, + -0.15223200619220734, + -0.009999999776482582, + -0.020833000540733337 + ], + "max": [ + 0.30000001192092896, + 0.1126798763871193, + 0.800000011920929, + 0.6165550351142883, + 0.11830062419176102, + 0.3412241041660309, + 1.595728874206543, + 0.005652418360114098, + -1.1896882057189941, + 1.398475170135498, + 0.020833000540733337, + 0.009999999776482582 + ], + "count": [ + 2663 + ] + }, + "extra.reward": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 2663 + ] + }, + "next.truncated": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 2663 + ] + }, + "sim_step_idx": { + "mean": [ + 2763.0 + ], + "std": [ + 1537.4836584497411 + ], + "min": [ + 101.0 + ], + "max": [ + 5425.0 + ], + "count": [ + 2663 + ] + }, + "timestamp": { + "mean": [ + 53.240000003890756 + ], + "std": [ + 30.749673172308707 + ], + "min": [ + 0.0 + ], + "max": [ + 106.4800033569336 + ], + "count": [ + 2663 + ] + }, + "frame_index": { + "mean": [ + 1331.0 + ], + "std": [ + 768.7418292248706 + ], + "min": [ + 0.0 + ], + "max": [ + 2662.0 + ], + "count": [ + 2663 + ] + }, + "episode_index": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 2663 + ] + }, + "index": { + "mean": [ + 1331.0 + ], + "std": [ + 768.7418292248706 + ], + "min": [ + 0.0 + ], + "max": [ + 2662.0 + ], + "count": [ + 2663 + ] + }, + "task_index": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 2663 + ] + }, + "next.done": { + "mean": [ + 0.0003755163349605708 + ], + "std": [ + 0.019374605091272146 + ], + "min": [ + 0.0 + ], + "max": [ + 1.0 + ], + "count": [ + 2663 + ] + }, + "observation.images.head": { + "mean": [ + [ + [ + 0.37866332441878886 + ] + ], + [ + [ + 0.31997566268609196 + ] + ], + [ + [ + 0.29372166324765975 + ] + ] + ], + "std": [ + [ + [ + 0.2020248357190432 + ] + ], + [ + [ + 0.179843909575283 + ] + ], + [ + [ + 0.15860400086068427 + ] + ] + ], + "min": [ + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ] + ], + "max": [ + [ + [ + 0.9764705882352941 + ] + ], + [ + [ + 0.9647058823529412 + ] + ], + [ + [ + 0.9725490196078431 + ] + ] + ], + "count": [ + 100 + ] + }, + "observation.images.wrist": { + "mean": [ + [ + [ + 0.45797536038028747 + ] + ], + [ + [ + 0.4146268308206478 + ] + ], + [ + [ + 0.35492693462315994 + ] + ] + ], + "std": [ + [ + [ + 0.19729822067605812 + ] + ], + [ + [ + 0.1790177322035956 + ] + ], + [ + [ + 0.18048760323065935 + ] + ] + ], + "min": [ + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ] + ], + "max": [ + [ + [ + 1.0 + ] + ], + [ + [ + 1.0 + ] + ], + [ + [ + 1.0 + ] + ] + ], + "count": [ + 100 + ] + } +} \ No newline at end of file diff --git a/N032/sawyer_umi/dr_on/seed_2021/rec/stationpuzzlexr/000/lerobot_v21/meta/tasks.jsonl b/N032/sawyer_umi/dr_on/seed_2021/rec/stationpuzzlexr/000/lerobot_v21/meta/tasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fb913afcd6e7b4df3ccfb60e7f408d983dbc3a03 --- /dev/null +++ b/N032/sawyer_umi/dr_on/seed_2021/rec/stationpuzzlexr/000/lerobot_v21/meta/tasks.jsonl @@ -0,0 +1 @@ +{"task_index": 0, "task": "Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap."} diff --git a/N032/sawyer_umi/dr_on/seed_2021/rec/stationpuzzlexr/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 b/N032/sawyer_umi/dr_on/seed_2021/rec/stationpuzzlexr/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..415da9f91d13bf1696e7fd35f5ee426fa2eb14ee --- /dev/null +++ b/N032/sawyer_umi/dr_on/seed_2021/rec/stationpuzzlexr/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 sha256:630dbe3f1d9a424199686039c34f197ba0b2eb6c8bbc0d6e693ee8c6dc61ccde +size 62981471 diff --git a/N032/sawyer_umi/dr_on/seed_2021/rec/stationpuzzlexr/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 b/N032/sawyer_umi/dr_on/seed_2021/rec/stationpuzzlexr/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..dcb4579a969f5b85fb20c245df08e139df5f72cc --- /dev/null +++ b/N032/sawyer_umi/dr_on/seed_2021/rec/stationpuzzlexr/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:ded98ef2ab28e126428daef55270da32b718fdd70e359fa8f6df1fc31ed0b42a +size 61727927 diff --git a/N032/sawyer_umi/dr_on/seed_2021/rec/stationpuzzlexr/000/run_meta.json b/N032/sawyer_umi/dr_on/seed_2021/rec/stationpuzzlexr/000/run_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..98cb64dd90b828161bd77f17a3619b37fb96bacc --- /dev/null +++ b/N032/sawyer_umi/dr_on/seed_2021/rec/stationpuzzlexr/000/run_meta.json @@ -0,0 +1,1626 @@ +{ + "run_id": "stationpuzzlexr/000", + "created": "2026-11-08 02:47:29", + "num_envs": 1, + "session_id": null, + "record_config": { + "output_dir": "/mnt/scratch/xc536_atomic/n032_saw_on_2021/out/rec", + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "json_round": null, + "schema": { + "source": "robot_manager", + "nan_policy": "from_raw" + }, + "lerobot": { + "subsample_every": 2 + } + }, + "config": { + "env_string": "StationPuzzleXREnv-V0", + "env": { + "sim": { + "device": "cpu", + "use_fabric": false, + "decimation": 4, + "dt": 0.005, + "seed": 2021, + "soft_resets": 2, + "enable_scene_query_support": true, + "scene": { + "num_envs": 1, + "env_spacing": 16 + }, + "render": { + "rendering_mode": "performance", + "enable_reflections": false, + "enable_global_illumination": false, + "enable_translucency": false, + "enable_dl_denoiser": false + } + }, + "nav": { + "navmesh": { + "enabled": true, + "visualize": false, + "bake_timeout_s": 180, + "agent_height_cm": 150, + "min_agent_radius_cm": 45.0, + "max_agent_radius_cm": 45.0, + "max_step_height_cm": 20, + "max_floor_slope_deg": 30, + "agent_island_radius_cm": 5, + "auto_exclude_rigid_bodies": true, + "validate_path_clearance": true, + "validate_path_window": true, + "navmesh_offset_z_m": 0, + "verbose": false + }, + "occupancymap": { + "cell_size": 0.05 + } + }, + "scene": { + "background": { + "intensity": [ + 1000, + 1000 + ] + }, + "terrain": { + "type": "nav_room", + "collision": true, + "hide_top_walls": true, + "usd": [ + "$MAGICSIM_ASSETS/Room/Collected_SimpleRoom" + ], + "annotation": "Annotation", + "random": false, + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0, + "friction_combine_mode": "multiply", + "restitution_combine_mode": "multiply" + } + }, + "objects": { + "table_A": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "table_A_1": { + "pos": [ + -0.3456236314222738, + 0.19075829820448897, + 0.18 + ], + "ori": [ + 0.0, + 0.0, + -0.7300355474844764 + ], + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.45, + 0.35 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "table_B": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "table_B_1": { + "pos": [ + 1.7353778432795572, + 2.977148284075784, + 0.18 + ], + "ori": [ + 0.0, + 0.0, + 4.909614375351296 + ], + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.45, + 0.35 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "board_0": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "board_0_1": { + "pos": [ + -0.3481718672635088, + -0.00922546737186336, + 0.33999999999999997 + ], + "ori": [ + 0.0, + 0.0, + -0.7300355474844764 + ], + "primitive_params": { + "size": [ + 0.25, + 0.04, + 0.02 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.55, + 0.58 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "board_1": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "board_1_1": { + "pos": [ + -0.3461332785905208, + 0.15076154508921852, + 0.33999999999999997 + ], + "ori": [ + 0.0, + 0.0, + -0.7300355474844764 + ], + "primitive_params": { + "size": [ + 0.25, + 0.04, + 0.02 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.55, + 0.58 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "board_2": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "board_2_1": { + "pos": [ + -0.45214404985459977, + 0.07210586267532593, + 0.33999999999999997 + ], + "ori": [ + 0.0, + 0.0, + -0.7300355474844764 + ], + "primitive_params": { + "size": [ + 0.04, + 0.1, + 0.02 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.55, + 0.58 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "board_3": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "board_3_1": { + "pos": [ + -0.2421610959994298, + 0.06943021504202923, + 0.33999999999999997 + ], + "ori": [ + 0.0, + 0.0, + -0.7300355474844764 + ], + "primitive_params": { + "size": [ + 0.04, + 0.1, + 0.02 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.55, + 0.58 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "board_4": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "board_4_1": { + "pos": [ + -0.37676790238728236, + 0.10114783907131568, + 0.33999999999999997 + ], + "ori": [ + 0.0, + 0.0, + -0.7300355474844764 + ], + "primitive_params": { + "size": [ + 0.09, + 0.04, + 0.02 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.55, + 0.58 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "picture": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "picture_1": { + "pos": [ + -0.34307539558103883, + 0.3907420637808413, + 0.42999999999999994 + ], + "ori": [ + 0.0, + 0.0, + -0.7300355474844764 + ], + "primitive_params": { + "size": [ + 0.25, + 0.008, + 0.2 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.55, + 0.58 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "picture_bar": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "picture_bar_1": { + "pos": [ + -0.3431391014770697, + 0.3857424696414325, + 0.40499999999999997 + ], + "ori": [ + 0.0, + 0.0, + -0.7300355474844764 + ], + "primitive_params": { + "size": [ + 0.15, + 0.002, + 0.05 + ] + }, + "visual": { + "color": [ + [ + 0.1, + 0.6, + 0.6 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "picture_cap": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "picture_cap_1": { + "pos": [ + -0.29314316008298164, + 0.38510541068112375, + 0.45499999999999996 + ], + "ori": [ + 0.0, + 0.0, + -0.7300355474844764 + ], + "primitive_params": { + "size": [ + 0.05, + 0.002, + 0.05 + ] + }, + "visual": { + "color": [ + [ + 0.1, + 0.6, + 0.6 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "tile": { + "usd": [ + "$MAGICSIM_ASSETS/Object/MMB_A07/tile_L/Object.usda" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "tile_1": { + "pos": [ + 1.9600205500321002, + 2.8704046855992673, + 0.33099999999999996 + ], + "ori": [ + 0.0, + 0.0, + 2.0740526280491327 + ], + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.06, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + } + } + } + }, + "cand_O": { + "usd": [ + "$MAGICSIM_ASSETS/Object/MMB_A07/tile_O/Object.usda" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "cand_O_1": { + "pos": [ + 1.5577662841961355, + 2.8584506715770246, + 0.33099999999999996 + ], + "ori": [ + 0.0, + 0.0, + 4.305319511091293 + ], + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.06, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + } + } + } + } + } + }, + "robot": { + "RidgebackSawyerUmi": { + "name": "ridgebacksawyer_umi", + "type": "mobilemanip", + "common": { + "pos": [ + [ + -3.4, + -2.2, + 0.05 + ], + [ + -3.4, + -2.2, + 0.05 + ] + ], + "ori": [ + [ + 0, + 0, + 40.0 + ], + [ + 0, + 0, + 40.0 + ] + ], + "initial_joint_pos": { + "dummy_base_.*": 0.0, + "head_pan": 0.0, + "right_j0": 0.0, + "right_j1": -1.6, + "right_j2": 0.0, + "right_j3": 0.5, + "right_j4": 0.0, + "right_j5": -2.32, + "right_j6": 0.0, + "right_gripper_l_finger_joint": 0.0, + "right_gripper_r_finger_joint": 0.0 + } + }, + "action": { + "base_action": "holonomic_action", + "arm_action": "ik_pink", + "eef_action": "binary" + }, + "planner": { + "dual_mode": true, + "base_joint_names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint" + ], + "ik": { + "type": "ridgebacksawyer_umi", + "model_tuning": "ridgeback_sawyer_umi", + "enable": true, + "ik_num_instances": 1, + "ik_batch_size": 1, + "ik_num_seeds": 32, + "ik_position_threshold": 0.005, + "ik_rotation_threshold": 0.05, + "microbatch_wait_ms": 20.0, + "relative_to_world_frame": false + }, + "motiongen": { + "type": "ridgebacksawyer_umi", + "model_tuning": "ridgeback_sawyer_umi", + "enable": true, + "motiongen_num_instances": 1, + "batch_size": 1, + "microbatch_wait_ms": 20.0, + "mode": "position", + "relative_to_world_frame": false, + "start_state_limit_inset": 0.002 + }, + "body": { + "type": "nav", + "dwb_type": "dwb_holonomic", + "dwb_holonomic": { + "device": "cpu", + "dt": 0.02, + "debug": false, + "num_rollout_steps": 60, + "num_speed_samples": 11, + "num_steer_samples": 11, + "num_vx_samples": 7, + "num_vy_samples": 7, + "num_yaw_samples": 7, + "max_accel": 1.5, + "max_steer_rate": 1.5, + "max_accel_vx": 1.5, + "max_accel_vy": 1.5, + "max_yaw_accel": 1.5, + "w_goal": 6.0, + "w_path": 8.0, + "w_vel": 0.2, + "w_vy": 0.0, + "goal_cost_mode": "path", + "dilate_radius": 0.36, + "room_size": 12.0, + "occupancy_update_interval": 25, + "scan_height": 0.35, + "scan_min_z": 0.12, + "scan_max_z": 1.65, + "goal_pos_threshold": 0.05, + "goal_yaw_threshold": 0.05, + "kp_goal_yaw": 1.5, + "heading_reference": "path", + "turn_yaw_threshold": 0.8, + "heading_lookahead": 0.8, + "heading_min_leg": 0.35, + "route_yaw_gain": 2.0, + "goal_yaw_hysteresis": 0.02, + "min_vx": -0.3, + "max_vx": 0.3, + "min_vy": -0.3, + "max_vy": 0.3, + "min_yaw_rate": -0.8, + "max_yaw_rate": 0.8, + "safety_enabled": true, + "safety_deceleration": 0.5, + "safety_reaction_time": 0.5, + "scan_type": "3d" + }, + "p_controller": { + "kp_angular_turning_only": 2.0, + "kd_angular_turning_only": 1.0, + "kp_linear_x": 3.0, + "kp_linear_y": 3.0, + "kp_angular": 2.0, + "kd_linear_x": 1.0, + "kd_linear_y": 1.0, + "min_vel": -0.4, + "max_vel": 0.5, + "linear_dead_zone": 0.01, + "angular_dead_zone": 0.05, + "nav_heading_target": -1, + "nav_upgrade_distance": 0.03 + } + }, + "arm": { + "type": "default" + }, + "eef": { + "type": "default" + } + }, + "physics": { + "robot_radius": 0.66, + "wheel_base": 0.01 + }, + "reset": "default" + } + }, + "camera": { + "enable_tiled": false, + "colorize_depth": false, + "head": { + "camera": { + "type": "camera", + "mesh": "pinhole", + "resolution": [ + 640, + 480 + ], + "frequency": 25, + "focal_length": 2.0, + "horizontal_aperture": 3.6, + "vertical_aperture": 2.7, + "clipping_range": [ + 0.05, + 30.0 + ], + "focus_distance": 3.0, + "mode": "RGB", + "mount_link": "Robot_0/head", + "pos": [ + 0.2166, + 0.0, + -0.045 + ], + "ori": [ + -0.0, + 35.0, + -90.0 + ] + }, + "annotator": { + "enabled": true, + "rgb_capture": { + "type": "rgb", + "device": "cpu" + } + } + }, + "wrist": { + "camera": { + "type": "camera", + "mesh": "pinhole", + "resolution": [ + 640, + 480 + ], + "frequency": 25, + "focal_length": 1.8, + "horizontal_aperture": 3.6, + "vertical_aperture": 2.7, + "clipping_range": [ + 0.05, + 30.0 + ], + "focus_distance": 3.0, + "mode": "RGB", + "mount_link": "Robot_0/right_electric_gripper_base", + "pos": [ + 0.0598, + 0.0, + 0.03 + ], + "ori": [ + 180.0, + 0.0, + -90.0 + ] + }, + "annotator": { + "enabled": true, + "rgb_capture": { + "type": "rgb", + "device": "cpu" + } + } + } + } + }, + "task": { + "new_seed_per_episode": true, + "observation": {}, + "reward": {}, + "termination": { + "timeout_steps": 30000, + "success_hold_frames": 10, + "fall_height": 0.02, + "fall_tilt": 1.0, + "lift_height": 0.12, + "grasp_distance": 0.25 + }, + "station": { + "robot": { + "key": "RidgebackSawyerUmi", + "embodiment": "sawyer_umi", + "base_link": "torso", + "tcp_in_wrist": [ + 0.17174, + 0.00789, + 0.0, + 0.5, + 0.5, + 0.5, + 0.5 + ], + "wrist_ref_back": 0.0, + "spawn_dz": 0.02, + "finger_joints": [ + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ], + "dwb": { + "key": "dwb_holonomic", + "add_floor": false + } + }, + "task_id": "N032", + "task_version": "EXT60-MobileAvatar-v3", + "family_id": "puzzle_completion", + "primary_category": "C2", + "stage": "full", + "layout": { + "floor_z": 0.03, + "start": { + "x": -3.4, + "y": -2.2, + "yaw_deg": 40.0, + "radius": 0.3, + "yaw_spread_deg": 20.0 + }, + "stations": { + "A": { + "center": [ + -0.3456236314222738, + 0.19075829820448897 + ], + "facing_deg": 89.26996445251552, + "standoff": 0.7, + "table": { + "width": 0.9, + "depth": 0.5, + "height": 0.3 + } + }, + "B": { + "center": [ + 1.7353778432795572, + 2.977148284075784 + ], + "facing_deg": 94.9096143753513, + "standoff": 0.7, + "table": { + "width": 0.9, + "depth": 0.5, + "height": 0.3 + } + } + } + }, + "route": [ + "A", + "B", + "A" + ], + "puzzle": { + "target": "tile", + "candidates": [ + "cand_O" + ], + "board": { + "across": 0.0, + "along": -0.12 + } + }, + "dr": { + "enabled": true, + "stations": { + "center_m": 0.25, + "facing_deg": 8.0 + }, + "objects": { + "across_m": 0.025, + "along_m": 0.02, + "yaw_deg": 8.0 + } + }, + "place_check": { + "tile": { + "at": { + "station": "A", + "across": 0.0, + "along": -0.145, + "z": 0.004 + }, + "yaw_deg": 0.0, + "clearance": 0.004 + } + }, + "success": { + "pos_tol": 0.012, + "yaw_deg": 6.0, + "upright_deg": 8.0, + "rest_z_tol": 0.006, + "max_penetration": 0.003, + "release_dist": 0.15, + "rest_speed": 0.03, + "lift": 0.08 + }, + "objects": { + "board_0": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.25, + 0.04, + 0.02 + ], + "at": { + "station": "A", + "across": 0.0, + "along": -0.2, + "z": 0.01 + }, + "color": [ + 0.55, + 0.55, + 0.58 + ], + "pos": [ + -0.3481718672635088, + -0.00922546737186336, + 0.33999999999999997 + ], + "yaw_deg": -0.7300355474844764 + }, + "board_1": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.25, + 0.04, + 0.02 + ], + "at": { + "station": "A", + "across": 0.0, + "along": -0.04, + "z": 0.01 + }, + "color": [ + 0.55, + 0.55, + 0.58 + ], + "pos": [ + -0.3461332785905208, + 0.15076154508921852, + 0.33999999999999997 + ], + "yaw_deg": -0.7300355474844764 + }, + "board_2": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.04, + 0.1, + 0.02 + ], + "at": { + "station": "A", + "across": -0.105, + "along": -0.12, + "z": 0.01 + }, + "color": [ + 0.55, + 0.55, + 0.58 + ], + "pos": [ + -0.45214404985459977, + 0.07210586267532593, + 0.33999999999999997 + ], + "yaw_deg": -0.7300355474844764 + }, + "board_3": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.04, + 0.1, + 0.02 + ], + "at": { + "station": "A", + "across": 0.105, + "along": -0.12, + "z": 0.01 + }, + "color": [ + 0.55, + 0.55, + 0.58 + ], + "pos": [ + -0.2421610959994298, + 0.06943021504202923, + 0.33999999999999997 + ], + "yaw_deg": -0.7300355474844764 + }, + "board_4": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.09, + 0.04, + 0.02 + ], + "at": { + "station": "A", + "across": -0.03, + "along": -0.09, + "z": 0.01 + }, + "color": [ + 0.55, + 0.55, + 0.58 + ], + "pos": [ + -0.37676790238728236, + 0.10114783907131568, + 0.33999999999999997 + ], + "yaw_deg": -0.7300355474844764 + }, + "picture": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.25, + 0.008, + 0.2 + ], + "at": { + "station": "A", + "across": 0.0, + "along": 0.2, + "z": 0.1 + }, + "color": [ + 0.55, + 0.55, + 0.58 + ], + "pos": [ + -0.34307539558103883, + 0.3907420637808413, + 0.42999999999999994 + ], + "yaw_deg": -0.7300355474844764 + }, + "picture_bar": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.15, + 0.002, + 0.05 + ], + "at": { + "station": "A", + "across": 0.0, + "along": 0.195, + "z": 0.075 + }, + "color": [ + 0.1, + 0.6, + 0.6 + ], + "collision": false, + "pos": [ + -0.3431391014770697, + 0.3857424696414325, + 0.40499999999999997 + ], + "yaw_deg": -0.7300355474844764 + }, + "picture_cap": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.05, + 0.002, + 0.05 + ], + "at": { + "station": "A", + "across": 0.05, + "along": 0.195, + "z": 0.125 + }, + "color": [ + 0.1, + 0.6, + 0.6 + ], + "collision": false, + "pos": [ + -0.29314316008298164, + 0.38510541068112375, + 0.45499999999999996 + ], + "yaw_deg": -0.7300355474844764 + }, + "tile": { + "jitter": true, + "catalog": "tile_L", + "type": "rigid", + "at": { + "station": "B", + "across": 0.2146829252036143, + "along": -0.12557779715715714, + "z": 0.001 + }, + "yaw_deg": 2.0740526280491327, + "friction": { + "static": 1.5, + "dynamic": 1.5 + }, + "asset": "$MAGICSIM_ASSETS/Object/MMB_A07/tile_L/Object.usda", + "parts": [ + { + "name": "body0", + "center": [ + 0.0, + 0.0, + 0.01 + ], + "half": [ + 0.07500000000000001, + 0.025, + 0.01 + ], + "rpy_deg": [ + 0.0, + 0.0, + 0.0 + ] + }, + { + "name": "body1", + "center": [ + 0.05, + 0.05, + 0.01 + ], + "half": [ + 0.025, + 0.025, + 0.01 + ], + "rpy_deg": [ + 0.0, + 0.0, + 0.0 + ] + }, + { + "name": "knob", + "center": [ + 0.0, + 0.0, + 0.042499999999999996 + ], + "half": [ + 0.018, + 0.018, + 0.0225 + ], + "rpy_deg": [ + 0.0, + 0.0, + 0.0 + ] + } + ], + "mass": 0.06, + "com": [ + 0.0125, + 0.0125, + 0.01 + ], + "grasp": { + "part": "knob", + "thin_axis": 0, + "min_elevation_deg": 40.0, + "inset": 0.006, + "min_overlap_x": 0.016 + }, + "pos": [ + 1.9600205500321002, + 2.8704046855992673, + 0.33099999999999996 + ] + }, + "cand_O": { + "jitter": true, + "catalog": "tile_O", + "type": "rigid", + "at": { + "station": "B", + "across": -0.1871185228769791, + "along": -0.10306137748587905, + "z": 0.001 + }, + "yaw_deg": 4.305319511091293, + "friction": { + "static": 1.5, + "dynamic": 1.5 + }, + "asset": "$MAGICSIM_ASSETS/Object/MMB_A07/tile_O/Object.usda", + "parts": [ + { + "name": "body0", + "center": [ + 0.025, + 0.0, + 0.01 + ], + "half": [ + 0.05, + 0.025, + 0.01 + ], + "rpy_deg": [ + 0.0, + 0.0, + 0.0 + ] + }, + { + "name": "body1", + "center": [ + 0.025, + 0.05, + 0.01 + ], + "half": [ + 0.05, + 0.025, + 0.01 + ], + "rpy_deg": [ + 0.0, + 0.0, + 0.0 + ] + }, + { + "name": "knob", + "center": [ + 0.025, + 0.025, + 0.042499999999999996 + ], + "half": [ + 0.018, + 0.018, + 0.0225 + ], + "rpy_deg": [ + 0.0, + 0.0, + 0.0 + ] + } + ], + "mass": 0.06, + "com": [ + 0.025, + 0.025, + 0.01 + ], + "grasp": { + "part": "knob", + "thin_axis": 0, + "min_elevation_deg": 40.0, + "inset": 0.006, + "min_overlap_x": 0.016 + }, + "pos": [ + 1.5577662841961355, + 2.8584506715770246, + 0.33099999999999996 + ] + } + }, + "report_jsonl": "/mnt/scratch/xc536_atomic/n032_saw_on_2021/out/report.episodes.jsonl", + "dr_applied": true, + "level": "easy" + }, + "command": { + "StationPuzzle": { + "obj_type": "rigid", + "obj_name": "tile", + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.05, + "settle_ticks": 120 + }, + "StationPuzzleXR": { + "obj_type": "rigid", + "obj_name": "tile", + "grasp_part": "knob", + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.015, + "lift": 0.03, + "over_top": 0.022, + "pre_clear": 0.1, + "carry_ahead": 0.5, + "carry_z": 0.8, + "settle_ticks": 120, + "look_ticks": 30, + "hover": 0.035, + "remeasure_lower": true, + "recenter_clear": 0.02 + } + } + }, + "collect": { + "global_planner": { + "NavTo": { + "use_navmesh": true, + "use_absolute": true, + "translation_threshold": 0.12, + "rotation_threshold": 0.12, + "num_path_segments": 30, + "start_forward_offset": 0.0, + "visualize_path": false, + "carry_arm": true + }, + "RetractMoveL": { + "translation_threshold": 0.02, + "rotation_threshold": 0.2, + "motiongen_distance_threshold": 0.05, + "timeout_steps": 1800, + "base_pos_threshold": 0.12, + "base_rot_threshold": 0.5, + "eef_pos_threshold": 0.03, + "eef_rot_threshold": 0.3, + "base_waypoint_max_steps": 20, + "arm_waypoint_max_steps": 8, + "move_strategy_distance_threshold": 0.1, + "debug": false, + "debug_viz": false + }, + "MobileMoveL": { + "translation_threshold": 0.006, + "rotation_threshold": 0.08, + "motiongen_distance_threshold": 0.05, + "timeout_steps": 1800, + "stall_release_ticks": 100, + "stall_release_factor": 5.0, + "reactive": false, + "base_pos_threshold": 0.12, + "base_rot_threshold": 0.5, + "eef_pos_threshold": 0.03, + "eef_rot_threshold": 0.3, + "waypoint_max_steps": 20, + "interp_steps": 100, + "interp_validate_target": true, + "retry_mobile_on_locked_plan_failure": true, + "debug": false, + "debug_viz": false + }, + "MobileServoL": { + "base_pos_threshold": 0.12, + "waypoint_max_steps": 20, + "translation_threshold": 0.05, + "timeout_steps": 300 + }, + "ParallelGripper": { + "gripper_threshold": 0.0005, + "timeout_steps": 60 + } + }, + "atomic_skill": { + "NavToPose": { + "robot_id": 0, + "show_marker": false + }, + "Move": { + "arm_planner": "MobileMoveL", + "hand_planner": "ParallelGripper", + "obstacle_avoid_paths": [ + "dynamic/table_A", + "dynamic/table_B" + ], + "obstacle_ignore_paths": [], + "close_value": 1.0, + "open_value": 0.0, + "hold_steps": 10 + }, + "StationNavXR": { + "robot_id": 0, + "show_marker": false + }, + "ReachStance": { + "max_walks": 4 + } + }, + "command": { + "StationPuzzle": { + "obj_type": "rigid", + "obj_name": "tile", + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.05, + "settle_ticks": 120 + }, + "StationPuzzleXR": { + "obj_type": "rigid", + "obj_name": "tile", + "grasp_part": "knob", + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.015, + "lift": 0.03, + "over_top": 0.022, + "pre_clear": 0.1, + "carry_ahead": 0.5, + "carry_z": 0.8, + "settle_ticks": 120, + "look_ticks": 30, + "hover": 0.035, + "remeasure_lower": true, + "recenter_clear": 0.02 + } + }, + "auto_collect": {}, + "record": { + "output_dir": "/mnt/scratch/xc536_atomic/n032_saw_on_2021/out/rec", + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "json_round": null, + "schema": { + "source": "robot_manager", + "nan_policy": "from_raw" + }, + "lerobot": { + "subsample_every": 2 + } + } + }, + "visual_dr": { + "keep": [ + "tile", + "cand_O", + "cand_J", + "picture_bar", + "picture_cap" + ] + } + }, + "git_sha": null, + "collect_runtime": { + "max_trajectories": 1 + } +} \ No newline at end of file diff --git a/N032/sawyer_umi/dr_on/seed_2021/rec/stationpuzzlexr/000/sim_info/0/actions.npz b/N032/sawyer_umi/dr_on/seed_2021/rec/stationpuzzlexr/000/sim_info/0/actions.npz new file mode 100644 index 0000000000000000000000000000000000000000..f36f3eb85005902ec556fd30c1e30a4eba4719f8 --- /dev/null +++ b/N032/sawyer_umi/dr_on/seed_2021/rec/stationpuzzlexr/000/sim_info/0/actions.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0cd9a5896433e2cae4fa18929cf76c8989d9e0bbca62f179adf0c3486ce95069 +size 748358 diff --git a/N032/sawyer_umi/dr_on/seed_2021/rec/stationpuzzlexr/000/sim_info/0/device_commands.jsonl b/N032/sawyer_umi/dr_on/seed_2021/rec/stationpuzzlexr/000/sim_info/0/device_commands.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N032/sawyer_umi/dr_on/seed_2021/rec/stationpuzzlexr/000/sim_info/0/device_events.jsonl b/N032/sawyer_umi/dr_on/seed_2021/rec/stationpuzzlexr/000/sim_info/0/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N032/sawyer_umi/dr_on/seed_2021/rec/stationpuzzlexr/000/sim_info/0/scene_snapshot.json b/N032/sawyer_umi/dr_on/seed_2021/rec/stationpuzzlexr/000/sim_info/0/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..3270bc0f23f7f59dffe3f2cdbe6cff8ebc5b2dd8 --- /dev/null +++ b/N032/sawyer_umi/dr_on/seed_2021/rec/stationpuzzlexr/000/sim_info/0/scene_snapshot.json @@ -0,0 +1,759 @@ +{ + "trajectory_id": 0, + "env_id": 0, + "run_id": "stationpuzzlexr/000", + "task_type": "PuzzleXRCommand", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])", + "avatars": "avatar_manager.set_avatars_state(snapshot['avatars'], env_ids=[env_id]) (present when the scene has animated avatars)" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "table_A": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.3456236314222738, + 0.19075829820448897, + 0.18 + ], + "ori": [ + 0.9999797344207764, + 0.0, + 0.0, + -0.00637071905657649 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.45, + 0.35 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + } + }, + "type_specific": {} + } + ], + "table_B": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 1.7353778432795572, + 2.977148284075784, + 0.18 + ], + "ori": [ + 0.9990823268890381, + 0.0, + 0.0, + 0.042831361293792725 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.45, + 0.35 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + } + }, + "type_specific": {} + } + ], + "board_0": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.3481718672635088, + -0.00922546737186336, + 0.33999999999999997 + ], + "ori": [ + 0.9999797344207764, + 0.0, + 0.0, + -0.00637071905657649 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.55, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.25, + 0.04, + 0.02 + ] + } + }, + "type_specific": {} + } + ], + "board_1": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.3461332785905208, + 0.15076154508921852, + 0.33999999999999997 + ], + "ori": [ + 0.9999797344207764, + 0.0, + 0.0, + -0.00637071905657649 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.55, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.25, + 0.04, + 0.02 + ] + } + }, + "type_specific": {} + } + ], + "board_2": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.45214404985459977, + 0.07210586267532593, + 0.33999999999999997 + ], + "ori": [ + 0.9999797344207764, + 0.0, + 0.0, + -0.00637071905657649 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.55, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.04, + 0.1, + 0.02 + ] + } + }, + "type_specific": {} + } + ], + "board_3": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.2421610959994298, + 0.06943021504202923, + 0.33999999999999997 + ], + "ori": [ + 0.9999797344207764, + 0.0, + 0.0, + -0.00637071905657649 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.55, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.04, + 0.1, + 0.02 + ] + } + }, + "type_specific": {} + } + ], + "board_4": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.37676790238728236, + 0.10114783907131568, + 0.33999999999999997 + ], + "ori": [ + 0.9999797344207764, + 0.0, + 0.0, + -0.00637071905657649 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.55, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.09, + 0.04, + 0.02 + ] + } + }, + "type_specific": {} + } + ], + "picture": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.34307539558103883, + 0.3907420637808413, + 0.42999999999999994 + ], + "ori": [ + 0.9999797344207764, + 0.0, + 0.0, + -0.00637071905657649 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.55, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.25, + 0.008, + 0.2 + ] + } + }, + "type_specific": {} + } + ], + "picture_bar": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.3431391014770697, + 0.3857424696414325, + 0.40499999999999997 + ], + "ori": [ + 0.9999797344207764, + 0.0, + 0.0, + -0.00637071905657649 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.1, + 0.6, + 0.6 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.15, + 0.002, + 0.05 + ] + } + }, + "type_specific": {} + } + ], + "picture_cap": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.29314316008298164, + 0.38510541068112375, + 0.45499999999999996 + ], + "ori": [ + 0.9999797344207764, + 0.0, + 0.0, + -0.00637071905657649 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.1, + 0.6, + 0.6 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.05, + 0.002, + 0.05 + ] + } + }, + "type_specific": {} + } + ], + "tile": [ + { + "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MMB_A07/tile_L/Object.usda", + "pose": { + "pos": [ + 1.9600205421447754, + 2.8704047203063965, + 0.33000001311302185 + ], + "ori": [ + 0.9998361468315125, + 1.2596137821674347e-07, + 5.587935447692871e-09, + 0.01809818297624588 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.06, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 8.794456221039582e-07, + 1.0997528079315089e-06, + -1.3044586012256332e-05 + ], + "angular_velocity": [ + 1.591330874362029e-05, + 0.00012980159954167902, + -6.533508440043079e-06 + ] + } + } + ], + "cand_O": [ + { + "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MMB_A07/tile_O/Object.usda", + "pose": { + "pos": [ + 1.5577664375305176, + 2.8584506511688232, + 0.33000001311302185 + ], + "ori": [ + 0.9992941617965698, + 6.653086757069104e-07, + -5.0569251897059075e-08, + 0.0375630185008049 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.06, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.945335956880626e-08, + -9.813484780352155e-08, + -9.281551882622807e-08 + ], + "angular_velocity": [ + 9.443770636607951e-07, + -7.031193831608107e-07, + -7.185856816249725e-07 + ] + } + } + ] + } + ], + "artifacts": [ + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1000.0, + "texture": null, + "color": [ + 0.85, + 0.85, + 0.85 + ] + } + } + }, + "robots": { + "RidgebackSawyerUmi": { + "root_pose": [ + [ + -3.356022596359253, + -2.0892906188964844, + 0.05000000074505806, + 0.8997000455856323, + 0.0, + 0.0, + 0.4365086555480957 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.600000023841858, + 0.0, + 0.5, + 0.0, + -2.319999933242798, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "head": [ + [ + 0.21660000085830688, + 0.0, + -0.04500000178813934, + -0.6743797063827515, + 0.21263112127780914, + -0.21263112127780914, + 0.6743797659873962 + ] + ], + "wrist": [ + [ + 0.05979999899864197, + 0.0, + 0.029999999329447746, + 6.123234262925839e-17, + 0.7071067690849304, + 0.7071067690849304, + -4.329780301713277e-17 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/N032/sawyer_umi/dr_on/seed_2021/rec/stationpuzzlexr/000/sim_info/0/sim_states.npz b/N032/sawyer_umi/dr_on/seed_2021/rec/stationpuzzlexr/000/sim_info/0/sim_states.npz new file mode 100644 index 0000000000000000000000000000000000000000..c85212322739350ae732a32527a76f0e39cc6bc7 --- /dev/null +++ b/N032/sawyer_umi/dr_on/seed_2021/rec/stationpuzzlexr/000/sim_info/0/sim_states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:76a0528855794df5187e5e2ea8ac9449086a1f32918be4aba8a324d690c74d52 +size 749257 diff --git a/N032/sawyer_umi/dr_on/seed_2021/rec/stationpuzzlexr/000/sim_info/magicsim_manifest.json b/N032/sawyer_umi/dr_on/seed_2021/rec/stationpuzzlexr/000/sim_info/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..79034864a93c4b798f456c6ba155a218ecb5727e --- /dev/null +++ b/N032/sawyer_umi/dr_on/seed_2021/rec/stationpuzzlexr/000/sim_info/magicsim_manifest.json @@ -0,0 +1,233 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 03:09:08" + }, + "embodiment": { + "robots": [ + { + "name": "RidgebackSawyerUmi", + "cfg": "RidgebackSawyerUmiCfg", + "type": "mobilemanip", + "joint_names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 11, + "nan_policy": "from_raw", + "segments": [ + { + "name": "RidgebackSawyerUmi.base_action", + "start": 0, + "end": 3, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint" + ], + "source": "HolonomicAction", + "names_source": "_joint_names" + }, + { + "name": "RidgebackSawyerUmi.arm_action", + "start": 3, + "end": 10, + "names": [ + "frame0.pos_x", + "frame0.pos_y", + "frame0.pos_z", + "frame0.quat_w", + "frame0.quat_x", + "frame0.quat_y", + "frame0.quat_z" + ], + "source": "PinkInverseKinematicsAction", + "names_source": "pink_layout" + }, + { + "name": "RidgebackSawyerUmi.eef_action", + "start": 10, + "end": 11, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 15, + "segments": [ + { + "name": "RidgebackSawyerUmi.joint_pos", + "start": 0, + "end": 13, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ], + "source": "ObservationManager", + "names_source": "joint_names" + }, + { + "name": "RidgebackSawyerUmi.gripper_pos", + "start": 13, + "end": 15, + "names": [ + "gripper_0", + "gripper_1" + ], + "source": "ObservationManager", + "names_source": "generated" + } + ] + }, + "joint_vel_layout": { + "dim": 13, + "segments": [ + { + "name": "RidgebackSawyerUmi.joint_vel", + "start": 0, + "end": 13, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "action_levels": { + "L0": "task command list (collect.auto_collect_info.current_action)", + "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)", + "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)", + "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy", + "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)" + }, + "cameras": { + "head": { + "intrinsics": { + "K": [ + [ + 355.55555555555554, + 0.0, + 320.0 + ], + [ + 0.0, + 355.55555555555554, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 83.97442499163331, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.21660000085830688, + 0.0, + -0.04500000178813934 + ], + "quat": [ + -0.6743797063827515, + 0.21263112127780914, + -0.21263112127780914, + 0.6743797659873962 + ] + }, + "wrist": { + "intrinsics": { + "K": [ + [ + 320.0, + 0.0, + 320.0 + ], + [ + 0.0, + 320.0, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 90.0, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.05979999899864197, + 0.0, + 0.029999999329447746 + ], + "quat": [ + 6.123234262925839e-17, + 0.7071067690849304, + 0.7071067690849304, + -4.329780301713277e-17 + ] + } + }, + "generated_run": { + "run_id": "stationpuzzlexr/000", + "task_type": "PuzzleXRCommand" + } +} \ No newline at end of file diff --git a/N032/sawyer_umi/dr_on/seed_2021/rec/stationpuzzlexr/000/visual_dr.json b/N032/sawyer_umi/dr_on/seed_2021/rec/stationpuzzlexr/000/visual_dr.json new file mode 100644 index 0000000000000000000000000000000000000000..d95e619daca9c5ca0deb83ddae8ced7c70aa0a27 --- /dev/null +++ b/N032/sawyer_umi/dr_on/seed_2021/rec/stationpuzzlexr/000/visual_dr.json @@ -0,0 +1,685 @@ +{ + "version": 1, + "settings": { + "enabled": false, + "keep": [ + "tile", + "cand_O", + "cand_J", + "picture_bar", + "picture_cap" + ], + "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": 2021, + "seeds": { + "0": 2021 + }, + "lights": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/RectLight", + "type": "RectLight", + "intensity": 16169.818742, + "intensity_base": 15000.0, + "enable_color_temperature": true, + "color_temperature_k": 5296.821738, + "rotate_deg": [ + -2.744, + 0.839, + -2.322 + ] + } + ], + "domes": [ + { + "path": "/World/background", + "type": "DomeLight", + "intensity": 1452.327263, + "intensity_base": 1000.0, + "enable_color_temperature": true, + "color_temperature_k": 6371.013957, + "rotate_deg": [ + 0.0, + 0.0, + 135.865 + ], + "dome": { + "path": "/World/background", + "hdr_base": null, + "hdr": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Background/kloofendal_48d_partly_cloudy_4k.hdr", + "color": [ + 0.825775, + 0.71689, + 0.82841 + ] + } + } + ], + "materials": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light", + "shader": "omnipbr", + "color": [ + 0.8338, + 0.8419, + 0.8066 + ], + "color_base": [ + 1.0, + 1.0, + 1.0 + ], + "roughness": 0.445844, + "roughness_base": 0.5, + "bound_prims": 1 + } + ], + "display_colors": [], + "swapped": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/ParquetFloor", + "role": "ground", + "mdl": "Ground/Large_Granite_Paving.mdl", + "material": "/MmbVdrLooks/Ground_Large_Granite_Paving", + "bound_prims": 1, + "pool_size": 42, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic", + "role": "wall", + "mdl": "Source/Paint/Paint_Gun_Metal.mdl", + "material": "/MmbVdrLooks/Source_Paint_Paint_Gun_Metal", + "bound_prims": 17, + "pool_size": 28, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic2", + "role": "wall", + "mdl": "Source/Masonry/Facade_Brick_Grey.mdl", + "material": "/MmbVdrLooks/Source_Masonry_Facade_Brick_Grey", + "bound_prims": 22, + "pool_size": 28, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WoodWall", + "role": "wall", + "mdl": "Source/Paint/Chalk_Paint.mdl", + "material": "/MmbVdrLooks/Source_Paint_Chalk_Paint", + "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": { + "tile": 3, + "cand_O": 3, + "cand_J": 0, + "picture_bar": 1, + "picture_cap": 1 + }, + "physics_skip": { + "physics_binding": 16, + "rigid_body": 95, + "examples": [ + [ + "/World/envs/env_0/Robot_0/base_link/visuals/base_link_visuals_mesh_0/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/base_link_visuals_mesh_1/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_2/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_3/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_4/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_5/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_6/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_7/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/collisions/base_link_collisions_mesh_0/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/collisions/base_link_collisions_mesh_1/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/front_laser/visuals/front_laser_visuals/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/front_laser/collisions/mesh_0/box", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/rear_laser/visuals/rear_laser_visuals/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/rear_laser/collisions/mesh_0/box", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_arm_base_link/visuals/right_arm_base_link_visuals_mesh_0/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_arm_base_link/visuals/right_arm_base_link_visuals_mesh_0/World/mesh/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_arm_base_link/visuals/right_arm_base_link_visuals_mesh_0/World/mesh/mesh1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_arm_base_link/collisions/mesh_0/cylinder", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh2", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh3", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh4", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh5", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh6", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/collisions/mesh_0/sphere", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh3", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh5", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh2", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh6", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh4", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh7", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh8", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh9", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/collisions/mesh_0/sphere", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/screen/visuals/mesh_0/box", + "rigid_body" + ] + ] + }, + "material_library": { + "root": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Material", + "pool_sizes": { + "ground": 42, + "wall": 28, + "furniture": 38, + "object": 54 + } + }, + "no_swap": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass", + "reason": "glass", + "bound_prims": 1 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light", + "reason": "emissive", + "bound_prims": 1 + } + ], + "unsupported": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass", + "mdl": "OmniGlass.mdl", + "bound_prims": 1 + } + ] + }, + { + "env_ids": [ + 0 + ], + "reset_index": 1, + "episode_seed": 2021, + "seeds": { + "0": 2021 + }, + "lights": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/RectLight", + "type": "RectLight", + "intensity": 16169.818742, + "intensity_base": 15000.0, + "enable_color_temperature": true, + "color_temperature_k": 5296.821738, + "rotate_deg": [ + -2.744, + 0.839, + -2.322 + ] + } + ], + "domes": [ + { + "path": "/World/background", + "type": "DomeLight", + "intensity": 1452.327263, + "intensity_base": 1000.0, + "enable_color_temperature": true, + "color_temperature_k": 6371.013957, + "rotate_deg": [ + 0.0, + 0.0, + 135.865 + ], + "dome": { + "path": "/World/background", + "hdr_base": null, + "hdr": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Background/kloofendal_48d_partly_cloudy_4k.hdr", + "color": [ + 0.825775, + 0.71689, + 0.82841 + ] + } + } + ], + "materials": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light", + "shader": "omnipbr", + "color": [ + 0.8338, + 0.8419, + 0.8066 + ], + "color_base": [ + 1.0, + 1.0, + 1.0 + ], + "roughness": 0.445844, + "roughness_base": 0.5, + "bound_prims": 1 + } + ], + "display_colors": [], + "swapped": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/ParquetFloor", + "role": "ground", + "mdl": "Ground/Large_Granite_Paving.mdl", + "material": "/MmbVdrLooks/Ground_Large_Granite_Paving", + "bound_prims": 1, + "pool_size": 42, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic", + "role": "wall", + "mdl": "Source/Paint/Paint_Gun_Metal.mdl", + "material": "/MmbVdrLooks/Source_Paint_Paint_Gun_Metal", + "bound_prims": 17, + "pool_size": 28, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic2", + "role": "wall", + "mdl": "Source/Masonry/Facade_Brick_Grey.mdl", + "material": "/MmbVdrLooks/Source_Masonry_Facade_Brick_Grey", + "bound_prims": 22, + "pool_size": 28, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WoodWall", + "role": "wall", + "mdl": "Source/Paint/Chalk_Paint.mdl", + "material": "/MmbVdrLooks/Source_Paint_Chalk_Paint", + "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": { + "tile": 3, + "cand_O": 3, + "cand_J": 0, + "picture_bar": 1, + "picture_cap": 1 + }, + "physics_skip": { + "physics_binding": 16, + "rigid_body": 95, + "examples": [ + [ + "/World/envs/env_0/Robot_0/base_link/visuals/base_link_visuals_mesh_0/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/base_link_visuals_mesh_1/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_2/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_3/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_4/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_5/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_6/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_7/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/collisions/base_link_collisions_mesh_0/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/collisions/base_link_collisions_mesh_1/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/front_laser/visuals/front_laser_visuals/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/front_laser/collisions/mesh_0/box", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/rear_laser/visuals/rear_laser_visuals/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/rear_laser/collisions/mesh_0/box", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_arm_base_link/visuals/right_arm_base_link_visuals_mesh_0/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_arm_base_link/visuals/right_arm_base_link_visuals_mesh_0/World/mesh/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_arm_base_link/visuals/right_arm_base_link_visuals_mesh_0/World/mesh/mesh1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_arm_base_link/collisions/mesh_0/cylinder", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh2", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh3", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh4", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh5", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh6", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/collisions/mesh_0/sphere", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh3", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh5", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh2", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh6", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh4", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh7", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh8", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh9", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/collisions/mesh_0/sphere", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/screen/visuals/mesh_0/box", + "rigid_body" + ] + ] + }, + "material_library": { + "root": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Material", + "pool_sizes": { + "ground": 42, + "wall": 28, + "furniture": 38, + "object": 54 + } + }, + "no_swap": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass", + "reason": "glass", + "bound_prims": 1 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light", + "reason": "emissive", + "bound_prims": 1 + } + ], + "unsupported": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass", + "mdl": "OmniGlass.mdl", + "bound_prims": 1 + } + ] + } + ] +} \ No newline at end of file diff --git a/N032/sawyer_umi/dr_on/seed_2021/report.episodes.jsonl b/N032/sawyer_umi/dr_on/seed_2021/report.episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8a461edfbecd2e52e8fc134becb350dd899ef586 --- /dev/null +++ b/N032/sawyer_umi/dr_on/seed_2021/report.episodes.jsonl @@ -0,0 +1 @@ +{"task_id": "N032", "task_version": "EXT60-MobileAvatar-v3", "instruction": null, "agent_id": "a07", "family_id": "puzzle_completion", "primary_category": "C2", "level": "easy", "embodiment": "sawyer_umi", "scene_seed": 2021, "execution_mode": "expert_privileged_command", "station_layout": {"A": {"center": [-0.3456236314222738, 0.19075829820448897], "facing": 1.558, "stand": [-0.358, -0.759, 1.558]}, "B": {"center": [1.7353778432795572, 2.977148284075784], "facing": 1.656, "stand": [1.817, 2.031, 1.656]}}, "spawn_pose": [-3.356, -2.089, 0.903], "base_path": [[-3.356, -2.089, 0.903], [-3.356, -2.089, 0.903], [-3.356, -2.089, 0.903], [-3.356, -2.089, 0.903], [-3.356, -2.089, 0.903], [-3.263, -2.024, 0.698], [-3.133, -1.951, 0.502], [-2.991, -1.898, 0.432], [-2.848, -1.85, 0.406], [-2.706, -1.801, 0.397], [-2.565, -1.75, 0.394], [-2.425, -1.697, 0.393], [-2.285, -1.642, 0.392], [-2.146, -1.586, 0.392], [-2.006, -1.531, 0.392], [-1.868, -1.473, 0.392], [-1.729, -1.416, 0.392], [-1.59, -1.359, 0.392], [-1.452, -1.301, 0.392], [-1.313, -1.243, 0.392], [-1.175, -1.187, 0.392], [-1.036, -1.13, 0.392], [-0.897, -1.072, 0.392], [-0.758, -1.014, 0.392], [-0.625, -0.947, 0.392], [-0.531, -0.882, 0.392], [-0.469, -0.838, 0.392], [-0.429, -0.81, 0.392], [-0.402, -0.792, 0.392], [-0.397, -0.787, 0.695], [-0.397, -0.787, 1.092], [-0.397, -0.787, 1.34], [-0.397, -0.787, 1.458], [-0.397, -0.787, 1.55], [-0.395, -0.787, 1.171], [-0.395, -0.787, 0.784], [-0.318, -0.736, 0.522], [-0.181, -0.676, 0.423], [-0.039, -0.627, 0.387], [0.104, -0.578, 0.374], [0.238, -0.524, 0.448], [0.357, -0.426, 0.469], [0.486, -0.348, 0.751], [0.588, -0.238, 0.915], [0.671, -0.113, 0.974], [0.748, 0.016, 0.996], [0.823, 0.145, 1.003], [0.902, 0.273, 1.006], [0.982, 0.401, 1.007], [1.061, 0.529, 1.007], [1.141, 0.656, 1.008], [1.221, 0.784, 1.008], [1.3, 0.911, 1.008], [1.38, 1.039, 1.008], [1.46, 1.167, 1.008], [1.539, 1.294, 1.008], [1.619, 1.422, 1.008], [1.699, 1.549, 1.008], [1.779, 1.677, 1.008], [1.859, 1.8, 1.008], [1.919, 1.888, 1.008], [1.958, 1.945, 1.008], [1.983, 1.983, 1.008], [1.999, 2.008, 1.008], [2.001, 2.011, 1.316], [2.001, 2.011, 1.498], [2.001, 2.011, 1.539], [2.001, 2.011, 1.539], [2.001, 2.011, 1.539], [2.001, 2.011, 1.539], [2.001, 2.011, 1.539], [2.001, 2.011, 1.539], [2.001, 2.011, 1.539], [2.001, 2.011, 1.539], [2.001, 2.011, 1.539], [2.001, 2.011, 1.539], [2.001, 2.011, 1.539], [2.001, 2.011, 1.539], [2.001, 2.011, 1.539], [2.001, 2.011, 1.539], [2.001, 2.011, 1.539], [2.001, 2.011, 1.539], [2.001, 2.011, 1.539], [2.001, 2.011, 1.539], [2.001, 2.011, 1.539], [2.001, 2.011, 1.539], [2.001, 2.011, 1.539], [2.001, 2.011, 1.539], [2.001, 2.011, 1.539], [2.001, 2.011, 1.539], [2.001, 2.011, 1.539], [2.001, 2.011, 1.539], [2.001, 2.011, 1.539], [2.001, 2.011, 1.539], [2.001, 2.011, 1.539], [2.001, 2.011, 1.539], [2.001, 2.011, 1.539], [2.001, 2.011, 1.539], [2.001, 2.011, 1.539], [2.001, 2.011, 1.539], [2.001, 2.011, 1.539], [2.001, 2.011, 1.539], [2.001, 2.011, 1.539], [2.001, 2.011, 1.539], [2.001, 2.011, 1.539], [2.001, 2.011, 1.539], [2.001, 2.011, 1.539], [2.001, 2.011, 1.539], [2.001, 2.011, 1.539], [2.001, 2.011, 1.539], [2.001, 2.011, 1.539], [2.001, 2.011, 1.539], [2.001, 2.011, 1.539], [2.001, 2.011, 1.539], [2.001, 2.011, 1.539], [2.001, 2.011, 1.539], [2.001, 2.011, 1.539], [2.001, 2.011, 1.539], [2.001, 2.011, 1.539], [2.001, 2.011, 1.539], [2.001, 2.011, 1.539], [2.001, 2.011, 1.539], [2.001, 2.011, 1.539], [2.0, 2.011, 1.923], [2.0, 2.011, 2.323], [2.0, 2.011, 2.723], [2.001, 2.011, 3.123], [2.001, 2.011, -2.761], [1.984, 1.999, -2.416], [1.915, 1.92, -2.248], [1.841, 1.811, -2.188], [1.775, 1.702, -2.166], [1.712, 1.595, -2.158], [1.658, 1.508, -2.155], [1.602, 1.415, -2.154], [1.531, 1.305, -2.154], [1.473, 1.214, -2.154], [1.4, 1.104, -2.154], [1.34, 1.013, -2.154], [1.268, 0.903, -2.154], [1.198, 0.795, -2.154], [1.139, 0.707, -2.154], [1.078, 0.614, -2.154], [1.005, 0.504, -2.154], [0.946, 0.414, -2.154], [0.874, 0.303, -2.154], [0.814, 0.212, -2.154], [0.74, 0.103, -2.154], [0.68, 0.013, -2.154], [0.608, -0.097, -2.154], [0.55, -0.187, -2.154], [0.477, -0.297, -2.154], [0.416, -0.387, -2.154], [0.287, -0.48, -2.224], [0.246, -0.526, -2.605], [0.212, -0.562, -2.915], [0.076, -0.611, -2.914], [-0.026, -0.649, -2.849], [-0.14, -0.687, -2.826], [-0.217, -0.712, -2.817], [-0.268, -0.729, -2.814], [-0.3, -0.739, -2.813], [-0.312, -0.741, -3.036], [-0.312, -0.742, 2.847], [-0.312, -0.742, 2.447], [-0.312, -0.742, 2.048], [-0.312, -0.742, 1.787], [-0.312, -0.742, 1.675], [-0.312, -0.742, 1.675], [-0.312, -0.742, 1.675], [-0.312, -0.742, 1.675], [-0.312, -0.742, 1.675], [-0.312, -0.742, 1.675], [-0.312, -0.742, 1.675], [-0.312, -0.742, 1.675], [-0.312, -0.742, 1.675], [-0.312, -0.742, 1.675], [-0.312, -0.742, 1.675], [-0.312, -0.742, 1.675], [-0.312, -0.742, 1.675], [-0.312, -0.742, 1.675], [-0.312, -0.742, 1.675], [-0.312, -0.742, 1.675], [-0.312, -0.742, 1.675], [-0.312, -0.742, 1.675], [-0.312, -0.742, 1.675], [-0.312, -0.742, 1.675], [-0.312, -0.742, 1.675], [-0.312, -0.742, 1.675], [-0.312, -0.742, 1.675], [-0.312, -0.742, 1.675], [-0.312, -0.742, 1.675], [-0.312, -0.742, 1.675], [-0.312, -0.742, 1.675], [-0.312, -0.742, 1.675], [-0.312, -0.742, 1.675], [-0.312, -0.742, 1.675], [-0.312, -0.742, 1.675], [-0.312, -0.742, 1.675], [-0.312, -0.742, 1.675], [-0.312, -0.742, 1.675], [-0.312, -0.742, 1.675], [-0.312, -0.742, 1.675], [-0.312, -0.742, 1.675], [-0.312, -0.742, 1.675], [-0.312, -0.742, 1.675], [-0.312, -0.742, 1.675], [-0.312, -0.742, 1.675], [-0.312, -0.742, 1.675], [-0.312, -0.742, 1.675], [-0.312, -0.742, 1.675], [-0.312, -0.742, 1.675], [-0.312, -0.742, 1.675], [-0.312, -0.742, 1.675], [-0.312, -0.742, 1.675], [-0.312, -0.742, 1.675], [-0.312, -0.742, 1.675], [-0.312, -0.742, 1.675]], "stage_events": [{"tick": 535, "event": "enter_station", "station": "A", "xy": [-0.986, -1.109]}, {"tick": 1227, "event": "leave_station", "station": "A", "xy": [1.064, 0.534]}, {"tick": 1422, "event": "enter_station", "station": "B", "xy": [1.686, 1.529]}, {"tick": 3320, "event": "leave_station", "station": "B", "xy": [1.671, 1.528]}, {"tick": 3560, "event": "enter_station", "station": "A", "xy": [1.049, 0.571]}], "transport_state": {"tile": {"held": false, "grasps": 2}}, "manipulation_success": true, "mobile_success": true, "full_success": true, "failure_reason": null, "fail_class_hint": null, "distance_to_first_interaction": 2.571, "interstation_path_lengths": [3.903, 2.307], "station_transition_order": ["A", "B", "A"], "final_approach_pose": [-0.312, -0.742, 1.675], "regrasp_events": 1, "control_ticks": 4930, "wall_s": 1050.3, "phase": "done", "state": "success: task sequence complete", "check": {"tile": {"held": false, "dist_wrist": 1.104, "err_across": 0.0005, "err_along": -0.0002, "yaw_err_deg": 0.0, "tilt_deg": 0.0, "z_err": 0.0, "overlap": false, "at_rest": true, "in_notch": true}, "released": true, "intruders": [], "manipulation_success": true}, "route": ["A", "B", "A"], "total_path_m": 10.76, "planner_seeds": "default"} diff --git a/N032/sawyer_umi/dr_on/seed_2021/report.json b/N032/sawyer_umi/dr_on/seed_2021/report.json new file mode 100644 index 0000000000000000000000000000000000000000..c872d31f240ea9fdb359e1189e2e2f2f2ea3fec5 --- /dev/null +++ b/N032/sawyer_umi/dr_on/seed_2021/report.json @@ -0,0 +1,1335 @@ +{ + "task_id": "N032", + "robot": "sawyer_umi", + "level": "easy", + "seed": 2021, + "episodes_requested": 1, + "episodes": [ + { + "task_id": "N032", + "task_version": "EXT60-MobileAvatar-v3", + "instruction": null, + "agent_id": "a07", + "family_id": "puzzle_completion", + "primary_category": "C2", + "level": "easy", + "embodiment": "sawyer_umi", + "scene_seed": 2021, + "execution_mode": "expert_privileged_command", + "station_layout": { + "A": { + "center": [ + -0.3456236314222738, + 0.19075829820448897 + ], + "facing": 1.558, + "stand": [ + -0.358, + -0.759, + 1.558 + ] + }, + "B": { + "center": [ + 1.7353778432795572, + 2.977148284075784 + ], + "facing": 1.656, + "stand": [ + 1.817, + 2.031, + 1.656 + ] + } + }, + "spawn_pose": [ + -3.356, + -2.089, + 0.903 + ], + "base_path": [ + [ + -3.356, + -2.089, + 0.903 + ], + [ + -3.356, + -2.089, + 0.903 + ], + [ + -3.356, + -2.089, + 0.903 + ], + [ + -3.356, + -2.089, + 0.903 + ], + [ + -3.356, + -2.089, + 0.903 + ], + [ + -3.263, + -2.024, + 0.698 + ], + [ + -3.133, + -1.951, + 0.502 + ], + [ + -2.991, + -1.898, + 0.432 + ], + [ + -2.848, + -1.85, + 0.406 + ], + [ + -2.706, + -1.801, + 0.397 + ], + [ + -2.565, + -1.75, + 0.394 + ], + [ + -2.425, + -1.697, + 0.393 + ], + [ + -2.285, + -1.642, + 0.392 + ], + [ + -2.146, + -1.586, + 0.392 + ], + [ + -2.006, + -1.531, + 0.392 + ], + [ + -1.868, + -1.473, + 0.392 + ], + [ + -1.729, + -1.416, + 0.392 + ], + [ + -1.59, + -1.359, + 0.392 + ], + [ + -1.452, + -1.301, + 0.392 + ], + [ + -1.313, + -1.243, + 0.392 + ], + [ + -1.175, + -1.187, + 0.392 + ], + [ + -1.036, + -1.13, + 0.392 + ], + [ + -0.897, + -1.072, + 0.392 + ], + [ + -0.758, + -1.014, + 0.392 + ], + [ + -0.625, + -0.947, + 0.392 + ], + [ + -0.531, + -0.882, + 0.392 + ], + [ + -0.469, + -0.838, + 0.392 + ], + [ + -0.429, + -0.81, + 0.392 + ], + [ + -0.402, + -0.792, + 0.392 + ], + [ + -0.397, + -0.787, + 0.695 + ], + [ + -0.397, + -0.787, + 1.092 + ], + [ + -0.397, + -0.787, + 1.34 + ], + [ + -0.397, + -0.787, + 1.458 + ], + [ + -0.397, + -0.787, + 1.55 + ], + [ + -0.395, + -0.787, + 1.171 + ], + [ + -0.395, + -0.787, + 0.784 + ], + [ + -0.318, + -0.736, + 0.522 + ], + [ + -0.181, + -0.676, + 0.423 + ], + [ + -0.039, + -0.627, + 0.387 + ], + [ + 0.104, + -0.578, + 0.374 + ], + [ + 0.238, + -0.524, + 0.448 + ], + [ + 0.357, + -0.426, + 0.469 + ], + [ + 0.486, + -0.348, + 0.751 + ], + [ + 0.588, + -0.238, + 0.915 + ], + [ + 0.671, + -0.113, + 0.974 + ], + [ + 0.748, + 0.016, + 0.996 + ], + [ + 0.823, + 0.145, + 1.003 + ], + [ + 0.902, + 0.273, + 1.006 + ], + [ + 0.982, + 0.401, + 1.007 + ], + [ + 1.061, + 0.529, + 1.007 + ], + [ + 1.141, + 0.656, + 1.008 + ], + [ + 1.221, + 0.784, + 1.008 + ], + [ + 1.3, + 0.911, + 1.008 + ], + [ + 1.38, + 1.039, + 1.008 + ], + [ + 1.46, + 1.167, + 1.008 + ], + [ + 1.539, + 1.294, + 1.008 + ], + [ + 1.619, + 1.422, + 1.008 + ], + [ + 1.699, + 1.549, + 1.008 + ], + [ + 1.779, + 1.677, + 1.008 + ], + [ + 1.859, + 1.8, + 1.008 + ], + [ + 1.919, + 1.888, + 1.008 + ], + [ + 1.958, + 1.945, + 1.008 + ], + [ + 1.983, + 1.983, + 1.008 + ], + [ + 1.999, + 2.008, + 1.008 + ], + [ + 2.001, + 2.011, + 1.316 + ], + [ + 2.001, + 2.011, + 1.498 + ], + [ + 2.001, + 2.011, + 1.539 + ], + [ + 2.001, + 2.011, + 1.539 + ], + [ + 2.001, + 2.011, + 1.539 + ], + [ + 2.001, + 2.011, + 1.539 + ], + [ + 2.001, + 2.011, + 1.539 + ], + [ + 2.001, + 2.011, + 1.539 + ], + [ + 2.001, + 2.011, + 1.539 + ], + [ + 2.001, + 2.011, + 1.539 + ], + [ + 2.001, + 2.011, + 1.539 + ], + [ + 2.001, + 2.011, + 1.539 + ], + [ + 2.001, + 2.011, + 1.539 + ], + [ + 2.001, + 2.011, + 1.539 + ], + [ + 2.001, + 2.011, + 1.539 + ], + [ + 2.001, + 2.011, + 1.539 + ], + [ + 2.001, + 2.011, + 1.539 + ], + [ + 2.001, + 2.011, + 1.539 + ], + [ + 2.001, + 2.011, + 1.539 + ], + [ + 2.001, + 2.011, + 1.539 + ], + [ + 2.001, + 2.011, + 1.539 + ], + [ + 2.001, + 2.011, + 1.539 + ], + [ + 2.001, + 2.011, + 1.539 + ], + [ + 2.001, + 2.011, + 1.539 + ], + [ + 2.001, + 2.011, + 1.539 + ], + [ + 2.001, + 2.011, + 1.539 + ], + [ + 2.001, + 2.011, + 1.539 + ], + [ + 2.001, + 2.011, + 1.539 + ], + [ + 2.001, + 2.011, + 1.539 + ], + [ + 2.001, + 2.011, + 1.539 + ], + [ + 2.001, + 2.011, + 1.539 + ], + [ + 2.001, + 2.011, + 1.539 + ], + [ + 2.001, + 2.011, + 1.539 + ], + [ + 2.001, + 2.011, + 1.539 + ], + [ + 2.001, + 2.011, + 1.539 + ], + [ + 2.001, + 2.011, + 1.539 + ], + [ + 2.001, + 2.011, + 1.539 + ], + [ + 2.001, + 2.011, + 1.539 + ], + [ + 2.001, + 2.011, + 1.539 + ], + [ + 2.001, + 2.011, + 1.539 + ], + [ + 2.001, + 2.011, + 1.539 + ], + [ + 2.001, + 2.011, + 1.539 + ], + [ + 2.001, + 2.011, + 1.539 + ], + [ + 2.001, + 2.011, + 1.539 + ], + [ + 2.001, + 2.011, + 1.539 + ], + [ + 2.001, + 2.011, + 1.539 + ], + [ + 2.001, + 2.011, + 1.539 + ], + [ + 2.001, + 2.011, + 1.539 + ], + [ + 2.001, + 2.011, + 1.539 + ], + [ + 2.001, + 2.011, + 1.539 + ], + [ + 2.001, + 2.011, + 1.539 + ], + [ + 2.001, + 2.011, + 1.539 + ], + [ + 2.001, + 2.011, + 1.539 + ], + [ + 2.001, + 2.011, + 1.539 + ], + [ + 2.001, + 2.011, + 1.539 + ], + [ + 2.001, + 2.011, + 1.539 + ], + [ + 2.001, + 2.011, + 1.539 + ], + [ + 2.001, + 2.011, + 1.539 + ], + [ + 2.001, + 2.011, + 1.539 + ], + [ + 2.0, + 2.011, + 1.923 + ], + [ + 2.0, + 2.011, + 2.323 + ], + [ + 2.0, + 2.011, + 2.723 + ], + [ + 2.001, + 2.011, + 3.123 + ], + [ + 2.001, + 2.011, + -2.761 + ], + [ + 1.984, + 1.999, + -2.416 + ], + [ + 1.915, + 1.92, + -2.248 + ], + [ + 1.841, + 1.811, + -2.188 + ], + [ + 1.775, + 1.702, + -2.166 + ], + [ + 1.712, + 1.595, + -2.158 + ], + [ + 1.658, + 1.508, + -2.155 + ], + [ + 1.602, + 1.415, + -2.154 + ], + [ + 1.531, + 1.305, + -2.154 + ], + [ + 1.473, + 1.214, + -2.154 + ], + [ + 1.4, + 1.104, + -2.154 + ], + [ + 1.34, + 1.013, + -2.154 + ], + [ + 1.268, + 0.903, + -2.154 + ], + [ + 1.198, + 0.795, + -2.154 + ], + [ + 1.139, + 0.707, + -2.154 + ], + [ + 1.078, + 0.614, + -2.154 + ], + [ + 1.005, + 0.504, + -2.154 + ], + [ + 0.946, + 0.414, + -2.154 + ], + [ + 0.874, + 0.303, + -2.154 + ], + [ + 0.814, + 0.212, + -2.154 + ], + [ + 0.74, + 0.103, + -2.154 + ], + [ + 0.68, + 0.013, + -2.154 + ], + [ + 0.608, + -0.097, + -2.154 + ], + [ + 0.55, + -0.187, + -2.154 + ], + [ + 0.477, + -0.297, + -2.154 + ], + [ + 0.416, + -0.387, + -2.154 + ], + [ + 0.287, + -0.48, + -2.224 + ], + [ + 0.246, + -0.526, + -2.605 + ], + [ + 0.212, + -0.562, + -2.915 + ], + [ + 0.076, + -0.611, + -2.914 + ], + [ + -0.026, + -0.649, + -2.849 + ], + [ + -0.14, + -0.687, + -2.826 + ], + [ + -0.217, + -0.712, + -2.817 + ], + [ + -0.268, + -0.729, + -2.814 + ], + [ + -0.3, + -0.739, + -2.813 + ], + [ + -0.312, + -0.741, + -3.036 + ], + [ + -0.312, + -0.742, + 2.847 + ], + [ + -0.312, + -0.742, + 2.447 + ], + [ + -0.312, + -0.742, + 2.048 + ], + [ + -0.312, + -0.742, + 1.787 + ], + [ + -0.312, + -0.742, + 1.675 + ], + [ + -0.312, + -0.742, + 1.675 + ], + [ + -0.312, + -0.742, + 1.675 + ], + [ + -0.312, + -0.742, + 1.675 + ], + [ + -0.312, + -0.742, + 1.675 + ], + [ + -0.312, + -0.742, + 1.675 + ], + [ + -0.312, + -0.742, + 1.675 + ], + [ + -0.312, + -0.742, + 1.675 + ], + [ + -0.312, + -0.742, + 1.675 + ], + [ + -0.312, + -0.742, + 1.675 + ], + [ + -0.312, + -0.742, + 1.675 + ], + [ + -0.312, + -0.742, + 1.675 + ], + [ + -0.312, + -0.742, + 1.675 + ], + [ + -0.312, + -0.742, + 1.675 + ], + [ + -0.312, + -0.742, + 1.675 + ], + [ + -0.312, + -0.742, + 1.675 + ], + [ + -0.312, + -0.742, + 1.675 + ], + [ + -0.312, + -0.742, + 1.675 + ], + [ + -0.312, + -0.742, + 1.675 + ], + [ + -0.312, + -0.742, + 1.675 + ], + [ + -0.312, + -0.742, + 1.675 + ], + [ + -0.312, + -0.742, + 1.675 + ], + [ + -0.312, + -0.742, + 1.675 + ], + [ + -0.312, + -0.742, + 1.675 + ], + [ + -0.312, + -0.742, + 1.675 + ], + [ + -0.312, + -0.742, + 1.675 + ], + [ + -0.312, + -0.742, + 1.675 + ], + [ + -0.312, + -0.742, + 1.675 + ], + [ + -0.312, + -0.742, + 1.675 + ], + [ + -0.312, + -0.742, + 1.675 + ], + [ + -0.312, + -0.742, + 1.675 + ], + [ + -0.312, + -0.742, + 1.675 + ], + [ + -0.312, + -0.742, + 1.675 + ], + [ + -0.312, + -0.742, + 1.675 + ], + [ + -0.312, + -0.742, + 1.675 + ], + [ + -0.312, + -0.742, + 1.675 + ], + [ + -0.312, + -0.742, + 1.675 + ], + [ + -0.312, + -0.742, + 1.675 + ], + [ + -0.312, + -0.742, + 1.675 + ], + [ + -0.312, + -0.742, + 1.675 + ], + [ + -0.312, + -0.742, + 1.675 + ], + [ + -0.312, + -0.742, + 1.675 + ], + [ + -0.312, + -0.742, + 1.675 + ], + [ + -0.312, + -0.742, + 1.675 + ], + [ + -0.312, + -0.742, + 1.675 + ], + [ + -0.312, + -0.742, + 1.675 + ], + [ + -0.312, + -0.742, + 1.675 + ], + [ + -0.312, + -0.742, + 1.675 + ], + [ + -0.312, + -0.742, + 1.675 + ], + [ + -0.312, + -0.742, + 1.675 + ], + [ + -0.312, + -0.742, + 1.675 + ] + ], + "stage_events": [ + { + "tick": 535, + "event": "enter_station", + "station": "A", + "xy": [ + -0.986, + -1.109 + ] + }, + { + "tick": 1227, + "event": "leave_station", + "station": "A", + "xy": [ + 1.064, + 0.534 + ] + }, + { + "tick": 1422, + "event": "enter_station", + "station": "B", + "xy": [ + 1.686, + 1.529 + ] + }, + { + "tick": 3320, + "event": "leave_station", + "station": "B", + "xy": [ + 1.671, + 1.528 + ] + }, + { + "tick": 3560, + "event": "enter_station", + "station": "A", + "xy": [ + 1.049, + 0.571 + ] + } + ], + "transport_state": { + "tile": { + "held": false, + "grasps": 2 + } + }, + "manipulation_success": true, + "mobile_success": true, + "full_success": true, + "failure_reason": null, + "fail_class_hint": null, + "distance_to_first_interaction": 2.571, + "interstation_path_lengths": [ + 3.903, + 2.307 + ], + "station_transition_order": [ + "A", + "B", + "A" + ], + "final_approach_pose": [ + -0.312, + -0.742, + 1.675 + ], + "regrasp_events": 1, + "control_ticks": 4930, + "wall_s": 1050.3, + "phase": "done", + "state": "success: task sequence complete", + "check": { + "tile": { + "held": false, + "dist_wrist": 1.104, + "err_across": 0.0005, + "err_along": -0.0002, + "yaw_err_deg": 0.0, + "tilt_deg": 0.0, + "z_err": 0.0, + "overlap": false, + "at_rest": true, + "in_notch": true + }, + "released": true, + "intruders": [], + "manipulation_success": true + }, + "route": [ + "A", + "B", + "A" + ], + "total_path_m": 10.76, + "planner_seeds": "default" + } + ], + "error": null, + "collect": { + "task": "N032", + "robot": "sawyer_umi", + "visual_dr": true, + "env": { + "MMB_COLLECT": "1", + "MMB_TASK_ID": "N032", + "MMB_CLEAN_VIEW": "1", + "MMB_REAL_ROBOT_LOOK": "1", + "MMB_VISUAL_DR": "1" + }, + "cameras": { + "head": { + "link": "Robot_0/head", + "pos": [ + 0.2166, + 0.0, + -0.045 + ], + "ori": [ + -0.0, + 35.0, + -90.0 + ], + "focal_length": 2.0, + "horizontal_aperture": 3.6, + "vertical_aperture": 2.7 + }, + "wrist": { + "link": "Robot_0/right_electric_gripper_base", + "pos": [ + 0.0598, + 0.0, + 0.03 + ], + "ori": [ + 180.0, + 0.0, + -90.0 + ], + "focal_length": 1.8, + "horizontal_aperture": 3.6, + "vertical_aperture": 2.7 + } + }, + "resolution": [ + 640, + 480 + ], + "camera_hz": 25, + "record": { + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + } + }, + "review_cameras": [], + "policy_obs_signature": [ + "/camera_info[0]/rgb[0]:(480, 640, 4):uint8", + "/camera_info[1]/rgb[0]:(480, 640, 4):uint8", + "/robot_state[0]/RidgebackSawyerUmi/base_ang_vel:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/base_heading_quat:(1, 4):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/base_lin_vel:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/base_pos:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/base_quat:(1, 4):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/eef_pos:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/eef_quat:(1, 4):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/eef_relative_pos:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/eef_relative_quat:(1, 4):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/eef_relatvie_pos_arm_base:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/gripper_pos:(1, 2):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/joint_effort:(1, 13):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/joint_pos:(1, 13):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/joint_vel:(1, 13):torch.float32" + ], + "n_success": 1, + "elapsed_s": 1309.4, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 45.2 + } +} diff --git a/N032/stretch3/dr_off/seed_1027/check.json b/N032/stretch3/dr_off/seed_1027/check.json new file mode 100644 index 0000000000000000000000000000000000000000..ab21045eb68322bf142fe806f0e55dd47379117f --- /dev/null +++ b/N032/stretch3/dr_off/seed_1027/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: 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'; expected 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "2537 rows vs ceil(5074/2) = 2537" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..5173, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "25.97 MB, 2537 frames at 25 fps, mean luma 117..156, std 12, new picture 2536x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2537 vs 2537" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "55.81 MB, 2537 frames at 25 fps, mean luma 114..171, std 29, new picture 2536x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2537 vs 2537" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationpuzzlestretch/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N032/stretch3/dr_off/seed_1027/check.txt b/N032/stretch3/dr_off/seed_1027/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..5ed8fc39ad064911563ba7547240eab181d2bd60 --- /dev/null +++ b/N032/stretch3/dr_off/seed_1027/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n032_str_off_1027/out task=N032 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n032_str_off_1027/out/rec/stationpuzzlestretch/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2537 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: 2537 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: 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'; expected 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.' +rows 2537 at dataset fps 25 = 101.48 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2537 rows vs ceil(5074/2) = 2537 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..5173, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 25.97 MB, 2537 frames at 25 fps, mean luma 117..156, std 12, new picture 2536x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2537 vs 2537 +[PASS] video observation.images.wrist decodes, 640x480, not black: 55.81 MB, 2537 frames at 25 fps, mean luma 114..171, std 29, new picture 2536x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2537 vs 2537 +parquet size 4.05 MB +[PASS] sim_info present: rec/stationpuzzlestretch/000/sim_info +dataset size 86.04 MB; whole cell dir 87.9 MB +RESULT: ALL PASS diff --git a/N032/stretch3/dr_off/seed_1027/rec/stationpuzzlestretch/000/completed/0.json b/N032/stretch3/dr_off/seed_1027/rec/stationpuzzlestretch/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..2b614a937da99960d58d2a321fefcbc4aa6cfa5e --- /dev/null +++ b/N032/stretch3/dr_off/seed_1027/rec/stationpuzzlestretch/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationpuzzlestretch/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N032/stretch3/dr_off/seed_1027/rec/stationpuzzlestretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N032/stretch3/dr_off/seed_1027/rec/stationpuzzlestretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..9cde06005b85a5db6a6fccf6c501ba65f5c4a16b --- /dev/null +++ b/N032/stretch3/dr_off/seed_1027/rec/stationpuzzlestretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:edf873c904856bc9683592bb7288d585d92caa7649f90148dfc280513aca1201 +size 4053229 diff --git a/N032/stretch3/dr_off/seed_1027/rec/stationpuzzlestretch/000/lerobot_v21/meta/episodes.jsonl b/N032/stretch3/dr_off/seed_1027/rec/stationpuzzlestretch/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ba0a3bfcc18aba1c32f1e1e9a6b224243ac9d113 --- /dev/null +++ b/N032/stretch3/dr_off/seed_1027/rec/stationpuzzlestretch/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap."], "length": 2537, "magicsim/control_steps": 5074, "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 gray table B. There are a large gray table A, a large gray table B, a small gray board 0, a small gray board 1, a small gray board 2, a small gray board 3, a small gray board 4, a small gray picture, a small gray picture bar, a small gray picture cap, a small tile and a small cand O. The gray table B is to the left of the tile. The gray board 0 is to the right of the gray board 4. The gray board 1 is in front of the gray board 4. The gray board 2 is behind the gray board 4. The gray board 3 is to the right of the gray board 1. The gray board 4 is behind the gray board 1. The tile is on top of the gray table B. The tile is to the right of the gray table B. The cand O is on top of the gray table B. The cand O is to the left of the gray table B. The scene is viewed from front, slightly above table height."} diff --git a/N032/stretch3/dr_off/seed_1027/rec/stationpuzzlestretch/000/lerobot_v21/meta/episodes_stats.jsonl b/N032/stretch3/dr_off/seed_1027/rec/stationpuzzlestretch/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d7c248b4e04e3e40ff48dfbf43d532eae92e79c4 --- /dev/null +++ b/N032/stretch3/dr_off/seed_1027/rec/stationpuzzlestretch/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.03562560745624691, 0.0, 0.02377261611026193, 0.3990762207699682, 0.30982389189464443, 0.7192067847531003, -0.3224572027582148, -0.0032015799278436218, -0.05928761426521867, 0.025349872532584417, 0.40165549862041783], "std": [0.18003707518778017, 0.0, 0.22780884787256037, 1.2684126682206194, 1.4347210354676552, 0.14505032393661482, 0.5051455344088549, 0.32795637057918986, 0.3779500033007527, 0.6215140875370406, 0.4902329640572912], "min": [-0.30000001192092896, 0.0, -0.800000011920929, -3.1989033222198486, -2.2301623821258545, 0.3830000162124634, -0.9826849699020386, -0.532650351524353, -0.704785943031311, -0.9999998807907104, 0.0], "max": [0.30000001192092896, 0.0, 0.800000011920929, 2.263080358505249, 2.8495681285858154, 0.8950563669204712, 0.648716390132904, 0.6389480233192444, 0.6470430493354797, 0.9999431371688843, 1.0], "count": [2537]}, "action_is_hold": {"mean": [0.07843910130074892, 0.07843910130074892, 0.07843910130074892, 0.10051241623965314, 0.10051241623965314, 0.10051241623965314, 0.10051241623965314, 0.10051241623965314, 0.10051241623965314, 0.10051241623965314, 0.980291683090264], "std": [0.2688613186902854, 0.2688613186902854, 0.2688613186902854, 0.300682008808838, 0.300682008808838, 0.300682008808838, 0.300682008808838, 0.300682008808838, 0.300682008808838, 0.300682008808838, 0.13899604006705193], "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": [2537]}, "observation.state": {"mean": [0.4278758241904031, 0.109435464095825, 0.7362360585779011, 0.6783736330883965, 1.734230320908207e-07, 3.8408438518930887e-08, 0.035192339762192305, 0.03519131516861036, 0.03519056612982252, 0.0351998788885837, 2.273260658915982, -0.7960069295757322, -0.1335684114088557, 0.06965215664839768, 0.07112988532215965], "std": [1.3824519157020472, 1.397356870451151, 2.371920564550246, 0.18840956492369476, 4.290425837238792e-06, 6.936668520338125e-06, 0.040863148020070884, 0.040861563296218095, 0.040859975449971005, 0.040864216388920085, 0.6829692290887742, 0.7682218332352446, 0.21761169578472347, 0.08467327114919003, 0.08481627995988783], "min": [-3.4832310676574707, -2.2735159397125244, -3.141216278076172, 0.4585065245628357, -6.48832501610741e-05, -9.0994501078967e-05, 0.0, 0.0, 0.0, 0.0, 1.568219542503357, -1.570000410079956, -0.8299244046211243, -7.730283080320532e-10, -1.1310814784781797e-10], "max": [2.1985182762145996, 2.217283010482788, 3.1397969722747803, 0.9715061783790588, 5.430894088931382e-05, 9.071829117601737e-05, 0.11883341521024704, 0.11887092143297195, 0.11892013251781464, 0.11832508444786072, 3.2636587619781494, 0.07382000237703323, 0.28402501344680786, 0.2500002384185791, 0.25000014901161194], "count": [2537]}, "observation.joint_vel": {"mean": [0.032782883246640186, -0.008115153583016165, 0.023799910969582026, -0.0004590394523788678, -0.00019722560165386723, -1.7487559192196698e-05, 1.564902266171231e-05, -3.6854093414058184e-06, -1.5174311947548387e-05, 4.3627122089088596e-05, 0.02915408693358128, -2.521250054877974e-06, 0.012334467899511467, 0.1073069862185703, -0.10709543369901689], "std": [0.16761596516731694, 0.06661376254129776, 0.22690727727837165, 0.07485371709226261, 0.00028236824294687276, 7.434922927156597e-05, 0.01545295141295137, 0.015496552305910218, 0.015554419844021866, 0.014875330481299114, 0.12388497413435079, 0.13963952664484958, 0.09745596425250257, 0.14577860951685293, 0.1784885525171173], "min": [-0.30004844069480896, -0.19858936965465546, -0.8000481724739075, -0.4244978427886963, -0.0009349517640657723, -0.0009114150307141244, -0.06862717866897583, -0.06891082972288132, -0.06928425282239914, -0.06666763126850128, -0.49172499775886536, -1.0000005960464478, -1.0000004768371582, -1.0000003576278687, -1.0000005960464478], "max": [0.2999885678291321, 0.14986121654510498, 0.8007112145423889, 0.7579375505447388, 0.0011857347562909126, 0.0009141527698375285, 0.08553718775510788, 0.08528770506381989, 0.08500788360834122, 0.08498817682266235, 1.0000001192092896, 0.48096802830696106, 0.18479837477207184, 1.0000004768371582, 1.000000238418579], "count": [2537]}, "observation.eef_pose": {"mean": [0.3971177813974031, 0.30566532428276894, 0.7208380047430144, -0.21634644884720644, 0.10208691036532226, 0.03282727838032148, -0.1571773772704634], "std": [1.2649113744395253, 1.427489750857818, 0.14501576435293895, 0.5576366749224659, 0.30787296618228926, 0.3793301723294772, 0.6060975349981611], "min": [-3.1989033222198486, -2.2301623821258545, 0.3823692798614502, -0.982688307762146, -0.5287460088729858, -0.7047633528709412, -0.9999998807907104], "max": [2.265782356262207, 2.8493523597717285, 0.8949415683746338, 0.6487613916397095, 0.6389189958572388, 0.6470348834991455, 0.9410404562950134], "count": [2537]}, "observation.environment_state": {"mean": [-0.32179468870162964, -0.27127769589424133, 0.3400000035762787, 0.9996379017829895, 0.0, 0.0, -0.02690846100449562, -0.31318730115890503, -0.11150937527418137, 0.3400000035762787, 0.9996379017829895, 0.0, 0.0, -0.02690846100449562, -0.42233896255493164, -0.18574494123458862, 0.3400000035762787, 0.9996379017829895, 0.0, 0.0, -0.02690846100449562, -0.21264305710792542, -0.19704212248325348, 0.3400000035762787, 0.9996379017829895, 0.0, 0.0, -0.02690846100449562, -0.3458336889743805, -0.15982308983802795, 0.3400000035762787, 0.9996379017829895, 0.0, 0.0, -0.02690846100449562, 1.8426001071929932, 2.8648834228515625, 0.33000004196383137, 0.9980436135663449, -2.137135000237159e-07, 9.023048889138091e-08, -0.06252142286260719, -0.3002762496471405, 0.1281430870294571, 0.4300000071525574, 0.9996379017829895, 0.0, 0.0, -0.02690846100449562, -0.30054521560668945, 0.12315033376216888, 0.4050000011920929, 0.9996379017829895, 0.0, 0.0, -0.02690846100449562, -0.2506176233291626, 0.12046052515506744, 0.45500001311302185, 0.9996379017829895, 0.0, 0.0, -0.02690846100449562, -0.3110354542732239, -0.07156729698181152, 0.18000000715255737, 0.9996379017829895, 0.0, 0.0, -0.02690846100449562, 2.069246292114258, 2.980684280395508, 0.18000000715255737, 0.9995985627174377, 0.0, 0.0, -0.028332198038697243, 1.3537122407622686, 1.6338138527893613, 0.4822577129187526, 0.9786691022379735, -0.000772423032521311, -0.0004217081779337367, 0.05858938632177204], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5903141165198555e-08, 2.6826938947159093e-08, 1.8025672466710097e-07, 1.7416165138681062e-07, 1.1496909681854153e-07, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.139994379975073, 1.482493270300957, 0.22339472603947924, 0.05418612354836441, 0.0018493626868708592, 0.0014217840804752189, 0.18929269852818117], "min": [-0.32179468870162964, -0.27127769589424133, 0.3400000035762787, 0.9996379017829895, 0.0, 0.0, -0.02690846100449562, -0.31318730115890503, -0.11150937527418137, 0.3400000035762787, 0.9996379017829895, 0.0, 0.0, -0.02690846100449562, -0.42233896255493164, -0.18574494123458862, 0.3400000035762787, 0.9996379017829895, 0.0, 0.0, -0.02690846100449562, -0.21264305710792542, -0.19704212248325348, 0.3400000035762787, 0.9996379017829895, 0.0, 0.0, -0.02690846100449562, -0.3458336889743805, -0.15982308983802795, 0.3400000035762787, 0.9996379017829895, 0.0, 0.0, -0.02690846100449562, 1.8426001071929932, 2.8648834228515625, 0.33000001311302185, 0.9980435967445374, -8.54652853377047e-07, -3.6101192790738423e-07, -0.06252184510231018, -0.3002762496471405, 0.1281430870294571, 0.4300000071525574, 0.9996379017829895, 0.0, 0.0, -0.02690846100449562, -0.30054521560668945, 0.12315033376216888, 0.4050000011920929, 0.9996379017829895, 0.0, 0.0, -0.02690846100449562, -0.2506176233291626, 0.12046052515506744, 0.45500001311302185, 0.9996379017829895, 0.0, 0.0, -0.02690846100449562, -0.3110354542732239, -0.07156729698181152, 0.18000000715255737, 0.9996379017829895, 0.0, 0.0, -0.02690846100449562, 2.069246292114258, 2.980684280395508, 0.18000000715255737, 0.9995985627174377, 0.0, 0.0, -0.028332198038697243, -0.3264654576778412, -0.5978808999061584, 0.32999977469444275, 0.7466328144073486, -0.011078650131821632, -0.004672591108828783, -0.3367583155632019], "max": [-0.32179468870162964, -0.27127769589424133, 0.3400000035762787, 0.9996379017829895, 0.0, 0.0, -0.02690846100449562, -0.31318730115890503, -0.11150937527418137, 0.3400000035762787, 0.9996379017829895, 0.0, 0.0, -0.02690846100449562, -0.42233896255493164, -0.18574494123458862, 0.3400000035762787, 0.9996379017829895, 0.0, 0.0, -0.02690846100449562, -0.21264305710792542, -0.19704212248325348, 0.3400000035762787, 0.9996379017829895, 0.0, 0.0, -0.02690846100449562, -0.3458336889743805, -0.15982308983802795, 0.3400000035762787, 0.9996379017829895, 0.0, 0.0, -0.02690846100449562, 1.8426001071929932, 2.8648834228515625, 0.330000102519989, 0.9980436563491821, 2.341802769478818e-07, 4.72900353543082e-07, -0.06252110004425049, -0.3002762496471405, 0.1281430870294571, 0.4300000071525574, 0.9996379017829895, 0.0, 0.0, -0.02690846100449562, -0.30054521560668945, 0.12315033376216888, 0.4050000011920929, 0.9996379017829895, 0.0, 0.0, -0.02690846100449562, -0.2506176233291626, 0.12046052515506744, 0.45500001311302185, 0.9996379017829895, 0.0, 0.0, -0.02690846100449562, -0.3110354542732239, -0.07156729698181152, 0.18000000715255737, 0.9996379017829895, 0.0, 0.0, -0.02690846100449562, 2.069246292114258, 2.980684280395508, 0.18000000715255737, 0.9995985627174377, 0.0, 0.0, -0.028332198038697243, 2.262066602706909, 2.84956955909729, 0.8410914540290833, 0.9999971389770508, 0.0014685955829918385, 0.013186994940042496, 0.6652355194091797], "count": [2537]}, "action.command": {"mean": [-0.5037526191172665, -0.2609456532876125, -0.5641906493656084, 0.0, 0.0, 0.0, 0.0, 1.1967572304995617, 0.3874021620913282, 0.27104822286681374, 0.729453062431317, -0.3719406080676966, -0.015885083972590728, -0.0795254548754139, 0.05256514958416966, 0.5, -0.4629988440634033, -0.25603312378797183, -0.5643809775547094, 0.0, 0.0, 0.0, 0.0, 2.0, 0.27227323320607877, 0.044507622660847214, 0.7741737732767416, -0.42528324612898744, 0.06544741309927142, -0.03747464081266229, -0.0626215498776296, 0.0, -0.477475585800527, -0.29692010420086423, -0.5643384875222497, 0.0, 0.0, 0.0, 0.0, 2.0, 0.27227323320607877, 0.044507622660847214, 0.7741737732767416, -0.42528324612898744, 0.06544741309927142, -0.03747464081266229, -0.0626215498776296, 0.0, -0.428644268331522, -0.3098193073900498, -0.5641920284052083, 0.0, 0.0, 0.0, 0.0, 2.0, 0.27227323320607877, 0.044507622660847214, 0.7741737732767416, -0.42528324612898744, 0.06544741309927142, -0.03747464081266229, -0.0626215498776296, 0.0, -0.4005169695826222, -0.335669126288039, -0.5641913284340853, 0.0, 0.0, 0.0, 0.0, 2.0, 0.27227323320607877, 0.044507622660847214, 0.7741737732767416, -0.42528324612898744, 0.06544741309927142, -0.03747464081266229, -0.0626215498776296, 0.0, -0.30875687567792487, -0.3253775685936444, -0.5641884262657394, 0.0, 0.0, 0.0, 0.0, 2.0, 0.27227323320607877, 0.044507622660847214, 0.7741737732767416, -0.42528324612898744, 0.06544741309927142, -0.03747464081266229, -0.0626215498776296, 0.0, -0.3236284366558584, -0.3721892954987869, -0.5641901810892609, 0.0, 0.0, 0.0, 0.0, 2.0, 0.27227323320607877, 0.044507622660847214, 0.7741737732767416, -0.42528324612898744, 0.06544741309927142, -0.03747464081266229, -0.0626215498776296, 0.0, -0.2522824064548111, -0.36427546646122727, -0.5641906192600905, 0.0, 0.0, 0.0, 0.0, 2.0, 0.27227323320607877, 0.044507622660847214, 0.7741737732767416, -0.42528324612898744, 0.06544741309927142, -0.03747464081266229, -0.0626215498776296, 0.0, -0.25357034019479346, -0.4063973605169071, -0.5641889625648622, 0.0, 0.0, 0.0, 0.0, 2.0, 0.27227323320607877, 0.044507622660847214, 0.7741737732767416, -0.42528324612898744, 0.06544741309927142, -0.03747464081266229, -0.0626215498776296, 0.0, -0.23165499058260594, -0.399986012191704, -0.564190668252897, 0.0, 0.0, 0.0, 0.0, 2.0, 0.27227323320607877, 0.044507622660847214, 0.7741737732767416, -0.42528324612898744, 0.06544741309927142, -0.03747464081266229, -0.0626215498776296, 0.0, -0.17755526657378437, -0.43909055868499225, -0.22473753795232834, 0.0, 0.0, 0.0, 0.0, 2.0, 0.27227323320607877, 0.044507622660847214, 0.7741737732767416, -0.42528324612898744, 0.06544741309927142, -0.03747464081266229, -0.0626215498776296, 0.0, -0.12467855753690307, -0.4021693046473943, -0.22473781084600572, 0.0, 0.0, 0.0, 0.0, 2.0, 0.27227323320607877, 0.044507622660847214, 0.7741737732767416, -0.42528324612898744, 0.06544741309927142, -0.03747464081266229, -0.0626215498776296, 0.0, -0.14170158201887678, -0.44132223541618176, -0.2247362448953712, 0.0, 0.0, 0.0, 0.0, 2.0, 0.27227323320607877, 0.044507622660847214, 0.7741737732767416, -0.42528324612898744, 0.06544741309927142, -0.03747464081266229, -0.0626215498776296, 0.0, -0.10778779158829073, -0.3905699616203331, -0.22473703732325032, 0.0, 0.0, 0.0, 0.0, 2.0, 0.27227323320607877, 0.044507622660847214, 0.7741737732767416, -0.42528324612898744, 0.06544741309927142, -0.03747464081266229, -0.0626215498776296, 0.0, -0.09065711747950811, -0.41808274547044993, -0.22473692216251084, 0.0, 0.0, 0.0, 0.0, 2.0, 0.27227323320607877, 0.044507622660847214, 0.7741737732767416, -0.42528324612898744, 0.06544741309927142, -0.03747464081266229, -0.0626215498776296, 0.0, -0.034410889172967786, -0.3716243456966644, -0.22473577838469094, 0.0, 0.0, 0.0, 0.0, 2.0, 0.27227323320607877, 0.044507622660847214, 0.7741737732767416, -0.42528324612898744, 0.06544741309927142, -0.03747464081266229, -0.0626215498776296, 0.0, -0.04692657917006725, -0.4069971403342246, -0.22473590727839765, 0.0, 0.0, 0.0, 0.0, 2.0, 0.27227323320607877, 0.044507622660847214, 0.7741737732767416, -0.42528324612898744, 0.06544741309927142, -0.03747464081266229, -0.0626215498776296, 0.0, -0.004570607579731784, -0.3528790817083819, -0.22473713900071285, 0.0, 0.0, 0.0, 0.0, 2.0, 0.27227323320607877, 0.044507622660847214, 0.7741737732767416, -0.42528324612898744, 0.06544741309927142, -0.03747464081266229, -0.0626215498776296, 0.0, 0.002394407399038866, -0.3868392556816571, -0.22473664029781723, 0.0, 0.0, 0.0, 0.0, 2.0, 0.27227323320607877, 0.044507622660847214, 0.7741737732767416, -0.42528324612898744, 0.06544741309927142, -0.03747464081266229, -0.0626215498776296, 0.0, 0.0476936904489459, -0.3422968167876284, -0.2247368134045444, 0.0, 0.0, 0.0, 0.0, 2.0, 0.27227323320607877, 0.044507622660847214, 0.7741737732767416, -0.42528324612898744, 0.06544741309927142, -0.03747464081266229, -0.0626215498776296, 0.0, 0.052128896393653236, -0.36607906819816693, -0.22474290342262446, 0.0, 0.0, 0.0, 0.0, 2.0, 0.27227323320607877, 0.044507622660847214, 0.7741737732767416, -0.42528324612898744, 0.06544741309927142, -0.03747464081266229, -0.0626215498776296, 0.0, 0.08143206280480596, -0.3567876966323487, -0.22473659678036265, 0.0, 0.0, 0.0, 0.0, 2.0, 0.27227323320607877, 0.044507622660847214, 0.7741737732767416, -0.42528324612898744, 0.06544741309927142, -0.03747464081266229, -0.0626215498776296, 0.0, 0.10188957026873714, -0.34517916757000344, -0.22473681520588165, 0.0, 0.0, 0.0, 0.0, 2.0, 0.27227323320607877, 0.044507622660847214, 0.7741737732767416, -0.42528324612898744, 0.06544741309927142, -0.03747464081266229, -0.0626215498776296, 0.0, 0.11160187668460775, -0.3431904659807718, -0.22473670075854307, 0.0, 0.0, 0.0, 0.0, 2.0, 0.27227323320607877, 0.044507622660847214, 0.7741737732767416, -0.42528324612898744, 0.06544741309927142, -0.03747464081266229, -0.0626215498776296, 0.0, 0.1515998461516156, -0.3241598894323581, -0.22473564488954847, 0.0, 0.0, 0.0, 0.0, 2.0, 0.27227323320607877, 0.044507622660847214, 0.7741737732767416, -0.42528324612898744, 0.06544741309927142, -0.03747464081266229, -0.0626215498776296, 0.0, 0.1948049351671083, -0.30801227176924223, -0.22473532086286196, 0.0, 0.0, 0.0, 0.0, 2.0, 0.27227323320607877, 0.044507622660847214, 0.7741737732767416, -0.42528324612898744, 0.06544741309927142, -0.03747464081266229, -0.0626215498776296, 0.0, 0.2015145425665243, -0.3027913287897298, -0.22473438152790354, 0.0, 0.0, 0.0, 0.0, 2.0, 0.27227323320607877, 0.044507622660847214, 0.7741737732767416, -0.42528324612898744, 0.06544741309927142, -0.03747464081266229, -0.0626215498776296, 0.0, 0.20156345147704166, -0.3076360182516736, -0.22473634377273524, 0.0, 0.0, 0.0, 0.0, 2.0, 0.27227323320607877, 0.044507622660847214, 0.7741737732767416, -0.42528324612898744, 0.06544741309927142, -0.03747464081266229, -0.0626215498776296, 0.0, 0.2519403844447567, -0.2810181693214631, -0.22473476740644766, 0.0, 0.0, 0.0, 0.0, 2.0, 0.27227323320607877, 0.044507622660847214, 0.7741737732767416, -0.42528324612898744, 0.06544741309927142, -0.03747464081266229, -0.0626215498776296, 0.0, 0.27715201915772925, -0.27836670945462605, -0.22473692968889028, 0.0, 0.0, 0.0, 0.0, 2.0, 0.27227323320607877, 0.044507622660847214, 0.7741737732767416, -0.42528324612898744, 0.06544741309927142, -0.03747464081266229, -0.0626215498776296, 0.0, 0.30315487752911, -0.2587836972972292, -0.2247387043984617, 0.0, 0.0, 0.0, 0.0, 2.0, 0.27227323320607877, 0.044507622660847214, 0.7741737732767416, -0.42528324612898744, 0.06544741309927142, -0.03747464081266229, -0.0626215498776296, 0.0, 0.32278366405617187, -0.2618869935446054, -0.22473656772711118, 0.0, 0.0, 0.0, 0.0, 2.0, 0.27227323320607877, 0.044507622660847214, 0.7741737732767416, -0.42528324612898744, 0.06544741309927142, -0.03747464081266229, -0.0626215498776296, 0.0, 0.35639899302071115, -0.23522062689725828, -0.22472706192771094, 0.0, 0.0, 0.0, 0.0, 2.0, 0.27227323320607877, 0.044507622660847214, 0.7741737732767416, -0.42528324612898744, 0.06544741309927142, -0.03747464081266229, -0.0626215498776296, 0.0, 0.3545161282352742, -0.25569476359337123, -0.22473640309201964, 0.0, 0.0, 0.0, 0.0, 2.0, 0.27227323320607877, 0.044507622660847214, 0.7741737732767416, -0.42528324612898744, 0.06544741309927142, -0.03747464081266229, -0.0626215498776296, 0.0, 0.40548975302886275, -0.22204668217972323, -0.22473651204617134, 0.0, 0.0, 0.0, 0.0, 2.0, 0.27227323320607877, 0.044507622660847214, 0.7741737732767416, -0.42528324612898744, 0.06544741309927142, -0.03747464081266229, -0.0626215498776296, 0.0, 0.4419998433831065, -0.20979979564728385, -0.22475382626805743, 0.0, 0.0, 0.0, 0.0, 2.0, 0.27227323320607877, 0.044507622660847214, 0.7741737732767416, -0.42528324612898744, 0.06544741309927142, -0.03747464081266229, -0.0626215498776296, 0.0, 0.44015279057352646, -0.23469679210087555, -0.22473633663872628, 0.0, 0.0, 0.0, 0.0, 2.0, 0.27227323320607877, 0.044507622660847214, 0.7741737732767416, -0.42528324612898744, 0.06544741309927142, -0.03747464081266229, -0.0626215498776296, 0.0, 0.48569615086276396, -0.19680378046098546, -0.5422564348298443, 0.0, 0.0, 0.0, 0.0, 2.0, 0.27227323320607877, 0.044507622660847214, 0.7741737732767416, -0.42528324612898744, 0.06544741309927142, -0.03747464081266229, -0.0626215498776296, 0.0, 0.4813019585495292, -0.18823244170754488, -0.5422587096512781, 0.0, 0.0, 0.0, 0.0, 2.0, 0.27227323320607877, 0.044507622660847214, 0.7741737732767416, -0.42528324612898744, 0.06544741309927142, -0.03747464081266229, -0.0626215498776296, 0.0, 0.48047915901843835, -0.13628585198765955, -0.5422575570807923, 0.0, 0.0, 0.0, 0.0, 2.0, 0.27227323320607877, 0.044507622660847214, 0.7741737732767416, -0.42528324612898744, 0.06544741309927142, -0.03747464081266229, -0.0626215498776296, 0.0, 0.5100408795884381, -0.11660463110120763, -0.48453543736933236, 0.0, 0.0, 0.0, 0.0, 2.0, 0.27227323320607877, 0.044507622660847214, 0.7741737732767416, -0.42528324612898744, 0.06544741309927142, -0.03747464081266229, -0.0626215498776296, 0.0, 0.565103593859253, -0.04330034305206107, 0.3221001422455181, 0.0, 0.0, 0.0, 0.0, 2.0, 0.27227323320607877, 0.044507622660847214, 0.7741737732767416, -0.42528324612898744, 0.06544741309927142, -0.03747464081266229, -0.0626215498776296, 0.0, 0.9454705259690048, 0.3290074535295473, -1.009246065261516, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8870437227235777, 0.6385548609566498, 0.8003714945405087, -0.232116995090161, 0.09695436583968561, -0.055516196717170584, 0.08914012634954976, 0.0, 0.9685268142650313, 0.40024343957292274, -1.0092460010068636, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8870437227235777, 0.6385548609566498, 0.8003714945405087, -0.232116995090161, 0.09695436583968561, -0.055516196717170584, 0.08914012634954976, 0.0, 0.9070223819807912, 0.40155884729209523, -1.0092457067881915, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8870437227235777, 0.6385548609566498, 0.8003714945405087, -0.232116995090161, 0.09695436583968561, -0.055516196717170584, 0.08914012634954976, 0.0, 0.9121154424146558, 0.466867614722421, -1.0092459435158587, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8870437227235777, 0.6385548609566498, 0.8003714945405087, -0.232116995090161, 0.09695436583968561, -0.055516196717170584, 0.08914012634954976, 0.0, 0.8703981629500153, 0.47811111575322796, 2.0779149008135422, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8870437227235777, 0.6385548609566498, 0.8003714945405087, -0.232116995090161, 0.09695436583968561, -0.055516196717170584, 0.08914012634954976, 0.0, 0.8600978976023113, 0.5407874000833389, 1.3856676986031498, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8870437227235777, 0.6385548609566498, 0.8003714945405087, -0.232116995090161, 0.09695436583968561, -0.055516196717170584, 0.08914012634954976, 0.0, 0.8717670003150372, 0.611275427307643, 2.0657221949692315, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8870437227235777, 0.6385548609566498, 0.8003714945405087, -0.232116995090161, 0.09695436583968561, -0.055516196717170584, 0.08914012634954976, 0.0, 2.194880723953247, 2.1571242809295654, 1.4963667392730713, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2355004583884563, 0.9953980184559311, 0.7197485421385084, -0.355218339581318, 1.6071517937429495e-06, 2.733780684544789e-06, 0.3753276718514306, 0.0, 2.199723958969116, 2.2220754623413086, 3.0849192142486572, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2355004583884563, 0.9953980184559311, 0.7197485421385084, -0.355218339581318, 1.6071517937429495e-06, 2.733780684544789e-06, 0.3753276718514306, 0.0], "std": [2.3182333983608094, 1.8734089898849933, 1.103891004312606, 0.0, 0.0, 0.0, 0.0, 1.3283558867060408, 1.2741462872807257, 1.4238615199162725, 0.13177616884477217, 0.48816452911850666, 0.3109810037252208, 0.36568321099559253, 0.6193402453630624, 0.5, 2.2660123601696682, 1.8409554512121447, 1.103721966947268, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2455279141736653, 1.3027288990456714, 0.07584035114792687, 0.5045406224713798, 0.2173440086255243, 0.3413619120669125, 0.6254576269577224, 0.0, 2.2396867158479417, 1.786590485721401, 1.1037611101564886, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2455279141736653, 1.3027288990456714, 0.07584035114792687, 0.5045406224713798, 0.2173440086255243, 0.3413619120669125, 0.6254576269577224, 0.0, 2.236848852128962, 1.7680314911725883, 1.1038917324521547, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2455279141736653, 1.3027288990456714, 0.07584035114792687, 0.5045406224713798, 0.2173440086255243, 0.3413619120669125, 0.6254576269577224, 0.0, 2.1390021605127734, 1.6778895801112483, 1.1038911270135325, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2455279141736653, 1.3027288990456714, 0.07584035114792687, 0.5045406224713798, 0.2173440086255243, 0.3413619120669125, 0.6254576269577224, 0.0, 2.0979555381114636, 1.6515937994817322, 1.103893169685373, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2455279141736653, 1.3027288990456714, 0.07584035114792687, 0.5045406224713798, 0.2173440086255243, 0.3413619120669125, 0.6254576269577224, 0.0, 2.0459160097433773, 1.5740638480373752, 1.1038907238402242, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2455279141736653, 1.3027288990456714, 0.07584035114792687, 0.5045406224713798, 0.2173440086255243, 0.3413619120669125, 0.6254576269577224, 0.0, 2.025970459295976, 1.5594058653740936, 1.1038919961303815, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2455279141736653, 1.3027288990456714, 0.07584035114792687, 0.5045406224713798, 0.2173440086255243, 0.3413619120669125, 0.6254576269577224, 0.0, 1.9577138180614848, 1.4744982818349925, 1.1038897642976353, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2455279141736653, 1.3027288990456714, 0.07584035114792687, 0.5045406224713798, 0.2173440086255243, 0.3413619120669125, 0.6254576269577224, 0.0, 1.931842144872125, 1.4621703161366963, 1.103892337694607, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2455279141736653, 1.3027288990456714, 0.07584035114792687, 0.5045406224713798, 0.2173440086255243, 0.3413619120669125, 0.6254576269577224, 0.0, 1.875325300510195, 1.3768479052309346, 1.3569066253428552, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2455279141736653, 1.3027288990456714, 0.07584035114792687, 0.5045406224713798, 0.2173440086255243, 0.3413619120669125, 0.6254576269577224, 0.0, 1.8195799576518408, 1.3473113301770947, 1.3569052758749331, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2455279141736653, 1.3027288990456714, 0.07584035114792687, 0.5045406224713798, 0.2173440086255243, 0.3413619120669125, 0.6254576269577224, 0.0, 1.7830585258106542, 1.2725389918982946, 1.3569049346688937, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2455279141736653, 1.3027288990456714, 0.07584035114792687, 0.5045406224713798, 0.2173440086255243, 0.3413619120669125, 0.6254576269577224, 0.0, 1.7861467836219609, 1.2567150145669952, 1.3569054885663399, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2455279141736653, 1.3027288990456714, 0.07584035114792687, 0.5045406224713798, 0.2173440086255243, 0.3413619120669125, 0.6254576269577224, 0.0, 1.6976646014506183, 1.167044258422745, 1.3569060742048016, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2455279141736653, 1.3027288990456714, 0.07584035114792687, 0.5045406224713798, 0.2173440086255243, 0.3413619120669125, 0.6254576269577224, 0.0, 1.648953136217899, 1.138233218415469, 1.3569061740822121, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2455279141736653, 1.3027288990456714, 0.07584035114792687, 0.5045406224713798, 0.2173440086255243, 0.3413619120669125, 0.6254576269577224, 0.0, 1.61132335136646, 1.0693922319762503, 1.3569048146086333, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2455279141736653, 1.3027288990456714, 0.07584035114792687, 0.5045406224713798, 0.2173440086255243, 0.3413619120669125, 0.6254576269577224, 0.0, 1.6043881558155737, 1.0584103027457952, 1.3569055104739458, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2455279141736653, 1.3027288990456714, 0.07584035114792687, 0.5045406224713798, 0.2173440086255243, 0.3413619120669125, 0.6254576269577224, 0.0, 1.5291589101952778, 0.9796431955014011, 1.3569057595644214, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2455279141736653, 1.3027288990456714, 0.07584035114792687, 0.5045406224713798, 0.2173440086255243, 0.3413619120669125, 0.6254576269577224, 0.0, 1.5021232419724166, 0.9653367125867924, 1.3569056940145827, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2455279141736653, 1.3027288990456714, 0.07584035114792687, 0.5045406224713798, 0.2173440086255243, 0.3413619120669125, 0.6254576269577224, 0.0, 1.4498297032103529, 0.9017911698910149, 1.356901637509289, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2455279141736653, 1.3027288990456714, 0.07584035114792687, 0.5045406224713798, 0.2173440086255243, 0.3413619120669125, 0.6254576269577224, 0.0, 1.4008684845246404, 0.875622112036835, 1.3569056481294095, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2455279141736653, 1.3027288990456714, 0.07584035114792687, 0.5045406224713798, 0.2173440086255243, 0.3413619120669125, 0.6254576269577224, 0.0, 1.3739575164230433, 0.8393813868362057, 1.3569073446696207, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2455279141736653, 1.3027288990456714, 0.07584035114792687, 0.5045406224713798, 0.2173440086255243, 0.3413619120669125, 0.6254576269577224, 0.0, 1.3559302178433827, 0.8279392732894574, 1.356905898254636, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2455279141736653, 1.3027288990456714, 0.07584035114792687, 0.5045406224713798, 0.2173440086255243, 0.3413619120669125, 0.6254576269577224, 0.0, 1.3022811349350458, 0.7962825955344052, 1.3569074404081067, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2455279141736653, 1.3027288990456714, 0.07584035114792687, 0.5045406224713798, 0.2173440086255243, 0.3413619120669125, 0.6254576269577224, 0.0, 1.2345505096736518, 0.7631066585894639, 1.3569062263500262, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2455279141736653, 1.3027288990456714, 0.07584035114792687, 0.5045406224713798, 0.2173440086255243, 0.3413619120669125, 0.6254576269577224, 0.0, 1.235313401430706, 0.7757415813103956, 1.3569069798313358, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2455279141736653, 1.3027288990456714, 0.07584035114792687, 0.5045406224713798, 0.2173440086255243, 0.3413619120669125, 0.6254576269577224, 0.0, 1.228291852316849, 0.7721886303646236, 1.3569057875094086, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2455279141736653, 1.3027288990456714, 0.07584035114792687, 0.5045406224713798, 0.2173440086255243, 0.3413619120669125, 0.6254576269577224, 0.0, 1.1732470550837555, 0.7791880022621848, 1.3569076246389964, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2455279141736653, 1.3027288990456714, 0.07584035114792687, 0.5045406224713798, 0.2173440086255243, 0.3413619120669125, 0.6254576269577224, 0.0, 1.1247662996106602, 0.7596431723186285, 1.3569054349192653, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2455279141736653, 1.3027288990456714, 0.07584035114792687, 0.5045406224713798, 0.2173440086255243, 0.3413619120669125, 0.6254576269577224, 0.0, 1.1164202188108123, 0.8058910113875218, 1.356903899494806, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2455279141736653, 1.3027288990456714, 0.07584035114792687, 0.5045406224713798, 0.2173440086255243, 0.3413619120669125, 0.6254576269577224, 0.0, 1.0726113573947118, 0.7927262992537125, 1.356905662101883, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2455279141736653, 1.3027288990456714, 0.07584035114792687, 0.5045406224713798, 0.2173440086255243, 0.3413619120669125, 0.6254576269577224, 0.0, 1.064510176731025, 0.8529922782243435, 1.3569145529851643, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2455279141736653, 1.3027288990456714, 0.07584035114792687, 0.5045406224713798, 0.2173440086255243, 0.3413619120669125, 0.6254576269577224, 0.0, 1.0420785015926721, 0.8538418680725951, 1.3569057412793435, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2455279141736653, 1.3027288990456714, 0.07584035114792687, 0.5045406224713798, 0.2173440086255243, 0.3413619120669125, 0.6254576269577224, 0.0, 1.0054800975523397, 0.889438372758739, 1.3569056534767139, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2455279141736653, 1.3027288990456714, 0.07584035114792687, 0.5045406224713798, 0.2173440086255243, 0.3413619120669125, 0.6254576269577224, 0.0, 0.9627709303980143, 0.9065345231016235, 1.3568897765036612, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2455279141736653, 1.3027288990456714, 0.07584035114792687, 0.5045406224713798, 0.2173440086255243, 0.3413619120669125, 0.6254576269577224, 0.0, 0.9389962217350316, 0.9163162051611395, 1.3569054908092195, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2455279141736653, 1.3027288990456714, 0.07584035114792687, 0.5045406224713798, 0.2173440086255243, 0.3413619120669125, 0.6254576269577224, 0.0, 0.9375561417981574, 0.9952417253411537, 1.7939250591064002, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2455279141736653, 1.3027288990456714, 0.07584035114792687, 0.5045406224713798, 0.2173440086255243, 0.3413619120669125, 0.6254576269577224, 0.0, 0.9120282133298094, 0.9916011945969451, 1.7939228966573244, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2455279141736653, 1.3027288990456714, 0.07584035114792687, 0.5045406224713798, 0.2173440086255243, 0.3413619120669125, 0.6254576269577224, 0.0, 0.9449254423829913, 1.064121739104439, 1.793924037154136, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2455279141736653, 1.3027288990456714, 0.07584035114792687, 0.5045406224713798, 0.2173440086255243, 0.3413619120669125, 0.6254576269577224, 0.0, 0.9051354208277732, 1.054694644263719, 1.8267661114875475, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2455279141736653, 1.3027288990456714, 0.07584035114792687, 0.5045406224713798, 0.2173440086255243, 0.3413619120669125, 0.6254576269577224, 0.0, 0.9143131379867898, 1.1100797196951355, 2.5391338742861618, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2455279141736653, 1.3027288990456714, 0.07584035114792687, 0.5045406224713798, 0.2173440086255243, 0.3413619120669125, 0.6254576269577224, 0.0, 0.8674119183173534, 1.1950834528404857, 2.023914158077441, 0.0, 0.0, 0.0, 0.0, 0.0, 0.8249245861936453, 1.137299320990067, 0.08005317174713943, 0.4662024817444358, 0.25869546145463956, 0.41427148013807813, 0.6854228361133551, 0.0, 0.9334339465878393, 1.2721063033348259, 2.023913502442829, 0.0, 0.0, 0.0, 0.0, 0.0, 0.8249245861936453, 1.137299320990067, 0.08005317174713943, 0.4662024817444358, 0.25869546145463956, 0.41427148013807813, 0.6854228361133551, 0.0, 1.0060776198589712, 1.2900331414733928, 2.023914038871123, 0.0, 0.0, 0.0, 0.0, 0.0, 0.8249245861936453, 1.137299320990067, 0.08005317174713943, 0.4662024817444358, 0.25869546145463956, 0.41427148013807813, 0.6854228361133551, 0.0, 1.0851108211301443, 1.3649232722075542, 2.023913800458562, 0.0, 0.0, 0.0, 0.0, 0.0, 0.8249245861936453, 1.137299320990067, 0.08005317174713943, 0.4662024817444358, 0.25869546145463956, 0.41427148013807813, 0.6854228361133551, 0.0, 1.1478411948994336, 1.3891677159752465, 1.041430089558516, 0.0, 0.0, 0.0, 0.0, 0.0, 0.8249245861936453, 1.137299320990067, 0.08005317174713943, 0.4662024817444358, 0.25869546145463956, 0.41427148013807813, 0.6854228361133551, 0.0, 1.231823025573227, 1.4494956359483742, 0.3540731427911504, 0.0, 0.0, 0.0, 0.0, 0.0, 0.8249245861936453, 1.137299320990067, 0.08005317174713943, 0.4662024817444358, 0.25869546145463956, 0.41427148013807813, 0.6854228361133551, 0.0, 1.256996861192173, 1.440592743873564, 1.0293227237587352, 0.0, 0.0, 0.0, 0.0, 0.0, 0.8249245861936453, 1.137299320990067, 0.08005317174713943, 0.4662024817444358, 0.25869546145463956, 0.41427148013807813, 0.6854228361133551, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7763787347765659, 1.1349565304870137, 2.555903540305358e-08, 0.25775470906609577, 4.374336264336059e-06, 2.957324621091533e-06, 0.8164014921020861, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7763787347765659, 1.1349565304870137, 2.555903540305358e-08, 0.25775470906609577, 4.374336264336059e-06, 2.957324621091533e-06, 0.8164014921020861, 0.0], "min": [-3.483222484588623, -2.273500680923462, -2.084735870361328, 0.0, 0.0, 0.0, 0.0, -1.0, -3.1989033222198486, -2.2301623821258545, 0.3830000162124634, -0.9826849699020386, -0.532650351524353, -0.704785943031311, -0.9999998807907104, 0.0, -3.374354600906372, -2.2238564491271973, -2.084738254547119, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1989033222198486, -2.2301623821258545, 0.7197484970092773, -0.9826849699020386, -0.27573466300964355, -0.704785943031311, -0.9999998807907104, 0.0, -3.374239921569824, -2.223804235458374, -2.0847396850585938, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1989033222198486, -2.2301623821258545, 0.7197484970092773, -0.9826849699020386, -0.27573466300964355, -0.704785943031311, -0.9999998807907104, 0.0, -3.3740739822387695, -2.223728656768799, -2.08473801612854, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1989033222198486, -2.2301623821258545, 0.7197484970092773, -0.9826849699020386, -0.27573466300964355, -0.704785943031311, -0.9999998807907104, 0.0, -3.216932773590088, -2.152071475982666, -2.0847368240356445, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1989033222198486, -2.2301623821258545, 0.7197484970092773, -0.9826849699020386, -0.27573466300964355, -0.704785943031311, -0.9999998807907104, 0.0, -3.1092116832733154, -2.10295033454895, -2.084737539291382, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1989033222198486, -2.2301623821258545, 0.7197484970092773, -0.9826849699020386, -0.27573466300964355, -0.704785943031311, -0.9999998807907104, 0.0, -3.0649733543395996, -2.082777500152588, -2.0847349166870117, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1989033222198486, -2.2301623821258545, 0.7197484970092773, -0.9826849699020386, -0.27573466300964355, -0.704785943031311, -0.9999998807907104, 0.0, -2.9982352256774902, -2.052344560623169, -2.0847373008728027, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1989033222198486, -2.2301623821258545, 0.7197484970092773, -0.9826849699020386, -0.27573466300964355, -0.704785943031311, -0.9999998807907104, 0.0, -2.9157955646514893, -2.014751672744751, -2.0847325325012207, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1989033222198486, -2.2301623821258545, 0.7197484970092773, -0.9826849699020386, -0.27573466300964355, -0.704785943031311, -0.9999998807907104, 0.0, -2.8578319549560547, -1.988319993019104, -2.084737539291382, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1989033222198486, -2.2301623821258545, 0.7197484970092773, -0.9826849699020386, -0.27573466300964355, -0.704785943031311, -0.9999998807907104, 0.0, -2.766695499420166, -1.946761131286621, -2.0847396850585938, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1989033222198486, -2.2301623821258545, 0.7197484970092773, -0.9826849699020386, -0.27573466300964355, -0.704785943031311, -0.9999998807907104, 0.0, -2.637042999267578, -1.887639045715332, -2.084737777709961, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1989033222198486, -2.2301623821258545, 0.7197484970092773, -0.9826849699020386, -0.27573466300964355, -0.704785943031311, -0.9999998807907104, 0.0, -2.6176764965057373, -1.8788079023361206, -2.084735870361328, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1989033222198486, -2.2301623821258545, 0.7197484970092773, -0.9826849699020386, -0.27573466300964355, -0.704785943031311, -0.9999998807907104, 0.0, -2.603895902633667, -1.8725239038467407, -2.084737777709961, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1989033222198486, -2.2301623821258545, 0.7197484970092773, -0.9826849699020386, -0.27573466300964355, -0.704785943031311, -0.9999998807907104, 0.0, -2.469238758087158, -1.811119556427002, -2.084738254547119, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1989033222198486, -2.2301623821258545, 0.7197484970092773, -0.9826849699020386, -0.27573466300964355, -0.704785943031311, -0.9999998807907104, 0.0, -2.3498337268829346, -1.756670355796814, -2.084737539291382, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1989033222198486, -2.2301623821258545, 0.7197484970092773, -0.9826849699020386, -0.27573466300964355, -0.704785943031311, -0.9999998807907104, 0.0, -2.320801258087158, -1.7434313297271729, -2.08473539352417, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1989033222198486, -2.2301623821258545, 0.7197484970092773, -0.9826849699020386, -0.27573466300964355, -0.704785943031311, -0.9999998807907104, 0.0, -2.280000925064087, -1.7248262166976929, -2.084737777709961, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1989033222198486, -2.2301623821258545, 0.7197484970092773, -0.9826849699020386, -0.27573466300964355, -0.704785943031311, -0.9999998807907104, 0.0, -2.1718082427978516, -1.675489902496338, -2.084737539291382, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1989033222198486, -2.2301623821258545, 0.7197484970092773, -0.9826849699020386, -0.27573466300964355, -0.704785943031311, -0.9999998807907104, 0.0, -2.0941383838653564, -1.6400721073150635, -2.084737539291382, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1989033222198486, -2.2301623821258545, 0.7197484970092773, -0.9826849699020386, -0.27573466300964355, -0.704785943031311, -0.9999998807907104, 0.0, -2.02260422706604, -1.6074522733688354, -2.0847396850585938, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1989033222198486, -2.2301623821258545, 0.7197484970092773, -0.9826849699020386, -0.27573466300964355, -0.704785943031311, -0.9999998807907104, 0.0, -1.922958254814148, -1.5620132684707642, -2.0847373008728027, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1989033222198486, -2.2301623821258545, 0.7197484970092773, -0.9826849699020386, -0.27573466300964355, -0.704785943031311, -0.9999998807907104, 0.0, -1.8736552000045776, -1.539530873298645, -2.0847396850585938, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1989033222198486, -2.2301623821258545, 0.7197484970092773, -0.9826849699020386, -0.27573466300964355, -0.704785943031311, -0.9999998807907104, 0.0, -1.8385721445083618, -1.5235328674316406, -2.084737777709961, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1989033222198486, -2.2301623821258545, 0.7197484970092773, -0.9826849699020386, -0.27573466300964355, -0.704785943031311, -0.9999998807907104, 0.0, -1.7252174615859985, -1.471842646598816, -2.0847384929656982, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1989033222198486, -2.2301623821258545, 0.7197484970092773, -0.9826849699020386, -0.27573466300964355, -0.704785943031311, -0.9999998807907104, 0.0, -1.5845097303390503, -1.4076793193817139, -2.0847373008728027, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1989033222198486, -2.2301623821258545, 0.7197484970092773, -0.9826849699020386, -0.27573466300964355, -0.704785943031311, -0.9999998807907104, 0.0, -1.576779842376709, -1.4041544198989868, -2.0847368240356445, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1989033222198486, -2.2301623821258545, 0.7197484970092773, -0.9826849699020386, -0.27573466300964355, -0.704785943031311, -0.9999998807907104, 0.0, -1.5658352375030518, -1.3991636037826538, -2.0847373008728027, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1989033222198486, -2.2301623821258545, 0.7197484970092773, -0.9826849699020386, -0.27573466300964355, -0.704785943031311, -0.9999998807907104, 0.0, -1.4271835088729858, -1.335937738418579, -2.084737777709961, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1989033222198486, -2.2301623821258545, 0.7197484970092773, -0.9826849699020386, -0.27573466300964355, -0.704785943031311, -0.9999998807907104, 0.0, -1.3293317556381226, -1.2913168668746948, -2.0847373008728027, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1989033222198486, -2.2301623821258545, 0.7197484970092773, -0.9826849699020386, -0.27573466300964355, -0.704785943031311, -0.9999998807907104, 0.0, -1.2753854990005493, -1.2667171955108643, -2.084737539291382, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1989033222198486, -2.2301623821258545, 0.7197484970092773, -0.9826849699020386, -0.27573466300964355, -0.704785943031311, -0.9999998807907104, 0.0, -1.1870853900909424, -1.2264519929885864, -2.0847373008728027, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1989033222198486, -2.2301623821258545, 0.7197484970092773, -0.9826849699020386, -0.27573466300964355, -0.704785943031311, -0.9999998807907104, 0.0, -1.1182774305343628, -1.195075273513794, -2.0847373008728027, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1989033222198486, -2.2301623821258545, 0.7197484970092773, -0.9826849699020386, -0.27573466300964355, -0.704785943031311, -0.9999998807907104, 0.0, -1.0782620906829834, -1.176828145980835, -2.0847373008728027, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1989033222198486, -2.2301623821258545, 0.7197484970092773, -0.9826849699020386, -0.27573466300964355, -0.704785943031311, -0.9999998807907104, 0.0, -0.9512678980827332, -1.1189181804656982, -2.0847373008728027, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1989033222198486, -2.2301623821258545, 0.7197484970092773, -0.9826849699020386, -0.27573466300964355, -0.704785943031311, -0.9999998807907104, 0.0, -0.8313806653022766, -1.064249038696289, -2.084737539291382, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1989033222198486, -2.2301623821258545, 0.7197484970092773, -0.9826849699020386, -0.27573466300964355, -0.704785943031311, -0.9999998807907104, 0.0, -0.7808278799057007, -1.0411967039108276, -2.0847368240356445, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1989033222198486, -2.2301623821258545, 0.7197484970092773, -0.9826849699020386, -0.27573466300964355, -0.704785943031311, -0.9999998807907104, 0.0, -0.6888943314552307, -0.9992746114730835, -3.0188565254211426, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1989033222198486, -2.2301623821258545, 0.7197484970092773, -0.9826849699020386, -0.27573466300964355, -0.704785943031311, -0.9999998807907104, 0.0, -0.6192869544029236, -0.9675333499908447, -3.0188562870025635, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1989033222198486, -2.2301623821258545, 0.7197484970092773, -0.9826849699020386, -0.27573466300964355, -0.704785943031311, -0.9999998807907104, 0.0, -0.5833088159561157, -0.9511271715164185, -3.0188565254211426, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1989033222198486, -2.2301623821258545, 0.7197484970092773, -0.9826849699020386, -0.27573466300964355, -0.704785943031311, -0.9999998807907104, 0.0, -0.4567476212978363, -0.8934146761894226, -3.0188560485839844, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1989033222198486, -2.2301623821258545, 0.7197484970092773, -0.9826849699020386, -0.27573466300964355, -0.704785943031311, -0.9999998807907104, 0.0, -0.3513825833797455, -0.8418263792991638, -3.0188560485839844, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1989033222198486, -2.2301623821258545, 0.7197484970092773, -0.9826849699020386, -0.27573466300964355, -0.704785943031311, -0.9999998807907104, 0.0, 0.0841888040304184, -0.8576300740242004, -3.0188567638397217, 0.0, 0.0, 0.0, 0.0, 2.0, -0.5958861112594604, -0.7485299706459045, 0.7197484970092773, -0.7068415284156799, -0.27573466300964355, -0.704785943031311, -0.9999998807907104, 0.0, 0.04168965667486191, -0.8628726005554199, -3.0188560485839844, 0.0, 0.0, 0.0, 0.0, 2.0, -0.5958861112594604, -0.7485299706459045, 0.7197484970092773, -0.7068415284156799, -0.27573466300964355, -0.704785943031311, -0.9999998807907104, 0.0, -0.09194505959749222, -0.8793573379516602, -3.0188562870025635, 0.0, 0.0, 0.0, 0.0, 2.0, -0.5958861112594604, -0.7485299706459045, 0.7197484970092773, -0.7068415284156799, -0.27573466300964355, -0.704785943031311, -0.9999998807907104, 0.0, -0.16532665491104126, -0.888409435749054, -3.0188562870025635, 0.0, 0.0, 0.0, 0.0, 2.0, -0.5958861112594604, -0.7485299706459045, 0.7197484970092773, -0.7068415284156799, -0.27573466300964355, -0.704785943031311, -0.9999998807907104, 0.0, -0.2693309783935547, -0.9012390375137329, 1.0290724039077759, 0.0, 0.0, 0.0, 0.0, 2.0, -0.5958861112594604, -0.7485299706459045, 0.7197484970092773, -0.7068415284156799, -0.27573466300964355, -0.704785943031311, -0.9999998807907104, 0.0, -0.36301955580711365, -0.8984643220901489, 1.0290744304656982, 0.0, 0.0, 0.0, 0.0, 2.0, -0.5958861112594604, -0.7485299706459045, 0.7197484970092773, -0.7068415284156799, -0.27573466300964355, -0.704785943031311, -0.9999998807907104, 0.0, -0.3763463795185089, -0.8191363215446472, 1.0290732383728027, 0.0, 0.0, 0.0, 0.0, 2.0, -0.5958861112594604, -0.7485299706459045, 0.7197484970092773, -0.7068415284156799, -0.27573466300964355, -0.704785943031311, -0.9999998807907104, 0.0, 2.194880723953247, 2.1571242809295654, 1.4963667392730713, 0.0, 0.0, 0.0, 0.0, 2.0, -0.5958861112594604, -0.7485299706459045, 0.7197484970092773, -0.5740065574645996, -5.91765910940012e-06, -3.6295105019235052e-06, -0.9999998807907104, 0.0, 2.199723958969116, 2.2220754623413086, 3.0849192142486572, 0.0, 0.0, 0.0, 0.0, 2.0, -0.5958861112594604, -0.7485299706459045, 0.7197484970092773, -0.5740065574645996, -5.91765910940012e-06, -3.6295105019235052e-06, -0.9999998807907104, 0.0], "max": [2.1985106468200684, 2.217245101928711, 0.42783594131469727, 0.0, 0.0, 0.0, 0.0, 2.0, 2.263080358505249, 2.8495681285858154, 0.8950563669204712, 0.648716390132904, 0.6389480233192444, 0.6470430493354797, 0.9999431371688843, 1.0, 2.1795594692230225, 2.18367600440979, 0.4272538721561432, 0.0, 0.0, 0.0, 0.0, 2.0, 2.2411134243011475, 2.558046817779541, 0.8798589706420898, 0.648716390132904, 0.6389480233192444, 0.6470430493354797, 0.9410330653190613, 0.0, 2.1113922595977783, 2.0629289150238037, 0.42738497257232666, 0.0, 0.0, 0.0, 0.0, 2.0, 2.2411134243011475, 2.558046817779541, 0.8798589706420898, 0.648716390132904, 0.6389480233192444, 0.6470430493354797, 0.9410330653190613, 0.0, 2.0884084701538086, 2.022217035293579, 0.42783647775650024, 0.0, 0.0, 0.0, 0.0, 2.0, 2.2411134243011475, 2.558046817779541, 0.8798589706420898, 0.648716390132904, 0.6389480233192444, 0.6470430493354797, 0.9410330653190613, 0.0, 2.0066728591918945, 1.8774356842041016, 0.42783480882644653, 0.0, 0.0, 0.0, 0.0, 2.0, 2.2411134243011475, 2.558046817779541, 0.8798589706420898, 0.648716390132904, 0.6389480233192444, 0.6470430493354797, 0.9410330653190613, 0.0, 1.9956302642822266, 1.8578754663467407, 0.42783525586128235, 0.0, 0.0, 0.0, 0.0, 2.0, 2.2411134243011475, 2.558046817779541, 0.8798589706420898, 0.648716390132904, 0.6389480233192444, 0.6470430493354797, 0.9410330653190613, 0.0, 1.9069726467132568, 1.700832724571228, 0.42783668637275696, 0.0, 0.0, 0.0, 0.0, 2.0, 2.2411134243011475, 2.558046817779541, 0.8798589706420898, 0.648716390132904, 0.6389480233192444, 0.6470430493354797, 0.9410330653190613, 0.0, 1.9023158550262451, 1.6925839185714722, 0.4278363585472107, 0.0, 0.0, 0.0, 0.0, 2.0, 2.2411134243011475, 2.558046817779541, 0.8798589706420898, 0.648716390132904, 0.6389480233192444, 0.6470430493354797, 0.9410330653190613, 0.0, 1.8119992017745972, 1.5326024293899536, 0.42783620953559875, 0.0, 0.0, 0.0, 0.0, 2.0, 2.2411134243011475, 2.558046817779541, 0.8798589706420898, 0.648716390132904, 0.6389480233192444, 0.6470430493354797, 0.9410330653190613, 0.0, 1.8082655668258667, 1.5259888172149658, 0.42783811688423157, 0.0, 0.0, 0.0, 0.0, 2.0, 2.2411134243011475, 2.558046817779541, 0.8798589706420898, 0.648716390132904, 0.6389480233192444, 0.6470430493354797, 0.9410330653190613, 0.0, 1.7194219827651978, 1.3686167001724243, 1.0290729999542236, 0.0, 0.0, 0.0, 0.0, 2.0, 2.2411134243011475, 2.558046817779541, 0.8798589706420898, 0.648716390132904, 0.6389480233192444, 0.6470430493354797, 0.9410330653190613, 0.0, 1.7154735326766968, 1.36162269115448, 1.029072880744934, 0.0, 0.0, 0.0, 0.0, 2.0, 2.2411134243011475, 2.558046817779541, 0.8798589706420898, 0.648716390132904, 0.6389480233192444, 0.6470430493354797, 0.9410330653190613, 0.0, 1.6275068521499634, 1.2058038711547852, 1.0290735960006714, 0.0, 0.0, 0.0, 0.0, 2.0, 2.2411134243011475, 2.558046817779541, 0.8798589706420898, 0.648716390132904, 0.6389480233192444, 0.6470430493354797, 0.9410330653190613, 0.0, 1.6220128536224365, 1.1960721015930176, 1.0290718078613281, 0.0, 0.0, 0.0, 0.0, 2.0, 2.2411134243011475, 2.558046817779541, 0.8798589706420898, 0.648716390132904, 0.6389480233192444, 0.6470430493354797, 0.9410330653190613, 0.0, 1.535591721534729, 1.042991042137146, 1.0290733575820923, 0.0, 0.0, 0.0, 0.0, 2.0, 2.2411134243011475, 2.558046817779541, 0.8798589706420898, 0.648716390132904, 0.6389480233192444, 0.6470430493354797, 0.9410330653190613, 0.0, 1.5295687913894653, 1.0323224067687988, 1.0290733575820923, 0.0, 0.0, 0.0, 0.0, 2.0, 2.2411134243011475, 2.558046817779541, 0.8798589706420898, 0.648716390132904, 0.6389480233192444, 0.6470430493354797, 0.9410330653190613, 0.0, 1.4436765909194946, 0.8801781535148621, 1.029073715209961, 0.0, 0.0, 0.0, 0.0, 2.0, 2.2411134243011475, 2.558046817779541, 0.8798589706420898, 0.648716390132904, 0.6389480233192444, 0.6470430493354797, 0.9410330653190613, 0.0, 1.436133861541748, 0.8668173551559448, 1.0290722846984863, 0.0, 0.0, 0.0, 0.0, 2.0, 2.2411134243011475, 2.558046817779541, 0.8798589706420898, 0.648716390132904, 0.6389480233192444, 0.6470430493354797, 0.9410330653190613, 0.0, 1.3517615795135498, 0.7173654437065125, 1.0290733575820923, 0.0, 0.0, 0.0, 0.0, 2.0, 2.2411134243011475, 2.558046817779541, 0.8798589706420898, 0.648716390132904, 0.6389480233192444, 0.6470430493354797, 0.9410330653190613, 0.0, 1.3436641693115234, 0.7030221819877625, 1.0290734767913818, 0.0, 0.0, 0.0, 0.0, 2.0, 2.2411134243011475, 2.558046817779541, 0.8798589706420898, 0.648716390132904, 0.6389480233192444, 0.6470430493354797, 0.9410330653190613, 0.0, 1.2597891092300415, 0.5544509887695312, 1.0290567874908447, 0.0, 0.0, 0.0, 0.0, 2.0, 2.2411134243011475, 2.558046817779541, 0.8798589706420898, 0.648716390132904, 0.6389480233192444, 0.6470430493354797, 0.9410330653190613, 0.0, 1.2501095533370972, 0.5373052954673767, 1.0290734767913818, 0.0, 0.0, 0.0, 0.0, 2.0, 2.2411134243011475, 2.558046817779541, 0.8798589706420898, 0.648716390132904, 0.6389480233192444, 0.6470430493354797, 0.9410330653190613, 0.0, 1.1677165031433105, 0.39135921001434326, 1.0290755033493042, 0.0, 0.0, 0.0, 0.0, 2.0, 2.2411134243011475, 2.558046817779541, 0.8798589706420898, 0.648716390132904, 0.6389480233192444, 0.6470430493354797, 0.9410330653190613, 0.0, 1.1568505764007568, 0.37211206555366516, 1.0290734767913818, 0.0, 0.0, 0.0, 0.0, 2.0, 2.2411134243011475, 2.558046817779541, 0.8798589706420898, 0.648716390132904, 0.6389480233192444, 0.6470430493354797, 0.9410330653190613, 0.0, 1.0757172107696533, 0.22839738428592682, 1.029077410697937, 0.0, 0.0, 0.0, 0.0, 2.0, 2.2411134243011475, 2.558046817779541, 0.8798589706420898, 0.648716390132904, 0.6389480233192444, 0.6470430493354797, 0.9410330653190613, 0.0, 1.0618292093276978, 0.23915112018585205, 1.0290732383728027, 0.0, 0.0, 0.0, 0.0, 2.0, 2.2411134243011475, 2.558046817779541, 0.8798589706420898, 0.648716390132904, 0.6389480233192444, 0.6470430493354797, 0.9410330653190613, 0.0, 1.1321864128112793, 0.39118829369544983, 1.0290772914886475, 0.0, 0.0, 0.0, 0.0, 2.0, 2.2411134243011475, 2.558046817779541, 0.8798589706420898, 0.648716390132904, 0.6389480233192444, 0.6470430493354797, 0.9410330653190613, 0.0, 1.139085054397583, 0.40265223383903503, 1.0290735960006714, 0.0, 0.0, 0.0, 0.0, 2.0, 2.2411134243011475, 2.558046817779541, 0.8798589706420898, 0.648716390132904, 0.6389480233192444, 0.6470430493354797, 0.9410330653190613, 0.0, 1.2304010391235352, 0.55439692735672, 1.0290788412094116, 0.0, 0.0, 0.0, 0.0, 2.0, 2.2411134243011475, 2.558046817779541, 0.8798589706420898, 0.648716390132904, 0.6389480233192444, 0.6470430493354797, 0.9410330653190613, 0.0, 1.2353754043579102, 0.562663197517395, 1.0290731191635132, 0.0, 0.0, 0.0, 0.0, 2.0, 2.2411134243011475, 2.558046817779541, 0.8798589706420898, 0.648716390132904, 0.6389480233192444, 0.6470430493354797, 0.9410330653190613, 0.0, 1.328466773033142, 0.7173579931259155, 1.0290675163269043, 0.0, 0.0, 0.0, 0.0, 2.0, 2.2411134243011475, 2.558046817779541, 0.8798589706420898, 0.648716390132904, 0.6389480233192444, 0.6470430493354797, 0.9410330653190613, 0.0, 1.3320294618606567, 0.7232782244682312, 1.0290734767913818, 0.0, 0.0, 0.0, 0.0, 2.0, 2.2411134243011475, 2.558046817779541, 0.8798589706420898, 0.648716390132904, 0.6389480233192444, 0.6470430493354797, 0.9410330653190613, 0.0, 1.4264477491378784, 0.8801781535148621, 1.0291025638580322, 0.0, 0.0, 0.0, 0.0, 2.0, 2.2411134243011475, 2.558046817779541, 0.8798589706420898, 0.648716390132904, 0.6389480233192444, 0.6470430493354797, 0.9410330653190613, 0.0, 1.427411437034607, 0.881779670715332, 1.0290734767913818, 0.0, 0.0, 0.0, 0.0, 2.0, 2.2411134243011475, 2.558046817779541, 0.8798589706420898, 0.648716390132904, 0.6389480233192444, 0.6470430493354797, 0.9410330653190613, 0.0, 1.4917550086975098, 0.9887028336524963, 1.0290732383728027, 0.0, 0.0, 0.0, 0.0, 2.0, 2.2411134243011475, 2.558046817779541, 0.8798589706420898, 0.648716390132904, 0.6389480233192444, 0.6470430493354797, 0.9410330653190613, 0.0, 1.5239421129226685, 1.0421898365020752, 1.0290213823318481, 0.0, 0.0, 0.0, 0.0, 2.0, 2.2411134243011475, 2.558046817779541, 0.8798589706420898, 0.648716390132904, 0.6389480233192444, 0.6470430493354797, 0.9410330653190613, 0.0, 1.5244243144989014, 1.042991042137146, 1.0290735960006714, 0.0, 0.0, 0.0, 0.0, 2.0, 2.2411134243011475, 2.558046817779541, 0.8798589706420898, 0.648716390132904, 0.6389480233192444, 0.6470430493354797, 0.9410330653190613, 0.0, 1.6193184852600098, 1.2006818056106567, 1.0290806293487549, 0.0, 0.0, 0.0, 0.0, 2.0, 2.2411134243011475, 2.558046817779541, 0.8798589706420898, 0.648716390132904, 0.6389480233192444, 0.6470430493354797, 0.9410330653190613, 0.0, 1.6224007606506348, 1.2058038711547852, 1.029073715209961, 0.0, 0.0, 0.0, 0.0, 2.0, 2.2411134243011475, 2.558046817779541, 0.8798589706420898, 0.648716390132904, 0.6389480233192444, 0.6470430493354797, 0.9410330653190613, 0.0, 1.7158116102218628, 1.3610297441482544, 1.0290769338607788, 0.0, 0.0, 0.0, 0.0, 2.0, 2.2411134243011475, 2.558046817779541, 0.8798589706420898, 0.648716390132904, 0.6389480233192444, 0.6470430493354797, 0.9410330653190613, 0.0, 1.7203772068023682, 1.3686167001724243, 1.0290734767913818, 0.0, 0.0, 0.0, 0.0, 2.0, 2.2411134243011475, 2.558046817779541, 0.8798589706420898, 0.648716390132904, 0.6389480233192444, 0.6470430493354797, 0.9410330653190613, 0.0, 1.8116087913513184, 1.5202211141586304, 3.087770462036133, 0.0, 0.0, 0.0, 0.0, 2.0, 2.2411134243011475, 2.558046817779541, 0.8798589706420898, 0.648716390132904, 0.6389480233192444, 0.6470430493354797, 0.9410330653190613, 0.0, 1.8190562725067139, 1.5325969457626343, 1.0290733575820923, 0.0, 0.0, 0.0, 0.0, 2.0, 2.2411134243011475, 2.558046817779541, 0.8798589706420898, 0.648716390132904, 0.6389480233192444, 0.6470430493354797, 0.9410330653190613, 0.0, 1.9086045026779175, 1.6814039945602417, 1.0290727615356445, 0.0, 0.0, 0.0, 0.0, 2.0, 2.2411134243011475, 2.558046817779541, 0.8798589706420898, 0.648716390132904, 0.6389480233192444, 0.6470430493354797, 0.9410330653190613, 0.0, 1.9202607870101929, 1.70077383518219, 1.0290735960006714, 0.0, 0.0, 0.0, 0.0, 2.0, 2.2411134243011475, 2.558046817779541, 0.8798589706420898, 0.648716390132904, 0.6389480233192444, 0.6470430493354797, 0.9410330653190613, 0.0, 2.0049495697021484, 1.841505765914917, 1.0290731191635132, 0.0, 0.0, 0.0, 0.0, 2.0, 2.2411134243011475, 2.558046817779541, 0.8798589706420898, 0.648716390132904, 0.6389480233192444, 0.6470430493354797, 0.9410330653190613, 0.0, 2.026409149169922, 1.8771662712097168, 3.111984968185425, 0.0, 0.0, 0.0, 0.0, 2.0, 2.2411134243011475, 2.558046817779541, 0.8798589706420898, 0.648716390132904, 0.6389480233192444, 0.6470430493354797, 0.9410330653190613, 0.0, 2.1006884574890137, 2.0005998611450195, 1.7372385263442993, 0.0, 0.0, 0.0, 0.0, 2.0, 2.2411134243011475, 2.558046817779541, 0.8798589706420898, 0.648716390132904, 0.6389480233192444, 0.6470430493354797, 0.9410330653190613, 0.0, 2.1377105712890625, 2.062121629714966, 3.087770462036133, 0.0, 0.0, 0.0, 0.0, 2.0, 2.2411134243011475, 2.558046817779541, 0.8798589706420898, 0.648716390132904, 0.6389480233192444, 0.6470430493354797, 0.9410330653190613, 0.0, 2.194880723953247, 2.1571242809295654, 1.4963667392730713, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9768762588500977, 2.3739476203918457, 0.7197485566139221, 0.3294832110404968, 4.953788447892293e-06, 4.811307462659897e-06, 0.9410330653190613, 0.0, 2.199723958969116, 2.2220754623413086, 3.0849192142486572, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9768762588500977, 2.3739476203918457, 0.7197485566139221, 0.3294832110404968, 4.953788447892293e-06, 4.811307462659897e-06, 0.9410330653190613, 0.0], "count": [2537]}, "action.applied": {"mean": [0.03281257924781283, -0.008108716764406252, 0.02377261611026193, 0.6784156908963579, 0.035201169749650145, 0.035201169749650145, 0.035201169749650145, 0.035201169749650145, 2.2737145024958587, -0.7967273157179622, -0.13392463937454907, 0.039416633819471816, 0.039416633819471816], "std": [0.16763867204624144, 0.06661375000666356, 0.22780884787256037, 0.18846947480744317, 0.04089084843829412, 0.04089084843829412, 0.04089084843829412, 0.04089084843829412, 0.6829526169562325, 0.7684836010002448, 0.21836839432272084, 0.09110701088944737, 0.09110701088944737], "min": [-0.2999993562698364, -0.19805194437503815, -0.800000011920929, 0.459125280380249, 0.0, 0.0, 0.0, 0.0, 1.5707902908325195, -1.5699999332427979, -0.8437263369560242, 0.0, 0.0], "max": [0.2999999523162842, 0.1506175696849823, 0.800000011920929, 0.971621572971344, 0.11817263811826706, 0.11817263811826706, 0.11817263811826706, 0.11817263811826706, 3.263695478439331, 0.07382253557443619, 0.287108838558197, 0.25, 0.25], "count": [2537]}, "extra.reward": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [2537]}, "next.truncated": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [2537]}, "sim_step_idx": {"mean": [2637.0], "std": [1464.7375191480555], "min": [101.0], "max": [5173.0], "count": [2537]}, "timestamp": {"mean": [50.7200000027608], "std": [29.29475038426029], "min": [0.0], "max": [101.44000244140625], "count": [2537]}, "frame_index": {"mean": [1268.0], "std": [732.3687595740278], "min": [0.0], "max": [2536.0], "count": [2537]}, "episode_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [2537]}, "index": {"mean": [1268.0], "std": [732.3687595740278], "min": [0.0], "max": [2536.0], "count": [2537]}, "task_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [2537]}, "next.done": {"mean": [0.00039416633819471815], "std": [0.019849709597184347], "min": [0.0], "max": [1.0], "count": [2537]}, "observation.images.head": {"mean": [[[0.5809648428442685]], [[0.5397553550041492]], [[0.45475679701074173]]], "std": [[[0.06802515177726383]], [[0.06938234954227838]], [[0.0746184355575959]]], "min": [[[0.1568627450980392]], [[0.23137254901960785]], [[0.15294117647058825]]], "max": [[[0.8941176470588236]], [[0.8941176470588236]], [[0.8941176470588236]]], "count": [100]}, "observation.images.wrist": {"mean": [[[0.5720361417348995]], [[0.5577533185136622]], [[0.5097938891408372]]], "std": [[[0.13900922438627197]], [[0.13056654925361882]], [[0.13819933033940923]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9411764705882353]], [[0.9372549019607843]], [[0.9372549019607843]]], "count": [100]}}} diff --git a/N032/stretch3/dr_off/seed_1027/rec/stationpuzzlestretch/000/lerobot_v21/meta/extra/episode_000000.json b/N032/stretch3/dr_off/seed_1027/rec/stationpuzzlestretch/000/lerobot_v21/meta/extra/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..255fe51323be2808cb804f27da1b9ebf48ebe217 --- /dev/null +++ b/N032/stretch3/dr_off/seed_1027/rec/stationpuzzlestretch/000/lerobot_v21/meta/extra/episode_000000.json @@ -0,0 +1,569 @@ +{ + "episode_index": 0, + "trajectory_id": 0, + "env_id": 0, + "task_type": "PuzzleStretchCommand", + "subsample_every": 2, + "control_steps": 5074, + "language": { + "scene": { + "objects": [ + { + "id": "table_A_1", + "cat_name": "table_A", + "inst_id": 1, + "noun": "table A", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 3.8510042219464955, + -0.2767835026963872, + 0.11999966482656887 + ], + "bbox": { + "extent": [ + 0.9537195071211653, + 0.5966951531718949, + 0.30000001192092896 + ], + "center": [ + -2.7755575615628914e-17, + 0.0, + 0.0 + ] + } + }, + { + "id": "table_B_1", + "cat_name": "table_B", + "inst_id": 1, + "noun": "table B", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 7.619780655582513, + 0.6054323577213365, + 0.11999932901318495 + ], + "bbox": { + "extent": [ + 0.9565506898679644, + 0.6017912819811317, + 0.30000001192092896 + ], + "center": [ + 2.7755575615628914e-16, + -2.220446049250313e-16, + 0.0 + ] + } + }, + { + "id": "board_0_1", + "cat_name": "board_0", + "inst_id": 1, + "noun": "board 0", + "color": "gray", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.717281389282731, + -0.42550539039758273, + 0.2799996777733555 + ], + "bbox": { + "extent": [ + 0.2542975623809839, + 0.06685976458744194, + 0.019999999552965164 + ], + "center": [ + 1.3877787807814457e-17, + -4.163336342344337e-17, + 0.0 + ] + } + }, + { + "id": "board_1_1", + "cat_name": "board_1", + "inst_id": 1, + "noun": "board 1", + "color": "gray", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.8242596665558395, + -0.3065278791121393, + 0.2799996674159257 + ], + "bbox": { + "extent": [ + 0.2542975623809838, + 0.06685976458744197, + 0.019999999552965164 + ], + "center": [ + 1.3877787807814457e-17, + 0.0, + 0.0 + ] + } + }, + { + "id": "board_2_1", + "cat_name": "board_2", + "inst_id": 1, + "noun": "board 2", + "color": "gray", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.6926915361382138, + -0.2958121402943834, + 0.27999967877448173 + ], + "bbox": { + "extent": [ + 0.05074390545863163, + 0.10429756387109998, + 0.019999999552965164 + ], + "center": [ + -1.0408340855860843e-17, + 1.3877787807814457e-17, + 0.0 + ] + } + }, + { + "id": "board_3_1", + "cat_name": "board_3", + "inst_id": 1, + "noun": "board 3", + "color": "gray", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.848849519700358, + -0.4362211292153386, + 0.27999966641479945 + ], + "bbox": { + "extent": [ + 0.050743905458631666, + 0.10429756387109998, + 0.019999999552965164 + ], + "center": [ + 1.5612511283791264e-17, + -1.3877787807814457e-17, + 0.0 + ] + } + }, + { + "id": "board_4_1", + "cat_name": "board_4", + "inst_id": 1, + "noun": "board 4", + "color": "gray", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.768520671541973, + -0.3236499244001323, + 0.27999967241829143 + ], + "bbox": { + "extent": [ + 0.09429756595726241, + 0.04966951506350656, + 0.019999999552965164 + ], + "center": [ + 1.734723475976807e-17, + 1.3877787807814457e-17, + 0.0 + ] + } + }, + { + "id": "picture_1", + "cat_name": "picture", + "inst_id": 1, + "noun": "picture", + "color": "gray", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.9847270902997893, + -0.12806161139331884, + 0.3699996518797807 + ], + "bbox": { + "extent": [ + 0.25085951253623306, + 0.03485976586149124, + 0.20000000298023224 + ], + "center": [ + -2.7755575615628914e-17, + 6.938893903907228e-18, + 0.0 + ] + } + }, + { + "id": "picture_bar_1", + "cat_name": "picture_bar", + "inst_id": 1, + "noun": "picture bar", + "color": "gray", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.9813840169588137, + -0.1317796588406153, + 0.34499965220345047 + ], + "bbox": { + "extent": [ + 0.15021488409452277, + 0.018115860024288555, + 0.05000000074505806 + ], + "center": [ + 2.7755575615628914e-17, + -2.7755575615628914e-17, + 0.0 + ] + } + }, + { + "id": "picture_cap_1", + "cat_name": "picture_cap", + "inst_id": 1, + "noun": "picture cap", + "color": "gray", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 4.0185644935878955, + -0.1652103700492093, + 0.3949996492606688 + ], + "bbox": { + "extent": [ + 0.05021487887911634, + 0.007371953271345558, + 0.05000000074505806 + ], + "center": [ + -6.938893903907228e-18, + -6.938893903907228e-18, + 0.0 + ] + } + }, + { + "id": "tile_1", + "cat_name": "tile", + "inst_id": 1, + "noun": "tile", + "color": null, + "size": "small", + "material": null, + "category": "rigid", + "pos": [ + 7.686272426772084, + 0.3834043793555834, + 0.269999338288784 + ], + "bbox": { + "extent": [ + 0.15496516112196074, + 0.10987532844137309, + 0.06500028369923927 + ], + "center": [ + 0.0008275339940279278, + 0.024972585250702943, + 0.03249996378255127 + ] + } + }, + { + "id": "cand_O_1", + "cat_name": "cand_O", + "inst_id": 1, + "noun": "cand O", + "color": null, + "size": "small", + "material": null, + "category": "rigid", + "pos": [ + 7.370654719628968, + 0.6575341592113702, + 0.2699993931566358 + ], + "bbox": { + "extent": [ + 0.12476450449958001, + 0.12476455375274065, + 0.06500016600114156 + ], + "center": [ + 0.02499999722645883, + 0.02499998307457395, + 0.03249998655061731 + ] + } + } + ], + "relations": [ + { + "subject": "table_B_1", + "relation": "left_of", + "object": "tile_1" + }, + { + "subject": "board_0_1", + "relation": "right_of", + "object": "board_4_1" + }, + { + "subject": "board_1_1", + "relation": "in_front_of", + "object": "board_4_1" + }, + { + "subject": "board_2_1", + "relation": "behind", + "object": "board_4_1" + }, + { + "subject": "board_3_1", + "relation": "right_of", + "object": "board_1_1" + }, + { + "subject": "board_4_1", + "relation": "behind", + "object": "board_1_1" + }, + { + "subject": "tile_1", + "relation": "on_top_of", + "object": "table_B_1" + }, + { + "subject": "tile_1", + "relation": "right_of", + "object": "table_B_1" + }, + { + "subject": "cand_O_1", + "relation": "on_top_of", + "object": "table_B_1" + }, + { + "subject": "cand_O_1", + "relation": "left_of", + "object": "table_B_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": [ + 4.1749648709132385, + -0.44981614654436913, + 1.235722599572448 + ], + "viewpoint": "front, 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": [ + 4.184574209479119, + -0.3729380749604687, + -0.0036023627970349645 + ], + "viewpoint": "front, 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": [ + -3.4, + -2.2, + 0.06 + ], + "ori": [ + 0.9396926164627075, + 0.0, + 0.0, + 0.3420201539993286 + ] + }, + "facing_yaw_deg": 40.000001288448495, + "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 gray table B. There are a large gray table A, a large gray table B, a small gray board 0, a small gray board 1, a small gray board 2, a small gray board 3, a small gray board 4, a small gray picture, a small gray picture bar, a small gray picture cap, a small tile and a small cand O. The gray table B is to the left of the tile. The gray board 0 is to the right of the gray board 4. The gray board 1 is in front of the gray board 4. The gray board 2 is behind the gray board 4. The gray board 3 is to the right of the gray board 1. The gray board 4 is behind the gray board 1. The tile is on top of the gray table B. The tile is to the right of the gray table B. The cand O is on top of the gray table B. The cand O is to the left of the gray table B. The scene is viewed from front, slightly above table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n[cand O][tile]\n\n\n\n [picture cap]\n\n\n\n [robot]" + }, + "task": { + "task_type": "StationPuzzleStretch", + "instruction": "Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.", + "template_id": -1, + "slots": { + "obj": 3.087770529823077, + "support": null + }, + "generic_instruction": "Stationpuzzlestretch the 3.087770529823077.", + "task_id": "N032", + "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 +} \ No newline at end of file diff --git a/N032/stretch3/dr_off/seed_1027/rec/stationpuzzlestretch/000/lerobot_v21/meta/info.json b/N032/stretch3/dr_off/seed_1027/rec/stationpuzzlestretch/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..937ea3aae738e845eecf235da4228149e6ff670b --- /dev/null +++ b/N032/stretch3/dr_off/seed_1027/rec/stationpuzzlestretch/000/lerobot_v21/meta/info.json @@ -0,0 +1,333 @@ +{ + "codebase_version": "v2.1", + "robot_type": "HelloRobotCfg", + "total_episodes": 1, + "total_frames": 2537, + "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": [ + 84 + ], + "names": [ + "object_pose.board_0.0", + "object_pose.board_0.1", + "object_pose.board_0.2", + "object_pose.board_0.3", + "object_pose.board_0.4", + "object_pose.board_0.5", + "object_pose.board_0.6", + "object_pose.board_1.0", + "object_pose.board_1.1", + "object_pose.board_1.2", + "object_pose.board_1.3", + "object_pose.board_1.4", + "object_pose.board_1.5", + "object_pose.board_1.6", + "object_pose.board_2.0", + "object_pose.board_2.1", + "object_pose.board_2.2", + "object_pose.board_2.3", + "object_pose.board_2.4", + "object_pose.board_2.5", + "object_pose.board_2.6", + "object_pose.board_3.0", + "object_pose.board_3.1", + "object_pose.board_3.2", + "object_pose.board_3.3", + "object_pose.board_3.4", + "object_pose.board_3.5", + "object_pose.board_3.6", + "object_pose.board_4.0", + "object_pose.board_4.1", + "object_pose.board_4.2", + "object_pose.board_4.3", + "object_pose.board_4.4", + "object_pose.board_4.5", + "object_pose.board_4.6", + "object_pose.cand_O.0", + "object_pose.cand_O.1", + "object_pose.cand_O.2", + "object_pose.cand_O.3", + "object_pose.cand_O.4", + "object_pose.cand_O.5", + "object_pose.cand_O.6", + "object_pose.picture.0", + "object_pose.picture.1", + "object_pose.picture.2", + "object_pose.picture.3", + "object_pose.picture.4", + "object_pose.picture.5", + "object_pose.picture.6", + "object_pose.picture_bar.0", + "object_pose.picture_bar.1", + "object_pose.picture_bar.2", + "object_pose.picture_bar.3", + "object_pose.picture_bar.4", + "object_pose.picture_bar.5", + "object_pose.picture_bar.6", + "object_pose.picture_cap.0", + "object_pose.picture_cap.1", + "object_pose.picture_cap.2", + "object_pose.picture_cap.3", + "object_pose.picture_cap.4", + "object_pose.picture_cap.5", + "object_pose.picture_cap.6", + "object_pose.table_A.0", + "object_pose.table_A.1", + "object_pose.table_A.2", + "object_pose.table_A.3", + "object_pose.table_A.4", + "object_pose.table_A.5", + "object_pose.table_A.6", + "object_pose.table_B.0", + "object_pose.table_B.1", + "object_pose.table_B.2", + "object_pose.table_B.3", + "object_pose.table_B.4", + "object_pose.table_B.5", + "object_pose.table_B.6", + "object_pose.tile.0", + "object_pose.tile.1", + "object_pose.tile.2", + "object_pose.tile.3", + "object_pose.tile.4", + "object_pose.tile.5", + "object_pose.tile.6" + ] + }, + "action.command": { + "dtype": "float32", + "shape": [ + 816 + ], + "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 + } + } + } +} \ No newline at end of file diff --git a/N032/stretch3/dr_off/seed_1027/rec/stationpuzzlestretch/000/lerobot_v21/meta/magicsim_manifest.json b/N032/stretch3/dr_off/seed_1027/rec/stationpuzzlestretch/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..c2085ce9f0a370a85f3ff1a709ba600f9c92bd6e --- /dev/null +++ b/N032/stretch3/dr_off/seed_1027/rec/stationpuzzlestretch/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,259 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 03:11:32" + }, + "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": "stationpuzzlestretch/000", + "task_type": "PuzzleStretchCommand" + } +} \ No newline at end of file diff --git a/N032/stretch3/dr_off/seed_1027/rec/stationpuzzlestretch/000/lerobot_v21/meta/stats.json b/N032/stretch3/dr_off/seed_1027/rec/stationpuzzlestretch/000/lerobot_v21/meta/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..7c3577e657f86aca54b6a84a88835996a9059f52 --- /dev/null +++ b/N032/stretch3/dr_off/seed_1027/rec/stationpuzzlestretch/000/lerobot_v21/meta/stats.json @@ -0,0 +1,4293 @@ +{ + "action": { + "mean": [ + 0.03562560745624691, + 0.0, + 0.02377261611026193, + 0.3990762207699682, + 0.30982389189464443, + 0.7192067847531003, + -0.3224572027582148, + -0.0032015799278436218, + -0.05928761426521867, + 0.025349872532584417, + 0.40165549862041783 + ], + "std": [ + 0.18003707518778017, + 0.0, + 0.22780884787256037, + 1.2684126682206194, + 1.4347210354676552, + 0.14505032393661482, + 0.5051455344088549, + 0.32795637057918986, + 0.3779500033007527, + 0.6215140875370406, + 0.4902329640572912 + ], + "min": [ + -0.30000001192092896, + 0.0, + -0.800000011920929, + -3.1989033222198486, + -2.2301623821258545, + 0.3830000162124634, + -0.9826849699020386, + -0.532650351524353, + -0.704785943031311, + -0.9999998807907104, + 0.0 + ], + "max": [ + 0.30000001192092896, + 0.0, + 0.800000011920929, + 2.263080358505249, + 2.8495681285858154, + 0.8950563669204712, + 0.648716390132904, + 0.6389480233192444, + 0.6470430493354797, + 0.9999431371688843, + 1.0 + ], + "count": [ + 2537 + ] + }, + "action_is_hold": { + "mean": [ + 0.07843910130074892, + 0.07843910130074892, + 0.07843910130074892, + 0.10051241623965314, + 0.10051241623965314, + 0.10051241623965314, + 0.10051241623965314, + 0.10051241623965314, + 0.10051241623965314, + 0.10051241623965314, + 0.980291683090264 + ], + "std": [ + 0.2688613186902854, + 0.2688613186902854, + 0.2688613186902854, + 0.300682008808838, + 0.300682008808838, + 0.300682008808838, + 0.300682008808838, + 0.300682008808838, + 0.300682008808838, + 0.300682008808838, + 0.13899604006705193 + ], + "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": [ + 2537 + ] + }, + "observation.state": { + "mean": [ + 0.4278758241904031, + 0.109435464095825, + 0.7362360585779011, + 0.6783736330883965, + 1.734230320908207e-07, + 3.8408438518930887e-08, + 0.035192339762192305, + 0.03519131516861036, + 0.03519056612982252, + 0.0351998788885837, + 2.273260658915982, + -0.7960069295757322, + -0.1335684114088557, + 0.06965215664839768, + 0.07112988532215965 + ], + "std": [ + 1.3824519157020472, + 1.397356870451151, + 2.371920564550246, + 0.18840956492369476, + 4.290425837238792e-06, + 6.936668520338125e-06, + 0.040863148020070884, + 0.040861563296218095, + 0.040859975449971005, + 0.040864216388920085, + 0.6829692290887741, + 0.7682218332352446, + 0.21761169578472347, + 0.08467327114919003, + 0.08481627995988783 + ], + "min": [ + -3.4832310676574707, + -2.2735159397125244, + -3.141216278076172, + 0.4585065245628357, + -6.48832501610741e-05, + -9.0994501078967e-05, + 0.0, + 0.0, + 0.0, + 0.0, + 1.568219542503357, + -1.570000410079956, + -0.8299244046211243, + -7.730283080320532e-10, + -1.1310814784781797e-10 + ], + "max": [ + 2.1985182762145996, + 2.217283010482788, + 3.1397969722747803, + 0.9715061783790588, + 5.430894088931382e-05, + 9.071829117601737e-05, + 0.11883341521024704, + 0.11887092143297195, + 0.11892013251781464, + 0.11832508444786072, + 3.2636587619781494, + 0.07382000237703323, + 0.28402501344680786, + 0.2500002384185791, + 0.25000014901161194 + ], + "count": [ + 2537 + ] + }, + "observation.joint_vel": { + "mean": [ + 0.032782883246640186, + -0.008115153583016165, + 0.023799910969582026, + -0.0004590394523788678, + -0.00019722560165386723, + -1.7487559192196698e-05, + 1.564902266171231e-05, + -3.6854093414058184e-06, + -1.5174311947548387e-05, + 4.3627122089088596e-05, + 0.02915408693358128, + -2.521250054877974e-06, + 0.012334467899511467, + 0.1073069862185703, + -0.10709543369901689 + ], + "std": [ + 0.16761596516731694, + 0.06661376254129776, + 0.22690727727837165, + 0.07485371709226261, + 0.00028236824294687276, + 7.434922927156597e-05, + 0.01545295141295137, + 0.015496552305910218, + 0.015554419844021866, + 0.014875330481299114, + 0.12388497413435079, + 0.13963952664484958, + 0.09745596425250257, + 0.14577860951685293, + 0.1784885525171173 + ], + "min": [ + -0.30004844069480896, + -0.19858936965465546, + -0.8000481724739075, + -0.4244978427886963, + -0.0009349517640657723, + -0.0009114150307141244, + -0.06862717866897583, + -0.06891082972288132, + -0.06928425282239914, + -0.06666763126850128, + -0.49172499775886536, + -1.0000005960464478, + -1.0000004768371582, + -1.0000003576278687, + -1.0000005960464478 + ], + "max": [ + 0.2999885678291321, + 0.14986121654510498, + 0.8007112145423889, + 0.7579375505447388, + 0.0011857347562909126, + 0.0009141527698375285, + 0.08553718775510788, + 0.08528770506381989, + 0.08500788360834122, + 0.08498817682266235, + 1.0000001192092896, + 0.48096802830696106, + 0.18479837477207184, + 1.0000004768371582, + 1.000000238418579 + ], + "count": [ + 2537 + ] + }, + "observation.eef_pose": { + "mean": [ + 0.3971177813974031, + 0.30566532428276894, + 0.7208380047430144, + -0.21634644884720644, + 0.10208691036532226, + 0.03282727838032148, + -0.1571773772704634 + ], + "std": [ + 1.2649113744395253, + 1.427489750857818, + 0.14501576435293895, + 0.5576366749224659, + 0.30787296618228926, + 0.3793301723294772, + 0.6060975349981611 + ], + "min": [ + -3.1989033222198486, + -2.2301623821258545, + 0.3823692798614502, + -0.982688307762146, + -0.5287460088729858, + -0.7047633528709412, + -0.9999998807907104 + ], + "max": [ + 2.265782356262207, + 2.8493523597717285, + 0.8949415683746338, + 0.6487613916397095, + 0.6389189958572388, + 0.6470348834991455, + 0.9410404562950134 + ], + "count": [ + 2537 + ] + }, + "observation.environment_state": { + "mean": [ + -0.32179468870162964, + -0.27127769589424133, + 0.3400000035762787, + 0.9996379017829895, + 0.0, + 0.0, + -0.02690846100449562, + -0.31318730115890503, + -0.11150937527418137, + 0.3400000035762787, + 0.9996379017829895, + 0.0, + 0.0, + -0.02690846100449562, + -0.42233896255493164, + -0.18574494123458862, + 0.3400000035762787, + 0.9996379017829895, + 0.0, + 0.0, + -0.02690846100449562, + -0.21264305710792542, + -0.19704212248325348, + 0.3400000035762787, + 0.9996379017829895, + 0.0, + 0.0, + -0.02690846100449562, + -0.3458336889743805, + -0.15982308983802795, + 0.3400000035762787, + 0.9996379017829895, + 0.0, + 0.0, + -0.02690846100449562, + 1.8426001071929932, + 2.8648834228515625, + 0.33000004196383137, + 0.9980436135663449, + -2.137135000237159e-07, + 9.023048889138091e-08, + -0.06252142286260719, + -0.3002762496471405, + 0.1281430870294571, + 0.4300000071525574, + 0.9996379017829895, + 0.0, + 0.0, + -0.02690846100449562, + -0.30054521560668945, + 0.12315033376216888, + 0.4050000011920929, + 0.9996379017829895, + 0.0, + 0.0, + -0.02690846100449562, + -0.2506176233291626, + 0.12046052515506744, + 0.45500001311302185, + 0.9996379017829895, + 0.0, + 0.0, + -0.02690846100449562, + -0.3110354542732239, + -0.07156729698181152, + 0.18000000715255737, + 0.9996379017829895, + 0.0, + 0.0, + -0.02690846100449562, + 2.069246292114258, + 2.980684280395508, + 0.18000000715255737, + 0.9995985627174377, + 0.0, + 0.0, + -0.028332198038697243, + 1.3537122407622686, + 1.6338138527893613, + 0.4822577129187526, + 0.9786691022379735, + -0.000772423032521311, + -0.0004217081779337367, + 0.05858938632177204 + ], + "std": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5903141165198555e-08, + 2.6826938947159093e-08, + 1.8025672466710097e-07, + 1.7416165138681062e-07, + 1.1496909681854153e-07, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.139994379975073, + 1.482493270300957, + 0.22339472603947924, + 0.05418612354836441, + 0.0018493626868708592, + 0.0014217840804752189, + 0.18929269852818117 + ], + "min": [ + -0.32179468870162964, + -0.27127769589424133, + 0.3400000035762787, + 0.9996379017829895, + 0.0, + 0.0, + -0.02690846100449562, + -0.31318730115890503, + -0.11150937527418137, + 0.3400000035762787, + 0.9996379017829895, + 0.0, + 0.0, + -0.02690846100449562, + -0.42233896255493164, + -0.18574494123458862, + 0.3400000035762787, + 0.9996379017829895, + 0.0, + 0.0, + -0.02690846100449562, + -0.21264305710792542, + -0.19704212248325348, + 0.3400000035762787, + 0.9996379017829895, + 0.0, + 0.0, + -0.02690846100449562, + -0.3458336889743805, + -0.15982308983802795, + 0.3400000035762787, + 0.9996379017829895, + 0.0, + 0.0, + -0.02690846100449562, + 1.8426001071929932, + 2.8648834228515625, + 0.33000001311302185, + 0.9980435967445374, + -8.54652853377047e-07, + -3.6101192790738423e-07, + -0.06252184510231018, + -0.3002762496471405, + 0.1281430870294571, + 0.4300000071525574, + 0.9996379017829895, + 0.0, + 0.0, + -0.02690846100449562, + -0.30054521560668945, + 0.12315033376216888, + 0.4050000011920929, + 0.9996379017829895, + 0.0, + 0.0, + -0.02690846100449562, + -0.2506176233291626, + 0.12046052515506744, + 0.45500001311302185, + 0.9996379017829895, + 0.0, + 0.0, + -0.02690846100449562, + -0.3110354542732239, + -0.07156729698181152, + 0.18000000715255737, + 0.9996379017829895, + 0.0, + 0.0, + -0.02690846100449562, + 2.069246292114258, + 2.980684280395508, + 0.18000000715255737, + 0.9995985627174377, + 0.0, + 0.0, + -0.028332198038697243, + -0.3264654576778412, + -0.5978808999061584, + 0.32999977469444275, + 0.7466328144073486, + -0.011078650131821632, + -0.004672591108828783, + -0.3367583155632019 + ], + "max": [ + -0.32179468870162964, + -0.27127769589424133, + 0.3400000035762787, + 0.9996379017829895, + 0.0, + 0.0, + -0.02690846100449562, + -0.31318730115890503, + -0.11150937527418137, + 0.3400000035762787, + 0.9996379017829895, + 0.0, + 0.0, + -0.02690846100449562, + -0.42233896255493164, + -0.18574494123458862, + 0.3400000035762787, + 0.9996379017829895, + 0.0, + 0.0, + -0.02690846100449562, + -0.21264305710792542, + -0.19704212248325348, + 0.3400000035762787, + 0.9996379017829895, + 0.0, + 0.0, + -0.02690846100449562, + -0.3458336889743805, + -0.15982308983802795, + 0.3400000035762787, + 0.9996379017829895, + 0.0, + 0.0, + -0.02690846100449562, + 1.8426001071929932, + 2.8648834228515625, + 0.330000102519989, + 0.9980436563491821, + 2.341802769478818e-07, + 4.72900353543082e-07, + -0.06252110004425049, + -0.3002762496471405, + 0.1281430870294571, + 0.4300000071525574, + 0.9996379017829895, + 0.0, + 0.0, + -0.02690846100449562, + -0.30054521560668945, + 0.12315033376216888, + 0.4050000011920929, + 0.9996379017829895, + 0.0, + 0.0, + -0.02690846100449562, + -0.2506176233291626, + 0.12046052515506744, + 0.45500001311302185, + 0.9996379017829895, + 0.0, + 0.0, + -0.02690846100449562, + -0.3110354542732239, + -0.07156729698181152, + 0.18000000715255737, + 0.9996379017829895, + 0.0, + 0.0, + -0.02690846100449562, + 2.069246292114258, + 2.980684280395508, + 0.18000000715255737, + 0.9995985627174377, + 0.0, + 0.0, + -0.028332198038697243, + 2.262066602706909, + 2.84956955909729, + 0.8410914540290833, + 0.9999971389770508, + 0.0014685955829918385, + 0.013186994940042496, + 0.6652355194091797 + ], + "count": [ + 2537 + ] + }, + "action.command": { + "mean": [ + -0.5037526191172665, + -0.2609456532876125, + -0.5641906493656084, + 0.0, + 0.0, + 0.0, + 0.0, + 1.1967572304995617, + 0.3874021620913282, + 0.27104822286681374, + 0.729453062431317, + -0.3719406080676966, + -0.015885083972590728, + -0.0795254548754139, + 0.05256514958416966, + 0.5, + -0.4629988440634033, + -0.25603312378797183, + -0.5643809775547094, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.27227323320607877, + 0.044507622660847214, + 0.7741737732767416, + -0.42528324612898744, + 0.06544741309927142, + -0.03747464081266229, + -0.0626215498776296, + 0.0, + -0.477475585800527, + -0.29692010420086423, + -0.5643384875222497, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.27227323320607877, + 0.044507622660847214, + 0.7741737732767416, + -0.42528324612898744, + 0.06544741309927142, + -0.03747464081266229, + -0.0626215498776296, + 0.0, + -0.428644268331522, + -0.3098193073900498, + -0.5641920284052083, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.27227323320607877, + 0.044507622660847214, + 0.7741737732767416, + -0.42528324612898744, + 0.06544741309927142, + -0.03747464081266229, + -0.0626215498776296, + 0.0, + -0.4005169695826222, + -0.335669126288039, + -0.5641913284340853, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.27227323320607877, + 0.044507622660847214, + 0.7741737732767416, + -0.42528324612898744, + 0.06544741309927142, + -0.03747464081266229, + -0.0626215498776296, + 0.0, + -0.30875687567792487, + -0.3253775685936444, + -0.5641884262657394, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.27227323320607877, + 0.044507622660847214, + 0.7741737732767416, + -0.42528324612898744, + 0.06544741309927142, + -0.03747464081266229, + -0.0626215498776296, + 0.0, + -0.3236284366558584, + -0.3721892954987869, + -0.5641901810892609, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.27227323320607877, + 0.044507622660847214, + 0.7741737732767416, + -0.42528324612898744, + 0.06544741309927142, + -0.03747464081266229, + -0.0626215498776296, + 0.0, + -0.2522824064548111, + -0.36427546646122727, + -0.5641906192600905, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.27227323320607877, + 0.044507622660847214, + 0.7741737732767416, + -0.42528324612898744, + 0.06544741309927142, + -0.03747464081266229, + -0.0626215498776296, + 0.0, + -0.25357034019479346, + -0.4063973605169071, + -0.5641889625648622, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.27227323320607877, + 0.044507622660847214, + 0.7741737732767416, + -0.42528324612898744, + 0.06544741309927142, + -0.03747464081266229, + -0.0626215498776296, + 0.0, + -0.23165499058260594, + -0.399986012191704, + -0.564190668252897, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.27227323320607877, + 0.044507622660847214, + 0.7741737732767416, + -0.42528324612898744, + 0.06544741309927142, + -0.03747464081266229, + -0.0626215498776296, + 0.0, + -0.17755526657378437, + -0.43909055868499225, + -0.22473753795232834, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.27227323320607877, + 0.044507622660847214, + 0.7741737732767416, + -0.42528324612898744, + 0.06544741309927142, + -0.03747464081266229, + -0.0626215498776296, + 0.0, + -0.12467855753690307, + -0.4021693046473943, + -0.22473781084600572, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.27227323320607877, + 0.044507622660847214, + 0.7741737732767416, + -0.42528324612898744, + 0.06544741309927142, + -0.03747464081266229, + -0.0626215498776296, + 0.0, + -0.14170158201887678, + -0.44132223541618176, + -0.2247362448953712, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.27227323320607877, + 0.044507622660847214, + 0.7741737732767416, + -0.42528324612898744, + 0.06544741309927142, + -0.03747464081266229, + -0.0626215498776296, + 0.0, + -0.10778779158829073, + -0.3905699616203331, + -0.22473703732325032, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.27227323320607877, + 0.044507622660847214, + 0.7741737732767416, + -0.42528324612898744, + 0.06544741309927142, + -0.03747464081266229, + -0.0626215498776296, + 0.0, + -0.09065711747950811, + -0.41808274547044993, + -0.22473692216251084, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.27227323320607877, + 0.044507622660847214, + 0.7741737732767416, + -0.42528324612898744, + 0.06544741309927142, + -0.03747464081266229, + -0.0626215498776296, + 0.0, + -0.034410889172967786, + -0.3716243456966644, + -0.22473577838469094, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.27227323320607877, + 0.044507622660847214, + 0.7741737732767416, + -0.42528324612898744, + 0.06544741309927142, + -0.03747464081266229, + -0.0626215498776296, + 0.0, + -0.04692657917006725, + -0.4069971403342246, + -0.22473590727839765, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.27227323320607877, + 0.044507622660847214, + 0.7741737732767416, + -0.42528324612898744, + 0.06544741309927142, + -0.03747464081266229, + -0.0626215498776296, + 0.0, + -0.004570607579731784, + -0.3528790817083819, + -0.22473713900071285, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.27227323320607877, + 0.044507622660847214, + 0.7741737732767416, + -0.42528324612898744, + 0.06544741309927142, + -0.03747464081266229, + -0.0626215498776296, + 0.0, + 0.002394407399038866, + -0.3868392556816571, + -0.22473664029781723, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.27227323320607877, + 0.044507622660847214, + 0.7741737732767416, + -0.42528324612898744, + 0.06544741309927142, + -0.03747464081266229, + -0.0626215498776296, + 0.0, + 0.0476936904489459, + -0.3422968167876284, + -0.2247368134045444, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.27227323320607877, + 0.044507622660847214, + 0.7741737732767416, + -0.42528324612898744, + 0.06544741309927142, + -0.03747464081266229, + -0.0626215498776296, + 0.0, + 0.052128896393653236, + -0.36607906819816693, + -0.22474290342262446, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.27227323320607877, + 0.044507622660847214, + 0.7741737732767416, + -0.42528324612898744, + 0.06544741309927142, + -0.03747464081266229, + -0.0626215498776296, + 0.0, + 0.08143206280480596, + -0.3567876966323487, + -0.22473659678036265, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.27227323320607877, + 0.044507622660847214, + 0.7741737732767416, + -0.42528324612898744, + 0.06544741309927142, + -0.03747464081266229, + -0.0626215498776296, + 0.0, + 0.10188957026873714, + -0.34517916757000344, + -0.22473681520588165, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.27227323320607877, + 0.044507622660847214, + 0.7741737732767416, + -0.42528324612898744, + 0.06544741309927142, + -0.03747464081266229, + -0.0626215498776296, + 0.0, + 0.11160187668460775, + -0.3431904659807718, + -0.22473670075854307, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.27227323320607877, + 0.044507622660847214, + 0.7741737732767416, + -0.42528324612898744, + 0.06544741309927142, + -0.03747464081266229, + -0.0626215498776296, + 0.0, + 0.1515998461516156, + -0.3241598894323581, + -0.22473564488954847, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.27227323320607877, + 0.044507622660847214, + 0.7741737732767416, + -0.42528324612898744, + 0.06544741309927142, + -0.03747464081266229, + -0.0626215498776296, + 0.0, + 0.1948049351671083, + -0.30801227176924223, + -0.22473532086286196, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.27227323320607877, + 0.044507622660847214, + 0.7741737732767416, + -0.42528324612898744, + 0.06544741309927142, + -0.03747464081266229, + -0.0626215498776296, + 0.0, + 0.2015145425665243, + -0.3027913287897298, + -0.22473438152790354, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.27227323320607877, + 0.044507622660847214, + 0.7741737732767416, + -0.42528324612898744, + 0.06544741309927142, + -0.03747464081266229, + -0.0626215498776296, + 0.0, + 0.20156345147704166, + -0.3076360182516736, + -0.22473634377273524, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.27227323320607877, + 0.044507622660847214, + 0.7741737732767416, + -0.42528324612898744, + 0.06544741309927142, + -0.03747464081266229, + -0.0626215498776296, + 0.0, + 0.2519403844447567, + -0.2810181693214631, + -0.22473476740644766, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.27227323320607877, + 0.044507622660847214, + 0.7741737732767416, + -0.42528324612898744, + 0.06544741309927142, + -0.03747464081266229, + -0.0626215498776296, + 0.0, + 0.27715201915772925, + -0.27836670945462605, + -0.22473692968889028, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.27227323320607877, + 0.044507622660847214, + 0.7741737732767416, + -0.42528324612898744, + 0.06544741309927142, + -0.03747464081266229, + -0.0626215498776296, + 0.0, + 0.30315487752911, + -0.2587836972972292, + -0.2247387043984617, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.27227323320607877, + 0.044507622660847214, + 0.7741737732767416, + -0.42528324612898744, + 0.06544741309927142, + -0.03747464081266229, + -0.0626215498776296, + 0.0, + 0.32278366405617187, + -0.2618869935446054, + -0.22473656772711118, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.27227323320607877, + 0.044507622660847214, + 0.7741737732767416, + -0.42528324612898744, + 0.06544741309927142, + -0.03747464081266229, + -0.0626215498776296, + 0.0, + 0.35639899302071115, + -0.23522062689725828, + -0.22472706192771094, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.27227323320607877, + 0.044507622660847214, + 0.7741737732767416, + -0.42528324612898744, + 0.06544741309927142, + -0.03747464081266229, + -0.0626215498776296, + 0.0, + 0.3545161282352742, + -0.25569476359337123, + -0.22473640309201964, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.27227323320607877, + 0.044507622660847214, + 0.7741737732767416, + -0.42528324612898744, + 0.06544741309927142, + -0.03747464081266229, + -0.0626215498776296, + 0.0, + 0.40548975302886275, + -0.22204668217972323, + -0.22473651204617134, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.27227323320607877, + 0.044507622660847214, + 0.7741737732767416, + -0.42528324612898744, + 0.06544741309927142, + -0.03747464081266229, + -0.0626215498776296, + 0.0, + 0.4419998433831065, + -0.20979979564728385, + -0.22475382626805743, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.27227323320607877, + 0.044507622660847214, + 0.7741737732767416, + -0.42528324612898744, + 0.06544741309927142, + -0.03747464081266229, + -0.0626215498776296, + 0.0, + 0.44015279057352646, + -0.23469679210087555, + -0.22473633663872628, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.27227323320607877, + 0.044507622660847214, + 0.7741737732767416, + -0.42528324612898744, + 0.06544741309927142, + -0.03747464081266229, + -0.0626215498776296, + 0.0, + 0.48569615086276396, + -0.19680378046098546, + -0.5422564348298443, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.27227323320607877, + 0.044507622660847214, + 0.7741737732767416, + -0.42528324612898744, + 0.06544741309927142, + -0.03747464081266229, + -0.0626215498776296, + 0.0, + 0.4813019585495292, + -0.18823244170754488, + -0.5422587096512781, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.27227323320607877, + 0.044507622660847214, + 0.7741737732767416, + -0.42528324612898744, + 0.06544741309927142, + -0.03747464081266229, + -0.0626215498776296, + 0.0, + 0.48047915901843835, + -0.13628585198765955, + -0.5422575570807923, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.27227323320607877, + 0.044507622660847214, + 0.7741737732767416, + -0.42528324612898744, + 0.06544741309927142, + -0.03747464081266229, + -0.0626215498776296, + 0.0, + 0.5100408795884381, + -0.11660463110120763, + -0.48453543736933236, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.27227323320607877, + 0.044507622660847214, + 0.7741737732767416, + -0.42528324612898744, + 0.06544741309927142, + -0.03747464081266229, + -0.0626215498776296, + 0.0, + 0.565103593859253, + -0.04330034305206107, + 0.3221001422455181, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.27227323320607877, + 0.044507622660847214, + 0.7741737732767416, + -0.42528324612898744, + 0.06544741309927142, + -0.03747464081266229, + -0.0626215498776296, + 0.0, + 0.9454705259690048, + 0.3290074535295473, + -1.009246065261516, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.8870437227235777, + 0.6385548609566498, + 0.8003714945405087, + -0.232116995090161, + 0.09695436583968561, + -0.055516196717170584, + 0.08914012634954976, + 0.0, + 0.9685268142650313, + 0.40024343957292274, + -1.0092460010068636, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.8870437227235777, + 0.6385548609566498, + 0.8003714945405087, + -0.232116995090161, + 0.09695436583968561, + -0.055516196717170584, + 0.08914012634954976, + 0.0, + 0.9070223819807912, + 0.40155884729209523, + -1.0092457067881915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.8870437227235777, + 0.6385548609566498, + 0.8003714945405087, + -0.232116995090161, + 0.09695436583968561, + -0.055516196717170584, + 0.08914012634954976, + 0.0, + 0.9121154424146558, + 0.466867614722421, + -1.0092459435158587, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.8870437227235777, + 0.6385548609566498, + 0.8003714945405087, + -0.232116995090161, + 0.09695436583968561, + -0.055516196717170584, + 0.08914012634954976, + 0.0, + 0.8703981629500153, + 0.47811111575322796, + 2.0779149008135422, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.8870437227235777, + 0.6385548609566498, + 0.8003714945405087, + -0.232116995090161, + 0.09695436583968561, + -0.055516196717170584, + 0.08914012634954976, + 0.0, + 0.8600978976023113, + 0.5407874000833389, + 1.3856676986031498, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.8870437227235777, + 0.6385548609566498, + 0.8003714945405087, + -0.232116995090161, + 0.09695436583968561, + -0.055516196717170584, + 0.08914012634954976, + 0.0, + 0.8717670003150372, + 0.611275427307643, + 2.0657221949692315, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.8870437227235777, + 0.6385548609566498, + 0.8003714945405087, + -0.232116995090161, + 0.09695436583968561, + -0.055516196717170584, + 0.08914012634954976, + 0.0, + 2.194880723953247, + 2.1571242809295654, + 1.4963667392730713, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2355004583884563, + 0.9953980184559311, + 0.7197485421385084, + -0.355218339581318, + 1.6071517937429495e-06, + 2.733780684544789e-06, + 0.3753276718514306, + 0.0, + 2.199723958969116, + 2.2220754623413086, + 3.0849192142486572, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2355004583884563, + 0.9953980184559311, + 0.7197485421385084, + -0.355218339581318, + 1.6071517937429495e-06, + 2.733780684544789e-06, + 0.3753276718514306, + 0.0 + ], + "std": [ + 2.3182333983608094, + 1.8734089898849933, + 1.103891004312606, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3283558867060408, + 1.2741462872807257, + 1.4238615199162725, + 0.13177616884477217, + 0.4881645291185066, + 0.3109810037252208, + 0.36568321099559253, + 0.6193402453630624, + 0.5, + 2.2660123601696682, + 1.8409554512121449, + 1.103721966947268, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2455279141736653, + 1.3027288990456714, + 0.07584035114792687, + 0.5045406224713798, + 0.2173440086255243, + 0.3413619120669125, + 0.6254576269577224, + 0.0, + 2.2396867158479417, + 1.786590485721401, + 1.1037611101564886, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2455279141736653, + 1.3027288990456714, + 0.07584035114792687, + 0.5045406224713798, + 0.2173440086255243, + 0.3413619120669125, + 0.6254576269577224, + 0.0, + 2.236848852128962, + 1.7680314911725883, + 1.1038917324521547, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2455279141736653, + 1.3027288990456714, + 0.07584035114792687, + 0.5045406224713798, + 0.2173440086255243, + 0.3413619120669125, + 0.6254576269577224, + 0.0, + 2.1390021605127734, + 1.6778895801112483, + 1.1038911270135325, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2455279141736653, + 1.3027288990456714, + 0.07584035114792687, + 0.5045406224713798, + 0.2173440086255243, + 0.3413619120669125, + 0.6254576269577224, + 0.0, + 2.0979555381114636, + 1.6515937994817322, + 1.103893169685373, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2455279141736653, + 1.3027288990456714, + 0.07584035114792687, + 0.5045406224713798, + 0.2173440086255243, + 0.3413619120669125, + 0.6254576269577224, + 0.0, + 2.0459160097433773, + 1.5740638480373752, + 1.1038907238402242, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2455279141736653, + 1.3027288990456714, + 0.07584035114792687, + 0.5045406224713798, + 0.2173440086255243, + 0.3413619120669125, + 0.6254576269577224, + 0.0, + 2.025970459295976, + 1.5594058653740936, + 1.1038919961303815, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2455279141736653, + 1.3027288990456714, + 0.07584035114792687, + 0.5045406224713798, + 0.2173440086255243, + 0.3413619120669125, + 0.6254576269577224, + 0.0, + 1.9577138180614848, + 1.4744982818349925, + 1.1038897642976353, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2455279141736653, + 1.3027288990456714, + 0.07584035114792687, + 0.5045406224713798, + 0.2173440086255243, + 0.3413619120669125, + 0.6254576269577224, + 0.0, + 1.931842144872125, + 1.4621703161366963, + 1.103892337694607, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2455279141736653, + 1.3027288990456714, + 0.07584035114792687, + 0.5045406224713798, + 0.2173440086255243, + 0.3413619120669125, + 0.6254576269577224, + 0.0, + 1.875325300510195, + 1.3768479052309346, + 1.3569066253428552, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2455279141736653, + 1.3027288990456714, + 0.07584035114792687, + 0.5045406224713798, + 0.2173440086255243, + 0.3413619120669125, + 0.6254576269577224, + 0.0, + 1.8195799576518408, + 1.3473113301770947, + 1.3569052758749331, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2455279141736653, + 1.3027288990456714, + 0.07584035114792687, + 0.5045406224713798, + 0.2173440086255243, + 0.3413619120669125, + 0.6254576269577224, + 0.0, + 1.7830585258106542, + 1.2725389918982946, + 1.3569049346688937, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2455279141736653, + 1.3027288990456714, + 0.07584035114792687, + 0.5045406224713798, + 0.2173440086255243, + 0.3413619120669125, + 0.6254576269577224, + 0.0, + 1.7861467836219609, + 1.2567150145669952, + 1.3569054885663399, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2455279141736653, + 1.3027288990456714, + 0.07584035114792687, + 0.5045406224713798, + 0.2173440086255243, + 0.3413619120669125, + 0.6254576269577224, + 0.0, + 1.6976646014506183, + 1.167044258422745, + 1.3569060742048016, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2455279141736653, + 1.3027288990456714, + 0.07584035114792687, + 0.5045406224713798, + 0.2173440086255243, + 0.3413619120669125, + 0.6254576269577224, + 0.0, + 1.648953136217899, + 1.138233218415469, + 1.3569061740822121, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2455279141736653, + 1.3027288990456714, + 0.07584035114792687, + 0.5045406224713798, + 0.2173440086255243, + 0.3413619120669125, + 0.6254576269577224, + 0.0, + 1.61132335136646, + 1.0693922319762503, + 1.3569048146086333, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2455279141736653, + 1.3027288990456714, + 0.07584035114792687, + 0.5045406224713798, + 0.2173440086255243, + 0.3413619120669125, + 0.6254576269577224, + 0.0, + 1.6043881558155737, + 1.0584103027457952, + 1.3569055104739458, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2455279141736653, + 1.3027288990456714, + 0.07584035114792687, + 0.5045406224713798, + 0.2173440086255243, + 0.3413619120669125, + 0.6254576269577224, + 0.0, + 1.5291589101952778, + 0.9796431955014011, + 1.3569057595644214, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2455279141736653, + 1.3027288990456714, + 0.07584035114792687, + 0.5045406224713798, + 0.2173440086255243, + 0.3413619120669125, + 0.6254576269577224, + 0.0, + 1.5021232419724166, + 0.9653367125867924, + 1.3569056940145827, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2455279141736653, + 1.3027288990456714, + 0.07584035114792687, + 0.5045406224713798, + 0.2173440086255243, + 0.3413619120669125, + 0.6254576269577224, + 0.0, + 1.4498297032103529, + 0.9017911698910149, + 1.356901637509289, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2455279141736653, + 1.3027288990456714, + 0.07584035114792687, + 0.5045406224713798, + 0.2173440086255243, + 0.3413619120669125, + 0.6254576269577224, + 0.0, + 1.4008684845246404, + 0.875622112036835, + 1.3569056481294095, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2455279141736653, + 1.3027288990456714, + 0.07584035114792687, + 0.5045406224713798, + 0.2173440086255243, + 0.3413619120669125, + 0.6254576269577224, + 0.0, + 1.3739575164230433, + 0.8393813868362057, + 1.3569073446696207, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2455279141736653, + 1.3027288990456714, + 0.07584035114792687, + 0.5045406224713798, + 0.2173440086255243, + 0.3413619120669125, + 0.6254576269577224, + 0.0, + 1.3559302178433827, + 0.8279392732894574, + 1.356905898254636, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2455279141736653, + 1.3027288990456714, + 0.07584035114792687, + 0.5045406224713798, + 0.2173440086255243, + 0.3413619120669125, + 0.6254576269577224, + 0.0, + 1.3022811349350458, + 0.7962825955344052, + 1.3569074404081067, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2455279141736653, + 1.3027288990456714, + 0.07584035114792687, + 0.5045406224713798, + 0.2173440086255243, + 0.3413619120669125, + 0.6254576269577224, + 0.0, + 1.2345505096736518, + 0.7631066585894639, + 1.3569062263500262, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2455279141736653, + 1.3027288990456714, + 0.07584035114792687, + 0.5045406224713798, + 0.2173440086255243, + 0.3413619120669125, + 0.6254576269577224, + 0.0, + 1.235313401430706, + 0.7757415813103956, + 1.3569069798313358, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2455279141736653, + 1.3027288990456714, + 0.07584035114792687, + 0.5045406224713798, + 0.2173440086255243, + 0.3413619120669125, + 0.6254576269577224, + 0.0, + 1.228291852316849, + 0.7721886303646236, + 1.3569057875094086, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2455279141736653, + 1.3027288990456714, + 0.07584035114792687, + 0.5045406224713798, + 0.2173440086255243, + 0.3413619120669125, + 0.6254576269577224, + 0.0, + 1.1732470550837555, + 0.7791880022621848, + 1.3569076246389964, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2455279141736653, + 1.3027288990456714, + 0.07584035114792687, + 0.5045406224713798, + 0.2173440086255243, + 0.3413619120669125, + 0.6254576269577224, + 0.0, + 1.1247662996106602, + 0.7596431723186285, + 1.3569054349192653, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2455279141736653, + 1.3027288990456714, + 0.07584035114792687, + 0.5045406224713798, + 0.2173440086255243, + 0.3413619120669125, + 0.6254576269577224, + 0.0, + 1.1164202188108123, + 0.8058910113875218, + 1.356903899494806, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2455279141736653, + 1.3027288990456714, + 0.07584035114792687, + 0.5045406224713798, + 0.2173440086255243, + 0.3413619120669125, + 0.6254576269577224, + 0.0, + 1.0726113573947118, + 0.7927262992537125, + 1.356905662101883, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2455279141736653, + 1.3027288990456714, + 0.07584035114792687, + 0.5045406224713798, + 0.2173440086255243, + 0.3413619120669125, + 0.6254576269577224, + 0.0, + 1.064510176731025, + 0.8529922782243435, + 1.3569145529851643, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2455279141736653, + 1.3027288990456714, + 0.07584035114792687, + 0.5045406224713798, + 0.2173440086255243, + 0.3413619120669125, + 0.6254576269577224, + 0.0, + 1.0420785015926721, + 0.8538418680725951, + 1.3569057412793435, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2455279141736653, + 1.3027288990456714, + 0.07584035114792687, + 0.5045406224713798, + 0.2173440086255243, + 0.3413619120669125, + 0.6254576269577224, + 0.0, + 1.0054800975523397, + 0.889438372758739, + 1.3569056534767137, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2455279141736653, + 1.3027288990456714, + 0.07584035114792687, + 0.5045406224713798, + 0.2173440086255243, + 0.3413619120669125, + 0.6254576269577224, + 0.0, + 0.9627709303980143, + 0.9065345231016236, + 1.3568897765036612, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2455279141736653, + 1.3027288990456714, + 0.07584035114792687, + 0.5045406224713798, + 0.2173440086255243, + 0.3413619120669125, + 0.6254576269577224, + 0.0, + 0.9389962217350316, + 0.9163162051611395, + 1.3569054908092195, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2455279141736653, + 1.3027288990456714, + 0.07584035114792687, + 0.5045406224713798, + 0.2173440086255243, + 0.3413619120669125, + 0.6254576269577224, + 0.0, + 0.9375561417981573, + 0.9952417253411537, + 1.7939250591064002, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2455279141736653, + 1.3027288990456714, + 0.07584035114792687, + 0.5045406224713798, + 0.2173440086255243, + 0.3413619120669125, + 0.6254576269577224, + 0.0, + 0.9120282133298094, + 0.9916011945969452, + 1.7939228966573244, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2455279141736653, + 1.3027288990456714, + 0.07584035114792687, + 0.5045406224713798, + 0.2173440086255243, + 0.3413619120669125, + 0.6254576269577224, + 0.0, + 0.9449254423829913, + 1.064121739104439, + 1.793924037154136, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2455279141736653, + 1.3027288990456714, + 0.07584035114792687, + 0.5045406224713798, + 0.2173440086255243, + 0.3413619120669125, + 0.6254576269577224, + 0.0, + 0.9051354208277732, + 1.054694644263719, + 1.8267661114875475, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2455279141736653, + 1.3027288990456714, + 0.07584035114792687, + 0.5045406224713798, + 0.2173440086255243, + 0.3413619120669125, + 0.6254576269577224, + 0.0, + 0.9143131379867898, + 1.1100797196951355, + 2.5391338742861618, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.2455279141736653, + 1.3027288990456714, + 0.07584035114792687, + 0.5045406224713798, + 0.2173440086255243, + 0.3413619120669125, + 0.6254576269577224, + 0.0, + 0.8674119183173534, + 1.1950834528404857, + 2.023914158077441, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.8249245861936453, + 1.137299320990067, + 0.08005317174713943, + 0.4662024817444358, + 0.25869546145463956, + 0.41427148013807813, + 0.6854228361133551, + 0.0, + 0.9334339465878393, + 1.2721063033348259, + 2.023913502442829, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.8249245861936453, + 1.137299320990067, + 0.08005317174713943, + 0.4662024817444358, + 0.25869546145463956, + 0.41427148013807813, + 0.6854228361133551, + 0.0, + 1.0060776198589712, + 1.2900331414733928, + 2.023914038871123, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.8249245861936453, + 1.137299320990067, + 0.08005317174713943, + 0.4662024817444358, + 0.25869546145463956, + 0.41427148013807813, + 0.6854228361133551, + 0.0, + 1.0851108211301443, + 1.3649232722075542, + 2.023913800458562, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.8249245861936453, + 1.137299320990067, + 0.08005317174713943, + 0.4662024817444358, + 0.25869546145463956, + 0.41427148013807813, + 0.6854228361133551, + 0.0, + 1.1478411948994336, + 1.3891677159752465, + 1.041430089558516, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.8249245861936453, + 1.137299320990067, + 0.08005317174713943, + 0.4662024817444358, + 0.25869546145463956, + 0.41427148013807813, + 0.6854228361133551, + 0.0, + 1.231823025573227, + 1.4494956359483742, + 0.3540731427911504, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.8249245861936453, + 1.137299320990067, + 0.08005317174713943, + 0.4662024817444358, + 0.25869546145463956, + 0.41427148013807813, + 0.6854228361133551, + 0.0, + 1.256996861192173, + 1.440592743873564, + 1.0293227237587352, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.8249245861936453, + 1.137299320990067, + 0.08005317174713943, + 0.4662024817444358, + 0.25869546145463956, + 0.41427148013807813, + 0.6854228361133551, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.7763787347765659, + 1.1349565304870137, + 2.555903540305358e-08, + 0.25775470906609577, + 4.374336264336059e-06, + 2.957324621091533e-06, + 0.8164014921020861, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.7763787347765659, + 1.1349565304870137, + 2.555903540305358e-08, + 0.25775470906609577, + 4.374336264336059e-06, + 2.957324621091533e-06, + 0.8164014921020861, + 0.0 + ], + "min": [ + -3.483222484588623, + -2.273500680923462, + -2.084735870361328, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0, + -3.1989033222198486, + -2.2301623821258545, + 0.3830000162124634, + -0.9826849699020386, + -0.532650351524353, + -0.704785943031311, + -0.9999998807907104, + 0.0, + -3.374354600906372, + -2.2238564491271973, + -2.084738254547119, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1989033222198486, + -2.2301623821258545, + 0.7197484970092773, + -0.9826849699020386, + -0.27573466300964355, + -0.704785943031311, + -0.9999998807907104, + 0.0, + -3.374239921569824, + -2.223804235458374, + -2.0847396850585938, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1989033222198486, + -2.2301623821258545, + 0.7197484970092773, + -0.9826849699020386, + -0.27573466300964355, + -0.704785943031311, + -0.9999998807907104, + 0.0, + -3.3740739822387695, + -2.223728656768799, + -2.08473801612854, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1989033222198486, + -2.2301623821258545, + 0.7197484970092773, + -0.9826849699020386, + -0.27573466300964355, + -0.704785943031311, + -0.9999998807907104, + 0.0, + -3.216932773590088, + -2.152071475982666, + -2.0847368240356445, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1989033222198486, + -2.2301623821258545, + 0.7197484970092773, + -0.9826849699020386, + -0.27573466300964355, + -0.704785943031311, + -0.9999998807907104, + 0.0, + -3.1092116832733154, + -2.10295033454895, + -2.084737539291382, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1989033222198486, + -2.2301623821258545, + 0.7197484970092773, + -0.9826849699020386, + -0.27573466300964355, + -0.704785943031311, + -0.9999998807907104, + 0.0, + -3.0649733543395996, + -2.082777500152588, + -2.0847349166870117, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1989033222198486, + -2.2301623821258545, + 0.7197484970092773, + -0.9826849699020386, + -0.27573466300964355, + -0.704785943031311, + -0.9999998807907104, + 0.0, + -2.9982352256774902, + -2.052344560623169, + -2.0847373008728027, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1989033222198486, + -2.2301623821258545, + 0.7197484970092773, + -0.9826849699020386, + -0.27573466300964355, + -0.704785943031311, + -0.9999998807907104, + 0.0, + -2.9157955646514893, + -2.014751672744751, + -2.0847325325012207, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1989033222198486, + -2.2301623821258545, + 0.7197484970092773, + -0.9826849699020386, + -0.27573466300964355, + -0.704785943031311, + -0.9999998807907104, + 0.0, + -2.8578319549560547, + -1.988319993019104, + -2.084737539291382, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1989033222198486, + -2.2301623821258545, + 0.7197484970092773, + -0.9826849699020386, + -0.27573466300964355, + -0.704785943031311, + -0.9999998807907104, + 0.0, + -2.766695499420166, + -1.946761131286621, + -2.0847396850585938, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1989033222198486, + -2.2301623821258545, + 0.7197484970092773, + -0.9826849699020386, + -0.27573466300964355, + -0.704785943031311, + -0.9999998807907104, + 0.0, + -2.637042999267578, + -1.887639045715332, + -2.084737777709961, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1989033222198486, + -2.2301623821258545, + 0.7197484970092773, + -0.9826849699020386, + -0.27573466300964355, + -0.704785943031311, + -0.9999998807907104, + 0.0, + -2.6176764965057373, + -1.8788079023361206, + -2.084735870361328, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1989033222198486, + -2.2301623821258545, + 0.7197484970092773, + -0.9826849699020386, + -0.27573466300964355, + -0.704785943031311, + -0.9999998807907104, + 0.0, + -2.603895902633667, + -1.8725239038467407, + -2.084737777709961, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1989033222198486, + -2.2301623821258545, + 0.7197484970092773, + -0.9826849699020386, + -0.27573466300964355, + -0.704785943031311, + -0.9999998807907104, + 0.0, + -2.469238758087158, + -1.811119556427002, + -2.084738254547119, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1989033222198486, + -2.2301623821258545, + 0.7197484970092773, + -0.9826849699020386, + -0.27573466300964355, + -0.704785943031311, + -0.9999998807907104, + 0.0, + -2.3498337268829346, + -1.756670355796814, + -2.084737539291382, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1989033222198486, + -2.2301623821258545, + 0.7197484970092773, + -0.9826849699020386, + -0.27573466300964355, + -0.704785943031311, + -0.9999998807907104, + 0.0, + -2.320801258087158, + -1.7434313297271729, + -2.08473539352417, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1989033222198486, + -2.2301623821258545, + 0.7197484970092773, + -0.9826849699020386, + -0.27573466300964355, + -0.704785943031311, + -0.9999998807907104, + 0.0, + -2.280000925064087, + -1.7248262166976929, + -2.084737777709961, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1989033222198486, + -2.2301623821258545, + 0.7197484970092773, + -0.9826849699020386, + -0.27573466300964355, + -0.704785943031311, + -0.9999998807907104, + 0.0, + -2.1718082427978516, + -1.675489902496338, + -2.084737539291382, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1989033222198486, + -2.2301623821258545, + 0.7197484970092773, + -0.9826849699020386, + -0.27573466300964355, + -0.704785943031311, + -0.9999998807907104, + 0.0, + -2.0941383838653564, + -1.6400721073150635, + -2.084737539291382, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1989033222198486, + -2.2301623821258545, + 0.7197484970092773, + -0.9826849699020386, + -0.27573466300964355, + -0.704785943031311, + -0.9999998807907104, + 0.0, + -2.02260422706604, + -1.6074522733688354, + -2.0847396850585938, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1989033222198486, + -2.2301623821258545, + 0.7197484970092773, + -0.9826849699020386, + -0.27573466300964355, + -0.704785943031311, + -0.9999998807907104, + 0.0, + -1.922958254814148, + -1.5620132684707642, + -2.0847373008728027, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1989033222198486, + -2.2301623821258545, + 0.7197484970092773, + -0.9826849699020386, + -0.27573466300964355, + -0.704785943031311, + -0.9999998807907104, + 0.0, + -1.8736552000045776, + -1.539530873298645, + -2.0847396850585938, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1989033222198486, + -2.2301623821258545, + 0.7197484970092773, + -0.9826849699020386, + -0.27573466300964355, + -0.704785943031311, + -0.9999998807907104, + 0.0, + -1.8385721445083618, + -1.5235328674316406, + -2.084737777709961, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1989033222198486, + -2.2301623821258545, + 0.7197484970092773, + -0.9826849699020386, + -0.27573466300964355, + -0.704785943031311, + -0.9999998807907104, + 0.0, + -1.7252174615859985, + -1.471842646598816, + -2.0847384929656982, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1989033222198486, + -2.2301623821258545, + 0.7197484970092773, + -0.9826849699020386, + -0.27573466300964355, + -0.704785943031311, + -0.9999998807907104, + 0.0, + -1.5845097303390503, + -1.4076793193817139, + -2.0847373008728027, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1989033222198486, + -2.2301623821258545, + 0.7197484970092773, + -0.9826849699020386, + -0.27573466300964355, + -0.704785943031311, + -0.9999998807907104, + 0.0, + -1.576779842376709, + -1.4041544198989868, + -2.0847368240356445, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1989033222198486, + -2.2301623821258545, + 0.7197484970092773, + -0.9826849699020386, + -0.27573466300964355, + -0.704785943031311, + -0.9999998807907104, + 0.0, + -1.5658352375030518, + -1.3991636037826538, + -2.0847373008728027, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1989033222198486, + -2.2301623821258545, + 0.7197484970092773, + -0.9826849699020386, + -0.27573466300964355, + -0.704785943031311, + -0.9999998807907104, + 0.0, + -1.4271835088729858, + -1.335937738418579, + -2.084737777709961, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1989033222198486, + -2.2301623821258545, + 0.7197484970092773, + -0.9826849699020386, + -0.27573466300964355, + -0.704785943031311, + -0.9999998807907104, + 0.0, + -1.3293317556381226, + -1.2913168668746948, + -2.0847373008728027, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1989033222198486, + -2.2301623821258545, + 0.7197484970092773, + -0.9826849699020386, + -0.27573466300964355, + -0.704785943031311, + -0.9999998807907104, + 0.0, + -1.2753854990005493, + -1.2667171955108643, + -2.084737539291382, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1989033222198486, + -2.2301623821258545, + 0.7197484970092773, + -0.9826849699020386, + -0.27573466300964355, + -0.704785943031311, + -0.9999998807907104, + 0.0, + -1.1870853900909424, + -1.2264519929885864, + -2.0847373008728027, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1989033222198486, + -2.2301623821258545, + 0.7197484970092773, + -0.9826849699020386, + -0.27573466300964355, + -0.704785943031311, + -0.9999998807907104, + 0.0, + -1.1182774305343628, + -1.195075273513794, + -2.0847373008728027, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1989033222198486, + -2.2301623821258545, + 0.7197484970092773, + -0.9826849699020386, + -0.27573466300964355, + -0.704785943031311, + -0.9999998807907104, + 0.0, + -1.0782620906829834, + -1.176828145980835, + -2.0847373008728027, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1989033222198486, + -2.2301623821258545, + 0.7197484970092773, + -0.9826849699020386, + -0.27573466300964355, + -0.704785943031311, + -0.9999998807907104, + 0.0, + -0.9512678980827332, + -1.1189181804656982, + -2.0847373008728027, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1989033222198486, + -2.2301623821258545, + 0.7197484970092773, + -0.9826849699020386, + -0.27573466300964355, + -0.704785943031311, + -0.9999998807907104, + 0.0, + -0.8313806653022766, + -1.064249038696289, + -2.084737539291382, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1989033222198486, + -2.2301623821258545, + 0.7197484970092773, + -0.9826849699020386, + -0.27573466300964355, + -0.704785943031311, + -0.9999998807907104, + 0.0, + -0.7808278799057007, + -1.0411967039108276, + -2.0847368240356445, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1989033222198486, + -2.2301623821258545, + 0.7197484970092773, + -0.9826849699020386, + -0.27573466300964355, + -0.704785943031311, + -0.9999998807907104, + 0.0, + -0.6888943314552307, + -0.9992746114730835, + -3.0188565254211426, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1989033222198486, + -2.2301623821258545, + 0.7197484970092773, + -0.9826849699020386, + -0.27573466300964355, + -0.704785943031311, + -0.9999998807907104, + 0.0, + -0.6192869544029236, + -0.9675333499908447, + -3.0188562870025635, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1989033222198486, + -2.2301623821258545, + 0.7197484970092773, + -0.9826849699020386, + -0.27573466300964355, + -0.704785943031311, + -0.9999998807907104, + 0.0, + -0.5833088159561157, + -0.9511271715164185, + -3.0188565254211426, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1989033222198486, + -2.2301623821258545, + 0.7197484970092773, + -0.9826849699020386, + -0.27573466300964355, + -0.704785943031311, + -0.9999998807907104, + 0.0, + -0.4567476212978363, + -0.8934146761894226, + -3.0188560485839844, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1989033222198486, + -2.2301623821258545, + 0.7197484970092773, + -0.9826849699020386, + -0.27573466300964355, + -0.704785943031311, + -0.9999998807907104, + 0.0, + -0.3513825833797455, + -0.8418263792991638, + -3.0188560485839844, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1989033222198486, + -2.2301623821258545, + 0.7197484970092773, + -0.9826849699020386, + -0.27573466300964355, + -0.704785943031311, + -0.9999998807907104, + 0.0, + 0.0841888040304184, + -0.8576300740242004, + -3.0188567638397217, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.5958861112594604, + -0.7485299706459045, + 0.7197484970092773, + -0.7068415284156799, + -0.27573466300964355, + -0.704785943031311, + -0.9999998807907104, + 0.0, + 0.04168965667486191, + -0.8628726005554199, + -3.0188560485839844, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.5958861112594604, + -0.7485299706459045, + 0.7197484970092773, + -0.7068415284156799, + -0.27573466300964355, + -0.704785943031311, + -0.9999998807907104, + 0.0, + -0.09194505959749222, + -0.8793573379516602, + -3.0188562870025635, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.5958861112594604, + -0.7485299706459045, + 0.7197484970092773, + -0.7068415284156799, + -0.27573466300964355, + -0.704785943031311, + -0.9999998807907104, + 0.0, + -0.16532665491104126, + -0.888409435749054, + -3.0188562870025635, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.5958861112594604, + -0.7485299706459045, + 0.7197484970092773, + -0.7068415284156799, + -0.27573466300964355, + -0.704785943031311, + -0.9999998807907104, + 0.0, + -0.2693309783935547, + -0.9012390375137329, + 1.0290724039077759, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.5958861112594604, + -0.7485299706459045, + 0.7197484970092773, + -0.7068415284156799, + -0.27573466300964355, + -0.704785943031311, + -0.9999998807907104, + 0.0, + -0.36301955580711365, + -0.8984643220901489, + 1.0290744304656982, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.5958861112594604, + -0.7485299706459045, + 0.7197484970092773, + -0.7068415284156799, + -0.27573466300964355, + -0.704785943031311, + -0.9999998807907104, + 0.0, + -0.3763463795185089, + -0.8191363215446472, + 1.0290732383728027, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.5958861112594604, + -0.7485299706459045, + 0.7197484970092773, + -0.7068415284156799, + -0.27573466300964355, + -0.704785943031311, + -0.9999998807907104, + 0.0, + 2.194880723953247, + 2.1571242809295654, + 1.4963667392730713, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.5958861112594604, + -0.7485299706459045, + 0.7197484970092773, + -0.5740065574645996, + -5.91765910940012e-06, + -3.6295105019235052e-06, + -0.9999998807907104, + 0.0, + 2.199723958969116, + 2.2220754623413086, + 3.0849192142486572, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.5958861112594604, + -0.7485299706459045, + 0.7197484970092773, + -0.5740065574645996, + -5.91765910940012e-06, + -3.6295105019235052e-06, + -0.9999998807907104, + 0.0 + ], + "max": [ + 2.1985106468200684, + 2.217245101928711, + 0.42783594131469727, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.263080358505249, + 2.8495681285858154, + 0.8950563669204712, + 0.648716390132904, + 0.6389480233192444, + 0.6470430493354797, + 0.9999431371688843, + 1.0, + 2.1795594692230225, + 2.18367600440979, + 0.4272538721561432, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.2411134243011475, + 2.558046817779541, + 0.8798589706420898, + 0.648716390132904, + 0.6389480233192444, + 0.6470430493354797, + 0.9410330653190613, + 0.0, + 2.1113922595977783, + 2.0629289150238037, + 0.42738497257232666, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.2411134243011475, + 2.558046817779541, + 0.8798589706420898, + 0.648716390132904, + 0.6389480233192444, + 0.6470430493354797, + 0.9410330653190613, + 0.0, + 2.0884084701538086, + 2.022217035293579, + 0.42783647775650024, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.2411134243011475, + 2.558046817779541, + 0.8798589706420898, + 0.648716390132904, + 0.6389480233192444, + 0.6470430493354797, + 0.9410330653190613, + 0.0, + 2.0066728591918945, + 1.8774356842041016, + 0.42783480882644653, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.2411134243011475, + 2.558046817779541, + 0.8798589706420898, + 0.648716390132904, + 0.6389480233192444, + 0.6470430493354797, + 0.9410330653190613, + 0.0, + 1.9956302642822266, + 1.8578754663467407, + 0.42783525586128235, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.2411134243011475, + 2.558046817779541, + 0.8798589706420898, + 0.648716390132904, + 0.6389480233192444, + 0.6470430493354797, + 0.9410330653190613, + 0.0, + 1.9069726467132568, + 1.700832724571228, + 0.42783668637275696, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.2411134243011475, + 2.558046817779541, + 0.8798589706420898, + 0.648716390132904, + 0.6389480233192444, + 0.6470430493354797, + 0.9410330653190613, + 0.0, + 1.9023158550262451, + 1.6925839185714722, + 0.4278363585472107, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.2411134243011475, + 2.558046817779541, + 0.8798589706420898, + 0.648716390132904, + 0.6389480233192444, + 0.6470430493354797, + 0.9410330653190613, + 0.0, + 1.8119992017745972, + 1.5326024293899536, + 0.42783620953559875, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.2411134243011475, + 2.558046817779541, + 0.8798589706420898, + 0.648716390132904, + 0.6389480233192444, + 0.6470430493354797, + 0.9410330653190613, + 0.0, + 1.8082655668258667, + 1.5259888172149658, + 0.42783811688423157, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.2411134243011475, + 2.558046817779541, + 0.8798589706420898, + 0.648716390132904, + 0.6389480233192444, + 0.6470430493354797, + 0.9410330653190613, + 0.0, + 1.7194219827651978, + 1.3686167001724243, + 1.0290729999542236, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.2411134243011475, + 2.558046817779541, + 0.8798589706420898, + 0.648716390132904, + 0.6389480233192444, + 0.6470430493354797, + 0.9410330653190613, + 0.0, + 1.7154735326766968, + 1.36162269115448, + 1.029072880744934, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.2411134243011475, + 2.558046817779541, + 0.8798589706420898, + 0.648716390132904, + 0.6389480233192444, + 0.6470430493354797, + 0.9410330653190613, + 0.0, + 1.6275068521499634, + 1.2058038711547852, + 1.0290735960006714, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.2411134243011475, + 2.558046817779541, + 0.8798589706420898, + 0.648716390132904, + 0.6389480233192444, + 0.6470430493354797, + 0.9410330653190613, + 0.0, + 1.6220128536224365, + 1.1960721015930176, + 1.0290718078613281, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.2411134243011475, + 2.558046817779541, + 0.8798589706420898, + 0.648716390132904, + 0.6389480233192444, + 0.6470430493354797, + 0.9410330653190613, + 0.0, + 1.535591721534729, + 1.042991042137146, + 1.0290733575820923, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.2411134243011475, + 2.558046817779541, + 0.8798589706420898, + 0.648716390132904, + 0.6389480233192444, + 0.6470430493354797, + 0.9410330653190613, + 0.0, + 1.5295687913894653, + 1.0323224067687988, + 1.0290733575820923, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.2411134243011475, + 2.558046817779541, + 0.8798589706420898, + 0.648716390132904, + 0.6389480233192444, + 0.6470430493354797, + 0.9410330653190613, + 0.0, + 1.4436765909194946, + 0.8801781535148621, + 1.029073715209961, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.2411134243011475, + 2.558046817779541, + 0.8798589706420898, + 0.648716390132904, + 0.6389480233192444, + 0.6470430493354797, + 0.9410330653190613, + 0.0, + 1.436133861541748, + 0.8668173551559448, + 1.0290722846984863, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.2411134243011475, + 2.558046817779541, + 0.8798589706420898, + 0.648716390132904, + 0.6389480233192444, + 0.6470430493354797, + 0.9410330653190613, + 0.0, + 1.3517615795135498, + 0.7173654437065125, + 1.0290733575820923, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.2411134243011475, + 2.558046817779541, + 0.8798589706420898, + 0.648716390132904, + 0.6389480233192444, + 0.6470430493354797, + 0.9410330653190613, + 0.0, + 1.3436641693115234, + 0.7030221819877625, + 1.0290734767913818, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.2411134243011475, + 2.558046817779541, + 0.8798589706420898, + 0.648716390132904, + 0.6389480233192444, + 0.6470430493354797, + 0.9410330653190613, + 0.0, + 1.2597891092300415, + 0.5544509887695312, + 1.0290567874908447, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.2411134243011475, + 2.558046817779541, + 0.8798589706420898, + 0.648716390132904, + 0.6389480233192444, + 0.6470430493354797, + 0.9410330653190613, + 0.0, + 1.2501095533370972, + 0.5373052954673767, + 1.0290734767913818, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.2411134243011475, + 2.558046817779541, + 0.8798589706420898, + 0.648716390132904, + 0.6389480233192444, + 0.6470430493354797, + 0.9410330653190613, + 0.0, + 1.1677165031433105, + 0.39135921001434326, + 1.0290755033493042, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.2411134243011475, + 2.558046817779541, + 0.8798589706420898, + 0.648716390132904, + 0.6389480233192444, + 0.6470430493354797, + 0.9410330653190613, + 0.0, + 1.1568505764007568, + 0.37211206555366516, + 1.0290734767913818, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.2411134243011475, + 2.558046817779541, + 0.8798589706420898, + 0.648716390132904, + 0.6389480233192444, + 0.6470430493354797, + 0.9410330653190613, + 0.0, + 1.0757172107696533, + 0.22839738428592682, + 1.029077410697937, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.2411134243011475, + 2.558046817779541, + 0.8798589706420898, + 0.648716390132904, + 0.6389480233192444, + 0.6470430493354797, + 0.9410330653190613, + 0.0, + 1.0618292093276978, + 0.23915112018585205, + 1.0290732383728027, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.2411134243011475, + 2.558046817779541, + 0.8798589706420898, + 0.648716390132904, + 0.6389480233192444, + 0.6470430493354797, + 0.9410330653190613, + 0.0, + 1.1321864128112793, + 0.39118829369544983, + 1.0290772914886475, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.2411134243011475, + 2.558046817779541, + 0.8798589706420898, + 0.648716390132904, + 0.6389480233192444, + 0.6470430493354797, + 0.9410330653190613, + 0.0, + 1.139085054397583, + 0.40265223383903503, + 1.0290735960006714, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.2411134243011475, + 2.558046817779541, + 0.8798589706420898, + 0.648716390132904, + 0.6389480233192444, + 0.6470430493354797, + 0.9410330653190613, + 0.0, + 1.2304010391235352, + 0.55439692735672, + 1.0290788412094116, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.2411134243011475, + 2.558046817779541, + 0.8798589706420898, + 0.648716390132904, + 0.6389480233192444, + 0.6470430493354797, + 0.9410330653190613, + 0.0, + 1.2353754043579102, + 0.562663197517395, + 1.0290731191635132, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.2411134243011475, + 2.558046817779541, + 0.8798589706420898, + 0.648716390132904, + 0.6389480233192444, + 0.6470430493354797, + 0.9410330653190613, + 0.0, + 1.328466773033142, + 0.7173579931259155, + 1.0290675163269043, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.2411134243011475, + 2.558046817779541, + 0.8798589706420898, + 0.648716390132904, + 0.6389480233192444, + 0.6470430493354797, + 0.9410330653190613, + 0.0, + 1.3320294618606567, + 0.7232782244682312, + 1.0290734767913818, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.2411134243011475, + 2.558046817779541, + 0.8798589706420898, + 0.648716390132904, + 0.6389480233192444, + 0.6470430493354797, + 0.9410330653190613, + 0.0, + 1.4264477491378784, + 0.8801781535148621, + 1.0291025638580322, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.2411134243011475, + 2.558046817779541, + 0.8798589706420898, + 0.648716390132904, + 0.6389480233192444, + 0.6470430493354797, + 0.9410330653190613, + 0.0, + 1.427411437034607, + 0.881779670715332, + 1.0290734767913818, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.2411134243011475, + 2.558046817779541, + 0.8798589706420898, + 0.648716390132904, + 0.6389480233192444, + 0.6470430493354797, + 0.9410330653190613, + 0.0, + 1.4917550086975098, + 0.9887028336524963, + 1.0290732383728027, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.2411134243011475, + 2.558046817779541, + 0.8798589706420898, + 0.648716390132904, + 0.6389480233192444, + 0.6470430493354797, + 0.9410330653190613, + 0.0, + 1.5239421129226685, + 1.0421898365020752, + 1.0290213823318481, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.2411134243011475, + 2.558046817779541, + 0.8798589706420898, + 0.648716390132904, + 0.6389480233192444, + 0.6470430493354797, + 0.9410330653190613, + 0.0, + 1.5244243144989014, + 1.042991042137146, + 1.0290735960006714, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.2411134243011475, + 2.558046817779541, + 0.8798589706420898, + 0.648716390132904, + 0.6389480233192444, + 0.6470430493354797, + 0.9410330653190613, + 0.0, + 1.6193184852600098, + 1.2006818056106567, + 1.0290806293487549, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.2411134243011475, + 2.558046817779541, + 0.8798589706420898, + 0.648716390132904, + 0.6389480233192444, + 0.6470430493354797, + 0.9410330653190613, + 0.0, + 1.6224007606506348, + 1.2058038711547852, + 1.029073715209961, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.2411134243011475, + 2.558046817779541, + 0.8798589706420898, + 0.648716390132904, + 0.6389480233192444, + 0.6470430493354797, + 0.9410330653190613, + 0.0, + 1.7158116102218628, + 1.3610297441482544, + 1.0290769338607788, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.2411134243011475, + 2.558046817779541, + 0.8798589706420898, + 0.648716390132904, + 0.6389480233192444, + 0.6470430493354797, + 0.9410330653190613, + 0.0, + 1.7203772068023682, + 1.3686167001724243, + 1.0290734767913818, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.2411134243011475, + 2.558046817779541, + 0.8798589706420898, + 0.648716390132904, + 0.6389480233192444, + 0.6470430493354797, + 0.9410330653190613, + 0.0, + 1.8116087913513184, + 1.5202211141586304, + 3.087770462036133, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.2411134243011475, + 2.558046817779541, + 0.8798589706420898, + 0.648716390132904, + 0.6389480233192444, + 0.6470430493354797, + 0.9410330653190613, + 0.0, + 1.8190562725067139, + 1.5325969457626343, + 1.0290733575820923, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.2411134243011475, + 2.558046817779541, + 0.8798589706420898, + 0.648716390132904, + 0.6389480233192444, + 0.6470430493354797, + 0.9410330653190613, + 0.0, + 1.9086045026779175, + 1.6814039945602417, + 1.0290727615356445, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.2411134243011475, + 2.558046817779541, + 0.8798589706420898, + 0.648716390132904, + 0.6389480233192444, + 0.6470430493354797, + 0.9410330653190613, + 0.0, + 1.9202607870101929, + 1.70077383518219, + 1.0290735960006714, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.2411134243011475, + 2.558046817779541, + 0.8798589706420898, + 0.648716390132904, + 0.6389480233192444, + 0.6470430493354797, + 0.9410330653190613, + 0.0, + 2.0049495697021484, + 1.841505765914917, + 1.0290731191635132, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.2411134243011475, + 2.558046817779541, + 0.8798589706420898, + 0.648716390132904, + 0.6389480233192444, + 0.6470430493354797, + 0.9410330653190613, + 0.0, + 2.026409149169922, + 1.8771662712097168, + 3.111984968185425, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.2411134243011475, + 2.558046817779541, + 0.8798589706420898, + 0.648716390132904, + 0.6389480233192444, + 0.6470430493354797, + 0.9410330653190613, + 0.0, + 2.1006884574890137, + 2.0005998611450195, + 1.7372385263442993, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.2411134243011475, + 2.558046817779541, + 0.8798589706420898, + 0.648716390132904, + 0.6389480233192444, + 0.6470430493354797, + 0.9410330653190613, + 0.0, + 2.1377105712890625, + 2.062121629714966, + 3.087770462036133, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.2411134243011475, + 2.558046817779541, + 0.8798589706420898, + 0.648716390132904, + 0.6389480233192444, + 0.6470430493354797, + 0.9410330653190613, + 0.0, + 2.194880723953247, + 2.1571242809295654, + 1.4963667392730713, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9768762588500977, + 2.3739476203918457, + 0.7197485566139221, + 0.3294832110404968, + 4.953788447892293e-06, + 4.811307462659897e-06, + 0.9410330653190613, + 0.0, + 2.199723958969116, + 2.2220754623413086, + 3.0849192142486572, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9768762588500977, + 2.3739476203918457, + 0.7197485566139221, + 0.3294832110404968, + 4.953788447892293e-06, + 4.811307462659897e-06, + 0.9410330653190613, + 0.0 + ], + "count": [ + 2537 + ] + }, + "action.applied": { + "mean": [ + 0.03281257924781283, + -0.008108716764406252, + 0.02377261611026193, + 0.6784156908963579, + 0.035201169749650145, + 0.035201169749650145, + 0.035201169749650145, + 0.035201169749650145, + 2.2737145024958587, + -0.7967273157179622, + -0.13392463937454907, + 0.039416633819471816, + 0.039416633819471816 + ], + "std": [ + 0.16763867204624144, + 0.06661375000666356, + 0.22780884787256037, + 0.18846947480744317, + 0.04089084843829412, + 0.04089084843829412, + 0.04089084843829412, + 0.04089084843829412, + 0.6829526169562325, + 0.7684836010002448, + 0.21836839432272084, + 0.09110701088944737, + 0.09110701088944737 + ], + "min": [ + -0.2999993562698364, + -0.19805194437503815, + -0.800000011920929, + 0.459125280380249, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5707902908325195, + -1.5699999332427979, + -0.8437263369560242, + 0.0, + 0.0 + ], + "max": [ + 0.2999999523162842, + 0.1506175696849823, + 0.800000011920929, + 0.971621572971344, + 0.11817263811826706, + 0.11817263811826706, + 0.11817263811826706, + 0.11817263811826706, + 3.263695478439331, + 0.07382253557443619, + 0.287108838558197, + 0.25, + 0.25 + ], + "count": [ + 2537 + ] + }, + "extra.reward": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 2537 + ] + }, + "next.truncated": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 2537 + ] + }, + "sim_step_idx": { + "mean": [ + 2637.0 + ], + "std": [ + 1464.7375191480555 + ], + "min": [ + 101.0 + ], + "max": [ + 5173.0 + ], + "count": [ + 2537 + ] + }, + "timestamp": { + "mean": [ + 50.7200000027608 + ], + "std": [ + 29.29475038426029 + ], + "min": [ + 0.0 + ], + "max": [ + 101.44000244140625 + ], + "count": [ + 2537 + ] + }, + "frame_index": { + "mean": [ + 1268.0 + ], + "std": [ + 732.3687595740278 + ], + "min": [ + 0.0 + ], + "max": [ + 2536.0 + ], + "count": [ + 2537 + ] + }, + "episode_index": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 2537 + ] + }, + "index": { + "mean": [ + 1268.0 + ], + "std": [ + 732.3687595740278 + ], + "min": [ + 0.0 + ], + "max": [ + 2536.0 + ], + "count": [ + 2537 + ] + }, + "task_index": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 2537 + ] + }, + "next.done": { + "mean": [ + 0.00039416633819471815 + ], + "std": [ + 0.019849709597184347 + ], + "min": [ + 0.0 + ], + "max": [ + 1.0 + ], + "count": [ + 2537 + ] + }, + "observation.images.head": { + "mean": [ + [ + [ + 0.5809648428442685 + ] + ], + [ + [ + 0.5397553550041492 + ] + ], + [ + [ + 0.45475679701074173 + ] + ] + ], + "std": [ + [ + [ + 0.06802515177726383 + ] + ], + [ + [ + 0.06938234954227838 + ] + ], + [ + [ + 0.0746184355575959 + ] + ] + ], + "min": [ + [ + [ + 0.1568627450980392 + ] + ], + [ + [ + 0.23137254901960785 + ] + ], + [ + [ + 0.15294117647058825 + ] + ] + ], + "max": [ + [ + [ + 0.8941176470588236 + ] + ], + [ + [ + 0.8941176470588236 + ] + ], + [ + [ + 0.8941176470588236 + ] + ] + ], + "count": [ + 100 + ] + }, + "observation.images.wrist": { + "mean": [ + [ + [ + 0.5720361417348995 + ] + ], + [ + [ + 0.5577533185136622 + ] + ], + [ + [ + 0.5097938891408372 + ] + ] + ], + "std": [ + [ + [ + 0.13900922438627197 + ] + ], + [ + [ + 0.13056654925361882 + ] + ], + [ + [ + 0.13819933033940923 + ] + ] + ], + "min": [ + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ] + ], + "max": [ + [ + [ + 0.9411764705882353 + ] + ], + [ + [ + 0.9372549019607843 + ] + ], + [ + [ + 0.9372549019607843 + ] + ] + ], + "count": [ + 100 + ] + } +} \ No newline at end of file diff --git a/N032/stretch3/dr_off/seed_1027/rec/stationpuzzlestretch/000/lerobot_v21/meta/tasks.jsonl b/N032/stretch3/dr_off/seed_1027/rec/stationpuzzlestretch/000/lerobot_v21/meta/tasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fb913afcd6e7b4df3ccfb60e7f408d983dbc3a03 --- /dev/null +++ b/N032/stretch3/dr_off/seed_1027/rec/stationpuzzlestretch/000/lerobot_v21/meta/tasks.jsonl @@ -0,0 +1 @@ +{"task_index": 0, "task": "Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap."} diff --git a/N032/stretch3/dr_off/seed_1027/rec/stationpuzzlestretch/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 b/N032/stretch3/dr_off/seed_1027/rec/stationpuzzlestretch/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c4f7a230c650a08dfc7723b22f1b53c14982a700 --- /dev/null +++ b/N032/stretch3/dr_off/seed_1027/rec/stationpuzzlestretch/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:eca82b2b90fb813fce9220431fe4605092b064fab4a6248c65c7da602520ce3d +size 25973225 diff --git a/N032/stretch3/dr_off/seed_1027/rec/stationpuzzlestretch/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 b/N032/stretch3/dr_off/seed_1027/rec/stationpuzzlestretch/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..fba1ec5e46001aad27ca2dcd1f7351c47fde599c --- /dev/null +++ b/N032/stretch3/dr_off/seed_1027/rec/stationpuzzlestretch/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:f8aad93a036d1060e7f67276f3833531599ad55363eb0027cbf95076e2c122a5 +size 55807870 diff --git a/N032/stretch3/dr_off/seed_1027/rec/stationpuzzlestretch/000/run_meta.json b/N032/stretch3/dr_off/seed_1027/rec/stationpuzzlestretch/000/run_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..22a7561ed3a87cd5b455eadf92478d6d4af8c66e --- /dev/null +++ b/N032/stretch3/dr_off/seed_1027/rec/stationpuzzlestretch/000/run_meta.json @@ -0,0 +1,1608 @@ +{ + "run_id": "stationpuzzlestretch/000", + "created": "2026-11-08 02:45:30", + "num_envs": 1, + "session_id": null, + "record_config": { + "output_dir": "/mnt/scratch/xc536_atomic/n032_str_off_1027/out/rec", + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "json_round": null, + "schema": { + "source": "robot_manager", + "nan_policy": "from_raw" + }, + "lerobot": { + "subsample_every": 2 + } + }, + "config": { + "env_string": "StationPuzzleXREnv-V0", + "env": { + "sim": { + "device": "cpu", + "use_fabric": false, + "decimation": 4, + "dt": 0.005, + "seed": 1027, + "soft_resets": 2, + "enable_scene_query_support": true, + "scene": { + "num_envs": 1, + "env_spacing": 16 + }, + "render": { + "rendering_mode": "performance", + "enable_reflections": false, + "enable_global_illumination": false, + "enable_translucency": false, + "enable_dl_denoiser": false + } + }, + "nav": { + "navmesh": { + "enabled": true, + "visualize": false, + "bake_timeout_s": 180, + "agent_height_cm": 170, + "min_agent_radius_cm": 47.0, + "max_agent_radius_cm": 47.0, + "max_step_height_cm": 20, + "max_floor_slope_deg": 30, + "agent_island_radius_cm": 5, + "auto_exclude_rigid_bodies": true, + "validate_path_clearance": true, + "validate_path_window": true, + "navmesh_offset_z_m": 0, + "verbose": true, + "validate_path_reroute": true, + "validate_path_reroute_spacing": 0.25 + }, + "occupancymap": { + "cell_size": 0.05 + } + }, + "scene": { + "background": { + "intensity": [ + 1000, + 1000 + ] + }, + "terrain": { + "type": "nav_room", + "collision": true, + "hide_top_walls": true, + "usd": [ + "$MAGICSIM_ASSETS/Room/Collected_SimpleRoom" + ], + "annotation": "Annotation", + "random": false, + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0, + "friction_combine_mode": "multiply", + "restitution_combine_mode": "multiply" + } + }, + "objects": { + "table_A": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "table_A_1": { + "pos": [ + -0.31103546763471673, + -0.0715672979422098, + 0.18 + ], + "ori": [ + 0.0, + 0.0, + -3.0837805362636033 + ], + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.45, + 0.35 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "table_B": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "table_B_1": { + "pos": [ + 2.0692463527232743, + 2.9806841803564192, + 0.18 + ], + "ori": [ + 0.0, + 0.0, + -3.24715444788896 + ], + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.45, + 0.35 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "board_0": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "board_0_1": { + "pos": [ + -0.3217946960388033, + -0.2712776857645479, + 0.33999999999999997 + ], + "ori": [ + 0.0, + 0.0, + -3.0837805362636033 + ], + "primitive_params": { + "size": [ + 0.25, + 0.04, + 0.02 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.55, + 0.58 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "board_1": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "board_1_1": { + "pos": [ + -0.313187313315534, + -0.11150937550667742, + 0.33999999999999997 + ], + "ori": [ + 0.0, + 0.0, + -3.0837805362636033 + ], + "primitive_params": { + "size": [ + 0.25, + 0.04, + 0.02 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.55, + 0.58 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "board_2": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "board_2_1": { + "pos": [ + -0.4223389582838961, + -0.18574493572346723, + 0.33999999999999997 + ], + "ori": [ + 0.0, + 0.0, + -3.0837805362636033 + ], + "primitive_params": { + "size": [ + 0.04, + 0.1, + 0.02 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.55, + 0.58 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "board_3": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "board_3_1": { + "pos": [ + -0.21264305107044115, + -0.19704212554775807, + 0.33999999999999997 + ], + "ori": [ + 0.0, + 0.0, + -3.0837805362636033 + ], + "primitive_params": { + "size": [ + 0.04, + 0.1, + 0.02 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.55, + 0.58 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "board_4": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "board_4_1": { + "pos": [ + -0.3458336785899064, + -0.15982308820164898, + 0.33999999999999997 + ], + "ori": [ + 0.0, + 0.0, + -3.0837805362636033 + ], + "primitive_params": { + "size": [ + 0.09, + 0.04, + 0.02 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.55, + 0.58 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "picture": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "picture_1": { + "pos": [ + -0.3002762392306302, + 0.12814308988012835, + 0.42999999999999994 + ], + "ori": [ + 0.0, + 0.0, + -3.0837805362636033 + ], + "primitive_params": { + "size": [ + 0.25, + 0.008, + 0.2 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.55, + 0.58 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "picture_bar": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "picture_bar_1": { + "pos": [ + -0.30054521994073236, + 0.12315033018456988, + 0.40499999999999997 + ], + "ori": [ + 0.0, + 0.0, + -3.0837805362636033 + ], + "primitive_params": { + "size": [ + 0.15, + 0.002, + 0.05 + ] + }, + "visual": { + "color": [ + [ + 0.1, + 0.6, + 0.6 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "picture_cap": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "picture_cap_1": { + "pos": [ + -0.25061762298514784, + 0.12046052308354824, + 0.45499999999999996 + ], + "ori": [ + 0.0, + 0.0, + -3.0837805362636033 + ], + "primitive_params": { + "size": [ + 0.05, + 0.002, + 0.05 + ] + }, + "visual": { + "color": [ + [ + 0.1, + 0.6, + 0.6 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "tile": { + "usd": [ + "$MAGICSIM_ASSETS/Object/MMB_A07/tile_L/Object.usda" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "tile_1": { + "pos": [ + 2.260364194609961, + 2.849568139386676, + 0.33099999999999996 + ], + "ori": [ + 0.0, + 0.0, + 1.8978354454175932 + ], + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.06, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + } + } + } + }, + "cand_O": { + "usd": [ + "$MAGICSIM_ASSETS/Object/MMB_A07/tile_O/Object.usda" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "cand_O_1": { + "pos": [ + 1.84260015565654, + 2.8648835113071005, + 0.33099999999999996 + ], + "ori": [ + 0.0, + 0.0, + -7.169144293728774 + ], + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.06, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + } + } + } + } + } + }, + "robot": { + "HelloRobot": { + "name": "hellorobot", + "type": "mobilemanip", + "common": { + "pos": [ + [ + -3.4, + -2.2, + 0.06 + ], + [ + -3.4, + -2.2, + 0.06 + ] + ], + "ori": [ + [ + 0, + 0, + 40.0 + ], + [ + 0, + 0, + 40.0 + ] + ], + "initial_joint_pos": { + "joint_lift": 0.55, + "joint_arm_l[0-3]": 0.0, + "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": 32, + "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", + "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": 0.001, + "angular_dead_zone": 0.005, + "nav_heading_target": 1, + "velocity_frame": "world" + }, + "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": 8.0, + "w_vel": 0.2, + "w_vy": 0.0, + "dilate_radius": 0.4, + "room_size": 12.0, + "occupancy_update_interval": 25, + "scan_height": 0.45, + "scan_min_z": 0.22, + "scan_max_z": 1.75, + "goal_pos_threshold": 0.005, + "goal_yaw_threshold": 0.006, + "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": true, + "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": 0.15 + } + }, + "arm": { + "type": "default" + }, + "eef": { + "type": "default" + } + }, + "physics": { + "wheel_base": 0.33, + "robot_radius": 0.4 + }, + "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" + } + } + } + } + }, + "task": { + "new_seed_per_episode": true, + "observation": {}, + "reward": {}, + "termination": { + "timeout_steps": 30000, + "success_hold_frames": 10, + "fall_height": -0.03, + "fall_tilt": 1.0, + "lift_height": 0.12, + "grasp_distance": 0.25 + }, + "station": { + "robot": { + "key": "HelloRobot", + "embodiment": "stretch3", + "base_link": "base_link", + "base_yaw_deg": 90.0, + "wrist_ref_back": 0.0, + "spawn_dz": 0.03, + "finger_joints": [ + "joint_gripper_finger_left", + "joint_gripper_finger_right" + ], + "dwb": { + "key": "dwb_differential", + "add_floor": false + } + }, + "task_id": "N032", + "task_version": "EXT60-MobileAvatar-v3", + "family_id": "puzzle_completion", + "primary_category": "C2", + "stage": "full", + "layout": { + "floor_z": 0.03, + "start": { + "x": -3.4, + "y": -2.2, + "yaw_deg": 40.0, + "radius": 0.3, + "yaw_spread_deg": 20.0 + }, + "stations": { + "A": { + "center": [ + -0.31103546763471673, + -0.0715672979422098 + ], + "facing_deg": 86.9162194637364, + "standoff": 0.5, + "table": { + "width": 0.9, + "depth": 0.5, + "height": 0.3 + } + }, + "B": { + "center": [ + 2.0692463527232743, + 2.9806841803564192 + ], + "facing_deg": 86.75284555211104, + "standoff": 0.5, + "table": { + "width": 0.9, + "depth": 0.5, + "height": 0.3 + } + } + } + }, + "route": [ + "A", + "B", + "A" + ], + "puzzle": { + "target": "tile", + "candidates": [ + "cand_O" + ], + "board": { + "across": 0.0, + "along": -0.12 + } + }, + "dr": { + "enabled": true, + "stations": { + "center_m": 0.25, + "facing_deg": 8.0 + }, + "objects": { + "across_m": 0.025, + "along_m": 0.02, + "yaw_deg": 8.0 + } + }, + "place_check": { + "tile": { + "at": { + "station": "A", + "across": 0.0, + "along": -0.145, + "z": 0.004 + }, + "yaw_deg": 0.0, + "clearance": 0.004 + } + }, + "success": { + "pos_tol": 0.012, + "yaw_deg": 6.0, + "upright_deg": 8.0, + "rest_z_tol": 0.006, + "max_penetration": 0.003, + "release_dist": 0.15, + "rest_speed": 0.03, + "lift": 0.08 + }, + "objects": { + "board_0": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.25, + 0.04, + 0.02 + ], + "at": { + "station": "A", + "across": 0.0, + "along": -0.2, + "z": 0.01 + }, + "color": [ + 0.55, + 0.55, + 0.58 + ], + "pos": [ + -0.3217946960388033, + -0.2712776857645479, + 0.33999999999999997 + ], + "yaw_deg": -3.0837805362636033 + }, + "board_1": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.25, + 0.04, + 0.02 + ], + "at": { + "station": "A", + "across": 0.0, + "along": -0.04, + "z": 0.01 + }, + "color": [ + 0.55, + 0.55, + 0.58 + ], + "pos": [ + -0.313187313315534, + -0.11150937550667742, + 0.33999999999999997 + ], + "yaw_deg": -3.0837805362636033 + }, + "board_2": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.04, + 0.1, + 0.02 + ], + "at": { + "station": "A", + "across": -0.105, + "along": -0.12, + "z": 0.01 + }, + "color": [ + 0.55, + 0.55, + 0.58 + ], + "pos": [ + -0.4223389582838961, + -0.18574493572346723, + 0.33999999999999997 + ], + "yaw_deg": -3.0837805362636033 + }, + "board_3": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.04, + 0.1, + 0.02 + ], + "at": { + "station": "A", + "across": 0.105, + "along": -0.12, + "z": 0.01 + }, + "color": [ + 0.55, + 0.55, + 0.58 + ], + "pos": [ + -0.21264305107044115, + -0.19704212554775807, + 0.33999999999999997 + ], + "yaw_deg": -3.0837805362636033 + }, + "board_4": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.09, + 0.04, + 0.02 + ], + "at": { + "station": "A", + "across": -0.03, + "along": -0.09, + "z": 0.01 + }, + "color": [ + 0.55, + 0.55, + 0.58 + ], + "pos": [ + -0.3458336785899064, + -0.15982308820164898, + 0.33999999999999997 + ], + "yaw_deg": -3.0837805362636033 + }, + "picture": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.25, + 0.008, + 0.2 + ], + "at": { + "station": "A", + "across": 0.0, + "along": 0.2, + "z": 0.1 + }, + "color": [ + 0.55, + 0.55, + 0.58 + ], + "pos": [ + -0.3002762392306302, + 0.12814308988012835, + 0.42999999999999994 + ], + "yaw_deg": -3.0837805362636033 + }, + "picture_bar": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.15, + 0.002, + 0.05 + ], + "at": { + "station": "A", + "across": 0.0, + "along": 0.195, + "z": 0.075 + }, + "color": [ + 0.1, + 0.6, + 0.6 + ], + "collision": false, + "pos": [ + -0.30054521994073236, + 0.12315033018456988, + 0.40499999999999997 + ], + "yaw_deg": -3.0837805362636033 + }, + "picture_cap": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.05, + 0.002, + 0.05 + ], + "at": { + "station": "A", + "across": 0.05, + "along": 0.195, + "z": 0.125 + }, + "color": [ + 0.1, + 0.6, + 0.6 + ], + "collision": false, + "pos": [ + -0.25061762298514784, + 0.12046052308354824, + 0.45499999999999996 + ], + "yaw_deg": -3.0837805362636033 + }, + "tile": { + "jitter": true, + "catalog": "tile_L", + "type": "rigid", + "at": { + "station": "B", + "across": 0.1982378318520801, + "along": -0.12008000545299087, + "z": 0.001 + }, + "yaw_deg": 1.8978354454175932, + "friction": { + "static": 1.5, + "dynamic": 1.5 + }, + "asset": "$MAGICSIM_ASSETS/Object/MMB_A07/tile_L/Object.usda", + "parts": [ + { + "name": "body0", + "center": [ + 0.0, + 0.0, + 0.01 + ], + "half": [ + 0.07500000000000001, + 0.025, + 0.01 + ], + "rpy_deg": [ + 0.0, + 0.0, + 0.0 + ] + }, + { + "name": "body1", + "center": [ + 0.05, + 0.05, + 0.01 + ], + "half": [ + 0.025, + 0.025, + 0.01 + ], + "rpy_deg": [ + 0.0, + 0.0, + 0.0 + ] + }, + { + "name": "knob", + "center": [ + 0.0, + 0.0, + 0.042499999999999996 + ], + "half": [ + 0.018, + 0.018, + 0.0225 + ], + "rpy_deg": [ + 0.0, + 0.0, + 0.0 + ] + } + ], + "mass": 0.06, + "com": [ + 0.0125, + 0.0125, + 0.01 + ], + "grasp": { + "part": "knob", + "thin_axis": 0, + "min_elevation_deg": 40.0, + "inset": 0.006, + "min_overlap_x": 0.016 + }, + "pos": [ + 2.260364194609961, + 2.849568139386676, + 0.33099999999999996 + ] + }, + "cand_O": { + "jitter": true, + "catalog": "tile_O", + "type": "rigid", + "at": { + "station": "B", + "across": -0.21972299236402135, + "along": -0.128452715906216, + "z": 0.001 + }, + "yaw_deg": -7.169144293728774, + "friction": { + "static": 1.5, + "dynamic": 1.5 + }, + "asset": "$MAGICSIM_ASSETS/Object/MMB_A07/tile_O/Object.usda", + "parts": [ + { + "name": "body0", + "center": [ + 0.025, + 0.0, + 0.01 + ], + "half": [ + 0.05, + 0.025, + 0.01 + ], + "rpy_deg": [ + 0.0, + 0.0, + 0.0 + ] + }, + { + "name": "body1", + "center": [ + 0.025, + 0.05, + 0.01 + ], + "half": [ + 0.05, + 0.025, + 0.01 + ], + "rpy_deg": [ + 0.0, + 0.0, + 0.0 + ] + }, + { + "name": "knob", + "center": [ + 0.025, + 0.025, + 0.042499999999999996 + ], + "half": [ + 0.018, + 0.018, + 0.0225 + ], + "rpy_deg": [ + 0.0, + 0.0, + 0.0 + ] + } + ], + "mass": 0.06, + "com": [ + 0.025, + 0.025, + 0.01 + ], + "grasp": { + "part": "knob", + "thin_axis": 0, + "min_elevation_deg": 40.0, + "inset": 0.006, + "min_overlap_x": 0.016 + }, + "pos": [ + 1.84260015565654, + 2.8648835113071005, + 0.33099999999999996 + ] + } + }, + "report_jsonl": "/mnt/scratch/xc536_atomic/n032_str_off_1027/out/report.episodes.jsonl", + "dr_applied": true, + "level": "easy" + }, + "command": { + "StationPuzzle": { + "obj_type": "rigid", + "obj_name": "tile", + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.05, + "settle_ticks": 120 + }, + "StationPuzzleStretch": { + "obj_type": "rigid", + "obj_name": "tile", + "grasp_part": "knob", + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.015, + "lift": 0.03, + "over_top": -0.012, + "pre_clear": 0.25, + "carry_ahead": 0.34, + "carry_z": 0.85, + "settle_ticks": 120, + "look_ticks": 30, + "hover": 0.035, + "remeasure_lower": true, + "recenter_clear": 0.02, + "nav_stall_ticks": 500 + } + } + }, + "collect": { + "global_planner": { + "NavTo": { + "use_navmesh": true, + "use_absolute": true, + "translation_threshold": 0.006, + "rotation_threshold": 0.008, + "num_path_segments": 30, + "start_forward_offset": 0.0, + "visualize_path": false, + "carry_arm": true + }, + "RetractMoveL": { + "translation_threshold": 0.06, + "rotation_threshold": 0.3, + "motiongen_distance_threshold": 0.05, + "timeout_steps": 2000, + "base_pos_threshold": 0.12, + "base_rot_threshold": 0.5, + "eef_pos_threshold": 0.03, + "eef_rot_threshold": 0.3, + "base_waypoint_max_steps": 20, + "arm_waypoint_max_steps": 8 + }, + "MobileMoveL": { + "translation_threshold": 0.003, + "rotation_threshold": 0.05, + "motiongen_distance_threshold": 0.0, + "timeout_steps": 1500, + "stall_release_ticks": 100, + "stall_release_factor": 5.0, + "reactive": false, + "base_pos_threshold": 0.025, + "base_rot_threshold": 0.05, + "eef_pos_threshold": 0.02, + "eef_rot_threshold": 0.25, + "waypoint_max_steps": 60, + "interp_steps": 60, + "interp_validate_target": true, + "retry_mobile_on_locked_plan_failure": true, + "debug": false, + "debug_viz": false, + "debug_sphere": false + }, + "MobileServoL": { + "base_pos_threshold": 0.12, + "waypoint_max_steps": 20, + "translation_threshold": 0.05, + "timeout_steps": 300 + }, + "ParallelGripper": { + "gripper_threshold": 0.0005, + "timeout_steps": 100 + } + }, + "atomic_skill": { + "NavToPose": { + "robot_id": 0, + "show_marker": false + }, + "Move": { + "arm_planner": "MobileMoveL", + "hand_planner": "ParallelGripper", + "obstacle_avoid_paths": [ + "dynamic/table_A", + "dynamic/table_B" + ], + "obstacle_ignore_paths": [], + "close_value": 1.0, + "open_value": 0.0, + "hold_steps": 25, + "robot_id": 0, + "hand_id": 0, + "ramp_steps": 0 + }, + "StationNavXR": { + "robot_id": 0, + "show_marker": false + }, + "ReachStance": { + "max_walks": 4 + } + }, + "command": { + "StationPuzzle": { + "obj_type": "rigid", + "obj_name": "tile", + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.05, + "settle_ticks": 120 + }, + "StationPuzzleStretch": { + "obj_type": "rigid", + "obj_name": "tile", + "grasp_part": "knob", + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.015, + "lift": 0.03, + "over_top": -0.012, + "pre_clear": 0.25, + "carry_ahead": 0.34, + "carry_z": 0.85, + "settle_ticks": 120, + "look_ticks": 30, + "hover": 0.035, + "remeasure_lower": true, + "recenter_clear": 0.02, + "nav_stall_ticks": 500 + } + }, + "auto_collect": {}, + "record": { + "output_dir": "/mnt/scratch/xc536_atomic/n032_str_off_1027/out/rec", + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "json_round": null, + "schema": { + "source": "robot_manager", + "nan_policy": "from_raw" + }, + "lerobot": { + "subsample_every": 2 + } + } + }, + "visual_dr": { + "keep": [ + "tile", + "cand_O", + "cand_J", + "picture_bar", + "picture_cap" + ] + } + }, + "git_sha": null, + "collect_runtime": { + "max_trajectories": 1 + } +} \ No newline at end of file diff --git a/N032/stretch3/dr_off/seed_1027/rec/stationpuzzlestretch/000/sim_info/0/actions.npz b/N032/stretch3/dr_off/seed_1027/rec/stationpuzzlestretch/000/sim_info/0/actions.npz new file mode 100644 index 0000000000000000000000000000000000000000..d55e137508c1cf839d5a1fd6f35e72730f21115d --- /dev/null +++ b/N032/stretch3/dr_off/seed_1027/rec/stationpuzzlestretch/000/sim_info/0/actions.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bde6e35c1e2b3f02d2329d37571781d9299b0d6daabd3eb5e875a9e66bbda4a2 +size 900600 diff --git a/N032/stretch3/dr_off/seed_1027/rec/stationpuzzlestretch/000/sim_info/0/device_commands.jsonl b/N032/stretch3/dr_off/seed_1027/rec/stationpuzzlestretch/000/sim_info/0/device_commands.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N032/stretch3/dr_off/seed_1027/rec/stationpuzzlestretch/000/sim_info/0/device_events.jsonl b/N032/stretch3/dr_off/seed_1027/rec/stationpuzzlestretch/000/sim_info/0/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N032/stretch3/dr_off/seed_1027/rec/stationpuzzlestretch/000/sim_info/0/scene_snapshot.json b/N032/stretch3/dr_off/seed_1027/rec/stationpuzzlestretch/000/sim_info/0/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..08de18a1978223cddcfe44d34e0b4edcc327bb81 --- /dev/null +++ b/N032/stretch3/dr_off/seed_1027/rec/stationpuzzlestretch/000/sim_info/0/scene_snapshot.json @@ -0,0 +1,763 @@ +{ + "trajectory_id": 0, + "env_id": 0, + "run_id": "stationpuzzlestretch/000", + "task_type": "PuzzleStretchCommand", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])", + "avatars": "avatar_manager.set_avatars_state(snapshot['avatars'], env_ids=[env_id]) (present when the scene has animated avatars)" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "table_A": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.31103546763471673, + -0.0715672979422098, + 0.18 + ], + "ori": [ + 0.9996379017829895, + 0.0, + 0.0, + -0.026907814666628838 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.45, + 0.35 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + } + }, + "type_specific": {} + } + ], + "table_B": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 2.0692463527232743, + 2.9806841803564192, + 0.18 + ], + "ori": [ + 0.9995985627174377, + 0.0, + 0.0, + -0.02833297662436962 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.45, + 0.35 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + } + }, + "type_specific": {} + } + ], + "board_0": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.3217946960388033, + -0.2712776857645479, + 0.33999999999999997 + ], + "ori": [ + 0.9996379017829895, + 0.0, + 0.0, + -0.026907814666628838 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.55, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.25, + 0.04, + 0.02 + ] + } + }, + "type_specific": {} + } + ], + "board_1": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.313187313315534, + -0.11150937550667742, + 0.33999999999999997 + ], + "ori": [ + 0.9996379017829895, + 0.0, + 0.0, + -0.026907814666628838 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.55, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.25, + 0.04, + 0.02 + ] + } + }, + "type_specific": {} + } + ], + "board_2": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.4223389582838961, + -0.18574493572346723, + 0.33999999999999997 + ], + "ori": [ + 0.9996379017829895, + 0.0, + 0.0, + -0.026907814666628838 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.55, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.04, + 0.1, + 0.02 + ] + } + }, + "type_specific": {} + } + ], + "board_3": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.21264305107044115, + -0.19704212554775807, + 0.33999999999999997 + ], + "ori": [ + 0.9996379017829895, + 0.0, + 0.0, + -0.026907814666628838 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.55, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.04, + 0.1, + 0.02 + ] + } + }, + "type_specific": {} + } + ], + "board_4": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.3458336785899064, + -0.15982308820164898, + 0.33999999999999997 + ], + "ori": [ + 0.9996379017829895, + 0.0, + 0.0, + -0.026907814666628838 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.55, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.09, + 0.04, + 0.02 + ] + } + }, + "type_specific": {} + } + ], + "picture": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.3002762392306302, + 0.12814308988012835, + 0.42999999999999994 + ], + "ori": [ + 0.9996379017829895, + 0.0, + 0.0, + -0.026907814666628838 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.55, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.25, + 0.008, + 0.2 + ] + } + }, + "type_specific": {} + } + ], + "picture_bar": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.30054521994073236, + 0.12315033018456988, + 0.40499999999999997 + ], + "ori": [ + 0.9996379017829895, + 0.0, + 0.0, + -0.026907814666628838 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.1, + 0.6, + 0.6 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.15, + 0.002, + 0.05 + ] + } + }, + "type_specific": {} + } + ], + "picture_cap": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.25061762298514784, + 0.12046052308354824, + 0.45499999999999996 + ], + "ori": [ + 0.9996379017829895, + 0.0, + 0.0, + -0.026907814666628838 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.1, + 0.6, + 0.6 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.05, + 0.002, + 0.05 + ] + } + }, + "type_specific": {} + } + ], + "tile": [ + { + "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MMB_A07/tile_L/Object.usda", + "pose": { + "pos": [ + 2.260364532470703, + 2.8495681285858154, + 0.33000004291534424 + ], + "ori": [ + 0.999862790107727, + 8.055940270423889e-08, + -3.632158041000366e-07, + 0.01656152307987213 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.06, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.936430519184796e-06, + 3.756317994429992e-07, + -1.0311082405678462e-05 + ], + "angular_velocity": [ + 9.25074637052603e-05, + -0.00015630305279046297, + -1.8713610188569874e-05 + ] + } + } + ], + "cand_O": [ + { + "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MMB_A07/tile_O/Object.usda", + "pose": { + "pos": [ + 1.8426001071929932, + 2.8648834228515625, + 0.33000004291534424 + ], + "ori": [ + 0.9980435371398926, + -9.781457066537769e-08, + 2.785895958368201e-07, + -0.06252126395702362 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.06, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.4112952158029657e-06, + -8.915580451684946e-07, + -2.8971330721105915e-06 + ], + "angular_velocity": [ + -2.666798718564678e-05, + -5.51580342289526e-05, + -9.821879757510033e-06 + ] + } + } + ] + } + ], + "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": [ + [ + -3.4832310676574707, + -2.2735159397125244, + 0.05999999865889549, + 0.9429014921188354, + 0.0, + 0.0, + 0.3330717086791992 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.0, + 0.0, + 0.0, + 0.550000011920929, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 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 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/N032/stretch3/dr_off/seed_1027/rec/stationpuzzlestretch/000/sim_info/0/sim_states.npz b/N032/stretch3/dr_off/seed_1027/rec/stationpuzzlestretch/000/sim_info/0/sim_states.npz new file mode 100644 index 0000000000000000000000000000000000000000..0f64804cc1514f36631c4efd03428eb7a19d1910 --- /dev/null +++ b/N032/stretch3/dr_off/seed_1027/rec/stationpuzzlestretch/000/sim_info/0/sim_states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:670acb75429fb940611181aab6780d8916611c719dd09047226e07f94dfc8fe7 +size 794767 diff --git a/N032/stretch3/dr_off/seed_1027/rec/stationpuzzlestretch/000/sim_info/magicsim_manifest.json b/N032/stretch3/dr_off/seed_1027/rec/stationpuzzlestretch/000/sim_info/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..ece7a02bf8848900eb309d5a8f5c2a6bac12bf97 --- /dev/null +++ b/N032/stretch3/dr_off/seed_1027/rec/stationpuzzlestretch/000/sim_info/magicsim_manifest.json @@ -0,0 +1,228 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 03:12:02" + }, + "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": "stationpuzzlestretch/000", + "task_type": "PuzzleStretchCommand" + } +} \ No newline at end of file diff --git a/N032/stretch3/dr_off/seed_1027/report.episodes.jsonl b/N032/stretch3/dr_off/seed_1027/report.episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bb2f3e069af04e9ca126ad2b16ba98efa0387fa6 --- /dev/null +++ b/N032/stretch3/dr_off/seed_1027/report.episodes.jsonl @@ -0,0 +1 @@ +{"task_id": "N032", "task_version": "EXT60-MobileAvatar-v3", "instruction": null, "agent_id": "a07", "family_id": "puzzle_completion", "primary_category": "C2", "level": "easy", "embodiment": "stretch3", "scene_seed": 1027, "execution_mode": "expert_privileged_command", "station_layout": {"A": {"center": [-0.31103546763471673, -0.0715672979422098], "facing": 1.517, "stand": [-0.351, -0.82, 1.517]}, "B": {"center": [2.0692463527232743, 2.9806841803564192], "facing": 1.514, "stand": [2.027, 2.232, 1.514]}}, "spawn_pose": [-3.483, -2.274, 0.679], "base_path": [[-3.483, -2.274, 0.679], [-3.483, -2.274, 0.679], [-3.483, -2.274, 0.679], [-3.483, -2.274, 0.679], [-3.483, -2.273, 0.679], [-3.378, -2.2, 0.534], [-3.244, -2.131, 0.426], [-3.106, -2.073, 0.381], [-2.966, -2.018, 0.373], [-2.827, -1.963, 0.383], [-2.688, -1.906, 0.398], [-2.55, -1.847, 0.411], [-2.413, -1.786, 0.42], [-2.276, -1.725, 0.426], [-2.14, -1.662, 0.429], [-2.003, -1.6, 0.43], [-1.867, -1.538, 0.43], [-1.731, -1.475, 0.43], [-1.594, -1.412, 0.43], [-1.458, -1.35, 0.429], [-1.322, -1.288, 0.429], [-1.185, -1.225, 0.428], [-1.049, -1.163, 0.428], [-0.912, -1.101, 0.428], [-0.776, -1.038, 0.428], [-0.664, -0.987, 0.429], [-0.559, -0.937, 0.468], [-0.486, -0.899, 0.499], [-0.439, -0.873, 0.519], [-0.409, -0.855, 0.532], [-0.389, -0.844, 0.54], [-0.377, -0.836, 0.545], [-0.368, -0.831, 0.55], [-0.363, -0.828, 0.553], [-0.36, -0.826, 0.548], [-0.357, -0.824, 0.556], [-0.356, -0.823, 0.457], [-0.356, -0.823, 0.632], [-0.356, -0.823, 1.032], [-0.356, -0.823, 1.432], [-0.356, -0.823, 1.831], [-0.356, -0.823, 2.231], [-0.356, -0.823, 2.627], [-0.356, -0.823, 2.873], [-0.356, -0.823, 2.987], [-0.356, -0.823, 3.041], [-0.356, -0.823, 3.066], [-0.356, -0.823, 3.078], [-0.356, -0.823, 3.084], [-0.323, -0.825, 3.098], [-0.173, -0.828, -3.14], [-0.023, -0.826, -3.118], [0.126, -0.82, -3.072], [0.273, -0.793, -2.818], [0.407, -0.726, -2.539], [0.519, -0.627, -2.319], [0.613, -0.51, -2.177], [0.693, -0.383, -2.102], [0.767, -0.253, -2.073], [0.839, -0.121, -2.07], [0.911, 0.01, -2.079], [0.985, 0.141, -2.092], [1.06, 0.271, -2.102], [1.137, 0.4, -2.109], [1.214, 0.528, -2.112], [1.291, 0.657, -2.113], [1.369, 0.786, -2.113], [1.447, 0.914, -2.113], [1.524, 1.043, -2.113], [1.602, 1.171, -2.113], [1.679, 1.3, -2.113], [1.757, 1.429, -2.112], [1.834, 1.557, -2.112], [1.912, 1.686, -2.112], [1.989, 1.815, -2.112], [2.065, 1.942, -2.083], [2.115, 2.037, -2.04], [2.146, 2.101, -2.012], [2.166, 2.142, -1.995], [2.178, 2.169, -1.984], [2.186, 2.187, -1.976], [2.191, 2.199, -1.972], [2.194, 2.206, -1.966], [2.196, 2.211, -1.97], [2.198, 2.215, -1.922], [2.198, 2.216, -2.036], [2.198, 2.217, -2.082], [2.198, 2.217, -2.323], [2.198, 2.217, -2.721], [2.198, 2.217, -2.975], [2.198, 2.217, -3.094], [2.199, 2.217, 3.133], [2.199, 2.217, 3.108], [2.199, 2.217, 3.096], [2.199, 2.217, 3.093], [2.199, 2.217, 3.093], [2.199, 2.217, 3.093], [2.199, 2.217, 3.093], [2.199, 2.217, 3.093], [2.199, 2.217, 3.093], [2.199, 2.217, 3.093], [2.199, 2.217, 3.093], [2.199, 2.217, 3.093], [2.199, 2.217, 3.093], [2.199, 2.217, 3.093], [2.199, 2.217, 3.093], [2.199, 2.217, 3.093], [2.199, 2.217, 3.093], [2.199, 2.217, 3.093], [2.199, 2.217, 3.093], [2.199, 2.217, 3.093], [2.199, 2.217, 3.093], [2.199, 2.217, 3.093], [2.199, 2.217, 3.093], [2.199, 2.217, 3.093], [2.199, 2.217, 3.093], [2.199, 2.217, 3.093], [2.199, 2.217, 3.093], [2.199, 2.217, 3.093], [2.199, 2.217, 3.093], [2.199, 2.217, 3.093], [2.198, 2.217, -3.117], [2.085, 2.191, -2.751], [1.961, 2.108, -2.351], [1.878, 1.984, -1.989], [1.832, 1.842, -1.799], [1.801, 1.695, -1.783], [1.765, 1.549, -1.85], [1.718, 1.407, -1.935], [1.659, 1.269, -2.006], [1.593, 1.135, -2.055], [1.521, 1.003, -2.083], [1.447, 0.873, -2.095], [1.371, 0.743, -2.098], [1.295, 0.613, -2.095], [1.221, 0.483, -2.092], [1.146, 0.353, -2.089], [1.072, 0.223, -2.087], [0.998, 0.092, -2.086], [0.924, -0.039, -2.085], [0.85, -0.169, -2.084], [0.776, -0.3, -2.084], [0.703, -0.431, -2.084], [0.645, -0.533, -2.094], [0.598, -0.608, -2.194], [0.512, -0.703, -2.414], [0.389, -0.788, -2.666], [0.249, -0.843, -2.857], [0.103, -0.875, -2.976], [-0.026, -0.893, -3.045], [-0.122, -0.899, -3.093], [-0.209, -0.899, 3.027], [-0.272, -0.884, 2.801], [-0.312, -0.867, 2.651], [-0.336, -0.853, 2.556], [-0.35, -0.842, 2.493], [-0.36, -0.835, 2.456], [-0.366, -0.83, 2.422], [-0.369, -0.827, 2.402], [-0.372, -0.825, 2.429], [-0.373, -0.823, 2.414], [-0.373, -0.823, 2.763], [-0.373, -0.823, 2.936], [-0.373, -0.823, 3.017], [-0.373, -0.823, 3.055], [-0.373, -0.823, 3.072], [-0.373, -0.823, 3.08], [-0.373, -0.823, 3.08], [-0.373, -0.823, 3.08], [-0.373, -0.823, 3.08], [-0.373, -0.823, 3.08], [-0.373, -0.823, 3.08], [-0.373, -0.823, 3.08], [-0.373, -0.823, 3.08], [-0.373, -0.823, 3.08], [-0.373, -0.823, 3.08], [-0.373, -0.823, 3.08], [-0.373, -0.823, 3.08], [-0.373, -0.823, 3.08], [-0.373, -0.823, 3.08], [-0.373, -0.823, 3.08], [-0.373, -0.823, 3.08], [-0.373, -0.823, 3.08], [-0.373, -0.823, 3.08], [-0.373, -0.823, 3.08], [-0.373, -0.823, 3.08], [-0.373, -0.823, 3.08], [-0.373, -0.823, 3.081], [-0.373, -0.823, 3.081], [-0.373, -0.823, 3.081], [-0.373, -0.823, 3.081], [-0.373, -0.823, 3.081], [-0.373, -0.823, 3.081], [-0.373, -0.823, 3.081], [-0.373, -0.823, 3.081], [-0.373, -0.823, 3.081], [-0.373, -0.823, 3.081], [-0.373, -0.823, 3.081], [-0.373, -0.823, 3.081], [-0.373, -0.823, 3.08], [-0.373, -0.823, 3.08], [-0.373, -0.823, 3.08], [-0.373, -0.823, 3.08], [-0.373, -0.823, 3.08], [-0.373, -0.823, 3.08], [-0.373, -0.823, 3.08], [-0.373, -0.823, 3.08]], "stage_events": [{"tick": 526, "event": "enter_station", "station": "A", "xy": [-1.185, -1.225]}, {"tick": 1560, "event": "leave_station", "station": "A", "xy": [1.088, 0.317]}, {"tick": 1800, "event": "enter_station", "station": "B", "xy": [1.831, 1.552]}, {"tick": 3174, "event": "leave_station", "station": "B", "xy": [1.769, 1.561]}, {"tick": 3418, "event": "enter_station", "station": "A", "xy": [1.096, 0.264]}], "transport_state": {"tile": {"held": false, "grasps": 2}}, "manipulation_success": true, "mobile_success": true, "full_success": true, "failure_reason": null, "fail_class_hint": null, "distance_to_first_interaction": 2.529, "interstation_path_lengths": [4.4, 3.08], "station_transition_order": ["A", "B", "A"], "final_approach_pose": [-0.373, -0.823, 3.08], "regrasp_events": 1, "control_ticks": 4678, "wall_s": 1385.6, "phase": "done", "state": "success: task sequence complete", "check": {"tile": {"held": false, "dist_wrist": 0.662, "err_across": 0.0004, "err_along": -0.0, "yaw_err_deg": 2.6, "tilt_deg": 0.0, "z_err": 0.0, "overlap": false, "at_rest": true, "in_notch": true}, "released": true, "intruders": [], "manipulation_success": true}, "route": ["A", "B", "A"], "total_path_m": 12.09, "planner_seeds": "default"} diff --git a/N032/stretch3/dr_off/seed_1027/report.json b/N032/stretch3/dr_off/seed_1027/report.json new file mode 100644 index 0000000000000000000000000000000000000000..54b88ef48889919a7ba29dff89ca444ded561897 --- /dev/null +++ b/N032/stretch3/dr_off/seed_1027/report.json @@ -0,0 +1,1277 @@ +{ + "task_id": "N032", + "robot": "stretch3", + "level": "easy", + "seed": 1027, + "episodes_requested": 1, + "episodes": [ + { + "task_id": "N032", + "task_version": "EXT60-MobileAvatar-v3", + "instruction": null, + "agent_id": "a07", + "family_id": "puzzle_completion", + "primary_category": "C2", + "level": "easy", + "embodiment": "stretch3", + "scene_seed": 1027, + "execution_mode": "expert_privileged_command", + "station_layout": { + "A": { + "center": [ + -0.31103546763471673, + -0.0715672979422098 + ], + "facing": 1.517, + "stand": [ + -0.351, + -0.82, + 1.517 + ] + }, + "B": { + "center": [ + 2.0692463527232743, + 2.9806841803564192 + ], + "facing": 1.514, + "stand": [ + 2.027, + 2.232, + 1.514 + ] + } + }, + "spawn_pose": [ + -3.483, + -2.274, + 0.679 + ], + "base_path": [ + [ + -3.483, + -2.274, + 0.679 + ], + [ + -3.483, + -2.274, + 0.679 + ], + [ + -3.483, + -2.274, + 0.679 + ], + [ + -3.483, + -2.274, + 0.679 + ], + [ + -3.483, + -2.273, + 0.679 + ], + [ + -3.378, + -2.2, + 0.534 + ], + [ + -3.244, + -2.131, + 0.426 + ], + [ + -3.106, + -2.073, + 0.381 + ], + [ + -2.966, + -2.018, + 0.373 + ], + [ + -2.827, + -1.963, + 0.383 + ], + [ + -2.688, + -1.906, + 0.398 + ], + [ + -2.55, + -1.847, + 0.411 + ], + [ + -2.413, + -1.786, + 0.42 + ], + [ + -2.276, + -1.725, + 0.426 + ], + [ + -2.14, + -1.662, + 0.429 + ], + [ + -2.003, + -1.6, + 0.43 + ], + [ + -1.867, + -1.538, + 0.43 + ], + [ + -1.731, + -1.475, + 0.43 + ], + [ + -1.594, + -1.412, + 0.43 + ], + [ + -1.458, + -1.35, + 0.429 + ], + [ + -1.322, + -1.288, + 0.429 + ], + [ + -1.185, + -1.225, + 0.428 + ], + [ + -1.049, + -1.163, + 0.428 + ], + [ + -0.912, + -1.101, + 0.428 + ], + [ + -0.776, + -1.038, + 0.428 + ], + [ + -0.664, + -0.987, + 0.429 + ], + [ + -0.559, + -0.937, + 0.468 + ], + [ + -0.486, + -0.899, + 0.499 + ], + [ + -0.439, + -0.873, + 0.519 + ], + [ + -0.409, + -0.855, + 0.532 + ], + [ + -0.389, + -0.844, + 0.54 + ], + [ + -0.377, + -0.836, + 0.545 + ], + [ + -0.368, + -0.831, + 0.55 + ], + [ + -0.363, + -0.828, + 0.553 + ], + [ + -0.36, + -0.826, + 0.548 + ], + [ + -0.357, + -0.824, + 0.556 + ], + [ + -0.356, + -0.823, + 0.457 + ], + [ + -0.356, + -0.823, + 0.632 + ], + [ + -0.356, + -0.823, + 1.032 + ], + [ + -0.356, + -0.823, + 1.432 + ], + [ + -0.356, + -0.823, + 1.831 + ], + [ + -0.356, + -0.823, + 2.231 + ], + [ + -0.356, + -0.823, + 2.627 + ], + [ + -0.356, + -0.823, + 2.873 + ], + [ + -0.356, + -0.823, + 2.987 + ], + [ + -0.356, + -0.823, + 3.041 + ], + [ + -0.356, + -0.823, + 3.066 + ], + [ + -0.356, + -0.823, + 3.078 + ], + [ + -0.356, + -0.823, + 3.084 + ], + [ + -0.323, + -0.825, + 3.098 + ], + [ + -0.173, + -0.828, + -3.14 + ], + [ + -0.023, + -0.826, + -3.118 + ], + [ + 0.126, + -0.82, + -3.072 + ], + [ + 0.273, + -0.793, + -2.818 + ], + [ + 0.407, + -0.726, + -2.539 + ], + [ + 0.519, + -0.627, + -2.319 + ], + [ + 0.613, + -0.51, + -2.177 + ], + [ + 0.693, + -0.383, + -2.102 + ], + [ + 0.767, + -0.253, + -2.073 + ], + [ + 0.839, + -0.121, + -2.07 + ], + [ + 0.911, + 0.01, + -2.079 + ], + [ + 0.985, + 0.141, + -2.092 + ], + [ + 1.06, + 0.271, + -2.102 + ], + [ + 1.137, + 0.4, + -2.109 + ], + [ + 1.214, + 0.528, + -2.112 + ], + [ + 1.291, + 0.657, + -2.113 + ], + [ + 1.369, + 0.786, + -2.113 + ], + [ + 1.447, + 0.914, + -2.113 + ], + [ + 1.524, + 1.043, + -2.113 + ], + [ + 1.602, + 1.171, + -2.113 + ], + [ + 1.679, + 1.3, + -2.113 + ], + [ + 1.757, + 1.429, + -2.112 + ], + [ + 1.834, + 1.557, + -2.112 + ], + [ + 1.912, + 1.686, + -2.112 + ], + [ + 1.989, + 1.815, + -2.112 + ], + [ + 2.065, + 1.942, + -2.083 + ], + [ + 2.115, + 2.037, + -2.04 + ], + [ + 2.146, + 2.101, + -2.012 + ], + [ + 2.166, + 2.142, + -1.995 + ], + [ + 2.178, + 2.169, + -1.984 + ], + [ + 2.186, + 2.187, + -1.976 + ], + [ + 2.191, + 2.199, + -1.972 + ], + [ + 2.194, + 2.206, + -1.966 + ], + [ + 2.196, + 2.211, + -1.97 + ], + [ + 2.198, + 2.215, + -1.922 + ], + [ + 2.198, + 2.216, + -2.036 + ], + [ + 2.198, + 2.217, + -2.082 + ], + [ + 2.198, + 2.217, + -2.323 + ], + [ + 2.198, + 2.217, + -2.721 + ], + [ + 2.198, + 2.217, + -2.975 + ], + [ + 2.198, + 2.217, + -3.094 + ], + [ + 2.199, + 2.217, + 3.133 + ], + [ + 2.199, + 2.217, + 3.108 + ], + [ + 2.199, + 2.217, + 3.096 + ], + [ + 2.199, + 2.217, + 3.093 + ], + [ + 2.199, + 2.217, + 3.093 + ], + [ + 2.199, + 2.217, + 3.093 + ], + [ + 2.199, + 2.217, + 3.093 + ], + [ + 2.199, + 2.217, + 3.093 + ], + [ + 2.199, + 2.217, + 3.093 + ], + [ + 2.199, + 2.217, + 3.093 + ], + [ + 2.199, + 2.217, + 3.093 + ], + [ + 2.199, + 2.217, + 3.093 + ], + [ + 2.199, + 2.217, + 3.093 + ], + [ + 2.199, + 2.217, + 3.093 + ], + [ + 2.199, + 2.217, + 3.093 + ], + [ + 2.199, + 2.217, + 3.093 + ], + [ + 2.199, + 2.217, + 3.093 + ], + [ + 2.199, + 2.217, + 3.093 + ], + [ + 2.199, + 2.217, + 3.093 + ], + [ + 2.199, + 2.217, + 3.093 + ], + [ + 2.199, + 2.217, + 3.093 + ], + [ + 2.199, + 2.217, + 3.093 + ], + [ + 2.199, + 2.217, + 3.093 + ], + [ + 2.199, + 2.217, + 3.093 + ], + [ + 2.199, + 2.217, + 3.093 + ], + [ + 2.199, + 2.217, + 3.093 + ], + [ + 2.199, + 2.217, + 3.093 + ], + [ + 2.199, + 2.217, + 3.093 + ], + [ + 2.199, + 2.217, + 3.093 + ], + [ + 2.199, + 2.217, + 3.093 + ], + [ + 2.198, + 2.217, + -3.117 + ], + [ + 2.085, + 2.191, + -2.751 + ], + [ + 1.961, + 2.108, + -2.351 + ], + [ + 1.878, + 1.984, + -1.989 + ], + [ + 1.832, + 1.842, + -1.799 + ], + [ + 1.801, + 1.695, + -1.783 + ], + [ + 1.765, + 1.549, + -1.85 + ], + [ + 1.718, + 1.407, + -1.935 + ], + [ + 1.659, + 1.269, + -2.006 + ], + [ + 1.593, + 1.135, + -2.055 + ], + [ + 1.521, + 1.003, + -2.083 + ], + [ + 1.447, + 0.873, + -2.095 + ], + [ + 1.371, + 0.743, + -2.098 + ], + [ + 1.295, + 0.613, + -2.095 + ], + [ + 1.221, + 0.483, + -2.092 + ], + [ + 1.146, + 0.353, + -2.089 + ], + [ + 1.072, + 0.223, + -2.087 + ], + [ + 0.998, + 0.092, + -2.086 + ], + [ + 0.924, + -0.039, + -2.085 + ], + [ + 0.85, + -0.169, + -2.084 + ], + [ + 0.776, + -0.3, + -2.084 + ], + [ + 0.703, + -0.431, + -2.084 + ], + [ + 0.645, + -0.533, + -2.094 + ], + [ + 0.598, + -0.608, + -2.194 + ], + [ + 0.512, + -0.703, + -2.414 + ], + [ + 0.389, + -0.788, + -2.666 + ], + [ + 0.249, + -0.843, + -2.857 + ], + [ + 0.103, + -0.875, + -2.976 + ], + [ + -0.026, + -0.893, + -3.045 + ], + [ + -0.122, + -0.899, + -3.093 + ], + [ + -0.209, + -0.899, + 3.027 + ], + [ + -0.272, + -0.884, + 2.801 + ], + [ + -0.312, + -0.867, + 2.651 + ], + [ + -0.336, + -0.853, + 2.556 + ], + [ + -0.35, + -0.842, + 2.493 + ], + [ + -0.36, + -0.835, + 2.456 + ], + [ + -0.366, + -0.83, + 2.422 + ], + [ + -0.369, + -0.827, + 2.402 + ], + [ + -0.372, + -0.825, + 2.429 + ], + [ + -0.373, + -0.823, + 2.414 + ], + [ + -0.373, + -0.823, + 2.763 + ], + [ + -0.373, + -0.823, + 2.936 + ], + [ + -0.373, + -0.823, + 3.017 + ], + [ + -0.373, + -0.823, + 3.055 + ], + [ + -0.373, + -0.823, + 3.072 + ], + [ + -0.373, + -0.823, + 3.08 + ], + [ + -0.373, + -0.823, + 3.08 + ], + [ + -0.373, + -0.823, + 3.08 + ], + [ + -0.373, + -0.823, + 3.08 + ], + [ + -0.373, + -0.823, + 3.08 + ], + [ + -0.373, + -0.823, + 3.08 + ], + [ + -0.373, + -0.823, + 3.08 + ], + [ + -0.373, + -0.823, + 3.08 + ], + [ + -0.373, + -0.823, + 3.08 + ], + [ + -0.373, + -0.823, + 3.08 + ], + [ + -0.373, + -0.823, + 3.08 + ], + [ + -0.373, + -0.823, + 3.08 + ], + [ + -0.373, + -0.823, + 3.08 + ], + [ + -0.373, + -0.823, + 3.08 + ], + [ + -0.373, + -0.823, + 3.08 + ], + [ + -0.373, + -0.823, + 3.08 + ], + [ + -0.373, + -0.823, + 3.08 + ], + [ + -0.373, + -0.823, + 3.08 + ], + [ + -0.373, + -0.823, + 3.08 + ], + [ + -0.373, + -0.823, + 3.08 + ], + [ + -0.373, + -0.823, + 3.08 + ], + [ + -0.373, + -0.823, + 3.081 + ], + [ + -0.373, + -0.823, + 3.081 + ], + [ + -0.373, + -0.823, + 3.081 + ], + [ + -0.373, + -0.823, + 3.081 + ], + [ + -0.373, + -0.823, + 3.081 + ], + [ + -0.373, + -0.823, + 3.081 + ], + [ + -0.373, + -0.823, + 3.081 + ], + [ + -0.373, + -0.823, + 3.081 + ], + [ + -0.373, + -0.823, + 3.081 + ], + [ + -0.373, + -0.823, + 3.081 + ], + [ + -0.373, + -0.823, + 3.081 + ], + [ + -0.373, + -0.823, + 3.081 + ], + [ + -0.373, + -0.823, + 3.08 + ], + [ + -0.373, + -0.823, + 3.08 + ], + [ + -0.373, + -0.823, + 3.08 + ], + [ + -0.373, + -0.823, + 3.08 + ], + [ + -0.373, + -0.823, + 3.08 + ], + [ + -0.373, + -0.823, + 3.08 + ], + [ + -0.373, + -0.823, + 3.08 + ], + [ + -0.373, + -0.823, + 3.08 + ] + ], + "stage_events": [ + { + "tick": 526, + "event": "enter_station", + "station": "A", + "xy": [ + -1.185, + -1.225 + ] + }, + { + "tick": 1560, + "event": "leave_station", + "station": "A", + "xy": [ + 1.088, + 0.317 + ] + }, + { + "tick": 1800, + "event": "enter_station", + "station": "B", + "xy": [ + 1.831, + 1.552 + ] + }, + { + "tick": 3174, + "event": "leave_station", + "station": "B", + "xy": [ + 1.769, + 1.561 + ] + }, + { + "tick": 3418, + "event": "enter_station", + "station": "A", + "xy": [ + 1.096, + 0.264 + ] + } + ], + "transport_state": { + "tile": { + "held": false, + "grasps": 2 + } + }, + "manipulation_success": true, + "mobile_success": true, + "full_success": true, + "failure_reason": null, + "fail_class_hint": null, + "distance_to_first_interaction": 2.529, + "interstation_path_lengths": [ + 4.4, + 3.08 + ], + "station_transition_order": [ + "A", + "B", + "A" + ], + "final_approach_pose": [ + -0.373, + -0.823, + 3.08 + ], + "regrasp_events": 1, + "control_ticks": 4678, + "wall_s": 1385.6, + "phase": "done", + "state": "success: task sequence complete", + "check": { + "tile": { + "held": false, + "dist_wrist": 0.662, + "err_across": 0.0004, + "err_along": -0.0, + "yaw_err_deg": 2.6, + "tilt_deg": 0.0, + "z_err": 0.0, + "overlap": false, + "at_rest": true, + "in_notch": true + }, + "released": true, + "intruders": [], + "manipulation_success": true + }, + "route": [ + "A", + "B", + "A" + ], + "total_path_m": 12.09, + "planner_seeds": "default" + } + ], + "error": null, + "collect": { + "task": "N032", + "robot": "stretch3", + "visual_dr": false, + "env": { + "MMB_COLLECT": "1", + "MMB_TASK_ID": "N032", + "MMB_CLEAN_VIEW": "1", + "MMB_REAL_ROBOT_LOOK": "1", + "MMB_VISUAL_DR": "0" + }, + "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 + } + } + }, + "review_cameras": [], + "policy_obs_signature": [ + "/camera_info[0]/rgb[0]:(480, 640, 4):uint8", + "/camera_info[1]/rgb[0]:(480, 640, 4):uint8", + "/robot_state[0]/HelloRobot/base_ang_vel:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/base_lin_vel:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/base_pos:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/base_quat:(1, 4):torch.float32", + "/robot_state[0]/HelloRobot/eef_pos:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/eef_quat:(1, 4):torch.float32", + "/robot_state[0]/HelloRobot/eef_relative_pos:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/eef_relative_quat:(1, 4):torch.float32", + "/robot_state[0]/HelloRobot/joint_effort:(1, 15):torch.float32", + "/robot_state[0]/HelloRobot/joint_pos:(1, 15):torch.float32", + "/robot_state[0]/HelloRobot/joint_vel:(1, 15):torch.float32" + ], + "n_success": 1, + "elapsed_s": 1608.2, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 40.2 + } +} diff --git a/N033/go2_arm/dr_off/seed_1014/check.json b/N033/go2_arm/dr_off/seed_1014/check.json new file mode 100644 index 0000000000000000000000000000000000000000..e9dd683bac2ee52de07a0bf99349bf9157298513 --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1014/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.'; expected 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "1365 rows vs ceil(2730/2) = 1365" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..2829, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "11.24 MB, 1365 frames at 25 fps, mean luma 107..142, std 18, new picture 1364x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1365 vs 1365" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "24.13 MB, 1365 frames at 25 fps, mean luma 112..176, std 29, new picture 1364x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1365 vs 1365" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationring/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N033/go2_arm/dr_off/seed_1014/check.txt b/N033/go2_arm/dr_off/seed_1014/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..9f87706c8cb93852da8a66e1f96e924e25ebbad6 --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1014/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n033_go2_off_1014/out task=N033 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n033_go2_off_1014/out/rec/stationring/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1365 videos 2 robot_type Go2PlusCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 1365 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5'] +[PASS] action shape: parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y'] +[PASS] task text = MobileBench instruction: task_index 0: 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.'; expected 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.' +rows 1365 at dataset fps 25 = 54.60 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1365 rows vs ceil(2730/2) = 1365 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..2829, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 11.24 MB, 1365 frames at 25 fps, mean luma 107..142, std 18, new picture 1364x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1365 vs 1365 +[PASS] video observation.images.wrist decodes, 640x480, not black: 24.13 MB, 1365 frames at 25 fps, mean luma 112..176, std 29, new picture 1364x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1365 vs 1365 +parquet size 5.08 MB +[PASS] sim_info present: rec/stationring/000/sim_info +dataset size 40.72 MB; whole cell dir 42.1 MB +RESULT: ALL PASS diff --git a/N033/go2_arm/dr_off/seed_1014/rec/stationring/000/completed/0.json b/N033/go2_arm/dr_off/seed_1014/rec/stationring/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..c24e4e92ce410caf19b3ef731d95205d50917856 --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1014/rec/stationring/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationring/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N033/go2_arm/dr_off/seed_1014/rec/stationring/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N033/go2_arm/dr_off/seed_1014/rec/stationring/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..064896d578bf7b7d7090f5267900bdf6d4fa1e7e --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1014/rec/stationring/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:337f11349473f409a5de13a004e78471faed457704f108f8a6dcae6627659dc3 +size 5080880 diff --git a/N033/go2_arm/dr_off/seed_1014/rec/stationring/000/lerobot_v21/meta/episodes.jsonl b/N033/go2_arm/dr_off/seed_1014/rec/stationring/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..82d87f3a12311b3c7480da2c08f3cf46e5de5acb --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1014/rec/stationring/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end."], "length": 1365, "magicsim/control_steps": 2730, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the brown rod stop. There are a large gray table A, a large gray table B, a medium brown rack back, a small gray peg 1, a small gray peg 2, a small ring, a small ring small, a small white rod h, a small white rod s and a small brown rod stop. The gray table B is behind the brown rod stop. The brown rack back is in front of the gray peg 2. The white rod h is to the right of the white rod s. The white rod s is on top of the brown rod stop. The white rod s is behind the brown rod stop. The brown rod stop is in front of the white rod s. The scene is viewed from front, at table height."} diff --git a/N033/go2_arm/dr_off/seed_1014/rec/stationring/000/lerobot_v21/meta/episodes_stats.jsonl b/N033/go2_arm/dr_off/seed_1014/rec/stationring/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d62ff2da3a7539efbd5000faea78fda3073a8fd7 --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1014/rec/stationring/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.145842731798634, 0.003639028751506255, 0.021822378513891072, 0.3543179322511722, 0.3305886393610811, 0.4807923608101331, 0.6903761150199414, 0.16531733533183296, -0.5062033370573878, 0.8047645913375603, 0.11483556256926322, 0.4622710622710623], "std": [0.16331506593278836, 0.03127219349663102, 0.2567756610354418, 0.017592707056704127, 1.2930717555661404, 1.7113888017322383, 0.038987618047613054, 0.047296449613002826, 0.19808818811139736, 0.10188000080757532, 0.06115107759718855, 0.4985744951938952], "min": [0.0, -0.0599999874830246, -0.800000011920929, 0.33000001311302185, -3.2134735584259033, -2.0859732627868652, 0.6222670674324036, 0.0701964795589447, -0.8133142590522766, 0.5684585571289062, 0.016617480665445328, 0.0], "max": [0.3499999940395355, 0.25, 0.800000011920929, 0.38179296255111694, 1.7054557800292969, 2.860680103302002, 0.7926899790763855, 0.26334261894226074, -0.10431760549545288, 0.9802219271659851, 0.19765514135360718, 1.0], "count": [1365]}, "action_is_hold": {"mean": [0.189010989010989, 0.189010989010989, 0.189010989010989, 0.189010989010989, 0.23076923076923078, 0.23076923076923078, 0.23076923076923078, 0.23076923076923078, 0.23076923076923078, 0.23076923076923078, 0.23076923076923078, 0.9523809523809523], "std": [0.3915173496080057, 0.3915173496080057, 0.3915173496080057, 0.3915173496080057, 0.42132504423474165, 0.42132504423474165, 0.42132504423474165, 0.42132504423474165, 0.42132504423474165, 0.42132504423474165, 0.42132504423474165, 0.2129588549999792], "min": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], "count": [1365]}, "observation.state": {"mean": [-0.029930362914456055, 0.01943816191940128, -0.05277144903924863, 0.08683289351413409, -0.11185497478358472, 0.641582934149019, 0.6696272024086544, 0.8225148697039146, 0.787617980953538, 1.8583817741373083, -1.3918418401326889, -1.3862124149615949, -1.3864222866274936, -1.4220514582190322, -1.2676896095275878, 0.14670071209890656, 0.6649964389565227, -0.24415122293442354, 0.02555664584190745, -0.025834202969057873, 0.13975090661594447, 0.1314918390314876, 1.0995456683985043, 0.381949340794986, -0.025834202969057873, -0.02555664584190745], "std": [0.03131731725128428, 0.03815227382045297, 0.04123722582293885, 0.03944320856507567, 0.09647735751964832, 0.10035392104221746, 0.09812420202529462, 0.10101784076209926, 0.0981076636362851, 0.2606785764726922, 0.10715628335586647, 0.1010674103289578, 0.1170193451569005, 0.11647900127733914, 0.4935413653079046, 0.12725278952744284, 0.21934416313829122, 0.21024832031572366, 0.010169110851776492, 0.009868869968738862, 1.3456407103796648, 1.5991506942191895, 0.4804340851671202, 0.014172546382159906, 0.009868869968738862, 0.010169110851776492], "min": [-0.17252105474472046, -0.1140851154923439, -0.18086770176887512, -0.08278033882379532, -0.5829527974128723, 0.4383401870727539, 0.44076260924339294, 0.5699180364608765, 0.5561280250549316, 1.6443696022033691, -1.560141921043396, -1.5868231058120728, -1.5945022106170654, -1.6422226428985596, -2.754469633102417, -0.030068080872297287, 0.4327755570411682, -0.5650258660316467, 0.014405216090381145, -0.03500000014901161, -3.500460386276245, -2.324652910232544, 0.09589102119207382, 0.35194873809814453, -0.03500000014901161, -0.03500000014901161], "max": [0.14348608255386353, 0.253548264503479, 0.1414865255355835, 0.19180293381214142, 0.0010302927112206817, 0.8958449959754944, 0.8929082155227661, 1.018490195274353, 1.0109130144119263, 2.6706411838531494, -1.1098170280456543, -1.2029061317443848, -1.151277780532837, -1.1200677156448364, -0.9140242338180542, 0.3483206629753113, 1.197492003440857, 0.04111222177743912, 0.03500000014901161, -0.014948864467442036, 1.5541425943374634, 2.2974483966827393, 2.0497870445251465, 0.4065343737602234, -0.014948864467442036, -0.014405216090381145], "count": [1365]}, "observation.joint_vel": {"mean": [-0.006047977569415797, -0.00016908898794296072, 0.004803308634892169, 0.005124275235121476, 0.0006660788751418588, -0.008442238018958447, -0.011379213987405845, -0.0013386419274069832, -0.01363864706549559, -0.005093614395751075, 0.005197143631412873, 0.008558468463787581, 5.80038890586279e-05, 0.018975939230577273, -0.0025236925862496293, -0.003804971748220371, 0.008576145589662095, 0.00014499117803494206, 0.0010754427003826469, -0.00029623388466018064], "std": [0.43015291359807156, 0.40621799695430655, 0.473950104282899, 0.5335651204877574, 0.11040340053980503, 1.129842779988151, 1.1028764532944852, 0.8763479255412163, 0.7119556085076111, 0.1912505927016153, 0.6660776997577934, 1.0343354315178672, 1.0178029696543138, 1.1038883877050374, 0.33962470061183914, 0.05854568924399868, 0.1424652465633718, 0.09594186687034863, 0.01080377313272817, 0.010608141627162853], "min": [-2.3620431423187256, -3.6474974155426025, -2.4612202644348145, -2.767212390899658, -0.9587203860282898, -5.606927394866943, -5.360787868499756, -3.954188346862793, -2.3914661407470703, -0.9674347043037415, -4.31284236907959, -5.663506984710693, -4.142822742462158, -6.1033935546875, -2.9934451580047607, -0.540744960308075, -0.7477882504463196, -0.4383755326271057, -0.20007526874542236, -0.2001037448644638], "max": [3.209073781967163, 2.9017105102539062, 4.375998020172119, 2.4789984226226807, 0.49269795417785645, 1.6206897497177124, 1.7314424514770508, 3.335681438446045, 4.102546691894531, 1.8835715055465698, 3.2207391262054443, 4.700150012969971, 4.243893623352051, 3.647178888320923, 1.7033400535583496, 0.35492002964019775, 1.3583054542541504, 0.6333349943161011, 0.20002864301204681, 0.20026299357414246], "count": [1365]}, "observation.eef_pose": {"mean": [0.3283253540431624, 0.4800663476878088, 0.6895826951924697, 0.16464184285738528, -0.5087530425944171, 0.8022737899542728, 0.11576966780882615], "std": [1.2934218320662445, 1.710722059793973, 0.03912763346012582, 0.04734709710614816, 0.2002048408569432, 0.10438513537015437, 0.061624624695908105], "min": [-3.2134735584259033, -2.0859556198120117, 0.6200590133666992, 0.0692288875579834, -0.8221524953842163, 0.5551868081092834, 0.016772150993347168], "max": [1.7055188417434692, 2.8617382049560547, 0.793937087059021, 0.26398301124572754, -0.10469213128089905, 0.9802794456481934, 0.19540327787399292], "count": [1365]}, "observation.environment_state": {"mean": [-0.22483517229557037, -0.2882007956504822, 0.4699999988079071, 0.9991657733917236, 0.0, 0.0, -0.04083818569779396, -0.5238345265388489, -0.2637186050415039, 0.4699999988079071, 0.9991657733917236, 0.0, 0.0, -0.04083818569779396, -0.36576607823371887, -0.1713099181652069, 0.4300000071525574, 0.9991657733917236, 0.0, 0.0, -0.04083818569779396, 0.6158071813275295, 0.839461809304976, 0.4588021961542276, 0.9803126474876543, -0.042818772806543184, 0.0034145830898663775, -0.09917255027881472, -0.5280032202001019, -0.3146539628942371, 0.4687857515209324, 0.9991649234687889, -4.205724646133923e-05, -0.0005650391901549866, -0.04085526714995231, 1.6930851936340332, 2.8309051990509033, 0.5299999713897705, 0.9977747201919556, 0.0, 0.0, -0.06667538732290268, 1.7100229263305664, 2.957073450088501, 0.48980000615119934, 0.9515946507453918, -0.3000366985797882, 0.020049646496772766, -0.06358935683965683, 1.7196959257125854, 3.0291271209716797, 0.38999998569488525, 0.9977747201919556, 0.0, 0.0, -0.06667538732290268, -0.3151167929172516, -0.16542364656925201, 0.18000000715255737, 0.9991657733917236, 0.0, 0.0, -0.04083818569779396, 1.7103822231292725, 2.959749460220337, 0.18000000715255737, 0.9977747201919556, 0.0, 0.0, -0.06667538732290268], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.8732769622044776, 1.4638284735074443, 0.027554005226705824, 0.044454230023484406, 0.09274997030099096, 0.0067857378363371055, 0.12915891958553805, 1.5602050402289026e-08, 1.1399357731269492e-09, 1.4450941833526813e-08, 2.6123096906980724e-08, 1.3362058598630232e-07, 2.7541511089448374e-07, 1.5953402265040699e-07, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 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": [-0.22483517229557037, -0.2882007956504822, 0.4699999988079071, 0.9991657733917236, 0.0, 0.0, -0.04083818569779396, -0.5238345265388489, -0.2637186050415039, 0.4699999988079071, 0.9991657733917236, 0.0, 0.0, -0.04083818569779396, -0.36576607823371887, -0.1713099181652069, 0.4300000071525574, 0.9991657733917236, 0.0, 0.0, -0.04083818569779396, -0.23548053205013275, -0.8070333003997803, 0.43053674697875977, 0.7815473079681396, -0.3499721586704254, -0.01058526523411274, -0.6238229870796204, -0.5280032753944397, -0.31465399265289307, 0.46878573298454285, 0.999164879322052, -4.25621255999431e-05, -0.0005657635629177094, -0.04085569456219673, 1.6930851936340332, 2.8309051990509033, 0.5299999713897705, 0.9977747201919556, 0.0, 0.0, -0.06667538732290268, 1.7100229263305664, 2.957073450088501, 0.48980000615119934, 0.9515946507453918, -0.3000366985797882, 0.020049646496772766, -0.06358935683965683, 1.7196959257125854, 3.0291271209716797, 0.38999998569488525, 0.9977747201919556, 0.0, 0.0, -0.06667538732290268, -0.3151167929172516, -0.16542364656925201, 0.18000000715255737, 0.9991657733917236, 0.0, 0.0, -0.04083818569779396, 1.7103822231292725, 2.959749460220337, 0.18000000715255737, 0.9977747201919556, 0.0, 0.0, -0.06667538732290268], "max": [-0.22483517229557037, -0.2882007956504822, 0.4699999988079071, 0.9991657733917236, 0.0, 0.0, -0.04083818569779396, -0.5238345265388489, -0.2637186050415039, 0.4699999988079071, 0.9991657733917236, 0.0, 0.0, -0.04083818569779396, -0.36576607823371887, -0.1713099181652069, 0.4300000071525574, 0.9991657733917236, 0.0, 0.0, -0.04083818569779396, 1.7259166240692139, 2.9946444034576416, 0.538159191608429, 0.9992933869361877, 0.020952358841896057, 0.02434149757027626, -0.037507977336645126, -0.5280032157897949, -0.3146539628505707, 0.46878576278686523, 0.9991649389266968, -4.176699439994991e-05, -0.000564275193028152, -0.040854860097169876, 1.6930851936340332, 2.8309051990509033, 0.5299999713897705, 0.9977747201919556, 0.0, 0.0, -0.06667538732290268, 1.7100229263305664, 2.957073450088501, 0.48980000615119934, 0.9515946507453918, -0.3000366985797882, 0.020049646496772766, -0.06358935683965683, 1.7196959257125854, 3.0291271209716797, 0.38999998569488525, 0.9977747201919556, 0.0, 0.0, -0.06667538732290268, -0.3151167929172516, -0.16542364656925201, 0.18000000715255737, 0.9991657733917236, 0.0, 0.0, -0.04083818569779396, 1.7103822231292725, 2.959749460220337, 0.18000000715255737, 0.9977747201919556, 0.0, 0.0, -0.06667538732290268], "count": [1365]}, "action.command": {"mean": [-1.3664701615977113, -1.22927429864051, 1.2057470963826098, 0.7549086284887104, 0.0, 0.0, 0.6536942005781603, 0.9733333333333334, 0.0652705483351435, 0.046120035719303856, 0.6823194542952946, 0.16196089053437823, -0.46779009856638454, 0.8259104325657799, 0.10183892562098447, 0.5384615384615384, -1.7569767571807478, -1.5254226075975519, 1.4612828588181515, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20393033468266994, -0.4088968055432683, 0.6778559336821999, 0.17142312120545233, -0.3484128794055046, 0.8880511915854861, 0.07974572311878869, 0.0, -1.7189430404317816, -1.513871396937819, 1.4612828588181515, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20393033468266994, -0.4088968055432683, 0.6778559336821999, 0.17142312120545233, -0.3484128794055046, 0.8880511915854861, 0.07974572311878869, 0.0, -1.625985629440685, -1.4896560755262724, 1.4612828588181515, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20393033468266994, -0.4088968055432683, 0.6778559336821999, 0.17142312120545233, -0.3484128794055046, 0.8880511915854861, 0.07974572311878869, 0.0, -1.6002284495763042, -1.4852422670694438, 1.4612828588181515, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20393033468266994, -0.4088968055432683, 0.6778559336821999, 0.17142312120545233, -0.3484128794055046, 0.8880511915854861, 0.07974572311878869, 0.0, -1.5624363373555066, -1.478661524717127, 1.4612828588181515, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20393033468266994, -0.4088968055432683, 0.6778559336821999, 0.17142312120545233, -0.3484128794055046, 0.8880511915854861, 0.07974572311878869, 0.0, -1.4811113990480866, -1.456576532629308, 1.4612828588181515, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20393033468266994, -0.4088968055432683, 0.6778559336821999, 0.17142312120545233, -0.3484128794055046, 0.8880511915854861, 0.07974572311878869, 0.0, -1.436691723241095, -1.4445692662987413, 1.4612828588181515, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20393033468266994, -0.4088968055432683, 0.6778559336821999, 0.17142312120545233, -0.3484128794055046, 0.8880511915854861, 0.07974572311878869, 0.0, -1.3713230704814434, -1.429412031763098, 1.4612828588181515, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20393033468266994, -0.4088968055432683, 0.6778559336821999, 0.17142312120545233, -0.3484128794055046, 0.8880511915854861, 0.07974572311878869, 0.0, -1.3187511892695176, -1.4123511506419812, 1.4612828588181515, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20393033468266994, -0.4088968055432683, 0.6778559336821999, 0.17142312120545233, -0.3484128794055046, 0.8880511915854861, 0.07974572311878869, 0.0, -1.3005032043612934, -1.4085072379743464, 1.4612828588181515, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20393033468266994, -0.4088968055432683, 0.6778559336821999, 0.17142312120545233, -0.3484128794055046, 0.8880511915854861, 0.07974572311878869, 0.0, -1.2531500874143657, -1.4004007106382501, 1.4612828588181515, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20393033468266994, -0.4088968055432683, 0.6778559336821999, 0.17142312120545233, -0.3484128794055046, 0.8880511915854861, 0.07974572311878869, 0.0, -1.1958361138757527, -1.365388701121773, 1.4612828588181515, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20393033468266994, -0.4088968055432683, 0.6778559336821999, 0.17142312120545233, -0.3484128794055046, 0.8880511915854861, 0.07974572311878869, 0.0, -1.1599821015788419, -1.343591626846429, 1.4612828588181515, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20393033468266994, -0.4088968055432683, 0.6778559336821999, 0.17142312120545233, -0.3484128794055046, 0.8880511915854861, 0.07974572311878869, 0.0, -1.1045694944866156, -1.2862382414238305, 1.4612828588181515, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20393033468266994, -0.4088968055432683, 0.6778559336821999, 0.17142312120545233, -0.3484128794055046, 0.8880511915854861, 0.07974572311878869, 0.0, -1.0641386760859208, -1.2649910168594531, 1.4612828588181515, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20393033468266994, -0.4088968055432683, 0.6778559336821999, 0.17142312120545233, -0.3484128794055046, 0.8880511915854861, 0.07974572311878869, 0.0, -1.0317657106040576, -1.2323309704067225, 1.4612828588181515, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20393033468266994, -0.4088968055432683, 0.6778559336821999, 0.17142312120545233, -0.3484128794055046, 0.8880511915854861, 0.07974572311878869, 0.0, -1.0097828581097403, -1.2085280814809662, 1.4612828588181515, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20393033468266994, -0.4088968055432683, 0.6778559336821999, 0.17142312120545233, -0.3484128794055046, 0.8880511915854861, 0.07974572311878869, 0.0, -0.9677955888485034, -1.1636999535598633, 1.4612828588181515, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20393033468266994, -0.4088968055432683, 0.6778559336821999, 0.17142312120545233, -0.3484128794055046, 0.8880511915854861, 0.07974572311878869, 0.0, -0.9250735739391577, -1.1240986264778667, 1.4612828588181515, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20393033468266994, -0.4088968055432683, 0.6778559336821999, 0.17142312120545233, -0.3484128794055046, 0.8880511915854861, 0.07974572311878869, 0.0, -0.9012457396615255, -1.0967838224231532, 1.4612828588181515, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20393033468266994, -0.4088968055432683, 0.6778559336821999, 0.17142312120545233, -0.3484128794055046, 0.8880511915854861, 0.07974572311878869, 0.0, -0.860086157846679, -1.0533017302243903, 1.4612828588181515, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20393033468266994, -0.4088968055432683, 0.6778559336821999, 0.17142312120545233, -0.3484128794055046, 0.8880511915854861, 0.07974572311878869, 0.0, -0.8242375313570245, -1.0049791179680558, 1.4612828588181515, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20393033468266994, -0.4088968055432683, 0.6778559336821999, 0.17142312120545233, -0.3484128794055046, 0.8880511915854861, 0.07974572311878869, 0.0, -0.8084707047190203, -0.9876250628934523, 1.4612828588181515, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20393033468266994, -0.4088968055432683, 0.6778559336821999, 0.17142312120545233, -0.3484128794055046, 0.8880511915854861, 0.07974572311878869, 0.0, -0.7545925811337132, -0.9310514846225485, 1.4612828588181515, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20393033468266994, -0.4088968055432683, 0.6778559336821999, 0.17142312120545233, -0.3484128794055046, 0.8880511915854861, 0.07974572311878869, 0.0, -0.7148774830918563, -0.9068375160914669, 1.4612828588181515, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20393033468266994, -0.4088968055432683, 0.6778559336821999, 0.17142312120545233, -0.3484128794055046, 0.8880511915854861, 0.07974572311878869, 0.0, -0.7025188270368075, -0.8992134854672819, 1.4612828588181515, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20393033468266994, -0.4088968055432683, 0.6778559336821999, 0.17142312120545233, -0.3484128794055046, 0.8880511915854861, 0.07974572311878869, 0.0, -0.6614594800810685, -0.8412899737479537, 1.4612828588181515, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20393033468266994, -0.4088968055432683, 0.6778559336821999, 0.17142312120545233, -0.3484128794055046, 0.8880511915854861, 0.07974572311878869, 0.0, -0.625938421421264, -0.8084457662354626, 1.4612828588181515, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20393033468266994, -0.4088968055432683, 0.6778559336821999, 0.17142312120545233, -0.3484128794055046, 0.8880511915854861, 0.07974572311878869, 0.0, -0.5988082951335816, -0.7716717263252921, 1.4612828588181515, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20393033468266994, -0.4088968055432683, 0.6778559336821999, 0.17142312120545233, -0.3484128794055046, 0.8880511915854861, 0.07974572311878869, 0.0, -0.5486261525222559, -0.7157499707011324, 1.4612828588181515, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20393033468266994, -0.4088968055432683, 0.6778559336821999, 0.17142312120545233, -0.3484128794055046, 0.8880511915854861, 0.07974572311878869, 0.0, -0.5048228088748512, -0.6889884725236817, 1.4612828588181515, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20393033468266994, -0.4088968055432683, 0.6778559336821999, 0.17142312120545233, -0.3484128794055046, 0.8880511915854861, 0.07974572311878869, 0.0, -0.47656843270601457, -0.6356409853250026, 1.4612828588181515, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20393033468266994, -0.4088968055432683, 0.6778559336821999, 0.17142312120545233, -0.3484128794055046, 0.8880511915854861, 0.07974572311878869, 0.0, -0.46116214610362927, -0.6252759383721025, 1.4612828588181515, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20393033468266994, -0.4088968055432683, 0.6778559336821999, 0.17142312120545233, -0.3484128794055046, 0.8880511915854861, 0.07974572311878869, 0.0, -0.42788515497813007, -0.6118087618354785, 1.4612828588181515, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20393033468266994, -0.4088968055432683, 0.6778559336821999, 0.17142312120545233, -0.3484128794055046, 0.8880511915854861, 0.07974572311878869, 0.0, -0.38733344680764836, -0.5506866703573406, 1.4612828588181515, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20393033468266994, -0.4088968055432683, 0.6778559336821999, 0.17142312120545233, -0.3484128794055046, 0.8880511915854861, 0.07974572311878869, 0.0, -0.3542427142080888, -0.5283057353142916, 1.4612828588181515, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20393033468266994, -0.4088968055432683, 0.6778559336821999, 0.17142312120545233, -0.3484128794055046, 0.8880511915854861, 0.07974572311878869, 0.0, -0.29322585021479847, -0.46866709431202597, 1.4612828588181515, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20393033468266994, -0.4088968055432683, 0.6778559336821999, 0.17142312120545233, -0.3484128794055046, 0.8880511915854861, 0.07974572311878869, 0.0, -0.28133960736045044, -0.44657370795093276, 1.4612828588181515, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20393033468266994, -0.4088968055432683, 0.6778559336821999, 0.17142312120545233, -0.3484128794055046, 0.8880511915854861, 0.07974572311878869, 0.0, -0.2609676129319831, -0.40950782285732895, 1.4612828588181515, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20393033468266994, -0.4088968055432683, 0.6778559336821999, 0.17142312120545233, -0.3484128794055046, 0.8880511915854861, 0.07974572311878869, 0.0, -0.20858261041473924, -0.3648403401960406, 1.4612828588181515, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20393033468266994, -0.4088968055432683, 0.6778559336821999, 0.17142312120545233, -0.3484128794055046, 0.8880511915854861, 0.07974572311878869, 0.0, -0.17622395023774873, -0.33097187022082925, 1.4612828588181515, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20393033468266994, -0.4088968055432683, 0.6778559336821999, 0.17142312120545233, -0.3484128794055046, 0.8880511915854861, 0.07974572311878869, 0.0, -0.13582636199689557, -0.28305802543007397, 1.4612828588181515, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20393033468266994, -0.4088968055432683, 0.6778559336821999, 0.17142312120545233, -0.3484128794055046, 0.8880511915854861, 0.07974572311878869, 0.0, -0.0841463612217272, -0.2497280363641097, 1.4612828588181515, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20393033468266994, -0.4088968055432683, 0.6778559336821999, 0.17142312120545233, -0.3484128794055046, 0.8880511915854861, 0.07974572311878869, 0.0, -0.06319749108151766, -0.20158958216413167, 1.4612828588181515, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20393033468266994, -0.4088968055432683, 0.6778559336821999, 0.17142312120545233, -0.3484128794055046, 0.8880511915854861, 0.07974572311878869, 0.0, -0.059272257334878, -0.19329715678186127, 1.4612828588181515, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20393033468266994, -0.4088968055432683, 0.6778559336821999, 0.17142312120545233, -0.3484128794055046, 0.8880511915854861, 0.07974572311878869, 0.0, 0.006292083046653054, -0.12803406255287036, 1.4612828588181515, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20393033468266994, -0.4088968055432683, 0.6778559336821999, 0.17142312120545233, -0.3484128794055046, 0.8880511915854861, 0.07974572311878869, 0.0, 0.03482241968979295, -0.11130856878259346, 1.4612828588181515, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20393033468266994, -0.4088968055432683, 0.6778559336821999, 0.17142312120545233, -0.3484128794055046, 0.8880511915854861, 0.07974572311878869, 0.0, 0.05570660823840273, -0.10256570549102491, 1.4612828588181515, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20393033468266994, -0.4088968055432683, 0.6778559336821999, 0.17142312120545233, -0.3484128794055046, 0.8880511915854861, 0.07974572311878869, 0.0, 0.11599283108110443, -0.03409199053020569, 1.4612828588181515, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20393033468266994, -0.4088968055432683, 0.6778559336821999, 0.17142312120545233, -0.3484128794055046, 0.8880511915854861, 0.07974572311878869, 0.0, 0.12845194453828074, -0.02113807106322269, 1.4612828588181515, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20393033468266994, -0.4088968055432683, 0.6778559336821999, 0.17142312120545233, -0.3484128794055046, 0.8880511915854861, 0.07974572311878869, 0.0, 0.15214944209018202, 0.026504574970385296, 1.4612828588181515, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20393033468266994, -0.4088968055432683, 0.6778559336821999, 0.17142312120545233, -0.3484128794055046, 0.8880511915854861, 0.07974572311878869, 0.0, 0.2012495838664175, 0.060743364040551195, 1.4612828588181515, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20393033468266994, -0.4088968055432683, 0.6778559336821999, 0.17142312120545233, -0.3484128794055046, 0.8880511915854861, 0.07974572311878869, 0.0, 0.24577215812993392, 0.10831890798261481, 1.4612828588181515, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20393033468266994, -0.4088968055432683, 0.6778559336821999, 0.17142312120545233, -0.3484128794055046, 0.8880511915854861, 0.07974572311878869, 0.0, 0.27394015785229453, 0.14236837159693716, 1.4612828588181515, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20393033468266994, -0.4088968055432683, 0.6778559336821999, 0.17142312120545233, -0.3484128794055046, 0.8880511915854861, 0.07974572311878869, 0.0, 0.3161325009816001, 0.18154425275002561, 1.4612828588181515, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20393033468266994, -0.4088968055432683, 0.6778559336821999, 0.17142312120545233, -0.3484128794055046, 0.8880511915854861, 0.07974572311878869, 0.0, 0.3466959965476199, 0.22401687935398717, 1.4612828588181515, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20393033468266994, -0.4088968055432683, 0.6778559336821999, 0.17142312120545233, -0.3484128794055046, 0.8880511915854861, 0.07974572311878869, 0.0, 0.3628656118870542, 0.24604600126093085, 1.4612828588181515, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20393033468266994, -0.4088968055432683, 0.6778559336821999, 0.17142312120545233, -0.3484128794055046, 0.8880511915854861, 0.07974572311878869, 0.0, 0.4197012149926388, 0.30597566816795385, 1.4612828588181515, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20393033468266994, -0.4088968055432683, 0.6778559336821999, 0.17142312120545233, -0.3484128794055046, 0.8880511915854861, 0.07974572311878869, 0.0, 0.4568848254387839, 0.32800664913140987, 1.4612828588181515, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20393033468266994, -0.4088968055432683, 0.6778559336821999, 0.17142312120545233, -0.3484128794055046, 0.8880511915854861, 0.07974572311878869, 0.0, 0.4925494192129497, 0.3874405690927825, 1.4612828588181515, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20393033468266994, -0.4088968055432683, 0.6778559336821999, 0.17142312120545233, -0.3484128794055046, 0.8880511915854861, 0.07974572311878869, 0.0, 0.5170096238834436, 0.3974527519855773, 1.4612828588181515, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20393033468266994, -0.4088968055432683, 0.6778559336821999, 0.17142312120545233, -0.3484128794055046, 0.8880511915854861, 0.07974572311878869, 0.0, 0.5419888173183947, 0.41257138400556936, 1.4612828588181515, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20393033468266994, -0.4088968055432683, 0.6778559336821999, 0.17142312120545233, -0.3484128794055046, 0.8880511915854861, 0.07974572311878869, 0.0, 0.5737909494024335, 0.46569194919184637, 1.4612828588181515, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20393033468266994, -0.4088968055432683, 0.6778559336821999, 0.17142312120545233, -0.3484128794055046, 0.8880511915854861, 0.07974572311878869, 0.0, 0.6121773588600341, 0.4867849405112259, 1.4612828588181515, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20393033468266994, -0.4088968055432683, 0.6778559336821999, 0.17142312120545233, -0.3484128794055046, 0.8880511915854861, 0.07974572311878869, 0.0, 0.6663348928592993, 0.5569427507726009, 1.4612828588181515, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20393033468266994, -0.4088968055432683, 0.6778559336821999, 0.17142312120545233, -0.3484128794055046, 0.8880511915854861, 0.07974572311878869, 0.0, 1.5050805807113647, 2.0320444107055664, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8783530703018964, 0.569167520817734, 0.6820412481573993, 0.21638574157164428, -0.471019279996613, 0.8207944946402258, 0.12611661207494643, 0.0, 1.537644386291504, 2.11004638671875, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8783530703018964, 0.569167520817734, 0.6820412481573993, 0.21638574157164428, -0.471019279996613, 0.8207944946402258, 0.12611661207494643, 0.0, 1.5580110549926758, 2.158831834793091, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8783530703018964, 0.569167520817734, 0.6820412481573993, 0.21638574157164428, -0.471019279996613, 0.8207944946402258, 0.12611661207494643, 0.0, 1.5873886346817017, 2.2292017936706543, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8783530703018964, 0.569167520817734, 0.6820412481573993, 0.21638574157164428, -0.471019279996613, 0.8207944946402258, 0.12611661207494643, 0.0, 1.592479944229126, 2.2378547191619873, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8783530703018964, 0.569167520817734, 0.6820412481573993, 0.21638574157164428, -0.471019279996613, 0.8207944946402258, 0.12611661207494643, 0.0], "std": [1.6359935497365292, 1.068431250647503, 0.46357319014173076, 0.037671815535920444, 0.0, 0.0, 0.03711666705939002, 1.2892424255143107, 1.2887021185308656, 1.5518936771659453, 0.025003421577253312, 0.050787797016804886, 0.21114603335859616, 0.10710255041106014, 0.061713976310266296, 0.4985185152621432, 1.6087679370263466, 0.7382086005923989, 0.02580288717585252, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4125402579088857, 1.3476360870124846, 0.006386052307151459, 0.05096708245567217, 0.1970702923913507, 0.09502479364521402, 0.0613504737873687, 0.0, 1.5917370371101498, 0.7296091736549604, 0.02580288717585252, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4125402579088857, 1.3476360870124846, 0.006386052307151459, 0.05096708245567217, 0.1970702923913507, 0.09502479364521402, 0.0613504737873687, 0.0, 1.5887549367862024, 0.7191329358972812, 0.02580288717585252, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4125402579088857, 1.3476360870124846, 0.006386052307151459, 0.05096708245567217, 0.1970702923913507, 0.09502479364521402, 0.0613504737873687, 0.0, 1.6100160052259989, 0.7222553668578183, 0.02580288717585252, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4125402579088857, 1.3476360870124846, 0.006386052307151459, 0.05096708245567217, 0.1970702923913507, 0.09502479364521402, 0.0613504737873687, 0.0, 1.6402043733879617, 0.7265621087457552, 0.02580288717585252, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4125402579088857, 1.3476360870124846, 0.006386052307151459, 0.05096708245567217, 0.1970702923913507, 0.09502479364521402, 0.0613504737873687, 0.0, 1.628938804589175, 0.7150352634774668, 0.02580288717585252, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4125402579088857, 1.3476360870124846, 0.006386052307151459, 0.05096708245567217, 0.1970702923913507, 0.09502479364521402, 0.0613504737873687, 0.0, 1.6233197032255426, 0.7088850251791933, 0.02580288717585252, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4125402579088857, 1.3476360870124846, 0.006386052307151459, 0.05096708245567217, 0.1970702923913507, 0.09502479364521402, 0.0613504737873687, 0.0, 1.639224625865009, 0.7064287338246223, 0.02580288717585252, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4125402579088857, 1.3476360870124846, 0.006386052307151459, 0.05096708245567217, 0.1970702923913507, 0.09502479364521402, 0.0613504737873687, 0.0, 1.6051574098405994, 0.6916706879791132, 0.02580288717585252, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4125402579088857, 1.3476360870124846, 0.006386052307151459, 0.05096708245567217, 0.1970702923913507, 0.09502479364521402, 0.0613504737873687, 0.0, 1.6133235414197862, 0.6920014546003193, 0.02580288717585252, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4125402579088857, 1.3476360870124846, 0.006386052307151459, 0.05096708245567217, 0.1970702923913507, 0.09502479364521402, 0.0613504737873687, 0.0, 1.6524873346586129, 0.6977627375043014, 0.02580288717585252, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4125402579088857, 1.3476360870124846, 0.006386052307151459, 0.05096708245567217, 0.1970702923913507, 0.09502479364521402, 0.0613504737873687, 0.0, 1.6184605431891184, 0.6980478268302055, 0.02580288717585252, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4125402579088857, 1.3476360870124846, 0.006386052307151459, 0.05096708245567217, 0.1970702923913507, 0.09502479364521402, 0.0613504737873687, 0.0, 1.5969630605698628, 0.6980503826190175, 0.02580288717585252, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4125402579088857, 1.3476360870124846, 0.006386052307151459, 0.05096708245567217, 0.1970702923913507, 0.09502479364521402, 0.0613504737873687, 0.0, 1.61116615848174, 0.7375189833915727, 0.02580288717585252, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4125402579088857, 1.3476360870124846, 0.006386052307151459, 0.05096708245567217, 0.1970702923913507, 0.09502479364521402, 0.0613504737873687, 0.0, 1.5802463295068432, 0.7319648382548747, 0.02580288717585252, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4125402579088857, 1.3476360870124846, 0.006386052307151459, 0.05096708245567217, 0.1970702923913507, 0.09502479364521402, 0.0613504737873687, 0.0, 1.5868471295970463, 0.7536111212759689, 0.02580288717585252, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4125402579088857, 1.3476360870124846, 0.006386052307151459, 0.05096708245567217, 0.1970702923913507, 0.09502479364521402, 0.0613504737873687, 0.0, 1.5945862215568776, 0.7710201144840457, 0.02580288717585252, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4125402579088857, 1.3476360870124846, 0.006386052307151459, 0.05096708245567217, 0.1970702923913507, 0.09502479364521402, 0.0613504737873687, 0.0, 1.554629479981379, 0.7834709962800438, 0.02580288717585252, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4125402579088857, 1.3476360870124846, 0.006386052307151459, 0.05096708245567217, 0.1970702923913507, 0.09502479364521402, 0.0613504737873687, 0.0, 1.532161837761986, 0.7972790167918965, 0.02580288717585252, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4125402579088857, 1.3476360870124846, 0.006386052307151459, 0.05096708245567217, 0.1970702923913507, 0.09502479364521402, 0.0613504737873687, 0.0, 1.524805356302124, 0.8117402790917996, 0.02580288717585252, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4125402579088857, 1.3476360870124846, 0.006386052307151459, 0.05096708245567217, 0.1970702923913507, 0.09502479364521402, 0.0613504737873687, 0.0, 1.5084346077192676, 0.8319345768856626, 0.02580288717585252, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4125402579088857, 1.3476360870124846, 0.006386052307151459, 0.05096708245567217, 0.1970702923913507, 0.09502479364521402, 0.0613504737873687, 0.0, 1.5045216950554423, 0.8630379471591074, 0.02580288717585252, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4125402579088857, 1.3476360870124846, 0.006386052307151459, 0.05096708245567217, 0.1970702923913507, 0.09502479364521402, 0.0613504737873687, 0.0, 1.4989411301948936, 0.8716757406471166, 0.02580288717585252, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4125402579088857, 1.3476360870124846, 0.006386052307151459, 0.05096708245567217, 0.1970702923913507, 0.09502479364521402, 0.0613504737873687, 0.0, 1.4771704159210475, 0.8976642605591464, 0.02580288717585252, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4125402579088857, 1.3476360870124846, 0.006386052307151459, 0.05096708245567217, 0.1970702923913507, 0.09502479364521402, 0.0613504737873687, 0.0, 1.4438115471660269, 0.894206891246522, 0.02580288717585252, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4125402579088857, 1.3476360870124846, 0.006386052307151459, 0.05096708245567217, 0.1970702923913507, 0.09502479364521402, 0.0613504737873687, 0.0, 1.4335189992992494, 0.8932461338287712, 0.02580288717585252, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4125402579088857, 1.3476360870124846, 0.006386052307151459, 0.05096708245567217, 0.1970702923913507, 0.09502479364521402, 0.0613504737873687, 0.0, 1.4315882791662446, 0.932202901673295, 0.02580288717585252, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4125402579088857, 1.3476360870124846, 0.006386052307151459, 0.05096708245567217, 0.1970702923913507, 0.09502479364521402, 0.0613504737873687, 0.0, 1.4128263226879783, 0.9435773088127329, 0.02580288717585252, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4125402579088857, 1.3476360870124846, 0.006386052307151459, 0.05096708245567217, 0.1970702923913507, 0.09502479364521402, 0.0613504737873687, 0.0, 1.4100665759902635, 0.967379511136991, 0.02580288717585252, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4125402579088857, 1.3476360870124846, 0.006386052307151459, 0.05096708245567217, 0.1970702923913507, 0.09502479364521402, 0.0613504737873687, 0.0, 1.3929857341776362, 0.995760981189981, 0.02580288717585252, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4125402579088857, 1.3476360870124846, 0.006386052307151459, 0.05096708245567217, 0.1970702923913507, 0.09502479364521402, 0.0613504737873687, 0.0, 1.3562473696576163, 0.9920187714437051, 0.02580288717585252, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4125402579088857, 1.3476360870124846, 0.006386052307151459, 0.05096708245567217, 0.1970702923913507, 0.09502479364521402, 0.0613504737873687, 0.0, 1.3682705431685618, 1.0362683912387736, 0.02580288717585252, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4125402579088857, 1.3476360870124846, 0.006386052307151459, 0.05096708245567217, 0.1970702923913507, 0.09502479364521402, 0.0613504737873687, 0.0, 1.3562920662432527, 1.0361840502081439, 0.02580288717585252, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4125402579088857, 1.3476360870124846, 0.006386052307151459, 0.05096708245567217, 0.1970702923913507, 0.09502479364521402, 0.0613504737873687, 0.0, 1.321588406798518, 1.0244659516971852, 0.02580288717585252, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4125402579088857, 1.3476360870124846, 0.006386052307151459, 0.05096708245567217, 0.1970702923913507, 0.09502479364521402, 0.0613504737873687, 0.0, 1.323556631646333, 1.0680033088138687, 0.02580288717585252, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4125402579088857, 1.3476360870124846, 0.006386052307151459, 0.05096708245567217, 0.1970702923913507, 0.09502479364521402, 0.0613504737873687, 0.0, 1.2979453989125564, 1.0679749871076667, 0.02580288717585252, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4125402579088857, 1.3476360870124846, 0.006386052307151459, 0.05096708245567217, 0.1970702923913507, 0.09502479364521402, 0.0613504737873687, 0.0, 1.2689042084440774, 1.0916774616611193, 0.02580288717585252, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4125402579088857, 1.3476360870124846, 0.006386052307151459, 0.05096708245567217, 0.1970702923913507, 0.09502479364521402, 0.0613504737873687, 0.0, 1.2736165480720099, 1.1098411555291672, 0.02580288717585252, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4125402579088857, 1.3476360870124846, 0.006386052307151459, 0.05096708245567217, 0.1970702923913507, 0.09502479364521402, 0.0613504737873687, 0.0, 1.2809009325127165, 1.1399372924055349, 0.02580288717585252, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4125402579088857, 1.3476360870124846, 0.006386052307151459, 0.05096708245567217, 0.1970702923913507, 0.09502479364521402, 0.0613504737873687, 0.0, 1.2494999465763932, 1.1518369559364736, 0.02580288717585252, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4125402579088857, 1.3476360870124846, 0.006386052307151459, 0.05096708245567217, 0.1970702923913507, 0.09502479364521402, 0.0613504737873687, 0.0, 1.2363167421317076, 1.1673044412052973, 0.02580288717585252, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4125402579088857, 1.3476360870124846, 0.006386052307151459, 0.05096708245567217, 0.1970702923913507, 0.09502479364521402, 0.0613504737873687, 0.0, 1.2254328560592653, 1.193896740219368, 0.02580288717585252, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4125402579088857, 1.3476360870124846, 0.006386052307151459, 0.05096708245567217, 0.1970702923913507, 0.09502479364521402, 0.0613504737873687, 0.0, 1.1838266945711629, 1.1917526414394275, 0.02580288717585252, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4125402579088857, 1.3476360870124846, 0.006386052307151459, 0.05096708245567217, 0.1970702923913507, 0.09502479364521402, 0.0613504737873687, 0.0, 1.2012388676560168, 1.2356620441384076, 0.02580288717585252, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4125402579088857, 1.3476360870124846, 0.006386052307151459, 0.05096708245567217, 0.1970702923913507, 0.09502479364521402, 0.0613504737873687, 0.0, 1.203781342586665, 1.2429487763385993, 0.02580288717585252, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4125402579088857, 1.3476360870124846, 0.006386052307151459, 0.05096708245567217, 0.1970702923913507, 0.09502479364521402, 0.0613504737873687, 0.0, 1.173743453920321, 1.269943166312679, 0.02580288717585252, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4125402579088857, 1.3476360870124846, 0.006386052307151459, 0.05096708245567217, 0.1970702923913507, 0.09502479364521402, 0.0613504737873687, 0.0, 1.1491168239652678, 1.2665940725471172, 0.02580288717585252, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4125402579088857, 1.3476360870124846, 0.006386052307151459, 0.05096708245567217, 0.1970702923913507, 0.09502479364521402, 0.0613504737873687, 0.0, 1.1276253147593818, 1.2596163530448012, 0.02580288717585252, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4125402579088857, 1.3476360870124846, 0.006386052307151459, 0.05096708245567217, 0.1970702923913507, 0.09502479364521402, 0.0613504737873687, 0.0, 1.1083844450644909, 1.2953833692256942, 0.02580288717585252, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4125402579088857, 1.3476360870124846, 0.006386052307151459, 0.05096708245567217, 0.1970702923913507, 0.09502479364521402, 0.0613504737873687, 0.0, 1.1032227621020627, 1.3012269128671043, 0.02580288717585252, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4125402579088857, 1.3476360870124846, 0.006386052307151459, 0.05096708245567217, 0.1970702923913507, 0.09502479364521402, 0.0613504737873687, 0.0, 1.1161766290790112, 1.3420889237536562, 0.02580288717585252, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4125402579088857, 1.3476360870124846, 0.006386052307151459, 0.05096708245567217, 0.1970702923913507, 0.09502479364521402, 0.0613504737873687, 0.0, 1.0791940678540193, 1.3433786461101134, 0.02580288717585252, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4125402579088857, 1.3476360870124846, 0.006386052307151459, 0.05096708245567217, 0.1970702923913507, 0.09502479364521402, 0.0613504737873687, 0.0, 1.062021009615013, 1.3659221298764421, 0.02580288717585252, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4125402579088857, 1.3476360870124846, 0.006386052307151459, 0.05096708245567217, 0.1970702923913507, 0.09502479364521402, 0.0613504737873687, 0.0, 1.055066054464169, 1.3852923938093076, 0.02580288717585252, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4125402579088857, 1.3476360870124846, 0.006386052307151459, 0.05096708245567217, 0.1970702923913507, 0.09502479364521402, 0.0613504737873687, 0.0, 1.0329418092176368, 1.399013948419594, 0.02580288717585252, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4125402579088857, 1.3476360870124846, 0.006386052307151459, 0.05096708245567217, 0.1970702923913507, 0.09502479364521402, 0.0613504737873687, 0.0, 1.0308670436387353, 1.4271793948814486, 0.02580288717585252, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4125402579088857, 1.3476360870124846, 0.006386052307151459, 0.05096708245567217, 0.1970702923913507, 0.09502479364521402, 0.0613504737873687, 0.0, 1.0293328571110214, 1.4415099999081906, 0.02580288717585252, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4125402579088857, 1.3476360870124846, 0.006386052307151459, 0.05096708245567217, 0.1970702923913507, 0.09502479364521402, 0.0613504737873687, 0.0, 1.0066152230841006, 1.4692492834456605, 0.02580288717585252, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4125402579088857, 1.3476360870124846, 0.006386052307151459, 0.05096708245567217, 0.1970702923913507, 0.09502479364521402, 0.0613504737873687, 0.0, 0.9747495590804393, 1.4651852226205195, 0.02580288717585252, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4125402579088857, 1.3476360870124846, 0.006386052307151459, 0.05096708245567217, 0.1970702923913507, 0.09502479364521402, 0.0613504737873687, 0.0, 0.9821011369920004, 1.5108179996558877, 0.02580288717585252, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4125402579088857, 1.3476360870124846, 0.006386052307151459, 0.05096708245567217, 0.1970702923913507, 0.09502479364521402, 0.0613504737873687, 0.0, 0.9567042041778454, 1.5023509090854172, 0.02580288717585252, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4125402579088857, 1.3476360870124846, 0.006386052307151459, 0.05096708245567217, 0.1970702923913507, 0.09502479364521402, 0.0613504737873687, 0.0, 0.9356129433865534, 1.5000328680742185, 0.02580288717585252, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4125402579088857, 1.3476360870124846, 0.006386052307151459, 0.05096708245567217, 0.1970702923913507, 0.09502479364521402, 0.0613504737873687, 0.0, 0.9422904617186829, 1.5408831698818224, 0.02580288717585252, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4125402579088857, 1.3476360870124846, 0.006386052307151459, 0.05096708245567217, 0.1970702923913507, 0.09502479364521402, 0.0613504737873687, 0.0, 0.9077601055580035, 1.5345530753758683, 0.02580288717585252, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4125402579088857, 1.3476360870124846, 0.006386052307151459, 0.05096708245567217, 0.1970702923913507, 0.09502479364521402, 0.0613504737873687, 0.0, 0.8899059741795856, 1.5560011956089894, 0.02580288717585252, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4125402579088857, 1.3476360870124846, 0.006386052307151459, 0.05096708245567217, 0.1970702923913507, 0.09502479364521402, 0.0613504737873687, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5474452371980684, 1.0855055944764627, 0.004572773584201013, 0.021000430894232893, 0.18141539613064336, 0.07807764095806394, 0.04754032158299019, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5474452371980684, 1.0855055944764627, 0.004572773584201013, 0.021000430894232893, 0.18141539613064336, 0.07807764095806394, 0.04754032158299019, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5474452371980684, 1.0855055944764627, 0.004572773584201013, 0.021000430894232893, 0.18141539613064336, 0.07807764095806394, 0.04754032158299019, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5474452371980684, 1.0855055944764627, 0.004572773584201013, 0.021000430894232893, 0.18141539613064336, 0.07807764095806394, 0.04754032158299019, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5474452371980684, 1.0855055944764627, 0.004572773584201013, 0.021000430894232893, 0.18141539613064336, 0.07807764095806394, 0.04754032158299019, 0.0], "min": [-3.5004003047943115, -2.324596881866455, 0.33000001311302185, 0.5729645490646362, -0.0, -0.0, 0.629795491695404, -1.0, -3.2134735584259033, -2.0859732627868652, 0.6222670674324036, 0.0701964795589447, -0.8133142590522766, 0.5684585571289062, 0.016617480665445328, 0.0, -3.4912173748016357, -2.3212063312530518, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2134735584259033, -2.0859732627868652, 0.6523369550704956, 0.1022377535700798, -0.6554996967315674, 0.7095730304718018, 0.016617480665445328, 0.0, -3.4348244667053223, -2.300384998321533, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2134735584259033, -2.0859732627868652, 0.6523369550704956, 0.1022377535700798, -0.6554996967315674, 0.7095730304718018, 0.016617480665445328, 0.0, -3.3386523723602295, -2.264876365661621, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2134735584259033, -2.0859732627868652, 0.6523369550704956, 0.1022377535700798, -0.6554996967315674, 0.7095730304718018, 0.016617480665445328, 0.0, -3.3358144760131836, -2.2638285160064697, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2134735584259033, -2.0859732627868652, 0.6523369550704956, 0.1022377535700798, -0.6554996967315674, 0.7095730304718018, 0.016617480665445328, 0.0, -3.3305652141571045, -2.261890411376953, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2134735584259033, -2.0859732627868652, 0.6523369550704956, 0.1022377535700798, -0.6554996967315674, 0.7095730304718018, 0.016617480665445328, 0.0, -3.237096071243286, -2.227379560470581, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2134735584259033, -2.0859732627868652, 0.6523369550704956, 0.1022377535700798, -0.6554996967315674, 0.7095730304718018, 0.016617480665445328, 0.0, -3.1866190433502197, -2.208742380142212, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2134735584259033, -2.0859732627868652, 0.6523369550704956, 0.1022377535700798, -0.6554996967315674, 0.7095730304718018, 0.016617480665445328, 0.0, -3.1383957862854004, -2.1909372806549072, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2134735584259033, -2.0859732627868652, 0.6523369550704956, 0.1022377535700798, -0.6554996967315674, 0.7095730304718018, 0.016617480665445328, 0.0, -3.0490996837615967, -2.1579673290252686, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2134735584259033, -2.0859732627868652, 0.6523369550704956, 0.1022377535700798, -0.6554996967315674, 0.7095730304718018, 0.016617480665445328, 0.0, -3.0396547317504883, -2.15447998046875, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2134735584259033, -2.0859732627868652, 0.6523369550704956, 0.1022377535700798, -0.6554996967315674, 0.7095730304718018, 0.016617480665445328, 0.0, -3.034519910812378, -2.1525840759277344, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2134735584259033, -2.0859732627868652, 0.6523369550704956, 0.1022377535700798, -0.6554996967315674, 0.7095730304718018, 0.016617480665445328, 0.0, -2.9405252933502197, -2.1178793907165527, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2134735584259033, -2.0859732627868652, 0.6523369550704956, 0.1022377535700798, -0.6554996967315674, 0.7095730304718018, 0.016617480665445328, 0.0, -2.8814971446990967, -2.0960850715637207, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2134735584259033, -2.0859732627868652, 0.6523369550704956, 0.1022377535700798, -0.6554996967315674, 0.7095730304718018, 0.016617480665445328, 0.0, -2.841395378112793, -2.0812785625457764, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2134735584259033, -2.0859732627868652, 0.6523369550704956, 0.1022377535700798, -0.6554996967315674, 0.7095730304718018, 0.016617480665445328, 0.0, -2.7676331996917725, -2.054044008255005, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2134735584259033, -2.0859732627868652, 0.6523369550704956, 0.1022377535700798, -0.6554996967315674, 0.7095730304718018, 0.016617480665445328, 0.0, -2.7423758506774902, -2.0447185039520264, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2134735584259033, -2.0859732627868652, 0.6523369550704956, 0.1022377535700798, -0.6554996967315674, 0.7095730304718018, 0.016617480665445328, 0.0, -2.7287356853485107, -2.039682388305664, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2134735584259033, -2.0859732627868652, 0.6523369550704956, 0.1022377535700798, -0.6554996967315674, 0.7095730304718018, 0.016617480665445328, 0.0, -2.6436753273010254, -2.0082762241363525, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2134735584259033, -2.0859732627868652, 0.6523369550704956, 0.1022377535700798, -0.6554996967315674, 0.7095730304718018, 0.016617480665445328, 0.0, -2.576733350753784, -1.9835598468780518, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2134735584259033, -2.0859732627868652, 0.6523369550704956, 0.1022377535700798, -0.6554996967315674, 0.7095730304718018, 0.016617480665445328, 0.0, -2.5449752807617188, -1.9718341827392578, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2134735584259033, -2.0859732627868652, 0.6523369550704956, 0.1022377535700798, -0.6554996967315674, 0.7095730304718018, 0.016617480665445328, 0.0, -2.486168146133423, -1.9501214027404785, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2134735584259033, -2.0859732627868652, 0.6523369550704956, 0.1022377535700798, -0.6554996967315674, 0.7095730304718018, 0.016617480665445328, 0.0, -2.446101427078247, -1.9353280067443848, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2134735584259033, -2.0859732627868652, 0.6523369550704956, 0.1022377535700798, -0.6554996967315674, 0.7095730304718018, 0.016617480665445328, 0.0, -2.424318790435791, -1.9272854328155518, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2134735584259033, -2.0859732627868652, 0.6523369550704956, 0.1022377535700798, -0.6554996967315674, 0.7095730304718018, 0.016617480665445328, 0.0, -2.3469719886779785, -1.898727297782898, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2134735584259033, -2.0859732627868652, 0.6523369550704956, 0.1022377535700798, -0.6554996967315674, 0.7095730304718018, 0.016617480665445328, 0.0, -2.271296262741089, -1.8707863092422485, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2134735584259033, -2.0859732627868652, 0.6523369550704956, 0.1022377535700798, -0.6554996967315674, 0.7095730304718018, 0.016617480665445328, 0.0, -2.247842311859131, -1.8621265888214111, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2134735584259033, -2.0859732627868652, 0.6523369550704956, 0.1022377535700798, -0.6554996967315674, 0.7095730304718018, 0.016617480665445328, 0.0, -2.2047016620635986, -1.8461982011795044, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2134735584259033, -2.0859732627868652, 0.6523369550704956, 0.1022377535700798, -0.6554996967315674, 0.7095730304718018, 0.016617480665445328, 0.0, -2.1489553451538086, -1.8256155252456665, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2134735584259033, -2.0859732627868652, 0.6523369550704956, 0.1022377535700798, -0.6554996967315674, 0.7095730304718018, 0.016617480665445328, 0.0, -2.1188502311706543, -1.814500093460083, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2134735584259033, -2.0859732627868652, 0.6523369550704956, 0.1022377535700798, -0.6554996967315674, 0.7095730304718018, 0.016617480665445328, 0.0, -2.050255060195923, -1.7891733646392822, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2134735584259033, -2.0859732627868652, 0.6523369550704956, 0.1022377535700798, -0.6554996967315674, 0.7095730304718018, 0.016617480665445328, 0.0, -1.9668480157852173, -1.7583777904510498, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2134735584259033, -2.0859732627868652, 0.6523369550704956, 0.1022377535700798, -0.6554996967315674, 0.7095730304718018, 0.016617480665445328, 0.0, -1.951554536819458, -1.7527310848236084, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2134735584259033, -2.0859732627868652, 0.6523369550704956, 0.1022377535700798, -0.6554996967315674, 0.7095730304718018, 0.016617480665445328, 0.0, -1.923235535621643, -1.7422751188278198, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2134735584259033, -2.0859732627868652, 0.6523369550704956, 0.1022377535700798, -0.6554996967315674, 0.7095730304718018, 0.016617480665445328, 0.0, -1.8525482416152954, -1.71617591381073, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2134735584259033, -2.0859732627868652, 0.6523369550704956, 0.1022377535700798, -0.6554996967315674, 0.7095730304718018, 0.016617480665445328, 0.0, -1.8141182661056519, -1.7019867897033691, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2134735584259033, -2.0859732627868652, 0.6523369550704956, 0.1022377535700798, -0.6554996967315674, 0.7095730304718018, 0.016617480665445328, 0.0, -1.7534188032150269, -1.6795753240585327, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2134735584259033, -2.0859732627868652, 0.6523369550704956, 0.1022377535700798, -0.6554996967315674, 0.7095730304718018, 0.016617480665445328, 0.0, -1.6610957384109497, -1.6454877853393555, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2134735584259033, -2.0859732627868652, 0.6523369550704956, 0.1022377535700798, -0.6554996967315674, 0.7095730304718018, 0.016617480665445328, 0.0, -1.6542893648147583, -1.6429747343063354, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2134735584259033, -2.0859732627868652, 0.6523369550704956, 0.1022377535700798, -0.6554996967315674, 0.7095730304718018, 0.016617480665445328, 0.0, -1.6417698860168457, -1.6383522748947144, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2134735584259033, -2.0859732627868652, 0.6523369550704956, 0.1022377535700798, -0.6554996967315674, 0.7095730304718018, 0.016617480665445328, 0.0, -1.555534839630127, -1.6065125465393066, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2134735584259033, -2.0859732627868652, 0.6523369550704956, 0.1022377535700798, -0.6554996967315674, 0.7095730304718018, 0.016617480665445328, 0.0, -1.5089647769927979, -1.5893179178237915, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2134735584259033, -2.0859732627868652, 0.6523369550704956, 0.1022377535700798, -0.6554996967315674, 0.7095730304718018, 0.016617480665445328, 0.0, -1.4568344354629517, -1.5700703859329224, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2134735584259033, -2.0859732627868652, 0.6523369550704956, 0.1022377535700798, -0.6554996967315674, 0.7095730304718018, 0.016617480665445328, 0.0, -1.360303282737732, -1.5344290733337402, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2134735584259033, -2.0859732627868652, 0.6523369550704956, 0.1022377535700798, -0.6554996967315674, 0.7095730304718018, 0.016617480665445328, 0.0, -1.3581246137619019, -1.5336246490478516, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2134735584259033, -2.0859732627868652, 0.6523369550704956, 0.1022377535700798, -0.6554996967315674, 0.7095730304718018, 0.016617480665445328, 0.0, -1.3569401502609253, -1.5331872701644897, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2134735584259033, -2.0859732627868652, 0.6523369550704956, 0.1022377535700798, -0.6554996967315674, 0.7095730304718018, 0.016617480665445328, 0.0, -1.2589951753616333, -1.4970239400863647, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2134735584259033, -2.0859732627868652, 0.6523369550704956, 0.1022377535700798, -0.6554996967315674, 0.7095730304718018, 0.016617480665445328, 0.0, -1.2039175033569336, -1.4766881465911865, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2134735584259033, -2.0859732627868652, 0.6523369550704956, 0.1022377535700798, -0.6554996967315674, 0.7095730304718018, 0.016617480665445328, 0.0, -1.1598656177520752, -1.4604233503341675, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2134735584259033, -2.0859732627868652, 0.6523369550704956, 0.1022377535700798, -0.6554996967315674, 0.7095730304718018, 0.016617480665445328, 0.0, -1.0788378715515137, -1.4305062294006348, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2134735584259033, -2.0859732627868652, 0.6523369550704956, 0.1022377535700798, -0.6554996967315674, 0.7095730304718018, 0.016617480665445328, 0.0, -1.0608144998550415, -1.4238516092300415, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2134735584259033, -2.0859732627868652, 0.6523369550704956, 0.1022377535700798, -0.6554996967315674, 0.7095730304718018, 0.016617480665445328, 0.0, -1.0510811805725098, -1.4202579259872437, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2134735584259033, -2.0859732627868652, 0.6523369550704956, 0.1022377535700798, -0.6554996967315674, 0.7095730304718018, 0.016617480665445328, 0.0, -0.9621140956878662, -1.3874094486236572, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2134735584259033, -2.0859732627868652, 0.6523369550704956, 0.1022377535700798, -0.6554996967315674, 0.7095730304718018, 0.016617480665445328, 0.0, -0.8990790843963623, -1.3641356229782104, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2134735584259033, -2.0859732627868652, 0.6523369550704956, 0.1022377535700798, -0.6554996967315674, 0.7095730304718018, 0.016617480665445328, 0.0, -0.8634136915206909, -1.3509671688079834, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2134735584259033, -2.0859732627868652, 0.6523369550704956, 0.1022377535700798, -0.6554996967315674, 0.7095730304718018, 0.016617480665445328, 0.0, -0.7973715662956238, -1.3265830278396606, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2134735584259033, -2.0859732627868652, 0.6523369550704956, 0.1022377535700798, -0.6554996967315674, 0.7095730304718018, 0.016617480665445328, 0.0, -0.764571487903595, -1.3144725561141968, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2134735584259033, -2.0859732627868652, 0.6523369550704956, 0.1022377535700798, -0.6554996967315674, 0.7095730304718018, 0.016617480665445328, 0.0, -0.7467480301856995, -1.3078917264938354, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2134735584259033, -2.0859732627868652, 0.6523369550704956, 0.1022377535700798, -0.6554996967315674, 0.7095730304718018, 0.016617480665445328, 0.0, -0.6654229760169983, -1.2778648138046265, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2134735584259033, -2.0859732627868652, 0.6523369550704956, 0.1022377535700798, -0.6554996967315674, 0.7095730304718018, 0.016617480665445328, 0.0, -0.5938884019851685, -1.2514528036117554, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2134735584259033, -2.0859732627868652, 0.6523369550704956, 0.1022377535700798, -0.6554996967315674, 0.7095730304718018, 0.016617480665445328, 0.0, -0.5661487579345703, -1.241210699081421, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2134735584259033, -2.0859732627868652, 0.6523369550704956, 0.1022377535700798, -0.6554996967315674, 0.7095730304718018, 0.016617480665445328, 0.0, -0.5143108367919922, -1.2220710515975952, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2134735584259033, -2.0859732627868652, 0.6523369550704956, 0.1022377535700798, -0.6554996967315674, 0.7095730304718018, 0.016617480665445328, 0.0, -0.4665954113006592, -1.2044535875320435, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2134735584259033, -2.0859732627868652, 0.6523369550704956, 0.1022377535700798, -0.6554996967315674, 0.7095730304718018, 0.016617480665445328, 0.0, -0.4419915974140167, -1.1953693628311157, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2134735584259033, -2.0859732627868652, 0.6523369550704956, 0.1022377535700798, -0.6554996967315674, 0.7095730304718018, 0.016617480665445328, 0.0, -0.3663817048072815, -1.1674525737762451, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2134735584259033, -2.0859732627868652, 0.6523369550704956, 0.1022377535700798, -0.6554996967315674, 0.7095730304718018, 0.016617480665445328, 0.0, -0.29297754168510437, -1.1204156875610352, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2134735584259033, -2.0859732627868652, 0.6523369550704956, 0.1022377535700798, -0.6554996967315674, 0.7095730304718018, 0.016617480665445328, 0.0, 1.5050805807113647, 2.0320444107055664, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -0.24154150485992432, -0.8263074159622192, 0.6671148538589478, 0.19053252041339874, -0.6554996967315674, 0.7095730304718018, 0.02518804371356964, 0.0, 1.537644386291504, 2.11004638671875, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -0.24154150485992432, -0.8263074159622192, 0.6671148538589478, 0.19053252041339874, -0.6554996967315674, 0.7095730304718018, 0.02518804371356964, 0.0, 1.5580110549926758, 2.158831834793091, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -0.24154150485992432, -0.8263074159622192, 0.6671148538589478, 0.19053252041339874, -0.6554996967315674, 0.7095730304718018, 0.02518804371356964, 0.0, 1.5873886346817017, 2.2292017936706543, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -0.24154150485992432, -0.8263074159622192, 0.6671148538589478, 0.19053252041339874, -0.6554996967315674, 0.7095730304718018, 0.02518804371356964, 0.0, 1.592479944229126, 2.2378547191619873, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, -0.24154150485992432, -0.8263074159622192, 0.6671148538589478, 0.19053252041339874, -0.6554996967315674, 0.7095730304718018, 0.02518804371356964, 0.0], "max": [1.56586492061615, 2.3170838356018066, 1.4890981912612915, 0.776760995388031, -0.0, -0.0, 0.8195801377296448, 2.0, 1.7054557800292969, 2.8600480556488037, 0.7926899790763855, 0.26334261894226074, -0.10431760549545288, 0.9802219271659851, 0.19765514135360718, 1.0, -0.26460352540016174, -0.8406235575675964, 1.4890981912612915, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9802219271659851, 0.17470970749855042, 0.0, -0.24236851930618286, -0.8370496034622192, 1.4890981912612915, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9802219271659851, 0.17470970749855042, 0.0, -0.15217745304107666, -0.8225525617599487, 1.4890981912612915, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9802219271659851, 0.17470970749855042, 0.0, -0.1066974475979805, -0.8152422308921814, 1.4890981912612915, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9802219271659851, 0.17470970749855042, 0.0, -0.040901102125644684, -0.8046663403511047, 1.4890981912612915, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9802219271659851, 0.17470970749855042, 0.0, 0.029973333701491356, -0.7932742238044739, 1.4890981912612915, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9802219271659851, 0.17470970749855042, 0.0, 0.0691804513335228, -0.7869722247123718, 1.4890981912612915, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9802219271659851, 0.17470970749855042, 0.0, 0.14930330216884613, -0.7740935683250427, 1.4890981912612915, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9802219271659851, 0.17470970749855042, 0.0, 0.17027273774147034, -0.7707229852676392, 1.4890981912612915, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9802219271659851, 0.17470970749855042, 0.0, 0.1960960328578949, -0.7665722370147705, 1.4890981912612915, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9802219271659851, 0.17470970749855042, 0.0, 0.27977943420410156, -0.7531212568283081, 1.4890981912612915, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9802219271659851, 0.17470970749855042, 0.0, 0.305528461933136, -0.7178447842597961, 1.4890981912612915, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9802219271659851, 0.17470970749855042, 0.0, 0.32144033908843994, -0.6960453391075134, 1.4890981912612915, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9802219271659851, 0.17470970749855042, 0.0, 0.3900284469127655, -0.602078914642334, 1.4890981912612915, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9802219271659851, 0.17470970749855042, 0.0, 0.4017764925956726, -0.5859839916229248, 1.4890981912612915, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9802219271659851, 0.17470970749855042, 0.0, 0.4402726888656616, -0.5332437753677368, 1.4890981912612915, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9802219271659851, 0.17470970749855042, 0.0, 0.4694347083568573, -0.493291437625885, 1.4890981912612915, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9802219271659851, 0.17470970749855042, 0.0, 0.47435611486434937, -0.43691325187683105, 1.4890981912612915, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9802219271659851, 0.17470970749855042, 0.0, 0.49623602628707886, -0.38450291752815247, 1.4890981912612915, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9802219271659851, 0.17470970749855042, 0.0, 0.5132396221160889, -0.34377312660217285, 1.4890981912612915, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9802219271659851, 0.17470970749855042, 0.0, 0.5392128825187683, -0.2815577983856201, 1.4890981912612915, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9802219271659851, 0.17470970749855042, 0.0, 0.5714316964149475, -0.20438215136528015, 1.4890981912612915, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9802219271659851, 0.17470970749855042, 0.0, 0.5820217132568359, -0.17901524901390076, 1.4890981912612915, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9802219271659851, 0.17470970749855042, 0.0, 0.6157042384147644, -0.09833342581987381, 1.4890981912612915, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9802219271659851, 0.17470970749855042, 0.0, 0.6244739890098572, -0.0773266851902008, 1.4890981912612915, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9802219271659851, 0.17470970749855042, 0.0, 0.6272847652435303, -0.07059390097856522, 1.4890981912612915, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9802219271659851, 0.17470970749855042, 0.0, 0.6665530800819397, 0.02346784807741642, 1.4890981912612915, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9802219271659851, 0.17470970749855042, 0.0, 0.6846696138381958, 0.0668635219335556, 1.4890981912612915, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9802219271659851, 0.17470970749855042, 0.0, 0.709239661693573, 0.1257176697254181, 1.4890981912612915, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9802219271659851, 0.17470970749855042, 0.0, 0.7435767650604248, 0.20796748995780945, 1.4890981912612915, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9802219271659851, 0.17470970749855042, 0.0, 0.7532997727394104, 0.23125752806663513, 1.4890981912612915, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9802219271659851, 0.17470970749855042, 0.0, 0.7927074432373047, 0.32565316557884216, 1.4890981912612915, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9802219271659851, 0.17470970749855042, 0.0, 0.7970018982887268, 0.3359399735927582, 1.4890981912612915, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9802219271659851, 0.17470970749855042, 0.0, 0.7980860471725464, 0.3385368585586548, 1.4890981912612915, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9802219271659851, 0.17470970749855042, 0.0, 0.8404635787010193, 0.44004637002944946, 1.4890981912612915, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9802219271659851, 0.17470970749855042, 0.0, 0.8497960567474365, 0.46240103244781494, 1.4890981912612915, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9802219271659851, 0.17470970749855042, 0.0, 0.8838728666305542, 0.5440272688865662, 1.4890981912612915, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9802219271659851, 0.17470970749855042, 0.0, 0.9001305103302002, 0.5829702019691467, 1.4890981912612915, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9802219271659851, 0.17470970749855042, 0.0, 0.9272598624229431, 0.6479547619819641, 1.4890981912612915, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9802219271659851, 0.17470970749855042, 0.0, 0.9505157470703125, 0.7036609649658203, 1.4890981912612915, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9802219271659851, 0.17470970749855042, 0.0, 0.970645010471344, 0.7518778443336487, 1.4890981912612915, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9802219271659851, 0.17470970749855042, 0.0, 1.0009461641311646, 0.8244600296020508, 1.4890981912612915, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9802219271659851, 0.17470970749855042, 0.0, 1.0140302181243896, 0.8558010458946228, 1.4890981912612915, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9802219271659851, 0.17470970749855042, 0.0, 1.0511314868927002, 0.9446720480918884, 1.4890981912612915, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9802219271659851, 0.17470970749855042, 0.0, 1.057415246963501, 0.9597240090370178, 1.4890981912612915, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9802219271659851, 0.17470970749855042, 0.0, 1.0951149463653564, 1.0500284433364868, 1.4890981912612915, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9802219271659851, 0.17470970749855042, 0.0, 1.1008003950119019, 1.0636471509933472, 1.4890981912612915, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9802219271659851, 0.17470970749855042, 0.0, 1.101747989654541, 1.0659171342849731, 1.4890981912612915, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9802219271659851, 0.17470970749855042, 0.0, 1.1441854238510132, 1.1675701141357422, 1.4890981912612915, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9802219271659851, 0.17470970749855042, 0.0, 1.1518563032150269, 1.1859447956085205, 1.4890981912612915, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9802219271659851, 0.17470970749855042, 0.0, 1.1875704526901245, 1.2714930772781372, 1.4890981912612915, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9802219271659851, 0.17470970749855042, 0.0, 1.2023637294769287, 1.306928277015686, 1.4890981912612915, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9802219271659851, 0.17470970749855042, 0.0, 1.230955719947815, 1.3754162788391113, 1.4890981912612915, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9802219271659851, 0.17470970749855042, 0.0, 1.2526719570159912, 1.4274345636367798, 1.4890981912612915, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9802219271659851, 0.17470970749855042, 0.0, 1.2743407487869263, 1.4793392419815063, 1.4890981912612915, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9802219271659851, 0.17470970749855042, 0.0, 1.302979588508606, 1.5479395389556885, 1.4890981912612915, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9802219271659851, 0.17470970749855042, 0.0, 1.3177260160446167, 1.5832624435424805, 1.4890981912612915, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9802219271659851, 0.17470970749855042, 0.0, 1.3534876108169556, 1.6689244508743286, 1.4890981912612915, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9802219271659851, 0.17470970749855042, 0.0, 1.361111044883728, 1.6871854066848755, 1.4890981912612915, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9802219271659851, 0.17470970749855042, 0.0, 1.4035953283309937, 1.7889505624771118, 1.4890981912612915, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9802219271659851, 0.17470970749855042, 0.0, 1.4044960737228394, 1.791108250617981, 1.4890981912612915, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9802219271659851, 0.17470970749855042, 0.0, 1.409909963607788, 1.8040765523910522, 1.4890981912612915, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9802219271659851, 0.17470970749855042, 0.0, 1.447906494140625, 1.8950918912887573, 1.4890981912612915, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9802219271659851, 0.17470970749855042, 0.0, 1.4542608261108398, 1.9103127717971802, 1.4890981912612915, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9802219271659851, 0.17470970749855042, 0.0, 1.4918559789657593, 2.0003669261932373, 1.4890981912612915, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9802219271659851, 0.17470970749855042, 0.0, 1.5050805807113647, 2.0320444107055664, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9620653390884399, 0.17470970749855042, 0.0, 1.537644386291504, 2.11004638671875, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9620653390884399, 0.17470970749855042, 0.0, 1.5580110549926758, 2.158831834793091, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9620653390884399, 0.17470970749855042, 0.0, 1.5873886346817017, 2.2292017936706543, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9620653390884399, 0.17470970749855042, 0.0, 1.592479944229126, 2.2378547191619873, 1.4373468160629272, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7054557800292969, 2.4839229583740234, 0.6993838548660278, 0.26334261894226074, -0.10431760549545288, 0.9620653390884399, 0.17470970749855042, 0.0], "count": [1365]}, "action.applied": {"mean": [0.2816251213652092, 0.6788721866878398, -1.1413755951783595, -0.22610906926103128, 0.6818205208787115, -1.1613240423656646, 0.18092654329953176, 0.7971188109872979, -1.2705941900665507, -0.1892137691405885, 0.730440751449529, -1.2698475669591855, -0.11182982133747925, 1.8577341486682821, -1.2682291490254385, 0.14655095717709574, 0.6657815192645286, -0.2433565153069519, 0.006769230798050597, -0.006769230798050597], "std": [0.1363310332936189, 0.10805891948305102, 0.1667780515264736, 0.12627799297800615, 0.10373431938363402, 0.14562388377808963, 0.12984311831985232, 0.10726165904943082, 0.16411954449692973, 0.12417993310448694, 0.11032813040979815, 0.16710968216657288, 0.09716701311090462, 0.2613601509612116, 0.4951374312847085, 0.1272132386482892, 0.21969303131656215, 0.20966290791778644, 0.013823913821461167, 0.013823913821461167], "min": [-0.2049432098865509, 0.35397177934646606, -1.7355217933654785, -0.5201786160469055, 0.21759748458862305, -1.6062864065170288, -0.18739354610443115, 0.46988528966903687, -1.7254817485809326, -0.5203241109848022, 0.5381869077682495, -1.6660451889038086, -0.6032918691635132, 1.6432939767837524, -2.787351369857788, -0.034227240830659866, 0.4332253336906433, -0.5892273783683777, 0.0, -0.03500000014901161], "max": [0.6574028730392456, 0.9226549863815308, -0.729849636554718, 0.1655655801296234, 0.9533510208129883, -0.8266578912734985, 0.4763633906841278, 1.0614147186279297, -0.9290611743927002, 0.2864893674850464, 1.063624620437622, -0.870262086391449, -0.0001049109487212263, 2.695830821990967, -0.9106715321540833, 0.36915352940559387, 1.2004441022872925, 0.048888593912124634, 0.03500000014901161, 0.0], "count": [1365]}, "extra.reward": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1365]}, "next.truncated": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1365]}, "sim_step_idx": {"mean": [1465.0], "std": [788.0829059601957], "min": [101.0], "max": [2829.0], "count": [1365]}, "timestamp": {"mean": [27.280000003342664], "std": [15.761658121426398], "min": [0.0], "max": [54.560001373291016], "count": [1365]}, "frame_index": {"mean": [682.0], "std": [394.04145298009786], "min": [0.0], "max": [1364.0], "count": [1365]}, "episode_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1365]}, "index": {"mean": [682.0], "std": [394.04145298009786], "min": [0.0], "max": [1364.0], "count": [1365]}, "task_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1365]}, "next.done": {"mean": [0.0007326007326007326], "std": [0.027056681776731702], "min": [0.0], "max": [1.0], "count": [1365]}, "observation.images.head": {"mean": [[[0.5405656287129255]], [[0.46869721995591546]], [[0.42503780551478104]]], "std": [[[0.08529756670794698]], [[0.09847580190455282]], [[0.11129733427222069]]], "min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.00392156862745098]]], "max": [[[0.9019607843137255]], [[0.9019607843137255]], [[0.9019607843137255]]], "count": [100]}, "observation.images.wrist": {"mean": [[[0.6048717745028211]], [[0.5432142994302551]], [[0.4824291569887424]]], "std": [[[0.1373531261490709]], [[0.1417440879455862]], [[0.14208103773378383]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9450980392156862]], [[0.9254901960784314]], [[0.9254901960784314]]], "count": [100]}}} diff --git a/N033/go2_arm/dr_off/seed_1014/rec/stationring/000/lerobot_v21/meta/extra/episode_000000.json b/N033/go2_arm/dr_off/seed_1014/rec/stationring/000/lerobot_v21/meta/extra/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..2f675679995e3ec515e751d4ed338eda44f29635 --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1014/rec/stationring/000/lerobot_v21/meta/extra/episode_000000.json @@ -0,0 +1,668 @@ +{ + "episode_index": 0, + "trajectory_id": 0, + "env_id": 0, + "task_type": "RingCommand", + "subsample_every": 2, + "control_steps": 2730, + "language": { + "scene": { + "objects": [ + { + "id": "table_A_1", + "cat_name": "table_A", + "inst_id": 1, + "noun": "table A", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 3.8244150849078293, + -0.40595309011086667, + -0.21751886503958778 + ], + "bbox": { + "extent": [ + 0.9813360023605351, + 0.6464048432859035, + 0.30000001192092896 + ], + "center": [ + 2.7755575615628914e-17, + -2.7755575615628914e-17, + 0.0 + ] + } + }, + { + "id": "table_B_1", + "cat_name": "table_B", + "inst_id": 1, + "noun": "table B", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 7.387645833274414, + 0.6756519319410145, + -0.2710919176670102 + ], + "bbox": { + "extent": [ + 1.0318710029371725, + 0.7373678419141534, + 0.30000001192092896 + ], + "center": [ + 1.6653345369377348e-16, + 0.0, + 0.0 + ] + } + }, + { + "id": "rack_back_1", + "cat_name": "rack_back", + "inst_id": 1, + "noun": "rack back", + "color": "brown", + "size": "medium", + "material": null, + "category": "geometry", + "pos": [ + 3.7850927380008548, + -0.3758699892405682, + 0.03277847828581579 + ], + "bbox": { + "extent": [ + 0.7048801495421346, + 0.143870434073596, + 0.20000000298023224 + ], + "center": [ + -2.7755575615628914e-17, + 0.0, + 0.0 + ] + } + }, + { + "id": "peg_1_1", + "cat_name": "peg_1", + "inst_id": 1, + "noun": "peg 1", + "color": "gray", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.8179124326684977, + -0.5557863066385322, + 0.07374171028571778 + ], + "bbox": { + "extent": [ + 0.049280970149347875, + 0.18325344812793304, + 0.019999999552965164 + ], + "center": [ + 6.938893903907228e-18, + -2.7755575615628914e-17, + 0.0 + ] + } + }, + { + "id": "peg_2_1", + "cat_name": "peg_2", + "inst_id": 1, + "noun": "peg 2", + "color": "gray", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.6052170369416943, + -0.344221920705561, + 0.07482763911548049 + ], + "bbox": { + "extent": [ + 0.049280970149347764, + 0.18325344812793298, + 0.019999999552965164 + ], + "center": [ + -5.898059818321144e-17, + -5.551115123125783e-17, + 0.0 + ] + } + }, + { + "id": "ring_1", + "cat_name": "ring", + "inst_id": 1, + "noun": "ring", + "color": null, + "size": "small", + "material": null, + "category": "rigid", + "pos": [ + 3.7899838805373802, + -0.58371212329376, + 0.04430738709912757 + ], + "bbox": { + "extent": [ + 0.129697346229083, + 0.05517279641356549, + 0.18200369276977896 + ], + "center": [ + -4.988690062712742e-07, + -2.890053285159455e-07, + 0.028999912596612304 + ] + } + }, + { + "id": "ring_small_1", + "cat_name": "ring_small", + "inst_id": 1, + "noun": "ring small", + "color": null, + "size": "small", + "material": null, + "category": "rigid", + "pos": [ + 3.569167891353452, + -0.3804640535373574, + 0.07434876772497973 + ], + "bbox": { + "extent": [ + 0.07987888665886247, + 0.04705429151878886, + 0.1321265392193937 + ], + "center": [ + 3.2861561139872764e-05, + -1.0971321613081897e-06, + 0.029000092955060536 + ] + } + }, + { + "id": "rod_h_1", + "cat_name": "rod_h", + "inst_id": 1, + "noun": "rod h", + "color": "white", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 7.295785815320863, + 0.5910304760723799, + 0.08076166879793717 + ], + "bbox": { + "extent": [ + 0.05692388720829611, + 0.14527484154930548, + 0.019999999552965164 + ], + "center": [ + 5.551115123125783e-17, + 0.0, + 0.0 + ] + } + }, + { + "id": "rod_s_1", + "cat_name": "rod_s", + "inst_id": 1, + "noun": "rod s", + "color": "white", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 7.389583717128088, + 0.6762080392814344, + 0.03871328782637007 + ], + "bbox": { + "extent": [ + 0.05327175319964424, + 0.1631147446461509, + 0.15458249989560618 + ], + "center": [ + -2.0122792321330962e-16, + -8.326672684688674e-17, + -8.326672684688674e-17 + ] + } + }, + { + "id": "rod_stop_1", + "cat_name": "rod_stop", + "inst_id": 1, + "noun": "rod stop", + "color": "brown", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 7.442174129522491, + 0.7242645998877829, + -0.062133851482957095 + ], + "bbox": { + "extent": [ + 0.10316490616032331, + 0.03837420585312046, + 0.11999999731779099 + ], + "center": [ + 1.942890293094024e-16, + 0.0, + 0.0 + ] + } + } + ], + "relations": [ + { + "subject": "table_B_1", + "relation": "behind", + "object": "rod_stop_1" + }, + { + "subject": "rack_back_1", + "relation": "in_front_of", + "object": "peg_2_1" + }, + { + "subject": "rod_h_1", + "relation": "right_of", + "object": "rod_s_1" + }, + { + "subject": "rod_s_1", + "relation": "on_top_of", + "object": "rod_stop_1" + }, + { + "subject": "rod_s_1", + "relation": "behind", + "object": "rod_stop_1" + }, + { + "subject": "rod_stop_1", + "relation": "in_front_of", + "object": "rod_s_1" + } + ], + "cameras": [ + { + "name": "head", + "intrinsics": { + "K": [ + [ + 607.7061061683956, + 0.0, + 320.0 + ], + [ + 0.0, + 607.3754374751866, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 55.53991912549515, + "resolution": [ + 640, + 480 + ] + }, + "pos_robot": [ + 4.449062404494733, + -0.6685772346563281, + -0.30990205822544303 + ], + "viewpoint": "front, at table height", + "extrinsics": { + "R": [ + [ + 0.0034545225363202814, + -0.9995776319673901, + 0.028855223868669955 + ], + [ + -0.02338972540530354, + 0.0287667346071393, + 0.9993124615081647 + ], + [ + -0.9997204544368945, + -0.0041270631819024794, + -0.023280471000004077 + ] + ], + "t": [ + 0.03416419479862187, + -0.08682200219228882, + 0.33429322289826396 + ] + } + }, + { + "name": "wrist", + "intrinsics": { + "K": [ + [ + 617.2500342478374, + 0.0, + 320.0 + ], + [ + 0.0, + 617.548655622722, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 54.807019583348044, + "resolution": [ + 640, + 480 + ] + }, + "pos_robot": [ + 4.116299898278282, + -0.43141643486488157, + -0.3552287016254286 + ], + "viewpoint": "front, at table height", + "extrinsics": { + "R": [ + [ + 0.017356943317221596, + -0.9998337334638687, + 0.005589449560045617 + ], + [ + -0.9382601518788614, + -0.014355819960515381, + 0.34563246061317376 + ], + [ + -0.3454947523696107, + -0.011243480820582297, + -0.9383533237667454 + ] + ], + "t": [ + 0.006333551580298355, + -0.08611861262827436, + 0.017148138726427706 + ] + } + } + ], + "robots": [ + { + "name": "Go2Plus", + "model": "go2plus", + "type": "mobilemanip", + "noun": "Unitree Go2 EDU quadruped with a Piper arm", + "arms": 1, + "arm_layout": null, + "mobile": true, + "dexterous": false, + "base_pose": { + "pos": [ + -3.4, + -2.2, + 0.44999999999999996 + ], + "ori": [ + 0.9396926164627075, + 0.0, + 0.0, + 0.3420201539993286 + ] + }, + "facing_yaw_deg": 40.000001288448495, + "gripper": "parallel gripper" + } + ], + "lighting": [], + "background": { + "name": null, + "kind": "background", + "type": "dome", + "pose": null, + "setting": null, + "time_of_day": null, + "indoor": false, + "intensity": 1000.0, + "ambient": "dim" + }, + "effects": [], + "caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the brown rod stop. There are a large gray table A, a large gray table B, a medium brown rack back, a small gray peg 1, a small gray peg 2, a small ring, a small ring small, a small white rod h, a small white rod s and a small brown rod stop. The gray table B is behind the brown rod stop. The brown rack back is in front of the gray peg 2. The white rod h is to the right of the white rod s. The white rod s is on top of the brown rod stop. The white rod s is behind the brown rod stop. The brown rod stop is in front of the white rod s. The scene is viewed from front, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n[rod stop]\n\n\n\n [ring small]\n\n\n\n [robot]" + }, + "task": { + "task_type": "StationRing", + "instruction": "Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.", + "template_id": -1, + "slots": { + "obj": 1.4890981831240975, + "support": null + }, + "generic_instruction": "Stationring the 1.4890981831240975.", + "task_id": "N033", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_0579": { + "frame_idx": 579, + "caption": "Computing a grasp pose for the small ring; the right gripper is below and to the left of and in front of the ring.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "NavTo", + "planner_state": "finished", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0620": { + "frame_idx": 620, + "caption": "Working on the small ring; the right gripper is below and to the left of and in front of the ring.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0915": { + "frame_idx": 915, + "caption": "Computing a grasp pose for the small ring; the right gripper is below and to the left of and in front of the ring.", + "skill": "ReachStance", + "phase": "verify", + "skill_state": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0929": { + "frame_idx": 929, + "caption": "Pre-grasping the small ring, servoing the arm toward it; the right gripper is below and to the left of and in front of the ring.", + "skill": "Grasp", + "phase": "pre_grasp", + "skill_state": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0931": { + "frame_idx": 931, + "caption": "Pre-grasping the small ring, moving the arm toward it; the right gripper is below and to the left of and in front of the ring.", + "skill": "Grasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0989": { + "frame_idx": 989, + "caption": "Grasping the small ring, moving the arm in to make contact; the right gripper is below and to the left of and in front of the ring.", + "skill": "Grasp", + "phase": "grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_1051": { + "frame_idx": 1051, + "caption": "Closing the right gripper on the ring; the right gripper is below and to the left of and in front of the ring.", + "skill": "Grasp", + "phase": "close_gripper", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_1056": { + "frame_idx": 1056, + "caption": "Closing the right gripper on the ring; the right gripper is below and to the left of the ring.", + "skill": "Grasp", + "phase": "close_gripper", + "skill_state": "running", + "planner": "ParallelGripper", + "planner_state": "running", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_1111": { + "frame_idx": 1111, + "caption": "Lifting the ring away with the gripper; the right gripper is below and to the left of the ring.", + "skill": "Grasp", + "phase": "retrieval", + "skill_state": "running", + "planner": "ParallelGripper", + "planner_state": "finished", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_1112": { + "frame_idx": 1112, + "caption": "Lifting the ring away with the arm; the right gripper is below and to the left of the ring.", + "skill": "Grasp", + "phase": "retrieval", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_1172": { + "frame_idx": 1172, + "caption": "Done — the small ring is grasped; the right gripper is below and to the left of the ring.", + "skill": "Grasp", + "phase": "completed", + "skill_state": "finished", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + } + } + }, + "depth_range": [ + 0.1, + 20.0 + ], + "annotation_sidecar": null, + "annotation_sidecar_keys": [], + "terminated": true, + "truncated": false +} \ No newline at end of file diff --git a/N033/go2_arm/dr_off/seed_1014/rec/stationring/000/lerobot_v21/meta/info.json b/N033/go2_arm/dr_off/seed_1014/rec/stationring/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..1273887cd117c84f43d352b73baef4de7d114a5e --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1014/rec/stationring/000/lerobot_v21/meta/info.json @@ -0,0 +1,336 @@ +{ + "codebase_version": "v2.1", + "robot_type": "Go2PlusCfg", + "total_episodes": 1, + "total_frames": 1365, + "total_tasks": 1, + "total_videos": 2, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 25, + "splits": { + "train": "0:1" + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", + "features": { + "action": { + "dtype": "float32", + "shape": [ + 12 + ], + "names": [ + "base_action_0", + "base_action_1", + "base_action_2", + "base_action_3", + "eef0.pos_x", + "eef0.pos_y", + "eef0.pos_z", + "eef0.quat_w", + "eef0.quat_x", + "eef0.quat_y", + "eef0.quat_z", + "gripper" + ] + }, + "action_is_hold": { + "dtype": "bool", + "shape": [ + 12 + ], + "names": null + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 26 + ], + "names": [ + "joint_0", + "joint_1", + "joint_2", + "joint_3", + "joint_4", + "joint_5", + "joint_6", + "joint_7", + "joint_8", + "joint_9", + "joint_10", + "joint_11", + "joint_12", + "joint_13", + "joint_14", + "joint_15", + "joint_16", + "joint_17", + "joint_18", + "joint_19", + "joint_20", + "joint_21", + "joint_22", + "joint_23", + "gripper_0", + "gripper_1" + ] + }, + "observation.joint_vel": { + "dtype": "float32", + "shape": [ + 20 + ], + "names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ] + }, + "observation.eef_pose": { + "dtype": "float32", + "shape": [ + 7 + ], + "names": null + }, + "observation.environment_state": { + "dtype": "float32", + "shape": [ + 70 + ], + "names": [ + "object_pose.peg_1.0", + "object_pose.peg_1.1", + "object_pose.peg_1.2", + "object_pose.peg_1.3", + "object_pose.peg_1.4", + "object_pose.peg_1.5", + "object_pose.peg_1.6", + "object_pose.peg_2.0", + "object_pose.peg_2.1", + "object_pose.peg_2.2", + "object_pose.peg_2.3", + "object_pose.peg_2.4", + "object_pose.peg_2.5", + "object_pose.peg_2.6", + "object_pose.rack_back.0", + "object_pose.rack_back.1", + "object_pose.rack_back.2", + "object_pose.rack_back.3", + "object_pose.rack_back.4", + "object_pose.rack_back.5", + "object_pose.rack_back.6", + "object_pose.ring.0", + "object_pose.ring.1", + "object_pose.ring.2", + "object_pose.ring.3", + "object_pose.ring.4", + "object_pose.ring.5", + "object_pose.ring.6", + "object_pose.ring_small.0", + "object_pose.ring_small.1", + "object_pose.ring_small.2", + "object_pose.ring_small.3", + "object_pose.ring_small.4", + "object_pose.ring_small.5", + "object_pose.ring_small.6", + "object_pose.rod_h.0", + "object_pose.rod_h.1", + "object_pose.rod_h.2", + "object_pose.rod_h.3", + "object_pose.rod_h.4", + "object_pose.rod_h.5", + "object_pose.rod_h.6", + "object_pose.rod_s.0", + "object_pose.rod_s.1", + "object_pose.rod_s.2", + "object_pose.rod_s.3", + "object_pose.rod_s.4", + "object_pose.rod_s.5", + "object_pose.rod_s.6", + "object_pose.rod_stop.0", + "object_pose.rod_stop.1", + "object_pose.rod_stop.2", + "object_pose.rod_stop.3", + "object_pose.rod_stop.4", + "object_pose.rod_stop.5", + "object_pose.rod_stop.6", + "object_pose.table_A.0", + "object_pose.table_A.1", + "object_pose.table_A.2", + "object_pose.table_A.3", + "object_pose.table_A.4", + "object_pose.table_A.5", + "object_pose.table_A.6", + "object_pose.table_B.0", + "object_pose.table_B.1", + "object_pose.table_B.2", + "object_pose.table_B.3", + "object_pose.table_B.4", + "object_pose.table_B.5", + "object_pose.table_B.6" + ] + }, + "action.command": { + "dtype": "float32", + "shape": [ + 1136 + ], + "names": null + }, + "action.applied": { + "dtype": "float32", + "shape": [ + 20 + ], + "names": null + }, + "narration": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "collect_info": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "extra.reward": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "extra.action_info": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "next.truncated": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "sim_step_idx": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "next.done": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "observation.images.head": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25, + "video.codec": "libsvtav1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.wrist": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25, + "video.codec": "libsvtav1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + } + } +} \ No newline at end of file diff --git a/N033/go2_arm/dr_off/seed_1014/rec/stationring/000/lerobot_v21/meta/magicsim_manifest.json b/N033/go2_arm/dr_off/seed_1014/rec/stationring/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..9950e48c963730b9f3af1ac6aef63147b83bef24 --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1014/rec/stationring/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,290 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 03:03:19" + }, + "embodiment": { + "robots": [ + { + "name": "Go2Plus", + "cfg": "Go2PlusCfg", + "type": "mobilemanip", + "joint_names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 12, + "nan_policy": "from_raw", + "segments": [ + { + "name": "Go2Plus.base_action", + "start": 0, + "end": 4, + "names": [ + "base_action_0", + "base_action_1", + "base_action_2", + "base_action_3" + ], + "source": "Go2UnifiedLocomotionAction", + "names_source": "fallback" + }, + { + "name": "Go2Plus.arm_action", + "start": 4, + "end": 11, + "names": [ + "eef0.pos_x", + "eef0.pos_y", + "eef0.pos_z", + "eef0.quat_w", + "eef0.quat_x", + "eef0.quat_y", + "eef0.quat_z" + ], + "source": "Go2PlusCuroboIKAction", + "names_source": "pose_layout" + }, + { + "name": "Go2Plus.eef_action", + "start": 11, + "end": 12, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 26, + "segments": [ + { + "name": "Go2Plus.joint_pos", + "start": 0, + "end": 24, + "names": [ + "joint_0", + "joint_1", + "joint_2", + "joint_3", + "joint_4", + "joint_5", + "joint_6", + "joint_7", + "joint_8", + "joint_9", + "joint_10", + "joint_11", + "joint_12", + "joint_13", + "joint_14", + "joint_15", + "joint_16", + "joint_17", + "joint_18", + "joint_19", + "joint_20", + "joint_21", + "joint_22", + "joint_23" + ], + "source": "ObservationManager", + "names_source": "fallback_dim_mismatch(joint_names=20,obs=24)" + }, + { + "name": "Go2Plus.gripper_pos", + "start": 24, + "end": 26, + "names": [ + "gripper_0", + "gripper_1" + ], + "source": "ObservationManager", + "names_source": "generated" + } + ] + }, + "joint_vel_layout": { + "dim": 20, + "segments": [ + { + "name": "Go2Plus.joint_vel", + "start": 0, + "end": 20, + "names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "action_levels": { + "L0": "task command list (collect.auto_collect_info.current_action)", + "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)", + "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)", + "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy", + "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)" + }, + "cameras": { + "head": { + "intrinsics": { + "K": [ + [ + 607.7061061683956, + 0.0, + 320.0 + ], + [ + 0.0, + 607.3754374751866, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 55.53991912549515, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.33205100893974304, + 0.038026999682188034, + 0.09355899691581726 + ], + "quat": [ + -0.5022302269935608, + -0.499491810798645, + 0.5120040774345398, + 0.4859265089035034 + ] + }, + "wrist": { + "intrinsics": { + "K": [ + [ + 617.2500342478374, + 0.0, + 320.0 + ], + [ + 0.0, + 617.548655622722, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 54.807019583348044, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + -0.0749870017170906, + 0.005288999993354082, + 0.04582099989056587 + ], + "quat": [ + 0.1271296590566635, + 0.701795220375061, + -0.6904057860374451, + -0.12108422070741653 + ] + } + }, + "lerobot": { + "codebase_version": "v2.1", + "video_keys": [ + "observation.images.head", + "observation.images.wrist" + ], + "columns": [ + "action", + "action.applied", + "action.command", + "action_is_hold", + "collect_info", + "episode_index", + "extra.action_info", + "extra.reward", + "frame_index", + "index", + "narration", + "next.done", + "next.truncated", + "observation.eef_pose", + "observation.environment_state", + "observation.images.head", + "observation.images.wrist", + "observation.joint_vel", + "observation.state", + "sim_step_idx", + "task_index", + "timestamp" + ] + }, + "generated_run": { + "run_id": "stationring/000", + "task_type": "RingCommand" + } +} \ No newline at end of file diff --git a/N033/go2_arm/dr_off/seed_1014/rec/stationring/000/lerobot_v21/meta/stats.json b/N033/go2_arm/dr_off/seed_1014/rec/stationring/000/lerobot_v21/meta/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..0f2c7d41b214e1a5d1f4cd7a7b79466e16e0ac6a --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1014/rec/stationring/000/lerobot_v21/meta/stats.json @@ -0,0 +1,5617 @@ +{ + "action": { + "mean": [ + 0.145842731798634, + 0.003639028751506255, + 0.021822378513891072, + 0.3543179322511722, + 0.3305886393610811, + 0.4807923608101331, + 0.6903761150199414, + 0.16531733533183296, + -0.5062033370573878, + 0.8047645913375603, + 0.11483556256926322, + 0.4622710622710623 + ], + "std": [ + 0.16331506593278836, + 0.03127219349663102, + 0.2567756610354418, + 0.017592707056704127, + 1.2930717555661404, + 1.7113888017322383, + 0.038987618047613054, + 0.047296449613002826, + 0.19808818811139736, + 0.10188000080757532, + 0.06115107759718855, + 0.4985744951938952 + ], + "min": [ + 0.0, + -0.0599999874830246, + -0.800000011920929, + 0.33000001311302185, + -3.2134735584259033, + -2.0859732627868652, + 0.6222670674324036, + 0.0701964795589447, + -0.8133142590522766, + 0.5684585571289062, + 0.016617480665445328, + 0.0 + ], + "max": [ + 0.3499999940395355, + 0.25, + 0.800000011920929, + 0.38179296255111694, + 1.7054557800292969, + 2.860680103302002, + 0.7926899790763855, + 0.26334261894226074, + -0.10431760549545288, + 0.9802219271659851, + 0.19765514135360718, + 1.0 + ], + "count": [ + 1365 + ] + }, + "action_is_hold": { + "mean": [ + 0.189010989010989, + 0.189010989010989, + 0.189010989010989, + 0.189010989010989, + 0.23076923076923078, + 0.23076923076923078, + 0.23076923076923078, + 0.23076923076923078, + 0.23076923076923078, + 0.23076923076923078, + 0.23076923076923078, + 0.9523809523809523 + ], + "std": [ + 0.3915173496080057, + 0.3915173496080057, + 0.3915173496080057, + 0.3915173496080057, + 0.42132504423474165, + 0.42132504423474165, + 0.42132504423474165, + 0.42132504423474165, + 0.42132504423474165, + 0.42132504423474165, + 0.42132504423474165, + 0.2129588549999792 + ], + "min": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "max": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "count": [ + 1365 + ] + }, + "observation.state": { + "mean": [ + -0.029930362914456055, + 0.01943816191940128, + -0.05277144903924863, + 0.08683289351413409, + -0.11185497478358472, + 0.641582934149019, + 0.6696272024086544, + 0.8225148697039146, + 0.787617980953538, + 1.8583817741373083, + -1.3918418401326889, + -1.3862124149615949, + -1.3864222866274936, + -1.4220514582190322, + -1.2676896095275878, + 0.14670071209890656, + 0.6649964389565227, + -0.24415122293442354, + 0.02555664584190745, + -0.025834202969057873, + 0.13975090661594447, + 0.1314918390314876, + 1.0995456683985043, + 0.381949340794986, + -0.025834202969057873, + -0.02555664584190745 + ], + "std": [ + 0.03131731725128428, + 0.03815227382045297, + 0.041237225822938844, + 0.03944320856507567, + 0.09647735751964832, + 0.10035392104221746, + 0.09812420202529462, + 0.10101784076209926, + 0.0981076636362851, + 0.2606785764726922, + 0.10715628335586647, + 0.1010674103289578, + 0.1170193451569005, + 0.11647900127733914, + 0.4935413653079046, + 0.12725278952744284, + 0.2193441631382912, + 0.21024832031572366, + 0.010169110851776492, + 0.009868869968738864, + 1.3456407103796648, + 1.5991506942191895, + 0.4804340851671203, + 0.014172546382159906, + 0.009868869968738864, + 0.010169110851776492 + ], + "min": [ + -0.17252105474472046, + -0.1140851154923439, + -0.18086770176887512, + -0.08278033882379532, + -0.5829527974128723, + 0.4383401870727539, + 0.44076260924339294, + 0.5699180364608765, + 0.5561280250549316, + 1.6443696022033691, + -1.560141921043396, + -1.5868231058120728, + -1.5945022106170654, + -1.6422226428985596, + -2.754469633102417, + -0.030068080872297287, + 0.4327755570411682, + -0.5650258660316467, + 0.014405216090381145, + -0.03500000014901161, + -3.500460386276245, + -2.324652910232544, + 0.09589102119207382, + 0.35194873809814453, + -0.03500000014901161, + -0.03500000014901161 + ], + "max": [ + 0.14348608255386353, + 0.253548264503479, + 0.1414865255355835, + 0.19180293381214142, + 0.0010302927112206817, + 0.8958449959754944, + 0.8929082155227661, + 1.018490195274353, + 1.0109130144119263, + 2.6706411838531494, + -1.1098170280456543, + -1.2029061317443848, + -1.151277780532837, + -1.1200677156448364, + -0.9140242338180542, + 0.3483206629753113, + 1.197492003440857, + 0.04111222177743912, + 0.03500000014901161, + -0.014948864467442036, + 1.5541425943374634, + 2.2974483966827393, + 2.0497870445251465, + 0.4065343737602234, + -0.014948864467442036, + -0.014405216090381145 + ], + "count": [ + 1365 + ] + }, + "observation.joint_vel": { + "mean": [ + -0.006047977569415797, + -0.00016908898794296072, + 0.004803308634892169, + 0.005124275235121476, + 0.0006660788751418588, + -0.008442238018958447, + -0.011379213987405845, + -0.0013386419274069832, + -0.01363864706549559, + -0.005093614395751075, + 0.005197143631412873, + 0.008558468463787581, + 5.80038890586279e-05, + 0.018975939230577273, + -0.0025236925862496293, + -0.003804971748220371, + 0.008576145589662095, + 0.00014499117803494206, + 0.0010754427003826469, + -0.00029623388466018064 + ], + "std": [ + 0.43015291359807156, + 0.40621799695430655, + 0.473950104282899, + 0.5335651204877574, + 0.11040340053980503, + 1.129842779988151, + 1.1028764532944852, + 0.8763479255412163, + 0.7119556085076111, + 0.1912505927016153, + 0.6660776997577934, + 1.0343354315178672, + 1.0178029696543138, + 1.1038883877050374, + 0.33962470061183914, + 0.05854568924399868, + 0.1424652465633718, + 0.09594186687034863, + 0.01080377313272817, + 0.010608141627162853 + ], + "min": [ + -2.3620431423187256, + -3.6474974155426025, + -2.4612202644348145, + -2.767212390899658, + -0.9587203860282898, + -5.606927394866943, + -5.360787868499756, + -3.954188346862793, + -2.3914661407470703, + -0.9674347043037415, + -4.31284236907959, + -5.663506984710693, + -4.142822742462158, + -6.1033935546875, + -2.9934451580047607, + -0.540744960308075, + -0.7477882504463196, + -0.4383755326271057, + -0.20007526874542236, + -0.2001037448644638 + ], + "max": [ + 3.209073781967163, + 2.9017105102539062, + 4.375998020172119, + 2.4789984226226807, + 0.49269795417785645, + 1.6206897497177124, + 1.7314424514770508, + 3.335681438446045, + 4.102546691894531, + 1.8835715055465698, + 3.2207391262054443, + 4.700150012969971, + 4.243893623352051, + 3.647178888320923, + 1.7033400535583496, + 0.35492002964019775, + 1.3583054542541504, + 0.6333349943161011, + 0.20002864301204681, + 0.20026299357414246 + ], + "count": [ + 1365 + ] + }, + "observation.eef_pose": { + "mean": [ + 0.3283253540431624, + 0.4800663476878088, + 0.6895826951924697, + 0.16464184285738528, + -0.5087530425944171, + 0.8022737899542728, + 0.11576966780882615 + ], + "std": [ + 1.2934218320662445, + 1.710722059793973, + 0.03912763346012582, + 0.04734709710614816, + 0.2002048408569432, + 0.10438513537015437, + 0.061624624695908105 + ], + "min": [ + -3.2134735584259033, + -2.0859556198120117, + 0.6200590133666992, + 0.0692288875579834, + -0.8221524953842163, + 0.5551868081092834, + 0.016772150993347168 + ], + "max": [ + 1.7055188417434692, + 2.8617382049560547, + 0.793937087059021, + 0.26398301124572754, + -0.10469213128089905, + 0.9802794456481934, + 0.19540327787399292 + ], + "count": [ + 1365 + ] + }, + "observation.environment_state": { + "mean": [ + -0.22483517229557037, + -0.2882007956504822, + 0.4699999988079071, + 0.9991657733917236, + 0.0, + 0.0, + -0.04083818569779396, + -0.5238345265388489, + -0.2637186050415039, + 0.4699999988079071, + 0.9991657733917236, + 0.0, + 0.0, + -0.04083818569779396, + -0.36576607823371887, + -0.1713099181652069, + 0.4300000071525574, + 0.9991657733917236, + 0.0, + 0.0, + -0.04083818569779396, + 0.6158071813275295, + 0.839461809304976, + 0.4588021961542276, + 0.9803126474876543, + -0.042818772806543184, + 0.0034145830898663775, + -0.09917255027881472, + -0.5280032202001019, + -0.3146539628942371, + 0.4687857515209324, + 0.9991649234687889, + -4.205724646133923e-05, + -0.0005650391901549866, + -0.04085526714995231, + 1.6930851936340332, + 2.8309051990509033, + 0.5299999713897705, + 0.9977747201919556, + 0.0, + 0.0, + -0.06667538732290268, + 1.7100229263305664, + 2.957073450088501, + 0.48980000615119934, + 0.9515946507453918, + -0.3000366985797882, + 0.020049646496772766, + -0.06358935683965683, + 1.7196959257125854, + 3.0291271209716797, + 0.38999998569488525, + 0.9977747201919556, + 0.0, + 0.0, + -0.06667538732290268, + -0.3151167929172516, + -0.16542364656925201, + 0.18000000715255737, + 0.9991657733917236, + 0.0, + 0.0, + -0.04083818569779396, + 1.7103822231292725, + 2.959749460220337, + 0.18000000715255737, + 0.9977747201919556, + 0.0, + 0.0, + -0.06667538732290268 + ], + "std": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.8732769622044776, + 1.4638284735074443, + 0.027554005226705824, + 0.044454230023484406, + 0.09274997030099096, + 0.0067857378363371055, + 0.12915891958553805, + 1.5602050402289026e-08, + 1.1399357731269492e-09, + 1.4450941833526813e-08, + 2.6123096906980724e-08, + 1.3362058598630232e-07, + 2.7541511089448374e-07, + 1.5953402265040699e-07, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 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": [ + -0.22483517229557037, + -0.2882007956504822, + 0.4699999988079071, + 0.9991657733917236, + 0.0, + 0.0, + -0.04083818569779396, + -0.5238345265388489, + -0.2637186050415039, + 0.4699999988079071, + 0.9991657733917236, + 0.0, + 0.0, + -0.04083818569779396, + -0.36576607823371887, + -0.1713099181652069, + 0.4300000071525574, + 0.9991657733917236, + 0.0, + 0.0, + -0.04083818569779396, + -0.23548053205013275, + -0.8070333003997803, + 0.43053674697875977, + 0.7815473079681396, + -0.3499721586704254, + -0.01058526523411274, + -0.6238229870796204, + -0.5280032753944397, + -0.31465399265289307, + 0.46878573298454285, + 0.999164879322052, + -4.25621255999431e-05, + -0.0005657635629177094, + -0.04085569456219673, + 1.6930851936340332, + 2.8309051990509033, + 0.5299999713897705, + 0.9977747201919556, + 0.0, + 0.0, + -0.06667538732290268, + 1.7100229263305664, + 2.957073450088501, + 0.48980000615119934, + 0.9515946507453918, + -0.3000366985797882, + 0.020049646496772766, + -0.06358935683965683, + 1.7196959257125854, + 3.0291271209716797, + 0.38999998569488525, + 0.9977747201919556, + 0.0, + 0.0, + -0.06667538732290268, + -0.3151167929172516, + -0.16542364656925201, + 0.18000000715255737, + 0.9991657733917236, + 0.0, + 0.0, + -0.04083818569779396, + 1.7103822231292725, + 2.959749460220337, + 0.18000000715255737, + 0.9977747201919556, + 0.0, + 0.0, + -0.06667538732290268 + ], + "max": [ + -0.22483517229557037, + -0.2882007956504822, + 0.4699999988079071, + 0.9991657733917236, + 0.0, + 0.0, + -0.04083818569779396, + -0.5238345265388489, + -0.2637186050415039, + 0.4699999988079071, + 0.9991657733917236, + 0.0, + 0.0, + -0.04083818569779396, + -0.36576607823371887, + -0.1713099181652069, + 0.4300000071525574, + 0.9991657733917236, + 0.0, + 0.0, + -0.04083818569779396, + 1.7259166240692139, + 2.9946444034576416, + 0.538159191608429, + 0.9992933869361877, + 0.020952358841896057, + 0.02434149757027626, + -0.037507977336645126, + -0.5280032157897949, + -0.3146539628505707, + 0.46878576278686523, + 0.9991649389266968, + -4.176699439994991e-05, + -0.000564275193028152, + -0.040854860097169876, + 1.6930851936340332, + 2.8309051990509033, + 0.5299999713897705, + 0.9977747201919556, + 0.0, + 0.0, + -0.06667538732290268, + 1.7100229263305664, + 2.957073450088501, + 0.48980000615119934, + 0.9515946507453918, + -0.3000366985797882, + 0.020049646496772766, + -0.06358935683965683, + 1.7196959257125854, + 3.0291271209716797, + 0.38999998569488525, + 0.9977747201919556, + 0.0, + 0.0, + -0.06667538732290268, + -0.3151167929172516, + -0.16542364656925201, + 0.18000000715255737, + 0.9991657733917236, + 0.0, + 0.0, + -0.04083818569779396, + 1.7103822231292725, + 2.959749460220337, + 0.18000000715255737, + 0.9977747201919556, + 0.0, + 0.0, + -0.06667538732290268 + ], + "count": [ + 1365 + ] + }, + "action.command": { + "mean": [ + -1.3664701615977113, + -1.22927429864051, + 1.2057470963826098, + 0.7549086284887104, + 0.0, + 0.0, + 0.6536942005781603, + 0.9733333333333334, + 0.0652705483351435, + 0.046120035719303856, + 0.6823194542952946, + 0.16196089053437823, + -0.46779009856638454, + 0.8259104325657799, + 0.10183892562098447, + 0.5384615384615384, + -1.7569767571807478, + -1.5254226075975519, + 1.4612828588181515, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20393033468266994, + -0.4088968055432683, + 0.6778559336821999, + 0.17142312120545233, + -0.3484128794055046, + 0.8880511915854861, + 0.07974572311878869, + 0.0, + -1.7189430404317816, + -1.513871396937819, + 1.4612828588181515, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20393033468266994, + -0.4088968055432683, + 0.6778559336821999, + 0.17142312120545233, + -0.3484128794055046, + 0.8880511915854861, + 0.07974572311878869, + 0.0, + -1.625985629440685, + -1.4896560755262724, + 1.4612828588181515, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20393033468266994, + -0.4088968055432683, + 0.6778559336821999, + 0.17142312120545233, + -0.3484128794055046, + 0.8880511915854861, + 0.07974572311878869, + 0.0, + -1.6002284495763042, + -1.4852422670694438, + 1.4612828588181515, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20393033468266994, + -0.4088968055432683, + 0.6778559336821999, + 0.17142312120545233, + -0.3484128794055046, + 0.8880511915854861, + 0.07974572311878869, + 0.0, + -1.5624363373555066, + -1.478661524717127, + 1.4612828588181515, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20393033468266994, + -0.4088968055432683, + 0.6778559336821999, + 0.17142312120545233, + -0.3484128794055046, + 0.8880511915854861, + 0.07974572311878869, + 0.0, + -1.4811113990480866, + -1.456576532629308, + 1.4612828588181515, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20393033468266994, + -0.4088968055432683, + 0.6778559336821999, + 0.17142312120545233, + -0.3484128794055046, + 0.8880511915854861, + 0.07974572311878869, + 0.0, + -1.436691723241095, + -1.4445692662987413, + 1.4612828588181515, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20393033468266994, + -0.4088968055432683, + 0.6778559336821999, + 0.17142312120545233, + -0.3484128794055046, + 0.8880511915854861, + 0.07974572311878869, + 0.0, + -1.3713230704814434, + -1.429412031763098, + 1.4612828588181515, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20393033468266994, + -0.4088968055432683, + 0.6778559336821999, + 0.17142312120545233, + -0.3484128794055046, + 0.8880511915854861, + 0.07974572311878869, + 0.0, + -1.3187511892695176, + -1.4123511506419812, + 1.4612828588181515, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20393033468266994, + -0.4088968055432683, + 0.6778559336821999, + 0.17142312120545233, + -0.3484128794055046, + 0.8880511915854861, + 0.07974572311878869, + 0.0, + -1.3005032043612934, + -1.4085072379743464, + 1.4612828588181515, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20393033468266994, + -0.4088968055432683, + 0.6778559336821999, + 0.17142312120545233, + -0.3484128794055046, + 0.8880511915854861, + 0.07974572311878869, + 0.0, + -1.2531500874143657, + -1.4004007106382501, + 1.4612828588181515, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20393033468266994, + -0.4088968055432683, + 0.6778559336821999, + 0.17142312120545233, + -0.3484128794055046, + 0.8880511915854861, + 0.07974572311878869, + 0.0, + -1.1958361138757527, + -1.365388701121773, + 1.4612828588181515, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20393033468266994, + -0.4088968055432683, + 0.6778559336821999, + 0.17142312120545233, + -0.3484128794055046, + 0.8880511915854861, + 0.07974572311878869, + 0.0, + -1.1599821015788419, + -1.343591626846429, + 1.4612828588181515, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20393033468266994, + -0.4088968055432683, + 0.6778559336821999, + 0.17142312120545233, + -0.3484128794055046, + 0.8880511915854861, + 0.07974572311878869, + 0.0, + -1.1045694944866156, + -1.2862382414238305, + 1.4612828588181515, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20393033468266994, + -0.4088968055432683, + 0.6778559336821999, + 0.17142312120545233, + -0.3484128794055046, + 0.8880511915854861, + 0.07974572311878869, + 0.0, + -1.0641386760859208, + -1.2649910168594531, + 1.4612828588181515, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20393033468266994, + -0.4088968055432683, + 0.6778559336821999, + 0.17142312120545233, + -0.3484128794055046, + 0.8880511915854861, + 0.07974572311878869, + 0.0, + -1.0317657106040576, + -1.2323309704067225, + 1.4612828588181515, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20393033468266994, + -0.4088968055432683, + 0.6778559336821999, + 0.17142312120545233, + -0.3484128794055046, + 0.8880511915854861, + 0.07974572311878869, + 0.0, + -1.0097828581097403, + -1.2085280814809662, + 1.4612828588181515, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20393033468266994, + -0.4088968055432683, + 0.6778559336821999, + 0.17142312120545233, + -0.3484128794055046, + 0.8880511915854861, + 0.07974572311878869, + 0.0, + -0.9677955888485034, + -1.1636999535598633, + 1.4612828588181515, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20393033468266994, + -0.4088968055432683, + 0.6778559336821999, + 0.17142312120545233, + -0.3484128794055046, + 0.8880511915854861, + 0.07974572311878869, + 0.0, + -0.9250735739391577, + -1.1240986264778667, + 1.4612828588181515, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20393033468266994, + -0.4088968055432683, + 0.6778559336821999, + 0.17142312120545233, + -0.3484128794055046, + 0.8880511915854861, + 0.07974572311878869, + 0.0, + -0.9012457396615255, + -1.0967838224231532, + 1.4612828588181515, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20393033468266994, + -0.4088968055432683, + 0.6778559336821999, + 0.17142312120545233, + -0.3484128794055046, + 0.8880511915854861, + 0.07974572311878869, + 0.0, + -0.860086157846679, + -1.0533017302243903, + 1.4612828588181515, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20393033468266994, + -0.4088968055432683, + 0.6778559336821999, + 0.17142312120545233, + -0.3484128794055046, + 0.8880511915854861, + 0.07974572311878869, + 0.0, + -0.8242375313570245, + -1.0049791179680558, + 1.4612828588181515, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20393033468266994, + -0.4088968055432683, + 0.6778559336821999, + 0.17142312120545233, + -0.3484128794055046, + 0.8880511915854861, + 0.07974572311878869, + 0.0, + -0.8084707047190203, + -0.9876250628934523, + 1.4612828588181515, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20393033468266994, + -0.4088968055432683, + 0.6778559336821999, + 0.17142312120545233, + -0.3484128794055046, + 0.8880511915854861, + 0.07974572311878869, + 0.0, + -0.7545925811337132, + -0.9310514846225485, + 1.4612828588181515, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20393033468266994, + -0.4088968055432683, + 0.6778559336821999, + 0.17142312120545233, + -0.3484128794055046, + 0.8880511915854861, + 0.07974572311878869, + 0.0, + -0.7148774830918563, + -0.9068375160914669, + 1.4612828588181515, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20393033468266994, + -0.4088968055432683, + 0.6778559336821999, + 0.17142312120545233, + -0.3484128794055046, + 0.8880511915854861, + 0.07974572311878869, + 0.0, + -0.7025188270368075, + -0.8992134854672819, + 1.4612828588181515, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20393033468266994, + -0.4088968055432683, + 0.6778559336821999, + 0.17142312120545233, + -0.3484128794055046, + 0.8880511915854861, + 0.07974572311878869, + 0.0, + -0.6614594800810685, + -0.8412899737479537, + 1.4612828588181515, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20393033468266994, + -0.4088968055432683, + 0.6778559336821999, + 0.17142312120545233, + -0.3484128794055046, + 0.8880511915854861, + 0.07974572311878869, + 0.0, + -0.625938421421264, + -0.8084457662354626, + 1.4612828588181515, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20393033468266994, + -0.4088968055432683, + 0.6778559336821999, + 0.17142312120545233, + -0.3484128794055046, + 0.8880511915854861, + 0.07974572311878869, + 0.0, + -0.5988082951335816, + -0.7716717263252921, + 1.4612828588181515, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20393033468266994, + -0.4088968055432683, + 0.6778559336821999, + 0.17142312120545233, + -0.3484128794055046, + 0.8880511915854861, + 0.07974572311878869, + 0.0, + -0.5486261525222559, + -0.7157499707011324, + 1.4612828588181515, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20393033468266994, + -0.4088968055432683, + 0.6778559336821999, + 0.17142312120545233, + -0.3484128794055046, + 0.8880511915854861, + 0.07974572311878869, + 0.0, + -0.5048228088748512, + -0.6889884725236817, + 1.4612828588181515, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20393033468266994, + -0.4088968055432683, + 0.6778559336821999, + 0.17142312120545233, + -0.3484128794055046, + 0.8880511915854861, + 0.07974572311878869, + 0.0, + -0.47656843270601457, + -0.6356409853250026, + 1.4612828588181515, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20393033468266994, + -0.4088968055432683, + 0.6778559336821999, + 0.17142312120545233, + -0.3484128794055046, + 0.8880511915854861, + 0.07974572311878869, + 0.0, + -0.46116214610362927, + -0.6252759383721025, + 1.4612828588181515, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20393033468266994, + -0.4088968055432683, + 0.6778559336821999, + 0.17142312120545233, + -0.3484128794055046, + 0.8880511915854861, + 0.07974572311878869, + 0.0, + -0.42788515497813007, + -0.6118087618354785, + 1.4612828588181515, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20393033468266994, + -0.4088968055432683, + 0.6778559336821999, + 0.17142312120545233, + -0.3484128794055046, + 0.8880511915854861, + 0.07974572311878869, + 0.0, + -0.38733344680764836, + -0.5506866703573406, + 1.4612828588181515, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20393033468266994, + -0.4088968055432683, + 0.6778559336821999, + 0.17142312120545233, + -0.3484128794055046, + 0.8880511915854861, + 0.07974572311878869, + 0.0, + -0.3542427142080888, + -0.5283057353142916, + 1.4612828588181515, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20393033468266994, + -0.4088968055432683, + 0.6778559336821999, + 0.17142312120545233, + -0.3484128794055046, + 0.8880511915854861, + 0.07974572311878869, + 0.0, + -0.29322585021479847, + -0.46866709431202597, + 1.4612828588181515, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20393033468266994, + -0.4088968055432683, + 0.6778559336821999, + 0.17142312120545233, + -0.3484128794055046, + 0.8880511915854861, + 0.07974572311878869, + 0.0, + -0.28133960736045044, + -0.44657370795093276, + 1.4612828588181515, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20393033468266994, + -0.4088968055432683, + 0.6778559336821999, + 0.17142312120545233, + -0.3484128794055046, + 0.8880511915854861, + 0.07974572311878869, + 0.0, + -0.2609676129319831, + -0.40950782285732895, + 1.4612828588181515, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20393033468266994, + -0.4088968055432683, + 0.6778559336821999, + 0.17142312120545233, + -0.3484128794055046, + 0.8880511915854861, + 0.07974572311878869, + 0.0, + -0.20858261041473924, + -0.3648403401960406, + 1.4612828588181515, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20393033468266994, + -0.4088968055432683, + 0.6778559336821999, + 0.17142312120545233, + -0.3484128794055046, + 0.8880511915854861, + 0.07974572311878869, + 0.0, + -0.17622395023774873, + -0.33097187022082925, + 1.4612828588181515, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20393033468266994, + -0.4088968055432683, + 0.6778559336821999, + 0.17142312120545233, + -0.3484128794055046, + 0.8880511915854861, + 0.07974572311878869, + 0.0, + -0.13582636199689557, + -0.28305802543007397, + 1.4612828588181515, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20393033468266994, + -0.4088968055432683, + 0.6778559336821999, + 0.17142312120545233, + -0.3484128794055046, + 0.8880511915854861, + 0.07974572311878869, + 0.0, + -0.0841463612217272, + -0.2497280363641097, + 1.4612828588181515, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20393033468266994, + -0.4088968055432683, + 0.6778559336821999, + 0.17142312120545233, + -0.3484128794055046, + 0.8880511915854861, + 0.07974572311878869, + 0.0, + -0.06319749108151766, + -0.20158958216413167, + 1.4612828588181515, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20393033468266994, + -0.4088968055432683, + 0.6778559336821999, + 0.17142312120545233, + -0.3484128794055046, + 0.8880511915854861, + 0.07974572311878869, + 0.0, + -0.059272257334878, + -0.19329715678186127, + 1.4612828588181515, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20393033468266994, + -0.4088968055432683, + 0.6778559336821999, + 0.17142312120545233, + -0.3484128794055046, + 0.8880511915854861, + 0.07974572311878869, + 0.0, + 0.006292083046653054, + -0.12803406255287036, + 1.4612828588181515, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20393033468266994, + -0.4088968055432683, + 0.6778559336821999, + 0.17142312120545233, + -0.3484128794055046, + 0.8880511915854861, + 0.07974572311878869, + 0.0, + 0.03482241968979295, + -0.11130856878259346, + 1.4612828588181515, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20393033468266994, + -0.4088968055432683, + 0.6778559336821999, + 0.17142312120545233, + -0.3484128794055046, + 0.8880511915854861, + 0.07974572311878869, + 0.0, + 0.05570660823840273, + -0.10256570549102491, + 1.4612828588181515, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20393033468266994, + -0.4088968055432683, + 0.6778559336821999, + 0.17142312120545233, + -0.3484128794055046, + 0.8880511915854861, + 0.07974572311878869, + 0.0, + 0.11599283108110443, + -0.03409199053020569, + 1.4612828588181515, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20393033468266994, + -0.4088968055432683, + 0.6778559336821999, + 0.17142312120545233, + -0.3484128794055046, + 0.8880511915854861, + 0.07974572311878869, + 0.0, + 0.12845194453828074, + -0.02113807106322269, + 1.4612828588181515, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20393033468266994, + -0.4088968055432683, + 0.6778559336821999, + 0.17142312120545233, + -0.3484128794055046, + 0.8880511915854861, + 0.07974572311878869, + 0.0, + 0.15214944209018202, + 0.026504574970385296, + 1.4612828588181515, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20393033468266994, + -0.4088968055432683, + 0.6778559336821999, + 0.17142312120545233, + -0.3484128794055046, + 0.8880511915854861, + 0.07974572311878869, + 0.0, + 0.2012495838664175, + 0.060743364040551195, + 1.4612828588181515, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20393033468266994, + -0.4088968055432683, + 0.6778559336821999, + 0.17142312120545233, + -0.3484128794055046, + 0.8880511915854861, + 0.07974572311878869, + 0.0, + 0.24577215812993392, + 0.10831890798261481, + 1.4612828588181515, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20393033468266994, + -0.4088968055432683, + 0.6778559336821999, + 0.17142312120545233, + -0.3484128794055046, + 0.8880511915854861, + 0.07974572311878869, + 0.0, + 0.27394015785229453, + 0.14236837159693716, + 1.4612828588181515, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20393033468266994, + -0.4088968055432683, + 0.6778559336821999, + 0.17142312120545233, + -0.3484128794055046, + 0.8880511915854861, + 0.07974572311878869, + 0.0, + 0.3161325009816001, + 0.18154425275002561, + 1.4612828588181515, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20393033468266994, + -0.4088968055432683, + 0.6778559336821999, + 0.17142312120545233, + -0.3484128794055046, + 0.8880511915854861, + 0.07974572311878869, + 0.0, + 0.3466959965476199, + 0.22401687935398717, + 1.4612828588181515, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20393033468266994, + -0.4088968055432683, + 0.6778559336821999, + 0.17142312120545233, + -0.3484128794055046, + 0.8880511915854861, + 0.07974572311878869, + 0.0, + 0.3628656118870542, + 0.24604600126093085, + 1.4612828588181515, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20393033468266994, + -0.4088968055432683, + 0.6778559336821999, + 0.17142312120545233, + -0.3484128794055046, + 0.8880511915854861, + 0.07974572311878869, + 0.0, + 0.4197012149926388, + 0.30597566816795385, + 1.4612828588181515, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20393033468266994, + -0.4088968055432683, + 0.6778559336821999, + 0.17142312120545233, + -0.3484128794055046, + 0.8880511915854861, + 0.07974572311878869, + 0.0, + 0.4568848254387839, + 0.32800664913140987, + 1.4612828588181515, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20393033468266994, + -0.4088968055432683, + 0.6778559336821999, + 0.17142312120545233, + -0.3484128794055046, + 0.8880511915854861, + 0.07974572311878869, + 0.0, + 0.4925494192129497, + 0.3874405690927825, + 1.4612828588181515, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20393033468266994, + -0.4088968055432683, + 0.6778559336821999, + 0.17142312120545233, + -0.3484128794055046, + 0.8880511915854861, + 0.07974572311878869, + 0.0, + 0.5170096238834436, + 0.3974527519855773, + 1.4612828588181515, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20393033468266994, + -0.4088968055432683, + 0.6778559336821999, + 0.17142312120545233, + -0.3484128794055046, + 0.8880511915854861, + 0.07974572311878869, + 0.0, + 0.5419888173183947, + 0.41257138400556936, + 1.4612828588181515, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20393033468266994, + -0.4088968055432683, + 0.6778559336821999, + 0.17142312120545233, + -0.3484128794055046, + 0.8880511915854861, + 0.07974572311878869, + 0.0, + 0.5737909494024335, + 0.46569194919184637, + 1.4612828588181515, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20393033468266994, + -0.4088968055432683, + 0.6778559336821999, + 0.17142312120545233, + -0.3484128794055046, + 0.8880511915854861, + 0.07974572311878869, + 0.0, + 0.6121773588600341, + 0.4867849405112259, + 1.4612828588181515, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20393033468266994, + -0.4088968055432683, + 0.6778559336821999, + 0.17142312120545233, + -0.3484128794055046, + 0.8880511915854861, + 0.07974572311878869, + 0.0, + 0.6663348928592993, + 0.5569427507726009, + 1.4612828588181515, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20393033468266994, + -0.4088968055432683, + 0.6778559336821999, + 0.17142312120545233, + -0.3484128794055046, + 0.8880511915854861, + 0.07974572311878869, + 0.0, + 1.5050805807113647, + 2.0320444107055664, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.8783530703018964, + 0.569167520817734, + 0.6820412481573993, + 0.21638574157164428, + -0.471019279996613, + 0.8207944946402258, + 0.12611661207494643, + 0.0, + 1.537644386291504, + 2.11004638671875, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.8783530703018964, + 0.569167520817734, + 0.6820412481573993, + 0.21638574157164428, + -0.471019279996613, + 0.8207944946402258, + 0.12611661207494643, + 0.0, + 1.5580110549926758, + 2.158831834793091, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.8783530703018964, + 0.569167520817734, + 0.6820412481573993, + 0.21638574157164428, + -0.471019279996613, + 0.8207944946402258, + 0.12611661207494643, + 0.0, + 1.5873886346817017, + 2.2292017936706543, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.8783530703018964, + 0.569167520817734, + 0.6820412481573993, + 0.21638574157164428, + -0.471019279996613, + 0.8207944946402258, + 0.12611661207494643, + 0.0, + 1.592479944229126, + 2.2378547191619873, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.8783530703018964, + 0.569167520817734, + 0.6820412481573993, + 0.21638574157164428, + -0.471019279996613, + 0.8207944946402258, + 0.12611661207494643, + 0.0 + ], + "std": [ + 1.6359935497365292, + 1.068431250647503, + 0.46357319014173076, + 0.037671815535920444, + 0.0, + 0.0, + 0.03711666705939002, + 1.2892424255143107, + 1.2887021185308656, + 1.5518936771659453, + 0.025003421577253312, + 0.050787797016804886, + 0.21114603335859616, + 0.10710255041106014, + 0.061713976310266296, + 0.49851851526214325, + 1.6087679370263466, + 0.7382086005923989, + 0.02580288717585252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4125402579088857, + 1.3476360870124846, + 0.006386052307151459, + 0.05096708245567217, + 0.1970702923913507, + 0.09502479364521402, + 0.0613504737873687, + 0.0, + 1.5917370371101498, + 0.7296091736549604, + 0.02580288717585252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4125402579088857, + 1.3476360870124846, + 0.006386052307151459, + 0.05096708245567217, + 0.1970702923913507, + 0.09502479364521402, + 0.0613504737873687, + 0.0, + 1.5887549367862024, + 0.7191329358972812, + 0.02580288717585252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4125402579088857, + 1.3476360870124846, + 0.006386052307151459, + 0.05096708245567217, + 0.1970702923913507, + 0.09502479364521402, + 0.0613504737873687, + 0.0, + 1.6100160052259989, + 0.7222553668578183, + 0.02580288717585252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4125402579088857, + 1.3476360870124846, + 0.006386052307151459, + 0.05096708245567217, + 0.1970702923913507, + 0.09502479364521402, + 0.0613504737873687, + 0.0, + 1.6402043733879617, + 0.7265621087457552, + 0.02580288717585252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4125402579088857, + 1.3476360870124846, + 0.006386052307151459, + 0.05096708245567217, + 0.1970702923913507, + 0.09502479364521402, + 0.0613504737873687, + 0.0, + 1.628938804589175, + 0.7150352634774668, + 0.02580288717585252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4125402579088857, + 1.3476360870124846, + 0.006386052307151459, + 0.05096708245567217, + 0.1970702923913507, + 0.09502479364521402, + 0.0613504737873687, + 0.0, + 1.6233197032255426, + 0.7088850251791933, + 0.02580288717585252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4125402579088857, + 1.3476360870124846, + 0.006386052307151459, + 0.05096708245567217, + 0.1970702923913507, + 0.09502479364521402, + 0.0613504737873687, + 0.0, + 1.639224625865009, + 0.7064287338246223, + 0.02580288717585252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4125402579088857, + 1.3476360870124846, + 0.006386052307151459, + 0.05096708245567217, + 0.1970702923913507, + 0.09502479364521402, + 0.0613504737873687, + 0.0, + 1.6051574098405994, + 0.6916706879791132, + 0.02580288717585252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4125402579088857, + 1.3476360870124846, + 0.006386052307151459, + 0.05096708245567217, + 0.1970702923913507, + 0.09502479364521402, + 0.0613504737873687, + 0.0, + 1.6133235414197862, + 0.6920014546003193, + 0.02580288717585252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4125402579088857, + 1.3476360870124846, + 0.006386052307151459, + 0.05096708245567217, + 0.1970702923913507, + 0.09502479364521402, + 0.0613504737873687, + 0.0, + 1.6524873346586129, + 0.6977627375043014, + 0.02580288717585252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4125402579088857, + 1.3476360870124846, + 0.006386052307151459, + 0.05096708245567217, + 0.1970702923913507, + 0.09502479364521402, + 0.0613504737873687, + 0.0, + 1.6184605431891184, + 0.6980478268302055, + 0.02580288717585252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4125402579088857, + 1.3476360870124846, + 0.006386052307151459, + 0.05096708245567217, + 0.1970702923913507, + 0.09502479364521402, + 0.0613504737873687, + 0.0, + 1.5969630605698628, + 0.6980503826190175, + 0.02580288717585252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4125402579088857, + 1.3476360870124846, + 0.006386052307151459, + 0.05096708245567217, + 0.1970702923913507, + 0.09502479364521402, + 0.0613504737873687, + 0.0, + 1.61116615848174, + 0.7375189833915727, + 0.02580288717585252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4125402579088857, + 1.3476360870124846, + 0.006386052307151459, + 0.05096708245567217, + 0.1970702923913507, + 0.09502479364521402, + 0.0613504737873687, + 0.0, + 1.5802463295068432, + 0.7319648382548747, + 0.02580288717585252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4125402579088857, + 1.3476360870124846, + 0.006386052307151459, + 0.05096708245567217, + 0.1970702923913507, + 0.09502479364521402, + 0.0613504737873687, + 0.0, + 1.5868471295970463, + 0.7536111212759689, + 0.02580288717585252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4125402579088857, + 1.3476360870124846, + 0.006386052307151459, + 0.05096708245567217, + 0.1970702923913507, + 0.09502479364521402, + 0.0613504737873687, + 0.0, + 1.5945862215568776, + 0.7710201144840457, + 0.02580288717585252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4125402579088857, + 1.3476360870124846, + 0.006386052307151459, + 0.05096708245567217, + 0.1970702923913507, + 0.09502479364521402, + 0.0613504737873687, + 0.0, + 1.554629479981379, + 0.7834709962800438, + 0.02580288717585252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4125402579088857, + 1.3476360870124846, + 0.006386052307151459, + 0.05096708245567217, + 0.1970702923913507, + 0.09502479364521402, + 0.0613504737873687, + 0.0, + 1.532161837761986, + 0.7972790167918965, + 0.02580288717585252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4125402579088857, + 1.3476360870124846, + 0.006386052307151459, + 0.05096708245567217, + 0.1970702923913507, + 0.09502479364521402, + 0.0613504737873687, + 0.0, + 1.524805356302124, + 0.8117402790917996, + 0.02580288717585252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4125402579088857, + 1.3476360870124846, + 0.006386052307151459, + 0.05096708245567217, + 0.1970702923913507, + 0.09502479364521402, + 0.0613504737873687, + 0.0, + 1.5084346077192676, + 0.8319345768856626, + 0.02580288717585252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4125402579088857, + 1.3476360870124846, + 0.006386052307151459, + 0.05096708245567217, + 0.1970702923913507, + 0.09502479364521402, + 0.0613504737873687, + 0.0, + 1.5045216950554423, + 0.8630379471591074, + 0.02580288717585252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4125402579088857, + 1.3476360870124846, + 0.006386052307151459, + 0.05096708245567217, + 0.1970702923913507, + 0.09502479364521402, + 0.0613504737873687, + 0.0, + 1.4989411301948936, + 0.8716757406471166, + 0.02580288717585252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4125402579088857, + 1.3476360870124846, + 0.006386052307151459, + 0.05096708245567217, + 0.1970702923913507, + 0.09502479364521402, + 0.0613504737873687, + 0.0, + 1.4771704159210475, + 0.8976642605591464, + 0.02580288717585252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4125402579088857, + 1.3476360870124846, + 0.006386052307151459, + 0.05096708245567217, + 0.1970702923913507, + 0.09502479364521402, + 0.0613504737873687, + 0.0, + 1.4438115471660269, + 0.894206891246522, + 0.02580288717585252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4125402579088857, + 1.3476360870124846, + 0.006386052307151459, + 0.05096708245567217, + 0.1970702923913507, + 0.09502479364521402, + 0.0613504737873687, + 0.0, + 1.4335189992992494, + 0.8932461338287712, + 0.02580288717585252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4125402579088857, + 1.3476360870124846, + 0.006386052307151459, + 0.05096708245567217, + 0.1970702923913507, + 0.09502479364521402, + 0.0613504737873687, + 0.0, + 1.4315882791662446, + 0.932202901673295, + 0.02580288717585252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4125402579088857, + 1.3476360870124846, + 0.006386052307151459, + 0.05096708245567217, + 0.1970702923913507, + 0.09502479364521402, + 0.0613504737873687, + 0.0, + 1.4128263226879783, + 0.9435773088127329, + 0.02580288717585252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4125402579088857, + 1.3476360870124846, + 0.006386052307151459, + 0.05096708245567217, + 0.1970702923913507, + 0.09502479364521402, + 0.0613504737873687, + 0.0, + 1.4100665759902635, + 0.967379511136991, + 0.02580288717585252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4125402579088857, + 1.3476360870124846, + 0.006386052307151459, + 0.05096708245567217, + 0.1970702923913507, + 0.09502479364521402, + 0.0613504737873687, + 0.0, + 1.3929857341776362, + 0.9957609811899811, + 0.02580288717585252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4125402579088857, + 1.3476360870124846, + 0.006386052307151459, + 0.05096708245567217, + 0.1970702923913507, + 0.09502479364521402, + 0.0613504737873687, + 0.0, + 1.3562473696576163, + 0.9920187714437051, + 0.02580288717585252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4125402579088857, + 1.3476360870124846, + 0.006386052307151459, + 0.05096708245567217, + 0.1970702923913507, + 0.09502479364521402, + 0.0613504737873687, + 0.0, + 1.3682705431685618, + 1.0362683912387736, + 0.02580288717585252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4125402579088857, + 1.3476360870124846, + 0.006386052307151459, + 0.05096708245567217, + 0.1970702923913507, + 0.09502479364521402, + 0.0613504737873687, + 0.0, + 1.3562920662432527, + 1.0361840502081439, + 0.02580288717585252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4125402579088857, + 1.3476360870124846, + 0.006386052307151459, + 0.05096708245567217, + 0.1970702923913507, + 0.09502479364521402, + 0.0613504737873687, + 0.0, + 1.321588406798518, + 1.0244659516971852, + 0.02580288717585252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4125402579088857, + 1.3476360870124846, + 0.006386052307151459, + 0.05096708245567217, + 0.1970702923913507, + 0.09502479364521402, + 0.0613504737873687, + 0.0, + 1.3235566316463327, + 1.0680033088138687, + 0.02580288717585252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4125402579088857, + 1.3476360870124846, + 0.006386052307151459, + 0.05096708245567217, + 0.1970702923913507, + 0.09502479364521402, + 0.0613504737873687, + 0.0, + 1.2979453989125564, + 1.0679749871076667, + 0.02580288717585252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4125402579088857, + 1.3476360870124846, + 0.006386052307151459, + 0.05096708245567217, + 0.1970702923913507, + 0.09502479364521402, + 0.0613504737873687, + 0.0, + 1.2689042084440774, + 1.0916774616611193, + 0.02580288717585252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4125402579088857, + 1.3476360870124846, + 0.006386052307151459, + 0.05096708245567217, + 0.1970702923913507, + 0.09502479364521402, + 0.0613504737873687, + 0.0, + 1.2736165480720099, + 1.1098411555291672, + 0.02580288717585252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4125402579088857, + 1.3476360870124846, + 0.006386052307151459, + 0.05096708245567217, + 0.1970702923913507, + 0.09502479364521402, + 0.0613504737873687, + 0.0, + 1.2809009325127165, + 1.1399372924055349, + 0.02580288717585252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4125402579088857, + 1.3476360870124846, + 0.006386052307151459, + 0.05096708245567217, + 0.1970702923913507, + 0.09502479364521402, + 0.0613504737873687, + 0.0, + 1.2494999465763932, + 1.1518369559364736, + 0.02580288717585252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4125402579088857, + 1.3476360870124846, + 0.006386052307151459, + 0.05096708245567217, + 0.1970702923913507, + 0.09502479364521402, + 0.0613504737873687, + 0.0, + 1.2363167421317076, + 1.1673044412052973, + 0.02580288717585252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4125402579088857, + 1.3476360870124846, + 0.006386052307151459, + 0.05096708245567217, + 0.1970702923913507, + 0.09502479364521402, + 0.0613504737873687, + 0.0, + 1.2254328560592653, + 1.193896740219368, + 0.02580288717585252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4125402579088857, + 1.3476360870124846, + 0.006386052307151459, + 0.05096708245567217, + 0.1970702923913507, + 0.09502479364521402, + 0.0613504737873687, + 0.0, + 1.1838266945711629, + 1.1917526414394275, + 0.02580288717585252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4125402579088857, + 1.3476360870124846, + 0.006386052307151459, + 0.05096708245567217, + 0.1970702923913507, + 0.09502479364521402, + 0.0613504737873687, + 0.0, + 1.2012388676560168, + 1.2356620441384076, + 0.02580288717585252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4125402579088857, + 1.3476360870124846, + 0.006386052307151459, + 0.05096708245567217, + 0.1970702923913507, + 0.09502479364521402, + 0.0613504737873687, + 0.0, + 1.203781342586665, + 1.2429487763385993, + 0.02580288717585252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4125402579088857, + 1.3476360870124846, + 0.006386052307151459, + 0.05096708245567217, + 0.1970702923913507, + 0.09502479364521402, + 0.0613504737873687, + 0.0, + 1.173743453920321, + 1.269943166312679, + 0.02580288717585252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4125402579088857, + 1.3476360870124846, + 0.006386052307151459, + 0.05096708245567217, + 0.1970702923913507, + 0.09502479364521402, + 0.0613504737873687, + 0.0, + 1.1491168239652678, + 1.2665940725471172, + 0.02580288717585252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4125402579088857, + 1.3476360870124846, + 0.006386052307151459, + 0.05096708245567217, + 0.1970702923913507, + 0.09502479364521402, + 0.0613504737873687, + 0.0, + 1.1276253147593818, + 1.2596163530448015, + 0.02580288717585252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4125402579088857, + 1.3476360870124846, + 0.006386052307151459, + 0.05096708245567217, + 0.1970702923913507, + 0.09502479364521402, + 0.0613504737873687, + 0.0, + 1.1083844450644909, + 1.2953833692256942, + 0.02580288717585252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4125402579088857, + 1.3476360870124846, + 0.006386052307151459, + 0.05096708245567217, + 0.1970702923913507, + 0.09502479364521402, + 0.0613504737873687, + 0.0, + 1.1032227621020627, + 1.3012269128671043, + 0.02580288717585252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4125402579088857, + 1.3476360870124846, + 0.006386052307151459, + 0.05096708245567217, + 0.1970702923913507, + 0.09502479364521402, + 0.0613504737873687, + 0.0, + 1.1161766290790112, + 1.3420889237536562, + 0.02580288717585252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4125402579088857, + 1.3476360870124846, + 0.006386052307151459, + 0.05096708245567217, + 0.1970702923913507, + 0.09502479364521402, + 0.0613504737873687, + 0.0, + 1.0791940678540193, + 1.3433786461101134, + 0.02580288717585252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4125402579088857, + 1.3476360870124846, + 0.006386052307151459, + 0.05096708245567217, + 0.1970702923913507, + 0.09502479364521402, + 0.0613504737873687, + 0.0, + 1.062021009615013, + 1.3659221298764421, + 0.02580288717585252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4125402579088857, + 1.3476360870124846, + 0.006386052307151459, + 0.05096708245567217, + 0.1970702923913507, + 0.09502479364521402, + 0.0613504737873687, + 0.0, + 1.055066054464169, + 1.3852923938093076, + 0.02580288717585252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4125402579088857, + 1.3476360870124846, + 0.006386052307151459, + 0.05096708245567217, + 0.1970702923913507, + 0.09502479364521402, + 0.0613504737873687, + 0.0, + 1.0329418092176368, + 1.399013948419594, + 0.02580288717585252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4125402579088857, + 1.3476360870124846, + 0.006386052307151459, + 0.05096708245567217, + 0.1970702923913507, + 0.09502479364521402, + 0.0613504737873687, + 0.0, + 1.0308670436387353, + 1.4271793948814486, + 0.02580288717585252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4125402579088857, + 1.3476360870124846, + 0.006386052307151459, + 0.05096708245567217, + 0.1970702923913507, + 0.09502479364521402, + 0.0613504737873687, + 0.0, + 1.0293328571110214, + 1.4415099999081906, + 0.02580288717585252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4125402579088857, + 1.3476360870124846, + 0.006386052307151459, + 0.05096708245567217, + 0.1970702923913507, + 0.09502479364521402, + 0.0613504737873687, + 0.0, + 1.0066152230841006, + 1.4692492834456605, + 0.02580288717585252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4125402579088857, + 1.3476360870124846, + 0.006386052307151459, + 0.05096708245567217, + 0.1970702923913507, + 0.09502479364521402, + 0.0613504737873687, + 0.0, + 0.9747495590804393, + 1.4651852226205195, + 0.02580288717585252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4125402579088857, + 1.3476360870124846, + 0.006386052307151459, + 0.05096708245567217, + 0.1970702923913507, + 0.09502479364521402, + 0.0613504737873687, + 0.0, + 0.9821011369920004, + 1.5108179996558877, + 0.02580288717585252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4125402579088857, + 1.3476360870124846, + 0.006386052307151459, + 0.05096708245567217, + 0.1970702923913507, + 0.09502479364521402, + 0.0613504737873687, + 0.0, + 0.9567042041778454, + 1.5023509090854172, + 0.02580288717585252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4125402579088857, + 1.3476360870124846, + 0.006386052307151459, + 0.05096708245567217, + 0.1970702923913507, + 0.09502479364521402, + 0.0613504737873687, + 0.0, + 0.9356129433865534, + 1.5000328680742185, + 0.02580288717585252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4125402579088857, + 1.3476360870124846, + 0.006386052307151459, + 0.05096708245567217, + 0.1970702923913507, + 0.09502479364521402, + 0.0613504737873687, + 0.0, + 0.9422904617186829, + 1.5408831698818224, + 0.02580288717585252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4125402579088857, + 1.3476360870124846, + 0.006386052307151459, + 0.05096708245567217, + 0.1970702923913507, + 0.09502479364521402, + 0.0613504737873687, + 0.0, + 0.9077601055580036, + 1.5345530753758683, + 0.02580288717585252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4125402579088857, + 1.3476360870124846, + 0.006386052307151459, + 0.05096708245567217, + 0.1970702923913507, + 0.09502479364521402, + 0.0613504737873687, + 0.0, + 0.8899059741795856, + 1.5560011956089894, + 0.02580288717585252, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4125402579088857, + 1.3476360870124846, + 0.006386052307151459, + 0.05096708245567217, + 0.1970702923913507, + 0.09502479364521402, + 0.0613504737873687, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.5474452371980684, + 1.0855055944764627, + 0.004572773584201013, + 0.021000430894232893, + 0.18141539613064336, + 0.07807764095806394, + 0.04754032158299019, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.5474452371980684, + 1.0855055944764627, + 0.004572773584201013, + 0.021000430894232893, + 0.18141539613064336, + 0.07807764095806394, + 0.04754032158299019, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.5474452371980684, + 1.0855055944764627, + 0.004572773584201013, + 0.021000430894232893, + 0.18141539613064336, + 0.07807764095806394, + 0.04754032158299019, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.5474452371980684, + 1.0855055944764627, + 0.004572773584201013, + 0.021000430894232893, + 0.18141539613064336, + 0.07807764095806394, + 0.04754032158299019, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.5474452371980684, + 1.0855055944764627, + 0.004572773584201013, + 0.021000430894232893, + 0.18141539613064336, + 0.07807764095806394, + 0.04754032158299019, + 0.0 + ], + "min": [ + -3.5004003047943115, + -2.324596881866455, + 0.33000001311302185, + 0.5729645490646362, + -0.0, + -0.0, + 0.629795491695404, + -1.0, + -3.2134735584259033, + -2.0859732627868652, + 0.6222670674324036, + 0.0701964795589447, + -0.8133142590522766, + 0.5684585571289062, + 0.016617480665445328, + 0.0, + -3.4912173748016357, + -2.3212063312530518, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2134735584259033, + -2.0859732627868652, + 0.6523369550704956, + 0.1022377535700798, + -0.6554996967315674, + 0.7095730304718018, + 0.016617480665445328, + 0.0, + -3.4348244667053223, + -2.300384998321533, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2134735584259033, + -2.0859732627868652, + 0.6523369550704956, + 0.1022377535700798, + -0.6554996967315674, + 0.7095730304718018, + 0.016617480665445328, + 0.0, + -3.3386523723602295, + -2.264876365661621, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2134735584259033, + -2.0859732627868652, + 0.6523369550704956, + 0.1022377535700798, + -0.6554996967315674, + 0.7095730304718018, + 0.016617480665445328, + 0.0, + -3.3358144760131836, + -2.2638285160064697, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2134735584259033, + -2.0859732627868652, + 0.6523369550704956, + 0.1022377535700798, + -0.6554996967315674, + 0.7095730304718018, + 0.016617480665445328, + 0.0, + -3.3305652141571045, + -2.261890411376953, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2134735584259033, + -2.0859732627868652, + 0.6523369550704956, + 0.1022377535700798, + -0.6554996967315674, + 0.7095730304718018, + 0.016617480665445328, + 0.0, + -3.237096071243286, + -2.227379560470581, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2134735584259033, + -2.0859732627868652, + 0.6523369550704956, + 0.1022377535700798, + -0.6554996967315674, + 0.7095730304718018, + 0.016617480665445328, + 0.0, + -3.1866190433502197, + -2.208742380142212, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2134735584259033, + -2.0859732627868652, + 0.6523369550704956, + 0.1022377535700798, + -0.6554996967315674, + 0.7095730304718018, + 0.016617480665445328, + 0.0, + -3.1383957862854004, + -2.1909372806549072, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2134735584259033, + -2.0859732627868652, + 0.6523369550704956, + 0.1022377535700798, + -0.6554996967315674, + 0.7095730304718018, + 0.016617480665445328, + 0.0, + -3.0490996837615967, + -2.1579673290252686, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2134735584259033, + -2.0859732627868652, + 0.6523369550704956, + 0.1022377535700798, + -0.6554996967315674, + 0.7095730304718018, + 0.016617480665445328, + 0.0, + -3.0396547317504883, + -2.15447998046875, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2134735584259033, + -2.0859732627868652, + 0.6523369550704956, + 0.1022377535700798, + -0.6554996967315674, + 0.7095730304718018, + 0.016617480665445328, + 0.0, + -3.034519910812378, + -2.1525840759277344, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2134735584259033, + -2.0859732627868652, + 0.6523369550704956, + 0.1022377535700798, + -0.6554996967315674, + 0.7095730304718018, + 0.016617480665445328, + 0.0, + -2.9405252933502197, + -2.1178793907165527, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2134735584259033, + -2.0859732627868652, + 0.6523369550704956, + 0.1022377535700798, + -0.6554996967315674, + 0.7095730304718018, + 0.016617480665445328, + 0.0, + -2.8814971446990967, + -2.0960850715637207, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2134735584259033, + -2.0859732627868652, + 0.6523369550704956, + 0.1022377535700798, + -0.6554996967315674, + 0.7095730304718018, + 0.016617480665445328, + 0.0, + -2.841395378112793, + -2.0812785625457764, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2134735584259033, + -2.0859732627868652, + 0.6523369550704956, + 0.1022377535700798, + -0.6554996967315674, + 0.7095730304718018, + 0.016617480665445328, + 0.0, + -2.7676331996917725, + -2.054044008255005, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2134735584259033, + -2.0859732627868652, + 0.6523369550704956, + 0.1022377535700798, + -0.6554996967315674, + 0.7095730304718018, + 0.016617480665445328, + 0.0, + -2.7423758506774902, + -2.0447185039520264, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2134735584259033, + -2.0859732627868652, + 0.6523369550704956, + 0.1022377535700798, + -0.6554996967315674, + 0.7095730304718018, + 0.016617480665445328, + 0.0, + -2.7287356853485107, + -2.039682388305664, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2134735584259033, + -2.0859732627868652, + 0.6523369550704956, + 0.1022377535700798, + -0.6554996967315674, + 0.7095730304718018, + 0.016617480665445328, + 0.0, + -2.6436753273010254, + -2.0082762241363525, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2134735584259033, + -2.0859732627868652, + 0.6523369550704956, + 0.1022377535700798, + -0.6554996967315674, + 0.7095730304718018, + 0.016617480665445328, + 0.0, + -2.576733350753784, + -1.9835598468780518, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2134735584259033, + -2.0859732627868652, + 0.6523369550704956, + 0.1022377535700798, + -0.6554996967315674, + 0.7095730304718018, + 0.016617480665445328, + 0.0, + -2.5449752807617188, + -1.9718341827392578, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2134735584259033, + -2.0859732627868652, + 0.6523369550704956, + 0.1022377535700798, + -0.6554996967315674, + 0.7095730304718018, + 0.016617480665445328, + 0.0, + -2.486168146133423, + -1.9501214027404785, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2134735584259033, + -2.0859732627868652, + 0.6523369550704956, + 0.1022377535700798, + -0.6554996967315674, + 0.7095730304718018, + 0.016617480665445328, + 0.0, + -2.446101427078247, + -1.9353280067443848, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2134735584259033, + -2.0859732627868652, + 0.6523369550704956, + 0.1022377535700798, + -0.6554996967315674, + 0.7095730304718018, + 0.016617480665445328, + 0.0, + -2.424318790435791, + -1.9272854328155518, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2134735584259033, + -2.0859732627868652, + 0.6523369550704956, + 0.1022377535700798, + -0.6554996967315674, + 0.7095730304718018, + 0.016617480665445328, + 0.0, + -2.3469719886779785, + -1.898727297782898, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2134735584259033, + -2.0859732627868652, + 0.6523369550704956, + 0.1022377535700798, + -0.6554996967315674, + 0.7095730304718018, + 0.016617480665445328, + 0.0, + -2.271296262741089, + -1.8707863092422485, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2134735584259033, + -2.0859732627868652, + 0.6523369550704956, + 0.1022377535700798, + -0.6554996967315674, + 0.7095730304718018, + 0.016617480665445328, + 0.0, + -2.247842311859131, + -1.8621265888214111, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2134735584259033, + -2.0859732627868652, + 0.6523369550704956, + 0.1022377535700798, + -0.6554996967315674, + 0.7095730304718018, + 0.016617480665445328, + 0.0, + -2.2047016620635986, + -1.8461982011795044, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2134735584259033, + -2.0859732627868652, + 0.6523369550704956, + 0.1022377535700798, + -0.6554996967315674, + 0.7095730304718018, + 0.016617480665445328, + 0.0, + -2.1489553451538086, + -1.8256155252456665, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2134735584259033, + -2.0859732627868652, + 0.6523369550704956, + 0.1022377535700798, + -0.6554996967315674, + 0.7095730304718018, + 0.016617480665445328, + 0.0, + -2.1188502311706543, + -1.814500093460083, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2134735584259033, + -2.0859732627868652, + 0.6523369550704956, + 0.1022377535700798, + -0.6554996967315674, + 0.7095730304718018, + 0.016617480665445328, + 0.0, + -2.050255060195923, + -1.7891733646392822, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2134735584259033, + -2.0859732627868652, + 0.6523369550704956, + 0.1022377535700798, + -0.6554996967315674, + 0.7095730304718018, + 0.016617480665445328, + 0.0, + -1.9668480157852173, + -1.7583777904510498, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2134735584259033, + -2.0859732627868652, + 0.6523369550704956, + 0.1022377535700798, + -0.6554996967315674, + 0.7095730304718018, + 0.016617480665445328, + 0.0, + -1.951554536819458, + -1.7527310848236084, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2134735584259033, + -2.0859732627868652, + 0.6523369550704956, + 0.1022377535700798, + -0.6554996967315674, + 0.7095730304718018, + 0.016617480665445328, + 0.0, + -1.923235535621643, + -1.7422751188278198, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2134735584259033, + -2.0859732627868652, + 0.6523369550704956, + 0.1022377535700798, + -0.6554996967315674, + 0.7095730304718018, + 0.016617480665445328, + 0.0, + -1.8525482416152954, + -1.71617591381073, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2134735584259033, + -2.0859732627868652, + 0.6523369550704956, + 0.1022377535700798, + -0.6554996967315674, + 0.7095730304718018, + 0.016617480665445328, + 0.0, + -1.8141182661056519, + -1.7019867897033691, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2134735584259033, + -2.0859732627868652, + 0.6523369550704956, + 0.1022377535700798, + -0.6554996967315674, + 0.7095730304718018, + 0.016617480665445328, + 0.0, + -1.7534188032150269, + -1.6795753240585327, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2134735584259033, + -2.0859732627868652, + 0.6523369550704956, + 0.1022377535700798, + -0.6554996967315674, + 0.7095730304718018, + 0.016617480665445328, + 0.0, + -1.6610957384109497, + -1.6454877853393555, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2134735584259033, + -2.0859732627868652, + 0.6523369550704956, + 0.1022377535700798, + -0.6554996967315674, + 0.7095730304718018, + 0.016617480665445328, + 0.0, + -1.6542893648147583, + -1.6429747343063354, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2134735584259033, + -2.0859732627868652, + 0.6523369550704956, + 0.1022377535700798, + -0.6554996967315674, + 0.7095730304718018, + 0.016617480665445328, + 0.0, + -1.6417698860168457, + -1.6383522748947144, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2134735584259033, + -2.0859732627868652, + 0.6523369550704956, + 0.1022377535700798, + -0.6554996967315674, + 0.7095730304718018, + 0.016617480665445328, + 0.0, + -1.555534839630127, + -1.6065125465393066, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2134735584259033, + -2.0859732627868652, + 0.6523369550704956, + 0.1022377535700798, + -0.6554996967315674, + 0.7095730304718018, + 0.016617480665445328, + 0.0, + -1.5089647769927979, + -1.5893179178237915, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2134735584259033, + -2.0859732627868652, + 0.6523369550704956, + 0.1022377535700798, + -0.6554996967315674, + 0.7095730304718018, + 0.016617480665445328, + 0.0, + -1.4568344354629517, + -1.5700703859329224, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2134735584259033, + -2.0859732627868652, + 0.6523369550704956, + 0.1022377535700798, + -0.6554996967315674, + 0.7095730304718018, + 0.016617480665445328, + 0.0, + -1.360303282737732, + -1.5344290733337402, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2134735584259033, + -2.0859732627868652, + 0.6523369550704956, + 0.1022377535700798, + -0.6554996967315674, + 0.7095730304718018, + 0.016617480665445328, + 0.0, + -1.3581246137619019, + -1.5336246490478516, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2134735584259033, + -2.0859732627868652, + 0.6523369550704956, + 0.1022377535700798, + -0.6554996967315674, + 0.7095730304718018, + 0.016617480665445328, + 0.0, + -1.3569401502609253, + -1.5331872701644897, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2134735584259033, + -2.0859732627868652, + 0.6523369550704956, + 0.1022377535700798, + -0.6554996967315674, + 0.7095730304718018, + 0.016617480665445328, + 0.0, + -1.2589951753616333, + -1.4970239400863647, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2134735584259033, + -2.0859732627868652, + 0.6523369550704956, + 0.1022377535700798, + -0.6554996967315674, + 0.7095730304718018, + 0.016617480665445328, + 0.0, + -1.2039175033569336, + -1.4766881465911865, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2134735584259033, + -2.0859732627868652, + 0.6523369550704956, + 0.1022377535700798, + -0.6554996967315674, + 0.7095730304718018, + 0.016617480665445328, + 0.0, + -1.1598656177520752, + -1.4604233503341675, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2134735584259033, + -2.0859732627868652, + 0.6523369550704956, + 0.1022377535700798, + -0.6554996967315674, + 0.7095730304718018, + 0.016617480665445328, + 0.0, + -1.0788378715515137, + -1.4305062294006348, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2134735584259033, + -2.0859732627868652, + 0.6523369550704956, + 0.1022377535700798, + -0.6554996967315674, + 0.7095730304718018, + 0.016617480665445328, + 0.0, + -1.0608144998550415, + -1.4238516092300415, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2134735584259033, + -2.0859732627868652, + 0.6523369550704956, + 0.1022377535700798, + -0.6554996967315674, + 0.7095730304718018, + 0.016617480665445328, + 0.0, + -1.0510811805725098, + -1.4202579259872437, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2134735584259033, + -2.0859732627868652, + 0.6523369550704956, + 0.1022377535700798, + -0.6554996967315674, + 0.7095730304718018, + 0.016617480665445328, + 0.0, + -0.9621140956878662, + -1.3874094486236572, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2134735584259033, + -2.0859732627868652, + 0.6523369550704956, + 0.1022377535700798, + -0.6554996967315674, + 0.7095730304718018, + 0.016617480665445328, + 0.0, + -0.8990790843963623, + -1.3641356229782104, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2134735584259033, + -2.0859732627868652, + 0.6523369550704956, + 0.1022377535700798, + -0.6554996967315674, + 0.7095730304718018, + 0.016617480665445328, + 0.0, + -0.8634136915206909, + -1.3509671688079834, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2134735584259033, + -2.0859732627868652, + 0.6523369550704956, + 0.1022377535700798, + -0.6554996967315674, + 0.7095730304718018, + 0.016617480665445328, + 0.0, + -0.7973715662956238, + -1.3265830278396606, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2134735584259033, + -2.0859732627868652, + 0.6523369550704956, + 0.1022377535700798, + -0.6554996967315674, + 0.7095730304718018, + 0.016617480665445328, + 0.0, + -0.764571487903595, + -1.3144725561141968, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2134735584259033, + -2.0859732627868652, + 0.6523369550704956, + 0.1022377535700798, + -0.6554996967315674, + 0.7095730304718018, + 0.016617480665445328, + 0.0, + -0.7467480301856995, + -1.3078917264938354, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2134735584259033, + -2.0859732627868652, + 0.6523369550704956, + 0.1022377535700798, + -0.6554996967315674, + 0.7095730304718018, + 0.016617480665445328, + 0.0, + -0.6654229760169983, + -1.2778648138046265, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2134735584259033, + -2.0859732627868652, + 0.6523369550704956, + 0.1022377535700798, + -0.6554996967315674, + 0.7095730304718018, + 0.016617480665445328, + 0.0, + -0.5938884019851685, + -1.2514528036117554, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2134735584259033, + -2.0859732627868652, + 0.6523369550704956, + 0.1022377535700798, + -0.6554996967315674, + 0.7095730304718018, + 0.016617480665445328, + 0.0, + -0.5661487579345703, + -1.241210699081421, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2134735584259033, + -2.0859732627868652, + 0.6523369550704956, + 0.1022377535700798, + -0.6554996967315674, + 0.7095730304718018, + 0.016617480665445328, + 0.0, + -0.5143108367919922, + -1.2220710515975952, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2134735584259033, + -2.0859732627868652, + 0.6523369550704956, + 0.1022377535700798, + -0.6554996967315674, + 0.7095730304718018, + 0.016617480665445328, + 0.0, + -0.4665954113006592, + -1.2044535875320435, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2134735584259033, + -2.0859732627868652, + 0.6523369550704956, + 0.1022377535700798, + -0.6554996967315674, + 0.7095730304718018, + 0.016617480665445328, + 0.0, + -0.4419915974140167, + -1.1953693628311157, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2134735584259033, + -2.0859732627868652, + 0.6523369550704956, + 0.1022377535700798, + -0.6554996967315674, + 0.7095730304718018, + 0.016617480665445328, + 0.0, + -0.3663817048072815, + -1.1674525737762451, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2134735584259033, + -2.0859732627868652, + 0.6523369550704956, + 0.1022377535700798, + -0.6554996967315674, + 0.7095730304718018, + 0.016617480665445328, + 0.0, + -0.29297754168510437, + -1.1204156875610352, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2134735584259033, + -2.0859732627868652, + 0.6523369550704956, + 0.1022377535700798, + -0.6554996967315674, + 0.7095730304718018, + 0.016617480665445328, + 0.0, + 1.5050805807113647, + 2.0320444107055664, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.24154150485992432, + -0.8263074159622192, + 0.6671148538589478, + 0.19053252041339874, + -0.6554996967315674, + 0.7095730304718018, + 0.02518804371356964, + 0.0, + 1.537644386291504, + 2.11004638671875, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.24154150485992432, + -0.8263074159622192, + 0.6671148538589478, + 0.19053252041339874, + -0.6554996967315674, + 0.7095730304718018, + 0.02518804371356964, + 0.0, + 1.5580110549926758, + 2.158831834793091, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.24154150485992432, + -0.8263074159622192, + 0.6671148538589478, + 0.19053252041339874, + -0.6554996967315674, + 0.7095730304718018, + 0.02518804371356964, + 0.0, + 1.5873886346817017, + 2.2292017936706543, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.24154150485992432, + -0.8263074159622192, + 0.6671148538589478, + 0.19053252041339874, + -0.6554996967315674, + 0.7095730304718018, + 0.02518804371356964, + 0.0, + 1.592479944229126, + 2.2378547191619873, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.24154150485992432, + -0.8263074159622192, + 0.6671148538589478, + 0.19053252041339874, + -0.6554996967315674, + 0.7095730304718018, + 0.02518804371356964, + 0.0 + ], + "max": [ + 1.56586492061615, + 2.3170838356018066, + 1.4890981912612915, + 0.776760995388031, + -0.0, + -0.0, + 0.8195801377296448, + 2.0, + 1.7054557800292969, + 2.8600480556488037, + 0.7926899790763855, + 0.26334261894226074, + -0.10431760549545288, + 0.9802219271659851, + 0.19765514135360718, + 1.0, + -0.26460352540016174, + -0.8406235575675964, + 1.4890981912612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9802219271659851, + 0.17470970749855042, + 0.0, + -0.24236851930618286, + -0.8370496034622192, + 1.4890981912612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9802219271659851, + 0.17470970749855042, + 0.0, + -0.15217745304107666, + -0.8225525617599487, + 1.4890981912612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9802219271659851, + 0.17470970749855042, + 0.0, + -0.1066974475979805, + -0.8152422308921814, + 1.4890981912612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9802219271659851, + 0.17470970749855042, + 0.0, + -0.040901102125644684, + -0.8046663403511047, + 1.4890981912612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9802219271659851, + 0.17470970749855042, + 0.0, + 0.029973333701491356, + -0.7932742238044739, + 1.4890981912612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9802219271659851, + 0.17470970749855042, + 0.0, + 0.0691804513335228, + -0.7869722247123718, + 1.4890981912612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9802219271659851, + 0.17470970749855042, + 0.0, + 0.14930330216884613, + -0.7740935683250427, + 1.4890981912612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9802219271659851, + 0.17470970749855042, + 0.0, + 0.17027273774147034, + -0.7707229852676392, + 1.4890981912612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9802219271659851, + 0.17470970749855042, + 0.0, + 0.1960960328578949, + -0.7665722370147705, + 1.4890981912612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9802219271659851, + 0.17470970749855042, + 0.0, + 0.27977943420410156, + -0.7531212568283081, + 1.4890981912612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9802219271659851, + 0.17470970749855042, + 0.0, + 0.305528461933136, + -0.7178447842597961, + 1.4890981912612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9802219271659851, + 0.17470970749855042, + 0.0, + 0.32144033908843994, + -0.6960453391075134, + 1.4890981912612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9802219271659851, + 0.17470970749855042, + 0.0, + 0.3900284469127655, + -0.602078914642334, + 1.4890981912612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9802219271659851, + 0.17470970749855042, + 0.0, + 0.4017764925956726, + -0.5859839916229248, + 1.4890981912612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9802219271659851, + 0.17470970749855042, + 0.0, + 0.4402726888656616, + -0.5332437753677368, + 1.4890981912612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9802219271659851, + 0.17470970749855042, + 0.0, + 0.4694347083568573, + -0.493291437625885, + 1.4890981912612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9802219271659851, + 0.17470970749855042, + 0.0, + 0.47435611486434937, + -0.43691325187683105, + 1.4890981912612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9802219271659851, + 0.17470970749855042, + 0.0, + 0.49623602628707886, + -0.38450291752815247, + 1.4890981912612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9802219271659851, + 0.17470970749855042, + 0.0, + 0.5132396221160889, + -0.34377312660217285, + 1.4890981912612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9802219271659851, + 0.17470970749855042, + 0.0, + 0.5392128825187683, + -0.2815577983856201, + 1.4890981912612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9802219271659851, + 0.17470970749855042, + 0.0, + 0.5714316964149475, + -0.20438215136528015, + 1.4890981912612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9802219271659851, + 0.17470970749855042, + 0.0, + 0.5820217132568359, + -0.17901524901390076, + 1.4890981912612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9802219271659851, + 0.17470970749855042, + 0.0, + 0.6157042384147644, + -0.09833342581987381, + 1.4890981912612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9802219271659851, + 0.17470970749855042, + 0.0, + 0.6244739890098572, + -0.0773266851902008, + 1.4890981912612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9802219271659851, + 0.17470970749855042, + 0.0, + 0.6272847652435303, + -0.07059390097856522, + 1.4890981912612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9802219271659851, + 0.17470970749855042, + 0.0, + 0.6665530800819397, + 0.02346784807741642, + 1.4890981912612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9802219271659851, + 0.17470970749855042, + 0.0, + 0.6846696138381958, + 0.0668635219335556, + 1.4890981912612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9802219271659851, + 0.17470970749855042, + 0.0, + 0.709239661693573, + 0.1257176697254181, + 1.4890981912612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9802219271659851, + 0.17470970749855042, + 0.0, + 0.7435767650604248, + 0.20796748995780945, + 1.4890981912612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9802219271659851, + 0.17470970749855042, + 0.0, + 0.7532997727394104, + 0.23125752806663513, + 1.4890981912612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9802219271659851, + 0.17470970749855042, + 0.0, + 0.7927074432373047, + 0.32565316557884216, + 1.4890981912612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9802219271659851, + 0.17470970749855042, + 0.0, + 0.7970018982887268, + 0.3359399735927582, + 1.4890981912612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9802219271659851, + 0.17470970749855042, + 0.0, + 0.7980860471725464, + 0.3385368585586548, + 1.4890981912612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9802219271659851, + 0.17470970749855042, + 0.0, + 0.8404635787010193, + 0.44004637002944946, + 1.4890981912612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9802219271659851, + 0.17470970749855042, + 0.0, + 0.8497960567474365, + 0.46240103244781494, + 1.4890981912612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9802219271659851, + 0.17470970749855042, + 0.0, + 0.8838728666305542, + 0.5440272688865662, + 1.4890981912612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9802219271659851, + 0.17470970749855042, + 0.0, + 0.9001305103302002, + 0.5829702019691467, + 1.4890981912612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9802219271659851, + 0.17470970749855042, + 0.0, + 0.9272598624229431, + 0.6479547619819641, + 1.4890981912612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9802219271659851, + 0.17470970749855042, + 0.0, + 0.9505157470703125, + 0.7036609649658203, + 1.4890981912612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9802219271659851, + 0.17470970749855042, + 0.0, + 0.970645010471344, + 0.7518778443336487, + 1.4890981912612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9802219271659851, + 0.17470970749855042, + 0.0, + 1.0009461641311646, + 0.8244600296020508, + 1.4890981912612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9802219271659851, + 0.17470970749855042, + 0.0, + 1.0140302181243896, + 0.8558010458946228, + 1.4890981912612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9802219271659851, + 0.17470970749855042, + 0.0, + 1.0511314868927002, + 0.9446720480918884, + 1.4890981912612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9802219271659851, + 0.17470970749855042, + 0.0, + 1.057415246963501, + 0.9597240090370178, + 1.4890981912612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9802219271659851, + 0.17470970749855042, + 0.0, + 1.0951149463653564, + 1.0500284433364868, + 1.4890981912612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9802219271659851, + 0.17470970749855042, + 0.0, + 1.1008003950119019, + 1.0636471509933472, + 1.4890981912612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9802219271659851, + 0.17470970749855042, + 0.0, + 1.101747989654541, + 1.0659171342849731, + 1.4890981912612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9802219271659851, + 0.17470970749855042, + 0.0, + 1.1441854238510132, + 1.1675701141357422, + 1.4890981912612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9802219271659851, + 0.17470970749855042, + 0.0, + 1.1518563032150269, + 1.1859447956085205, + 1.4890981912612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9802219271659851, + 0.17470970749855042, + 0.0, + 1.1875704526901245, + 1.2714930772781372, + 1.4890981912612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9802219271659851, + 0.17470970749855042, + 0.0, + 1.2023637294769287, + 1.306928277015686, + 1.4890981912612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9802219271659851, + 0.17470970749855042, + 0.0, + 1.230955719947815, + 1.3754162788391113, + 1.4890981912612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9802219271659851, + 0.17470970749855042, + 0.0, + 1.2526719570159912, + 1.4274345636367798, + 1.4890981912612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9802219271659851, + 0.17470970749855042, + 0.0, + 1.2743407487869263, + 1.4793392419815063, + 1.4890981912612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9802219271659851, + 0.17470970749855042, + 0.0, + 1.302979588508606, + 1.5479395389556885, + 1.4890981912612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9802219271659851, + 0.17470970749855042, + 0.0, + 1.3177260160446167, + 1.5832624435424805, + 1.4890981912612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9802219271659851, + 0.17470970749855042, + 0.0, + 1.3534876108169556, + 1.6689244508743286, + 1.4890981912612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9802219271659851, + 0.17470970749855042, + 0.0, + 1.361111044883728, + 1.6871854066848755, + 1.4890981912612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9802219271659851, + 0.17470970749855042, + 0.0, + 1.4035953283309937, + 1.7889505624771118, + 1.4890981912612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9802219271659851, + 0.17470970749855042, + 0.0, + 1.4044960737228394, + 1.791108250617981, + 1.4890981912612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9802219271659851, + 0.17470970749855042, + 0.0, + 1.409909963607788, + 1.8040765523910522, + 1.4890981912612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9802219271659851, + 0.17470970749855042, + 0.0, + 1.447906494140625, + 1.8950918912887573, + 1.4890981912612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9802219271659851, + 0.17470970749855042, + 0.0, + 1.4542608261108398, + 1.9103127717971802, + 1.4890981912612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9802219271659851, + 0.17470970749855042, + 0.0, + 1.4918559789657593, + 2.0003669261932373, + 1.4890981912612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9802219271659851, + 0.17470970749855042, + 0.0, + 1.5050805807113647, + 2.0320444107055664, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9620653390884399, + 0.17470970749855042, + 0.0, + 1.537644386291504, + 2.11004638671875, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9620653390884399, + 0.17470970749855042, + 0.0, + 1.5580110549926758, + 2.158831834793091, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9620653390884399, + 0.17470970749855042, + 0.0, + 1.5873886346817017, + 2.2292017936706543, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9620653390884399, + 0.17470970749855042, + 0.0, + 1.592479944229126, + 2.2378547191619873, + 1.4373468160629272, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7054557800292969, + 2.4839229583740234, + 0.6993838548660278, + 0.26334261894226074, + -0.10431760549545288, + 0.9620653390884399, + 0.17470970749855042, + 0.0 + ], + "count": [ + 1365 + ] + }, + "action.applied": { + "mean": [ + 0.2816251213652092, + 0.6788721866878398, + -1.1413755951783595, + -0.22610906926103128, + 0.6818205208787115, + -1.1613240423656646, + 0.18092654329953176, + 0.7971188109872979, + -1.2705941900665507, + -0.1892137691405885, + 0.730440751449529, + -1.2698475669591855, + -0.11182982133747925, + 1.8577341486682821, + -1.2682291490254385, + 0.14655095717709574, + 0.6657815192645286, + -0.2433565153069519, + 0.006769230798050597, + -0.006769230798050597 + ], + "std": [ + 0.1363310332936189, + 0.10805891948305102, + 0.1667780515264736, + 0.12627799297800615, + 0.10373431938363402, + 0.14562388377808963, + 0.12984311831985232, + 0.10726165904943082, + 0.16411954449692973, + 0.12417993310448693, + 0.11032813040979814, + 0.16710968216657288, + 0.09716701311090462, + 0.2613601509612116, + 0.4951374312847085, + 0.1272132386482892, + 0.21969303131656215, + 0.20966290791778644, + 0.013823913821461167, + 0.013823913821461167 + ], + "min": [ + -0.2049432098865509, + 0.35397177934646606, + -1.7355217933654785, + -0.5201786160469055, + 0.21759748458862305, + -1.6062864065170288, + -0.18739354610443115, + 0.46988528966903687, + -1.7254817485809326, + -0.5203241109848022, + 0.5381869077682495, + -1.6660451889038086, + -0.6032918691635132, + 1.6432939767837524, + -2.787351369857788, + -0.034227240830659866, + 0.4332253336906433, + -0.5892273783683777, + 0.0, + -0.03500000014901161 + ], + "max": [ + 0.6574028730392456, + 0.9226549863815308, + -0.729849636554718, + 0.1655655801296234, + 0.9533510208129883, + -0.8266578912734985, + 0.4763633906841278, + 1.0614147186279297, + -0.9290611743927002, + 0.2864893674850464, + 1.063624620437622, + -0.870262086391449, + -0.0001049109487212263, + 2.695830821990967, + -0.9106715321540833, + 0.36915352940559387, + 1.2004441022872925, + 0.048888593912124634, + 0.03500000014901161, + 0.0 + ], + "count": [ + 1365 + ] + }, + "extra.reward": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 1365 + ] + }, + "next.truncated": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 1365 + ] + }, + "sim_step_idx": { + "mean": [ + 1465.0 + ], + "std": [ + 788.0829059601957 + ], + "min": [ + 101.0 + ], + "max": [ + 2829.0 + ], + "count": [ + 1365 + ] + }, + "timestamp": { + "mean": [ + 27.280000003342664 + ], + "std": [ + 15.761658121426398 + ], + "min": [ + 0.0 + ], + "max": [ + 54.560001373291016 + ], + "count": [ + 1365 + ] + }, + "frame_index": { + "mean": [ + 682.0 + ], + "std": [ + 394.04145298009786 + ], + "min": [ + 0.0 + ], + "max": [ + 1364.0 + ], + "count": [ + 1365 + ] + }, + "episode_index": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 1365 + ] + }, + "index": { + "mean": [ + 682.0 + ], + "std": [ + 394.04145298009786 + ], + "min": [ + 0.0 + ], + "max": [ + 1364.0 + ], + "count": [ + 1365 + ] + }, + "task_index": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 1365 + ] + }, + "next.done": { + "mean": [ + 0.0007326007326007326 + ], + "std": [ + 0.027056681776731702 + ], + "min": [ + 0.0 + ], + "max": [ + 1.0 + ], + "count": [ + 1365 + ] + }, + "observation.images.head": { + "mean": [ + [ + [ + 0.5405656287129255 + ] + ], + [ + [ + 0.46869721995591546 + ] + ], + [ + [ + 0.42503780551478104 + ] + ] + ], + "std": [ + [ + [ + 0.08529756670794698 + ] + ], + [ + [ + 0.09847580190455282 + ] + ], + [ + [ + 0.11129733427222067 + ] + ] + ], + "min": [ + [ + [ + 0.00784313725490196 + ] + ], + [ + [ + 0.00784313725490196 + ] + ], + [ + [ + 0.00392156862745098 + ] + ] + ], + "max": [ + [ + [ + 0.9019607843137255 + ] + ], + [ + [ + 0.9019607843137255 + ] + ], + [ + [ + 0.9019607843137255 + ] + ] + ], + "count": [ + 100 + ] + }, + "observation.images.wrist": { + "mean": [ + [ + [ + 0.6048717745028211 + ] + ], + [ + [ + 0.5432142994302551 + ] + ], + [ + [ + 0.4824291569887424 + ] + ] + ], + "std": [ + [ + [ + 0.1373531261490709 + ] + ], + [ + [ + 0.1417440879455862 + ] + ], + [ + [ + 0.14208103773378383 + ] + ] + ], + "min": [ + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ] + ], + "max": [ + [ + [ + 0.9450980392156862 + ] + ], + [ + [ + 0.9254901960784314 + ] + ], + [ + [ + 0.9254901960784314 + ] + ] + ], + "count": [ + 100 + ] + } +} \ No newline at end of file diff --git a/N033/go2_arm/dr_off/seed_1014/rec/stationring/000/lerobot_v21/meta/tasks.jsonl b/N033/go2_arm/dr_off/seed_1014/rec/stationring/000/lerobot_v21/meta/tasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dbadecbe4a732b4588b1a79a8efeb41ca322b43c --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1014/rec/stationring/000/lerobot_v21/meta/tasks.jsonl @@ -0,0 +1 @@ +{"task_index": 0, "task": "Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end."} diff --git a/N033/go2_arm/dr_off/seed_1014/rec/stationring/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 b/N033/go2_arm/dr_off/seed_1014/rec/stationring/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..78d8cfd821a8063be011f9a4dbe30dec5b98662d --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1014/rec/stationring/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 sha256:0ff22dd78523eba8276618e127749f597660dcb48f4f9176b923df772d54550c +size 11244609 diff --git a/N033/go2_arm/dr_off/seed_1014/rec/stationring/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 b/N033/go2_arm/dr_off/seed_1014/rec/stationring/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..efc8ee60816b559209c2e8b59b48deb1ef0f4f10 --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1014/rec/stationring/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:f1f17f9583c95c73feee132245eb1408b18adc09ed4ddd3531695053038bd377 +size 24132185 diff --git a/N033/go2_arm/dr_off/seed_1014/rec/stationring/000/run_meta.json b/N033/go2_arm/dr_off/seed_1014/rec/stationring/000/run_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3408331fa1fb30eba6bf8c65f12635dec4997535 --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1014/rec/stationring/000/run_meta.json @@ -0,0 +1,1707 @@ +{ + "run_id": "stationring/000", + "created": "2026-11-08 02:35:56", + "num_envs": 1, + "session_id": null, + "record_config": { + "output_dir": "/mnt/scratch/xc536_atomic/n033_go2_off_1014/out/rec", + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "json_round": null, + "schema": { + "source": "robot_manager", + "nan_policy": "from_raw" + }, + "lerobot": { + "subsample_every": 2 + } + }, + "config": { + "env_string": "StationRingEnv-V0", + "env": { + "sim": { + "device": "cpu", + "use_fabric": false, + "decimation": 4, + "dt": 0.005, + "seed": 1014, + "soft_resets": 2, + "enable_scene_query_support": true, + "scene": { + "num_envs": 1, + "env_spacing": 16 + }, + "render": { + "rendering_mode": "performance", + "enable_reflections": false, + "enable_global_illumination": false, + "enable_translucency": false, + "enable_dl_denoiser": false + } + }, + "robot": { + "Go2Plus": { + "name": "go2plus", + "type": "mobilemanip", + "common": { + "pos": [ + [ + -3.4, + -2.2, + 0.44999999999999996 + ], + [ + -3.4, + -2.2, + 0.44999999999999996 + ] + ], + "ori": [ + [ + 0, + 0, + 40.0 + ], + [ + 0, + 0, + 40.0 + ] + ], + "initial_joint_pos": null + }, + "action": { + "base_action": "unified", + "arm_action": "ik_curobo", + "eef_action": "binary" + }, + "reset": "default", + "planner": { + "dual_mode": true, + "base_joint_names": [ + "base_x", + "base_y", + "base_yaw", + "base_height" + ], + "ik": { + "type": "go2plus", + "enable": true, + "ik_num_instances": 1, + "ik_batch_size": 1, + "ik_max_goalset": 128, + "ik_num_seeds": 64, + "ik_position_threshold": 0.005, + "ik_rotation_threshold": 0.05, + "microbatch_wait_ms": 20.0, + "relative_to_world_frame": false, + "eef_num": 1, + "debug": false, + "seed_use_live_joint_pos": true + }, + "motiongen": { + "type": "go2plus", + "enable": true, + "batch_size": 1, + "debug": false, + "motiongen_num_instances": 1, + "microbatch_wait_ms": 400.0, + "mode": "position", + "relative_to_world_frame": false, + "eef_num": 1, + "seed_use_live_joint_pos": true, + "anchor_ik_seeds_to_current_state": false, + "num_trajopt_seeds": 1, + "num_ik_seeds": 4, + "max_attempts": 4, + "joint_limit_retry_weight": 100000000.0, + "start_state_limit_inset": 0.002 + }, + "body": { + "type": "nav", + "dwb_type": "dwb_quadruped", + "dwb_quadruped": { + "device": "cpu", + "dt": 0.02, + "debug": false, + "num_rollout_steps": 60, + "num_speed_samples": 11, + "num_steer_samples": 11, + "num_vx_samples": 7, + "num_vy_samples": 7, + "num_yaw_samples": 7, + "max_accel": 1.5, + "max_steer_rate": 1.5, + "max_accel_vx": 1.5, + "max_accel_vy": 1.5, + "max_yaw_accel": 1.5, + "w_goal": 6.0, + "w_path": 24.0, + "w_vel": 0.2, + "w_vy": 0.0, + "dilate_radius": 0.2, + "goal_cost_mode": "path", + "room_size": 12.0, + "occupancy_update_interval": 25, + "scan_height": 0.38, + "scan_min_z": 0.15, + "scan_max_z": 0.63, + "goal_pos_threshold": 0.16, + "goal_yaw_threshold": 0.08, + "goal_yaw_hysteresis": 0.02, + "kp_goal_yaw": 4.0, + "heading_reference": "path", + "turn_yaw_threshold": 0.8, + "heading_lookahead": 0.8, + "heading_min_leg": 0.35, + "route_yaw_gain": 2.0, + "min_vx": -0.35, + "max_vx": 0.35, + "min_vy": -0.25, + "max_vy": 0.25, + "min_yaw_rate": -0.8, + "max_yaw_rate": 0.8, + "dynamic_window_source": "command", + "default_height": 0.35, + "safety_min_progress_speed": 0.1, + "safety_stop_distance": 0.2, + "safety_enabled": true, + "safety_deceleration": 0.5, + "safety_reaction_time": 0.5, + "safety_release_distance": 0.35, + "scan_type": "3d", + "robot_type": "quadruped", + "velocity_frame": "body" + }, + "p_controller": { + "velocity_frame": "body", + "nav_upgrade_distance": 0.03, + "nav_heading_target": -1, + "kp_linear_x": 3.0, + "kd_linear_x": 0.4, + "kp_linear_y": 3.0, + "kd_linear_y": 0.4, + "kp_angular": 1.5, + "kd_angular": 0.2, + "kp_angular_turning_only": 1.5, + "kd_angular_turning_only": 0.2, + "min_vel": -0.4, + "max_vel": 0.5, + "linear_dead_zone": 0.01, + "angular_dead_zone": 0.05 + } + }, + "arm": { + "type": "default" + }, + "eef": { + "type": "default" + } + }, + "physics": { + "robot_radius": 0.5 + } + } + }, + "camera": { + "enable_tiled": false, + "colorize_depth": false, + "head": { + "camera": { + "type": "camera", + "mesh": "pinhole", + "resolution": [ + 640, + 480 + ], + "frequency": 25, + "focal_length": 1.8231182098388672, + "horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.4407838582992554, + "clipping_range": [ + 0.05, + 30.0 + ], + "focus_distance": 3.0, + "mode": "RGB", + "mount_link": "Robot_0/Bodies/go2_base", + "pos": [ + 0.332051, + 0.038027, + 0.093559 + ], + "ori": [ + 169.9473, + -88.6452, + 81.5985 + ] + }, + "annotator": { + "enabled": true, + "rgb_capture": { + "type": "rgb", + "device": "cpu" + } + } + }, + "wrist": { + "camera": { + "type": "camera", + "mesh": "pinhole", + "resolution": [ + 640, + 480 + ], + "frequency": 25, + "focal_length": 1.8517500162124634, + "horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.4393036365509033, + "clipping_range": [ + 0.05, + 30.0 + ], + "focus_distance": 3.0, + "mode": "RGB", + "mount_link": "Robot_0/Bodies/piper_link6", + "pos": [ + -0.074987, + 0.005289, + 0.045821 + ], + "ori": [ + 179.3135, + -20.212, + 88.9402 + ] + }, + "annotator": { + "enabled": true, + "rgb_capture": { + "type": "rgb", + "device": "cpu" + } + } + } + }, + "nav": { + "navmesh": { + "enabled": true, + "visualize": false, + "bake_timeout_s": 180, + "agent_height_cm": 65, + "min_agent_radius_cm": 30.0, + "max_agent_radius_cm": 30.0, + "max_step_height_cm": 20, + "max_floor_slope_deg": 30, + "agent_island_radius_cm": 5, + "auto_exclude_rigid_bodies": true, + "validate_path_clearance": true, + "validate_path_window": true, + "navmesh_offset_z_m": 0, + "verbose": false + }, + "occupancymap": { + "cell_size": 0.05 + } + }, + "scene": { + "background": { + "intensity": [ + 1000, + 1000 + ] + }, + "terrain": { + "type": "nav_room", + "collision": true, + "hide_top_walls": true, + "usd": [ + "$MAGICSIM_ASSETS/Room/Collected_SimpleRoom" + ], + "annotation": "Annotation", + "random": false, + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0, + "friction_combine_mode": "multiply", + "restitution_combine_mode": "multiply" + } + }, + "objects": { + "table_A": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "table_A_1": { + "pos": [ + -0.3151167887631649, + -0.165423643351256, + 0.18 + ], + "ori": [ + 0.0, + 0.0, + -4.680958826390224 + ], + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.45, + 0.35 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "table_B": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "table_B_1": { + "pos": [ + 1.7103822036142855, + 2.9597494228450296, + 0.18 + ], + "ori": [ + 0.0, + 0.0, + -7.646096603633325 + ], + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.45, + 0.35 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "rack_back": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "rack_back_1": { + "pos": [ + -0.36576608979265585, + -0.17130992445429616, + 0.42999999999999994 + ], + "ori": [ + 0.0, + 0.0, + -4.680958826390224 + ], + "primitive_params": { + "size": [ + 0.7, + 0.03, + 0.2 + ] + }, + "visual": { + "color": [ + [ + 0.45, + 0.35, + 0.25 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "peg_1": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "peg_1_1": { + "pos": [ + -0.224835170913526, + -0.28820079708293267, + 0.47 + ], + "ori": [ + 0.0, + 0.0, + -4.680958826390224 + ], + "primitive_params": { + "size": [ + 0.02, + 0.18, + 0.02 + ] + }, + "visual": { + "color": [ + [ + 0.35, + 0.35, + 0.35 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "peg_2": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "peg_2_1": { + "pos": [ + -0.523834539664097, + -0.2637186099510594, + 0.47 + ], + "ori": [ + 0.0, + 0.0, + -4.680958826390224 + ], + "primitive_params": { + "size": [ + 0.02, + 0.18, + 0.02 + ] + }, + "visual": { + "color": [ + [ + 0.35, + 0.35, + 0.35 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "ring": { + "usd": [ + "$MAGICSIM_ASSETS/Object/MMB_A07/ring_wide/Object.usda" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "ring_1": { + "pos": [ + -0.2280233081507789, + -0.3271373110591602, + 0.43999999999999995 + ], + "ori": [ + 0.0, + 0.0, + -4.680958826390224 + ], + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.05, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + } + } + } + }, + "ring_small": { + "usd": [ + "$MAGICSIM_ASSETS/Object/MMB_A07/ring_small/Object.usda" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "ring_small_1": { + "pos": [ + -0.527998206774915, + -0.3145692072084146, + 0.46499999999999997 + ], + "ori": [ + 0.0, + 0.0, + -4.680958826390224 + ], + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.05, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + } + } + } + }, + "rod_h": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "rod_h_1": { + "pos": [ + 1.6930852073460931, + 2.830905276993935, + 0.53 + ], + "ori": [ + 0.0, + 0.0, + -7.646096603633325 + ], + "primitive_params": { + "size": [ + 0.02, + 0.14, + 0.02 + ] + }, + "visual": { + "color": [ + [ + 0.75, + 0.75, + 0.78 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 0.3, + "dynamic_friction": 0.25, + "restitution": 0.0 + } + } + } + }, + "rod_s": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "rod_s_1": { + "pos": [ + 1.7100229583071769, + 2.957073429046584, + 0.48979999999999996 + ], + "ori": [ + -35.0, + 0.0, + -7.646096603633325 + ], + "primitive_params": { + "size": [ + 0.02, + 0.14, + 0.02 + ] + }, + "visual": { + "color": [ + [ + 0.75, + 0.75, + 0.78 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 0.3, + "dynamic_friction": 0.25, + "restitution": 0.0 + } + } + } + }, + "rod_stop": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "rod_stop_1": { + "pos": [ + 1.7196959708356199, + 3.029127039841773, + 0.38999999999999996 + ], + "ori": [ + 0.0, + 0.0, + -7.646096603633325 + ], + "primitive_params": { + "size": [ + 0.1, + 0.012, + 0.12 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.3, + 0.25 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + } + } + } + }, + "task": { + "new_seed_per_episode": true, + "observation": {}, + "reward": {}, + "termination": { + "timeout_steps": 30000, + "success_hold_frames": 10, + "fall_height": 0.08, + "fall_tilt": 1.0, + "lift_height": 0.12, + "grasp_distance": 0.25 + }, + "grasp": { + "mode": "generated", + "debug": false, + "floor_z": 0.03 + }, + "stance": { + "radii": [ + 0.5, + 0.46, + 0.54 + ], + "heights": [ + 0.3, + 0.34, + 0.26 + ], + "bearings_deg": [ + 0, + -25, + 25 + ], + "yaw_offsets_deg": [ + 0.0 + ], + "include_current": true + }, + "station": { + "task_id": "N033", + "task_version": "EXT60-MobileAvatar-v3", + "family_id": "ring_on_bent_rod", + "primary_category": "C2", + "stage": "full", + "layout": { + "floor_z": 0.03, + "start": { + "x": -3.4, + "y": -2.2, + "yaw_deg": 40.0, + "radius": 0.3, + "yaw_spread_deg": 20.0 + }, + "stations": { + "A": { + "center": [ + -0.3151167887631649, + -0.165423643351256 + ], + "facing_deg": 85.31904117360978, + "standoff": 0.7, + "table": { + "width": 0.9, + "depth": 0.5, + "height": 0.3 + } + }, + "B": { + "center": [ + 1.7103822036142855, + 2.9597494228450296 + ], + "facing_deg": 82.35390339636668, + "standoff": 0.7, + "table": { + "width": 0.9, + "depth": 0.5, + "height": 0.3 + } + } + } + }, + "route": [ + "A", + "B" + ], + "fixtures": { + "rod": { + "pivot": [ + 0.0, + -0.2 + ], + "yaw_deg": 0.0 + } + }, + "instruction": "pick up the large ring (not the small one)", + "ring": { + "target": "ring", + "others": [ + "ring_small" + ], + "swap": "random", + "rod": { + "open": -0.2, + "bend": -0.06, + "slope_deg": 35.0, + "horizontal_len": 0.14, + "slope_len": 0.14, + "z": 0.2, + "fixture": "rod" + }, + "swapped": false + }, + "dr": { + "enabled": true, + "stations": { + "center_m": 0.25, + "facing_deg": 8.0 + }, + "objects": { + "across_m": 0.025, + "along_m": 0.02, + "yaw_deg": 8.0 + } + }, + "place_check": { + "ring": { + "at": { + "station": "B", + "across": 0.0, + "along": -0.06, + "z": 0.2 + }, + "yaw_deg": 0.0, + "clearance": 0.004 + } + }, + "success": { + "thread_tol": 0.03, + "lost_dist": 0.06, + "axis_deg": 55.0, + "entry_s": 0.08, + "end_margin": 0.07, + "back_tol": 0.04, + "release_dist": 0.15, + "rest_speed": 0.05, + "held_lift": 0.04, + "lift": 0.08 + }, + "objects": { + "rack_back": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.7, + 0.03, + 0.2 + ], + "at": { + "station": "A", + "across": -0.05, + "along": -0.01, + "z": 0.1 + }, + "color": [ + 0.45, + 0.35, + 0.25 + ], + "pos": [ + -0.36576608979265585, + -0.17130992445429616, + 0.42999999999999994 + ], + "yaw_deg": -4.680958826390224 + }, + "peg_1": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.02, + 0.18, + 0.02 + ], + "at": { + "station": "A", + "across": 0.1, + "along": -0.115, + "z": 0.14 + }, + "color": [ + 0.35, + 0.35, + 0.35 + ], + "pos": [ + -0.224835170913526, + -0.28820079708293267, + 0.47 + ], + "yaw_deg": -4.680958826390224 + }, + "peg_2": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.02, + 0.18, + 0.02 + ], + "at": { + "station": "A", + "across": -0.2, + "along": -0.115, + "z": 0.14 + }, + "color": [ + 0.35, + 0.35, + 0.35 + ], + "pos": [ + -0.523834539664097, + -0.2637186099510594, + 0.47 + ], + "yaw_deg": -4.680958826390224 + }, + "ring": { + "catalog": "ring_wide", + "type": "rigid", + "at": { + "station": "A", + "across": 0.1, + "along": -0.15406681890894783, + "z": 0.11 + }, + "yaw_deg": -4.680958826390224, + "jitter": { + "across_m": 0.0, + "along_m": 0.012, + "yaw_deg": 0.0 + }, + "friction": { + "static": 1.5, + "dynamic": 1.5 + }, + "asset": "$MAGICSIM_ASSETS/Object/MMB_A07/ring_wide/Object.usda", + "parts": [ + { + "name": "seg0", + "center": [ + 0.051, + 0.0, + 0.0 + ], + "half": [ + 0.011, + 0.0175, + 0.025124891681027845 + ], + "rpy_deg": [ + 0.0, + -0.0, + 0.0 + ] + }, + { + "name": "seg1", + "center": [ + 0.03606244584051392, + 0.0, + 0.03606244584051392 + ], + "half": [ + 0.011, + 0.0175, + 0.025124891681027845 + ], + "rpy_deg": [ + 0.0, + -45.0, + 0.0 + ] + }, + { + "name": "seg2", + "center": [ + 3.1228493378257503e-18, + 0.0, + 0.051 + ], + "half": [ + 0.011, + 0.0175, + 0.025124891681027845 + ], + "rpy_deg": [ + 0.0, + -90.0, + 0.0 + ] + }, + { + "name": "seg3", + "center": [ + -0.03606244584051392, + 0.0, + 0.03606244584051392 + ], + "half": [ + 0.011, + 0.0175, + 0.025124891681027845 + ], + "rpy_deg": [ + 0.0, + -135.0, + 0.0 + ] + }, + { + "name": "seg4", + "center": [ + -0.051, + 0.0, + 6.245698675651501e-18 + ], + "half": [ + 0.011, + 0.0175, + 0.025124891681027845 + ], + "rpy_deg": [ + 0.0, + -180.0, + 0.0 + ] + }, + { + "name": "seg5", + "center": [ + -0.03606244584051393, + 0.0, + -0.03606244584051392 + ], + "half": [ + 0.011, + 0.0175, + 0.025124891681027845 + ], + "rpy_deg": [ + 0.0, + -225.0, + 0.0 + ] + }, + { + "name": "seg6", + "center": [ + -9.368548013477251e-18, + 0.0, + -0.051 + ], + "half": [ + 0.011, + 0.0175, + 0.025124891681027845 + ], + "rpy_deg": [ + 0.0, + -270.0, + 0.0 + ] + }, + { + "name": "seg7", + "center": [ + 0.036062445840513914, + 0.0, + -0.03606244584051393 + ], + "half": [ + 0.011, + 0.0175, + 0.025124891681027845 + ], + "rpy_deg": [ + 0.0, + -315.0, + 0.0 + ] + }, + { + "name": "tab", + "center": [ + 0.0, + 0.0, + 0.09 + ], + "half": [ + 0.015, + 0.0175, + 0.03 + ], + "rpy_deg": [ + 0.0, + 0.0, + 0.0 + ] + } + ], + "mass": 0.05, + "com": [ + 0.0, + 0.0, + 0.0 + ], + "grasp": { + "part": "tab", + "thin_axis": 0, + "min_elevation_deg": 60.0, + "inset": 0.02, + "min_overlap_x": 0.016, + "min_overlap_z": 0.015 + }, + "pos": [ + -0.2280233081507789, + -0.3271373110591602, + 0.43999999999999995 + ] + }, + "ring_small": { + "catalog": "ring_small", + "type": "rigid", + "at": { + "station": "A", + "across": -0.2, + "along": -0.16602077385966865, + "z": 0.135 + }, + "yaw_deg": -4.680958826390224, + "jitter": { + "across_m": 0.0, + "along_m": 0.012, + "yaw_deg": 0.0 + }, + "friction": { + "static": 1.5, + "dynamic": 1.5 + }, + "asset": "$MAGICSIM_ASSETS/Object/MMB_A07/ring_small/Object.usda", + "parts": [ + { + "name": "seg0", + "center": [ + 0.026, + 0.0, + 0.0 + ], + "half": [ + 0.011, + 0.0175, + 0.01476955262170047 + ], + "rpy_deg": [ + 0.0, + -0.0, + 0.0 + ] + }, + { + "name": "seg1", + "center": [ + 0.018384776310850236, + 0.0, + 0.018384776310850233 + ], + "half": [ + 0.011, + 0.0175, + 0.01476955262170047 + ], + "rpy_deg": [ + 0.0, + -45.0, + 0.0 + ] + }, + { + "name": "seg2", + "center": [ + 1.5920408388915591e-18, + 0.0, + 0.026 + ], + "half": [ + 0.011, + 0.0175, + 0.01476955262170047 + ], + "rpy_deg": [ + 0.0, + -90.0, + 0.0 + ] + }, + { + "name": "seg3", + "center": [ + -0.018384776310850233, + 0.0, + 0.018384776310850236 + ], + "half": [ + 0.011, + 0.0175, + 0.01476955262170047 + ], + "rpy_deg": [ + 0.0, + -135.0, + 0.0 + ] + }, + { + "name": "seg4", + "center": [ + -0.026, + 0.0, + 3.1840816777831182e-18 + ], + "half": [ + 0.011, + 0.0175, + 0.01476955262170047 + ], + "rpy_deg": [ + 0.0, + -180.0, + 0.0 + ] + }, + { + "name": "seg5", + "center": [ + -0.01838477631085024, + 0.0, + -0.018384776310850233 + ], + "half": [ + 0.011, + 0.0175, + 0.01476955262170047 + ], + "rpy_deg": [ + 0.0, + -225.0, + 0.0 + ] + }, + { + "name": "seg6", + "center": [ + -4.776122516674677e-18, + 0.0, + -0.026 + ], + "half": [ + 0.011, + 0.0175, + 0.01476955262170047 + ], + "rpy_deg": [ + 0.0, + -270.0, + 0.0 + ] + }, + { + "name": "seg7", + "center": [ + 0.01838477631085023, + 0.0, + -0.01838477631085024 + ], + "half": [ + 0.011, + 0.0175, + 0.01476955262170047 + ], + "rpy_deg": [ + 0.0, + -315.0, + 0.0 + ] + }, + { + "name": "tab", + "center": [ + 0.0, + 0.0, + 0.065 + ], + "half": [ + 0.015, + 0.0175, + 0.03 + ], + "rpy_deg": [ + 0.0, + 0.0, + 0.0 + ] + } + ], + "mass": 0.05, + "com": [ + 0.0, + 0.0, + 0.0 + ], + "grasp": { + "part": "tab", + "thin_axis": 0, + "min_elevation_deg": 60.0, + "inset": 0.02, + "min_overlap_x": 0.016, + "min_overlap_z": 0.015 + }, + "pos": [ + -0.527998206774915, + -0.3145692072084146, + 0.46499999999999997 + ] + }, + "rod_h": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.02, + 0.14, + 0.02 + ], + "at": { + "station": "B", + "across": 0.0, + "along": -0.13, + "z": 0.2 + }, + "fixture": "rod", + "color": [ + 0.75, + 0.75, + 0.78 + ], + "friction_static": 0.3, + "friction_dynamic": 0.25, + "pos": [ + 1.6930852073460931, + 2.830905276993935, + 0.53 + ], + "yaw_deg": -7.646096603633325 + }, + "rod_s": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.02, + 0.14, + 0.02 + ], + "at": { + "station": "B", + "across": 0.0, + "along": -0.0027, + "z": 0.1598 + }, + "roll_deg": -35.0, + "fixture": "rod", + "color": [ + 0.75, + 0.75, + 0.78 + ], + "friction_static": 0.3, + "friction_dynamic": 0.25, + "pos": [ + 1.7100229583071769, + 2.957073429046584, + 0.48979999999999996 + ], + "yaw_deg": -7.646096603633325 + }, + "rod_stop": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.1, + 0.012, + 0.12 + ], + "at": { + "station": "B", + "across": 0.0, + "along": 0.07, + "z": 0.06 + }, + "fixture": "rod", + "color": [ + 0.55, + 0.3, + 0.25 + ], + "pos": [ + 1.7196959708356199, + 3.029127039841773, + 0.38999999999999996 + ], + "yaw_deg": -7.646096603633325 + } + }, + "planner_seeds": "lean", + "report_jsonl": "/mnt/scratch/xc536_atomic/n033_go2_off_1014/out/report.episodes.jsonl", + "dr_applied": true, + "level": "easy" + }, + "command": { + "StationRing": { + "obj_type": "rigid", + "obj_name": "ring", + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.015, + "withdraw": 0.09, + "settle_ticks": 120 + } + } + }, + "collect": { + "global_planner": { + "NavTo": { + "use_navmesh": true, + "use_absolute": true, + "translation_threshold": 0.2, + "rotation_threshold": 0.15, + "num_path_segments": 30, + "start_forward_offset": 0.0, + "visualize_path": false, + "carry_arm": true + }, + "RetractMoveL": { + "translation_threshold": 0.06, + "rotation_threshold": 0.3, + "motiongen_distance_threshold": 0.05, + "timeout_steps": 2000, + "base_pos_threshold": 0.12, + "base_rot_threshold": 0.5, + "eef_pos_threshold": 0.03, + "eef_rot_threshold": 0.3, + "base_waypoint_max_steps": 20, + "arm_waypoint_max_steps": 8 + }, + "MobileMoveL": { + "translation_threshold": 0.006, + "rotation_threshold": 0.2, + "motiongen_distance_threshold": 0.05, + "timeout_steps": 1500, + "stall_release_ticks": 100, + "stall_release_factor": 5.0, + "reactive": false, + "base_pos_threshold": 0.12, + "base_rot_threshold": 0.5, + "eef_pos_threshold": 0.03, + "eef_rot_threshold": 0.3, + "waypoint_max_steps": 8, + "interp_steps": 60, + "interp_validate_target": true, + "retry_mobile_on_locked_plan_failure": true + }, + "MobileServoL": { + "base_pos_threshold": 0.12, + "waypoint_max_steps": 20, + "translation_threshold": 0.05, + "timeout_steps": 300 + }, + "ParallelGripper": { + "gripper_threshold": 0.0005, + "timeout_steps": 60 + } + }, + "atomic_skill": { + "NavToPose": { + "robot_id": 0, + "show_marker": false + }, + "Move": { + "arm_planner": "MobileMoveL", + "hand_planner": "ParallelGripper", + "obstacle_avoid_paths": [], + "obstacle_ignore_paths": [], + "close_value": 1.0, + "open_value": 0.0, + "hold_steps": 10 + }, + "ReachStance": { + "check_current_first": true, + "stance_margin": 0.03, + "max_reach": 0.85, + "max_walks": 4, + "reject_radius": 0.05, + "obstacle_avoidance": [ + "dynamic" + ], + "walk_planner": "MobileServoL", + "strategy_kwargs": { + "reach_steps": 2 + }, + "debug": false + }, + "Grasp": { + "pre_grasp_offset": 0.1, + "retrieval_offset": 0.03, + "mobile": true, + "pre_grasp_planner": "MobileMoveL", + "pre_grasp_mode": -1, + "grasp_mode": 4, + "retrieval_mode": 4, + "goalset_lock_base": true, + "reactive": false, + "viz_grasp": false + } + }, + "command": { + "StationRing": { + "obj_type": "rigid", + "obj_name": "ring", + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.015, + "withdraw": 0.09, + "settle_ticks": 120 + } + }, + "auto_collect": {}, + "record": { + "output_dir": "/mnt/scratch/xc536_atomic/n033_go2_off_1014/out/rec", + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "json_round": null, + "schema": { + "source": "robot_manager", + "nan_policy": "from_raw" + }, + "lerobot": { + "subsample_every": 2 + } + } + }, + "visual_dr": { + "keep": [ + "ring", + "ring_small" + ] + } + }, + "git_sha": null, + "collect_runtime": { + "max_trajectories": 1 + } +} \ No newline at end of file diff --git a/N033/go2_arm/dr_off/seed_1014/rec/stationring/000/sim_info/0/actions.npz b/N033/go2_arm/dr_off/seed_1014/rec/stationring/000/sim_info/0/actions.npz new file mode 100644 index 0000000000000000000000000000000000000000..378d36739825f03733856f382b89d480b4b01910 --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1014/rec/stationring/000/sim_info/0/actions.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fe12442cd66156a8d3fcdd80de59f19df468e104efd8dd94b11d017aa876ab4a +size 601224 diff --git a/N033/go2_arm/dr_off/seed_1014/rec/stationring/000/sim_info/0/device_commands.jsonl b/N033/go2_arm/dr_off/seed_1014/rec/stationring/000/sim_info/0/device_commands.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N033/go2_arm/dr_off/seed_1014/rec/stationring/000/sim_info/0/device_events.jsonl b/N033/go2_arm/dr_off/seed_1014/rec/stationring/000/sim_info/0/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N033/go2_arm/dr_off/seed_1014/rec/stationring/000/sim_info/0/scene_snapshot.json b/N033/go2_arm/dr_off/seed_1014/rec/stationring/000/sim_info/0/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..9b9889524239b516aa3e295f5a78ab7629b404bf --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1014/rec/stationring/000/sim_info/0/scene_snapshot.json @@ -0,0 +1,669 @@ +{ + "trajectory_id": 0, + "env_id": 0, + "run_id": "stationring/000", + "task_type": "RingCommand", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])", + "avatars": "avatar_manager.set_avatars_state(snapshot['avatars'], env_ids=[env_id]) (present when the scene has animated avatars)" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "table_A": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.3151167887631649, + -0.165423643351256, + 0.18 + ], + "ori": [ + 0.9991657733917236, + 0.0, + 0.0, + -0.040837712585926056 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.45, + 0.35 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + } + }, + "type_specific": {} + } + ], + "table_B": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 1.7103822036142855, + 2.9597494228450296, + 0.18 + ], + "ori": [ + 0.9977747201919556, + 0.0, + 0.0, + -0.06667528301477432 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.45, + 0.35 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + } + }, + "type_specific": {} + } + ], + "rack_back": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.36576608979265585, + -0.17130992445429616, + 0.42999999999999994 + ], + "ori": [ + 0.9991657733917236, + 0.0, + 0.0, + -0.040837712585926056 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.45, + 0.35, + 0.25 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.7, + 0.03, + 0.2 + ] + } + }, + "type_specific": {} + } + ], + "peg_1": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.224835170913526, + -0.28820079708293267, + 0.47 + ], + "ori": [ + 0.9991657733917236, + 0.0, + 0.0, + -0.040837712585926056 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.35, + 0.35, + 0.35 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.02, + 0.18, + 0.02 + ] + } + }, + "type_specific": {} + } + ], + "peg_2": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.523834539664097, + -0.2637186099510594, + 0.47 + ], + "ori": [ + 0.9991657733917236, + 0.0, + 0.0, + -0.040837712585926056 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.35, + 0.35, + 0.35 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.02, + 0.18, + 0.02 + ] + } + }, + "type_specific": {} + } + ], + "ring": [ + { + "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MMB_A07/ring_wide/Object.usda", + "pose": { + "pos": [ + -0.22802361845970154, + -0.32713770866394043, + 0.4399998188018799 + ], + "ori": [ + 0.9991658329963684, + -4.302080469642533e-06, + 3.497838179100654e-06, + -0.04083701968193054 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.05, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 0.00013192996266297996, + 7.577733049402013e-05, + -9.125499491347e-05 + ], + "angular_velocity": [ + -0.0027616152074187994, + -0.0033173852134495974, + 0.0009106131037697196 + ] + } + } + ], + "ring_small": [ + { + "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MMB_A07/ring_small/Object.usda", + "pose": { + "pos": [ + -0.5280032157897949, + -0.3146539628505707, + 0.46878573298454285 + ], + "ori": [ + 0.9991648197174072, + -4.217493187752552e-05, + -0.0005652083200402558, + -0.040855154395103455 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.05, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -0.0006617126055061817, + 9.469370706938207e-05, + 0.0003072120889555663 + ], + "angular_velocity": [ + -0.00906742736697197, + -0.058911751955747604, + 0.006302909459918737 + ] + } + } + ], + "rod_h": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 1.6930852073460931, + 2.830905276993935, + 0.53 + ], + "ori": [ + 0.9977747201919556, + 0.0, + 0.0, + -0.06667528301477432 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.75, + 0.75, + 0.78 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 0.3, + "dynamic_friction": 0.25, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.02, + 0.14, + 0.02 + ] + } + }, + "type_specific": {} + } + ], + "rod_s": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 1.7100229583071769, + 2.957073429046584, + 0.48979999999999996 + ], + "ori": [ + 0.9515946507453918, + -0.30003663897514343, + 0.020049642771482468, + -0.06358934193849564 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.75, + 0.75, + 0.78 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 0.3, + "dynamic_friction": 0.25, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.02, + 0.14, + 0.02 + ] + } + }, + "type_specific": {} + } + ], + "rod_stop": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 1.7196959708356199, + 3.029127039841773, + 0.38999999999999996 + ], + "ori": [ + 0.9977747201919556, + 0.0, + 0.0, + -0.06667528301477432 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.3, + 0.25 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.1, + 0.012, + 0.12 + ] + } + }, + "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": { + "Go2Plus": { + "root_pose": [ + [ + -3.500460386276245, + -2.324617862701416, + 0.35194873809814453, + 0.9391733407974243, + 0.005781560204923153, + -0.004669923335313797, + 0.3433627486228943 + ] + ], + "root_vel": [ + [ + -0.0008082636632025242, + -0.0008597656269557774, + -0.00075453647878021, + -0.006988997105509043, + 0.00961750466376543, + 0.0007928997511044145 + ] + ], + "joint_pos": [ + [ + 0.04213186725974083, + -0.03645370900630951, + -0.07529173791408539, + 0.08027263730764389, + -0.00010719509009504691, + 0.6492549777030945, + 0.7323015332221985, + 1.018490195274353, + 1.0109130144119263, + 1.7056596279144287, + -1.521730661392212, + -1.5530050992965698, + -1.5945022106170654, + -1.6172983646392822, + -0.9956299662590027, + 4.2734143789857626e-05, + 0.6994912028312683, + -5.4725787776988e-05, + 0.03500000014901161, + -0.034998033195734024 + ] + ], + "joint_vel": [ + [ + -0.0011829581344500184, + -0.0012842115247622132, + 0.000670563371386379, + -0.0006688155699521303, + 0.0004967240383848548, + -0.007406662218272686, + -0.006109916605055332, + -0.023461269214749336, + -0.022352157160639763, + -0.03677873685956001, + -0.019281527027487755, + -0.02002793550491333, + 0.009208264760673046, + 0.008158106356859207, + -0.026766618713736534, + -0.0005205629859119654, + 0.011340377852320671, + 0.0005521818529814482, + -8.838884468787e-08, + 6.195134574227268e-06 + ] + ] + } + }, + "cameras": { + "cameras": { + "head": [ + [ + 0.33205100893974304, + 0.038026999682188034, + 0.09355899691581726, + -0.5022302269935608, + -0.499491810798645, + 0.5120040774345398, + 0.4859265089035034 + ] + ], + "wrist": [ + [ + -0.0749870017170906, + 0.005288999993354082, + 0.04582099989056587, + 0.1271296590566635, + 0.701795220375061, + -0.6904057860374451, + -0.12108422070741653 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/N033/go2_arm/dr_off/seed_1014/rec/stationring/000/sim_info/0/sim_states.npz b/N033/go2_arm/dr_off/seed_1014/rec/stationring/000/sim_info/0/sim_states.npz new file mode 100644 index 0000000000000000000000000000000000000000..aff9e9648cb72586a9f9aa4133b60948cce2be4a --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1014/rec/stationring/000/sim_info/0/sim_states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ed23ed30ee3c060a826108184ff6e55c7be27a3e48b35f180f2a2c541fdd7757 +size 644565 diff --git a/N033/go2_arm/dr_off/seed_1014/rec/stationring/000/sim_info/magicsim_manifest.json b/N033/go2_arm/dr_off/seed_1014/rec/stationring/000/sim_info/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..07872a91654fc3f01092b22cb8390059e5d396d2 --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1014/rec/stationring/000/sim_info/magicsim_manifest.json @@ -0,0 +1,259 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 03:03:48" + }, + "embodiment": { + "robots": [ + { + "name": "Go2Plus", + "cfg": "Go2PlusCfg", + "type": "mobilemanip", + "joint_names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 12, + "nan_policy": "from_raw", + "segments": [ + { + "name": "Go2Plus.base_action", + "start": 0, + "end": 4, + "names": [ + "base_action_0", + "base_action_1", + "base_action_2", + "base_action_3" + ], + "source": "Go2UnifiedLocomotionAction", + "names_source": "fallback" + }, + { + "name": "Go2Plus.arm_action", + "start": 4, + "end": 11, + "names": [ + "eef0.pos_x", + "eef0.pos_y", + "eef0.pos_z", + "eef0.quat_w", + "eef0.quat_x", + "eef0.quat_y", + "eef0.quat_z" + ], + "source": "Go2PlusCuroboIKAction", + "names_source": "pose_layout" + }, + { + "name": "Go2Plus.eef_action", + "start": 11, + "end": 12, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 26, + "segments": [ + { + "name": "Go2Plus.joint_pos", + "start": 0, + "end": 24, + "names": [ + "joint_0", + "joint_1", + "joint_2", + "joint_3", + "joint_4", + "joint_5", + "joint_6", + "joint_7", + "joint_8", + "joint_9", + "joint_10", + "joint_11", + "joint_12", + "joint_13", + "joint_14", + "joint_15", + "joint_16", + "joint_17", + "joint_18", + "joint_19", + "joint_20", + "joint_21", + "joint_22", + "joint_23" + ], + "source": "ObservationManager", + "names_source": "fallback_dim_mismatch(joint_names=20,obs=24)" + }, + { + "name": "Go2Plus.gripper_pos", + "start": 24, + "end": 26, + "names": [ + "gripper_0", + "gripper_1" + ], + "source": "ObservationManager", + "names_source": "generated" + } + ] + }, + "joint_vel_layout": { + "dim": 20, + "segments": [ + { + "name": "Go2Plus.joint_vel", + "start": 0, + "end": 20, + "names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "action_levels": { + "L0": "task command list (collect.auto_collect_info.current_action)", + "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)", + "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)", + "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy", + "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)" + }, + "cameras": { + "head": { + "intrinsics": { + "K": [ + [ + 607.7061061683956, + 0.0, + 320.0 + ], + [ + 0.0, + 607.3754374751866, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 55.53991912549515, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.33205100893974304, + 0.038026999682188034, + 0.09355899691581726 + ], + "quat": [ + -0.5022302269935608, + -0.499491810798645, + 0.5120040774345398, + 0.4859265089035034 + ] + }, + "wrist": { + "intrinsics": { + "K": [ + [ + 617.2500342478374, + 0.0, + 320.0 + ], + [ + 0.0, + 617.548655622722, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 54.807019583348044, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + -0.0749870017170906, + 0.005288999993354082, + 0.04582099989056587 + ], + "quat": [ + 0.1271296590566635, + 0.701795220375061, + -0.6904057860374451, + -0.12108422070741653 + ] + } + }, + "generated_run": { + "run_id": "stationring/000", + "task_type": "RingCommand" + } +} \ No newline at end of file diff --git a/N033/go2_arm/dr_off/seed_1014/report.episodes.jsonl b/N033/go2_arm/dr_off/seed_1014/report.episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ee93198074d97e8d4957ed9392c7809bedbfde04 --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1014/report.episodes.jsonl @@ -0,0 +1 @@ +{"task_id": "N033", "task_version": "EXT60-MobileAvatar-v3", "instruction": "pick up the large ring (not the small one)", "agent_id": "a07", "family_id": "ring_on_bent_rod", "primary_category": "C2", "level": "easy", "embodiment": "go2_arm", "scene_seed": 1014, "execution_mode": "expert_privileged_command", "station_layout": {"A": {"center": [-0.3151167887631649, -0.165423643351256], "facing": 1.489, "stand": [-0.393, -1.112, 1.489]}, "B": {"center": [1.7103822036142855, 2.9597494228450296], "facing": 1.437, "stand": [1.584, 2.018, 1.437]}}, "spawn_pose": [-3.493, -2.319, 0.696], "base_path": [[-3.494, -2.319, 0.697], [-3.497, -2.321, 0.704], [-3.499, -2.323, 0.701], [-3.5, -2.324, 0.701], [-3.5, -2.325, 0.701], [-3.436, -2.292, 0.632], [-3.306, -2.235, 0.406], [-3.145, -2.186, 0.326], [-2.981, -2.135, 0.329], [-2.82, -2.077, 0.338], [-2.658, -2.017, 0.344], [-2.497, -1.957, 0.344], [-2.335, -1.898, 0.343], [-2.174, -1.839, 0.34], [-2.013, -1.78, 0.345], [-1.853, -1.72, 0.345], [-1.692, -1.659, 0.345], [-1.53, -1.601, 0.346], [-1.37, -1.541, 0.344], [-1.207, -1.483, 0.341], [-1.046, -1.422, 0.342], [-0.886, -1.363, 0.345], [-0.724, -1.303, 0.344], [-0.568, -1.24, 0.345], [-0.448, -1.189, 0.346], [-0.411, -1.164, 0.507], [-0.407, -1.166, 0.886], [-0.406, -1.169, 1.296], [-0.404, -1.172, 1.666], [-0.399, -1.18, 2.0], [-0.398, -1.19, 1.979], [-0.384, -1.198, 1.849], [-0.379, -1.189, 1.687], [-0.384, -1.12, 1.512], [-0.37, -1.017, 1.417], [-0.347, -0.903, 1.396], [-0.339, -0.835, 1.393], [-0.34, -0.846, 1.385], [-0.341, -0.842, 1.385], [-0.341, -0.845, 1.385], [-0.341, -0.844, 1.38], [-0.345, -0.846, 1.372], [-0.347, -0.855, 1.37], [-0.346, -0.853, 1.37], [-0.346, -0.854, 1.37], [-0.346, -0.854, 1.37], [-0.346, -0.855, 1.37], [-0.346, -0.856, 1.37], [-0.346, -0.859, 1.37], [-0.346, -0.861, 1.37], [-0.346, -0.858, 1.37], [-0.346, -0.856, 1.37], [-0.346, -0.854, 1.37], [-0.346, -0.853, 1.37], [-0.346, -0.853, 1.369], [-0.349, -0.859, 1.222], [-0.351, -0.862, 0.841], [-0.356, -0.861, 0.422], [-0.275, -0.835, 0.127], [-0.118, -0.821, 0.096], [0.051, -0.787, 0.127], [0.211, -0.697, 0.146], [0.362, -0.563, 0.239], [0.465, -0.446, 0.584], [0.487, -0.413, 0.981], [0.533, -0.299, 1.193], [0.589, -0.142, 1.206], [0.655, 0.017, 1.179], [0.724, 0.175, 1.168], [0.792, 0.332, 1.164], [0.858, 0.489, 1.163], [0.923, 0.646, 1.16], [0.989, 0.805, 1.165], [1.055, 0.963, 1.165], [1.121, 1.123, 1.168], [1.188, 1.281, 1.168], [1.254, 1.44, 1.165], [1.32, 1.599, 1.163], [1.387, 1.758, 1.166], [1.451, 1.916, 1.168], [1.508, 2.05, 1.17], [1.536, 2.12, 1.243], [1.535, 2.129, 1.443], [1.532, 2.126, 1.46], [1.531, 2.123, 1.45], [1.53, 2.121, 1.445], [1.529, 2.119, 1.445], [1.529, 2.117, 1.441], [1.53, 2.114, 1.441], [1.53, 2.116, 1.441], [1.53, 2.113, 1.44], [1.54, 2.197, 1.445], [1.554, 2.286, 1.44], [1.551, 2.293, 1.438], [1.548, 2.273, 1.434], [1.548, 2.257, 1.432], [1.548, 2.264, 1.43], [1.547, 2.26, 1.43], [1.548, 2.255, 1.43], [1.55, 2.263, 1.43], [1.548, 2.266, 1.429], [1.547, 2.258, 1.429], [1.548, 2.255, 1.429], [1.548, 2.253, 1.429], [1.548, 2.252, 1.429], [1.548, 2.252, 1.429], [1.548, 2.252, 1.43], [1.548, 2.252, 1.429], [1.548, 2.251, 1.429], [1.548, 2.251, 1.429], [1.55, 2.263, 1.43], [1.55, 2.271, 1.426], [1.549, 2.261, 1.427], [1.549, 2.257, 1.426]], "stage_events": [{"tick": 502, "event": "enter_station", "station": "A", "xy": [-1.04, -1.42]}, {"tick": 1771, "event": "leave_station", "station": "A", "xy": [0.91, 0.615]}, {"tick": 1921, "event": "enter_station", "station": "B", "xy": [1.307, 1.568]}], "transport_state": {"ring": {"entered": true, "entry_s": 0.0, "max_s": 0.274933961668679, "was_threaded": true, "lost": 0, "held": false, "grasps": 2}}, "manipulation_success": true, "mobile_success": true, "full_success": true, "failure_reason": null, "fail_class_hint": null, "distance_to_first_interaction": 2.634, "interstation_path_lengths": [4.359], "station_transition_order": ["A", "B"], "final_approach_pose": [1.549, 2.257, 1.426], "regrasp_events": 1, "control_ticks": 2214, "wall_s": 1387.0, "phase": "done", "state": "success: task sequence complete", "check": {"ring": {"held": false, "dist_wrist": 0.465, "s": 0.273, "rod_dist": 0.029, "axis_deg": 4.7, "threaded": true, "entered_via_open_end": true, "entry_s": 0.0, "max_s": 0.275, "lost_count": 0, "at_rest": true}, "decoy": {"ring_small": {"lift": 0.0, "max_lift_near_wrist": 0.0, "dist_wrist": 3.637}}, "rod_length": 0.28, "released": true, "other_rings_on_rod": [], "manipulation_success": true}, "route": ["A", "B"], "total_path_m": 7.95, "planner_seeds": "lean"} diff --git a/N033/go2_arm/dr_off/seed_1014/report.json b/N033/go2_arm/dr_off/seed_1014/report.json new file mode 100644 index 0000000000000000000000000000000000000000..a1b5e90f85dc5513f28c693d3b5e38d129dcdf3f --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1014/report.json @@ -0,0 +1,806 @@ +{ + "task_id": "N033", + "level": "easy", + "seed": 1014, + "episodes_requested": 1, + "episodes": [ + { + "task_id": "N033", + "task_version": "EXT60-MobileAvatar-v3", + "instruction": "pick up the large ring (not the small one)", + "agent_id": "a07", + "family_id": "ring_on_bent_rod", + "primary_category": "C2", + "level": "easy", + "embodiment": "go2_arm", + "scene_seed": 1014, + "execution_mode": "expert_privileged_command", + "station_layout": { + "A": { + "center": [ + -0.3151167887631649, + -0.165423643351256 + ], + "facing": 1.489, + "stand": [ + -0.393, + -1.112, + 1.489 + ] + }, + "B": { + "center": [ + 1.7103822036142855, + 2.9597494228450296 + ], + "facing": 1.437, + "stand": [ + 1.584, + 2.018, + 1.437 + ] + } + }, + "spawn_pose": [ + -3.493, + -2.319, + 0.696 + ], + "base_path": [ + [ + -3.494, + -2.319, + 0.697 + ], + [ + -3.497, + -2.321, + 0.704 + ], + [ + -3.499, + -2.323, + 0.701 + ], + [ + -3.5, + -2.324, + 0.701 + ], + [ + -3.5, + -2.325, + 0.701 + ], + [ + -3.436, + -2.292, + 0.632 + ], + [ + -3.306, + -2.235, + 0.406 + ], + [ + -3.145, + -2.186, + 0.326 + ], + [ + -2.981, + -2.135, + 0.329 + ], + [ + -2.82, + -2.077, + 0.338 + ], + [ + -2.658, + -2.017, + 0.344 + ], + [ + -2.497, + -1.957, + 0.344 + ], + [ + -2.335, + -1.898, + 0.343 + ], + [ + -2.174, + -1.839, + 0.34 + ], + [ + -2.013, + -1.78, + 0.345 + ], + [ + -1.853, + -1.72, + 0.345 + ], + [ + -1.692, + -1.659, + 0.345 + ], + [ + -1.53, + -1.601, + 0.346 + ], + [ + -1.37, + -1.541, + 0.344 + ], + [ + -1.207, + -1.483, + 0.341 + ], + [ + -1.046, + -1.422, + 0.342 + ], + [ + -0.886, + -1.363, + 0.345 + ], + [ + -0.724, + -1.303, + 0.344 + ], + [ + -0.568, + -1.24, + 0.345 + ], + [ + -0.448, + -1.189, + 0.346 + ], + [ + -0.411, + -1.164, + 0.507 + ], + [ + -0.407, + -1.166, + 0.886 + ], + [ + -0.406, + -1.169, + 1.296 + ], + [ + -0.404, + -1.172, + 1.666 + ], + [ + -0.399, + -1.18, + 2.0 + ], + [ + -0.398, + -1.19, + 1.979 + ], + [ + -0.384, + -1.198, + 1.849 + ], + [ + -0.379, + -1.189, + 1.687 + ], + [ + -0.384, + -1.12, + 1.512 + ], + [ + -0.37, + -1.017, + 1.417 + ], + [ + -0.347, + -0.903, + 1.396 + ], + [ + -0.339, + -0.835, + 1.393 + ], + [ + -0.34, + -0.846, + 1.385 + ], + [ + -0.341, + -0.842, + 1.385 + ], + [ + -0.341, + -0.845, + 1.385 + ], + [ + -0.341, + -0.844, + 1.38 + ], + [ + -0.345, + -0.846, + 1.372 + ], + [ + -0.347, + -0.855, + 1.37 + ], + [ + -0.346, + -0.853, + 1.37 + ], + [ + -0.346, + -0.854, + 1.37 + ], + [ + -0.346, + -0.854, + 1.37 + ], + [ + -0.346, + -0.855, + 1.37 + ], + [ + -0.346, + -0.856, + 1.37 + ], + [ + -0.346, + -0.859, + 1.37 + ], + [ + -0.346, + -0.861, + 1.37 + ], + [ + -0.346, + -0.858, + 1.37 + ], + [ + -0.346, + -0.856, + 1.37 + ], + [ + -0.346, + -0.854, + 1.37 + ], + [ + -0.346, + -0.853, + 1.37 + ], + [ + -0.346, + -0.853, + 1.369 + ], + [ + -0.349, + -0.859, + 1.222 + ], + [ + -0.351, + -0.862, + 0.841 + ], + [ + -0.356, + -0.861, + 0.422 + ], + [ + -0.275, + -0.835, + 0.127 + ], + [ + -0.118, + -0.821, + 0.096 + ], + [ + 0.051, + -0.787, + 0.127 + ], + [ + 0.211, + -0.697, + 0.146 + ], + [ + 0.362, + -0.563, + 0.239 + ], + [ + 0.465, + -0.446, + 0.584 + ], + [ + 0.487, + -0.413, + 0.981 + ], + [ + 0.533, + -0.299, + 1.193 + ], + [ + 0.589, + -0.142, + 1.206 + ], + [ + 0.655, + 0.017, + 1.179 + ], + [ + 0.724, + 0.175, + 1.168 + ], + [ + 0.792, + 0.332, + 1.164 + ], + [ + 0.858, + 0.489, + 1.163 + ], + [ + 0.923, + 0.646, + 1.16 + ], + [ + 0.989, + 0.805, + 1.165 + ], + [ + 1.055, + 0.963, + 1.165 + ], + [ + 1.121, + 1.123, + 1.168 + ], + [ + 1.188, + 1.281, + 1.168 + ], + [ + 1.254, + 1.44, + 1.165 + ], + [ + 1.32, + 1.599, + 1.163 + ], + [ + 1.387, + 1.758, + 1.166 + ], + [ + 1.451, + 1.916, + 1.168 + ], + [ + 1.508, + 2.05, + 1.17 + ], + [ + 1.536, + 2.12, + 1.243 + ], + [ + 1.535, + 2.129, + 1.443 + ], + [ + 1.532, + 2.126, + 1.46 + ], + [ + 1.531, + 2.123, + 1.45 + ], + [ + 1.53, + 2.121, + 1.445 + ], + [ + 1.529, + 2.119, + 1.445 + ], + [ + 1.529, + 2.117, + 1.441 + ], + [ + 1.53, + 2.114, + 1.441 + ], + [ + 1.53, + 2.116, + 1.441 + ], + [ + 1.53, + 2.113, + 1.44 + ], + [ + 1.54, + 2.197, + 1.445 + ], + [ + 1.554, + 2.286, + 1.44 + ], + [ + 1.551, + 2.293, + 1.438 + ], + [ + 1.548, + 2.273, + 1.434 + ], + [ + 1.548, + 2.257, + 1.432 + ], + [ + 1.548, + 2.264, + 1.43 + ], + [ + 1.547, + 2.26, + 1.43 + ], + [ + 1.548, + 2.255, + 1.43 + ], + [ + 1.55, + 2.263, + 1.43 + ], + [ + 1.548, + 2.266, + 1.429 + ], + [ + 1.547, + 2.258, + 1.429 + ], + [ + 1.548, + 2.255, + 1.429 + ], + [ + 1.548, + 2.253, + 1.429 + ], + [ + 1.548, + 2.252, + 1.429 + ], + [ + 1.548, + 2.252, + 1.429 + ], + [ + 1.548, + 2.252, + 1.43 + ], + [ + 1.548, + 2.252, + 1.429 + ], + [ + 1.548, + 2.251, + 1.429 + ], + [ + 1.548, + 2.251, + 1.429 + ], + [ + 1.55, + 2.263, + 1.43 + ], + [ + 1.55, + 2.271, + 1.426 + ], + [ + 1.549, + 2.261, + 1.427 + ], + [ + 1.549, + 2.257, + 1.426 + ] + ], + "stage_events": [ + { + "tick": 502, + "event": "enter_station", + "station": "A", + "xy": [ + -1.04, + -1.42 + ] + }, + { + "tick": 1771, + "event": "leave_station", + "station": "A", + "xy": [ + 0.91, + 0.615 + ] + }, + { + "tick": 1921, + "event": "enter_station", + "station": "B", + "xy": [ + 1.307, + 1.568 + ] + } + ], + "transport_state": { + "ring": { + "entered": true, + "entry_s": 0.0, + "max_s": 0.274933961668679, + "was_threaded": true, + "lost": 0, + "held": false, + "grasps": 2 + } + }, + "manipulation_success": true, + "mobile_success": true, + "full_success": true, + "failure_reason": null, + "fail_class_hint": null, + "distance_to_first_interaction": 2.634, + "interstation_path_lengths": [ + 4.359 + ], + "station_transition_order": [ + "A", + "B" + ], + "final_approach_pose": [ + 1.549, + 2.257, + 1.426 + ], + "regrasp_events": 1, + "control_ticks": 2214, + "wall_s": 1387.0, + "phase": "done", + "state": "success: task sequence complete", + "check": { + "ring": { + "held": false, + "dist_wrist": 0.465, + "s": 0.273, + "rod_dist": 0.029, + "axis_deg": 4.7, + "threaded": true, + "entered_via_open_end": true, + "entry_s": 0.0, + "max_s": 0.275, + "lost_count": 0, + "at_rest": true + }, + "decoy": { + "ring_small": { + "lift": 0.0, + "max_lift_near_wrist": 0.0, + "dist_wrist": 3.637 + } + }, + "rod_length": 0.28, + "released": true, + "other_rings_on_rod": [], + "manipulation_success": true + }, + "route": [ + "A", + "B" + ], + "total_path_m": 7.95, + "planner_seeds": "lean" + } + ], + "error": null, + "collect": { + "task": "N033", + "robot": "go2_arm", + "visual_dr": false, + "env": { + "MMB_COLLECT": "1", + "MMB_TASK_ID": "N033", + "MMB_CLEAN_VIEW": "1", + "MMB_REAL_ROBOT_LOOK": "1", + "MMB_VISUAL_DR": "0" + }, + "cameras": { + "head": { + "link": "Robot_0/Bodies/go2_base", + "pos": [ + 0.332051, + 0.038027, + 0.093559 + ], + "ori": [ + 169.9473, + -88.6452, + 81.5985 + ], + "focal_length": 1.8231182098388672, + "horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.4407838582992554 + }, + "wrist": { + "link": "Robot_0/Bodies/piper_link6", + "pos": [ + -0.074987, + 0.005289, + 0.045821 + ], + "ori": [ + 179.3135, + -20.212, + 88.9402 + ], + "focal_length": 1.8517500162124634, + "horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.4393036365509033 + } + }, + "resolution": [ + 640, + 480 + ], + "camera_hz": 25, + "record": { + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + } + }, + "review_cameras": [], + "policy_obs_signature": [ + "/camera_info[0]/rgb[0]:(480, 640, 4):uint8", + "/camera_info[1]/rgb[0]:(480, 640, 4):uint8", + "/robot_state[0]/Go2Plus/base_ang_vel:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/base_lin_vel:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/base_pos:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/base_quat:(1, 4):torch.float32", + "/robot_state[0]/Go2Plus/eef_pos:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/eef_quat:(1, 4):torch.float32", + "/robot_state[0]/Go2Plus/eef_relative_pos:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/eef_relative_quat:(1, 4):torch.float32", + "/robot_state[0]/Go2Plus/finger_joint_pos:(1, 2):torch.float32", + "/robot_state[0]/Go2Plus/gripper_pos:(1, 2):torch.float32", + "/robot_state[0]/Go2Plus/joint_effort:(1, 20):torch.float32", + "/robot_state[0]/Go2Plus/joint_pos:(1, 24):torch.float32", + "/robot_state[0]/Go2Plus/joint_vel:(1, 20):torch.float32" + ], + "n_success": 1, + "elapsed_s": 1706.5, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 36.8 + } +} diff --git a/N033/go2_arm/dr_off/seed_1015/check.json b/N033/go2_arm/dr_off/seed_1015/check.json new file mode 100644 index 0000000000000000000000000000000000000000..fbadf770608a6e0cab0fb60b17a4e7dcaf2601a0 --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1015/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.'; expected 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "1394 rows vs ceil(2788/2) = 1394" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..2887, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "10.45 MB, 1394 frames at 25 fps, mean luma 109..140, std 16, new picture 1393x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1394 vs 1394" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "24.09 MB, 1394 frames at 25 fps, mean luma 106..168, std 28, new picture 1393x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1394 vs 1394" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationring/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N033/go2_arm/dr_off/seed_1015/check.txt b/N033/go2_arm/dr_off/seed_1015/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..b3e7d305d30c8bd126f36b03a274748c3898a9ee --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1015/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n033_go2_off_1015/out task=N033 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n033_go2_off_1015/out/rec/stationring/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1394 videos 2 robot_type Go2PlusCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 1394 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5'] +[PASS] action shape: parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y'] +[PASS] task text = MobileBench instruction: task_index 0: 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.'; expected 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.' +rows 1394 at dataset fps 25 = 55.76 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1394 rows vs ceil(2788/2) = 1394 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..2887, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 10.45 MB, 1394 frames at 25 fps, mean luma 109..140, std 16, new picture 1393x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1394 vs 1394 +[PASS] video observation.images.wrist decodes, 640x480, not black: 24.09 MB, 1394 frames at 25 fps, mean luma 106..168, std 28, new picture 1393x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1394 vs 1394 +parquet size 4.62 MB +[PASS] sim_info present: rec/stationring/000/sim_info +dataset size 39.44 MB; whole cell dir 40.9 MB +RESULT: ALL PASS diff --git a/N033/go2_arm/dr_off/seed_1015/rec/stationring/000/completed/0.json b/N033/go2_arm/dr_off/seed_1015/rec/stationring/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..c24e4e92ce410caf19b3ef731d95205d50917856 --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1015/rec/stationring/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationring/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N033/go2_arm/dr_off/seed_1015/rec/stationring/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N033/go2_arm/dr_off/seed_1015/rec/stationring/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..692fbaeae1c2ed28977069ca22c4a0c6af75754e --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1015/rec/stationring/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:620cbba62f9f851b41afc0040af969aeefe8cfda82b93838c56e19d9c36e32fa +size 4622898 diff --git a/N033/go2_arm/dr_off/seed_1015/rec/stationring/000/lerobot_v21/meta/episodes.jsonl b/N033/go2_arm/dr_off/seed_1015/rec/stationring/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1423c72510347207b5eaf8855c5dc306b8d5f1bb --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1015/rec/stationring/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end."], "length": 1394, "magicsim/control_steps": 2788, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the brown rod stop. There are a large gray table A, a large gray table B, a medium brown rack back, a small gray peg 1, a small gray peg 2, a small ring, a small ring small, a small white rod h, a small white rod s and a small brown rod stop. The gray table B is behind the brown rod stop. The brown rack back is to the right of the gray peg 2. The white rod h is to the right of the white rod s. The white rod s is on top of the brown rod stop. The white rod s is behind the brown rod stop. The brown rod stop is in front of the white rod s. The scene is viewed from front, at table height."} diff --git a/N033/go2_arm/dr_off/seed_1015/rec/stationring/000/lerobot_v21/meta/episodes_stats.jsonl b/N033/go2_arm/dr_off/seed_1015/rec/stationring/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..be544cc48b20467d0ff695776f5a28c5e4f89251 --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1015/rec/stationring/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.14646787187846183, -0.0010363045716431083, 0.02029165076599637, 0.35288421837466005, 0.38307170841409965, 0.7961297925866317, 0.6894798879130841, 0.17214850692808029, -0.5035077846185485, 0.8044636076372357, 0.11289900884104404, 0.5086083213773315], "std": [0.1623134358100806, 0.018941127745469414, 0.2565604514035488, 0.015680639561473104, 1.4330827150505947, 1.691915337086516, 0.03458195270447379, 0.04929513079220238, 0.20136663764025245, 0.10195027557001068, 0.059702882636691344, 0.4999258913109695], "min": [0.0, -0.07999998331069946, -0.800000011920929, 0.33000001311302185, -3.2017881870269775, -1.851288080215454, 0.6220744252204895, 0.07533147931098938, -0.7529242038726807, 0.6463044881820679, 0.0027511599473655224, 0.0], "max": [0.3499999940395355, 0.25, 0.800000011920929, 0.37650465965270996, 2.0000126361846924, 3.196376085281372, 0.779229998588562, 0.26248297095298767, -0.02559763751924038, 0.9722469449043274, 0.1830868124961853, 1.0], "count": [1394]}, "action_is_hold": {"mean": [0.1793400286944046, 0.1793400286944046, 0.1793400286944046, 0.1793400286944046, 0.22022955523672882, 0.22022955523672882, 0.22022955523672882, 0.22022955523672882, 0.22022955523672882, 0.22022955523672882, 0.22022955523672882, 0.9533715925394548], "std": [0.38363678499629733, 0.38363678499629733, 0.38363678499629733, 0.38363678499629733, 0.41440137335312893, 0.41440137335312893, 0.41440137335312893, 0.41440137335312893, 0.41440137335312893, 0.41440137335312893, 0.41440137335312893, 0.2108416445540085], "min": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], "count": [1394]}, "observation.state": {"mean": [-0.029855630758184728, 0.015071861188478936, -0.04968741884222414, 0.08623255187448634, -0.15582883270229828, 0.6486191275172801, 0.6756849116839501, 0.8092622770640566, 0.793095374081706, 1.7458438444000748, -1.3977596858139532, -1.3894966544003535, -1.3994245382942463, -1.4279466981183166, -1.1019379248150452, 0.1945317491018014, 0.610754371630068, -0.3383804050621397, 0.02458732460934129, -0.024900130495974202, 0.1930070915446487, 0.4816435411384722, 1.0809264502785711, 0.38119461108399944, -0.024900130495974202, -0.02458732460934129], "std": [0.031022025792437003, 0.03690239397861776, 0.041108876435625226, 0.0363469779283862, 0.11120960859495448, 0.09484121781218838, 0.09139458823778993, 0.0975476843895804, 0.0974478163793064, 0.22668759298458502, 0.09733858658167803, 0.09622720900238353, 0.10642346546570881, 0.1107699125342104, 0.3861150638187791, 0.14822964558537782, 0.18022529973969625, 0.24683211035028757, 0.010219238181453818, 0.009912181560084528, 1.4769071019103774, 1.5971929723959928, 0.48669651440470263, 0.013439752154164413, 0.009912181560084528, 0.010219238181453818], "min": [-0.1623515635728836, -0.14050450921058655, -0.14862249791622162, -0.07834929972887039, -0.4618878960609436, 0.43613266944885254, 0.44505468010902405, 0.5978285670280457, 0.6107082962989807, 1.518334150314331, -1.5503476858139038, -1.6127079725265503, -1.6075533628463745, -1.648274302482605, -2.103442907333374, -0.0050949291326105595, 0.3726420998573303, -0.6196936368942261, 0.01444868091493845, -0.03500000014901161, -3.4503936767578125, -2.1302149295806885, -0.06406422704458237, 0.3519454598426819, -0.03500000014901161, -0.03500000014901161], "max": [0.1661931574344635, 0.21263350546360016, 0.1581631451845169, 0.21000778675079346, 0.007915566675364971, 0.8514182567596436, 0.8871453404426575, 1.019707202911377, 1.0106282234191895, 2.3205924034118652, -1.127239465713501, -1.1764824390411377, -1.1696635484695435, -1.1455819606781006, -0.7688093781471252, 0.36809971928596497, 0.9983166456222534, 0.0034633863251656294, 0.03500000014901161, -0.014909020625054836, 1.837144136428833, 2.655054807662964, 1.8535261154174805, 0.4053930640220642, -0.014909020625054836, -0.01444868091493845], "count": [1394]}, "observation.joint_vel": {"mean": [-0.004667942858818208, 0.00668633312521586, 0.0005889268531882017, 0.0028986204237040443, 0.0011709323779889992, -0.006783734404615065, -0.014346481215333353, -0.007956716151068497, -0.011291215624249376, -0.0034266634356858758, 0.0039710242781125695, 0.025406243202192265, 0.007589285548509903, 0.01257285988645196, -0.0047652860337143365, -0.004770250369084264, 0.009888738916775644, 0.008525961719916741, 0.001236696580063933, -0.00028273526438584774], "std": [0.4092477081306406, 0.3914079112268904, 0.4767913633084839, 0.5401489324235303, 0.10858816854094398, 1.1269127513867194, 1.1316283650970433, 0.8878449179491089, 0.7325485383526261, 0.15903640312279277, 0.6642753729233215, 1.0758067134766662, 1.0543872516768598, 1.091999332671192, 0.24771076461753114, 0.053546147069252245, 0.10695693586318346, 0.08741696868510747, 0.010717197259177875, 0.010500677225951832], "min": [-2.5138332843780518, -3.5653069019317627, -2.2875783443450928, -3.0445010662078857, -1.1148667335510254, -4.821159362792969, -4.907116889953613, -3.889551877975464, -3.3757147789001465, -0.7472144365310669, -4.313878059387207, -5.6046528816223145, -4.313769817352295, -5.952219009399414, -1.980075716972351, -0.26390981674194336, -0.4282495677471161, -0.5408271551132202, -0.20007553696632385, -0.20010386407375336], "max": [3.621774196624756, 3.599696159362793, 4.941704750061035, 2.70993971824646, 0.3935171365737915, 1.4608837366104126, 2.2465193271636963, 4.822437286376953, 4.293871879577637, 1.1871416568756104, 3.359382152557373, 4.738935470581055, 4.8569111824035645, 3.3743746280670166, 1.1666598320007324, 0.29312455654144287, 0.7602925896644592, 0.38766422867774963, 0.2000288963317871, 0.2002590447664261], "count": [1394]}, "observation.eef_pose": {"mean": [0.3818461001133132, 0.796468526943369, 0.688882654674426, 0.17189303028746006, -0.5051019556895219, 0.8029796919829534, 0.11334957979843982], "std": [1.4330028948840645, 1.69222170412155, 0.03479263594199189, 0.04930664621952985, 0.20247837487947015, 0.10327193130766667, 0.060054846637828924], "min": [-3.2017881870269775, -1.8513033390045166, 0.6206152439117432, 0.07851028442382812, -0.7651631236076355, 0.6318418383598328, 0.002444624900817871], "max": [2.0000855922698975, 3.2062554359436035, 0.7794224619865417, 0.26219505071640015, -0.026309862732887268, 0.972240686416626, 0.1820535659790039], "count": [1394]}, "observation.environment_state": {"mean": [-0.19835063815116882, 0.016112111508846283, 0.4699999988079071, 0.9993552565574646, 0.0, 0.0, -0.03590363636612892, -0.49757716059684753, 0.037640854716300964, 0.4699999988079071, 0.9993552565574646, 0.0, 0.0, -0.03590363636612892, -0.34042882919311523, 0.13160575926303864, 0.4300000071525574, 0.9993552565574646, 0.0, 0.0, -0.03590363636612892, 0.6203025406977453, 1.1100029302418561, 0.4617766334302456, 0.970081321820296, -0.04401550573037755, 0.001061845029415447, -0.11921599500517292, -0.20214762505534048, -0.036737853992554005, 0.4687865675778437, 0.9993417754747946, 0.00027318544096832523, -0.0017602492449203856, -0.036233463173617246, 1.973711609840393, 3.101764440536499, 0.5299999713897705, 0.999101996421814, 0.0, 0.0, -0.04236980900168419, 1.9844892024993896, 3.228607416152954, 0.48980000615119934, 0.9528605341911316, -0.30043578147888184, 0.012740674428641796, -0.04040825739502907, 1.990644097328186, 3.301046371459961, 0.38999998569488525, 0.999101996421814, 0.0, 0.0, -0.04236980900168419, -0.28984013199806213, 0.13799186050891876, 0.18000000715255737, 0.9993552565574646, 0.0, 0.0, -0.03590363636612892, 1.9847177267074585, 3.231297731399536, 0.18000000715255737, 0.999101996421814, 0.0, 0.0, -0.04236980900168419], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1040103633775937, 1.458069998288698, 0.028141463395112396, 0.06467746530732786, 0.0981270191767023, 0.00591210785702389, 0.17013007823041848, 5.7182092279694334e-08, 1.0981534144624686e-08, 5.790193502666615e-08, 2.2649632701143737e-08, 3.429288505201513e-07, 3.783155052659166e-06, 9.21234147706264e-08, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 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": [-0.19835063815116882, 0.016112111508846283, 0.4699999988079071, 0.9993552565574646, 0.0, 0.0, -0.03590363636612892, -0.49757716059684753, 0.037640854716300964, 0.4699999988079071, 0.9993552565574646, 0.0, 0.0, -0.03590363636612892, -0.34042882919311523, 0.13160575926303864, 0.4300000071525574, 0.9993552565574646, 0.0, 0.0, -0.03590363636612892, -0.5069361329078674, -0.5518102049827576, 0.4306250512599945, 0.7261417508125305, -0.3161190152168274, -0.012778113596141338, -0.6875020861625671, -0.2021476924419403, -0.03673788905143738, 0.4687865078449249, 0.9993417263031006, 0.0002720105112530291, -0.0017701942706480622, -0.0362338051199913, 1.973711609840393, 3.101764440536499, 0.5299999713897705, 0.999101996421814, 0.0, 0.0, -0.04236980900168419, 1.9844892024993896, 3.228607416152954, 0.48980000615119934, 0.9528605341911316, -0.30043578147888184, 0.012740674428641796, -0.04040825739502907, 1.990644097328186, 3.301046371459961, 0.38999998569488525, 0.999101996421814, 0.0, 0.0, -0.04236980900168419, -0.28984013199806213, 0.13799186050891876, 0.18000000715255737, 0.9993552565574646, 0.0, 0.0, -0.03590363636612892, 1.9847177267074585, 3.231297731399536, 0.18000000715255737, 0.999101996421814, 0.0, 0.0, -0.04236980900168419], "max": [-0.19835063815116882, 0.016112111508846283, 0.4699999988079071, 0.9993552565574646, 0.0, 0.0, -0.03590363636612892, -0.49757716059684753, 0.037640854716300964, 0.4699999988079071, 0.9993552565574646, 0.0, 0.0, -0.03590363636612892, -0.34042882919311523, 0.13160575926303864, 0.4300000071525574, 0.9993552565574646, 0.0, 0.0, -0.03590363636612892, 2.026387929916382, 3.2619473934173584, 0.5366763472557068, 0.9996069073677063, 0.01609710045158863, 0.01701303943991661, -0.02765919640660286, -0.2021474689245224, -0.036737844347953796, 0.46878671646118164, 0.9993417859077454, 0.000273753481451422, -0.0017575673991814256, -0.036233171820640564, 1.973711609840393, 3.101764440536499, 0.5299999713897705, 0.999101996421814, 0.0, 0.0, -0.04236980900168419, 1.9844892024993896, 3.228607416152954, 0.48980000615119934, 0.9528605341911316, -0.30043578147888184, 0.012740674428641796, -0.04040825739502907, 1.990644097328186, 3.301046371459961, 0.38999998569488525, 0.999101996421814, 0.0, 0.0, -0.04236980900168419, -0.28984013199806213, 0.13799186050891876, 0.18000000715255737, 0.9993552565574646, 0.0, 0.0, -0.03590363636612892, 1.9847177267074585, 3.231297731399536, 0.18000000715255737, 0.999101996421814, 0.0, 0.0, -0.04236980900168419], "count": [1394]}, "action.command": {"mean": [-1.38262942335873, -0.8678122988649618, 1.261067549132298, 0.7579608760561262, 0.0, 0.0, 0.6512941336631775, 1.0404783808647655, 0.08804681011593002, 0.36018706494196906, 0.6822078341503371, 0.17053463812420538, -0.46182660933450315, 0.8285167208481186, 0.10000545236349737, 0.5384615384615384, -1.6934115550591557, -1.1341032061107708, 1.4911437591267052, 0.0, 0.0, 0.0, 0.0, 2.0, -0.12258387522200306, -0.07755911223338739, 0.6786297310291408, 0.181972411224583, -0.34939544046469984, 0.8882335308889986, 0.07883225270190033, 0.0, -1.624811444338548, -1.121685758211189, 1.4911437591267052, 0.0, 0.0, 0.0, 0.0, 2.0, -0.12258387522200306, -0.07755911223338739, 0.6786297310291408, 0.181972411224583, -0.34939544046469984, 0.8882335308889986, 0.07883225270190033, 0.0, -1.5864497873051402, -1.116573199651665, 1.4911437591267052, 0.0, 0.0, 0.0, 0.0, 2.0, -0.12258387522200306, -0.07755911223338739, 0.6786297310291408, 0.181972411224583, -0.34939544046469984, 0.8882335308889986, 0.07883225270190033, 0.0, -1.5282389678268882, -1.1099173625310261, 1.4911437591267052, 0.0, 0.0, 0.0, 0.0, 2.0, -0.12258387522200306, -0.07755911223338739, 0.6786297310291408, 0.181972411224583, -0.34939544046469984, 0.8882335308889986, 0.07883225270190033, 0.0, -1.4765429962399073, -1.0991131303593975, 1.4911437591267052, 0.0, 0.0, 0.0, 0.0, 2.0, -0.12258387522200306, -0.07755911223338739, 0.6786297310291408, 0.181972411224583, -0.34939544046469984, 0.8882335308889986, 0.07883225270190033, 0.0, -1.417405157887463, -1.0910024551918154, 1.4911437591267052, 0.0, 0.0, 0.0, 0.0, 2.0, -0.12258387522200306, -0.07755911223338739, 0.6786297310291408, 0.181972411224583, -0.34939544046469984, 0.8882335308889986, 0.07883225270190033, 0.0, -1.365996430711424, -1.081691828418233, 1.4911437591267052, 0.0, 0.0, 0.0, 0.0, 2.0, -0.12258387522200306, -0.07755911223338739, 0.6786297310291408, 0.181972411224583, -0.34939544046469984, 0.8882335308889986, 0.07883225270190033, 0.0, -1.3011632993182771, -1.0693901859541122, 1.4911437591267052, 0.0, 0.0, 0.0, 0.0, 2.0, -0.12258387522200306, -0.07755911223338739, 0.6786297310291408, 0.181972411224583, -0.34939544046469984, 0.8882335308889986, 0.07883225270190033, 0.0, -1.2552433062054862, -1.064242955521515, 1.4911437591267052, 0.0, 0.0, 0.0, 0.0, 2.0, -0.12258387522200306, -0.07755911223338739, 0.6786297310291408, 0.181972411224583, -0.34939544046469984, 0.8882335308889986, 0.07883225270190033, 0.0, -1.211452148624979, -1.0603390576730916, 1.4911437591267052, 0.0, 0.0, 0.0, 0.0, 2.0, -0.12258387522200306, -0.07755911223338739, 0.6786297310291408, 0.181972411224583, -0.34939544046469984, 0.8882335308889986, 0.07883225270190033, 0.0, -1.1444393426354935, -1.0467272870866213, 1.4911437591267052, 0.0, 0.0, 0.0, 0.0, 2.0, -0.12258387522200306, -0.07755911223338739, 0.6786297310291408, 0.181972411224583, -0.34939544046469984, 0.8882335308889986, 0.07883225270190033, 0.0, -1.0759462902812005, -1.0292066403947737, 1.4911437591267052, 0.0, 0.0, 0.0, 0.0, 2.0, -0.12258387522200306, -0.07755911223338739, 0.6786297310291408, 0.181972411224583, -0.34939544046469984, 0.8882335308889986, 0.07883225270190033, 0.0, -1.0377356922924081, -1.0291963540860034, 1.4911437591267052, 0.0, 0.0, 0.0, 0.0, 2.0, -0.12258387522200306, -0.07755911223338739, 0.6786297310291408, 0.181972411224583, -0.34939544046469984, 0.8882335308889986, 0.07883225270190033, 0.0, -1.0077746672427252, -1.0291087457612047, 1.4911437591267052, 0.0, 0.0, 0.0, 0.0, 2.0, -0.12258387522200306, -0.07755911223338739, 0.6786297310291408, 0.181972411224583, -0.34939544046469984, 0.8882335308889986, 0.07883225270190033, 0.0, -0.9406839163642973, -1.0117240295186092, 1.4911437591267052, 0.0, 0.0, 0.0, 0.0, 2.0, -0.12258387522200306, -0.07755911223338739, 0.6786297310291408, 0.181972411224583, -0.34939544046469984, 0.8882335308889986, 0.07883225270190033, 0.0, -0.8751440499847681, -0.9986088219893311, 1.4911437591267052, 0.0, 0.0, 0.0, 0.0, 2.0, -0.12258387522200306, -0.07755911223338739, 0.6786297310291408, 0.181972411224583, -0.34939544046469984, 0.8882335308889986, 0.07883225270190033, 0.0, -0.8482787973205074, -0.9618959199314425, 1.4911437591267052, 0.0, 0.0, 0.0, 0.0, 2.0, -0.12258387522200306, -0.07755911223338739, 0.6786297310291408, 0.181972411224583, -0.34939544046469984, 0.8882335308889986, 0.07883225270190033, 0.0, -0.8138719730615266, -0.9153742490886067, 1.4911437591267052, 0.0, 0.0, 0.0, 0.0, 2.0, -0.12258387522200306, -0.07755911223338739, 0.6786297310291408, 0.181972411224583, -0.34939544046469984, 0.8882335308889986, 0.07883225270190033, 0.0, -0.781374299228629, -0.8895562923952346, 1.4911437591267052, 0.0, 0.0, 0.0, 0.0, 2.0, -0.12258387522200306, -0.07755911223338739, 0.6786297310291408, 0.181972411224583, -0.34939544046469984, 0.8882335308889986, 0.07883225270190033, 0.0, -0.7446670667015334, -0.8480332583932975, 1.4911437591267052, 0.0, 0.0, 0.0, 0.0, 2.0, -0.12258387522200306, -0.07755911223338739, 0.6786297310291408, 0.181972411224583, -0.34939544046469984, 0.8882335308889986, 0.07883225270190033, 0.0, -0.7214072963739807, -0.8300503466097794, 1.4911437591267052, 0.0, 0.0, 0.0, 0.0, 2.0, -0.12258387522200306, -0.07755911223338739, 0.6786297310291408, 0.181972411224583, -0.34939544046469984, 0.8882335308889986, 0.07883225270190033, 0.0, -0.6725587965633375, -0.7726746589251727, 1.4911437591267052, 0.0, 0.0, 0.0, 0.0, 2.0, -0.12258387522200306, -0.07755911223338739, 0.6786297310291408, 0.181972411224583, -0.34939544046469984, 0.8882335308889986, 0.07883225270190033, 0.0, -0.64871245928973, -0.747065655635492, 1.4911437591267052, 0.0, 0.0, 0.0, 0.0, 2.0, -0.12258387522200306, -0.07755911223338739, 0.6786297310291408, 0.181972411224583, -0.34939544046469984, 0.8882335308889986, 0.07883225270190033, 0.0, -0.6222877964574335, -0.712308257511884, 1.4911437591267052, 0.0, 0.0, 0.0, 0.0, 2.0, -0.12258387522200306, -0.07755911223338739, 0.6786297310291408, 0.181972411224583, -0.34939544046469984, 0.8882335308889986, 0.07883225270190033, 0.0, -0.5796187393115656, -0.6684403546406134, 1.4911437591267052, 0.0, 0.0, 0.0, 0.0, 2.0, -0.12258387522200306, -0.07755911223338739, 0.6786297310291408, 0.181972411224583, -0.34939544046469984, 0.8882335308889986, 0.07883225270190033, 0.0, -0.5192789733847507, -0.602626637346419, 1.4911437591267052, 0.0, 0.0, 0.0, 0.0, 2.0, -0.12258387522200306, -0.07755911223338739, 0.6786297310291408, 0.181972411224583, -0.34939544046469984, 0.8882335308889986, 0.07883225270190033, 0.0, -0.5109873497188528, -0.5885826030995002, 1.4911437591267052, 0.0, 0.0, 0.0, 0.0, 2.0, -0.12258387522200306, -0.07755911223338739, 0.6786297310291408, 0.181972411224583, -0.34939544046469984, 0.8882335308889986, 0.07883225270190033, 0.0, -0.47881280343087934, -0.5269676100314976, 1.4911437591267052, 0.0, 0.0, 0.0, 0.0, 2.0, -0.12258387522200306, -0.07755911223338739, 0.6786297310291408, 0.181972411224583, -0.34939544046469984, 0.8882335308889986, 0.07883225270190033, 0.0, -0.44213889348874535, -0.5085812972505712, 1.4911437591267052, 0.0, 0.0, 0.0, 0.0, 2.0, -0.12258387522200306, -0.07755911223338739, 0.6786297310291408, 0.181972411224583, -0.34939544046469984, 0.8882335308889986, 0.07883225270190033, 0.0, -0.4098489056949924, -0.4892440488159919, 1.4911437591267052, 0.0, 0.0, 0.0, 0.0, 2.0, -0.12258387522200306, -0.07755911223338739, 0.6786297310291408, 0.181972411224583, -0.34939544046469984, 0.8882335308889986, 0.07883225270190033, 0.0, -0.3732543628821464, -0.4285088449322705, 1.4911437591267052, 0.0, 0.0, 0.0, 0.0, 2.0, -0.12258387522200306, -0.07755911223338739, 0.6786297310291408, 0.181972411224583, -0.34939544046469984, 0.8882335308889986, 0.07883225270190033, 0.0, -0.35659251759230826, -0.41051469325319084, 1.4911437591267052, 0.0, 0.0, 0.0, 0.0, 2.0, -0.12258387522200306, -0.07755911223338739, 0.6786297310291408, 0.181972411224583, -0.34939544046469984, 0.8882335308889986, 0.07883225270190033, 0.0, -0.3045208700953076, -0.34851696680295835, 1.4911437591267052, 0.0, 0.0, 0.0, 0.0, 2.0, -0.12258387522200306, -0.07755911223338739, 0.6786297310291408, 0.181972411224583, -0.34939544046469984, 0.8882335308889986, 0.07883225270190033, 0.0, -0.2714088906625644, -0.31402584774728737, 1.4911437591267052, 0.0, 0.0, 0.0, 0.0, 2.0, -0.12258387522200306, -0.07755911223338739, 0.6786297310291408, 0.181972411224583, -0.34939544046469984, 0.8882335308889986, 0.07883225270190033, 0.0, -0.23571579939468318, -0.26830505449516306, 1.4911437591267052, 0.0, 0.0, 0.0, 0.0, 2.0, -0.12258387522200306, -0.07755911223338739, 0.6786297310291408, 0.181972411224583, -0.34939544046469984, 0.8882335308889986, 0.07883225270190033, 0.0, -0.19712298259511044, -0.22473764857181544, 1.4911437591267052, 0.0, 0.0, 0.0, 0.0, 2.0, -0.12258387522200306, -0.07755911223338739, 0.6786297310291408, 0.181972411224583, -0.34939544046469984, 0.8882335308889986, 0.07883225270190033, 0.0, -0.16661336996131706, -0.1876298805340446, 1.4911437591267052, 0.0, 0.0, 0.0, 0.0, 2.0, -0.12258387522200306, -0.07755911223338739, 0.6786297310291408, 0.181972411224583, -0.34939544046469984, 0.8882335308889986, 0.07883225270190033, 0.0, -0.13519673392986237, -0.1433296415424207, 1.4911437591267052, 0.0, 0.0, 0.0, 0.0, 2.0, -0.12258387522200306, -0.07755911223338739, 0.6786297310291408, 0.181972411224583, -0.34939544046469984, 0.8882335308889986, 0.07883225270190033, 0.0, -0.09738812992751336, -0.10688641277878995, 1.4911437591267052, 0.0, 0.0, 0.0, 0.0, 2.0, -0.12258387522200306, -0.07755911223338739, 0.6786297310291408, 0.181972411224583, -0.34939544046469984, 0.8882335308889986, 0.07883225270190033, 0.0, -0.04234232776490602, -0.04819450434434081, 1.4911437591267052, 0.0, 0.0, 0.0, 0.0, 2.0, -0.12258387522200306, -0.07755911223338739, 0.6786297310291408, 0.181972411224583, -0.34939544046469984, 0.8882335308889986, 0.07883225270190033, 0.0, -0.028212692594038056, -0.02620975894199769, 1.4911437591267052, 0.0, 0.0, 0.0, 0.0, 2.0, -0.12258387522200306, -0.07755911223338739, 0.6786297310291408, 0.181972411224583, -0.34939544046469984, 0.8882335308889986, 0.07883225270190033, 0.0, -0.0013988621959602255, 0.022170653777325557, 1.4911437591267052, 0.0, 0.0, 0.0, 0.0, 2.0, -0.12258387522200306, -0.07755911223338739, 0.6786297310291408, 0.181972411224583, -0.34939544046469984, 0.8882335308889986, 0.07883225270190033, 0.0, 0.040772463606667766, 0.054356771068601005, 1.4911437591267052, 0.0, 0.0, 0.0, 0.0, 2.0, -0.12258387522200306, -0.07755911223338739, 0.6786297310291408, 0.181972411224583, -0.34939544046469984, 0.8882335308889986, 0.07883225270190033, 0.0, 0.09759087919663753, 0.1199424805970269, 1.4911437591267052, 0.0, 0.0, 0.0, 0.0, 2.0, -0.12258387522200306, -0.07755911223338739, 0.6786297310291408, 0.181972411224583, -0.34939544046469984, 0.8882335308889986, 0.07883225270190033, 0.0, 0.10975759477517329, 0.13492318186991015, 1.4911437591267052, 0.0, 0.0, 0.0, 0.0, 2.0, -0.12258387522200306, -0.07755911223338739, 0.6786297310291408, 0.181972411224583, -0.34939544046469984, 0.8882335308889986, 0.07883225270190033, 0.0, 0.14567116966331584, 0.19379525895335775, 1.4911437591267052, 0.0, 0.0, 0.0, 0.0, 2.0, -0.12258387522200306, -0.07755911223338739, 0.6786297310291408, 0.181972411224583, -0.34939544046469984, 0.8882335308889986, 0.07883225270190033, 0.0, 0.1788984006722068, 0.21556390942280862, 1.4911437591267052, 0.0, 0.0, 0.0, 0.0, 2.0, -0.12258387522200306, -0.07755911223338739, 0.6786297310291408, 0.181972411224583, -0.34939544046469984, 0.8882335308889986, 0.07883225270190033, 0.0, 0.23112560053753958, 0.2850245741495477, 1.4911437591267052, 0.0, 0.0, 0.0, 0.0, 2.0, -0.12258387522200306, -0.07755911223338739, 0.6786297310291408, 0.181972411224583, -0.34939544046469984, 0.8882335308889986, 0.07883225270190033, 0.0, 0.2480818217021253, 0.29622494316661235, 1.4911437591267052, 0.0, 0.0, 0.0, 0.0, 2.0, -0.12258387522200306, -0.07755911223338739, 0.6786297310291408, 0.181972411224583, -0.34939544046469984, 0.8882335308889986, 0.07883225270190033, 0.0, 0.29717322348147934, 0.3638814799761107, 1.4911437591267052, 0.0, 0.0, 0.0, 0.0, 2.0, -0.12258387522200306, -0.07755911223338739, 0.6786297310291408, 0.181972411224583, -0.34939544046469984, 0.8882335308889986, 0.07883225270190033, 0.0, 0.3171704534917151, 0.37684074836330445, 1.4911437591267052, 0.0, 0.0, 0.0, 0.0, 2.0, -0.12258387522200306, -0.07755911223338739, 0.6786297310291408, 0.181972411224583, -0.34939544046469984, 0.8882335308889986, 0.07883225270190033, 0.0, 0.33074750949282655, 0.38356256878848644, 1.4911437591267052, 0.0, 0.0, 0.0, 0.0, 2.0, -0.12258387522200306, -0.07755911223338739, 0.6786297310291408, 0.181972411224583, -0.34939544046469984, 0.8882335308889986, 0.07883225270190033, 0.0, 0.38615565678096553, 0.4574072783739031, 1.4911437591267052, 0.0, 0.0, 0.0, 0.0, 2.0, -0.12258387522200306, -0.07755911223338739, 0.6786297310291408, 0.181972411224583, -0.34939544046469984, 0.8882335308889986, 0.07883225270190033, 0.0, 0.4193771401866067, 0.476270046790791, 1.4911437591267052, 0.0, 0.0, 0.0, 0.0, 2.0, -0.12258387522200306, -0.07755911223338739, 0.6786297310291408, 0.181972411224583, -0.34939544046469984, 0.8882335308889986, 0.07883225270190033, 0.0, 0.45517709321737637, 0.5379909927274337, 1.4911437591267052, 0.0, 0.0, 0.0, 0.0, 2.0, -0.12258387522200306, -0.07755911223338739, 0.6786297310291408, 0.181972411224583, -0.34939544046469984, 0.8882335308889986, 0.07883225270190033, 0.0, 0.46388087162362324, 0.5484530229925584, 1.4911437591267052, 0.0, 0.0, 0.0, 0.0, 2.0, -0.12258387522200306, -0.07755911223338739, 0.6786297310291408, 0.181972411224583, -0.34939544046469984, 0.8882335308889986, 0.07883225270190033, 0.0, 0.5244047789671697, 0.6186732899249913, 1.4911437591267052, 0.0, 0.0, 0.0, 0.0, 2.0, -0.12258387522200306, -0.07755911223338739, 0.6786297310291408, 0.181972411224583, -0.34939544046469984, 0.8882335308889986, 0.07883225270190033, 0.0, 0.5629418647236761, 0.6462211736673475, 1.4911437591267052, 0.0, 0.0, 0.0, 0.0, 2.0, -0.12258387522200306, -0.07755911223338739, 0.6786297310291408, 0.181972411224583, -0.34939544046469984, 0.8882335308889986, 0.07883225270190033, 0.0, 0.593705684427998, 0.6993904532139872, 1.4911437591267052, 0.0, 0.0, 0.0, 0.0, 2.0, -0.12258387522200306, -0.07755911223338739, 0.6786297310291408, 0.181972411224583, -0.34939544046469984, 0.8882335308889986, 0.07883225270190033, 0.0, 0.6089433616303487, 0.7190389779345755, 1.4911437591267052, 0.0, 0.0, 0.0, 0.0, 2.0, -0.12258387522200306, -0.07755911223338739, 0.6786297310291408, 0.181972411224583, -0.34939544046469984, 0.8882335308889986, 0.07883225270190033, 0.0, 0.6631462560001099, 0.7801742938821712, 1.4911437591267052, 0.0, 0.0, 0.0, 0.0, 2.0, -0.12258387522200306, -0.07755911223338739, 0.6786297310291408, 0.181972411224583, -0.34939544046469984, 0.8882335308889986, 0.07883225270190033, 0.0, 0.692489742182425, 0.809479908796134, 1.4911437591267052, 0.0, 0.0, 0.0, 0.0, 2.0, -0.12258387522200306, -0.07755911223338739, 0.6786297310291408, 0.181972411224583, -0.34939544046469984, 0.8882335308889986, 0.07883225270190033, 0.0, 0.7109447926851796, 0.8323678567721104, 1.4911437591267052, 0.0, 0.0, 0.0, 0.0, 2.0, -0.12258387522200306, -0.07755911223338739, 0.6786297310291408, 0.181972411224583, -0.34939544046469984, 0.8882335308889986, 0.07883225270190033, 0.0, 1.559558391571045, 1.9352662563323975, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8535802820064489, 0.6743228387774773, 0.682292203301365, 0.22378663993576198, -0.41403281911574663, 0.8439025575096167, 0.10984384384033388, 0.0, 1.5918984413146973, 1.9989545345306396, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8535802820064489, 0.6743228387774773, 0.682292203301365, 0.22378663993576198, -0.41403281911574663, 0.8439025575096167, 0.10984384384033388, 0.0, 1.6156556606292725, 2.0457403659820557, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8535802820064489, 0.6743228387774773, 0.682292203301365, 0.22378663993576198, -0.41403281911574663, 0.8439025575096167, 0.10984384384033388, 0.0, 1.6446691751480103, 2.102877616882324, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8535802820064489, 0.6743228387774773, 0.682292203301365, 0.22378663993576198, -0.41403281911574663, 0.8439025575096167, 0.10984384384033388, 0.0, 1.6719810962677002, 2.1566638946533203, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8535802820064489, 0.6743228387774773, 0.682292203301365, 0.22378663993576198, -0.41403281911574663, 0.8439025575096167, 0.10984384384033388, 0.0, 1.6979382038116455, 2.207782030105591, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8535802820064489, 0.6743228387774773, 0.682292203301365, 0.22378663993576198, -0.41403281911574663, 0.8439025575096167, 0.10984384384033388, 0.0, 1.7287613153457642, 2.2684831619262695, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8535802820064489, 0.6743228387774773, 0.682292203301365, 0.22378663993576198, -0.41403281911574663, 0.8439025575096167, 0.10984384384033388, 0.0, 1.7530876398086548, 2.316389799118042, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8535802820064489, 0.6743228387774773, 0.682292203301365, 0.22378663993576198, -0.41403281911574663, 0.8439025575096167, 0.10984384384033388, 0.0, 1.786271572113037, 2.381739854812622, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8535802820064489, 0.6743228387774773, 0.682292203301365, 0.22378663993576198, -0.41403281911574663, 0.8439025575096167, 0.10984384384033388, 0.0, 1.8120776414871216, 2.432560682296753, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8535802820064489, 0.6743228387774773, 0.682292203301365, 0.22378663993576198, -0.41403281911574663, 0.8439025575096167, 0.10984384384033388, 0.0, 1.8440501689910889, 2.4955251216888428, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8535802820064489, 0.6743228387774773, 0.682292203301365, 0.22378663993576198, -0.41403281911574663, 0.8439025575096167, 0.10984384384033388, 0.0, 1.897359848022461, 2.545562267303467, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8535802820064489, 0.6743228387774773, 0.682292203301365, 0.22378663993576198, -0.41403281911574663, 0.8439025575096167, 0.10984384384033388, 0.0], "std": [1.495950211692177, 1.088891964194156, 0.4539310707175274, 0.024414496528252394, 0.0, 0.0, 0.02674220267852599, 1.2790215007194459, 1.3941417834447454, 1.5218250242120055, 0.022711313280427234, 0.05369065086828382, 0.2099380929029807, 0.10307982312294786, 0.060090175041812265, 0.4985185152621432, 1.3962690218615836, 0.7936766262219382, 0.006325597583015937, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4496612760836463, 1.3025220238702313, 0.0062750177086602875, 0.05425048193843893, 0.1905689626833088, 0.08352459119855464, 0.05830449128574801, 0.0, 1.3978259600189193, 0.7779885224140136, 0.006325597583015937, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4496612760836463, 1.3025220238702313, 0.0062750177086602875, 0.05425048193843893, 0.1905689626833088, 0.08352459119855464, 0.05830449128574801, 0.0, 1.4064827471318533, 0.7714532050412047, 0.006325597583015937, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4496612760836463, 1.3025220238702313, 0.0062750177086602875, 0.05425048193843893, 0.1905689626833088, 0.08352459119855464, 0.05830449128574801, 0.0, 1.4243039466884002, 0.762882928252129, 0.006325597583015937, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4496612760836463, 1.3025220238702313, 0.0062750177086602875, 0.05425048193843893, 0.1905689626833088, 0.08352459119855464, 0.05830449128574801, 0.0, 1.4193267766943816, 0.7492931004430711, 0.006325597583015937, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4496612760836463, 1.3025220238702313, 0.0062750177086602875, 0.05425048193843893, 0.1905689626833088, 0.08352459119855464, 0.05830449128574801, 0.0, 1.4316975781769061, 0.7389383187639994, 0.006325597583015937, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4496612760836463, 1.3025220238702313, 0.0062750177086602875, 0.05425048193843893, 0.1905689626833088, 0.08352459119855464, 0.05830449128574801, 0.0, 1.4328430386765056, 0.7271755516980599, 0.006325597583015937, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4496612760836463, 1.3025220238702313, 0.0062750177086602875, 0.05425048193843893, 0.1905689626833088, 0.08352459119855464, 0.05830449128574801, 0.0, 1.431908084689053, 0.7116573216482918, 0.006325597583015937, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4496612760836463, 1.3025220238702313, 0.0062750177086602875, 0.05425048193843893, 0.1905689626833088, 0.08352459119855464, 0.05830449128574801, 0.0, 1.4464056080120236, 0.7050227752731874, 0.006325597583015937, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4496612760836463, 1.3025220238702313, 0.0062750177086602875, 0.05425048193843893, 0.1905689626833088, 0.08352459119855464, 0.05830449128574801, 0.0, 1.464502595648172, 0.6999233719317252, 0.006325597583015937, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4496612760836463, 1.3025220238702313, 0.0062750177086602875, 0.05425048193843893, 0.1905689626833088, 0.08352459119855464, 0.05830449128574801, 0.0, 1.459724521049586, 0.6827879611868782, 0.006325597583015937, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4496612760836463, 1.3025220238702313, 0.0062750177086602875, 0.05425048193843893, 0.1905689626833088, 0.08352459119855464, 0.05830449128574801, 0.0, 1.439500512909864, 0.6608655050229844, 0.006325597583015937, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4496612760836463, 1.3025220238702313, 0.0062750177086602875, 0.05425048193843893, 0.1905689626833088, 0.08352459119855464, 0.05830449128574801, 0.0, 1.4697298723352397, 0.6605653850042583, 0.006325597583015937, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4496612760836463, 1.3025220238702313, 0.0062750177086602875, 0.05425048193843893, 0.1905689626833088, 0.08352459119855464, 0.05830449128574801, 0.0, 1.4930945144561247, 0.660232863678653, 0.006325597583015937, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4496612760836463, 1.3025220238702313, 0.0062750177086602875, 0.05425048193843893, 0.1905689626833088, 0.08352459119855464, 0.05830449128574801, 0.0, 1.4723375073678449, 0.6384870412578119, 0.006325597583015937, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4496612760836463, 1.3025220238702313, 0.0062750177086602875, 0.05425048193843893, 0.1905689626833088, 0.08352459119855464, 0.05830449128574801, 0.0, 1.4685034231373686, 0.6219694115456983, 0.006325597583015937, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4496612760836463, 1.3025220238702313, 0.0062750177086602875, 0.05425048193843893, 0.1905689626833088, 0.08352459119855464, 0.05830449128574801, 0.0, 1.4711947421208023, 0.6425551681116359, 0.006325597583015937, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4496612760836463, 1.3025220238702313, 0.0062750177086602875, 0.05425048193843893, 0.1905689626833088, 0.08352459119855464, 0.05830449128574801, 0.0, 1.4738935058289955, 0.6681607816451334, 0.006325597583015937, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4496612760836463, 1.3025220238702313, 0.0062750177086602875, 0.05425048193843893, 0.1905689626833088, 0.08352459119855464, 0.05830449128574801, 0.0, 1.4491756502246524, 0.6646838183835402, 0.006325597583015937, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4496612760836463, 1.3025220238702313, 0.0062750177086602875, 0.05425048193843893, 0.1905689626833088, 0.08352459119855464, 0.05830449128574801, 0.0, 1.4398539807188118, 0.6796238220535453, 0.006325597583015937, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4496612760836463, 1.3025220238702313, 0.0062750177086602875, 0.05425048193843893, 0.1905689626833088, 0.08352459119855464, 0.05830449128574801, 0.0, 1.4214163841781589, 0.6763783154296914, 0.006325597583015937, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4496612760836463, 1.3025220238702313, 0.0062750177086602875, 0.05425048193843893, 0.1905689626833088, 0.08352459119855464, 0.05830449128574801, 0.0, 1.4121989699564659, 0.6994935592719019, 0.006325597583015937, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4496612760836463, 1.3025220238702313, 0.0062750177086602875, 0.05425048193843893, 0.1905689626833088, 0.08352459119855464, 0.05830449128574801, 0.0, 1.4040881973125527, 0.7071142767182436, 0.006325597583015937, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4496612760836463, 1.3025220238702313, 0.0062750177086602875, 0.05425048193843893, 0.1905689626833088, 0.08352459119855464, 0.05830449128574801, 0.0, 1.4046991018089257, 0.7252966401225748, 0.006325597583015937, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4496612760836463, 1.3025220238702313, 0.0062750177086602875, 0.05425048193843893, 0.1905689626833088, 0.08352459119855464, 0.05830449128574801, 0.0, 1.3841091202524278, 0.7344514006481223, 0.006325597583015937, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4496612760836463, 1.3025220238702313, 0.0062750177086602875, 0.05425048193843893, 0.1905689626833088, 0.08352459119855464, 0.05830449128574801, 0.0, 1.3601732666929915, 0.7529244033380715, 0.006325597583015937, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4496612760836463, 1.3025220238702313, 0.0062750177086602875, 0.05425048193843893, 0.1905689626833088, 0.08352459119855464, 0.05830449128574801, 0.0, 1.3637400911330233, 0.7627764830752131, 0.006325597583015937, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4496612760836463, 1.3025220238702313, 0.0062750177086602875, 0.05425048193843893, 0.1905689626833088, 0.08352459119855464, 0.05830449128574801, 0.0, 1.3873421121628755, 0.8114192992299243, 0.006325597583015937, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4496612760836463, 1.3025220238702313, 0.0062750177086602875, 0.05425048193843893, 0.1905689626833088, 0.08352459119855464, 0.05830449128574801, 0.0, 1.3431573066293845, 0.7910318476947892, 0.006325597583015937, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4496612760836463, 1.3025220238702313, 0.0062750177086602875, 0.05425048193843893, 0.1905689626833088, 0.08352459119855464, 0.05830449128574801, 0.0, 1.3085717379123125, 0.7776871786049122, 0.006325597583015937, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4496612760836463, 1.3025220238702313, 0.0062750177086602875, 0.05425048193843893, 0.1905689626833088, 0.08352459119855464, 0.05830449128574801, 0.0, 1.3226038639567412, 0.8193448934515919, 0.006325597583015937, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4496612760836463, 1.3025220238702313, 0.0062750177086602875, 0.05425048193843893, 0.1905689626833088, 0.08352459119855464, 0.05830449128574801, 0.0, 1.3157485982474604, 0.8241837532806888, 0.006325597583015937, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4496612760836463, 1.3025220238702313, 0.0062750177086602875, 0.05425048193843893, 0.1905689626833088, 0.08352459119855464, 0.05830449128574801, 0.0, 1.3022255398580977, 0.8477346227869665, 0.006325597583015937, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4496612760836463, 1.3025220238702313, 0.0062750177086602875, 0.05425048193843893, 0.1905689626833088, 0.08352459119855464, 0.05830449128574801, 0.0, 1.2868626583403553, 0.8554952602653509, 0.006325597583015937, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4496612760836463, 1.3025220238702313, 0.0062750177086602875, 0.05425048193843893, 0.1905689626833088, 0.08352459119855464, 0.05830449128574801, 0.0, 1.2820134181465432, 0.8763537763939244, 0.006325597583015937, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4496612760836463, 1.3025220238702313, 0.0062750177086602875, 0.05425048193843893, 0.1905689626833088, 0.08352459119855464, 0.05830449128574801, 0.0, 1.268724657336849, 0.8903242175762575, 0.006325597583015937, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4496612760836463, 1.3025220238702313, 0.0062750177086602875, 0.05425048193843893, 0.1905689626833088, 0.08352459119855464, 0.05830449128574801, 0.0, 1.2618739662725191, 0.9052673098600369, 0.006325597583015937, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4496612760836463, 1.3025220238702313, 0.0062750177086602875, 0.05425048193843893, 0.1905689626833088, 0.08352459119855464, 0.05830449128574801, 0.0, 1.2631689404465387, 0.9295612969291827, 0.006325597583015937, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4496612760836463, 1.3025220238702313, 0.0062750177086602875, 0.05425048193843893, 0.1905689626833088, 0.08352459119855464, 0.05830449128574801, 0.0, 1.2415957307432475, 0.9341223636293, 0.006325597583015937, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4496612760836463, 1.3025220238702313, 0.0062750177086602875, 0.05425048193843893, 0.1905689626833088, 0.08352459119855464, 0.05830449128574801, 0.0, 1.217912152826761, 0.9490035088101842, 0.006325597583015937, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4496612760836463, 1.3025220238702313, 0.0062750177086602875, 0.05425048193843893, 0.1905689626833088, 0.08352459119855464, 0.05830449128574801, 0.0, 1.2213201176219084, 0.9629438505770305, 0.006325597583015937, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4496612760836463, 1.3025220238702313, 0.0062750177086602875, 0.05425048193843893, 0.1905689626833088, 0.08352459119855464, 0.05830449128574801, 0.0, 1.2369191032669922, 0.9991398108664448, 0.006325597583015937, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4496612760836463, 1.3025220238702313, 0.0062750177086602875, 0.05425048193843893, 0.1905689626833088, 0.08352459119855464, 0.05830449128574801, 0.0, 1.2012535104126238, 0.9918495459572132, 0.006325597583015937, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4496612760836463, 1.3025220238702313, 0.0062750177086602875, 0.05425048193843893, 0.1905689626833088, 0.08352459119855464, 0.05830449128574801, 0.0, 1.1836682255872957, 1.014528887325619, 0.006325597583015937, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4496612760836463, 1.3025220238702313, 0.0062750177086602875, 0.05425048193843893, 0.1905689626833088, 0.08352459119855464, 0.05830449128574801, 0.0, 1.1811867866518917, 1.020755241337394, 0.006325597583015937, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4496612760836463, 1.3025220238702313, 0.0062750177086602875, 0.05425048193843893, 0.1905689626833088, 0.08352459119855464, 0.05830449128574801, 0.0, 1.1939527850095464, 1.0605656373396974, 0.006325597583015937, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4496612760836463, 1.3025220238702313, 0.0062750177086602875, 0.05425048193843893, 0.1905689626833088, 0.08352459119855464, 0.05830449128574801, 0.0, 1.1609274033218409, 1.0495688901992124, 0.006325597583015937, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4496612760836463, 1.3025220238702313, 0.0062750177086602875, 0.05425048193843893, 0.1905689626833088, 0.08352459119855464, 0.05830449128574801, 0.0, 1.1573429213351072, 1.0838350787682103, 0.006325597583015937, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4496612760836463, 1.3025220238702313, 0.0062750177086602875, 0.05425048193843893, 0.1905689626833088, 0.08352459119855464, 0.05830449128574801, 0.0, 1.1406152804545457, 1.0783573348070346, 0.006325597583015937, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4496612760836463, 1.3025220238702313, 0.0062750177086602875, 0.05425048193843893, 0.1905689626833088, 0.08352459119855464, 0.05830449128574801, 0.0, 1.1404906869399587, 1.114027444030616, 0.006325597583015937, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4496612760836463, 1.3025220238702313, 0.0062750177086602875, 0.05425048193843893, 0.1905689626833088, 0.08352459119855464, 0.05830449128574801, 0.0, 1.1204204666353281, 1.1072017532552283, 0.006325597583015937, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4496612760836463, 1.3025220238702313, 0.0062750177086602875, 0.05425048193843893, 0.1905689626833088, 0.08352459119855464, 0.05830449128574801, 0.0, 1.1039462086365712, 1.0995297531649184, 0.006325597583015937, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4496612760836463, 1.3025220238702313, 0.0062750177086602875, 0.05425048193843893, 0.1905689626833088, 0.08352459119855464, 0.05830449128574801, 0.0, 1.1003538011503102, 1.1361074486354246, 0.006325597583015937, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4496612760836463, 1.3025220238702313, 0.0062750177086602875, 0.05425048193843893, 0.1905689626833088, 0.08352459119855464, 0.05830449128574801, 0.0, 1.063355005241877, 1.1208677620146785, 0.006325597583015937, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4496612760836463, 1.3025220238702313, 0.0062750177086602875, 0.05425048193843893, 0.1905689626833088, 0.08352459119855464, 0.05830449128574801, 0.0, 1.0802421468003522, 1.1649915819948273, 0.006325597583015937, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4496612760836463, 1.3025220238702313, 0.0062750177086602875, 0.05425048193843893, 0.1905689626833088, 0.08352459119855464, 0.05830449128574801, 0.0, 1.078117617584325, 1.1690730394223072, 0.006325597583015937, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4496612760836463, 1.3025220238702313, 0.0062750177086602875, 0.05425048193843893, 0.1905689626833088, 0.08352459119855464, 0.05830449128574801, 0.0, 1.0598753904344982, 1.19375400648841, 0.006325597583015937, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4496612760836463, 1.3025220238702313, 0.0062750177086602875, 0.05425048193843893, 0.1905689626833088, 0.08352459119855464, 0.05830449128574801, 0.0, 1.024726703321113, 1.1843647954094054, 0.006325597583015937, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4496612760836463, 1.3025220238702313, 0.0062750177086602875, 0.05425048193843893, 0.1905689626833088, 0.08352459119855464, 0.05830449128574801, 0.0, 1.0394177239270295, 1.2224729864239314, 0.006325597583015937, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4496612760836463, 1.3025220238702313, 0.0062750177086602875, 0.05425048193843893, 0.1905689626833088, 0.08352459119855464, 0.05830449128574801, 0.0, 1.0375256566050992, 1.2315677010923405, 0.006325597583015937, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4496612760836463, 1.3025220238702313, 0.0062750177086602875, 0.05425048193843893, 0.1905689626833088, 0.08352459119855464, 0.05830449128574801, 0.0, 1.0187873572884096, 1.2511094479232479, 0.006325597583015937, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4496612760836463, 1.3025220238702313, 0.0062750177086602875, 0.05425048193843893, 0.1905689626833088, 0.08352459119855464, 0.05830449128574801, 0.0, 1.0034453384826512, 1.2561438883926885, 0.006325597583015937, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4496612760836463, 1.3025220238702313, 0.0062750177086602875, 0.05425048193843893, 0.1905689626833088, 0.08352459119855464, 0.05830449128574801, 0.0, 1.0249408374975786, 1.3151288941155854, 0.006325597583015937, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4496612760836463, 1.3025220238702313, 0.0062750177086602875, 0.05425048193843893, 0.1905689626833088, 0.08352459119855464, 0.05830449128574801, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7203308308166708, 1.1157459255173623, 0.0042190849107881685, 0.020575657402792234, 0.21181862976366783, 0.07648251896952711, 0.055846576665406836, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7203308308166708, 1.1157459255173623, 0.0042190849107881685, 0.020575657402792234, 0.21181862976366783, 0.07648251896952711, 0.055846576665406836, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7203308308166708, 1.1157459255173623, 0.0042190849107881685, 0.020575657402792234, 0.21181862976366783, 0.07648251896952711, 0.055846576665406836, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7203308308166708, 1.1157459255173623, 0.0042190849107881685, 0.020575657402792234, 0.21181862976366783, 0.07648251896952711, 0.055846576665406836, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7203308308166708, 1.1157459255173623, 0.0042190849107881685, 0.020575657402792234, 0.21181862976366783, 0.07648251896952711, 0.055846576665406836, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7203308308166708, 1.1157459255173623, 0.0042190849107881685, 0.020575657402792234, 0.21181862976366783, 0.07648251896952711, 0.055846576665406836, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7203308308166708, 1.1157459255173623, 0.0042190849107881685, 0.020575657402792234, 0.21181862976366783, 0.07648251896952711, 0.055846576665406836, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7203308308166708, 1.1157459255173623, 0.0042190849107881685, 0.020575657402792234, 0.21181862976366783, 0.07648251896952711, 0.055846576665406836, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7203308308166708, 1.1157459255173623, 0.0042190849107881685, 0.020575657402792234, 0.21181862976366783, 0.07648251896952711, 0.055846576665406836, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7203308308166708, 1.1157459255173623, 0.0042190849107881685, 0.020575657402792234, 0.21181862976366783, 0.07648251896952711, 0.055846576665406836, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7203308308166708, 1.1157459255173623, 0.0042190849107881685, 0.020575657402792234, 0.21181862976366783, 0.07648251896952711, 0.055846576665406836, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7203308308166708, 1.1157459255173623, 0.0042190849107881685, 0.020575657402792234, 0.21181862976366783, 0.07648251896952711, 0.055846576665406836, 0.0], "min": [-3.4503917694091797, -2.1301801204681396, 0.33000001311302185, 0.6513060331344604, -0.0, -0.0, 0.6314995288848877, -1.0, -3.2017881870269775, -1.851288080215454, 0.6220744252204895, 0.07533147931098938, -0.7529242038726807, 0.6463044881820679, 0.0027511599473655224, 0.0, -3.421402931213379, -2.116339683532715, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2017881870269775, -1.851288080215454, 0.6523169279098511, 0.10403592884540558, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, -3.354729652404785, -2.0845069885253906, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2017881870269775, -1.851288080215454, 0.6523169279098511, 0.10403592884540558, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, -3.3270814418792725, -2.0713064670562744, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2017881870269775, -1.851288080215454, 0.6523169279098511, 0.10403592884540558, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, -3.2909257411956787, -2.054044246673584, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2017881870269775, -1.851288080215454, 0.6523169279098511, 0.10403592884540558, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, -3.233070135116577, -2.026421546936035, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2017881870269775, -1.851288080215454, 0.6523169279098511, 0.10403592884540558, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, -3.189242124557495, -2.005496025085449, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2017881870269775, -1.851288080215454, 0.6523169279098511, 0.10403592884540558, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, -3.1392509937286377, -1.9816280603408813, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2017881870269775, -1.851288080215454, 0.6523169279098511, 0.10403592884540558, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, -3.07326078414917, -1.9501214027404785, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2017881870269775, -1.851288080215454, 0.6523169279098511, 0.10403592884540558, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, -3.0452826023101807, -1.9367634057998657, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2017881870269775, -1.851288080215454, 0.6523169279098511, 0.10403592884540558, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, -3.023887872695923, -1.9265486001968384, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2017881870269775, -1.851288080215454, 0.6523169279098511, 0.10403592884540558, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, -2.9509618282318115, -1.8917304277420044, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2017881870269775, -1.851288080215454, 0.6523169279098511, 0.10403592884540558, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, -2.8574399948120117, -1.8470790386199951, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2017881870269775, -1.851288080215454, 0.6523169279098511, 0.10403592884540558, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, -2.856640577316284, -1.8466973304748535, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2017881870269775, -1.851288080215454, 0.6523169279098511, 0.10403592884540558, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, -2.855595111846924, -1.8461982011795044, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2017881870269775, -1.851288080215454, 0.6523169279098511, 0.10403592884540558, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, -2.7628159523010254, -1.8019013404846191, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2017881870269775, -1.851288080215454, 0.6523169279098511, 0.10403592884540558, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, -2.692531108856201, -1.7683442831039429, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2017881870269775, -1.851288080215454, 0.6523169279098511, 0.10403592884540558, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, -2.668996572494507, -1.7571078538894653, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2017881870269775, -1.851288080215454, 0.6523169279098511, 0.10403592884540558, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, -2.637929677963257, -1.7422751188278198, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2017881870269775, -1.851288080215454, 0.6523169279098511, 0.10403592884540558, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, -2.5748417377471924, -1.7121541500091553, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2017881870269775, -1.851288080215454, 0.6523169279098511, 0.10403592884540558, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, -2.5265982151031494, -1.6891205310821533, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2017881870269775, -1.851288080215454, 0.6523169279098511, 0.10403592884540558, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, -2.480520486831665, -1.6671210527420044, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2017881870269775, -1.851288080215454, 0.6523169279098511, 0.10403592884540558, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, -2.420264720916748, -1.6383522748947144, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2017881870269775, -1.851288080215454, 0.6523169279098511, 0.10403592884540558, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, -2.386380672454834, -1.6221745014190674, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2017881870269775, -1.851288080215454, 0.6523169279098511, 0.10403592884540558, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, -2.3607120513916016, -1.6099191904067993, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2017881870269775, -1.851288080215454, 0.6523169279098511, 0.10403592884540558, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, -2.2925612926483154, -1.5773810148239136, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2017881870269775, -1.851288080215454, 0.6523169279098511, 0.10403592884540558, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, -2.202599048614502, -1.5344290733337402, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2017881870269775, -1.851288080215454, 0.6523169279098511, 0.10403592884540558, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, -2.1987216472625732, -1.5325777530670166, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2017881870269775, -1.851288080215454, 0.6523169279098511, 0.10403592884540558, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, -2.195756435394287, -1.5311620235443115, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2017881870269775, -1.851288080215454, 0.6523169279098511, 0.10403592884540558, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, -2.104400396347046, -1.4875446557998657, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2017881870269775, -1.851288080215454, 0.6523169279098511, 0.10403592884540558, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, -2.0293080806732178, -1.4516923427581787, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2017881870269775, -1.851288080215454, 0.6523169279098511, 0.10403592884540558, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, -2.0100793838500977, -1.442511796951294, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2017881870269775, -1.851288080215454, 0.6523169279098511, 0.10403592884540558, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, -1.984933614730835, -1.4305061101913452, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2017881870269775, -1.851288080215454, 0.6523169279098511, 0.10403592884540558, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, -1.9161261320114136, -1.397654414176941, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2017881870269775, -1.851288080215454, 0.6523169279098511, 0.10403592884540558, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, -1.8640013933181763, -1.372767686843872, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2017881870269775, -1.851288080215454, 0.6523169279098511, 0.10403592884540558, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, -1.8223069906234741, -1.352860927581787, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2017881870269775, -1.851288080215454, 0.6523169279098511, 0.10403592884540558, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, -1.7672683000564575, -1.3265830278396606, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2017881870269775, -1.851288080215454, 0.6523169279098511, 0.10403592884540558, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, -1.7282804250717163, -1.3079684972763062, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2017881870269775, -1.851288080215454, 0.6523169279098511, 0.10403592884540558, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, -1.698466420173645, -1.2937339544296265, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2017881870269775, -1.851288080215454, 0.6523169279098511, 0.10403592884540558, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, -1.6339592933654785, -1.2629354000091553, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2017881870269775, -1.851288080215454, 0.6523169279098511, 0.10403592884540558, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, -1.5496032238006592, -1.2226600646972656, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2017881870269775, -1.851288080215454, 0.6523169279098511, 0.10403592884540558, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, -1.5396912097930908, -1.2179275751113892, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2017881870269775, -1.851288080215454, 0.6523169279098511, 0.10403592884540558, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, -1.5321823358535767, -1.214342474937439, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2017881870269775, -1.851288080215454, 0.6523169279098511, 0.10403592884540558, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, -1.4458720684051514, -1.1731340885162354, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2017881870269775, -1.851288080215454, 0.6523169279098511, 0.10403592884540558, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, -1.3672904968261719, -1.1356158256530762, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2017881870269775, -1.851288080215454, 0.6523169279098511, 0.10403592884540558, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, -1.3520528078079224, -1.128340721130371, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2017881870269775, -1.851288080215454, 0.6523169279098511, 0.10403592884540558, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, -1.3319381475448608, -1.1187371015548706, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2017881870269775, -1.851288080215454, 0.6523169279098511, 0.10403592884540558, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, -1.2578394412994385, -1.0833591222763062, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2017881870269775, -1.851288080215454, 0.6523169279098511, 0.10403592884540558, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, -1.2011761665344238, -1.0563055276870728, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2017881870269775, -1.851288080215454, 0.6523169279098511, 0.10403592884540558, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, -1.1635181903839111, -1.0383260250091553, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2017881870269775, -1.851288080215454, 0.6523169279098511, 0.10403592884540558, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, -1.1142725944519043, -1.014814019203186, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2017881870269775, -1.851288080215454, 0.6523169279098511, 0.10403592884540558, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, -1.0694369077682495, -0.9934074282646179, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2017881870269775, -1.851288080215454, 0.6523169279098511, 0.10403592884540558, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, -1.0354716777801514, -0.9771909117698669, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2017881870269775, -1.851288080215454, 0.6523169279098511, 0.10403592884540558, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, -0.9756176471710205, -0.9486139416694641, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2017881870269775, -1.851288080215454, 0.6523169279098511, 0.10403592884540558, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, -0.8966072797775269, -0.9108908772468567, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2017881870269775, -1.851288080215454, 0.6523169279098511, 0.10403592884540558, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, -0.8817064762115479, -0.9037765860557556, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2017881870269775, -1.851288080215454, 0.6523169279098511, 0.10403592884540558, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, -0.8703734278678894, -0.8983656764030457, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2017881870269775, -1.851288080215454, 0.6523169279098511, 0.10403592884540558, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, -0.7872733473777771, -0.8586900234222412, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2017881870269775, -1.851288080215454, 0.6523169279098511, 0.10403592884540558, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, -0.7052370309829712, -0.8195222616195679, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2017881870269775, -1.851288080215454, 0.6523169279098511, 0.10403592884540558, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, -0.6926544904708862, -0.8135148286819458, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2017881870269775, -1.851288080215454, 0.6523169279098511, 0.10403592884540558, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, -0.6750752329826355, -0.8051217198371887, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2017881870269775, -1.851288080215454, 0.6523169279098511, 0.10403592884540558, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, -0.5976822376251221, -0.7681708335876465, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2017881870269775, -1.851288080215454, 0.6523169279098511, 0.10403592884540558, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, -0.5493518114089966, -0.7450957298278809, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2017881870269775, -1.851288080215454, 0.6523169279098511, 0.10403592884540558, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, -0.5574991106987, -0.7952063083648682, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2017881870269775, -1.851288080215454, 0.6523169279098511, 0.10403592884540558, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, 1.559558391571045, 1.9352662563323975, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -0.5122249126434326, -0.5583856701850891, 0.6672313213348389, 0.18987667560577393, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, 1.5918984413146973, 1.9989545345306396, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -0.5122249126434326, -0.5583856701850891, 0.6672313213348389, 0.18987667560577393, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, 1.6156556606292725, 2.0457403659820557, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -0.5122249126434326, -0.5583856701850891, 0.6672313213348389, 0.18987667560577393, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, 1.6446691751480103, 2.102877616882324, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -0.5122249126434326, -0.5583856701850891, 0.6672313213348389, 0.18987667560577393, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, 1.6719810962677002, 2.1566638946533203, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -0.5122249126434326, -0.5583856701850891, 0.6672313213348389, 0.18987667560577393, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, 1.6979382038116455, 2.207782030105591, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -0.5122249126434326, -0.5583856701850891, 0.6672313213348389, 0.18987667560577393, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, 1.7287613153457642, 2.2684831619262695, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -0.5122249126434326, -0.5583856701850891, 0.6672313213348389, 0.18987667560577393, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, 1.7530876398086548, 2.316389799118042, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -0.5122249126434326, -0.5583856701850891, 0.6672313213348389, 0.18987667560577393, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, 1.786271572113037, 2.381739854812622, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -0.5122249126434326, -0.5583856701850891, 0.6672313213348389, 0.18987667560577393, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, 1.8120776414871216, 2.432560682296753, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -0.5122249126434326, -0.5583856701850891, 0.6672313213348389, 0.18987667560577393, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, 1.8440501689910889, 2.4955251216888428, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -0.5122249126434326, -0.5583856701850891, 0.6672313213348389, 0.18987667560577393, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0, 1.897359848022461, 2.545562267303467, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -0.5122249126434326, -0.5583856701850891, 0.6672313213348389, 0.18987667560577393, -0.6587352156639099, 0.7064863443374634, 0.0027511599473655224, 0.0], "max": [1.8382279872894287, 2.6523375511169434, 1.4989721775054932, 0.7753762602806091, -0.0, -0.0, 0.7588151693344116, 2.0, 2.0000126361846924, 3.196376085281372, 0.779229998588562, 0.26248297095298767, -0.02559763751924038, 0.9722469449043274, 0.1830868124961853, 1.0, -0.5651841759681702, -0.4927886128425598, 1.4989721775054932, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9722469449043274, 0.17576023936271667, 0.0, -0.4953260123729706, -0.4930476248264313, 1.4989721775054932, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9722469449043274, 0.17576023936271667, 0.0, -0.44996941089630127, -0.49321579933166504, 1.4989721775054932, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9722469449043274, 0.17576023936271667, 0.0, -0.3773585259914398, -0.4934850037097931, 1.4989721775054932, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9722469449043274, 0.17576023936271667, 0.0, -0.3296842575073242, -0.4936617612838745, 1.4989721775054932, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9722469449043274, 0.17576023936271667, 0.0, -0.26055043935775757, -0.4939180612564087, 1.4989721775054932, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9722469449043274, 0.17576023936271667, 0.0, -0.20821614563465118, -0.494112104177475, 1.4989721775054932, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9722469449043274, 0.17576023936271667, 0.0, -0.14413848519325256, -0.4943496584892273, 1.4989721775054932, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9722469449043274, 0.17576023936271667, 0.0, -0.08650405704975128, -0.49456334114074707, 1.4989721775054932, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9722469449043274, 0.17576023936271667, 0.0, -0.028089988976716995, -0.49477991461753845, 1.4989721775054932, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9722469449043274, 0.17576023936271667, 0.0, 0.03506198897957802, -0.4950140714645386, 1.4989721775054932, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9722469449043274, 0.17576023936271667, 0.0, 0.087213434278965, -0.49520742893218994, 1.4989721775054932, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9722469449043274, 0.17576023936271667, 0.0, 0.1498502641916275, -0.49543964862823486, 1.4989721775054932, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9722469449043274, 0.17576023936271667, 0.0, 0.19869062304496765, -0.4956207275390625, 1.4989721775054932, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9722469449043274, 0.17576023936271667, 0.0, 0.24900908768177032, -0.4958072900772095, 1.4989721775054932, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9722469449043274, 0.17576023936271667, 0.0, 0.31145089864730835, -0.4960388243198395, 1.4989721775054932, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9722469449043274, 0.17576023936271667, 0.0, 0.34049081802368164, -0.44269201159477234, 1.4989721775054932, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9722469449043274, 0.17576023936271667, 0.0, 0.3770783245563507, -0.3754802346229553, 1.4989721775054932, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9722469449043274, 0.17576023936271667, 0.0, 0.38960322737693787, -0.3524717688560486, 1.4989721775054932, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9722469449043274, 0.17576023936271667, 0.0, 0.41877827048301697, -0.2988767623901367, 1.4989721775054932, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9722469449043274, 0.17576023936271667, 0.0, 0.42713990807533264, -0.2835163176059723, 1.4989721775054932, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9722469449043274, 0.17576023936271667, 0.0, 0.4685404598712921, -0.20746281743049622, 1.4989721775054932, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9722469449043274, 0.17576023936271667, 0.0, 0.4858330488204956, -0.17569604516029358, 1.4989721775054932, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9722469449043274, 0.17576023936271667, 0.0, 0.5127513408660889, -0.12624675035476685, 1.4989721775054932, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9722469449043274, 0.17576023936271667, 0.0, 0.538783073425293, -0.07498152554035187, 1.4989721775054932, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9722469449043274, 0.17576023936271667, 0.0, 0.5797819495201111, 0.00575893372297287, 1.4989721775054932, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9722469449043274, 0.17576023936271667, 0.0, 0.5909556746482849, 0.027763744816184044, 1.4989721775054932, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9722469449043274, 0.17576023936271667, 0.0, 0.6422013640403748, 0.12868359684944153, 1.4989721775054932, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9722469449043274, 0.17576023936271667, 0.0, 0.6431726217269897, 0.13059623539447784, 1.4989721775054932, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9722469449043274, 0.17576023936271667, 0.0, 0.6475164294242859, 0.13915058970451355, 1.4989721775054932, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9722469449043274, 0.17576023936271667, 0.0, 0.6954493522644043, 0.23354648053646088, 1.4989721775054932, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9722469449043274, 0.17576023936271667, 0.0, 0.7065719366073608, 0.255450576543808, 1.4989721775054932, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9722469449043274, 0.17576023936271667, 0.0, 0.7477165460586548, 0.3364781141281128, 1.4989721775054932, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9722469449043274, 0.17576023936271667, 0.0, 0.7684148550033569, 0.37724006175994873, 1.4989721775054932, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9722469449043274, 0.17576023936271667, 0.0, 0.8001896142959595, 0.4398151636123657, 1.4989721775054932, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9722469449043274, 0.17576023936271667, 0.0, 0.8280447125434875, 0.494671106338501, 1.4989721775054932, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9722469449043274, 0.17576023936271667, 0.0, 0.8530187606811523, 0.5438533425331116, 1.4989721775054932, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9722469449043274, 0.17576023936271667, 0.0, 0.8854817748069763, 0.607783854007721, 1.4989721775054932, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9722469449043274, 0.17576023936271667, 0.0, 0.90585857629776, 0.6479125618934631, 1.4989721775054932, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9722469449043274, 0.17576023936271667, 0.0, 0.9417673349380493, 0.7186288833618164, 1.4989721775054932, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9722469449043274, 0.17576023936271667, 0.0, 0.9586507081985474, 0.7518778443336487, 1.4989721775054932, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9722469449043274, 0.17576023936271667, 0.0, 0.9980689883232117, 0.8295056819915771, 1.4989721775054932, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9722469449043274, 0.17576023936271667, 0.0, 1.0114214420318604, 0.8558010458946228, 1.4989721775054932, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9722469449043274, 0.17576023936271667, 0.0, 1.054030418395996, 0.9397123456001282, 1.4989721775054932, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9722469449043274, 0.17576023936271667, 0.0, 1.0641920566558838, 0.9597241282463074, 1.4989721775054932, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9722469449043274, 0.17576023936271667, 0.0, 1.1104209423065186, 1.0507642030715942, 1.4989721775054932, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9722469449043274, 0.17576023936271667, 0.0, 1.1169626712799072, 1.0636471509933472, 1.4989721775054932, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9722469449043274, 0.17576023936271667, 0.0, 1.1662935018539429, 1.1607959270477295, 1.4989721775054932, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9722469449043274, 0.17576023936271667, 0.0, 1.1697332859039307, 1.1675701141357422, 1.4989721775054932, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9722469449043274, 0.17576023936271667, 0.0, 1.218724012374878, 1.2640491724014282, 1.4989721775054932, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9722469449043274, 0.17576023936271667, 0.0, 1.222503900527954, 1.2714930772781372, 1.4989721775054932, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9722469449043274, 0.17576023936271667, 0.0, 1.2227692604064941, 1.2720156908035278, 1.4989721775054932, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9722469449043274, 0.17576023936271667, 0.0, 1.275274634361267, 1.3754162788391113, 1.4989721775054932, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9722469449043274, 0.17576023936271667, 0.0, 1.2785999774932861, 1.381964921951294, 1.4989721775054932, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9722469449043274, 0.17576023936271667, 0.0, 1.3280452489852905, 1.4793392419815063, 1.4989721775054932, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9722469449043274, 0.17576023936271667, 0.0, 1.335032343864441, 1.4930992126464844, 1.4989721775054932, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9722469449043274, 0.17576023936271667, 0.0, 1.3808159828186035, 1.5832624435424805, 1.4989721775054932, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9722469449043274, 0.17576023936271667, 0.0, 1.3909518718719482, 1.6032235622406006, 1.4989721775054932, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9722469449043274, 0.17576023936271667, 0.0, 1.4335864782333374, 1.6871854066848755, 1.4989721775054932, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9722469449043274, 0.17576023936271667, 0.0, 1.4472953081130981, 1.714182734489441, 1.4989721775054932, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9722469449043274, 0.17576023936271667, 0.0, 1.4863570928573608, 1.7911083698272705, 1.4989721775054932, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9722469449043274, 0.17576023936271667, 0.0, 1.5033037662506104, 1.8244819641113281, 1.4989721775054932, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9722469449043274, 0.17576023936271667, 0.0, 1.5391278266906738, 1.8950315713882446, 1.4989721775054932, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9722469449043274, 0.17576023936271667, 0.0, 1.559558391571045, 1.9352662563323975, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9681087136268616, 0.17576023936271667, 0.0, 1.5918984413146973, 1.9989545345306396, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9681087136268616, 0.17576023936271667, 0.0, 1.6156556606292725, 2.0457403659820557, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9681087136268616, 0.17576023936271667, 0.0, 1.6446691751480103, 2.102877616882324, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9681087136268616, 0.17576023936271667, 0.0, 1.6719810962677002, 2.1566638946533203, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9681087136268616, 0.17576023936271667, 0.0, 1.6979382038116455, 2.207782030105591, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9681087136268616, 0.17576023936271667, 0.0, 1.7287613153457642, 2.2684831619262695, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9681087136268616, 0.17576023936271667, 0.0, 1.7530876398086548, 2.316389799118042, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9681087136268616, 0.17576023936271667, 0.0, 1.786271572113037, 2.381739854812622, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9681087136268616, 0.17576023936271667, 0.0, 1.8120776414871216, 2.432560682296753, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9681087136268616, 0.17576023936271667, 0.0, 1.8440501689910889, 2.4955251216888428, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9681087136268616, 0.17576023936271667, 0.0, 1.897359848022461, 2.545562267303467, 1.486032485961914, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0000126361846924, 2.7719686031341553, 0.6967423558235168, 0.26248297095298767, -0.02559763751924038, 0.9681087136268616, 0.17576023936271667, 0.0], "count": [1394]}, "action.applied": {"mean": [0.27504209252381684, 0.6779261564720994, -1.1459829629408236, -0.2124166892603617, 0.6827661691172051, -1.1754283739128277, 0.1804858915069524, 0.7985193538699978, -1.277661425824487, -0.19127098471727996, 0.7347191719276833, -1.2683071461178823, -0.15579884317482448, 1.7451739441202565, -1.1022511638561998, 0.19435805791636215, 0.6115699685800025, -0.3374983707989208, 0.006578192280517247, -0.006578192280517247], "std": [0.136980124747529, 0.10525737652891307, 0.16013758793950647, 0.1361267180280392, 0.10281049258908613, 0.1458798488749374, 0.13262412380163915, 0.11399453388614825, 0.1634749124439584, 0.11920487345819186, 0.0930635473899011, 0.16095008422575124, 0.11184013362756053, 0.22711166965382887, 0.3867098196106068, 0.1481281247240302, 0.18047328682603903, 0.24620391208576556, 0.013673482260158602, 0.013673482260158602], "min": [-0.19984760880470276, 0.39684614539146423, -1.752370834350586, -0.5713637471199036, 0.29917556047439575, -1.6508471965789795, -0.20096519589424133, 0.47390317916870117, -1.7309937477111816, -0.5603111982345581, 0.5214904546737671, -1.7006014585494995, -0.4793737530708313, 1.5153688192367554, -2.1440846920013428, -0.016877274960279465, 0.37309253215789795, -0.6266795992851257, 0.0, -0.03500000014901161], "max": [0.6868104338645935, 0.8942211270332336, -0.7740147113800049, 0.18611519038677216, 0.9648460149765015, -0.7872057557106018, 0.46751365065574646, 1.081343412399292, -0.921099066734314, 0.29328957200050354, 1.0726898908615112, -0.9111511707305908, 0.008028131909668446, 2.3490355014801025, -0.7692310810089111, 0.3739435374736786, 1.0021915435791016, 0.017928317189216614, 0.03500000014901161, 0.0], "count": [1394]}, "extra.reward": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1394]}, "next.truncated": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1394]}, "sim_step_idx": {"mean": [1494.0], "std": [804.826068166284], "min": [101.0], "max": [2887.0], "count": [1394]}, "timestamp": {"mean": [27.86000000283528], "std": [16.09652136468589], "min": [0.0], "max": [55.720001220703125], "count": [1394]}, "frame_index": {"mean": [696.5], "std": [402.413034083142], "min": [0.0], "max": [1393.0], "count": [1394]}, "episode_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1394]}, "index": {"mean": [696.5], "std": [402.413034083142], "min": [0.0], "max": [1393.0], "count": [1394]}, "task_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1394]}, "next.done": {"mean": [0.0007173601147776184], "std": [0.026773970741063878], "min": [0.0], "max": [1.0], "count": [1394]}, "observation.images.head": {"mean": [[[0.5446461399756333]], [[0.45975088684689114]], [[0.4147956837544502]]], "std": [[[0.08443508965903909]], [[0.09679766701108602]], [[0.107979532791246]]], "min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[0.8745098039215686]], [[0.8745098039215686]], [[0.8745098039215686]]], "count": [100]}, "observation.images.wrist": {"mean": [[[0.5953125749283679]], [[0.531526562378367]], [[0.47102310715526446]]], "std": [[[0.1355853676804679]], [[0.1401219733263105]], [[0.1401715959373145]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9490196078431372]], [[0.9294117647058824]], [[0.9294117647058824]]], "count": [100]}}} diff --git a/N033/go2_arm/dr_off/seed_1015/rec/stationring/000/lerobot_v21/meta/extra/episode_000000.json b/N033/go2_arm/dr_off/seed_1015/rec/stationring/000/lerobot_v21/meta/extra/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..900c1992e4e2b64660eb229f55305f962c23402f --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1015/rec/stationring/000/lerobot_v21/meta/extra/episode_000000.json @@ -0,0 +1,698 @@ +{ + "episode_index": 0, + "trajectory_id": 0, + "env_id": 0, + "task_type": "RingCommand", + "subsample_every": 2, + "control_steps": 2788, + "language": { + "scene": { + "objects": [ + { + "id": "table_A_1", + "cat_name": "table_A", + "inst_id": 1, + "noun": "table A", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 3.788459558487375, + -0.8749308904032519, + -0.21329895558995368 + ], + "bbox": { + "extent": [ + 0.9715759440156779, + 0.6288367387305562, + 0.30000001192092896 + ], + "center": [ + -2.7755575615628914e-17, + 0.0, + 0.0 + ] + } + }, + { + "id": "table_B_1", + "cat_name": "table_B", + "inst_id": 1, + "noun": "table B", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 7.612889650468515, + -0.5383493889584049, + -0.2643106456730661 + ], + "bbox": { + "extent": [ + 0.9843595223782163, + 0.6518471791735565, + 0.30000001192092896 + ], + "center": [ + 2.7755575615628914e-16, + 2.220446049250313e-16, + 0.0 + ] + } + }, + { + "id": "rack_back_1", + "cat_name": "rack_back", + "inst_id": 1, + "noun": "rack back", + "color": "brown", + "size": "medium", + "material": null, + "category": "geometry", + "pos": [ + 3.7534056919579184, + -0.8392692939300712, + 0.03689991926426918 + ], + "bbox": { + "extent": [ + 0.7042945460545323, + 0.13020635262349373, + 0.20000000298023224 + ], + "center": [ + 0.0, + -6.938893903907228e-18, + 0.0 + ] + } + }, + { + "id": "peg_1_1", + "cat_name": "peg_1", + "inst_id": 1, + "noun": "peg 1", + "color": "gray", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.7611166851160482, + -1.0219155930588892, + 0.07820209837217781 + ], + "bbox": { + "extent": [ + 0.045767349005580465, + 0.1828630458028649, + 0.019999999552965164 + ], + "center": [ + 2.2551405187698492e-17, + 6.938893903907228e-18, + 0.0 + ] + } + }, + { + "id": "peg_2_1", + "cat_name": "peg_2", + "inst_id": 1, + "noun": "peg 2", + "color": "gray", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.5795546680985657, + -0.7830955596715523, + 0.07867710301937647 + ], + "bbox": { + "extent": [ + 0.04576734900558044, + 0.1828630458028649, + 0.019999999552965164 + ], + "center": [ + 7.112366251504909e-17, + 0.0, + 0.0 + ] + } + }, + { + "id": "ring_1", + "cat_name": "ring", + "inst_id": 1, + "noun": "ring", + "color": null, + "size": "small", + "material": null, + "category": "rigid", + "pos": [ + 3.544749479262093, + -0.8094970226119483, + 0.049316196195295176 + ], + "bbox": { + "extent": [ + 0.12901311595010556, + 0.05275262169966295, + 0.18200275073667155 + ], + "center": [ + -3.518327650678388e-07, + -2.563861147778651e-07, + 0.028999938269382824 + ] + } + }, + { + "id": "ring_small_1", + "cat_name": "ring_small", + "inst_id": 1, + "noun": "ring small", + "color": null, + "size": "small", + "material": null, + "category": "rigid", + "pos": [ + 3.7189293629510596, + -1.0539944379904362, + 0.07776805742767645 + ], + "bbox": { + "extent": [ + 0.07962455355829821, + 0.04579851978976096, + 0.13241454514269896 + ], + "center": [ + 0.00010182735550227223, + 1.948726133079587e-05, + 0.02900003355456146 + ] + } + }, + { + "id": "rod_h_1", + "cat_name": "rod_h", + "inst_id": 1, + "noun": "rod h", + "color": "white", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 7.512837106105733, + -0.6130008002346057, + 0.08756526308029731 + ], + "bbox": { + "extent": [ + 0.04362067259515051, + 0.143374382369426, + 0.019999999552965164 + ], + "center": [ + 8.326672684688674e-17, + 2.220446049250313e-16, + 0.0 + ] + } + }, + { + "id": "rod_s_1", + "cat_name": "rod_s", + "inst_id": 1, + "noun": "rod s", + "color": "white", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 7.614643062066035, + -0.5375886716402524, + 0.0454952239564997 + ], + "bbox": { + "extent": [ + 0.041284103033816646, + 0.16155794717591876, + 0.15349240597246144 + ], + "center": [ + -9.540979117872439e-17, + 1.6653345369377348e-16, + 1.942890293094024e-16 + ] + } + }, + { + "id": "rod_stop_1", + "cat_name": "rod_stop", + "inst_id": 1, + "noun": "rod stop", + "color": "brown", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 7.671810446584778, + -0.4951084468492842, + -0.05536433507979111 + ], + "bbox": { + "extent": [ + 0.10202463061699707, + 0.02887190959973429, + 0.11999999731779099 + ], + "center": [ + 5.551115123125783e-17, + 2.220446049250313e-16, + 0.0 + ] + } + } + ], + "relations": [ + { + "subject": "table_B_1", + "relation": "behind", + "object": "rod_stop_1" + }, + { + "subject": "rack_back_1", + "relation": "right_of", + "object": "peg_2_1" + }, + { + "subject": "rod_h_1", + "relation": "right_of", + "object": "rod_s_1" + }, + { + "subject": "rod_s_1", + "relation": "on_top_of", + "object": "rod_stop_1" + }, + { + "subject": "rod_s_1", + "relation": "behind", + "object": "rod_stop_1" + }, + { + "subject": "rod_stop_1", + "relation": "in_front_of", + "object": "rod_s_1" + } + ], + "cameras": [ + { + "name": "head", + "intrinsics": { + "K": [ + [ + 607.7061061683956, + 0.0, + 320.0 + ], + [ + 0.0, + 607.3754374751866, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 55.53991912549515, + "resolution": [ + 640, + 480 + ] + }, + "pos_robot": [ + 4.123267870765413, + -1.408423926965643, + -0.29991404526194837 + ], + "viewpoint": "front, at table height", + "extrinsics": { + "R": [ + [ + 0.0034545225363202814, + -0.9995776319673901, + 0.028855223868669955 + ], + [ + -0.02338972540530354, + 0.0287667346071393, + 0.9993124615081647 + ], + [ + -0.9997204544368945, + -0.0041270631819024794, + -0.023280471000004077 + ] + ], + "t": [ + 0.03416419479862187, + -0.08682200219228882, + 0.33429322289826396 + ] + } + }, + { + "name": "wrist", + "intrinsics": { + "K": [ + [ + 617.2500342478374, + 0.0, + 320.0 + ], + [ + 0.0, + 617.548655622722, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 54.807019583348044, + "resolution": [ + 640, + 480 + ] + }, + "pos_robot": [ + 3.8291366695143725, + -1.124902297611826, + -0.34609799531235147 + ], + "viewpoint": "front, at table height", + "extrinsics": { + "R": [ + [ + 0.017356943317221596, + -0.9998337334638687, + 0.005589449560045617 + ], + [ + -0.9382601518788614, + -0.014355819960515381, + 0.34563246061317376 + ], + [ + -0.3454947523696107, + -0.011243480820582297, + -0.9383533237667454 + ] + ], + "t": [ + 0.006333551580298355, + -0.08611861262827436, + 0.017148138726427706 + ] + } + } + ], + "robots": [ + { + "name": "Go2Plus", + "model": "go2plus", + "type": "mobilemanip", + "noun": "Unitree Go2 EDU quadruped with a Piper arm", + "arms": 1, + "arm_layout": null, + "mobile": true, + "dexterous": false, + "base_pose": { + "pos": [ + -3.4, + -2.2, + 0.44999999999999996 + ], + "ori": [ + 0.9396926164627075, + 0.0, + 0.0, + 0.3420201539993286 + ] + }, + "facing_yaw_deg": 40.000001288448495, + "gripper": "parallel gripper" + } + ], + "lighting": [], + "background": { + "name": null, + "kind": "background", + "type": "dome", + "pose": null, + "setting": null, + "time_of_day": null, + "indoor": false, + "intensity": 1000.0, + "ambient": "dim" + }, + "effects": [], + "caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the brown rod stop. There are a large gray table A, a large gray table B, a medium brown rack back, a small gray peg 1, a small gray peg 2, a small ring, a small ring small, a small white rod h, a small white rod s and a small brown rod stop. The gray table B is behind the brown rod stop. The brown rack back is to the right of the gray peg 2. The white rod h is to the right of the white rod s. The white rod s is on top of the brown rod stop. The white rod s is behind the brown rod stop. The brown rod stop is in front of the white rod s. The scene is viewed from front, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n [rod stop]\n\n\n\n [ring small]\n\n\n\n[robot]" + }, + "task": { + "task_type": "StationRing", + "instruction": "Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.", + "template_id": -1, + "slots": { + "obj": 1.4989721179976951, + "support": null + }, + "generic_instruction": "Stationring the 1.4989721179976951.", + "task_id": "N033", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_0538": { + "frame_idx": 538, + "caption": "Computing a grasp pose for the small ring; the right gripper is below and to the left of and in front of the ring.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "NavTo", + "planner_state": "finished", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0564": { + "frame_idx": 564, + "caption": "Working on the small ring; the right gripper is below and to the left of and in front of the ring.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0687": { + "frame_idx": 687, + "caption": "Working on the small ring; the right gripper is below and in front of the ring.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "in_front_of" + ] + }, + "frame_0716": { + "frame_idx": 716, + "caption": "Working on the small ring; the right gripper is below and to the left of and in front of the ring.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0827": { + "frame_idx": 827, + "caption": "Computing a grasp pose for the small ring; the right gripper is below and to the left of and in front of the ring.", + "skill": "ReachStance", + "phase": "verify", + "skill_state": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0841": { + "frame_idx": 841, + "caption": "Pre-grasping the small ring, servoing the arm toward it; the right gripper is below and to the left of and in front of the ring.", + "skill": "Grasp", + "phase": "pre_grasp", + "skill_state": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0842": { + "frame_idx": 842, + "caption": "Pre-grasping the small ring, moving the arm toward it; the right gripper is below and to the left of and in front of the ring.", + "skill": "Grasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0895": { + "frame_idx": 895, + "caption": "Grasping the small ring, moving the arm in to make contact; the right gripper is below and to the left of and in front of the ring.", + "skill": "Grasp", + "phase": "grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0946": { + "frame_idx": 946, + "caption": "Grasping the small ring, moving the arm in to make contact; the right gripper is below and in front of the ring.", + "skill": "Grasp", + "phase": "grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "in_front_of" + ] + }, + "frame_0957": { + "frame_idx": 957, + "caption": "Closing the right gripper on the ring; the right gripper is below and in front of the ring.", + "skill": "Grasp", + "phase": "close_gripper", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "in_front_of" + ] + }, + "frame_1017": { + "frame_idx": 1017, + "caption": "Lifting the ring away with the gripper; the right gripper is below and in front of the ring.", + "skill": "Grasp", + "phase": "retrieval", + "skill_state": "running", + "planner": "ParallelGripper", + "planner_state": "finished", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "in_front_of" + ] + }, + "frame_1018": { + "frame_idx": 1018, + "caption": "Lifting the ring away with the arm; the right gripper is below and in front of the ring.", + "skill": "Grasp", + "phase": "retrieval", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "in_front_of" + ] + }, + "frame_1078": { + "frame_idx": 1078, + "caption": "Done — the small ring is grasped; the right gripper is below and in front of the ring.", + "skill": "Grasp", + "phase": "completed", + "skill_state": "finished", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "in_front_of" + ] + } + } + }, + "depth_range": [ + 0.1, + 20.0 + ], + "annotation_sidecar": null, + "annotation_sidecar_keys": [], + "terminated": true, + "truncated": false +} \ No newline at end of file diff --git a/N033/go2_arm/dr_off/seed_1015/rec/stationring/000/lerobot_v21/meta/info.json b/N033/go2_arm/dr_off/seed_1015/rec/stationring/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..bd78a64bf0213dc61e3568153a8d2c7c339f1407 --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1015/rec/stationring/000/lerobot_v21/meta/info.json @@ -0,0 +1,336 @@ +{ + "codebase_version": "v2.1", + "robot_type": "Go2PlusCfg", + "total_episodes": 1, + "total_frames": 1394, + "total_tasks": 1, + "total_videos": 2, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 25, + "splits": { + "train": "0:1" + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", + "features": { + "action": { + "dtype": "float32", + "shape": [ + 12 + ], + "names": [ + "base_action_0", + "base_action_1", + "base_action_2", + "base_action_3", + "eef0.pos_x", + "eef0.pos_y", + "eef0.pos_z", + "eef0.quat_w", + "eef0.quat_x", + "eef0.quat_y", + "eef0.quat_z", + "gripper" + ] + }, + "action_is_hold": { + "dtype": "bool", + "shape": [ + 12 + ], + "names": null + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 26 + ], + "names": [ + "joint_0", + "joint_1", + "joint_2", + "joint_3", + "joint_4", + "joint_5", + "joint_6", + "joint_7", + "joint_8", + "joint_9", + "joint_10", + "joint_11", + "joint_12", + "joint_13", + "joint_14", + "joint_15", + "joint_16", + "joint_17", + "joint_18", + "joint_19", + "joint_20", + "joint_21", + "joint_22", + "joint_23", + "gripper_0", + "gripper_1" + ] + }, + "observation.joint_vel": { + "dtype": "float32", + "shape": [ + 20 + ], + "names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ] + }, + "observation.eef_pose": { + "dtype": "float32", + "shape": [ + 7 + ], + "names": null + }, + "observation.environment_state": { + "dtype": "float32", + "shape": [ + 70 + ], + "names": [ + "object_pose.peg_1.0", + "object_pose.peg_1.1", + "object_pose.peg_1.2", + "object_pose.peg_1.3", + "object_pose.peg_1.4", + "object_pose.peg_1.5", + "object_pose.peg_1.6", + "object_pose.peg_2.0", + "object_pose.peg_2.1", + "object_pose.peg_2.2", + "object_pose.peg_2.3", + "object_pose.peg_2.4", + "object_pose.peg_2.5", + "object_pose.peg_2.6", + "object_pose.rack_back.0", + "object_pose.rack_back.1", + "object_pose.rack_back.2", + "object_pose.rack_back.3", + "object_pose.rack_back.4", + "object_pose.rack_back.5", + "object_pose.rack_back.6", + "object_pose.ring.0", + "object_pose.ring.1", + "object_pose.ring.2", + "object_pose.ring.3", + "object_pose.ring.4", + "object_pose.ring.5", + "object_pose.ring.6", + "object_pose.ring_small.0", + "object_pose.ring_small.1", + "object_pose.ring_small.2", + "object_pose.ring_small.3", + "object_pose.ring_small.4", + "object_pose.ring_small.5", + "object_pose.ring_small.6", + "object_pose.rod_h.0", + "object_pose.rod_h.1", + "object_pose.rod_h.2", + "object_pose.rod_h.3", + "object_pose.rod_h.4", + "object_pose.rod_h.5", + "object_pose.rod_h.6", + "object_pose.rod_s.0", + "object_pose.rod_s.1", + "object_pose.rod_s.2", + "object_pose.rod_s.3", + "object_pose.rod_s.4", + "object_pose.rod_s.5", + "object_pose.rod_s.6", + "object_pose.rod_stop.0", + "object_pose.rod_stop.1", + "object_pose.rod_stop.2", + "object_pose.rod_stop.3", + "object_pose.rod_stop.4", + "object_pose.rod_stop.5", + "object_pose.rod_stop.6", + "object_pose.table_A.0", + "object_pose.table_A.1", + "object_pose.table_A.2", + "object_pose.table_A.3", + "object_pose.table_A.4", + "object_pose.table_A.5", + "object_pose.table_A.6", + "object_pose.table_B.0", + "object_pose.table_B.1", + "object_pose.table_B.2", + "object_pose.table_B.3", + "object_pose.table_B.4", + "object_pose.table_B.5", + "object_pose.table_B.6" + ] + }, + "action.command": { + "dtype": "float32", + "shape": [ + 1216 + ], + "names": null + }, + "action.applied": { + "dtype": "float32", + "shape": [ + 20 + ], + "names": null + }, + "narration": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "collect_info": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "extra.reward": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "extra.action_info": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "next.truncated": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "sim_step_idx": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "next.done": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "observation.images.head": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25, + "video.codec": "libsvtav1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.wrist": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25, + "video.codec": "libsvtav1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + } + } +} \ No newline at end of file diff --git a/N033/go2_arm/dr_off/seed_1015/rec/stationring/000/lerobot_v21/meta/magicsim_manifest.json b/N033/go2_arm/dr_off/seed_1015/rec/stationring/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..7ddb28822126dc0c4a3aa914d0d0f3fa7fd886fd --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1015/rec/stationring/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,290 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 03:02:24" + }, + "embodiment": { + "robots": [ + { + "name": "Go2Plus", + "cfg": "Go2PlusCfg", + "type": "mobilemanip", + "joint_names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 12, + "nan_policy": "from_raw", + "segments": [ + { + "name": "Go2Plus.base_action", + "start": 0, + "end": 4, + "names": [ + "base_action_0", + "base_action_1", + "base_action_2", + "base_action_3" + ], + "source": "Go2UnifiedLocomotionAction", + "names_source": "fallback" + }, + { + "name": "Go2Plus.arm_action", + "start": 4, + "end": 11, + "names": [ + "eef0.pos_x", + "eef0.pos_y", + "eef0.pos_z", + "eef0.quat_w", + "eef0.quat_x", + "eef0.quat_y", + "eef0.quat_z" + ], + "source": "Go2PlusCuroboIKAction", + "names_source": "pose_layout" + }, + { + "name": "Go2Plus.eef_action", + "start": 11, + "end": 12, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 26, + "segments": [ + { + "name": "Go2Plus.joint_pos", + "start": 0, + "end": 24, + "names": [ + "joint_0", + "joint_1", + "joint_2", + "joint_3", + "joint_4", + "joint_5", + "joint_6", + "joint_7", + "joint_8", + "joint_9", + "joint_10", + "joint_11", + "joint_12", + "joint_13", + "joint_14", + "joint_15", + "joint_16", + "joint_17", + "joint_18", + "joint_19", + "joint_20", + "joint_21", + "joint_22", + "joint_23" + ], + "source": "ObservationManager", + "names_source": "fallback_dim_mismatch(joint_names=20,obs=24)" + }, + { + "name": "Go2Plus.gripper_pos", + "start": 24, + "end": 26, + "names": [ + "gripper_0", + "gripper_1" + ], + "source": "ObservationManager", + "names_source": "generated" + } + ] + }, + "joint_vel_layout": { + "dim": 20, + "segments": [ + { + "name": "Go2Plus.joint_vel", + "start": 0, + "end": 20, + "names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "action_levels": { + "L0": "task command list (collect.auto_collect_info.current_action)", + "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)", + "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)", + "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy", + "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)" + }, + "cameras": { + "head": { + "intrinsics": { + "K": [ + [ + 607.7061061683956, + 0.0, + 320.0 + ], + [ + 0.0, + 607.3754374751866, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 55.53991912549515, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.33205100893974304, + 0.038026999682188034, + 0.09355899691581726 + ], + "quat": [ + -0.5022302269935608, + -0.499491810798645, + 0.5120040774345398, + 0.4859265089035034 + ] + }, + "wrist": { + "intrinsics": { + "K": [ + [ + 617.2500342478374, + 0.0, + 320.0 + ], + [ + 0.0, + 617.548655622722, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 54.807019583348044, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + -0.0749870017170906, + 0.005288999993354082, + 0.04582099989056587 + ], + "quat": [ + 0.1271296590566635, + 0.701795220375061, + -0.6904057860374451, + -0.12108422070741653 + ] + } + }, + "lerobot": { + "codebase_version": "v2.1", + "video_keys": [ + "observation.images.head", + "observation.images.wrist" + ], + "columns": [ + "action", + "action.applied", + "action.command", + "action_is_hold", + "collect_info", + "episode_index", + "extra.action_info", + "extra.reward", + "frame_index", + "index", + "narration", + "next.done", + "next.truncated", + "observation.eef_pose", + "observation.environment_state", + "observation.images.head", + "observation.images.wrist", + "observation.joint_vel", + "observation.state", + "sim_step_idx", + "task_index", + "timestamp" + ] + }, + "generated_run": { + "run_id": "stationring/000", + "task_type": "RingCommand" + } +} \ No newline at end of file diff --git a/N033/go2_arm/dr_off/seed_1015/rec/stationring/000/lerobot_v21/meta/stats.json b/N033/go2_arm/dr_off/seed_1015/rec/stationring/000/lerobot_v21/meta/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..e5c7e260f711dec7bea2b111b30907b1128485ba --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1015/rec/stationring/000/lerobot_v21/meta/stats.json @@ -0,0 +1,5937 @@ +{ + "action": { + "mean": [ + 0.14646787187846183, + -0.0010363045716431083, + 0.02029165076599637, + 0.35288421837466005, + 0.38307170841409965, + 0.7961297925866317, + 0.6894798879130841, + 0.17214850692808029, + -0.5035077846185485, + 0.8044636076372357, + 0.11289900884104404, + 0.5086083213773315 + ], + "std": [ + 0.1623134358100806, + 0.018941127745469414, + 0.2565604514035488, + 0.015680639561473104, + 1.4330827150505947, + 1.691915337086516, + 0.03458195270447379, + 0.04929513079220238, + 0.20136663764025245, + 0.10195027557001068, + 0.059702882636691344, + 0.4999258913109695 + ], + "min": [ + 0.0, + -0.07999998331069946, + -0.800000011920929, + 0.33000001311302185, + -3.2017881870269775, + -1.851288080215454, + 0.6220744252204895, + 0.07533147931098938, + -0.7529242038726807, + 0.6463044881820679, + 0.0027511599473655224, + 0.0 + ], + "max": [ + 0.3499999940395355, + 0.25, + 0.800000011920929, + 0.37650465965270996, + 2.0000126361846924, + 3.196376085281372, + 0.779229998588562, + 0.26248297095298767, + -0.02559763751924038, + 0.9722469449043274, + 0.1830868124961853, + 1.0 + ], + "count": [ + 1394 + ] + }, + "action_is_hold": { + "mean": [ + 0.1793400286944046, + 0.1793400286944046, + 0.1793400286944046, + 0.1793400286944046, + 0.22022955523672882, + 0.22022955523672882, + 0.22022955523672882, + 0.22022955523672882, + 0.22022955523672882, + 0.22022955523672882, + 0.22022955523672882, + 0.9533715925394548 + ], + "std": [ + 0.38363678499629733, + 0.38363678499629733, + 0.38363678499629733, + 0.38363678499629733, + 0.41440137335312893, + 0.41440137335312893, + 0.41440137335312893, + 0.41440137335312893, + 0.41440137335312893, + 0.41440137335312893, + 0.41440137335312893, + 0.2108416445540085 + ], + "min": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "max": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "count": [ + 1394 + ] + }, + "observation.state": { + "mean": [ + -0.029855630758184728, + 0.015071861188478936, + -0.04968741884222414, + 0.08623255187448634, + -0.15582883270229828, + 0.6486191275172801, + 0.6756849116839501, + 0.8092622770640566, + 0.793095374081706, + 1.7458438444000748, + -1.3977596858139532, + -1.3894966544003535, + -1.3994245382942463, + -1.4279466981183166, + -1.1019379248150452, + 0.1945317491018014, + 0.610754371630068, + -0.3383804050621397, + 0.02458732460934129, + -0.024900130495974202, + 0.1930070915446487, + 0.4816435411384722, + 1.0809264502785711, + 0.38119461108399944, + -0.024900130495974202, + -0.02458732460934129 + ], + "std": [ + 0.031022025792437003, + 0.03690239397861776, + 0.041108876435625226, + 0.0363469779283862, + 0.11120960859495446, + 0.09484121781218838, + 0.09139458823778993, + 0.0975476843895804, + 0.0974478163793064, + 0.22668759298458502, + 0.09733858658167803, + 0.09622720900238353, + 0.10642346546570881, + 0.11076991253421038, + 0.3861150638187791, + 0.14822964558537782, + 0.18022529973969625, + 0.24683211035028757, + 0.010219238181453818, + 0.009912181560084528, + 1.4769071019103774, + 1.5971929723959928, + 0.48669651440470263, + 0.013439752154164413, + 0.009912181560084528, + 0.010219238181453818 + ], + "min": [ + -0.1623515635728836, + -0.14050450921058655, + -0.14862249791622162, + -0.07834929972887039, + -0.4618878960609436, + 0.43613266944885254, + 0.44505468010902405, + 0.5978285670280457, + 0.6107082962989807, + 1.518334150314331, + -1.5503476858139038, + -1.6127079725265503, + -1.6075533628463745, + -1.648274302482605, + -2.103442907333374, + -0.0050949291326105595, + 0.3726420998573303, + -0.6196936368942261, + 0.01444868091493845, + -0.03500000014901161, + -3.4503936767578125, + -2.1302149295806885, + -0.06406422704458237, + 0.3519454598426819, + -0.03500000014901161, + -0.03500000014901161 + ], + "max": [ + 0.1661931574344635, + 0.21263350546360016, + 0.1581631451845169, + 0.21000778675079346, + 0.007915566675364971, + 0.8514182567596436, + 0.8871453404426575, + 1.019707202911377, + 1.0106282234191895, + 2.3205924034118652, + -1.127239465713501, + -1.1764824390411377, + -1.1696635484695435, + -1.1455819606781006, + -0.7688093781471252, + 0.36809971928596497, + 0.9983166456222534, + 0.0034633863251656294, + 0.03500000014901161, + -0.014909020625054836, + 1.837144136428833, + 2.655054807662964, + 1.8535261154174805, + 0.4053930640220642, + -0.014909020625054836, + -0.01444868091493845 + ], + "count": [ + 1394 + ] + }, + "observation.joint_vel": { + "mean": [ + -0.004667942858818208, + 0.00668633312521586, + 0.0005889268531882017, + 0.0028986204237040443, + 0.0011709323779889992, + -0.006783734404615065, + -0.014346481215333353, + -0.007956716151068497, + -0.011291215624249376, + -0.0034266634356858758, + 0.0039710242781125695, + 0.025406243202192265, + 0.007589285548509903, + 0.01257285988645196, + -0.0047652860337143365, + -0.004770250369084264, + 0.009888738916775644, + 0.008525961719916741, + 0.001236696580063933, + -0.00028273526438584774 + ], + "std": [ + 0.4092477081306406, + 0.3914079112268904, + 0.4767913633084839, + 0.5401489324235303, + 0.10858816854094398, + 1.1269127513867194, + 1.1316283650970433, + 0.8878449179491089, + 0.7325485383526261, + 0.15903640312279277, + 0.6642753729233215, + 1.0758067134766662, + 1.0543872516768598, + 1.091999332671192, + 0.24771076461753114, + 0.053546147069252245, + 0.10695693586318346, + 0.08741696868510747, + 0.010717197259177875, + 0.010500677225951832 + ], + "min": [ + -2.5138332843780518, + -3.5653069019317627, + -2.2875783443450928, + -3.0445010662078857, + -1.1148667335510254, + -4.821159362792969, + -4.907116889953613, + -3.889551877975464, + -3.3757147789001465, + -0.7472144365310669, + -4.313878059387207, + -5.6046528816223145, + -4.313769817352295, + -5.952219009399414, + -1.980075716972351, + -0.26390981674194336, + -0.4282495677471161, + -0.5408271551132202, + -0.20007553696632385, + -0.20010386407375336 + ], + "max": [ + 3.621774196624756, + 3.599696159362793, + 4.941704750061035, + 2.70993971824646, + 0.3935171365737915, + 1.4608837366104126, + 2.2465193271636963, + 4.822437286376953, + 4.293871879577637, + 1.1871416568756104, + 3.359382152557373, + 4.738935470581055, + 4.8569111824035645, + 3.3743746280670166, + 1.1666598320007324, + 0.29312455654144287, + 0.7602925896644592, + 0.38766422867774963, + 0.2000288963317871, + 0.2002590447664261 + ], + "count": [ + 1394 + ] + }, + "observation.eef_pose": { + "mean": [ + 0.3818461001133132, + 0.796468526943369, + 0.688882654674426, + 0.17189303028746006, + -0.5051019556895219, + 0.8029796919829534, + 0.11334957979843982 + ], + "std": [ + 1.4330028948840645, + 1.69222170412155, + 0.03479263594199189, + 0.04930664621952985, + 0.20247837487947015, + 0.10327193130766667, + 0.060054846637828924 + ], + "min": [ + -3.2017881870269775, + -1.8513033390045166, + 0.6206152439117432, + 0.07851028442382812, + -0.7651631236076355, + 0.6318418383598328, + 0.002444624900817871 + ], + "max": [ + 2.0000855922698975, + 3.2062554359436035, + 0.7794224619865417, + 0.26219505071640015, + -0.026309862732887268, + 0.972240686416626, + 0.1820535659790039 + ], + "count": [ + 1394 + ] + }, + "observation.environment_state": { + "mean": [ + -0.19835063815116882, + 0.016112111508846283, + 0.4699999988079071, + 0.9993552565574646, + 0.0, + 0.0, + -0.03590363636612892, + -0.49757716059684753, + 0.037640854716300964, + 0.4699999988079071, + 0.9993552565574646, + 0.0, + 0.0, + -0.03590363636612892, + -0.34042882919311523, + 0.13160575926303864, + 0.4300000071525574, + 0.9993552565574646, + 0.0, + 0.0, + -0.03590363636612892, + 0.6203025406977453, + 1.1100029302418561, + 0.4617766334302456, + 0.970081321820296, + -0.04401550573037755, + 0.001061845029415447, + -0.11921599500517292, + -0.20214762505534048, + -0.036737853992554005, + 0.4687865675778437, + 0.9993417754747946, + 0.00027318544096832523, + -0.0017602492449203856, + -0.036233463173617246, + 1.973711609840393, + 3.101764440536499, + 0.5299999713897705, + 0.999101996421814, + 0.0, + 0.0, + -0.04236980900168419, + 1.9844892024993896, + 3.228607416152954, + 0.48980000615119934, + 0.9528605341911316, + -0.30043578147888184, + 0.012740674428641796, + -0.04040825739502907, + 1.990644097328186, + 3.301046371459961, + 0.38999998569488525, + 0.999101996421814, + 0.0, + 0.0, + -0.04236980900168419, + -0.28984013199806213, + 0.13799186050891876, + 0.18000000715255737, + 0.9993552565574646, + 0.0, + 0.0, + -0.03590363636612892, + 1.9847177267074585, + 3.231297731399536, + 0.18000000715255737, + 0.999101996421814, + 0.0, + 0.0, + -0.04236980900168419 + ], + "std": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.1040103633775937, + 1.458069998288698, + 0.028141463395112396, + 0.06467746530732786, + 0.0981270191767023, + 0.00591210785702389, + 0.17013007823041848, + 5.7182092279694334e-08, + 1.0981534144624686e-08, + 5.790193502666615e-08, + 2.2649632701143737e-08, + 3.429288505201513e-07, + 3.783155052659166e-06, + 9.21234147706264e-08, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 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": [ + -0.19835063815116882, + 0.016112111508846283, + 0.4699999988079071, + 0.9993552565574646, + 0.0, + 0.0, + -0.03590363636612892, + -0.49757716059684753, + 0.037640854716300964, + 0.4699999988079071, + 0.9993552565574646, + 0.0, + 0.0, + -0.03590363636612892, + -0.34042882919311523, + 0.13160575926303864, + 0.4300000071525574, + 0.9993552565574646, + 0.0, + 0.0, + -0.03590363636612892, + -0.5069361329078674, + -0.5518102049827576, + 0.4306250512599945, + 0.7261417508125305, + -0.3161190152168274, + -0.012778113596141338, + -0.6875020861625671, + -0.2021476924419403, + -0.03673788905143738, + 0.4687865078449249, + 0.9993417263031006, + 0.0002720105112530291, + -0.0017701942706480622, + -0.0362338051199913, + 1.973711609840393, + 3.101764440536499, + 0.5299999713897705, + 0.999101996421814, + 0.0, + 0.0, + -0.04236980900168419, + 1.9844892024993896, + 3.228607416152954, + 0.48980000615119934, + 0.9528605341911316, + -0.30043578147888184, + 0.012740674428641796, + -0.04040825739502907, + 1.990644097328186, + 3.301046371459961, + 0.38999998569488525, + 0.999101996421814, + 0.0, + 0.0, + -0.04236980900168419, + -0.28984013199806213, + 0.13799186050891876, + 0.18000000715255737, + 0.9993552565574646, + 0.0, + 0.0, + -0.03590363636612892, + 1.9847177267074585, + 3.231297731399536, + 0.18000000715255737, + 0.999101996421814, + 0.0, + 0.0, + -0.04236980900168419 + ], + "max": [ + -0.19835063815116882, + 0.016112111508846283, + 0.4699999988079071, + 0.9993552565574646, + 0.0, + 0.0, + -0.03590363636612892, + -0.49757716059684753, + 0.037640854716300964, + 0.4699999988079071, + 0.9993552565574646, + 0.0, + 0.0, + -0.03590363636612892, + -0.34042882919311523, + 0.13160575926303864, + 0.4300000071525574, + 0.9993552565574646, + 0.0, + 0.0, + -0.03590363636612892, + 2.026387929916382, + 3.2619473934173584, + 0.5366763472557068, + 0.9996069073677063, + 0.01609710045158863, + 0.01701303943991661, + -0.02765919640660286, + -0.2021474689245224, + -0.036737844347953796, + 0.46878671646118164, + 0.9993417859077454, + 0.000273753481451422, + -0.0017575673991814256, + -0.036233171820640564, + 1.973711609840393, + 3.101764440536499, + 0.5299999713897705, + 0.999101996421814, + 0.0, + 0.0, + -0.04236980900168419, + 1.9844892024993896, + 3.228607416152954, + 0.48980000615119934, + 0.9528605341911316, + -0.30043578147888184, + 0.012740674428641796, + -0.04040825739502907, + 1.990644097328186, + 3.301046371459961, + 0.38999998569488525, + 0.999101996421814, + 0.0, + 0.0, + -0.04236980900168419, + -0.28984013199806213, + 0.13799186050891876, + 0.18000000715255737, + 0.9993552565574646, + 0.0, + 0.0, + -0.03590363636612892, + 1.9847177267074585, + 3.231297731399536, + 0.18000000715255737, + 0.999101996421814, + 0.0, + 0.0, + -0.04236980900168419 + ], + "count": [ + 1394 + ] + }, + "action.command": { + "mean": [ + -1.38262942335873, + -0.8678122988649618, + 1.261067549132298, + 0.7579608760561262, + 0.0, + 0.0, + 0.6512941336631775, + 1.0404783808647655, + 0.08804681011593002, + 0.36018706494196906, + 0.6822078341503371, + 0.17053463812420538, + -0.46182660933450315, + 0.8285167208481186, + 0.10000545236349737, + 0.5384615384615384, + -1.6934115550591557, + -1.1341032061107708, + 1.4911437591267052, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.12258387522200306, + -0.07755911223338739, + 0.6786297310291408, + 0.181972411224583, + -0.34939544046469984, + 0.8882335308889986, + 0.07883225270190033, + 0.0, + -1.624811444338548, + -1.121685758211189, + 1.4911437591267052, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.12258387522200306, + -0.07755911223338739, + 0.6786297310291408, + 0.181972411224583, + -0.34939544046469984, + 0.8882335308889986, + 0.07883225270190033, + 0.0, + -1.5864497873051402, + -1.116573199651665, + 1.4911437591267052, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.12258387522200306, + -0.07755911223338739, + 0.6786297310291408, + 0.181972411224583, + -0.34939544046469984, + 0.8882335308889986, + 0.07883225270190033, + 0.0, + -1.5282389678268882, + -1.1099173625310261, + 1.4911437591267052, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.12258387522200306, + -0.07755911223338739, + 0.6786297310291408, + 0.181972411224583, + -0.34939544046469984, + 0.8882335308889986, + 0.07883225270190033, + 0.0, + -1.4765429962399073, + -1.0991131303593975, + 1.4911437591267052, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.12258387522200306, + -0.07755911223338739, + 0.6786297310291408, + 0.181972411224583, + -0.34939544046469984, + 0.8882335308889986, + 0.07883225270190033, + 0.0, + -1.417405157887463, + -1.0910024551918154, + 1.4911437591267052, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.12258387522200306, + -0.07755911223338739, + 0.6786297310291408, + 0.181972411224583, + -0.34939544046469984, + 0.8882335308889986, + 0.07883225270190033, + 0.0, + -1.365996430711424, + -1.081691828418233, + 1.4911437591267052, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.12258387522200306, + -0.07755911223338739, + 0.6786297310291408, + 0.181972411224583, + -0.34939544046469984, + 0.8882335308889986, + 0.07883225270190033, + 0.0, + -1.3011632993182771, + -1.0693901859541122, + 1.4911437591267052, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.12258387522200306, + -0.07755911223338739, + 0.6786297310291408, + 0.181972411224583, + -0.34939544046469984, + 0.8882335308889986, + 0.07883225270190033, + 0.0, + -1.2552433062054862, + -1.064242955521515, + 1.4911437591267052, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.12258387522200306, + -0.07755911223338739, + 0.6786297310291408, + 0.181972411224583, + -0.34939544046469984, + 0.8882335308889986, + 0.07883225270190033, + 0.0, + -1.211452148624979, + -1.0603390576730916, + 1.4911437591267052, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.12258387522200306, + -0.07755911223338739, + 0.6786297310291408, + 0.181972411224583, + -0.34939544046469984, + 0.8882335308889986, + 0.07883225270190033, + 0.0, + -1.1444393426354935, + -1.0467272870866213, + 1.4911437591267052, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.12258387522200306, + -0.07755911223338739, + 0.6786297310291408, + 0.181972411224583, + -0.34939544046469984, + 0.8882335308889986, + 0.07883225270190033, + 0.0, + -1.0759462902812005, + -1.0292066403947737, + 1.4911437591267052, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.12258387522200306, + -0.07755911223338739, + 0.6786297310291408, + 0.181972411224583, + -0.34939544046469984, + 0.8882335308889986, + 0.07883225270190033, + 0.0, + -1.0377356922924081, + -1.0291963540860034, + 1.4911437591267052, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.12258387522200306, + -0.07755911223338739, + 0.6786297310291408, + 0.181972411224583, + -0.34939544046469984, + 0.8882335308889986, + 0.07883225270190033, + 0.0, + -1.0077746672427252, + -1.0291087457612047, + 1.4911437591267052, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.12258387522200306, + -0.07755911223338739, + 0.6786297310291408, + 0.181972411224583, + -0.34939544046469984, + 0.8882335308889986, + 0.07883225270190033, + 0.0, + -0.9406839163642973, + -1.0117240295186092, + 1.4911437591267052, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.12258387522200306, + -0.07755911223338739, + 0.6786297310291408, + 0.181972411224583, + -0.34939544046469984, + 0.8882335308889986, + 0.07883225270190033, + 0.0, + -0.8751440499847681, + -0.9986088219893311, + 1.4911437591267052, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.12258387522200306, + -0.07755911223338739, + 0.6786297310291408, + 0.181972411224583, + -0.34939544046469984, + 0.8882335308889986, + 0.07883225270190033, + 0.0, + -0.8482787973205074, + -0.9618959199314425, + 1.4911437591267052, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.12258387522200306, + -0.07755911223338739, + 0.6786297310291408, + 0.181972411224583, + -0.34939544046469984, + 0.8882335308889986, + 0.07883225270190033, + 0.0, + -0.8138719730615266, + -0.9153742490886067, + 1.4911437591267052, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.12258387522200306, + -0.07755911223338739, + 0.6786297310291408, + 0.181972411224583, + -0.34939544046469984, + 0.8882335308889986, + 0.07883225270190033, + 0.0, + -0.781374299228629, + -0.8895562923952346, + 1.4911437591267052, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.12258387522200306, + -0.07755911223338739, + 0.6786297310291408, + 0.181972411224583, + -0.34939544046469984, + 0.8882335308889986, + 0.07883225270190033, + 0.0, + -0.7446670667015334, + -0.8480332583932975, + 1.4911437591267052, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.12258387522200306, + -0.07755911223338739, + 0.6786297310291408, + 0.181972411224583, + -0.34939544046469984, + 0.8882335308889986, + 0.07883225270190033, + 0.0, + -0.7214072963739807, + -0.8300503466097794, + 1.4911437591267052, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.12258387522200306, + -0.07755911223338739, + 0.6786297310291408, + 0.181972411224583, + -0.34939544046469984, + 0.8882335308889986, + 0.07883225270190033, + 0.0, + -0.6725587965633375, + -0.7726746589251727, + 1.4911437591267052, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.12258387522200306, + -0.07755911223338739, + 0.6786297310291408, + 0.181972411224583, + -0.34939544046469984, + 0.8882335308889986, + 0.07883225270190033, + 0.0, + -0.64871245928973, + -0.747065655635492, + 1.4911437591267052, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.12258387522200306, + -0.07755911223338739, + 0.6786297310291408, + 0.181972411224583, + -0.34939544046469984, + 0.8882335308889986, + 0.07883225270190033, + 0.0, + -0.6222877964574335, + -0.712308257511884, + 1.4911437591267052, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.12258387522200306, + -0.07755911223338739, + 0.6786297310291408, + 0.181972411224583, + -0.34939544046469984, + 0.8882335308889986, + 0.07883225270190033, + 0.0, + -0.5796187393115656, + -0.6684403546406134, + 1.4911437591267052, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.12258387522200306, + -0.07755911223338739, + 0.6786297310291408, + 0.181972411224583, + -0.34939544046469984, + 0.8882335308889986, + 0.07883225270190033, + 0.0, + -0.5192789733847507, + -0.602626637346419, + 1.4911437591267052, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.12258387522200306, + -0.07755911223338739, + 0.6786297310291408, + 0.181972411224583, + -0.34939544046469984, + 0.8882335308889986, + 0.07883225270190033, + 0.0, + -0.5109873497188528, + -0.5885826030995002, + 1.4911437591267052, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.12258387522200306, + -0.07755911223338739, + 0.6786297310291408, + 0.181972411224583, + -0.34939544046469984, + 0.8882335308889986, + 0.07883225270190033, + 0.0, + -0.47881280343087934, + -0.5269676100314976, + 1.4911437591267052, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.12258387522200306, + -0.07755911223338739, + 0.6786297310291408, + 0.181972411224583, + -0.34939544046469984, + 0.8882335308889986, + 0.07883225270190033, + 0.0, + -0.44213889348874535, + -0.5085812972505712, + 1.4911437591267052, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.12258387522200306, + -0.07755911223338739, + 0.6786297310291408, + 0.181972411224583, + -0.34939544046469984, + 0.8882335308889986, + 0.07883225270190033, + 0.0, + -0.4098489056949924, + -0.4892440488159919, + 1.4911437591267052, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.12258387522200306, + -0.07755911223338739, + 0.6786297310291408, + 0.181972411224583, + -0.34939544046469984, + 0.8882335308889986, + 0.07883225270190033, + 0.0, + -0.3732543628821464, + -0.4285088449322705, + 1.4911437591267052, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.12258387522200306, + -0.07755911223338739, + 0.6786297310291408, + 0.181972411224583, + -0.34939544046469984, + 0.8882335308889986, + 0.07883225270190033, + 0.0, + -0.35659251759230826, + -0.41051469325319084, + 1.4911437591267052, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.12258387522200306, + -0.07755911223338739, + 0.6786297310291408, + 0.181972411224583, + -0.34939544046469984, + 0.8882335308889986, + 0.07883225270190033, + 0.0, + -0.3045208700953076, + -0.34851696680295835, + 1.4911437591267052, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.12258387522200306, + -0.07755911223338739, + 0.6786297310291408, + 0.181972411224583, + -0.34939544046469984, + 0.8882335308889986, + 0.07883225270190033, + 0.0, + -0.2714088906625644, + -0.31402584774728737, + 1.4911437591267052, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.12258387522200306, + -0.07755911223338739, + 0.6786297310291408, + 0.181972411224583, + -0.34939544046469984, + 0.8882335308889986, + 0.07883225270190033, + 0.0, + -0.23571579939468318, + -0.26830505449516306, + 1.4911437591267052, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.12258387522200306, + -0.07755911223338739, + 0.6786297310291408, + 0.181972411224583, + -0.34939544046469984, + 0.8882335308889986, + 0.07883225270190033, + 0.0, + -0.19712298259511044, + -0.22473764857181544, + 1.4911437591267052, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.12258387522200306, + -0.07755911223338739, + 0.6786297310291408, + 0.181972411224583, + -0.34939544046469984, + 0.8882335308889986, + 0.07883225270190033, + 0.0, + -0.16661336996131706, + -0.1876298805340446, + 1.4911437591267052, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.12258387522200306, + -0.07755911223338739, + 0.6786297310291408, + 0.181972411224583, + -0.34939544046469984, + 0.8882335308889986, + 0.07883225270190033, + 0.0, + -0.13519673392986237, + -0.1433296415424207, + 1.4911437591267052, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.12258387522200306, + -0.07755911223338739, + 0.6786297310291408, + 0.181972411224583, + -0.34939544046469984, + 0.8882335308889986, + 0.07883225270190033, + 0.0, + -0.09738812992751336, + -0.10688641277878995, + 1.4911437591267052, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.12258387522200306, + -0.07755911223338739, + 0.6786297310291408, + 0.181972411224583, + -0.34939544046469984, + 0.8882335308889986, + 0.07883225270190033, + 0.0, + -0.04234232776490602, + -0.04819450434434081, + 1.4911437591267052, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.12258387522200306, + -0.07755911223338739, + 0.6786297310291408, + 0.181972411224583, + -0.34939544046469984, + 0.8882335308889986, + 0.07883225270190033, + 0.0, + -0.028212692594038056, + -0.02620975894199769, + 1.4911437591267052, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.12258387522200306, + -0.07755911223338739, + 0.6786297310291408, + 0.181972411224583, + -0.34939544046469984, + 0.8882335308889986, + 0.07883225270190033, + 0.0, + -0.0013988621959602255, + 0.022170653777325557, + 1.4911437591267052, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.12258387522200306, + -0.07755911223338739, + 0.6786297310291408, + 0.181972411224583, + -0.34939544046469984, + 0.8882335308889986, + 0.07883225270190033, + 0.0, + 0.040772463606667766, + 0.054356771068601005, + 1.4911437591267052, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.12258387522200306, + -0.07755911223338739, + 0.6786297310291408, + 0.181972411224583, + -0.34939544046469984, + 0.8882335308889986, + 0.07883225270190033, + 0.0, + 0.09759087919663753, + 0.1199424805970269, + 1.4911437591267052, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.12258387522200306, + -0.07755911223338739, + 0.6786297310291408, + 0.181972411224583, + -0.34939544046469984, + 0.8882335308889986, + 0.07883225270190033, + 0.0, + 0.10975759477517329, + 0.13492318186991015, + 1.4911437591267052, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.12258387522200306, + -0.07755911223338739, + 0.6786297310291408, + 0.181972411224583, + -0.34939544046469984, + 0.8882335308889986, + 0.07883225270190033, + 0.0, + 0.14567116966331584, + 0.19379525895335775, + 1.4911437591267052, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.12258387522200306, + -0.07755911223338739, + 0.6786297310291408, + 0.181972411224583, + -0.34939544046469984, + 0.8882335308889986, + 0.07883225270190033, + 0.0, + 0.1788984006722068, + 0.21556390942280862, + 1.4911437591267052, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.12258387522200306, + -0.07755911223338739, + 0.6786297310291408, + 0.181972411224583, + -0.34939544046469984, + 0.8882335308889986, + 0.07883225270190033, + 0.0, + 0.23112560053753958, + 0.2850245741495477, + 1.4911437591267052, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.12258387522200306, + -0.07755911223338739, + 0.6786297310291408, + 0.181972411224583, + -0.34939544046469984, + 0.8882335308889986, + 0.07883225270190033, + 0.0, + 0.2480818217021253, + 0.29622494316661235, + 1.4911437591267052, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.12258387522200306, + -0.07755911223338739, + 0.6786297310291408, + 0.181972411224583, + -0.34939544046469984, + 0.8882335308889986, + 0.07883225270190033, + 0.0, + 0.29717322348147934, + 0.3638814799761107, + 1.4911437591267052, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.12258387522200306, + -0.07755911223338739, + 0.6786297310291408, + 0.181972411224583, + -0.34939544046469984, + 0.8882335308889986, + 0.07883225270190033, + 0.0, + 0.3171704534917151, + 0.37684074836330445, + 1.4911437591267052, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.12258387522200306, + -0.07755911223338739, + 0.6786297310291408, + 0.181972411224583, + -0.34939544046469984, + 0.8882335308889986, + 0.07883225270190033, + 0.0, + 0.33074750949282655, + 0.38356256878848644, + 1.4911437591267052, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.12258387522200306, + -0.07755911223338739, + 0.6786297310291408, + 0.181972411224583, + -0.34939544046469984, + 0.8882335308889986, + 0.07883225270190033, + 0.0, + 0.38615565678096553, + 0.4574072783739031, + 1.4911437591267052, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.12258387522200306, + -0.07755911223338739, + 0.6786297310291408, + 0.181972411224583, + -0.34939544046469984, + 0.8882335308889986, + 0.07883225270190033, + 0.0, + 0.4193771401866067, + 0.476270046790791, + 1.4911437591267052, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.12258387522200306, + -0.07755911223338739, + 0.6786297310291408, + 0.181972411224583, + -0.34939544046469984, + 0.8882335308889986, + 0.07883225270190033, + 0.0, + 0.45517709321737637, + 0.5379909927274337, + 1.4911437591267052, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.12258387522200306, + -0.07755911223338739, + 0.6786297310291408, + 0.181972411224583, + -0.34939544046469984, + 0.8882335308889986, + 0.07883225270190033, + 0.0, + 0.46388087162362324, + 0.5484530229925584, + 1.4911437591267052, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.12258387522200306, + -0.07755911223338739, + 0.6786297310291408, + 0.181972411224583, + -0.34939544046469984, + 0.8882335308889986, + 0.07883225270190033, + 0.0, + 0.5244047789671697, + 0.6186732899249913, + 1.4911437591267052, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.12258387522200306, + -0.07755911223338739, + 0.6786297310291408, + 0.181972411224583, + -0.34939544046469984, + 0.8882335308889986, + 0.07883225270190033, + 0.0, + 0.5629418647236761, + 0.6462211736673475, + 1.4911437591267052, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.12258387522200306, + -0.07755911223338739, + 0.6786297310291408, + 0.181972411224583, + -0.34939544046469984, + 0.8882335308889986, + 0.07883225270190033, + 0.0, + 0.593705684427998, + 0.6993904532139872, + 1.4911437591267052, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.12258387522200306, + -0.07755911223338739, + 0.6786297310291408, + 0.181972411224583, + -0.34939544046469984, + 0.8882335308889986, + 0.07883225270190033, + 0.0, + 0.6089433616303487, + 0.7190389779345755, + 1.4911437591267052, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.12258387522200306, + -0.07755911223338739, + 0.6786297310291408, + 0.181972411224583, + -0.34939544046469984, + 0.8882335308889986, + 0.07883225270190033, + 0.0, + 0.6631462560001099, + 0.7801742938821712, + 1.4911437591267052, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.12258387522200306, + -0.07755911223338739, + 0.6786297310291408, + 0.181972411224583, + -0.34939544046469984, + 0.8882335308889986, + 0.07883225270190033, + 0.0, + 0.692489742182425, + 0.809479908796134, + 1.4911437591267052, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.12258387522200306, + -0.07755911223338739, + 0.6786297310291408, + 0.181972411224583, + -0.34939544046469984, + 0.8882335308889986, + 0.07883225270190033, + 0.0, + 0.7109447926851796, + 0.8323678567721104, + 1.4911437591267052, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.12258387522200306, + -0.07755911223338739, + 0.6786297310291408, + 0.181972411224583, + -0.34939544046469984, + 0.8882335308889986, + 0.07883225270190033, + 0.0, + 1.559558391571045, + 1.9352662563323975, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.8535802820064489, + 0.6743228387774773, + 0.682292203301365, + 0.22378663993576198, + -0.41403281911574663, + 0.8439025575096167, + 0.10984384384033388, + 0.0, + 1.5918984413146973, + 1.9989545345306396, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.8535802820064489, + 0.6743228387774773, + 0.682292203301365, + 0.22378663993576198, + -0.41403281911574663, + 0.8439025575096167, + 0.10984384384033388, + 0.0, + 1.6156556606292725, + 2.0457403659820557, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.8535802820064489, + 0.6743228387774773, + 0.682292203301365, + 0.22378663993576198, + -0.41403281911574663, + 0.8439025575096167, + 0.10984384384033388, + 0.0, + 1.6446691751480103, + 2.102877616882324, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.8535802820064489, + 0.6743228387774773, + 0.682292203301365, + 0.22378663993576198, + -0.41403281911574663, + 0.8439025575096167, + 0.10984384384033388, + 0.0, + 1.6719810962677002, + 2.1566638946533203, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.8535802820064489, + 0.6743228387774773, + 0.682292203301365, + 0.22378663993576198, + -0.41403281911574663, + 0.8439025575096167, + 0.10984384384033388, + 0.0, + 1.6979382038116455, + 2.207782030105591, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.8535802820064489, + 0.6743228387774773, + 0.682292203301365, + 0.22378663993576198, + -0.41403281911574663, + 0.8439025575096167, + 0.10984384384033388, + 0.0, + 1.7287613153457642, + 2.2684831619262695, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.8535802820064489, + 0.6743228387774773, + 0.682292203301365, + 0.22378663993576198, + -0.41403281911574663, + 0.8439025575096167, + 0.10984384384033388, + 0.0, + 1.7530876398086548, + 2.316389799118042, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.8535802820064489, + 0.6743228387774773, + 0.682292203301365, + 0.22378663993576198, + -0.41403281911574663, + 0.8439025575096167, + 0.10984384384033388, + 0.0, + 1.786271572113037, + 2.381739854812622, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.8535802820064489, + 0.6743228387774773, + 0.682292203301365, + 0.22378663993576198, + -0.41403281911574663, + 0.8439025575096167, + 0.10984384384033388, + 0.0, + 1.8120776414871216, + 2.432560682296753, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.8535802820064489, + 0.6743228387774773, + 0.682292203301365, + 0.22378663993576198, + -0.41403281911574663, + 0.8439025575096167, + 0.10984384384033388, + 0.0, + 1.8440501689910889, + 2.4955251216888428, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.8535802820064489, + 0.6743228387774773, + 0.682292203301365, + 0.22378663993576198, + -0.41403281911574663, + 0.8439025575096167, + 0.10984384384033388, + 0.0, + 1.897359848022461, + 2.545562267303467, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.8535802820064489, + 0.6743228387774773, + 0.682292203301365, + 0.22378663993576198, + -0.41403281911574663, + 0.8439025575096167, + 0.10984384384033388, + 0.0 + ], + "std": [ + 1.495950211692177, + 1.088891964194156, + 0.4539310707175274, + 0.024414496528252394, + 0.0, + 0.0, + 0.02674220267852599, + 1.2790215007194459, + 1.3941417834447454, + 1.5218250242120055, + 0.022711313280427234, + 0.05369065086828382, + 0.2099380929029807, + 0.10307982312294786, + 0.060090175041812265, + 0.4985185152621432, + 1.3962690218615836, + 0.7936766262219382, + 0.006325597583015937, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4496612760836463, + 1.3025220238702313, + 0.0062750177086602875, + 0.05425048193843893, + 0.1905689626833088, + 0.08352459119855464, + 0.058304491285748, + 0.0, + 1.3978259600189193, + 0.7779885224140136, + 0.006325597583015937, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4496612760836463, + 1.3025220238702313, + 0.0062750177086602875, + 0.05425048193843893, + 0.1905689626833088, + 0.08352459119855464, + 0.058304491285748, + 0.0, + 1.4064827471318533, + 0.7714532050412047, + 0.006325597583015937, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4496612760836463, + 1.3025220238702313, + 0.0062750177086602875, + 0.05425048193843893, + 0.1905689626833088, + 0.08352459119855464, + 0.058304491285748, + 0.0, + 1.4243039466884002, + 0.762882928252129, + 0.006325597583015937, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4496612760836463, + 1.3025220238702313, + 0.0062750177086602875, + 0.05425048193843893, + 0.1905689626833088, + 0.08352459119855464, + 0.058304491285748, + 0.0, + 1.4193267766943816, + 0.7492931004430711, + 0.006325597583015937, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4496612760836463, + 1.3025220238702313, + 0.0062750177086602875, + 0.05425048193843893, + 0.1905689626833088, + 0.08352459119855464, + 0.058304491285748, + 0.0, + 1.4316975781769061, + 0.7389383187639994, + 0.006325597583015937, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4496612760836463, + 1.3025220238702313, + 0.0062750177086602875, + 0.05425048193843893, + 0.1905689626833088, + 0.08352459119855464, + 0.058304491285748, + 0.0, + 1.4328430386765056, + 0.7271755516980599, + 0.006325597583015937, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4496612760836463, + 1.3025220238702313, + 0.0062750177086602875, + 0.05425048193843893, + 0.1905689626833088, + 0.08352459119855464, + 0.058304491285748, + 0.0, + 1.431908084689053, + 0.7116573216482918, + 0.006325597583015937, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4496612760836463, + 1.3025220238702313, + 0.0062750177086602875, + 0.05425048193843893, + 0.1905689626833088, + 0.08352459119855464, + 0.058304491285748, + 0.0, + 1.4464056080120236, + 0.7050227752731874, + 0.006325597583015937, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4496612760836463, + 1.3025220238702313, + 0.0062750177086602875, + 0.05425048193843893, + 0.1905689626833088, + 0.08352459119855464, + 0.058304491285748, + 0.0, + 1.464502595648172, + 0.6999233719317252, + 0.006325597583015937, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4496612760836463, + 1.3025220238702313, + 0.0062750177086602875, + 0.05425048193843893, + 0.1905689626833088, + 0.08352459119855464, + 0.058304491285748, + 0.0, + 1.459724521049586, + 0.6827879611868782, + 0.006325597583015937, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4496612760836463, + 1.3025220238702313, + 0.0062750177086602875, + 0.05425048193843893, + 0.1905689626833088, + 0.08352459119855464, + 0.058304491285748, + 0.0, + 1.439500512909864, + 0.6608655050229844, + 0.006325597583015937, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4496612760836463, + 1.3025220238702313, + 0.0062750177086602875, + 0.05425048193843893, + 0.1905689626833088, + 0.08352459119855464, + 0.058304491285748, + 0.0, + 1.4697298723352397, + 0.6605653850042583, + 0.006325597583015937, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4496612760836463, + 1.3025220238702313, + 0.0062750177086602875, + 0.05425048193843893, + 0.1905689626833088, + 0.08352459119855464, + 0.058304491285748, + 0.0, + 1.4930945144561247, + 0.660232863678653, + 0.006325597583015937, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4496612760836463, + 1.3025220238702313, + 0.0062750177086602875, + 0.05425048193843893, + 0.1905689626833088, + 0.08352459119855464, + 0.058304491285748, + 0.0, + 1.4723375073678449, + 0.6384870412578119, + 0.006325597583015937, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4496612760836463, + 1.3025220238702313, + 0.0062750177086602875, + 0.05425048193843893, + 0.1905689626833088, + 0.08352459119855464, + 0.058304491285748, + 0.0, + 1.4685034231373686, + 0.6219694115456983, + 0.006325597583015937, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4496612760836463, + 1.3025220238702313, + 0.0062750177086602875, + 0.05425048193843893, + 0.1905689626833088, + 0.08352459119855464, + 0.058304491285748, + 0.0, + 1.4711947421208023, + 0.6425551681116359, + 0.006325597583015937, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4496612760836463, + 1.3025220238702313, + 0.0062750177086602875, + 0.05425048193843893, + 0.1905689626833088, + 0.08352459119855464, + 0.058304491285748, + 0.0, + 1.4738935058289955, + 0.6681607816451334, + 0.006325597583015937, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4496612760836463, + 1.3025220238702313, + 0.0062750177086602875, + 0.05425048193843893, + 0.1905689626833088, + 0.08352459119855464, + 0.058304491285748, + 0.0, + 1.4491756502246524, + 0.6646838183835402, + 0.006325597583015937, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4496612760836463, + 1.3025220238702313, + 0.0062750177086602875, + 0.05425048193843893, + 0.1905689626833088, + 0.08352459119855464, + 0.058304491285748, + 0.0, + 1.4398539807188118, + 0.6796238220535453, + 0.006325597583015937, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4496612760836463, + 1.3025220238702313, + 0.0062750177086602875, + 0.05425048193843893, + 0.1905689626833088, + 0.08352459119855464, + 0.058304491285748, + 0.0, + 1.4214163841781589, + 0.6763783154296914, + 0.006325597583015937, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4496612760836463, + 1.3025220238702313, + 0.0062750177086602875, + 0.05425048193843893, + 0.1905689626833088, + 0.08352459119855464, + 0.058304491285748, + 0.0, + 1.4121989699564659, + 0.6994935592719019, + 0.006325597583015937, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4496612760836463, + 1.3025220238702313, + 0.0062750177086602875, + 0.05425048193843893, + 0.1905689626833088, + 0.08352459119855464, + 0.058304491285748, + 0.0, + 1.4040881973125527, + 0.7071142767182436, + 0.006325597583015937, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4496612760836463, + 1.3025220238702313, + 0.0062750177086602875, + 0.05425048193843893, + 0.1905689626833088, + 0.08352459119855464, + 0.058304491285748, + 0.0, + 1.4046991018089257, + 0.7252966401225748, + 0.006325597583015937, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4496612760836463, + 1.3025220238702313, + 0.0062750177086602875, + 0.05425048193843893, + 0.1905689626833088, + 0.08352459119855464, + 0.058304491285748, + 0.0, + 1.3841091202524278, + 0.7344514006481223, + 0.006325597583015937, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4496612760836463, + 1.3025220238702313, + 0.0062750177086602875, + 0.05425048193843893, + 0.1905689626833088, + 0.08352459119855464, + 0.058304491285748, + 0.0, + 1.3601732666929915, + 0.7529244033380715, + 0.006325597583015937, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4496612760836463, + 1.3025220238702313, + 0.0062750177086602875, + 0.05425048193843893, + 0.1905689626833088, + 0.08352459119855464, + 0.058304491285748, + 0.0, + 1.3637400911330233, + 0.7627764830752131, + 0.006325597583015937, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4496612760836463, + 1.3025220238702313, + 0.0062750177086602875, + 0.05425048193843893, + 0.1905689626833088, + 0.08352459119855464, + 0.058304491285748, + 0.0, + 1.3873421121628755, + 0.8114192992299243, + 0.006325597583015937, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4496612760836463, + 1.3025220238702313, + 0.0062750177086602875, + 0.05425048193843893, + 0.1905689626833088, + 0.08352459119855464, + 0.058304491285748, + 0.0, + 1.3431573066293845, + 0.7910318476947892, + 0.006325597583015937, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4496612760836463, + 1.3025220238702313, + 0.0062750177086602875, + 0.05425048193843893, + 0.1905689626833088, + 0.08352459119855464, + 0.058304491285748, + 0.0, + 1.3085717379123125, + 0.7776871786049122, + 0.006325597583015937, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4496612760836463, + 1.3025220238702313, + 0.0062750177086602875, + 0.05425048193843893, + 0.1905689626833088, + 0.08352459119855464, + 0.058304491285748, + 0.0, + 1.3226038639567412, + 0.8193448934515919, + 0.006325597583015937, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4496612760836463, + 1.3025220238702313, + 0.0062750177086602875, + 0.05425048193843893, + 0.1905689626833088, + 0.08352459119855464, + 0.058304491285748, + 0.0, + 1.3157485982474604, + 0.8241837532806888, + 0.006325597583015937, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4496612760836463, + 1.3025220238702313, + 0.0062750177086602875, + 0.05425048193843893, + 0.1905689626833088, + 0.08352459119855464, + 0.058304491285748, + 0.0, + 1.3022255398580977, + 0.8477346227869665, + 0.006325597583015937, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4496612760836463, + 1.3025220238702313, + 0.0062750177086602875, + 0.05425048193843893, + 0.1905689626833088, + 0.08352459119855464, + 0.058304491285748, + 0.0, + 1.2868626583403553, + 0.8554952602653509, + 0.006325597583015937, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4496612760836463, + 1.3025220238702313, + 0.0062750177086602875, + 0.05425048193843893, + 0.1905689626833088, + 0.08352459119855464, + 0.058304491285748, + 0.0, + 1.2820134181465432, + 0.8763537763939244, + 0.006325597583015937, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4496612760836463, + 1.3025220238702313, + 0.0062750177086602875, + 0.05425048193843893, + 0.1905689626833088, + 0.08352459119855464, + 0.058304491285748, + 0.0, + 1.268724657336849, + 0.8903242175762575, + 0.006325597583015937, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4496612760836463, + 1.3025220238702313, + 0.0062750177086602875, + 0.05425048193843893, + 0.1905689626833088, + 0.08352459119855464, + 0.058304491285748, + 0.0, + 1.2618739662725191, + 0.9052673098600369, + 0.006325597583015937, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4496612760836463, + 1.3025220238702313, + 0.0062750177086602875, + 0.05425048193843893, + 0.1905689626833088, + 0.08352459119855464, + 0.058304491285748, + 0.0, + 1.2631689404465387, + 0.9295612969291828, + 0.006325597583015937, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4496612760836463, + 1.3025220238702313, + 0.0062750177086602875, + 0.05425048193843893, + 0.1905689626833088, + 0.08352459119855464, + 0.058304491285748, + 0.0, + 1.2415957307432475, + 0.9341223636293, + 0.006325597583015937, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4496612760836463, + 1.3025220238702313, + 0.0062750177086602875, + 0.05425048193843893, + 0.1905689626833088, + 0.08352459119855464, + 0.058304491285748, + 0.0, + 1.217912152826761, + 0.9490035088101842, + 0.006325597583015937, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4496612760836463, + 1.3025220238702313, + 0.0062750177086602875, + 0.05425048193843893, + 0.1905689626833088, + 0.08352459119855464, + 0.058304491285748, + 0.0, + 1.2213201176219082, + 0.9629438505770305, + 0.006325597583015937, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4496612760836463, + 1.3025220238702313, + 0.0062750177086602875, + 0.05425048193843893, + 0.1905689626833088, + 0.08352459119855464, + 0.058304491285748, + 0.0, + 1.2369191032669922, + 0.9991398108664448, + 0.006325597583015937, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4496612760836463, + 1.3025220238702313, + 0.0062750177086602875, + 0.05425048193843893, + 0.1905689626833088, + 0.08352459119855464, + 0.058304491285748, + 0.0, + 1.2012535104126238, + 0.9918495459572132, + 0.006325597583015937, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4496612760836463, + 1.3025220238702313, + 0.0062750177086602875, + 0.05425048193843893, + 0.1905689626833088, + 0.08352459119855464, + 0.058304491285748, + 0.0, + 1.1836682255872957, + 1.014528887325619, + 0.006325597583015937, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4496612760836463, + 1.3025220238702313, + 0.0062750177086602875, + 0.05425048193843893, + 0.1905689626833088, + 0.08352459119855464, + 0.058304491285748, + 0.0, + 1.1811867866518917, + 1.020755241337394, + 0.006325597583015937, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4496612760836463, + 1.3025220238702313, + 0.0062750177086602875, + 0.05425048193843893, + 0.1905689626833088, + 0.08352459119855464, + 0.058304491285748, + 0.0, + 1.1939527850095464, + 1.0605656373396974, + 0.006325597583015937, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4496612760836463, + 1.3025220238702313, + 0.0062750177086602875, + 0.05425048193843893, + 0.1905689626833088, + 0.08352459119855464, + 0.058304491285748, + 0.0, + 1.1609274033218409, + 1.0495688901992124, + 0.006325597583015937, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4496612760836463, + 1.3025220238702313, + 0.0062750177086602875, + 0.05425048193843893, + 0.1905689626833088, + 0.08352459119855464, + 0.058304491285748, + 0.0, + 1.1573429213351072, + 1.0838350787682103, + 0.006325597583015937, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4496612760836463, + 1.3025220238702313, + 0.0062750177086602875, + 0.05425048193843893, + 0.1905689626833088, + 0.08352459119855464, + 0.058304491285748, + 0.0, + 1.1406152804545457, + 1.0783573348070346, + 0.006325597583015937, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4496612760836463, + 1.3025220238702313, + 0.0062750177086602875, + 0.05425048193843893, + 0.1905689626833088, + 0.08352459119855464, + 0.058304491285748, + 0.0, + 1.1404906869399587, + 1.114027444030616, + 0.006325597583015937, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4496612760836463, + 1.3025220238702313, + 0.0062750177086602875, + 0.05425048193843893, + 0.1905689626833088, + 0.08352459119855464, + 0.058304491285748, + 0.0, + 1.1204204666353281, + 1.1072017532552283, + 0.006325597583015937, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4496612760836463, + 1.3025220238702313, + 0.0062750177086602875, + 0.05425048193843893, + 0.1905689626833088, + 0.08352459119855464, + 0.058304491285748, + 0.0, + 1.1039462086365712, + 1.0995297531649184, + 0.006325597583015937, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4496612760836463, + 1.3025220238702313, + 0.0062750177086602875, + 0.05425048193843893, + 0.1905689626833088, + 0.08352459119855464, + 0.058304491285748, + 0.0, + 1.1003538011503102, + 1.1361074486354246, + 0.006325597583015937, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4496612760836463, + 1.3025220238702313, + 0.0062750177086602875, + 0.05425048193843893, + 0.1905689626833088, + 0.08352459119855464, + 0.058304491285748, + 0.0, + 1.063355005241877, + 1.1208677620146785, + 0.006325597583015937, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4496612760836463, + 1.3025220238702313, + 0.0062750177086602875, + 0.05425048193843893, + 0.1905689626833088, + 0.08352459119855464, + 0.058304491285748, + 0.0, + 1.0802421468003522, + 1.1649915819948273, + 0.006325597583015937, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4496612760836463, + 1.3025220238702313, + 0.0062750177086602875, + 0.05425048193843893, + 0.1905689626833088, + 0.08352459119855464, + 0.058304491285748, + 0.0, + 1.078117617584325, + 1.1690730394223072, + 0.006325597583015937, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4496612760836463, + 1.3025220238702313, + 0.0062750177086602875, + 0.05425048193843893, + 0.1905689626833088, + 0.08352459119855464, + 0.058304491285748, + 0.0, + 1.0598753904344982, + 1.19375400648841, + 0.006325597583015937, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4496612760836463, + 1.3025220238702313, + 0.0062750177086602875, + 0.05425048193843893, + 0.1905689626833088, + 0.08352459119855464, + 0.058304491285748, + 0.0, + 1.024726703321113, + 1.1843647954094054, + 0.006325597583015937, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4496612760836463, + 1.3025220238702313, + 0.0062750177086602875, + 0.05425048193843893, + 0.1905689626833088, + 0.08352459119855464, + 0.058304491285748, + 0.0, + 1.0394177239270295, + 1.2224729864239314, + 0.006325597583015937, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4496612760836463, + 1.3025220238702313, + 0.0062750177086602875, + 0.05425048193843893, + 0.1905689626833088, + 0.08352459119855464, + 0.058304491285748, + 0.0, + 1.0375256566050992, + 1.2315677010923405, + 0.006325597583015937, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4496612760836463, + 1.3025220238702313, + 0.0062750177086602875, + 0.05425048193843893, + 0.1905689626833088, + 0.08352459119855464, + 0.058304491285748, + 0.0, + 1.0187873572884096, + 1.2511094479232479, + 0.006325597583015937, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4496612760836463, + 1.3025220238702313, + 0.0062750177086602875, + 0.05425048193843893, + 0.1905689626833088, + 0.08352459119855464, + 0.058304491285748, + 0.0, + 1.0034453384826512, + 1.2561438883926885, + 0.006325597583015937, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4496612760836463, + 1.3025220238702313, + 0.0062750177086602875, + 0.05425048193843893, + 0.1905689626833088, + 0.08352459119855464, + 0.058304491285748, + 0.0, + 1.0249408374975786, + 1.3151288941155854, + 0.006325597583015937, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4496612760836463, + 1.3025220238702313, + 0.0062750177086602875, + 0.05425048193843893, + 0.1905689626833088, + 0.08352459119855464, + 0.058304491285748, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.7203308308166708, + 1.1157459255173623, + 0.0042190849107881685, + 0.020575657402792234, + 0.21181862976366783, + 0.07648251896952711, + 0.055846576665406836, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.7203308308166708, + 1.1157459255173623, + 0.0042190849107881685, + 0.020575657402792234, + 0.21181862976366783, + 0.07648251896952711, + 0.055846576665406836, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.7203308308166708, + 1.1157459255173623, + 0.0042190849107881685, + 0.020575657402792234, + 0.21181862976366783, + 0.07648251896952711, + 0.055846576665406836, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.7203308308166708, + 1.1157459255173623, + 0.0042190849107881685, + 0.020575657402792234, + 0.21181862976366783, + 0.07648251896952711, + 0.055846576665406836, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.7203308308166708, + 1.1157459255173623, + 0.0042190849107881685, + 0.020575657402792234, + 0.21181862976366783, + 0.07648251896952711, + 0.055846576665406836, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.7203308308166708, + 1.1157459255173623, + 0.0042190849107881685, + 0.020575657402792234, + 0.21181862976366783, + 0.07648251896952711, + 0.055846576665406836, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.7203308308166708, + 1.1157459255173623, + 0.0042190849107881685, + 0.020575657402792234, + 0.21181862976366783, + 0.07648251896952711, + 0.055846576665406836, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.7203308308166708, + 1.1157459255173623, + 0.0042190849107881685, + 0.020575657402792234, + 0.21181862976366783, + 0.07648251896952711, + 0.055846576665406836, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.7203308308166708, + 1.1157459255173623, + 0.0042190849107881685, + 0.020575657402792234, + 0.21181862976366783, + 0.07648251896952711, + 0.055846576665406836, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.7203308308166708, + 1.1157459255173623, + 0.0042190849107881685, + 0.020575657402792234, + 0.21181862976366783, + 0.07648251896952711, + 0.055846576665406836, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.7203308308166708, + 1.1157459255173623, + 0.0042190849107881685, + 0.020575657402792234, + 0.21181862976366783, + 0.07648251896952711, + 0.055846576665406836, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.7203308308166708, + 1.1157459255173623, + 0.0042190849107881685, + 0.020575657402792234, + 0.21181862976366783, + 0.07648251896952711, + 0.055846576665406836, + 0.0 + ], + "min": [ + -3.4503917694091797, + -2.1301801204681396, + 0.33000001311302185, + 0.6513060331344604, + -0.0, + -0.0, + 0.6314995288848877, + -1.0, + -3.2017881870269775, + -1.851288080215454, + 0.6220744252204895, + 0.07533147931098938, + -0.7529242038726807, + 0.6463044881820679, + 0.0027511599473655224, + 0.0, + -3.421402931213379, + -2.116339683532715, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2017881870269775, + -1.851288080215454, + 0.6523169279098511, + 0.10403592884540558, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + -3.354729652404785, + -2.0845069885253906, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2017881870269775, + -1.851288080215454, + 0.6523169279098511, + 0.10403592884540558, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + -3.3270814418792725, + -2.0713064670562744, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2017881870269775, + -1.851288080215454, + 0.6523169279098511, + 0.10403592884540558, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + -3.2909257411956787, + -2.054044246673584, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2017881870269775, + -1.851288080215454, + 0.6523169279098511, + 0.10403592884540558, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + -3.233070135116577, + -2.026421546936035, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2017881870269775, + -1.851288080215454, + 0.6523169279098511, + 0.10403592884540558, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + -3.189242124557495, + -2.005496025085449, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2017881870269775, + -1.851288080215454, + 0.6523169279098511, + 0.10403592884540558, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + -3.1392509937286377, + -1.9816280603408813, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2017881870269775, + -1.851288080215454, + 0.6523169279098511, + 0.10403592884540558, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + -3.07326078414917, + -1.9501214027404785, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2017881870269775, + -1.851288080215454, + 0.6523169279098511, + 0.10403592884540558, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + -3.0452826023101807, + -1.9367634057998657, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2017881870269775, + -1.851288080215454, + 0.6523169279098511, + 0.10403592884540558, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + -3.023887872695923, + -1.9265486001968384, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2017881870269775, + -1.851288080215454, + 0.6523169279098511, + 0.10403592884540558, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + -2.9509618282318115, + -1.8917304277420044, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2017881870269775, + -1.851288080215454, + 0.6523169279098511, + 0.10403592884540558, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + -2.8574399948120117, + -1.8470790386199951, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2017881870269775, + -1.851288080215454, + 0.6523169279098511, + 0.10403592884540558, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + -2.856640577316284, + -1.8466973304748535, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2017881870269775, + -1.851288080215454, + 0.6523169279098511, + 0.10403592884540558, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + -2.855595111846924, + -1.8461982011795044, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2017881870269775, + -1.851288080215454, + 0.6523169279098511, + 0.10403592884540558, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + -2.7628159523010254, + -1.8019013404846191, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2017881870269775, + -1.851288080215454, + 0.6523169279098511, + 0.10403592884540558, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + -2.692531108856201, + -1.7683442831039429, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2017881870269775, + -1.851288080215454, + 0.6523169279098511, + 0.10403592884540558, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + -2.668996572494507, + -1.7571078538894653, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2017881870269775, + -1.851288080215454, + 0.6523169279098511, + 0.10403592884540558, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + -2.637929677963257, + -1.7422751188278198, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2017881870269775, + -1.851288080215454, + 0.6523169279098511, + 0.10403592884540558, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + -2.5748417377471924, + -1.7121541500091553, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2017881870269775, + -1.851288080215454, + 0.6523169279098511, + 0.10403592884540558, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + -2.5265982151031494, + -1.6891205310821533, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2017881870269775, + -1.851288080215454, + 0.6523169279098511, + 0.10403592884540558, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + -2.480520486831665, + -1.6671210527420044, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2017881870269775, + -1.851288080215454, + 0.6523169279098511, + 0.10403592884540558, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + -2.420264720916748, + -1.6383522748947144, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2017881870269775, + -1.851288080215454, + 0.6523169279098511, + 0.10403592884540558, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + -2.386380672454834, + -1.6221745014190674, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2017881870269775, + -1.851288080215454, + 0.6523169279098511, + 0.10403592884540558, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + -2.3607120513916016, + -1.6099191904067993, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2017881870269775, + -1.851288080215454, + 0.6523169279098511, + 0.10403592884540558, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + -2.2925612926483154, + -1.5773810148239136, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2017881870269775, + -1.851288080215454, + 0.6523169279098511, + 0.10403592884540558, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + -2.202599048614502, + -1.5344290733337402, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2017881870269775, + -1.851288080215454, + 0.6523169279098511, + 0.10403592884540558, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + -2.1987216472625732, + -1.5325777530670166, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2017881870269775, + -1.851288080215454, + 0.6523169279098511, + 0.10403592884540558, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + -2.195756435394287, + -1.5311620235443115, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2017881870269775, + -1.851288080215454, + 0.6523169279098511, + 0.10403592884540558, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + -2.104400396347046, + -1.4875446557998657, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2017881870269775, + -1.851288080215454, + 0.6523169279098511, + 0.10403592884540558, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + -2.0293080806732178, + -1.4516923427581787, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2017881870269775, + -1.851288080215454, + 0.6523169279098511, + 0.10403592884540558, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + -2.0100793838500977, + -1.442511796951294, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2017881870269775, + -1.851288080215454, + 0.6523169279098511, + 0.10403592884540558, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + -1.984933614730835, + -1.4305061101913452, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2017881870269775, + -1.851288080215454, + 0.6523169279098511, + 0.10403592884540558, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + -1.9161261320114136, + -1.397654414176941, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2017881870269775, + -1.851288080215454, + 0.6523169279098511, + 0.10403592884540558, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + -1.8640013933181763, + -1.372767686843872, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2017881870269775, + -1.851288080215454, + 0.6523169279098511, + 0.10403592884540558, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + -1.8223069906234741, + -1.352860927581787, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2017881870269775, + -1.851288080215454, + 0.6523169279098511, + 0.10403592884540558, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + -1.7672683000564575, + -1.3265830278396606, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2017881870269775, + -1.851288080215454, + 0.6523169279098511, + 0.10403592884540558, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + -1.7282804250717163, + -1.3079684972763062, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2017881870269775, + -1.851288080215454, + 0.6523169279098511, + 0.10403592884540558, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + -1.698466420173645, + -1.2937339544296265, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2017881870269775, + -1.851288080215454, + 0.6523169279098511, + 0.10403592884540558, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + -1.6339592933654785, + -1.2629354000091553, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2017881870269775, + -1.851288080215454, + 0.6523169279098511, + 0.10403592884540558, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + -1.5496032238006592, + -1.2226600646972656, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2017881870269775, + -1.851288080215454, + 0.6523169279098511, + 0.10403592884540558, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + -1.5396912097930908, + -1.2179275751113892, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2017881870269775, + -1.851288080215454, + 0.6523169279098511, + 0.10403592884540558, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + -1.5321823358535767, + -1.214342474937439, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2017881870269775, + -1.851288080215454, + 0.6523169279098511, + 0.10403592884540558, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + -1.4458720684051514, + -1.1731340885162354, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2017881870269775, + -1.851288080215454, + 0.6523169279098511, + 0.10403592884540558, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + -1.3672904968261719, + -1.1356158256530762, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2017881870269775, + -1.851288080215454, + 0.6523169279098511, + 0.10403592884540558, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + -1.3520528078079224, + -1.128340721130371, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2017881870269775, + -1.851288080215454, + 0.6523169279098511, + 0.10403592884540558, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + -1.3319381475448608, + -1.1187371015548706, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2017881870269775, + -1.851288080215454, + 0.6523169279098511, + 0.10403592884540558, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + -1.2578394412994385, + -1.0833591222763062, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2017881870269775, + -1.851288080215454, + 0.6523169279098511, + 0.10403592884540558, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + -1.2011761665344238, + -1.0563055276870728, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2017881870269775, + -1.851288080215454, + 0.6523169279098511, + 0.10403592884540558, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + -1.1635181903839111, + -1.0383260250091553, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2017881870269775, + -1.851288080215454, + 0.6523169279098511, + 0.10403592884540558, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + -1.1142725944519043, + -1.014814019203186, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2017881870269775, + -1.851288080215454, + 0.6523169279098511, + 0.10403592884540558, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + -1.0694369077682495, + -0.9934074282646179, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2017881870269775, + -1.851288080215454, + 0.6523169279098511, + 0.10403592884540558, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + -1.0354716777801514, + -0.9771909117698669, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2017881870269775, + -1.851288080215454, + 0.6523169279098511, + 0.10403592884540558, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + -0.9756176471710205, + -0.9486139416694641, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2017881870269775, + -1.851288080215454, + 0.6523169279098511, + 0.10403592884540558, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + -0.8966072797775269, + -0.9108908772468567, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2017881870269775, + -1.851288080215454, + 0.6523169279098511, + 0.10403592884540558, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + -0.8817064762115479, + -0.9037765860557556, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2017881870269775, + -1.851288080215454, + 0.6523169279098511, + 0.10403592884540558, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + -0.8703734278678894, + -0.8983656764030457, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2017881870269775, + -1.851288080215454, + 0.6523169279098511, + 0.10403592884540558, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + -0.7872733473777771, + -0.8586900234222412, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2017881870269775, + -1.851288080215454, + 0.6523169279098511, + 0.10403592884540558, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + -0.7052370309829712, + -0.8195222616195679, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2017881870269775, + -1.851288080215454, + 0.6523169279098511, + 0.10403592884540558, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + -0.6926544904708862, + -0.8135148286819458, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2017881870269775, + -1.851288080215454, + 0.6523169279098511, + 0.10403592884540558, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + -0.6750752329826355, + -0.8051217198371887, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2017881870269775, + -1.851288080215454, + 0.6523169279098511, + 0.10403592884540558, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + -0.5976822376251221, + -0.7681708335876465, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2017881870269775, + -1.851288080215454, + 0.6523169279098511, + 0.10403592884540558, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + -0.5493518114089966, + -0.7450957298278809, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2017881870269775, + -1.851288080215454, + 0.6523169279098511, + 0.10403592884540558, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + -0.5574991106987, + -0.7952063083648682, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2017881870269775, + -1.851288080215454, + 0.6523169279098511, + 0.10403592884540558, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + 1.559558391571045, + 1.9352662563323975, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.5122249126434326, + -0.5583856701850891, + 0.6672313213348389, + 0.18987667560577393, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + 1.5918984413146973, + 1.9989545345306396, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.5122249126434326, + -0.5583856701850891, + 0.6672313213348389, + 0.18987667560577393, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + 1.6156556606292725, + 2.0457403659820557, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.5122249126434326, + -0.5583856701850891, + 0.6672313213348389, + 0.18987667560577393, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + 1.6446691751480103, + 2.102877616882324, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.5122249126434326, + -0.5583856701850891, + 0.6672313213348389, + 0.18987667560577393, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + 1.6719810962677002, + 2.1566638946533203, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.5122249126434326, + -0.5583856701850891, + 0.6672313213348389, + 0.18987667560577393, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + 1.6979382038116455, + 2.207782030105591, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.5122249126434326, + -0.5583856701850891, + 0.6672313213348389, + 0.18987667560577393, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + 1.7287613153457642, + 2.2684831619262695, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.5122249126434326, + -0.5583856701850891, + 0.6672313213348389, + 0.18987667560577393, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + 1.7530876398086548, + 2.316389799118042, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.5122249126434326, + -0.5583856701850891, + 0.6672313213348389, + 0.18987667560577393, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + 1.786271572113037, + 2.381739854812622, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.5122249126434326, + -0.5583856701850891, + 0.6672313213348389, + 0.18987667560577393, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + 1.8120776414871216, + 2.432560682296753, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.5122249126434326, + -0.5583856701850891, + 0.6672313213348389, + 0.18987667560577393, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + 1.8440501689910889, + 2.4955251216888428, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.5122249126434326, + -0.5583856701850891, + 0.6672313213348389, + 0.18987667560577393, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0, + 1.897359848022461, + 2.545562267303467, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.5122249126434326, + -0.5583856701850891, + 0.6672313213348389, + 0.18987667560577393, + -0.6587352156639099, + 0.7064863443374634, + 0.0027511599473655224, + 0.0 + ], + "max": [ + 1.8382279872894287, + 2.6523375511169434, + 1.4989721775054932, + 0.7753762602806091, + -0.0, + -0.0, + 0.7588151693344116, + 2.0, + 2.0000126361846924, + 3.196376085281372, + 0.779229998588562, + 0.26248297095298767, + -0.02559763751924038, + 0.9722469449043274, + 0.1830868124961853, + 1.0, + -0.5651841759681702, + -0.4927886128425598, + 1.4989721775054932, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9722469449043274, + 0.17576023936271667, + 0.0, + -0.4953260123729706, + -0.4930476248264313, + 1.4989721775054932, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9722469449043274, + 0.17576023936271667, + 0.0, + -0.44996941089630127, + -0.49321579933166504, + 1.4989721775054932, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9722469449043274, + 0.17576023936271667, + 0.0, + -0.3773585259914398, + -0.4934850037097931, + 1.4989721775054932, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9722469449043274, + 0.17576023936271667, + 0.0, + -0.3296842575073242, + -0.4936617612838745, + 1.4989721775054932, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9722469449043274, + 0.17576023936271667, + 0.0, + -0.26055043935775757, + -0.4939180612564087, + 1.4989721775054932, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9722469449043274, + 0.17576023936271667, + 0.0, + -0.20821614563465118, + -0.494112104177475, + 1.4989721775054932, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9722469449043274, + 0.17576023936271667, + 0.0, + -0.14413848519325256, + -0.4943496584892273, + 1.4989721775054932, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9722469449043274, + 0.17576023936271667, + 0.0, + -0.08650405704975128, + -0.49456334114074707, + 1.4989721775054932, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9722469449043274, + 0.17576023936271667, + 0.0, + -0.028089988976716995, + -0.49477991461753845, + 1.4989721775054932, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9722469449043274, + 0.17576023936271667, + 0.0, + 0.03506198897957802, + -0.4950140714645386, + 1.4989721775054932, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9722469449043274, + 0.17576023936271667, + 0.0, + 0.087213434278965, + -0.49520742893218994, + 1.4989721775054932, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9722469449043274, + 0.17576023936271667, + 0.0, + 0.1498502641916275, + -0.49543964862823486, + 1.4989721775054932, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9722469449043274, + 0.17576023936271667, + 0.0, + 0.19869062304496765, + -0.4956207275390625, + 1.4989721775054932, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9722469449043274, + 0.17576023936271667, + 0.0, + 0.24900908768177032, + -0.4958072900772095, + 1.4989721775054932, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9722469449043274, + 0.17576023936271667, + 0.0, + 0.31145089864730835, + -0.4960388243198395, + 1.4989721775054932, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9722469449043274, + 0.17576023936271667, + 0.0, + 0.34049081802368164, + -0.44269201159477234, + 1.4989721775054932, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9722469449043274, + 0.17576023936271667, + 0.0, + 0.3770783245563507, + -0.3754802346229553, + 1.4989721775054932, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9722469449043274, + 0.17576023936271667, + 0.0, + 0.38960322737693787, + -0.3524717688560486, + 1.4989721775054932, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9722469449043274, + 0.17576023936271667, + 0.0, + 0.41877827048301697, + -0.2988767623901367, + 1.4989721775054932, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9722469449043274, + 0.17576023936271667, + 0.0, + 0.42713990807533264, + -0.2835163176059723, + 1.4989721775054932, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9722469449043274, + 0.17576023936271667, + 0.0, + 0.4685404598712921, + -0.20746281743049622, + 1.4989721775054932, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9722469449043274, + 0.17576023936271667, + 0.0, + 0.4858330488204956, + -0.17569604516029358, + 1.4989721775054932, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9722469449043274, + 0.17576023936271667, + 0.0, + 0.5127513408660889, + -0.12624675035476685, + 1.4989721775054932, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9722469449043274, + 0.17576023936271667, + 0.0, + 0.538783073425293, + -0.07498152554035187, + 1.4989721775054932, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9722469449043274, + 0.17576023936271667, + 0.0, + 0.5797819495201111, + 0.00575893372297287, + 1.4989721775054932, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9722469449043274, + 0.17576023936271667, + 0.0, + 0.5909556746482849, + 0.027763744816184044, + 1.4989721775054932, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9722469449043274, + 0.17576023936271667, + 0.0, + 0.6422013640403748, + 0.12868359684944153, + 1.4989721775054932, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9722469449043274, + 0.17576023936271667, + 0.0, + 0.6431726217269897, + 0.13059623539447784, + 1.4989721775054932, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9722469449043274, + 0.17576023936271667, + 0.0, + 0.6475164294242859, + 0.13915058970451355, + 1.4989721775054932, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9722469449043274, + 0.17576023936271667, + 0.0, + 0.6954493522644043, + 0.23354648053646088, + 1.4989721775054932, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9722469449043274, + 0.17576023936271667, + 0.0, + 0.7065719366073608, + 0.255450576543808, + 1.4989721775054932, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9722469449043274, + 0.17576023936271667, + 0.0, + 0.7477165460586548, + 0.3364781141281128, + 1.4989721775054932, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9722469449043274, + 0.17576023936271667, + 0.0, + 0.7684148550033569, + 0.37724006175994873, + 1.4989721775054932, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9722469449043274, + 0.17576023936271667, + 0.0, + 0.8001896142959595, + 0.4398151636123657, + 1.4989721775054932, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9722469449043274, + 0.17576023936271667, + 0.0, + 0.8280447125434875, + 0.494671106338501, + 1.4989721775054932, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9722469449043274, + 0.17576023936271667, + 0.0, + 0.8530187606811523, + 0.5438533425331116, + 1.4989721775054932, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9722469449043274, + 0.17576023936271667, + 0.0, + 0.8854817748069763, + 0.607783854007721, + 1.4989721775054932, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9722469449043274, + 0.17576023936271667, + 0.0, + 0.90585857629776, + 0.6479125618934631, + 1.4989721775054932, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9722469449043274, + 0.17576023936271667, + 0.0, + 0.9417673349380493, + 0.7186288833618164, + 1.4989721775054932, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9722469449043274, + 0.17576023936271667, + 0.0, + 0.9586507081985474, + 0.7518778443336487, + 1.4989721775054932, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9722469449043274, + 0.17576023936271667, + 0.0, + 0.9980689883232117, + 0.8295056819915771, + 1.4989721775054932, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9722469449043274, + 0.17576023936271667, + 0.0, + 1.0114214420318604, + 0.8558010458946228, + 1.4989721775054932, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9722469449043274, + 0.17576023936271667, + 0.0, + 1.054030418395996, + 0.9397123456001282, + 1.4989721775054932, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9722469449043274, + 0.17576023936271667, + 0.0, + 1.0641920566558838, + 0.9597241282463074, + 1.4989721775054932, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9722469449043274, + 0.17576023936271667, + 0.0, + 1.1104209423065186, + 1.0507642030715942, + 1.4989721775054932, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9722469449043274, + 0.17576023936271667, + 0.0, + 1.1169626712799072, + 1.0636471509933472, + 1.4989721775054932, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9722469449043274, + 0.17576023936271667, + 0.0, + 1.1662935018539429, + 1.1607959270477295, + 1.4989721775054932, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9722469449043274, + 0.17576023936271667, + 0.0, + 1.1697332859039307, + 1.1675701141357422, + 1.4989721775054932, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9722469449043274, + 0.17576023936271667, + 0.0, + 1.218724012374878, + 1.2640491724014282, + 1.4989721775054932, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9722469449043274, + 0.17576023936271667, + 0.0, + 1.222503900527954, + 1.2714930772781372, + 1.4989721775054932, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9722469449043274, + 0.17576023936271667, + 0.0, + 1.2227692604064941, + 1.2720156908035278, + 1.4989721775054932, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9722469449043274, + 0.17576023936271667, + 0.0, + 1.275274634361267, + 1.3754162788391113, + 1.4989721775054932, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9722469449043274, + 0.17576023936271667, + 0.0, + 1.2785999774932861, + 1.381964921951294, + 1.4989721775054932, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9722469449043274, + 0.17576023936271667, + 0.0, + 1.3280452489852905, + 1.4793392419815063, + 1.4989721775054932, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9722469449043274, + 0.17576023936271667, + 0.0, + 1.335032343864441, + 1.4930992126464844, + 1.4989721775054932, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9722469449043274, + 0.17576023936271667, + 0.0, + 1.3808159828186035, + 1.5832624435424805, + 1.4989721775054932, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9722469449043274, + 0.17576023936271667, + 0.0, + 1.3909518718719482, + 1.6032235622406006, + 1.4989721775054932, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9722469449043274, + 0.17576023936271667, + 0.0, + 1.4335864782333374, + 1.6871854066848755, + 1.4989721775054932, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9722469449043274, + 0.17576023936271667, + 0.0, + 1.4472953081130981, + 1.714182734489441, + 1.4989721775054932, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9722469449043274, + 0.17576023936271667, + 0.0, + 1.4863570928573608, + 1.7911083698272705, + 1.4989721775054932, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9722469449043274, + 0.17576023936271667, + 0.0, + 1.5033037662506104, + 1.8244819641113281, + 1.4989721775054932, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9722469449043274, + 0.17576023936271667, + 0.0, + 1.5391278266906738, + 1.8950315713882446, + 1.4989721775054932, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9722469449043274, + 0.17576023936271667, + 0.0, + 1.559558391571045, + 1.9352662563323975, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9681087136268616, + 0.17576023936271667, + 0.0, + 1.5918984413146973, + 1.9989545345306396, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9681087136268616, + 0.17576023936271667, + 0.0, + 1.6156556606292725, + 2.0457403659820557, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9681087136268616, + 0.17576023936271667, + 0.0, + 1.6446691751480103, + 2.102877616882324, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9681087136268616, + 0.17576023936271667, + 0.0, + 1.6719810962677002, + 2.1566638946533203, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9681087136268616, + 0.17576023936271667, + 0.0, + 1.6979382038116455, + 2.207782030105591, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9681087136268616, + 0.17576023936271667, + 0.0, + 1.7287613153457642, + 2.2684831619262695, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9681087136268616, + 0.17576023936271667, + 0.0, + 1.7530876398086548, + 2.316389799118042, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9681087136268616, + 0.17576023936271667, + 0.0, + 1.786271572113037, + 2.381739854812622, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9681087136268616, + 0.17576023936271667, + 0.0, + 1.8120776414871216, + 2.432560682296753, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9681087136268616, + 0.17576023936271667, + 0.0, + 1.8440501689910889, + 2.4955251216888428, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9681087136268616, + 0.17576023936271667, + 0.0, + 1.897359848022461, + 2.545562267303467, + 1.486032485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0000126361846924, + 2.7719686031341553, + 0.6967423558235168, + 0.26248297095298767, + -0.02559763751924038, + 0.9681087136268616, + 0.17576023936271667, + 0.0 + ], + "count": [ + 1394 + ] + }, + "action.applied": { + "mean": [ + 0.27504209252381684, + 0.6779261564720994, + -1.1459829629408236, + -0.2124166892603617, + 0.6827661691172051, + -1.1754283739128277, + 0.1804858915069524, + 0.7985193538699978, + -1.277661425824487, + -0.19127098471727996, + 0.7347191719276833, + -1.2683071461178823, + -0.15579884317482448, + 1.7451739441202565, + -1.1022511638561998, + 0.19435805791636215, + 0.6115699685800025, + -0.3374983707989208, + 0.006578192280517247, + -0.006578192280517247 + ], + "std": [ + 0.136980124747529, + 0.10525737652891307, + 0.16013758793950647, + 0.1361267180280392, + 0.10281049258908613, + 0.1458798488749374, + 0.13262412380163915, + 0.11399453388614825, + 0.1634749124439584, + 0.11920487345819186, + 0.0930635473899011, + 0.16095008422575124, + 0.11184013362756053, + 0.22711166965382887, + 0.3867098196106068, + 0.1481281247240302, + 0.18047328682603903, + 0.24620391208576556, + 0.013673482260158602, + 0.013673482260158602 + ], + "min": [ + -0.19984760880470276, + 0.39684614539146423, + -1.752370834350586, + -0.5713637471199036, + 0.29917556047439575, + -1.6508471965789795, + -0.20096519589424133, + 0.47390317916870117, + -1.7309937477111816, + -0.5603111982345581, + 0.5214904546737671, + -1.7006014585494995, + -0.4793737530708313, + 1.5153688192367554, + -2.1440846920013428, + -0.016877274960279465, + 0.37309253215789795, + -0.6266795992851257, + 0.0, + -0.03500000014901161 + ], + "max": [ + 0.6868104338645935, + 0.8942211270332336, + -0.7740147113800049, + 0.18611519038677216, + 0.9648460149765015, + -0.7872057557106018, + 0.46751365065574646, + 1.081343412399292, + -0.921099066734314, + 0.29328957200050354, + 1.0726898908615112, + -0.9111511707305908, + 0.008028131909668446, + 2.3490355014801025, + -0.7692310810089111, + 0.3739435374736786, + 1.0021915435791016, + 0.017928317189216614, + 0.03500000014901161, + 0.0 + ], + "count": [ + 1394 + ] + }, + "extra.reward": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 1394 + ] + }, + "next.truncated": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 1394 + ] + }, + "sim_step_idx": { + "mean": [ + 1494.0 + ], + "std": [ + 804.826068166284 + ], + "min": [ + 101.0 + ], + "max": [ + 2887.0 + ], + "count": [ + 1394 + ] + }, + "timestamp": { + "mean": [ + 27.86000000283528 + ], + "std": [ + 16.09652136468589 + ], + "min": [ + 0.0 + ], + "max": [ + 55.720001220703125 + ], + "count": [ + 1394 + ] + }, + "frame_index": { + "mean": [ + 696.5 + ], + "std": [ + 402.413034083142 + ], + "min": [ + 0.0 + ], + "max": [ + 1393.0 + ], + "count": [ + 1394 + ] + }, + "episode_index": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 1394 + ] + }, + "index": { + "mean": [ + 696.5 + ], + "std": [ + 402.413034083142 + ], + "min": [ + 0.0 + ], + "max": [ + 1393.0 + ], + "count": [ + 1394 + ] + }, + "task_index": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 1394 + ] + }, + "next.done": { + "mean": [ + 0.0007173601147776184 + ], + "std": [ + 0.026773970741063878 + ], + "min": [ + 0.0 + ], + "max": [ + 1.0 + ], + "count": [ + 1394 + ] + }, + "observation.images.head": { + "mean": [ + [ + [ + 0.5446461399756333 + ] + ], + [ + [ + 0.45975088684689114 + ] + ], + [ + [ + 0.4147956837544502 + ] + ] + ], + "std": [ + [ + [ + 0.08443508965903909 + ] + ], + [ + [ + 0.09679766701108602 + ] + ], + [ + [ + 0.107979532791246 + ] + ] + ], + "min": [ + [ + [ + 0.00784313725490196 + ] + ], + [ + [ + 0.00784313725490196 + ] + ], + [ + [ + 0.00784313725490196 + ] + ] + ], + "max": [ + [ + [ + 0.8745098039215686 + ] + ], + [ + [ + 0.8745098039215686 + ] + ], + [ + [ + 0.8745098039215686 + ] + ] + ], + "count": [ + 100 + ] + }, + "observation.images.wrist": { + "mean": [ + [ + [ + 0.5953125749283679 + ] + ], + [ + [ + 0.531526562378367 + ] + ], + [ + [ + 0.47102310715526446 + ] + ] + ], + "std": [ + [ + [ + 0.1355853676804679 + ] + ], + [ + [ + 0.1401219733263105 + ] + ], + [ + [ + 0.1401715959373145 + ] + ] + ], + "min": [ + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ] + ], + "max": [ + [ + [ + 0.9490196078431372 + ] + ], + [ + [ + 0.9294117647058824 + ] + ], + [ + [ + 0.9294117647058824 + ] + ] + ], + "count": [ + 100 + ] + } +} \ No newline at end of file diff --git a/N033/go2_arm/dr_off/seed_1015/rec/stationring/000/lerobot_v21/meta/tasks.jsonl b/N033/go2_arm/dr_off/seed_1015/rec/stationring/000/lerobot_v21/meta/tasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dbadecbe4a732b4588b1a79a8efeb41ca322b43c --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1015/rec/stationring/000/lerobot_v21/meta/tasks.jsonl @@ -0,0 +1 @@ +{"task_index": 0, "task": "Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end."} diff --git a/N033/go2_arm/dr_off/seed_1015/rec/stationring/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 b/N033/go2_arm/dr_off/seed_1015/rec/stationring/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7017639cfc10585e2a0ad12dfd3980ab825a302b --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1015/rec/stationring/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 sha256:675b7c5a7a3d6135355de3617c49e0b09d454c07b3db9779e6e5f9470284565a +size 10446001 diff --git a/N033/go2_arm/dr_off/seed_1015/rec/stationring/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 b/N033/go2_arm/dr_off/seed_1015/rec/stationring/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..46158f9cf4c6d5ac07763b0ec65775201abda313 --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1015/rec/stationring/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 sha256:7bcb85a2ad073bedcb82143262df7b4e0e8c1ff6a68d0110c3978f2871e32a51 +size 24090864 diff --git a/N033/go2_arm/dr_off/seed_1015/rec/stationring/000/run_meta.json b/N033/go2_arm/dr_off/seed_1015/rec/stationring/000/run_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6607d70f3c62b1cd054b4c541e1b0e49ec77eb64 --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1015/rec/stationring/000/run_meta.json @@ -0,0 +1,1707 @@ +{ + "run_id": "stationring/000", + "created": "2026-11-08 02:50:42", + "num_envs": 1, + "session_id": null, + "record_config": { + "output_dir": "/mnt/scratch/xc536_atomic/n033_go2_off_1015/out/rec", + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "json_round": null, + "schema": { + "source": "robot_manager", + "nan_policy": "from_raw" + }, + "lerobot": { + "subsample_every": 2 + } + }, + "config": { + "env_string": "StationRingEnv-V0", + "env": { + "sim": { + "device": "cpu", + "use_fabric": false, + "decimation": 4, + "dt": 0.005, + "seed": 1015, + "soft_resets": 2, + "enable_scene_query_support": true, + "scene": { + "num_envs": 1, + "env_spacing": 16 + }, + "render": { + "rendering_mode": "performance", + "enable_reflections": false, + "enable_global_illumination": false, + "enable_translucency": false, + "enable_dl_denoiser": false + } + }, + "robot": { + "Go2Plus": { + "name": "go2plus", + "type": "mobilemanip", + "common": { + "pos": [ + [ + -3.4, + -2.2, + 0.44999999999999996 + ], + [ + -3.4, + -2.2, + 0.44999999999999996 + ] + ], + "ori": [ + [ + 0, + 0, + 40.0 + ], + [ + 0, + 0, + 40.0 + ] + ], + "initial_joint_pos": null + }, + "action": { + "base_action": "unified", + "arm_action": "ik_curobo", + "eef_action": "binary" + }, + "reset": "default", + "planner": { + "dual_mode": true, + "base_joint_names": [ + "base_x", + "base_y", + "base_yaw", + "base_height" + ], + "ik": { + "type": "go2plus", + "enable": true, + "ik_num_instances": 1, + "ik_batch_size": 1, + "ik_max_goalset": 128, + "ik_num_seeds": 64, + "ik_position_threshold": 0.005, + "ik_rotation_threshold": 0.05, + "microbatch_wait_ms": 20.0, + "relative_to_world_frame": false, + "eef_num": 1, + "debug": false, + "seed_use_live_joint_pos": true + }, + "motiongen": { + "type": "go2plus", + "enable": true, + "batch_size": 1, + "debug": false, + "motiongen_num_instances": 1, + "microbatch_wait_ms": 400.0, + "mode": "position", + "relative_to_world_frame": false, + "eef_num": 1, + "seed_use_live_joint_pos": true, + "anchor_ik_seeds_to_current_state": false, + "num_trajopt_seeds": 1, + "num_ik_seeds": 4, + "max_attempts": 4, + "joint_limit_retry_weight": 100000000.0, + "start_state_limit_inset": 0.002 + }, + "body": { + "type": "nav", + "dwb_type": "dwb_quadruped", + "dwb_quadruped": { + "device": "cpu", + "dt": 0.02, + "debug": false, + "num_rollout_steps": 60, + "num_speed_samples": 11, + "num_steer_samples": 11, + "num_vx_samples": 7, + "num_vy_samples": 7, + "num_yaw_samples": 7, + "max_accel": 1.5, + "max_steer_rate": 1.5, + "max_accel_vx": 1.5, + "max_accel_vy": 1.5, + "max_yaw_accel": 1.5, + "w_goal": 6.0, + "w_path": 24.0, + "w_vel": 0.2, + "w_vy": 0.0, + "dilate_radius": 0.2, + "goal_cost_mode": "path", + "room_size": 12.0, + "occupancy_update_interval": 25, + "scan_height": 0.38, + "scan_min_z": 0.15, + "scan_max_z": 0.63, + "goal_pos_threshold": 0.16, + "goal_yaw_threshold": 0.08, + "goal_yaw_hysteresis": 0.02, + "kp_goal_yaw": 4.0, + "heading_reference": "path", + "turn_yaw_threshold": 0.8, + "heading_lookahead": 0.8, + "heading_min_leg": 0.35, + "route_yaw_gain": 2.0, + "min_vx": -0.35, + "max_vx": 0.35, + "min_vy": -0.25, + "max_vy": 0.25, + "min_yaw_rate": -0.8, + "max_yaw_rate": 0.8, + "dynamic_window_source": "command", + "default_height": 0.35, + "safety_min_progress_speed": 0.1, + "safety_stop_distance": 0.2, + "safety_enabled": true, + "safety_deceleration": 0.5, + "safety_reaction_time": 0.5, + "safety_release_distance": 0.35, + "scan_type": "3d", + "robot_type": "quadruped", + "velocity_frame": "body" + }, + "p_controller": { + "velocity_frame": "body", + "nav_upgrade_distance": 0.03, + "nav_heading_target": -1, + "kp_linear_x": 3.0, + "kd_linear_x": 0.4, + "kp_linear_y": 3.0, + "kd_linear_y": 0.4, + "kp_angular": 1.5, + "kd_angular": 0.2, + "kp_angular_turning_only": 1.5, + "kd_angular_turning_only": 0.2, + "min_vel": -0.4, + "max_vel": 0.5, + "linear_dead_zone": 0.01, + "angular_dead_zone": 0.05 + } + }, + "arm": { + "type": "default" + }, + "eef": { + "type": "default" + } + }, + "physics": { + "robot_radius": 0.5 + } + } + }, + "camera": { + "enable_tiled": false, + "colorize_depth": false, + "head": { + "camera": { + "type": "camera", + "mesh": "pinhole", + "resolution": [ + 640, + 480 + ], + "frequency": 25, + "focal_length": 1.8231182098388672, + "horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.4407838582992554, + "clipping_range": [ + 0.05, + 30.0 + ], + "focus_distance": 3.0, + "mode": "RGB", + "mount_link": "Robot_0/Bodies/go2_base", + "pos": [ + 0.332051, + 0.038027, + 0.093559 + ], + "ori": [ + 169.9473, + -88.6452, + 81.5985 + ] + }, + "annotator": { + "enabled": true, + "rgb_capture": { + "type": "rgb", + "device": "cpu" + } + } + }, + "wrist": { + "camera": { + "type": "camera", + "mesh": "pinhole", + "resolution": [ + 640, + 480 + ], + "frequency": 25, + "focal_length": 1.8517500162124634, + "horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.4393036365509033, + "clipping_range": [ + 0.05, + 30.0 + ], + "focus_distance": 3.0, + "mode": "RGB", + "mount_link": "Robot_0/Bodies/piper_link6", + "pos": [ + -0.074987, + 0.005289, + 0.045821 + ], + "ori": [ + 179.3135, + -20.212, + 88.9402 + ] + }, + "annotator": { + "enabled": true, + "rgb_capture": { + "type": "rgb", + "device": "cpu" + } + } + } + }, + "nav": { + "navmesh": { + "enabled": true, + "visualize": false, + "bake_timeout_s": 180, + "agent_height_cm": 65, + "min_agent_radius_cm": 30.0, + "max_agent_radius_cm": 30.0, + "max_step_height_cm": 20, + "max_floor_slope_deg": 30, + "agent_island_radius_cm": 5, + "auto_exclude_rigid_bodies": true, + "validate_path_clearance": true, + "validate_path_window": true, + "navmesh_offset_z_m": 0, + "verbose": false + }, + "occupancymap": { + "cell_size": 0.05 + } + }, + "scene": { + "background": { + "intensity": [ + 1000, + 1000 + ] + }, + "terrain": { + "type": "nav_room", + "collision": true, + "hide_top_walls": true, + "usd": [ + "$MAGICSIM_ASSETS/Room/Collected_SimpleRoom" + ], + "annotation": "Annotation", + "random": false, + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0, + "friction_combine_mode": "multiply", + "restitution_combine_mode": "multiply" + } + }, + "objects": { + "table_A": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "table_A_1": { + "pos": [ + -0.2898401225419277, + 0.13799186030913205, + 0.18 + ], + "ori": [ + 0.0, + 0.0, + -4.115224030946038 + ], + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.45, + 0.35 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "table_B": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "table_B_1": { + "pos": [ + 1.9847177533117835, + 3.2312977451971303, + 0.18 + ], + "ori": [ + 0.0, + 0.0, + -4.8566108547281175 + ], + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.45, + 0.35 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "rack_back": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "rack_back_1": { + "pos": [ + -0.3404288347632084, + 0.13160576637054608, + 0.42999999999999994 + ], + "ori": [ + 0.0, + 0.0, + -4.115224030946038 + ], + "primitive_params": { + "size": [ + 0.7, + 0.03, + 0.2 + ] + }, + "visual": { + "color": [ + [ + 0.45, + 0.35, + 0.25 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "peg_1": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "peg_1_1": { + "pos": [ + -0.19835063171985615, + 0.016112111912944066, + 0.47 + ], + "ori": [ + 0.0, + 0.0, + -4.115224030946038 + ], + "primitive_params": { + "size": [ + 0.02, + 0.18, + 0.02 + ] + }, + "visual": { + "color": [ + [ + 0.35, + 0.35, + 0.35 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "peg_2": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "peg_2_1": { + "pos": [ + -0.4975771567717671, + 0.03764085329181041, + 0.47 + ], + "ori": [ + 0.0, + 0.0, + -4.115224030946038 + ], + "primitive_params": { + "size": [ + 0.02, + 0.18, + 0.02 + ] + }, + "visual": { + "color": [ + [ + 0.35, + 0.35, + 0.35 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "ring": { + "usd": [ + "$MAGICSIM_ASSETS/Object/MMB_A07/ring_wide/Object.usda" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "ring_1": { + "pos": [ + -0.5006807927669429, + -0.005496374171665014, + 0.43999999999999995 + ], + "ori": [ + 0.0, + 0.0, + -4.115224030946038 + ], + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.05, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + } + } + } + }, + "ring_small": { + "usd": [ + "$MAGICSIM_ASSETS/Object/MMB_A07/ring_small/Object.usda" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "ring_small_1": { + "pos": [ + -0.20215269595575583, + -0.03673252258339532, + 0.46499999999999997 + ], + "ori": [ + 0.0, + 0.0, + -4.115224030946038 + ], + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.05, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + } + } + } + }, + "rod_h": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "rod_h_1": { + "pos": [ + 1.97371164353229, + 3.1017644848061336, + 0.53 + ], + "ori": [ + 0.0, + 0.0, + -4.8566108547281175 + ], + "primitive_params": { + "size": [ + 0.02, + 0.14, + 0.02 + ] + }, + "visual": { + "color": [ + [ + 0.75, + 0.75, + 0.78 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 0.3, + "dynamic_friction": 0.25, + "restitution": 0.0 + } + } + } + }, + "rod_s": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "rod_s_1": { + "pos": [ + 1.9844891648779017, + 3.228607439019779, + 0.48979999999999996 + ], + "ori": [ + -35.0, + 0.0, + -4.8566108547281175 + ], + "primitive_params": { + "size": [ + 0.02, + 0.14, + 0.02 + ] + }, + "visual": { + "color": [ + [ + 0.75, + 0.75, + 0.78 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 0.3, + "dynamic_friction": 0.25, + "restitution": 0.0 + } + } + } + }, + "rod_stop": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "rod_stop_1": { + "pos": [ + 1.9906441201161262, + 3.3010464238692054, + 0.38999999999999996 + ], + "ori": [ + 0.0, + 0.0, + -4.8566108547281175 + ], + "primitive_params": { + "size": [ + 0.1, + 0.012, + 0.12 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.3, + 0.25 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + } + } + } + }, + "task": { + "new_seed_per_episode": true, + "observation": {}, + "reward": {}, + "termination": { + "timeout_steps": 30000, + "success_hold_frames": 10, + "fall_height": 0.08, + "fall_tilt": 1.0, + "lift_height": 0.12, + "grasp_distance": 0.25 + }, + "grasp": { + "mode": "generated", + "debug": false, + "floor_z": 0.03 + }, + "stance": { + "radii": [ + 0.5, + 0.46, + 0.54 + ], + "heights": [ + 0.3, + 0.34, + 0.26 + ], + "bearings_deg": [ + 0, + -25, + 25 + ], + "yaw_offsets_deg": [ + 0.0 + ], + "include_current": true + }, + "station": { + "task_id": "N033", + "task_version": "EXT60-MobileAvatar-v3", + "family_id": "ring_on_bent_rod", + "primary_category": "C2", + "stage": "full", + "layout": { + "floor_z": 0.03, + "start": { + "x": -3.4, + "y": -2.2, + "yaw_deg": 40.0, + "radius": 0.3, + "yaw_spread_deg": 20.0 + }, + "stations": { + "A": { + "center": [ + -0.2898401225419277, + 0.13799186030913205 + ], + "facing_deg": 85.88477596905396, + "standoff": 0.7, + "table": { + "width": 0.9, + "depth": 0.5, + "height": 0.3 + } + }, + "B": { + "center": [ + 1.9847177533117835, + 3.2312977451971303 + ], + "facing_deg": 85.14338914527188, + "standoff": 0.7, + "table": { + "width": 0.9, + "depth": 0.5, + "height": 0.3 + } + } + } + }, + "route": [ + "A", + "B" + ], + "fixtures": { + "rod": { + "pivot": [ + 0.0, + -0.2 + ], + "yaw_deg": 0.0 + } + }, + "instruction": "pick up the large ring (not the small one)", + "ring": { + "target": "ring", + "others": [ + "ring_small" + ], + "swap": "random", + "rod": { + "open": -0.2, + "bend": -0.06, + "slope_deg": 35.0, + "horizontal_len": 0.14, + "slope_len": 0.14, + "z": 0.2, + "fixture": "rod" + }, + "swapped": true + }, + "dr": { + "enabled": true, + "stations": { + "center_m": 0.25, + "facing_deg": 8.0 + }, + "objects": { + "across_m": 0.025, + "along_m": 0.02, + "yaw_deg": 8.0 + } + }, + "place_check": { + "ring": { + "at": { + "station": "B", + "across": 0.0, + "along": -0.06, + "z": 0.2 + }, + "yaw_deg": 0.0, + "clearance": 0.004 + } + }, + "success": { + "thread_tol": 0.03, + "lost_dist": 0.06, + "axis_deg": 55.0, + "entry_s": 0.08, + "end_margin": 0.07, + "back_tol": 0.04, + "release_dist": 0.15, + "rest_speed": 0.05, + "held_lift": 0.04, + "lift": 0.08 + }, + "objects": { + "rack_back": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.7, + 0.03, + 0.2 + ], + "at": { + "station": "A", + "across": -0.05, + "along": -0.01, + "z": 0.1 + }, + "color": [ + 0.45, + 0.35, + 0.25 + ], + "pos": [ + -0.3404288347632084, + 0.13160576637054608, + 0.42999999999999994 + ], + "yaw_deg": -4.115224030946038 + }, + "peg_1": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.02, + 0.18, + 0.02 + ], + "at": { + "station": "A", + "across": 0.1, + "along": -0.115, + "z": 0.14 + }, + "color": [ + 0.35, + 0.35, + 0.35 + ], + "pos": [ + -0.19835063171985615, + 0.016112111912944066, + 0.47 + ], + "yaw_deg": -4.115224030946038 + }, + "peg_2": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.02, + 0.18, + 0.02 + ], + "at": { + "station": "A", + "across": -0.2, + "along": -0.115, + "z": 0.14 + }, + "color": [ + 0.35, + 0.35, + 0.35 + ], + "pos": [ + -0.4975771567717671, + 0.03764085329181041, + 0.47 + ], + "yaw_deg": -4.115224030946038 + }, + "ring": { + "catalog": "ring_wide", + "type": "rigid", + "at": { + "station": "A", + "across": -0.2, + "along": -0.1582487335031463, + "z": 0.11 + }, + "yaw_deg": -4.115224030946038, + "jitter": { + "across_m": 0.0, + "along_m": 0.012, + "yaw_deg": 0.0 + }, + "friction": { + "static": 1.5, + "dynamic": 1.5 + }, + "asset": "$MAGICSIM_ASSETS/Object/MMB_A07/ring_wide/Object.usda", + "parts": [ + { + "name": "seg0", + "center": [ + 0.051, + 0.0, + 0.0 + ], + "half": [ + 0.011, + 0.0175, + 0.025124891681027845 + ], + "rpy_deg": [ + 0.0, + -0.0, + 0.0 + ] + }, + { + "name": "seg1", + "center": [ + 0.03606244584051392, + 0.0, + 0.03606244584051392 + ], + "half": [ + 0.011, + 0.0175, + 0.025124891681027845 + ], + "rpy_deg": [ + 0.0, + -45.0, + 0.0 + ] + }, + { + "name": "seg2", + "center": [ + 3.1228493378257503e-18, + 0.0, + 0.051 + ], + "half": [ + 0.011, + 0.0175, + 0.025124891681027845 + ], + "rpy_deg": [ + 0.0, + -90.0, + 0.0 + ] + }, + { + "name": "seg3", + "center": [ + -0.03606244584051392, + 0.0, + 0.03606244584051392 + ], + "half": [ + 0.011, + 0.0175, + 0.025124891681027845 + ], + "rpy_deg": [ + 0.0, + -135.0, + 0.0 + ] + }, + { + "name": "seg4", + "center": [ + -0.051, + 0.0, + 6.245698675651501e-18 + ], + "half": [ + 0.011, + 0.0175, + 0.025124891681027845 + ], + "rpy_deg": [ + 0.0, + -180.0, + 0.0 + ] + }, + { + "name": "seg5", + "center": [ + -0.03606244584051393, + 0.0, + -0.03606244584051392 + ], + "half": [ + 0.011, + 0.0175, + 0.025124891681027845 + ], + "rpy_deg": [ + 0.0, + -225.0, + 0.0 + ] + }, + { + "name": "seg6", + "center": [ + -9.368548013477251e-18, + 0.0, + -0.051 + ], + "half": [ + 0.011, + 0.0175, + 0.025124891681027845 + ], + "rpy_deg": [ + 0.0, + -270.0, + 0.0 + ] + }, + { + "name": "seg7", + "center": [ + 0.036062445840513914, + 0.0, + -0.03606244584051393 + ], + "half": [ + 0.011, + 0.0175, + 0.025124891681027845 + ], + "rpy_deg": [ + 0.0, + -315.0, + 0.0 + ] + }, + { + "name": "tab", + "center": [ + 0.0, + 0.0, + 0.09 + ], + "half": [ + 0.015, + 0.0175, + 0.03 + ], + "rpy_deg": [ + 0.0, + 0.0, + 0.0 + ] + } + ], + "mass": 0.05, + "com": [ + 0.0, + 0.0, + 0.0 + ], + "grasp": { + "part": "tab", + "thin_axis": 0, + "min_elevation_deg": 60.0, + "inset": 0.02, + "min_overlap_x": 0.016, + "min_overlap_z": 0.015 + }, + "pos": [ + -0.5006807927669429, + -0.005496374171665014, + 0.43999999999999995 + ] + }, + "ring_small": { + "catalog": "ring_small", + "type": "rigid", + "at": { + "station": "A", + "across": 0.1, + "along": -0.16798123335206167, + "z": 0.135 + }, + "yaw_deg": -4.115224030946038, + "jitter": { + "across_m": 0.0, + "along_m": 0.012, + "yaw_deg": 0.0 + }, + "friction": { + "static": 1.5, + "dynamic": 1.5 + }, + "asset": "$MAGICSIM_ASSETS/Object/MMB_A07/ring_small/Object.usda", + "parts": [ + { + "name": "seg0", + "center": [ + 0.026, + 0.0, + 0.0 + ], + "half": [ + 0.011, + 0.0175, + 0.01476955262170047 + ], + "rpy_deg": [ + 0.0, + -0.0, + 0.0 + ] + }, + { + "name": "seg1", + "center": [ + 0.018384776310850236, + 0.0, + 0.018384776310850233 + ], + "half": [ + 0.011, + 0.0175, + 0.01476955262170047 + ], + "rpy_deg": [ + 0.0, + -45.0, + 0.0 + ] + }, + { + "name": "seg2", + "center": [ + 1.5920408388915591e-18, + 0.0, + 0.026 + ], + "half": [ + 0.011, + 0.0175, + 0.01476955262170047 + ], + "rpy_deg": [ + 0.0, + -90.0, + 0.0 + ] + }, + { + "name": "seg3", + "center": [ + -0.018384776310850233, + 0.0, + 0.018384776310850236 + ], + "half": [ + 0.011, + 0.0175, + 0.01476955262170047 + ], + "rpy_deg": [ + 0.0, + -135.0, + 0.0 + ] + }, + { + "name": "seg4", + "center": [ + -0.026, + 0.0, + 3.1840816777831182e-18 + ], + "half": [ + 0.011, + 0.0175, + 0.01476955262170047 + ], + "rpy_deg": [ + 0.0, + -180.0, + 0.0 + ] + }, + { + "name": "seg5", + "center": [ + -0.01838477631085024, + 0.0, + -0.018384776310850233 + ], + "half": [ + 0.011, + 0.0175, + 0.01476955262170047 + ], + "rpy_deg": [ + 0.0, + -225.0, + 0.0 + ] + }, + { + "name": "seg6", + "center": [ + -4.776122516674677e-18, + 0.0, + -0.026 + ], + "half": [ + 0.011, + 0.0175, + 0.01476955262170047 + ], + "rpy_deg": [ + 0.0, + -270.0, + 0.0 + ] + }, + { + "name": "seg7", + "center": [ + 0.01838477631085023, + 0.0, + -0.01838477631085024 + ], + "half": [ + 0.011, + 0.0175, + 0.01476955262170047 + ], + "rpy_deg": [ + 0.0, + -315.0, + 0.0 + ] + }, + { + "name": "tab", + "center": [ + 0.0, + 0.0, + 0.065 + ], + "half": [ + 0.015, + 0.0175, + 0.03 + ], + "rpy_deg": [ + 0.0, + 0.0, + 0.0 + ] + } + ], + "mass": 0.05, + "com": [ + 0.0, + 0.0, + 0.0 + ], + "grasp": { + "part": "tab", + "thin_axis": 0, + "min_elevation_deg": 60.0, + "inset": 0.02, + "min_overlap_x": 0.016, + "min_overlap_z": 0.015 + }, + "pos": [ + -0.20215269595575583, + -0.03673252258339532, + 0.46499999999999997 + ] + }, + "rod_h": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.02, + 0.14, + 0.02 + ], + "at": { + "station": "B", + "across": 0.0, + "along": -0.13, + "z": 0.2 + }, + "fixture": "rod", + "color": [ + 0.75, + 0.75, + 0.78 + ], + "friction_static": 0.3, + "friction_dynamic": 0.25, + "pos": [ + 1.97371164353229, + 3.1017644848061336, + 0.53 + ], + "yaw_deg": -4.8566108547281175 + }, + "rod_s": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.02, + 0.14, + 0.02 + ], + "at": { + "station": "B", + "across": 0.0, + "along": -0.0027, + "z": 0.1598 + }, + "roll_deg": -35.0, + "fixture": "rod", + "color": [ + 0.75, + 0.75, + 0.78 + ], + "friction_static": 0.3, + "friction_dynamic": 0.25, + "pos": [ + 1.9844891648779017, + 3.228607439019779, + 0.48979999999999996 + ], + "yaw_deg": -4.8566108547281175 + }, + "rod_stop": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.1, + 0.012, + 0.12 + ], + "at": { + "station": "B", + "across": 0.0, + "along": 0.07, + "z": 0.06 + }, + "fixture": "rod", + "color": [ + 0.55, + 0.3, + 0.25 + ], + "pos": [ + 1.9906441201161262, + 3.3010464238692054, + 0.38999999999999996 + ], + "yaw_deg": -4.8566108547281175 + } + }, + "planner_seeds": "lean", + "report_jsonl": "/mnt/scratch/xc536_atomic/n033_go2_off_1015/out/report.episodes.jsonl", + "dr_applied": true, + "level": "easy" + }, + "command": { + "StationRing": { + "obj_type": "rigid", + "obj_name": "ring", + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.015, + "withdraw": 0.09, + "settle_ticks": 120 + } + } + }, + "collect": { + "global_planner": { + "NavTo": { + "use_navmesh": true, + "use_absolute": true, + "translation_threshold": 0.2, + "rotation_threshold": 0.15, + "num_path_segments": 30, + "start_forward_offset": 0.0, + "visualize_path": false, + "carry_arm": true + }, + "RetractMoveL": { + "translation_threshold": 0.06, + "rotation_threshold": 0.3, + "motiongen_distance_threshold": 0.05, + "timeout_steps": 2000, + "base_pos_threshold": 0.12, + "base_rot_threshold": 0.5, + "eef_pos_threshold": 0.03, + "eef_rot_threshold": 0.3, + "base_waypoint_max_steps": 20, + "arm_waypoint_max_steps": 8 + }, + "MobileMoveL": { + "translation_threshold": 0.006, + "rotation_threshold": 0.2, + "motiongen_distance_threshold": 0.05, + "timeout_steps": 1500, + "stall_release_ticks": 100, + "stall_release_factor": 5.0, + "reactive": false, + "base_pos_threshold": 0.12, + "base_rot_threshold": 0.5, + "eef_pos_threshold": 0.03, + "eef_rot_threshold": 0.3, + "waypoint_max_steps": 8, + "interp_steps": 60, + "interp_validate_target": true, + "retry_mobile_on_locked_plan_failure": true + }, + "MobileServoL": { + "base_pos_threshold": 0.12, + "waypoint_max_steps": 20, + "translation_threshold": 0.05, + "timeout_steps": 300 + }, + "ParallelGripper": { + "gripper_threshold": 0.0005, + "timeout_steps": 60 + } + }, + "atomic_skill": { + "NavToPose": { + "robot_id": 0, + "show_marker": false + }, + "Move": { + "arm_planner": "MobileMoveL", + "hand_planner": "ParallelGripper", + "obstacle_avoid_paths": [], + "obstacle_ignore_paths": [], + "close_value": 1.0, + "open_value": 0.0, + "hold_steps": 10 + }, + "ReachStance": { + "check_current_first": true, + "stance_margin": 0.03, + "max_reach": 0.85, + "max_walks": 4, + "reject_radius": 0.05, + "obstacle_avoidance": [ + "dynamic" + ], + "walk_planner": "MobileServoL", + "strategy_kwargs": { + "reach_steps": 2 + }, + "debug": false + }, + "Grasp": { + "pre_grasp_offset": 0.1, + "retrieval_offset": 0.03, + "mobile": true, + "pre_grasp_planner": "MobileMoveL", + "pre_grasp_mode": -1, + "grasp_mode": 4, + "retrieval_mode": 4, + "goalset_lock_base": true, + "reactive": false, + "viz_grasp": false + } + }, + "command": { + "StationRing": { + "obj_type": "rigid", + "obj_name": "ring", + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.015, + "withdraw": 0.09, + "settle_ticks": 120 + } + }, + "auto_collect": {}, + "record": { + "output_dir": "/mnt/scratch/xc536_atomic/n033_go2_off_1015/out/rec", + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "json_round": null, + "schema": { + "source": "robot_manager", + "nan_policy": "from_raw" + }, + "lerobot": { + "subsample_every": 2 + } + } + }, + "visual_dr": { + "keep": [ + "ring", + "ring_small" + ] + } + }, + "git_sha": null, + "collect_runtime": { + "max_trajectories": 1 + } +} \ No newline at end of file diff --git a/N033/go2_arm/dr_off/seed_1015/rec/stationring/000/sim_info/0/actions.npz b/N033/go2_arm/dr_off/seed_1015/rec/stationring/000/sim_info/0/actions.npz new file mode 100644 index 0000000000000000000000000000000000000000..7c248508490a14cd2d9d6bc0f45819e55ef0c5e7 --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1015/rec/stationring/000/sim_info/0/actions.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7c1d2155ba745fe98f2044d8ee0568462798cc06c68829771e53e7506e6e4086 +size 643992 diff --git a/N033/go2_arm/dr_off/seed_1015/rec/stationring/000/sim_info/0/device_commands.jsonl b/N033/go2_arm/dr_off/seed_1015/rec/stationring/000/sim_info/0/device_commands.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N033/go2_arm/dr_off/seed_1015/rec/stationring/000/sim_info/0/device_events.jsonl b/N033/go2_arm/dr_off/seed_1015/rec/stationring/000/sim_info/0/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N033/go2_arm/dr_off/seed_1015/rec/stationring/000/sim_info/0/scene_snapshot.json b/N033/go2_arm/dr_off/seed_1015/rec/stationring/000/sim_info/0/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..fdbe921355163560e3a895df8a55c795d9272205 --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1015/rec/stationring/000/sim_info/0/scene_snapshot.json @@ -0,0 +1,669 @@ +{ + "trajectory_id": 0, + "env_id": 0, + "run_id": "stationring/000", + "task_type": "RingCommand", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])", + "avatars": "avatar_manager.set_avatars_state(snapshot['avatars'], env_ids=[env_id]) (present when the scene has animated avatars)" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "table_A": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.2898401225419277, + 0.13799186030913205, + 0.18 + ], + "ori": [ + 0.9993552565574646, + 0.0, + 0.0, + -0.03590438514947891 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.45, + 0.35 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + } + }, + "type_specific": {} + } + ], + "table_B": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 1.9847177533117835, + 3.2312977451971303, + 0.18 + ], + "ori": [ + 0.999101996421814, + 0.0, + 0.0, + -0.042369239032268524 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.45, + 0.35 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + } + }, + "type_specific": {} + } + ], + "rack_back": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.3404288347632084, + 0.13160576637054608, + 0.42999999999999994 + ], + "ori": [ + 0.9993552565574646, + 0.0, + 0.0, + -0.03590438514947891 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.45, + 0.35, + 0.25 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.7, + 0.03, + 0.2 + ] + } + }, + "type_specific": {} + } + ], + "peg_1": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.19835063171985615, + 0.016112111912944066, + 0.47 + ], + "ori": [ + 0.9993552565574646, + 0.0, + 0.0, + -0.03590438514947891 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.35, + 0.35, + 0.35 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.02, + 0.18, + 0.02 + ] + } + }, + "type_specific": {} + } + ], + "peg_2": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.4975771567717671, + 0.03764085329181041, + 0.47 + ], + "ori": [ + 0.9993552565574646, + 0.0, + 0.0, + -0.03590438514947891 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.35, + 0.35, + 0.35 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.02, + 0.18, + 0.02 + ] + } + }, + "type_specific": {} + } + ], + "ring": [ + { + "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MMB_A07/ring_wide/Object.usda", + "pose": { + "pos": [ + -0.5006811022758484, + -0.005496677476912737, + 0.43999987840652466 + ], + "ori": [ + 0.9993553161621094, + -3.2202481179410825e-06, + 3.3917915516212815e-06, + -0.03590232878923416 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.05, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.6129648176720366e-05, + 0.0003669821016956121, + -7.460754659405211e-06 + ], + "angular_velocity": [ + 0.005826540756970644, + 0.00280454708263278, + 0.00033291903673671186 + ] + } + } + ], + "ring_small": [ + { + "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MMB_A07/ring_small/Object.usda", + "pose": { + "pos": [ + -0.20214764773845673, + -0.036737848073244095, + 0.4687865376472473 + ], + "ori": [ + 0.9993417263031006, + 0.0002731081622187048, + -0.0017584164161235094, + -0.036233365535736084 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.05, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -0.00045123379095457494, + -5.5441909353248775e-05, + 0.000180278584593907 + ], + "angular_velocity": [ + 0.00340250413864851, + -0.03624146059155464, + -0.0004597676743287593 + ] + } + } + ], + "rod_h": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 1.97371164353229, + 3.1017644848061336, + 0.53 + ], + "ori": [ + 0.999101996421814, + 0.0, + 0.0, + -0.042369239032268524 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.75, + 0.75, + 0.78 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 0.3, + "dynamic_friction": 0.25, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.02, + 0.14, + 0.02 + ] + } + }, + "type_specific": {} + } + ], + "rod_s": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 1.9844891648779017, + 3.228607439019779, + 0.48979999999999996 + ], + "ori": [ + 0.9528605341911316, + -0.30043578147888184, + 0.01274067535996437, + -0.040408261120319366 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.75, + 0.75, + 0.78 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 0.3, + "dynamic_friction": 0.25, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.02, + 0.14, + 0.02 + ] + } + }, + "type_specific": {} + } + ], + "rod_stop": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 1.9906441201161262, + 3.3010464238692054, + 0.38999999999999996 + ], + "ori": [ + 0.999101996421814, + 0.0, + 0.0, + -0.042369239032268524 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.3, + 0.25 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.1, + 0.012, + 0.12 + ] + } + }, + "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": { + "Go2Plus": { + "root_pose": [ + [ + -3.4503936767578125, + -2.130181312561035, + 0.3519454598426819, + 0.9112328886985779, + 0.006098655983805656, + -0.004210654646158218, + 0.4118250012397766 + ] + ], + "root_vel": [ + [ + -0.0006794711225666106, + -0.0009150233818218112, + -0.0007692264043726027, + -0.008609228767454624, + 0.008544255048036575, + 0.0006533497362397611 + ] + ], + "joint_pos": [ + [ + 0.04228077456355095, + -0.03632192686200142, + -0.07567361742258072, + 0.07983040809631348, + -0.00010595066123642027, + 0.6493306159973145, + 0.7321149110794067, + 1.018481731414795, + 1.0106282234191895, + 1.7056591510772705, + -1.5217339992523193, + -1.5531586408615112, + -1.5946991443634033, + -1.617087721824646, + -0.9956299662590027, + 4.274139428162016e-05, + 0.699491560459137, + -5.451772449305281e-05, + 0.03500000014901161, + -0.03499807044863701 + ] + ], + "joint_vel": [ + [ + -0.000771823339164257, + -0.0011236194986850023, + 0.0006257916102185845, + -0.0006521388422697783, + 0.0004925938555970788, + -0.007669472601264715, + -0.006117899436503649, + -0.02363572083413601, + -0.02262226864695549, + -0.03685728460550308, + -0.019336819648742676, + -0.020495302975177765, + 0.009252495132386684, + 0.00831319484859705, + -0.026735395193099976, + -0.0005007561994716525, + 0.011379629373550415, + 0.0005363481468521059, + 1.7615386127545207e-07, + -9.651448635850102e-07 + ] + ] + } + }, + "cameras": { + "cameras": { + "head": [ + [ + 0.33205100893974304, + 0.038026999682188034, + 0.09355899691581726, + -0.5022302269935608, + -0.499491810798645, + 0.5120040774345398, + 0.4859265089035034 + ] + ], + "wrist": [ + [ + -0.0749870017170906, + 0.005288999993354082, + 0.04582099989056587, + 0.1271296590566635, + 0.701795220375061, + -0.6904057860374451, + -0.12108422070741653 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/N033/go2_arm/dr_off/seed_1015/rec/stationring/000/sim_info/0/sim_states.npz b/N033/go2_arm/dr_off/seed_1015/rec/stationring/000/sim_info/0/sim_states.npz new file mode 100644 index 0000000000000000000000000000000000000000..5a4a8a657ed606a16a1bf076b21f302450a41604 --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1015/rec/stationring/000/sim_info/0/sim_states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0ba43806c20d59dcd3441239da3b7d5e68f1a6216ca362f6d0db5d8493715558 +size 661714 diff --git a/N033/go2_arm/dr_off/seed_1015/rec/stationring/000/sim_info/magicsim_manifest.json b/N033/go2_arm/dr_off/seed_1015/rec/stationring/000/sim_info/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..91e3acf793eb6ee8f55680fdf27d02cc9e934afc --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1015/rec/stationring/000/sim_info/magicsim_manifest.json @@ -0,0 +1,259 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 03:02:42" + }, + "embodiment": { + "robots": [ + { + "name": "Go2Plus", + "cfg": "Go2PlusCfg", + "type": "mobilemanip", + "joint_names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 12, + "nan_policy": "from_raw", + "segments": [ + { + "name": "Go2Plus.base_action", + "start": 0, + "end": 4, + "names": [ + "base_action_0", + "base_action_1", + "base_action_2", + "base_action_3" + ], + "source": "Go2UnifiedLocomotionAction", + "names_source": "fallback" + }, + { + "name": "Go2Plus.arm_action", + "start": 4, + "end": 11, + "names": [ + "eef0.pos_x", + "eef0.pos_y", + "eef0.pos_z", + "eef0.quat_w", + "eef0.quat_x", + "eef0.quat_y", + "eef0.quat_z" + ], + "source": "Go2PlusCuroboIKAction", + "names_source": "pose_layout" + }, + { + "name": "Go2Plus.eef_action", + "start": 11, + "end": 12, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 26, + "segments": [ + { + "name": "Go2Plus.joint_pos", + "start": 0, + "end": 24, + "names": [ + "joint_0", + "joint_1", + "joint_2", + "joint_3", + "joint_4", + "joint_5", + "joint_6", + "joint_7", + "joint_8", + "joint_9", + "joint_10", + "joint_11", + "joint_12", + "joint_13", + "joint_14", + "joint_15", + "joint_16", + "joint_17", + "joint_18", + "joint_19", + "joint_20", + "joint_21", + "joint_22", + "joint_23" + ], + "source": "ObservationManager", + "names_source": "fallback_dim_mismatch(joint_names=20,obs=24)" + }, + { + "name": "Go2Plus.gripper_pos", + "start": 24, + "end": 26, + "names": [ + "gripper_0", + "gripper_1" + ], + "source": "ObservationManager", + "names_source": "generated" + } + ] + }, + "joint_vel_layout": { + "dim": 20, + "segments": [ + { + "name": "Go2Plus.joint_vel", + "start": 0, + "end": 20, + "names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "action_levels": { + "L0": "task command list (collect.auto_collect_info.current_action)", + "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)", + "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)", + "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy", + "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)" + }, + "cameras": { + "head": { + "intrinsics": { + "K": [ + [ + 607.7061061683956, + 0.0, + 320.0 + ], + [ + 0.0, + 607.3754374751866, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 55.53991912549515, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.33205100893974304, + 0.038026999682188034, + 0.09355899691581726 + ], + "quat": [ + -0.5022302269935608, + -0.499491810798645, + 0.5120040774345398, + 0.4859265089035034 + ] + }, + "wrist": { + "intrinsics": { + "K": [ + [ + 617.2500342478374, + 0.0, + 320.0 + ], + [ + 0.0, + 617.548655622722, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 54.807019583348044, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + -0.0749870017170906, + 0.005288999993354082, + 0.04582099989056587 + ], + "quat": [ + 0.1271296590566635, + 0.701795220375061, + -0.6904057860374451, + -0.12108422070741653 + ] + } + }, + "generated_run": { + "run_id": "stationring/000", + "task_type": "RingCommand" + } +} \ No newline at end of file diff --git a/N033/go2_arm/dr_off/seed_1015/report.episodes.jsonl b/N033/go2_arm/dr_off/seed_1015/report.episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6fdf6173903ac33d8378e75b217367356f5ecb3e --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1015/report.episodes.jsonl @@ -0,0 +1 @@ +{"task_id": "N033", "task_version": "EXT60-MobileAvatar-v3", "instruction": "pick up the large ring (not the small one)", "agent_id": "a07", "family_id": "ring_on_bent_rod", "primary_category": "C2", "level": "easy", "embodiment": "go2_arm", "scene_seed": 1015, "execution_mode": "expert_privileged_command", "station_layout": {"A": {"center": [-0.2898401225419277, 0.13799186030913205], "facing": 1.499, "stand": [-0.358, -0.81, 1.499]}, "B": {"center": [1.9847177533117835, 3.2312977451971303], "facing": 1.486, "stand": [1.904, 2.285, 1.486]}}, "spawn_pose": [-3.444, -2.123, 0.844], "base_path": [[-3.444, -2.124, 0.845], [-3.447, -2.126, 0.852], [-3.449, -2.128, 0.85], [-3.45, -2.13, 0.849], [-3.45, -2.13, 0.849], [-3.388, -2.091, 0.778], [-3.269, -2.022, 0.52], [-3.115, -1.96, 0.413], [-2.957, -1.896, 0.415], [-2.8, -1.824, 0.428], [-2.645, -1.748, 0.434], [-2.489, -1.674, 0.437], [-2.334, -1.6, 0.436], [-2.179, -1.527, 0.433], [-2.024, -1.453, 0.435], [-1.87, -1.379, 0.437], [-1.715, -1.305, 0.437], [-1.559, -1.232, 0.438], [-1.404, -1.156, 0.436], [-1.249, -1.083, 0.432], [-1.095, -1.01, 0.432], [-0.939, -0.935, 0.437], [-0.791, -0.867, 0.438], [-0.691, -0.815, 0.459], [-0.666, -0.793, 0.759], [-0.663, -0.794, 1.158], [-0.662, -0.798, 1.549], [-0.663, -0.8, 1.851], [-0.657, -0.807, 1.728], [-0.65, -0.808, 1.586], [-0.647, -0.747, 1.453], [-0.631, -0.64, 1.399], [-0.609, -0.533, 1.391], [-0.609, -0.502, 1.39], [-0.611, -0.511, 1.39], [-0.612, -0.516, 1.389], [-0.612, -0.518, 1.389], [-0.611, -0.51, 1.388], [-0.612, -0.502, 1.387], [-0.611, -0.496, 1.386], [-0.611, -0.496, 1.386], [-0.611, -0.497, 1.385], [-0.612, -0.496, 1.385], [-0.612, -0.495, 1.385], [-0.612, -0.499, 1.385], [-0.613, -0.501, 1.384], [-0.613, -0.498, 1.384], [-0.612, -0.496, 1.384], [-0.612, -0.494, 1.384], [-0.612, -0.492, 1.384], [-0.612, -0.492, 1.384], [-0.614, -0.494, 1.311], [-0.616, -0.501, 0.957], [-0.622, -0.499, 0.541], [-0.609, -0.492, 0.128], [-0.485, -0.492, -0.047], [-0.319, -0.501, -0.049], [-0.147, -0.501, -0.028], [0.021, -0.497, -0.019], [0.148, -0.493, -0.017], [0.225, -0.484, -0.011], [0.289, -0.43, 0.094], [0.305, -0.424, 0.472], [0.314, -0.419, 0.869], [0.383, -0.324, 1.094], [0.462, -0.181, 1.101], [0.547, -0.031, 1.086], [0.629, 0.119, 1.09], [0.711, 0.271, 1.091], [0.79, 0.424, 1.094], [0.868, 0.577, 1.094], [0.945, 0.73, 1.09], [1.022, 0.883, 1.087], [1.1, 1.037, 1.093], [1.178, 1.191, 1.093], [1.256, 1.345, 1.094], [1.335, 1.498, 1.092], [1.412, 1.651, 1.09], [1.49, 1.804, 1.087], [1.568, 1.959, 1.089], [1.645, 2.112, 1.093], [1.725, 2.264, 1.091], [1.792, 2.387, 1.096], [1.818, 2.446, 1.2], [1.818, 2.452, 1.489], [1.814, 2.449, 1.527], [1.814, 2.447, 1.51], [1.815, 2.45, 1.498], [1.815, 2.454, 1.492], [1.814, 2.455, 1.488], [1.814, 2.454, 1.489], [1.814, 2.456, 1.488], [1.814, 2.455, 1.488], [1.815, 2.484, 1.487], [1.826, 2.587, 1.48], [1.83, 2.632, 1.483], [1.825, 2.617, 1.479], [1.823, 2.592, 1.473], [1.824, 2.599, 1.473], [1.822, 2.587, 1.472], [1.826, 2.616, 1.477], [1.837, 2.655, 1.48], [1.835, 2.648, 1.482], [1.834, 2.649, 1.481], [1.834, 2.647, 1.481], [1.834, 2.646, 1.481], [1.834, 2.645, 1.481], [1.834, 2.645, 1.481], [1.834, 2.645, 1.481], [1.834, 2.645, 1.481], [1.834, 2.645, 1.481], [1.834, 2.645, 1.481], [1.834, 2.645, 1.481], [1.835, 2.645, 1.476], [1.836, 2.649, 1.477], [1.836, 2.648, 1.478]], "stage_events": [{"tick": 493, "event": "enter_station", "station": "A", "xy": [-1.144, -1.033]}, {"tick": 1791, "event": "leave_station", "station": "A", "xy": [0.992, 0.823]}, {"tick": 1960, "event": "enter_station", "station": "B", "xy": [1.518, 1.86]}], "transport_state": {"ring": {"entered": true, "entry_s": 0.0, "max_s": 0.27139708500072146, "was_threaded": true, "lost": 0, "held": false, "grasps": 2}}, "manipulation_success": true, "mobile_success": true, "full_success": true, "failure_reason": null, "fail_class_hint": null, "distance_to_first_interaction": 2.567, "interstation_path_lengths": [4.525], "station_transition_order": ["A", "B"], "final_approach_pose": [1.836, 2.648, 1.478], "regrasp_events": 1, "control_ticks": 2288, "wall_s": 581.6, "phase": "done", "state": "success: task sequence complete", "check": {"ring": {"held": false, "dist_wrist": 0.375, "s": 0.271, "rod_dist": 0.029, "axis_deg": 2.4, "threaded": true, "entered_via_open_end": true, "entry_s": 0.0, "max_s": 0.271, "lost_count": 0, "at_rest": true}, "decoy": {"ring_small": {"lift": 0.0, "max_lift_near_wrist": 0.0, "dist_wrist": 3.699}}, "rod_length": 0.28, "released": true, "other_rings_on_rod": [], "manipulation_success": true}, "route": ["A", "B"], "total_path_m": 8.13, "planner_seeds": "lean"} diff --git a/N033/go2_arm/dr_off/seed_1015/report.json b/N033/go2_arm/dr_off/seed_1015/report.json new file mode 100644 index 0000000000000000000000000000000000000000..4a35a69233ccc4ce26dab15fb14f060da7693f5b --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1015/report.json @@ -0,0 +1,816 @@ +{ + "task_id": "N033", + "level": "easy", + "seed": 1015, + "episodes_requested": 1, + "episodes": [ + { + "task_id": "N033", + "task_version": "EXT60-MobileAvatar-v3", + "instruction": "pick up the large ring (not the small one)", + "agent_id": "a07", + "family_id": "ring_on_bent_rod", + "primary_category": "C2", + "level": "easy", + "embodiment": "go2_arm", + "scene_seed": 1015, + "execution_mode": "expert_privileged_command", + "station_layout": { + "A": { + "center": [ + -0.2898401225419277, + 0.13799186030913205 + ], + "facing": 1.499, + "stand": [ + -0.358, + -0.81, + 1.499 + ] + }, + "B": { + "center": [ + 1.9847177533117835, + 3.2312977451971303 + ], + "facing": 1.486, + "stand": [ + 1.904, + 2.285, + 1.486 + ] + } + }, + "spawn_pose": [ + -3.444, + -2.123, + 0.844 + ], + "base_path": [ + [ + -3.444, + -2.124, + 0.845 + ], + [ + -3.447, + -2.126, + 0.852 + ], + [ + -3.449, + -2.128, + 0.85 + ], + [ + -3.45, + -2.13, + 0.849 + ], + [ + -3.45, + -2.13, + 0.849 + ], + [ + -3.388, + -2.091, + 0.778 + ], + [ + -3.269, + -2.022, + 0.52 + ], + [ + -3.115, + -1.96, + 0.413 + ], + [ + -2.957, + -1.896, + 0.415 + ], + [ + -2.8, + -1.824, + 0.428 + ], + [ + -2.645, + -1.748, + 0.434 + ], + [ + -2.489, + -1.674, + 0.437 + ], + [ + -2.334, + -1.6, + 0.436 + ], + [ + -2.179, + -1.527, + 0.433 + ], + [ + -2.024, + -1.453, + 0.435 + ], + [ + -1.87, + -1.379, + 0.437 + ], + [ + -1.715, + -1.305, + 0.437 + ], + [ + -1.559, + -1.232, + 0.438 + ], + [ + -1.404, + -1.156, + 0.436 + ], + [ + -1.249, + -1.083, + 0.432 + ], + [ + -1.095, + -1.01, + 0.432 + ], + [ + -0.939, + -0.935, + 0.437 + ], + [ + -0.791, + -0.867, + 0.438 + ], + [ + -0.691, + -0.815, + 0.459 + ], + [ + -0.666, + -0.793, + 0.759 + ], + [ + -0.663, + -0.794, + 1.158 + ], + [ + -0.662, + -0.798, + 1.549 + ], + [ + -0.663, + -0.8, + 1.851 + ], + [ + -0.657, + -0.807, + 1.728 + ], + [ + -0.65, + -0.808, + 1.586 + ], + [ + -0.647, + -0.747, + 1.453 + ], + [ + -0.631, + -0.64, + 1.399 + ], + [ + -0.609, + -0.533, + 1.391 + ], + [ + -0.609, + -0.502, + 1.39 + ], + [ + -0.611, + -0.511, + 1.39 + ], + [ + -0.612, + -0.516, + 1.389 + ], + [ + -0.612, + -0.518, + 1.389 + ], + [ + -0.611, + -0.51, + 1.388 + ], + [ + -0.612, + -0.502, + 1.387 + ], + [ + -0.611, + -0.496, + 1.386 + ], + [ + -0.611, + -0.496, + 1.386 + ], + [ + -0.611, + -0.497, + 1.385 + ], + [ + -0.612, + -0.496, + 1.385 + ], + [ + -0.612, + -0.495, + 1.385 + ], + [ + -0.612, + -0.499, + 1.385 + ], + [ + -0.613, + -0.501, + 1.384 + ], + [ + -0.613, + -0.498, + 1.384 + ], + [ + -0.612, + -0.496, + 1.384 + ], + [ + -0.612, + -0.494, + 1.384 + ], + [ + -0.612, + -0.492, + 1.384 + ], + [ + -0.612, + -0.492, + 1.384 + ], + [ + -0.614, + -0.494, + 1.311 + ], + [ + -0.616, + -0.501, + 0.957 + ], + [ + -0.622, + -0.499, + 0.541 + ], + [ + -0.609, + -0.492, + 0.128 + ], + [ + -0.485, + -0.492, + -0.047 + ], + [ + -0.319, + -0.501, + -0.049 + ], + [ + -0.147, + -0.501, + -0.028 + ], + [ + 0.021, + -0.497, + -0.019 + ], + [ + 0.148, + -0.493, + -0.017 + ], + [ + 0.225, + -0.484, + -0.011 + ], + [ + 0.289, + -0.43, + 0.094 + ], + [ + 0.305, + -0.424, + 0.472 + ], + [ + 0.314, + -0.419, + 0.869 + ], + [ + 0.383, + -0.324, + 1.094 + ], + [ + 0.462, + -0.181, + 1.101 + ], + [ + 0.547, + -0.031, + 1.086 + ], + [ + 0.629, + 0.119, + 1.09 + ], + [ + 0.711, + 0.271, + 1.091 + ], + [ + 0.79, + 0.424, + 1.094 + ], + [ + 0.868, + 0.577, + 1.094 + ], + [ + 0.945, + 0.73, + 1.09 + ], + [ + 1.022, + 0.883, + 1.087 + ], + [ + 1.1, + 1.037, + 1.093 + ], + [ + 1.178, + 1.191, + 1.093 + ], + [ + 1.256, + 1.345, + 1.094 + ], + [ + 1.335, + 1.498, + 1.092 + ], + [ + 1.412, + 1.651, + 1.09 + ], + [ + 1.49, + 1.804, + 1.087 + ], + [ + 1.568, + 1.959, + 1.089 + ], + [ + 1.645, + 2.112, + 1.093 + ], + [ + 1.725, + 2.264, + 1.091 + ], + [ + 1.792, + 2.387, + 1.096 + ], + [ + 1.818, + 2.446, + 1.2 + ], + [ + 1.818, + 2.452, + 1.489 + ], + [ + 1.814, + 2.449, + 1.527 + ], + [ + 1.814, + 2.447, + 1.51 + ], + [ + 1.815, + 2.45, + 1.498 + ], + [ + 1.815, + 2.454, + 1.492 + ], + [ + 1.814, + 2.455, + 1.488 + ], + [ + 1.814, + 2.454, + 1.489 + ], + [ + 1.814, + 2.456, + 1.488 + ], + [ + 1.814, + 2.455, + 1.488 + ], + [ + 1.815, + 2.484, + 1.487 + ], + [ + 1.826, + 2.587, + 1.48 + ], + [ + 1.83, + 2.632, + 1.483 + ], + [ + 1.825, + 2.617, + 1.479 + ], + [ + 1.823, + 2.592, + 1.473 + ], + [ + 1.824, + 2.599, + 1.473 + ], + [ + 1.822, + 2.587, + 1.472 + ], + [ + 1.826, + 2.616, + 1.477 + ], + [ + 1.837, + 2.655, + 1.48 + ], + [ + 1.835, + 2.648, + 1.482 + ], + [ + 1.834, + 2.649, + 1.481 + ], + [ + 1.834, + 2.647, + 1.481 + ], + [ + 1.834, + 2.646, + 1.481 + ], + [ + 1.834, + 2.645, + 1.481 + ], + [ + 1.834, + 2.645, + 1.481 + ], + [ + 1.834, + 2.645, + 1.481 + ], + [ + 1.834, + 2.645, + 1.481 + ], + [ + 1.834, + 2.645, + 1.481 + ], + [ + 1.834, + 2.645, + 1.481 + ], + [ + 1.834, + 2.645, + 1.481 + ], + [ + 1.835, + 2.645, + 1.476 + ], + [ + 1.836, + 2.649, + 1.477 + ], + [ + 1.836, + 2.648, + 1.478 + ] + ], + "stage_events": [ + { + "tick": 493, + "event": "enter_station", + "station": "A", + "xy": [ + -1.144, + -1.033 + ] + }, + { + "tick": 1791, + "event": "leave_station", + "station": "A", + "xy": [ + 0.992, + 0.823 + ] + }, + { + "tick": 1960, + "event": "enter_station", + "station": "B", + "xy": [ + 1.518, + 1.86 + ] + } + ], + "transport_state": { + "ring": { + "entered": true, + "entry_s": 0.0, + "max_s": 0.27139708500072146, + "was_threaded": true, + "lost": 0, + "held": false, + "grasps": 2 + } + }, + "manipulation_success": true, + "mobile_success": true, + "full_success": true, + "failure_reason": null, + "fail_class_hint": null, + "distance_to_first_interaction": 2.567, + "interstation_path_lengths": [ + 4.525 + ], + "station_transition_order": [ + "A", + "B" + ], + "final_approach_pose": [ + 1.836, + 2.648, + 1.478 + ], + "regrasp_events": 1, + "control_ticks": 2288, + "wall_s": 581.6, + "phase": "done", + "state": "success: task sequence complete", + "check": { + "ring": { + "held": false, + "dist_wrist": 0.375, + "s": 0.271, + "rod_dist": 0.029, + "axis_deg": 2.4, + "threaded": true, + "entered_via_open_end": true, + "entry_s": 0.0, + "max_s": 0.271, + "lost_count": 0, + "at_rest": true + }, + "decoy": { + "ring_small": { + "lift": 0.0, + "max_lift_near_wrist": 0.0, + "dist_wrist": 3.699 + } + }, + "rod_length": 0.28, + "released": true, + "other_rings_on_rod": [], + "manipulation_success": true + }, + "route": [ + "A", + "B" + ], + "total_path_m": 8.13, + "planner_seeds": "lean" + } + ], + "error": null, + "collect": { + "task": "N033", + "robot": "go2_arm", + "visual_dr": false, + "env": { + "MMB_COLLECT": "1", + "MMB_TASK_ID": "N033", + "MMB_CLEAN_VIEW": "1", + "MMB_REAL_ROBOT_LOOK": "1", + "MMB_VISUAL_DR": "0" + }, + "cameras": { + "head": { + "link": "Robot_0/Bodies/go2_base", + "pos": [ + 0.332051, + 0.038027, + 0.093559 + ], + "ori": [ + 169.9473, + -88.6452, + 81.5985 + ], + "focal_length": 1.8231182098388672, + "horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.4407838582992554 + }, + "wrist": { + "link": "Robot_0/Bodies/piper_link6", + "pos": [ + -0.074987, + 0.005289, + 0.045821 + ], + "ori": [ + 179.3135, + -20.212, + 88.9402 + ], + "focal_length": 1.8517500162124634, + "horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.4393036365509033 + } + }, + "resolution": [ + 640, + 480 + ], + "camera_hz": 25, + "record": { + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + } + }, + "review_cameras": [], + "policy_obs_signature": [ + "/camera_info[0]/rgb[0]:(480, 640, 4):uint8", + "/camera_info[1]/rgb[0]:(480, 640, 4):uint8", + "/robot_state[0]/Go2Plus/base_ang_vel:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/base_lin_vel:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/base_pos:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/base_quat:(1, 4):torch.float32", + "/robot_state[0]/Go2Plus/eef_pos:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/eef_quat:(1, 4):torch.float32", + "/robot_state[0]/Go2Plus/eef_relative_pos:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/eef_relative_quat:(1, 4):torch.float32", + "/robot_state[0]/Go2Plus/finger_joint_pos:(1, 2):torch.float32", + "/robot_state[0]/Go2Plus/gripper_pos:(1, 2):torch.float32", + "/robot_state[0]/Go2Plus/joint_effort:(1, 20):torch.float32", + "/robot_state[0]/Go2Plus/joint_pos:(1, 24):torch.float32", + "/robot_state[0]/Go2Plus/joint_vel:(1, 20):torch.float32" + ], + "n_success": 1, + "elapsed_s": 846.7, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 25.0 + } +} diff --git a/N033/go2_arm/dr_off/seed_1016/check.json b/N033/go2_arm/dr_off/seed_1016/check.json new file mode 100644 index 0000000000000000000000000000000000000000..9405201c5da603074c6c7606ecab4ed85dda6f06 --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1016/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.'; expected 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "1327 rows vs ceil(2653/2) = 1327" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..2753, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "10.23 MB, 1327 frames at 25 fps, mean luma 108..143, std 17, new picture 1326x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1327 vs 1327" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "23.27 MB, 1327 frames at 25 fps, mean luma 106..171, std 29, new picture 1326x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1327 vs 1327" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationring/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N033/go2_arm/dr_off/seed_1016/check.txt b/N033/go2_arm/dr_off/seed_1016/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..2cf0f5e0942e32b301d8cb904d32f2e07dc92a0d --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1016/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n033_go2_off_1016/out task=N033 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n033_go2_off_1016/out/rec/stationring/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1327 videos 2 robot_type Go2PlusCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 1327 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5'] +[PASS] action shape: parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y'] +[PASS] task text = MobileBench instruction: task_index 0: 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.'; expected 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.' +rows 1327 at dataset fps 25 = 53.08 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1327 rows vs ceil(2653/2) = 1327 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..2753, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 10.23 MB, 1327 frames at 25 fps, mean luma 108..143, std 17, new picture 1326x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1327 vs 1327 +[PASS] video observation.images.wrist decodes, 640x480, not black: 23.27 MB, 1327 frames at 25 fps, mean luma 106..171, std 29, new picture 1326x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1327 vs 1327 +parquet size 3.87 MB +[PASS] sim_info present: rec/stationring/000/sim_info +dataset size 37.64 MB; whole cell dir 39.0 MB +RESULT: ALL PASS diff --git a/N033/go2_arm/dr_off/seed_1016/rec/stationring/000/completed/0.json b/N033/go2_arm/dr_off/seed_1016/rec/stationring/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..c24e4e92ce410caf19b3ef731d95205d50917856 --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1016/rec/stationring/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationring/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N033/go2_arm/dr_off/seed_1016/rec/stationring/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N033/go2_arm/dr_off/seed_1016/rec/stationring/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..d5cb976c6e9dd179ea44dbec2db847fb493a1ca3 --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1016/rec/stationring/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:684065d78de30194f713ea3c9e92a1511e1658d7f5b932f8fb7c8c59aea9a4f0 +size 3870868 diff --git a/N033/go2_arm/dr_off/seed_1016/rec/stationring/000/lerobot_v21/meta/episodes.jsonl b/N033/go2_arm/dr_off/seed_1016/rec/stationring/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b48f73a7c3438cc48fc81892c392f1136b6f297c --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1016/rec/stationring/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end."], "length": 1327, "magicsim/control_steps": 2653, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the brown rod stop. There are a large gray table A, a large gray table B, a medium brown rack back, a small gray peg 1, a small gray peg 2, a small ring, a small ring small, a small white rod h, a small white rod s and a small brown rod stop. The gray table B is to the right of the brown rod stop. The brown rack back is in front of the gray peg 2. The white rod h is to the right of the white rod s. The white rod s is on top of the brown rod stop. The white rod s is to the right of the brown rod stop. The brown rod stop is to the left of the white rod s. The scene is viewed from front, at table height."} diff --git a/N033/go2_arm/dr_off/seed_1016/rec/stationring/000/lerobot_v21/meta/episodes_stats.jsonl b/N033/go2_arm/dr_off/seed_1016/rec/stationring/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..58ab0c5daa98d28d201eb31023d7d530d3434dc6 --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1016/rec/stationring/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.14732518055937346, 0.0029397711555032057, 0.025006459622005928, 0.35342209859728, 0.5258412620202886, 0.7956160738693653, 0.6910611920637032, 0.16988110144783342, -0.502710915057616, 0.8026571946657952, 0.11493501604830154, 0.4875659382064808], "std": [0.16463093734014292, 0.029512979574559096, 0.2444995447360554, 0.01685363442934535, 1.2676055032167965, 1.7682901349119302, 0.03863647274920172, 0.0474508603438658, 0.20868109156476575, 0.10669550405752486, 0.06140036005015933, 0.49984537019693476], "min": [0.0, -0.06231524050235748, -0.800000011920929, 0.33000001311302185, -2.884603977203369, -1.833670973777771, 0.6215142011642456, 0.08131252229213715, -0.6838259100914001, 0.6822124719619751, 0.014943737536668777, 0.0], "max": [0.3499999940395355, 0.25, 0.800000011920929, 0.3792630136013031, 1.8608700037002563, 3.1890525817871094, 0.7914299964904785, 0.2615866959095001, -0.08257126808166504, 0.9821720123291016, 0.18713568150997162, 1.0], "count": [1327]}, "action_is_hold": {"mean": [0.18010550113036924, 0.18010550113036924, 0.18010550113036924, 0.18010550113036924, 0.22381311228334588, 0.22381311228334588, 0.22381311228334588, 0.22381311228334588, 0.22381311228334588, 0.22381311228334588, 0.22381311228334588, 0.9510173323285607], "std": [0.3842753044276292, 0.3842753044276292, 0.3842753044276292, 0.3842753044276292, 0.4167982762121113, 0.4167982762121113, 0.4167982762121113, 0.4167982762121113, 0.4167982762121113, 0.4167982762121113, 0.4167982762121113, 0.2158318001111724], "min": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], "count": [1327]}, "observation.state": {"mean": [-0.030934629126047986, 0.014804845066117137, -0.051698781243559026, 0.0882653711590363, -0.11040108895086712, 0.640168080495189, 0.6619971999793279, 0.8169364621968043, 0.795123747352738, 1.7645696570483382, -1.3940658211797903, -1.3898229580133952, -1.3957805648816648, -1.4309610580266106, -1.137586831732091, 0.14131624064061613, 0.6186943971850231, -0.2429888260445966, 0.025018110360385964, -0.02530496292442263, 0.34841447211198434, 0.47030050485986535, 1.0938397630790884, 0.38138241168692677, -0.02530496292442263, -0.025018110360385964], "std": [0.02644552988953429, 0.03139374661841059, 0.03680127472385778, 0.03256440520326804, 0.07877616308660582, 0.10326671605295186, 0.08787018438802874, 0.08599151194382063, 0.09795576248380716, 0.2472289403737232, 0.10007471717489277, 0.09648915826311281, 0.11454755989791407, 0.10669226440399526, 0.4288105301828699, 0.11980571202724064, 0.19691516587387986, 0.1957476989438169, 0.010209592686014696, 0.009916136681127492, 1.323150098921457, 1.6645227276085393, 0.4856706478008266, 0.013480210779195789, 0.009916136681127492, 0.010209592686014696], "min": [-0.16801539063453674, -0.0991235002875328, -0.14415553212165833, -0.0522259958088398, -0.33637088537216187, 0.4470718204975128, 0.4432220458984375, 0.5870674252510071, 0.6227120161056519, 1.508397102355957, -1.5475332736968994, -1.5996445417404175, -1.5944993495941162, -1.6525585651397705, -2.360671281814575, -0.002439438132569194, 0.35944148898124695, -0.526505172252655, 0.0144652733579278, -0.03500000014901161, -3.1999762058258057, -2.033966064453125, 0.09568548947572708, 0.3519573211669922, -0.03500000014901161, -0.03500000014901161], "max": [0.11254686862230301, 0.1467733234167099, 0.16014735400676727, 0.18895941972732544, 0.0010267379693686962, 0.8377453684806824, 0.9140487313270569, 1.0268498659133911, 1.0109533071517944, 2.456897497177124, -1.2221367359161377, -1.1796436309814453, -1.1634448766708374, -1.1243138313293457, -0.756980836391449, 0.3216278851032257, 1.0448169708251953, 0.00018756024655885994, 0.03500000014901161, -0.014773150905966759, 1.7232142686843872, 2.664170980453491, 1.6490530967712402, 0.40471068024635315, -0.014773150905966759, -0.0144652733579278], "count": [1327]}, "observation.joint_vel": {"mean": [-0.0038823367564469794, 0.0027292650178665336, 0.0022987324942059773, -0.0025405097655795844, 0.0004004941641744514, -0.004683558801993313, -0.006004202268336838, -0.0048096148352481365, -0.005977677637692306, -0.004217937429508892, 0.00044395800265581816, 0.00994772204342278, 0.0052732730659519325, 0.0001801394069239307, -0.002772004061166719, -0.003291040601435375, 0.009047138889895757, 0.008147561797165996, 0.001040230117369156, -0.00026890846723698635], "std": [0.4179073106774828, 0.37929890003221967, 0.4652619016051185, 0.5204486117459057, 0.06767495607641237, 1.135719601589445, 1.1323451053334757, 0.8780621786088797, 0.7317792840732285, 0.1830390089531987, 0.6589909185005192, 1.0586961326110877, 1.0306934670855563, 1.10028558568451, 0.29049339030351734, 0.05207529352133174, 0.12137651667800677, 0.07650047822450003, 0.01026987931259445, 0.010130671208023969], "min": [-2.304323434829712, -3.622119188308716, -3.290942668914795, -2.4897677898406982, -0.7105566263198853, -4.849489688873291, -4.864991188049316, -3.8876307010650635, -3.3207623958587646, -1.019720196723938, -3.206754684448242, -5.869719505310059, -3.8416194915771484, -5.607366561889648, -2.4145102500915527, -0.3746822476387024, -0.7146247625350952, -0.3999471664428711, -0.20007523894309998, -0.20003706216812134], "max": [2.960714817047119, 2.604438543319702, 5.043395042419434, 2.644503355026245, 0.33580803871154785, 1.4633678197860718, 2.278306007385254, 3.078244924545288, 4.0411906242370605, 1.3433314561843872, 3.601088762283325, 5.08962869644165, 3.6082916259765625, 3.2460784912109375, 1.5015572309494019, 0.34427565336227417, 1.0531610250473022, 0.4813157021999359, 0.20001095533370972, 0.20025703310966492], "count": [1327]}, "observation.eef_pose": {"mean": [0.5250742133912443, 0.7957305417921795, 0.6903429306263122, 0.1695476316404055, -0.5038955098785848, 0.8017028586345233, 0.11538033595009684], "std": [1.266975551229216, 1.7683064188713946, 0.03885525595071263, 0.04723931639644202, 0.20924074678439566, 0.10715937782916612, 0.061696638599072186], "min": [-2.884603977203369, -1.8336838483810425, 0.6202079653739929, 0.07742440700531006, -0.6921948194503784, 0.6821390390396118, 0.015104949474334717], "max": [1.866413950920105, 3.192505121231079, 0.7911718487739563, 0.2613900303840637, -0.08322705328464508, 0.9821945428848267, 0.185028076171875], "count": [1327]}, "observation.environment_state": {"mean": [-0.1562941074371338, -0.08034676313400269, 0.4699999988079071, 1.0, 0.0, 0.0, 0.0, -0.45629408955574036, -0.0802416056394577, 0.4699999988079071, 1.0, 0.0, 0.0, 0.0, -0.30625730752944946, 0.024705808609724045, 0.4300000071525574, 1.0, 0.0, 0.0, 0.0, 0.7645311362417829, 1.143004180459599, 0.4601149452792673, 0.9781256947377255, -0.044286217517287625, 0.002222785424301798, -0.08987899592536906, -0.4563024605497347, -0.13554219419828645, 0.46878641890958456, 0.9999947421696281, -0.00038008303815318577, 0.003211403988124894, -0.0003018487190145904, 1.8561670780181885, 3.1589457988739014, 0.5299999713897705, 0.9978959560394287, 0.0, 0.0, -0.06483564525842667, 1.8726394176483154, 3.2851755619049072, 0.48980000615119934, 0.9517102837562561, -0.30007314682006836, 0.019496414810419083, -0.061834730207920074, 1.8820466995239258, 3.357264280319214, 0.38999998569488525, 0.9978959560394287, 0.0, 0.0, -0.06483564525842667, -0.25625380873680115, 0.034688279032707214, 0.18000000715255737, 1.0, 0.0, 0.0, 0.0, 1.8729888200759888, 3.2878527641296387, 0.18000000715255737, 0.9978959560394287, 0.0, 0.0, -0.06483564525842667], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.9123553336358734, 1.5209230407145864, 0.027995795592020666, 0.047987416165692735, 0.09940265847808505, 0.007862836717406303, 0.14484535773148302, 1.0670940141454491e-08, 6.993697447040498e-09, 3.719293245236674e-09, 2.435163824095557e-08, 1.5168199196015146e-07, 2.5889694008622445e-07, 1.0311522523136017e-07, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 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": [-0.1562941074371338, -0.08034676313400269, 0.4699999988079071, 1.0, 0.0, 0.0, 0.0, -0.45629408955574036, -0.0802416056394577, 0.4699999988079071, 1.0, 0.0, 0.0, 0.0, -0.30625730752944946, 0.024705808609724045, 0.4300000071525574, 1.0, 0.0, 0.0, 0.0, -0.15668317675590515, -0.5744839310646057, 0.43060195446014404, 0.7655857801437378, -0.38930773735046387, -0.015073999762535095, -0.6432985067367554, -0.4563024938106537, -0.13554221391677856, 0.46878641843795776, 0.999994695186615, -0.00038046931149438024, 0.003210821421816945, -0.00030218306346796453, 1.8561670780181885, 3.1589457988739014, 0.5299999713897705, 0.9978959560394287, 0.0, 0.0, -0.06483564525842667, 1.8726394176483154, 3.2851755619049072, 0.48980000615119934, 0.9517102837562561, -0.30007314682006836, 0.019496414810419083, -0.061834730207920074, 1.8820466995239258, 3.357264280319214, 0.38999998569488525, 0.9978959560394287, 0.0, 0.0, -0.06483564525842667, -0.25625380873680115, 0.034688279032707214, 0.18000000715255737, 1.0, 0.0, 0.0, 0.0, 1.8729888200759888, 3.2878527641296387, 0.18000000715255737, 0.9978959560394287, 0.0, 0.0, -0.06483564525842667], "max": [-0.1562941074371338, -0.08034676313400269, 0.4699999988079071, 1.0, 0.0, 0.0, 0.0, -0.45629408955574036, -0.0802416056394577, 0.4699999988079071, 1.0, 0.0, 0.0, 0.0, -0.30625730752944946, 0.024705808609724045, 0.4300000071525574, 1.0, 0.0, 0.0, 0.0, 1.8812370300292969, 3.321822166442871, 0.5370054244995117, 1.0, 0.0176507830619812, 0.040503110736608505, 0.002114036586135626, -0.4563024342060089, -0.13554218411445618, 0.46878644824028015, 0.9999947547912598, -0.0003796667733695358, 0.0032122114207595587, -0.0003016362024936825, 1.8561670780181885, 3.1589457988739014, 0.5299999713897705, 0.9978959560394287, 0.0, 0.0, -0.06483564525842667, 1.8726394176483154, 3.2851755619049072, 0.48980000615119934, 0.9517102837562561, -0.30007314682006836, 0.019496414810419083, -0.061834730207920074, 1.8820466995239258, 3.357264280319214, 0.38999998569488525, 0.9978959560394287, 0.0, 0.0, -0.06483564525842667, -0.25625380873680115, 0.034688279032707214, 0.18000000715255737, 1.0, 0.0, 0.0, 0.0, 1.8729888200759888, 3.2878527641296387, 0.18000000715255737, 0.9978959560394287, 0.0, 0.0, -0.06483564525842667], "count": [1327]}, "action.command": {"mean": [-1.1777862988328456, -0.9581669978564313, 1.269371874080283, 0.7418827686780765, 0.0, 0.0, 0.6704447909637734, 1.0126213592233009, 0.2547965485349442, 0.3266070320768264, 0.6826936775040858, 0.1657220308786457, -0.4635782823472926, 0.8241120104072164, 0.10172878126659006, 0.5384615384615384, -1.4900756630362297, -1.233201525649246, 1.4991374210435517, 0.0, 0.0, 0.0, 0.0, 2.0, 0.013772828706205359, -0.14372018583154006, 0.678051716772316, 0.17459920013624608, -0.3419902396843048, 0.8893325366255252, 0.07802041328338148, 0.0, -1.4330854739765733, -1.2190444384302412, 1.4991374210435517, 0.0, 0.0, 0.0, 0.0, 2.0, 0.013772828706205359, -0.14372018583154006, 0.678051716772316, 0.17459920013624608, -0.3419902396843048, 0.8893325366255252, 0.07802041328338148, 0.0, -1.3821716529070114, -1.2082577128799594, 1.4991374210435517, 0.0, 0.0, 0.0, 0.0, 2.0, 0.013772828706205359, -0.14372018583154006, 0.678051716772316, 0.17459920013624608, -0.3419902396843048, 0.8893325366255252, 0.07802041328338148, 0.0, -1.312359509001277, -1.1914450854671246, 1.4991374210435517, 0.0, 0.0, 0.0, 0.0, 2.0, 0.013772828706205359, -0.14372018583154006, 0.678051716772316, 0.17459920013624608, -0.3419902396843048, 0.8893325366255252, 0.07802041328338148, 0.0, -1.2743875150169646, -1.183323969646376, 1.4991374210435517, 0.0, 0.0, 0.0, 0.0, 2.0, 0.013772828706205359, -0.14372018583154006, 0.678051716772316, 0.17459920013624608, -0.3419902396843048, 0.8893325366255252, 0.07802041328338148, 0.0, -1.2223682513042373, -1.174131691455841, 1.4991374210435517, 0.0, 0.0, 0.0, 0.0, 2.0, 0.013772828706205359, -0.14372018583154006, 0.678051716772316, 0.17459920013624608, -0.3419902396843048, 0.8893325366255252, 0.07802041328338148, 0.0, -1.166919623406566, -1.1584161082092597, 1.4991374210435517, 0.0, 0.0, 0.0, 0.0, 2.0, 0.013772828706205359, -0.14372018583154006, 0.678051716772316, 0.17459920013624608, -0.3419902396843048, 0.8893325366255252, 0.07802041328338148, 0.0, -1.097733707452307, -1.1426453444422509, 1.4991374210435517, 0.0, 0.0, 0.0, 0.0, 2.0, 0.013772828706205359, -0.14372018583154006, 0.678051716772316, 0.17459920013624608, -0.3419902396843048, 0.8893325366255252, 0.07802041328338148, 0.0, -1.0688126281816133, -1.1349739030915864, 1.4991374210435517, 0.0, 0.0, 0.0, 0.0, 2.0, 0.013772828706205359, -0.14372018583154006, 0.678051716772316, 0.17459920013624608, -0.3419902396843048, 0.8893325366255252, 0.07802041328338148, 0.0, -1.0185983728389352, -1.1205829333285897, 1.4991374210435517, 0.0, 0.0, 0.0, 0.0, 2.0, 0.013772828706205359, -0.14372018583154006, 0.678051716772316, 0.17459920013624608, -0.3419902396843048, 0.8893325366255252, 0.07802041328338148, 0.0, -0.9676743125428959, -1.1110633271081107, 1.4991374210435517, 0.0, 0.0, 0.0, 0.0, 2.0, 0.013772828706205359, -0.14372018583154006, 0.678051716772316, 0.17459920013624608, -0.3419902396843048, 0.8893325366255252, 0.07802041328338148, 0.0, -0.9490696149212974, -1.0917928340483685, 1.4991374210435517, 0.0, 0.0, 0.0, 0.0, 2.0, 0.013772828706205359, -0.14372018583154006, 0.678051716772316, 0.17459920013624608, -0.3419902396843048, 0.8893325366255252, 0.07802041328338148, 0.0, -0.896620122753844, -1.0638090420742423, 1.4991374210435517, 0.0, 0.0, 0.0, 0.0, 2.0, 0.013772828706205359, -0.14372018583154006, 0.678051716772316, 0.17459920013624608, -0.3419902396843048, 0.8893325366255252, 0.07802041328338148, 0.0, -0.8401678855321846, -1.0171733839171273, 1.4991374210435517, 0.0, 0.0, 0.0, 0.0, 2.0, 0.013772828706205359, -0.14372018583154006, 0.678051716772316, 0.17459920013624608, -0.3419902396843048, 0.8893325366255252, 0.07802041328338148, 0.0, -0.808323259256324, -0.9952357320152984, 1.4991374210435517, 0.0, 0.0, 0.0, 0.0, 2.0, 0.013772828706205359, -0.14372018583154006, 0.678051716772316, 0.17459920013624608, -0.3419902396843048, 0.8893325366255252, 0.07802041328338148, 0.0, -0.7509955630010489, -0.9607861911763951, 1.4991374210435517, 0.0, 0.0, 0.0, 0.0, 2.0, 0.013772828706205359, -0.14372018583154006, 0.678051716772316, 0.17459920013624608, -0.3419902396843048, 0.8893325366255252, 0.07802041328338148, 0.0, -0.7267929814299758, -0.9350454746460428, 1.4991374210435517, 0.0, 0.0, 0.0, 0.0, 2.0, 0.013772828706205359, -0.14372018583154006, 0.678051716772316, 0.17459920013624608, -0.3419902396843048, 0.8893325366255252, 0.07802041328338148, 0.0, -0.7072318171968266, -0.8919670828142945, 1.4991374210435517, 0.0, 0.0, 0.0, 0.0, 2.0, 0.013772828706205359, -0.14372018583154006, 0.678051716772316, 0.17459920013624608, -0.3419902396843048, 0.8893325366255252, 0.07802041328338148, 0.0, -0.6592316968100411, -0.8653274047739652, 1.4991374210435517, 0.0, 0.0, 0.0, 0.0, 2.0, 0.013772828706205359, -0.14372018583154006, 0.678051716772316, 0.17459920013624608, -0.3419902396843048, 0.8893325366255252, 0.07802041328338148, 0.0, -0.6136936448058303, -0.8046854076032736, 1.4991374210435517, 0.0, 0.0, 0.0, 0.0, 2.0, 0.013772828706205359, -0.14372018583154006, 0.678051716772316, 0.17459920013624608, -0.3419902396843048, 0.8893325366255252, 0.07802041328338148, 0.0, -0.5909565942628043, -0.7938654912369592, 1.4991374210435517, 0.0, 0.0, 0.0, 0.0, 2.0, 0.013772828706205359, -0.14372018583154006, 0.678051716772316, 0.17459920013624608, -0.3419902396843048, 0.8893325366255252, 0.07802041328338148, 0.0, -0.5465144551530177, -0.7781960973326041, 1.4991374210435517, 0.0, 0.0, 0.0, 0.0, 2.0, 0.013772828706205359, -0.14372018583154006, 0.678051716772316, 0.17459920013624608, -0.3419902396843048, 0.8893325366255252, 0.07802041328338148, 0.0, -0.5224098490208996, -0.7217302643218819, 1.4991374210435517, 0.0, 0.0, 0.0, 0.0, 2.0, 0.013772828706205359, -0.14372018583154006, 0.678051716772316, 0.17459920013624608, -0.3419902396843048, 0.8893325366255252, 0.07802041328338148, 0.0, -0.5152597196248113, -0.7054218957010581, 1.4991374210435517, 0.0, 0.0, 0.0, 0.0, 2.0, 0.013772828706205359, -0.14372018583154006, 0.678051716772316, 0.17459920013624608, -0.3419902396843048, 0.8893325366255252, 0.07802041328338148, 0.0, -0.45398356841534987, -0.6495182447287501, 1.4991374210435517, 0.0, 0.0, 0.0, 0.0, 2.0, 0.013772828706205359, -0.14372018583154006, 0.678051716772316, 0.17459920013624608, -0.3419902396843048, 0.8893325366255252, 0.07802041328338148, 0.0, -0.4197881148785961, -0.612582262681455, 1.4991374210435517, 0.0, 0.0, 0.0, 0.0, 2.0, 0.013772828706205359, -0.14372018583154006, 0.678051716772316, 0.17459920013624608, -0.3419902396843048, 0.8893325366255252, 0.07802041328338148, 0.0, -0.38558398947423816, -0.5773714479743218, 1.4991374210435517, 0.0, 0.0, 0.0, 0.0, 2.0, 0.013772828706205359, -0.14372018583154006, 0.678051716772316, 0.17459920013624608, -0.3419902396843048, 0.8893325366255252, 0.07802041328338148, 0.0, -0.32465839750912723, -0.5205778820174081, 1.4991374210435517, 0.0, 0.0, 0.0, 0.0, 2.0, 0.013772828706205359, -0.14372018583154006, 0.678051716772316, 0.17459920013624608, -0.3419902396843048, 0.8893325366255252, 0.07802041328338148, 0.0, -0.3171345092812363, -0.505102658758358, 1.4991374210435517, 0.0, 0.0, 0.0, 0.0, 2.0, 0.013772828706205359, -0.14372018583154006, 0.678051716772316, 0.17459920013624608, -0.3419902396843048, 0.8893325366255252, 0.07802041328338148, 0.0, -0.29190836390670466, -0.44954558720394056, 1.4991374210435517, 0.0, 0.0, 0.0, 0.0, 2.0, 0.013772828706205359, -0.14372018583154006, 0.678051716772316, 0.17459920013624608, -0.3419902396843048, 0.8893325366255252, 0.07802041328338148, 0.0, -0.24841666951471444, -0.43253492396705007, 1.4991374210435517, 0.0, 0.0, 0.0, 0.0, 2.0, 0.013772828706205359, -0.14372018583154006, 0.678051716772316, 0.17459920013624608, -0.3419902396843048, 0.8893325366255252, 0.07802041328338148, 0.0, -0.22163624666175064, -0.4100728485049034, 1.4991374210435517, 0.0, 0.0, 0.0, 0.0, 2.0, 0.013772828706205359, -0.14372018583154006, 0.678051716772316, 0.17459920013624608, -0.3419902396843048, 0.8893325366255252, 0.07802041328338148, 0.0, -0.17967914440193955, -0.3599434324673244, 1.4991374210435517, 0.0, 0.0, 0.0, 0.0, 2.0, 0.013772828706205359, -0.14372018583154006, 0.678051716772316, 0.17459920013624608, -0.3419902396843048, 0.8893325366255252, 0.07802041328338148, 0.0, -0.13437942339449513, -0.3381370233029735, 1.4991374210435517, 0.0, 0.0, 0.0, 0.0, 2.0, 0.013772828706205359, -0.14372018583154006, 0.678051716772316, 0.17459920013624608, -0.3419902396843048, 0.8893325366255252, 0.07802041328338148, 0.0, -0.11096464249552512, -0.2874081852484722, 1.4991374210435517, 0.0, 0.0, 0.0, 0.0, 2.0, 0.013772828706205359, -0.14372018583154006, 0.678051716772316, 0.17459920013624608, -0.3419902396843048, 0.8893325366255252, 0.07802041328338148, 0.0, -0.09728108376872782, -0.26742834339336474, 1.4991374210435517, 0.0, 0.0, 0.0, 0.0, 2.0, 0.013772828706205359, -0.14372018583154006, 0.678051716772316, 0.17459920013624608, -0.3419902396843048, 0.8893325366255252, 0.07802041328338148, 0.0, -0.042434368814740865, -0.21499596931496445, 1.4991374210435517, 0.0, 0.0, 0.0, 0.0, 2.0, 0.013772828706205359, -0.14372018583154006, 0.678051716772316, 0.17459920013624608, -0.3419902396843048, 0.8893325366255252, 0.07802041328338148, 0.0, -0.012671928016506896, -0.18131875748537024, 1.4991374210435517, 0.0, 0.0, 0.0, 0.0, 2.0, 0.013772828706205359, -0.14372018583154006, 0.678051716772316, 0.17459920013624608, -0.3419902396843048, 0.8893325366255252, 0.07802041328338148, 0.0, 0.026055114609854563, -0.14262944216630896, 1.4991374210435517, 0.0, 0.0, 0.0, 0.0, 2.0, 0.013772828706205359, -0.14372018583154006, 0.678051716772316, 0.17459920013624608, -0.3419902396843048, 0.8893325366255252, 0.07802041328338148, 0.0, 0.08134809805422413, -0.09202547827545478, 1.4991374210435517, 0.0, 0.0, 0.0, 0.0, 2.0, 0.013772828706205359, -0.14372018583154006, 0.678051716772316, 0.17459920013624608, -0.3419902396843048, 0.8893325366255252, 0.07802041328338148, 0.0, 0.0945445323476986, -0.07026309991369442, 1.4991374210435517, 0.0, 0.0, 0.0, 0.0, 2.0, 0.013772828706205359, -0.14372018583154006, 0.678051716772316, 0.17459920013624608, -0.3419902396843048, 0.8893325366255252, 0.07802041328338148, 0.0, 0.12421588751734519, -0.01966615355744654, 1.4991374210435517, 0.0, 0.0, 0.0, 0.0, 2.0, 0.013772828706205359, -0.14372018583154006, 0.678051716772316, 0.17459920013624608, -0.3419902396843048, 0.8893325366255252, 0.07802041328338148, 0.0, 0.16317305516223518, 0.002149958999789491, 1.4991374210435517, 0.0, 0.0, 0.0, 0.0, 2.0, 0.013772828706205359, -0.14372018583154006, 0.678051716772316, 0.17459920013624608, -0.3419902396843048, 0.8893325366255252, 0.07802041328338148, 0.0, 0.20306810310908727, 0.06429909686652982, 1.4991374210435517, 0.0, 0.0, 0.0, 0.0, 2.0, 0.013772828706205359, -0.14372018583154006, 0.678051716772316, 0.17459920013624608, -0.3419902396843048, 0.8893325366255252, 0.07802041328338148, 0.0, 0.23184327203400282, 0.07457688876560756, 1.4991374210435517, 0.0, 0.0, 0.0, 0.0, 2.0, 0.013772828706205359, -0.14372018583154006, 0.678051716772316, 0.17459920013624608, -0.3419902396843048, 0.8893325366255252, 0.07802041328338148, 0.0, 0.2720735219060158, 0.09164501452932552, 1.4991374210435517, 0.0, 0.0, 0.0, 0.0, 2.0, 0.013772828706205359, -0.14372018583154006, 0.678051716772316, 0.17459920013624608, -0.3419902396843048, 0.8893325366255252, 0.07802041328338148, 0.0, 0.3005134353832323, 0.14700381853142563, 1.4991374210435517, 0.0, 0.0, 0.0, 0.0, 2.0, 0.013772828706205359, -0.14372018583154006, 0.678051716772316, 0.17459920013624608, -0.3419902396843048, 0.8893325366255252, 0.07802041328338148, 0.0, 0.31826178881586814, 0.16103063067611384, 1.4991374210435517, 0.0, 0.0, 0.0, 0.0, 2.0, 0.013772828706205359, -0.14372018583154006, 0.678051716772316, 0.17459920013624608, -0.3419902396843048, 0.8893325366255252, 0.07802041328338148, 0.0, 0.3690585287249818, 0.21938897152336276, 1.4991374210435517, 0.0, 0.0, 0.0, 0.0, 2.0, 0.013772828706205359, -0.14372018583154006, 0.678051716772316, 0.17459920013624608, -0.3419902396843048, 0.8893325366255252, 0.07802041328338148, 0.0, 0.3917232240949358, 0.2432970514102858, 1.4991374210435517, 0.0, 0.0, 0.0, 0.0, 2.0, 0.013772828706205359, -0.14372018583154006, 0.678051716772316, 0.17459920013624608, -0.3419902396843048, 0.8893325366255252, 0.07802041328338148, 0.0, 0.43754794646282585, 0.2917553137759773, 1.4991374210435517, 0.0, 0.0, 0.0, 0.0, 2.0, 0.013772828706205359, -0.14372018583154006, 0.678051716772316, 0.17459920013624608, -0.3419902396843048, 0.8893325366255252, 0.07802041328338148, 0.0, 0.4857934859334206, 0.33271314416612896, 1.4991374210435517, 0.0, 0.0, 0.0, 0.0, 2.0, 0.013772828706205359, -0.14372018583154006, 0.678051716772316, 0.17459920013624608, -0.3419902396843048, 0.8893325366255252, 0.07802041328338148, 0.0, 0.5060373763648831, 0.3641217874020946, 1.4991374210435517, 0.0, 0.0, 0.0, 0.0, 2.0, 0.013772828706205359, -0.14372018583154006, 0.678051716772316, 0.17459920013624608, -0.3419902396843048, 0.8893325366255252, 0.07802041328338148, 0.0, 0.539708322408248, 0.408669899921028, 1.4991374210435517, 0.0, 0.0, 0.0, 0.0, 2.0, 0.013772828706205359, -0.14372018583154006, 0.678051716772316, 0.17459920013624608, -0.3419902396843048, 0.8893325366255252, 0.07802041328338148, 0.0, 0.5746790122012703, 0.4365391901561192, 1.4991374210435517, 0.0, 0.0, 0.0, 0.0, 2.0, 0.013772828706205359, -0.14372018583154006, 0.678051716772316, 0.17459920013624608, -0.3419902396843048, 0.8893325366255252, 0.07802041328338148, 0.0, 0.6073507155690875, 0.48898320052088523, 1.4991374210435517, 0.0, 0.0, 0.0, 0.0, 2.0, 0.013772828706205359, -0.14372018583154006, 0.678051716772316, 0.17459920013624608, -0.3419902396843048, 0.8893325366255252, 0.07802041328338148, 0.0, 0.6434209212964895, 0.508990217228325, 1.4991374210435517, 0.0, 0.0, 0.0, 0.0, 2.0, 0.013772828706205359, -0.14372018583154006, 0.678051716772316, 0.17459920013624608, -0.3419902396843048, 0.8893325366255252, 0.07802041328338148, 0.0, 0.6992563191725283, 0.5726147354865561, 1.4991374210435517, 0.0, 0.0, 0.0, 0.0, 2.0, 0.013772828706205359, -0.14372018583154006, 0.678051716772316, 0.17459920013624608, -0.3419902396843048, 0.8893325366255252, 0.07802041328338148, 0.0, 0.7121628249178127, 0.5814412443005309, 1.4991374210435517, 0.0, 0.0, 0.0, 0.0, 2.0, 0.013772828706205359, -0.14372018583154006, 0.678051716772316, 0.17459920013624608, -0.3419902396843048, 0.8893325366255252, 0.07802041328338148, 0.0, 0.7351904724325452, 0.5899542010560328, 1.4991374210435517, 0.0, 0.0, 0.0, 0.0, 2.0, 0.013772828706205359, -0.14372018583154006, 0.678051716772316, 0.17459920013624608, -0.3419902396843048, 0.8893325366255252, 0.07802041328338148, 0.0, 0.7584050443707681, 0.6904926713632078, 1.4991374210435517, 0.0, 0.0, 0.0, 0.0, 2.0, 0.013772828706205359, -0.14372018583154006, 0.678051716772316, 0.17459920013624608, -0.3419902396843048, 0.8893325366255252, 0.07802041328338148, 0.0, 1.5116345882415771, 2.0177180767059326, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, 0.9905917301476851, 0.8246459806406939, 0.682080852000462, 0.21944519104780974, -0.463078567933323, 0.825403333729149, 0.12189162662120116, 0.0, 1.5464919805526733, 2.102877616882324, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, 0.9905917301476851, 0.8246459806406939, 0.682080852000462, 0.21944519104780974, -0.463078567933323, 0.825403333729149, 0.12189162662120116, 0.0, 1.5615594387054443, 2.139688730239868, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, 0.9905917301476851, 0.8246459806406939, 0.682080852000462, 0.21944519104780974, -0.463078567933323, 0.825403333729149, 0.12189162662120116, 0.0, 1.5890296697616577, 2.206800699234009, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, 0.9905917301476851, 0.8246459806406939, 0.682080852000462, 0.21944519104780974, -0.463078567933323, 0.825403333729149, 0.12189162662120116, 0.0, 1.6113795042037964, 2.2614033222198486, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, 0.9905917301476851, 0.8246459806406939, 0.682080852000462, 0.21944519104780974, -0.463078567933323, 0.825403333729149, 0.12189162662120116, 0.0, 1.63177490234375, 2.3112308979034424, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, 0.9905917301476851, 0.8246459806406939, 0.682080852000462, 0.21944519104780974, -0.463078567933323, 0.825403333729149, 0.12189162662120116, 0.0, 1.66196608543396, 2.3849904537200928, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, 0.9905917301476851, 0.8246459806406939, 0.682080852000462, 0.21944519104780974, -0.463078567933323, 0.825403333729149, 0.12189162662120116, 0.0, 1.6752245426177979, 2.417382001876831, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, 0.9905917301476851, 0.8246459806406939, 0.682080852000462, 0.21944519104780974, -0.463078567933323, 0.825403333729149, 0.12189162662120116, 0.0, 1.714522361755371, 2.513390064239502, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, 0.9905917301476851, 0.8246459806406939, 0.682080852000462, 0.21944519104780974, -0.463078567933323, 0.825403333729149, 0.12189162662120116, 0.0, 1.7196598052978516, 2.5259413719177246, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, 0.9905917301476851, 0.8246459806406939, 0.682080852000462, 0.21944519104780974, -0.463078567933323, 0.825403333729149, 0.12189162662120116, 0.0, 1.7417317628860474, 2.579864978790283, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, 0.9905917301476851, 0.8246459806406939, 0.682080852000462, 0.21944519104780974, -0.463078567933323, 0.825403333729149, 0.12189162662120116, 0.0, 1.7558233737945557, 2.6077253818511963, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, 0.9905917301476851, 0.8246459806406939, 0.682080852000462, 0.21944519104780974, -0.463078567933323, 0.825403333729149, 0.12189162662120116, 0.0], "std": [1.5699407167600383, 1.082620576850211, 0.4592601660722227, 0.007104473066798281, 0.0, 0.0, 0.007952005800724075, 1.293312118273056, 1.250943369213417, 1.602253475080523, 0.024701719792907913, 0.05127173141699638, 0.221596192182274, 0.11168073727350693, 0.06257420189572878, 0.4985185152621432, 1.47456937838414, 0.6996955095364435, 0.0643679793468408, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3339403288817884, 1.3754082801880814, 0.006199675996238417, 0.051904321050675016, 0.2010800587381689, 0.09354235434586783, 0.060666653875112025, 0.0, 1.4671161420032137, 0.6927301513656048, 0.0643679793468408, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3339403288817884, 1.3754082801880814, 0.006199675996238417, 0.051904321050675016, 0.2010800587381689, 0.09354235434586783, 0.060666653875112025, 0.0, 1.4813975054059758, 0.6918476265958492, 0.0643679793468408, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3339403288817884, 1.3754082801880814, 0.006199675996238417, 0.051904321050675016, 0.2010800587381689, 0.09354235434586783, 0.060666653875112025, 0.0, 1.4782268408731778, 0.6848349521950733, 0.0643679793468408, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3339403288817884, 1.3754082801880814, 0.006199675996238417, 0.051904321050675016, 0.2010800587381689, 0.09354235434586783, 0.060666653875112025, 0.0, 1.488020150730045, 0.6839579417227974, 0.0643679793468408, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3339403288817884, 1.3754082801880814, 0.006199675996238417, 0.051904321050675016, 0.2010800587381689, 0.09354235434586783, 0.060666653875112025, 0.0, 1.5231893987277405, 0.6883040085939899, 0.0643679793468408, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3339403288817884, 1.3754082801880814, 0.006199675996238417, 0.051904321050675016, 0.2010800587381689, 0.09354235434586783, 0.060666653875112025, 0.0, 1.49409111060351, 0.6759556880997132, 0.0643679793468408, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3339403288817884, 1.3754082801880814, 0.006199675996238417, 0.051904321050675016, 0.2010800587381689, 0.09354235434586783, 0.060666653875112025, 0.0, 1.500975955584255, 0.6715630461675977, 0.0643679793468408, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3339403288817884, 1.3754082801880814, 0.006199675996238417, 0.051904321050675016, 0.2010800587381689, 0.09354235434586783, 0.060666653875112025, 0.0, 1.4917126918221224, 0.6666305367248225, 0.0643679793468408, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3339403288817884, 1.3754082801880814, 0.006199675996238417, 0.051904321050675016, 0.2010800587381689, 0.09354235434586783, 0.060666653875112025, 0.0, 1.4635728464098834, 0.6549918114456689, 0.0643679793468408, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3339403288817884, 1.3754082801880814, 0.006199675996238417, 0.051904321050675016, 0.2010800587381689, 0.09354235434586783, 0.060666653875112025, 0.0, 1.4921402870503577, 0.6577516283905918, 0.0643679793468408, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3339403288817884, 1.3754082801880814, 0.006199675996238417, 0.051904321050675016, 0.2010800587381689, 0.09354235434586783, 0.060666653875112025, 0.0, 1.5006067348276335, 0.6723547925563709, 0.0643679793468408, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3339403288817884, 1.3754082801880814, 0.006199675996238417, 0.051904321050675016, 0.2010800587381689, 0.09354235434586783, 0.060666653875112025, 0.0, 1.4657053675471086, 0.6700427602836566, 0.0643679793468408, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3339403288817884, 1.3754082801880814, 0.006199675996238417, 0.051904321050675016, 0.2010800587381689, 0.09354235434586783, 0.060666653875112025, 0.0, 1.464987812176758, 0.6948158009743152, 0.0643679793468408, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3339403288817884, 1.3754082801880814, 0.006199675996238417, 0.051904321050675016, 0.2010800587381689, 0.09354235434586783, 0.060666653875112025, 0.0, 1.4548349084223315, 0.7015780640116194, 0.0643679793468408, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3339403288817884, 1.3754082801880814, 0.006199675996238417, 0.051904321050675016, 0.2010800587381689, 0.09354235434586783, 0.060666653875112025, 0.0, 1.425305845454796, 0.7054273401153303, 0.0643679793468408, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3339403288817884, 1.3754082801880814, 0.006199675996238417, 0.051904321050675016, 0.2010800587381689, 0.09354235434586783, 0.060666653875112025, 0.0, 1.437819001938061, 0.7255336397486734, 0.0643679793468408, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3339403288817884, 1.3754082801880814, 0.006199675996238417, 0.051904321050675016, 0.2010800587381689, 0.09354235434586783, 0.060666653875112025, 0.0, 1.450982637995802, 0.762912757282009, 0.0643679793468408, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3339403288817884, 1.3754082801880814, 0.006199675996238417, 0.051904321050675016, 0.2010800587381689, 0.09354235434586783, 0.060666653875112025, 0.0, 1.407867858039772, 0.7579803664262745, 0.0643679793468408, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3339403288817884, 1.3754082801880814, 0.006199675996238417, 0.051904321050675016, 0.2010800587381689, 0.09354235434586783, 0.060666653875112025, 0.0, 1.4006998346134083, 0.7965367234707236, 0.0643679793468408, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3339403288817884, 1.3754082801880814, 0.006199675996238417, 0.051904321050675016, 0.2010800587381689, 0.09354235434586783, 0.060666653875112025, 0.0, 1.3785610568365048, 0.7920012100933966, 0.0643679793468408, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3339403288817884, 1.3754082801880814, 0.006199675996238417, 0.051904321050675016, 0.2010800587381689, 0.09354235434586783, 0.060666653875112025, 0.0, 1.3300620100995642, 0.7764379800554967, 0.0643679793468408, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3339403288817884, 1.3754082801880814, 0.006199675996238417, 0.051904321050675016, 0.2010800587381689, 0.09354235434586783, 0.060666653875112025, 0.0, 1.3495087137795416, 0.8266330623790861, 0.0643679793468408, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3339403288817884, 1.3754082801880814, 0.006199675996238417, 0.051904321050675016, 0.2010800587381689, 0.09354235434586783, 0.060666653875112025, 0.0, 1.3548565150449001, 0.8409832322073898, 0.0643679793468408, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3339403288817884, 1.3754082801880814, 0.006199675996238417, 0.051904321050675016, 0.2010800587381689, 0.09354235434586783, 0.060666653875112025, 0.0, 1.3207015494327965, 0.8614528158335222, 0.0643679793468408, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3339403288817884, 1.3754082801880814, 0.006199675996238417, 0.051904321050675016, 0.2010800587381689, 0.09354235434586783, 0.060666653875112025, 0.0, 1.3071148244544315, 0.8798910701280579, 0.0643679793468408, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3339403288817884, 1.3754082801880814, 0.006199675996238417, 0.051904321050675016, 0.2010800587381689, 0.09354235434586783, 0.060666653875112025, 0.0, 1.2918702822696775, 0.8962136945272238, 0.0643679793468408, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3339403288817884, 1.3754082801880814, 0.006199675996238417, 0.051904321050675016, 0.2010800587381689, 0.09354235434586783, 0.060666653875112025, 0.0, 1.2590646296730905, 0.9180450576317005, 0.0643679793468408, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3339403288817884, 1.3754082801880814, 0.006199675996238417, 0.051904321050675016, 0.2010800587381689, 0.09354235434586783, 0.060666653875112025, 0.0, 1.2630841671229727, 0.9310847998768589, 0.0643679793468408, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3339403288817884, 1.3754082801880814, 0.006199675996238417, 0.051904321050675016, 0.2010800587381689, 0.09354235434586783, 0.060666653875112025, 0.0, 1.2800629262161856, 0.9792927895415413, 0.0643679793468408, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3339403288817884, 1.3754082801880814, 0.006199675996238417, 0.051904321050675016, 0.2010800587381689, 0.09354235434586783, 0.060666653875112025, 0.0, 1.2342000397856743, 0.9661116915418034, 0.0643679793468408, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3339403288817884, 1.3754082801880814, 0.006199675996238417, 0.051904321050675016, 0.2010800587381689, 0.09354235434586783, 0.060666653875112025, 0.0, 1.2173935283715827, 0.9726492914272216, 0.0643679793468408, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3339403288817884, 1.3754082801880814, 0.006199675996238417, 0.051904321050675016, 0.2010800587381689, 0.09354235434586783, 0.060666653875112025, 0.0, 1.205310546384734, 1.0011522800101467, 0.0643679793468408, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3339403288817884, 1.3754082801880814, 0.006199675996238417, 0.051904321050675016, 0.2010800587381689, 0.09354235434586783, 0.060666653875112025, 0.0, 1.1614408413166009, 0.9924212200710514, 0.0643679793468408, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3339403288817884, 1.3754082801880814, 0.006199675996238417, 0.051904321050675016, 0.2010800587381689, 0.09354235434586783, 0.060666653875112025, 0.0, 1.1764002706045957, 1.0361420984009377, 0.0643679793468408, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3339403288817884, 1.3754082801880814, 0.006199675996238417, 0.051904321050675016, 0.2010800587381689, 0.09354235434586783, 0.060666653875112025, 0.0, 1.175922928112044, 1.049876493893898, 0.0643679793468408, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3339403288817884, 1.3754082801880814, 0.006199675996238417, 0.051904321050675016, 0.2010800587381689, 0.09354235434586783, 0.060666653875112025, 0.0, 1.147635649359304, 1.0711254537979278, 0.0643679793468408, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3339403288817884, 1.3754082801880814, 0.006199675996238417, 0.051904321050675016, 0.2010800587381689, 0.09354235434586783, 0.060666653875112025, 0.0, 1.137269185164855, 1.089043155446359, 0.0643679793468408, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3339403288817884, 1.3754082801880814, 0.006199675996238417, 0.051904321050675016, 0.2010800587381689, 0.09354235434586783, 0.060666653875112025, 0.0, 1.1188856439670118, 1.1060846767317922, 0.0643679793468408, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3339403288817884, 1.3754082801880814, 0.006199675996238417, 0.051904321050675016, 0.2010800587381689, 0.09354235434586783, 0.060666653875112025, 0.0, 1.0882171966958407, 1.124749802861877, 0.0643679793468408, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3339403288817884, 1.3754082801880814, 0.006199675996238417, 0.051904321050675016, 0.2010800587381689, 0.09354235434586783, 0.060666653875112025, 0.0, 1.090135579281193, 1.1410438403721281, 0.0643679793468408, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3339403288817884, 1.3754082801880814, 0.006199675996238417, 0.051904321050675016, 0.2010800587381689, 0.09354235434586783, 0.060666653875112025, 0.0, 1.0960374192087874, 1.1797158753706076, 0.0643679793468408, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3339403288817884, 1.3754082801880814, 0.006199675996238417, 0.051904321050675016, 0.2010800587381689, 0.09354235434586783, 0.060666653875112025, 0.0, 1.0612314107337573, 1.1759514482957643, 0.0643679793468408, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3339403288817884, 1.3754082801880814, 0.006199675996238417, 0.051904321050675016, 0.2010800587381689, 0.09354235434586783, 0.060666653875112025, 0.0, 1.0635567840487266, 1.2207585542875308, 0.0643679793468408, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3339403288817884, 1.3754082801880814, 0.006199675996238417, 0.051904321050675016, 0.2010800587381689, 0.09354235434586783, 0.060666653875112025, 0.0, 1.0322810525332804, 1.210843491670065, 0.0643679793468408, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3339403288817884, 1.3754082801880814, 0.006199675996238417, 0.051904321050675016, 0.2010800587381689, 0.09354235434586783, 0.060666653875112025, 0.0, 0.9911289770697116, 1.200280469452786, 0.0643679793468408, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3339403288817884, 1.3754082801880814, 0.006199675996238417, 0.051904321050675016, 0.2010800587381689, 0.09354235434586783, 0.060666653875112025, 0.0, 1.0033307536263132, 1.245735535044391, 0.0643679793468408, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3339403288817884, 1.3754082801880814, 0.006199675996238417, 0.051904321050675016, 0.2010800587381689, 0.09354235434586783, 0.060666653875112025, 0.0, 0.9913724659145783, 1.2490173721500846, 0.0643679793468408, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3339403288817884, 1.3754082801880814, 0.006199675996238417, 0.051904321050675016, 0.2010800587381689, 0.09354235434586783, 0.060666653875112025, 0.0, 0.974519142265477, 1.2806741238328774, 0.0643679793468408, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3339403288817884, 1.3754082801880814, 0.006199675996238417, 0.051904321050675016, 0.2010800587381689, 0.09354235434586783, 0.060666653875112025, 0.0, 0.9649674006992645, 1.2921945585372023, 0.0643679793468408, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3339403288817884, 1.3754082801880814, 0.006199675996238417, 0.051904321050675016, 0.2010800587381689, 0.09354235434586783, 0.060666653875112025, 0.0, 0.945769077579663, 1.315633287473204, 0.0643679793468408, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3339403288817884, 1.3754082801880814, 0.006199675996238417, 0.051904321050675016, 0.2010800587381689, 0.09354235434586783, 0.060666653875112025, 0.0, 0.9159609200077689, 1.3280121737776602, 0.0643679793468408, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3339403288817884, 1.3754082801880814, 0.006199675996238417, 0.051904321050675016, 0.2010800587381689, 0.09354235434586783, 0.060666653875112025, 0.0, 0.9170191314808941, 1.3505925697005783, 0.0643679793468408, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3339403288817884, 1.3754082801880814, 0.006199675996238417, 0.051904321050675016, 0.2010800587381689, 0.09354235434586783, 0.060666653875112025, 0.0, 0.9114418049949007, 1.3787459043888917, 0.0643679793468408, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3339403288817884, 1.3754082801880814, 0.006199675996238417, 0.051904321050675016, 0.2010800587381689, 0.09354235434586783, 0.060666653875112025, 0.0, 0.888100436020728, 1.385495167321672, 0.0643679793468408, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3339403288817884, 1.3754082801880814, 0.006199675996238417, 0.051904321050675016, 0.2010800587381689, 0.09354235434586783, 0.060666653875112025, 0.0, 0.8914808337820722, 1.4240812563611591, 0.0643679793468408, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3339403288817884, 1.3754082801880814, 0.006199675996238417, 0.051904321050675016, 0.2010800587381689, 0.09354235434586783, 0.060666653875112025, 0.0, 0.8590707875590207, 1.4203606471984933, 0.0643679793468408, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3339403288817884, 1.3754082801880814, 0.006199675996238417, 0.051904321050675016, 0.2010800587381689, 0.09354235434586783, 0.060666653875112025, 0.0, 0.8400472320931817, 1.454518814660749, 0.0643679793468408, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3339403288817884, 1.3754082801880814, 0.006199675996238417, 0.051904321050675016, 0.2010800587381689, 0.09354235434586783, 0.060666653875112025, 0.0, 0.8300410130985537, 1.4552261270753017, 0.0643679793468408, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3339403288817884, 1.3754082801880814, 0.006199675996238417, 0.051904321050675016, 0.2010800587381689, 0.09354235434586783, 0.060666653875112025, 0.0, 0.8052869018645625, 1.4476434937018656, 0.0643679793468408, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3339403288817884, 1.3754082801880814, 0.006199675996238417, 0.051904321050675016, 0.2010800587381689, 0.09354235434586783, 0.060666653875112025, 0.0, 0.8259369156757458, 1.4495445625790264, 0.0643679793468408, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3339403288817884, 1.3754082801880814, 0.006199675996238417, 0.051904321050675016, 0.2010800587381689, 0.09354235434586783, 0.060666653875112025, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.570685274525631, 1.114877306330084, 0.0042028684118909565, 0.019687452627593725, 0.1814845831982787, 0.07512043521856615, 0.04781127287902638, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.570685274525631, 1.114877306330084, 0.0042028684118909565, 0.019687452627593725, 0.1814845831982787, 0.07512043521856615, 0.04781127287902638, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.570685274525631, 1.114877306330084, 0.0042028684118909565, 0.019687452627593725, 0.1814845831982787, 0.07512043521856615, 0.04781127287902638, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.570685274525631, 1.114877306330084, 0.0042028684118909565, 0.019687452627593725, 0.1814845831982787, 0.07512043521856615, 0.04781127287902638, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.570685274525631, 1.114877306330084, 0.0042028684118909565, 0.019687452627593725, 0.1814845831982787, 0.07512043521856615, 0.04781127287902638, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.570685274525631, 1.114877306330084, 0.0042028684118909565, 0.019687452627593725, 0.1814845831982787, 0.07512043521856615, 0.04781127287902638, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.570685274525631, 1.114877306330084, 0.0042028684118909565, 0.019687452627593725, 0.1814845831982787, 0.07512043521856615, 0.04781127287902638, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.570685274525631, 1.114877306330084, 0.0042028684118909565, 0.019687452627593725, 0.1814845831982787, 0.07512043521856615, 0.04781127287902638, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.570685274525631, 1.114877306330084, 0.0042028684118909565, 0.019687452627593725, 0.1814845831982787, 0.07512043521856615, 0.04781127287902638, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.570685274525631, 1.114877306330084, 0.0042028684118909565, 0.019687452627593725, 0.1814845831982787, 0.07512043521856615, 0.04781127287902638, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.570685274525631, 1.114877306330084, 0.0042028684118909565, 0.019687452627593725, 0.1814845831982787, 0.07512043521856615, 0.04781127287902638, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.570685274525631, 1.114877306330084, 0.0042028684118909565, 0.019687452627593725, 0.1814845831982787, 0.07512043521856615, 0.04781127287902638, 0.0], "min": [-3.1999716758728027, -2.033930540084839, 0.33000001311302185, 0.7375694513320923, -0.0, -0.0, 0.655781090259552, -1.0, -2.884603977203369, -1.833670973777771, 0.6215142011642456, 0.08131252229213715, -0.6838259100914001, 0.6822124719619751, 0.014943737536668777, 0.0, -3.123638153076172, -2.00834059715271, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.6523538827896118, 0.10067223012447357, -0.6838259100914001, 0.6822124719619751, 0.014943737536668777, 0.0, -3.0583910942077637, -1.9864671230316162, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.6523538827896118, 0.10067223012447357, -0.6838259100914001, 0.6822124719619751, 0.014943737536668777, 0.0, -3.023298501968384, -1.9747027158737183, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.6523538827896118, 0.10067223012447357, -0.6838259100914001, 0.6822124719619751, 0.014943737536668777, 0.0, -2.9499738216400146, -1.950121283531189, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.6523538827896118, 0.10067223012447357, -0.6838259100914001, 0.6822124719619751, 0.014943737536668777, 0.0, -2.922851085662842, -1.9410285949707031, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.6523538827896118, 0.10067223012447357, -0.6838259100914001, 0.6822124719619751, 0.014943737536668777, 0.0, -2.9097931385040283, -1.9366509914398193, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.6523538827896118, 0.10067223012447357, -0.6838259100914001, 0.6822124719619751, 0.014943737536668777, 0.0, -2.822108745574951, -1.9072556495666504, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.6523538827896118, 0.10067223012447357, -0.6838259100914001, 0.6822124719619751, 0.014943737536668777, 0.0, -2.760550022125244, -1.8866186141967773, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.6523538827896118, 0.10067223012447357, -0.6838259100914001, 0.6822124719619751, 0.014943737536668777, 0.0, -2.7213668823242188, -1.8734828233718872, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.6523538827896118, 0.10067223012447357, -0.6838259100914001, 0.6822124719619751, 0.014943737536668777, 0.0, -2.6399786472320557, -1.8461982011795044, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.6523538827896118, 0.10067223012447357, -0.6838259100914001, 0.6822124719619751, 0.014943737536668777, 0.0, -2.6207022666931152, -1.839735984802246, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.6523538827896118, 0.10067223012447357, -0.6838259100914001, 0.6822124719619751, 0.014943737536668777, 0.0, -2.6114768981933594, -1.8366432189941406, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.6523538827896118, 0.10067223012447357, -0.6838259100914001, 0.6822124719619751, 0.014943737536668777, 0.0, -2.5203628540039062, -1.8060981035232544, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.6523538827896118, 0.10067223012447357, -0.6838259100914001, 0.6822124719619751, 0.014943737536668777, 0.0, -2.463115692138672, -1.7869065999984741, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.6523538827896118, 0.10067223012447357, -0.6838259100914001, 0.6822124719619751, 0.014943737536668777, 0.0, -2.4200234413146973, -1.7724603414535522, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.6523538827896118, 0.10067223012447357, -0.6838259100914001, 0.6822124719619751, 0.014943737536668777, 0.0, -2.3299827575683594, -1.7422751188278198, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.6523538827896118, 0.10067223012447357, -0.6838259100914001, 0.6822124719619751, 0.014943737536668777, 0.0, -2.3196425437927246, -1.7388086318969727, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.6523538827896118, 0.10067223012447357, -0.6838259100914001, 0.6822124719619751, 0.014943737536668777, 0.0, -2.314664363861084, -1.7371397018432617, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.6523538827896118, 0.10067223012447357, -0.6838259100914001, 0.6822124719619751, 0.014943737536668777, 0.0, -2.218900680541992, -1.7050358057022095, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.6523538827896118, 0.10067223012447357, -0.6838259100914001, 0.6822124719619751, 0.014943737536668777, 0.0, -2.165421724319458, -1.6871074438095093, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.6523538827896118, 0.10067223012447357, -0.6838259100914001, 0.6822124719619751, 0.014943737536668777, 0.0, -2.1181588172912598, -1.6712629795074463, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.6523538827896118, 0.10067223012447357, -0.6838259100914001, 0.6822124719619751, 0.014943737536668777, 0.0, -2.0199882984161377, -1.6383522748947144, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.6523538827896118, 0.10067223012447357, -0.6838259100914001, 0.6822124719619751, 0.014943737536668777, 0.0, -2.0174272060394287, -1.6374937295913696, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.6523538827896118, 0.10067223012447357, -0.6838259100914001, 0.6822124719619751, 0.014943737536668777, 0.0, -2.0162014961242676, -1.637082815170288, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.6523538827896118, 0.10067223012447357, -0.6838259100914001, 0.6822124719619751, 0.014943737536668777, 0.0, -1.9170876741409302, -1.603855848312378, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.6523538827896118, 0.10067223012447357, -0.6838259100914001, 0.6822124719619751, 0.014943737536668777, 0.0, -1.8678405284881592, -1.5873461961746216, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.6523538827896118, 0.10067223012447357, -0.6838259100914001, 0.6822124719619751, 0.014943737536668777, 0.0, -1.8167481422424316, -1.5702179670333862, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.6523538827896118, 0.10067223012447357, -0.6838259100914001, 0.6822124719619751, 0.014943737536668777, 0.0, -1.7194796800613403, -1.5376096963882446, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.6523538827896118, 0.10067223012447357, -0.6838259100914001, 0.6822124719619751, 0.014943737536668777, 0.0, -1.7164087295532227, -1.536580204963684, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.6523538827896118, 0.10067223012447357, -0.6838259100914001, 0.6822124719619751, 0.014943737536668777, 0.0, -1.7099920511245728, -1.5344290733337402, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.6523538827896118, 0.10067223012447357, -0.6838259100914001, 0.6822124719619751, 0.014943737536668777, 0.0, -1.615692377090454, -1.502816081047058, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.6523538827896118, 0.10067223012447357, -0.6838259100914001, 0.6822124719619751, 0.014943737536668777, 0.0, -1.5702933073043823, -1.4875965118408203, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.6523538827896118, 0.10067223012447357, -0.6838259100914001, 0.6822124719619751, 0.014943737536668777, 0.0, -1.5149503946304321, -1.4690433740615845, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.6523538827896118, 0.10067223012447357, -0.6838259100914001, 0.6822124719619751, 0.014943737536668777, 0.0, -1.421050786972046, -1.437564492225647, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.6523538827896118, 0.10067223012447357, -0.6838259100914001, 0.6822124719619751, 0.014943737536668777, 0.0, -1.4142084121704102, -1.4352706670761108, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.6523538827896118, 0.10067223012447357, -0.6838259100914001, 0.6822124719619751, 0.014943737536668777, 0.0, -1.399996042251587, -1.4305061101913452, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.6523538827896118, 0.10067223012447357, -0.6838259100914001, 0.6822124719619751, 0.014943737536668777, 0.0, -1.313812017440796, -1.4016138315200806, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.6523538827896118, 0.10067223012447357, -0.6838259100914001, 0.6822124719619751, 0.014943737536668777, 0.0, -1.2725653648376465, -1.3877862691879272, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.6523538827896118, 0.10067223012447357, -0.6838259100914001, 0.6822124719619751, 0.014943737536668777, 0.0, -1.213472604751587, -1.3679759502410889, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.6523538827896118, 0.10067223012447357, -0.6838259100914001, 0.6822124719619751, 0.014943737536668777, 0.0, -1.124204397201538, -1.3380496501922607, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.6523538827896118, 0.10067223012447357, -0.6838259100914001, 0.6822124719619751, 0.014943737536668777, 0.0, -1.113133192062378, -1.3343381881713867, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.6523538827896118, 0.10067223012447357, -0.6838259100914001, 0.6822124719619751, 0.014943737536668777, 0.0, -1.090000033378601, -1.3265830278396606, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.6523538827896118, 0.10067223012447357, -0.6838259100914001, 0.6822124719619751, 0.014943737536668777, 0.0, -1.0124839544296265, -1.3005965948104858, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.6523538827896118, 0.10067223012447357, -0.6838259100914001, 0.6822124719619751, 0.014943737536668777, 0.0, -0.9751650094985962, -1.2880858182907104, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.6523538827896118, 0.10067223012447357, -0.6838259100914001, 0.6822124719619751, 0.014943737536668777, 0.0, -0.9117418527603149, -1.2668238878250122, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.6523538827896118, 0.10067223012447357, -0.6838259100914001, 0.6822124719619751, 0.014943737536668777, 0.0, -0.8259223699569702, -1.238053798675537, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.6523538827896118, 0.10067223012447357, -0.6838259100914001, 0.6822124719619751, 0.014943737536668777, 0.0, -0.810999870300293, -1.2330511808395386, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.6523538827896118, 0.10067223012447357, -0.6838259100914001, 0.6822124719619751, 0.014943737536668777, 0.0, -0.7800038456916809, -1.2226600646972656, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.6523538827896118, 0.10067223012447357, -0.6838259100914001, 0.6822124719619751, 0.014943737536668777, 0.0, -0.7105365991592407, -1.1993718147277832, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.6523538827896118, 0.10067223012447357, -0.6838259100914001, 0.6822124719619751, 0.014943737536668777, 0.0, -0.6772902607917786, -1.188226342201233, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.6523538827896118, 0.10067223012447357, -0.6838259100914001, 0.6822124719619751, 0.014943737536668777, 0.0, -0.6101971864700317, -1.165734052658081, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.6523538827896118, 0.10067223012447357, -0.6838259100914001, 0.6822124719619751, 0.014943737536668777, 0.0, -0.5289294719696045, -1.138489842414856, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.6523538827896118, 0.10067223012447357, -0.6838259100914001, 0.6822124719619751, 0.014943737536668777, 0.0, -0.5098578929901123, -1.132096290588379, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.6523538827896118, 0.10067223012447357, -0.6838259100914001, 0.6822124719619751, 0.014943737536668777, 0.0, -0.4700082540512085, -1.1187371015548706, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.6523538827896118, 0.10067223012447357, -0.6838259100914001, 0.6822124719619751, 0.014943737536668777, 0.0, -0.4091794490814209, -1.0983448028564453, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.6523538827896118, 0.10067223012447357, -0.6838259100914001, 0.6822124719619751, 0.014943737536668777, 0.0, -0.3802526295185089, -1.0886473655700684, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.6523538827896118, 0.10067223012447357, -0.6838259100914001, 0.6822124719619751, 0.014943737536668777, 0.0, -0.30827781558036804, -1.0645185708999634, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.6523538827896118, 0.10067223012447357, -0.6838259100914001, 0.6822124719619751, 0.014943737536668777, 0.0, -0.23136767745018005, -1.038735270500183, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.6523538827896118, 0.10067223012447357, -0.6838259100914001, 0.6822124719619751, 0.014943737536668777, 0.0, -0.20737604796886444, -1.0306923389434814, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.6523538827896118, 0.10067223012447357, -0.6838259100914001, 0.6822124719619751, 0.014943737536668777, 0.0, -0.15692521631717682, -1.0137791633605957, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.6523538827896118, 0.10067223012447357, -0.6838259100914001, 0.6822124719619751, 0.014943737536668777, 0.0, -0.15658721327781677, -0.9153467416763306, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -2.884603977203369, -1.833670973777771, 0.6523538827896118, 0.10067223012447357, -0.6838259100914001, 0.6822124719619751, 0.014943737536668777, 0.0, 1.5116345882415771, 2.0177180767059326, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -0.15634147822856903, -0.5886220932006836, 0.6672670841217041, 0.18346267938613892, -0.6838259100914001, 0.6822124719619751, 0.017082853242754936, 0.0, 1.5464919805526733, 2.102877616882324, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -0.15634147822856903, -0.5886220932006836, 0.6672670841217041, 0.18346267938613892, -0.6838259100914001, 0.6822124719619751, 0.017082853242754936, 0.0, 1.5615594387054443, 2.139688730239868, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -0.15634147822856903, -0.5886220932006836, 0.6672670841217041, 0.18346267938613892, -0.6838259100914001, 0.6822124719619751, 0.017082853242754936, 0.0, 1.5890296697616577, 2.206800699234009, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -0.15634147822856903, -0.5886220932006836, 0.6672670841217041, 0.18346267938613892, -0.6838259100914001, 0.6822124719619751, 0.017082853242754936, 0.0, 1.6113795042037964, 2.2614033222198486, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -0.15634147822856903, -0.5886220932006836, 0.6672670841217041, 0.18346267938613892, -0.6838259100914001, 0.6822124719619751, 0.017082853242754936, 0.0, 1.63177490234375, 2.3112308979034424, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -0.15634147822856903, -0.5886220932006836, 0.6672670841217041, 0.18346267938613892, -0.6838259100914001, 0.6822124719619751, 0.017082853242754936, 0.0, 1.66196608543396, 2.3849904537200928, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -0.15634147822856903, -0.5886220932006836, 0.6672670841217041, 0.18346267938613892, -0.6838259100914001, 0.6822124719619751, 0.017082853242754936, 0.0, 1.6752245426177979, 2.417382001876831, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -0.15634147822856903, -0.5886220932006836, 0.6672670841217041, 0.18346267938613892, -0.6838259100914001, 0.6822124719619751, 0.017082853242754936, 0.0, 1.714522361755371, 2.513390064239502, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -0.15634147822856903, -0.5886220932006836, 0.6672670841217041, 0.18346267938613892, -0.6838259100914001, 0.6822124719619751, 0.017082853242754936, 0.0, 1.7196598052978516, 2.5259413719177246, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -0.15634147822856903, -0.5886220932006836, 0.6672670841217041, 0.18346267938613892, -0.6838259100914001, 0.6822124719619751, 0.017082853242754936, 0.0, 1.7417317628860474, 2.579864978790283, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -0.15634147822856903, -0.5886220932006836, 0.6672670841217041, 0.18346267938613892, -0.6838259100914001, 0.6822124719619751, 0.017082853242754936, 0.0, 1.7558233737945557, 2.6077253818511963, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, -0.15634147822856903, -0.5886220932006836, 0.6672670841217041, 0.18346267938613892, -0.6838259100914001, 0.6822124719619751, 0.017082853242754936, 0.0], "max": [1.7336199283599854, 2.6840972900390625, 1.5704457759857178, 0.7549510598182678, -0.0, -0.0, 0.6752712726593018, 2.0, 1.8608700037002563, 3.1890525817871094, 0.7914299964904785, 0.2615866959095001, -0.08257126808166504, 0.9821720123291016, 0.18713568150997162, 1.0, -0.15902474522590637, -0.6016067266464233, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9821720123291016, 0.18250806629657745, 0.0, -0.10876237601041794, -0.5937370657920837, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9821720123291016, 0.18250806629657745, 0.0, -0.04495718330144882, -0.5837469696998596, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9821720123291016, 0.18250806629657745, 0.0, 0.021992893889546394, -0.573264479637146, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9821720123291016, 0.18250806629657745, 0.0, 0.0688050240278244, -0.5659350156784058, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9821720123291016, 0.18250806629657745, 0.0, 0.15257054567337036, -0.5528196692466736, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9821720123291016, 0.18250806629657745, 0.0, 0.1817529946565628, -0.5482505559921265, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9821720123291016, 0.18250806629657745, 0.0, 0.2571536600589752, -0.536444902420044, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9821720123291016, 0.18250806629657745, 0.0, 0.2777130603790283, -0.5332258939743042, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9821720123291016, 0.18250806629657745, 0.0, 0.3025262951850891, -0.5293408632278442, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9821720123291016, 0.18250806629657745, 0.0, 0.3792373538017273, -0.5173300504684448, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9821720123291016, 0.18250806629657745, 0.0, 0.40548446774482727, -0.48487770557403564, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9821720123291016, 0.18250806629657745, 0.0, 0.42642951011657715, -0.458980917930603, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9821720123291016, 0.18250806629657745, 0.0, 0.48223403096199036, -0.3899833559989929, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9821720123291016, 0.18250806629657745, 0.0, 0.5049139261245728, -0.3619416058063507, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9821720123291016, 0.18250806629657745, 0.0, 0.5355865955352783, -0.3240174353122711, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9821720123291016, 0.18250806629657745, 0.0, 0.5710844397544861, -0.2801273465156555, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9821720123291016, 0.18250806629657745, 0.0, 0.6025280356407166, -0.20330791175365448, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9821720123291016, 0.18250806629657745, 0.0, 0.611609697341919, -0.18112055957317352, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9821720123291016, 0.18250806629657745, 0.0, 0.6506773829460144, -0.08567485958337784, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9821720123291016, 0.18250806629657745, 0.0, 0.6534304022789001, -0.07894901931285858, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9821720123291016, 0.18250806629657745, 0.0, 0.654093861579895, -0.07732810080051422, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9821720123291016, 0.18250806629657745, 0.0, 0.6957524418830872, 0.024447374045848846, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9821720123291016, 0.18250806629657745, 0.0, 0.7077298760414124, 0.05370922386646271, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9821720123291016, 0.18250806629657745, 0.0, 0.7381753325462341, 0.12809017300605774, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9821720123291016, 0.18250806629657745, 0.0, 0.7601064443588257, 0.18166983127593994, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9821720123291016, 0.18250806629657745, 0.0, 0.7805497646331787, 0.2316146045923233, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9821720123291016, 0.18250806629657745, 0.0, 0.8118626475334167, 0.3081147074699402, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9821720123291016, 0.18250806629657745, 0.0, 0.8230148553848267, 0.3353605270385742, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9821720123291016, 0.18250806629657745, 0.0, 0.8635672330856323, 0.43443354964256287, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9821720123291016, 0.18250806629657745, 0.0, 0.8656598329544067, 0.43954601883888245, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9821720123291016, 0.18250806629657745, 0.0, 0.8772695064544678, 0.46790939569473267, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9821720123291016, 0.18250806629657745, 0.0, 0.9083196520805359, 0.5437676310539246, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9821720123291016, 0.18250806629657745, 0.0, 0.9140194654464722, 0.5576927661895752, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9821720123291016, 0.18250806629657745, 0.0, 0.9509376883506775, 0.6478871703147888, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9821720123291016, 0.18250806629657745, 0.0, 0.9641903638839722, 0.6802646517753601, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9821720123291016, 0.18250806629657745, 0.0, 0.9935029745101929, 0.7518778443336487, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9821720123291016, 0.18250806629657745, 0.0, 1.0139079093933105, 0.8017288446426392, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9821720123291016, 0.18250806629657745, 0.0, 1.0360406637191772, 0.8558010458946228, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9821720123291016, 0.18250806629657745, 0.0, 1.063650131225586, 0.9232534766197205, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9821720123291016, 0.18250806629657745, 0.0, 1.078578233718872, 0.9597240090370178, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9821720123291016, 0.18250806629657745, 0.0, 1.1135770082473755, 1.0452290773391724, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9821720123291016, 0.18250806629657745, 0.0, 1.121115803718567, 1.0636471509933472, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9821720123291016, 0.18250806629657745, 0.0, 1.1631098985671997, 1.1662423610687256, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9821720123291016, 0.18250806629657745, 0.0, 1.1636533737182617, 1.1675701141357422, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9821720123291016, 0.18250806629657745, 0.0, 1.1667368412017822, 1.1751033067703247, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9821720123291016, 0.18250806629657745, 0.0, 1.2061909437179565, 1.2714930772781372, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9821720123291016, 0.18250806629657745, 0.0, 1.2131448984146118, 1.2884823083877563, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9821720123291016, 0.18250806629657745, 0.0, 1.248728632926941, 1.3754162788391113, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9821720123291016, 0.18250806629657745, 0.0, 1.2627712488174438, 1.4097235202789307, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9821720123291016, 0.18250806629657745, 0.0, 1.2912662029266357, 1.4793392419815063, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9821720123291016, 0.18250806629657745, 0.0, 1.3126047849655151, 1.5314711332321167, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9821720123291016, 0.18250806629657745, 0.0, 1.3338038921356201, 1.5832624435424805, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9821720123291016, 0.18250806629657745, 0.0, 1.3624403476715088, 1.6532237529754639, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9821720123291016, 0.18250806629657745, 0.0, 1.376341462135315, 1.6871854066848755, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9821720123291016, 0.18250806629657745, 0.0, 1.412064552307129, 1.774459958076477, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9821720123291016, 0.18250806629657745, 0.0, 1.4188791513442993, 1.79110848903656, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9821720123291016, 0.18250806629657745, 0.0, 1.4575425386428833, 1.8855665922164917, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9821720123291016, 0.18250806629657745, 0.0, 1.4614167213439941, 1.8950315713882446, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9821720123291016, 0.18250806629657745, 0.0, 1.462099552154541, 1.8966999053955078, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9821720123291016, 0.18250806629657745, 0.0, 1.503954291343689, 1.99895441532135, 1.5704457759857178, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9821720123291016, 0.18250806629657745, 0.0, 1.5116345882415771, 2.0177180767059326, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9641060829162598, 0.18250806629657745, 0.0, 1.5464919805526733, 2.102877616882324, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9641060829162598, 0.18250806629657745, 0.0, 1.5615594387054443, 2.139688730239868, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9641060829162598, 0.18250806629657745, 0.0, 1.5890296697616577, 2.206800699234009, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9641060829162598, 0.18250806629657745, 0.0, 1.6113795042037964, 2.2614033222198486, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9641060829162598, 0.18250806629657745, 0.0, 1.63177490234375, 2.3112308979034424, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9641060829162598, 0.18250806629657745, 0.0, 1.66196608543396, 2.3849904537200928, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9641060829162598, 0.18250806629657745, 0.0, 1.6752245426177979, 2.417382001876831, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9641060829162598, 0.18250806629657745, 0.0, 1.714522361755371, 2.513390064239502, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9641060829162598, 0.18250806629657745, 0.0, 1.7196598052978516, 2.5259413719177246, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9641060829162598, 0.18250806629657745, 0.0, 1.7417317628860474, 2.579864978790283, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9641060829162598, 0.18250806629657745, 0.0, 1.7558233737945557, 2.6077253818511963, 1.4410343170166016, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8591045141220093, 2.810220241546631, 0.6957975625991821, 0.2615866959095001, -0.08257126808166504, 0.9641060829162598, 0.18250806629657745, 0.0], "count": [1327]}, "action.applied": {"mean": [0.27351150348973435, 0.6836841631717222, -1.142887124551717, -0.21305922565373964, 0.6786483844914828, -1.1707008808469448, 0.17364583776445433, 0.808769155060697, -1.2766544035977678, -0.1934468919873103, 0.7238262870209327, -1.2710548499606118, -0.11036461797012795, 1.7640444546062064, -1.138202739327854, 0.1411016752624521, 0.6196195620428644, -0.2421060581965741, 0.006936699351311269, -0.006936699351311269], "std": [0.13180443235207812, 0.10875410219105602, 0.1612284140646264, 0.13021342197554256, 0.09990909197916305, 0.15108523259644951, 0.1320830929863727, 0.09611184384543402, 0.16441665049355528, 0.12301714818645618, 0.11594603809112512, 0.15684230879170236, 0.07917954634817136, 0.2478273268330583, 0.429814573530436, 0.11972176739434465, 0.19719464363864764, 0.19508838558736136, 0.013952300184523649, 0.013952300184523649], "min": [-0.2132595181465149, 0.40486252307891846, -1.723492980003357, -0.5216443538665771, 0.39678269624710083, -1.6093052625656128, -0.15488138794898987, 0.47490978240966797, -1.7270143032073975, -0.5374079346656799, 0.5194993019104004, -1.6857362985610962, -0.3542080223560333, 1.5073527097702026, -2.4076056480407715, -0.014950262382626534, 0.3597450852394104, -0.5469725728034973, 0.0, -0.03500000014901161], "max": [0.6584811806678772, 0.9078214168548584, -0.7459514737129211, 0.15880367159843445, 0.9662188291549683, -0.8124980330467224, 0.5173496007919312, 1.087999701499939, -0.9446255564689636, 0.34280362725257874, 1.0727459192276, -0.910713255405426, -0.00010238598770229146, 2.4761910438537598, -0.7544415593147278, 0.33922258019447327, 1.0723692178726196, 0.011068494990468025, 0.03500000014901161, 0.0], "count": [1327]}, "extra.reward": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1327]}, "next.truncated": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1327]}, "sim_step_idx": {"mean": [1427.0], "std": [766.1435896749382], "min": [101.0], "max": [2753.0], "count": [1327]}, "timestamp": {"mean": [26.520000000678692], "std": [15.322871791091485], "min": [0.0], "max": [53.040000915527344], "count": [1327]}, "frame_index": {"mean": [663.0], "std": [383.0717948374691], "min": [0.0], "max": [1326.0], "count": [1327]}, "episode_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1327]}, "index": {"mean": [663.0], "std": [383.0717948374691], "min": [0.0], "max": [1326.0], "count": [1327]}, "task_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1327]}, "next.done": {"mean": [0.0007535795026375283], "std": [0.02744105720577713], "min": [0.0], "max": [1.0], "count": [1327]}, "observation.images.head": {"mean": [[[0.5485931177321728]], [[0.4661694696126675]], [[0.4215045417501628]]], "std": [[[0.0848610128577055]], [[0.09792477703317963]], [[0.11058106234026005]]], "min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[0.8901960784313725]], [[0.8862745098039215]], [[0.8901960784313725]]], "count": [100]}, "observation.images.wrist": {"mean": [[[0.5955991129235486]], [[0.5320041411386865]], [[0.4717311653920981]]], "std": [[[0.13725525002071737]], [[0.14152844737434092]], [[0.14146934005853576]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9529411764705882]], [[0.9333333333333333]], [[0.9294117647058824]]], "count": [100]}}} diff --git a/N033/go2_arm/dr_off/seed_1016/rec/stationring/000/lerobot_v21/meta/extra/episode_000000.json b/N033/go2_arm/dr_off/seed_1016/rec/stationring/000/lerobot_v21/meta/extra/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..94e07229a2c5f03b492a64aff415335bfcd4064c --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1016/rec/stationring/000/lerobot_v21/meta/extra/episode_000000.json @@ -0,0 +1,667 @@ +{ + "episode_index": 0, + "trajectory_id": 0, + "env_id": 0, + "task_type": "RingCommand", + "subsample_every": 2, + "control_steps": 2653, + "language": { + "scene": { + "objects": [ + { + "id": "table_A_1", + "cat_name": "table_A", + "inst_id": 1, + "noun": "table A", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 3.5924382104645005, + 0.1445642986762155, + -0.2188497912241441 + ], + "bbox": { + "extent": [ + 0.8999999761581421, + 0.5, + 0.30000001192092896 + ], + "center": [ + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "id": "table_B_1", + "cat_name": "table_B", + "inst_id": 1, + "noun": "table B", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 7.1432869524550595, + 1.7272671884858306, + -0.27610443018812525 + ], + "bbox": { + "extent": [ + 1.028310538478025, + 0.7309590060574647, + 0.30000001192092896 + ], + "center": [ + -1.1102230246251565e-16, + -2.220446049250313e-16, + 0.0 + ] + } + }, + { + "id": "rack_back_1", + "cat_name": "rack_back", + "inst_id": 1, + "noun": "rack back", + "color": "brown", + "size": "medium", + "material": null, + "category": "geometry", + "pos": [ + 3.548175231180645, + 0.16514015442164912, + 0.03158467690127208 + ], + "bbox": { + "extent": [ + 0.699999988079071, + 0.029999999329447746, + 0.20000000298023224 + ], + "center": [ + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "id": "peg_1_1", + "cat_name": "peg_1", + "inst_id": 1, + "noun": "peg 1", + "color": "gray", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.617921443321818, + -0.004057888421627173, + 0.07198873845408407 + ], + "bbox": { + "extent": [ + 0.019999999552965164, + 0.18000000715255737, + 0.019999999552965164 + ], + "center": [ + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "id": "peg_2_1", + "cat_name": "peg_2", + "inst_id": 1, + "noun": "peg 2", + "color": "gray", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.365736462951055, + 0.15841930318586003, + 0.07396304408945312 + ], + "bbox": { + "extent": [ + 0.019999999552965164, + 0.18000000715255737, + 0.019999999552965164 + ], + "center": [ + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "id": "ring_1", + "cat_name": "ring", + "inst_id": 1, + "noun": "ring", + "color": null, + "size": "small", + "material": null, + "category": "rigid", + "pos": [ + 3.5988443590847066, + -0.033308319667546285, + 0.04245075623665383 + ], + "bbox": { + "extent": [ + 0.12400198894369781, + 0.035002158901726185, + 0.18200167208833157 + ], + "center": [ + -2.3240731753665367e-07, + -9.241911368140787e-09, + 0.02899995912180922 + ] + } + }, + { + "id": "ring_small_1", + "cat_name": "ring_small", + "inst_id": 1, + "noun": "ring small", + "color": null, + "size": "small", + "material": null, + "category": "rigid", + "pos": [ + 3.335786053278983, + 0.11191798543886014, + 0.0734845548450366 + ], + "bbox": { + "extent": [ + 0.07507808837978397, + 0.0352637713885547, + 0.13271557838128945 + ], + "center": [ + -0.00018625723512642398, + -1.815342850885332e-07, + 0.028999543204250244 + ] + } + }, + { + "id": "rod_h_1", + "cat_name": "rod_h", + "inst_id": 1, + "noun": "rod h", + "color": "white", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 7.063836101687834, + 1.63065135000708, + 0.07568093344631047 + ], + "bbox": { + "extent": [ + 0.0559269571554904, + 0.1451324229741231, + 0.019999999552965164 + ], + "center": [ + -1.942890293094024e-16, + 2.220446049250313e-16, + 0.0 + ] + } + }, + { + "id": "rod_s_1", + "cat_name": "rod_s", + "inst_id": 1, + "noun": "rod s", + "color": "white", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 7.145488230509958, + 1.7275626936163282, + 0.03369937393900757 + ], + "bbox": { + "extent": [ + 0.05237341197106291, + 0.16299807955067214, + 0.1545008061750422 + ], + "center": [ + 1.9081958235744878e-16, + -1.6653345369377348e-16, + 2.7755575615628914e-17 + ] + } + }, + { + "id": "rod_stop_1", + "cat_name": "rod_stop", + "inst_id": 1, + "noun": "rod stop", + "color": "brown", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 7.191140851241371, + 1.782323239222627, + -0.06710960812734611 + ], + "bbox": { + "extent": [ + 0.10307945501256122, + 0.037662112950680005, + 0.11999999731779099 + ], + "center": [ + -5.551115123125783e-17, + 0.0, + 0.0 + ] + } + } + ], + "relations": [ + { + "subject": "table_B_1", + "relation": "right_of", + "object": "rod_stop_1" + }, + { + "subject": "rack_back_1", + "relation": "in_front_of", + "object": "peg_2_1" + }, + { + "subject": "rod_h_1", + "relation": "right_of", + "object": "rod_s_1" + }, + { + "subject": "rod_s_1", + "relation": "on_top_of", + "object": "rod_stop_1" + }, + { + "subject": "rod_s_1", + "relation": "right_of", + "object": "rod_stop_1" + }, + { + "subject": "rod_stop_1", + "relation": "left_of", + "object": "rod_s_1" + } + ], + "cameras": [ + { + "name": "head", + "intrinsics": { + "K": [ + [ + 607.7061061683956, + 0.0, + 320.0 + ], + [ + 0.0, + 607.3754374751866, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 55.53991912549515, + "resolution": [ + 640, + 480 + ] + }, + "pos_robot": [ + 4.087795049771397, + -0.1717333006194242, + -0.309200041160599 + ], + "viewpoint": "front, at table height", + "extrinsics": { + "R": [ + [ + 0.0034545225363202814, + -0.9995776319673901, + 0.028855223868669955 + ], + [ + -0.02338972540530354, + 0.0287667346071393, + 0.9993124615081647 + ], + [ + -0.9997204544368945, + -0.0041270631819024794, + -0.023280471000004077 + ] + ], + "t": [ + 0.03416419479862187, + -0.08682200219228882, + 0.33429322289826396 + ] + } + }, + { + "name": "wrist", + "intrinsics": { + "K": [ + [ + 617.2500342478374, + 0.0, + 320.0 + ], + [ + 0.0, + 617.548655622722, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 54.807019583348044, + "resolution": [ + 640, + 480 + ] + }, + "pos_robot": [ + 3.7272298106558277, + 0.020705420210964512, + -0.3538171025808414 + ], + "viewpoint": "front, at table height", + "extrinsics": { + "R": [ + [ + 0.017356943317221596, + -0.9998337334638687, + 0.005589449560045617 + ], + [ + -0.9382601518788614, + -0.014355819960515381, + 0.34563246061317376 + ], + [ + -0.3454947523696107, + -0.011243480820582297, + -0.9383533237667454 + ] + ], + "t": [ + 0.006333551580298355, + -0.08611861262827436, + 0.017148138726427706 + ] + } + } + ], + "robots": [ + { + "name": "Go2Plus", + "model": "go2plus", + "type": "mobilemanip", + "noun": "Unitree Go2 EDU quadruped with a Piper arm", + "arms": 1, + "arm_layout": null, + "mobile": true, + "dexterous": false, + "base_pose": { + "pos": [ + -3.4, + -2.2, + 0.44999999999999996 + ], + "ori": [ + 0.9396926164627075, + 0.0, + 0.0, + 0.3420201539993286 + ] + }, + "facing_yaw_deg": 40.000001288448495, + "gripper": "parallel gripper" + } + ], + "lighting": [], + "background": { + "name": null, + "kind": "background", + "type": "dome", + "pose": null, + "setting": null, + "time_of_day": null, + "indoor": false, + "intensity": 1000.0, + "ambient": "dim" + }, + "effects": [], + "caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the brown rod stop. There are a large gray table A, a large gray table B, a medium brown rack back, a small gray peg 1, a small gray peg 2, a small ring, a small ring small, a small white rod h, a small white rod s and a small brown rod stop. The gray table B is to the right of the brown rod stop. The brown rack back is in front of the gray peg 2. The white rod h is to the right of the white rod s. The white rod s is on top of the brown rod stop. The white rod s is to the right of the brown rod stop. The brown rod stop is to the left of the white rod s. The scene is viewed from front, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n[rod stop]\n\n\n\n [ring small]\n\n\n\n [robot]" + }, + "task": { + "task_type": "StationRing", + "instruction": "Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.", + "template_id": -1, + "slots": { + "obj": 1.5704457917446497, + "support": null + }, + "generic_instruction": "Stationring the 1.5704457917446497.", + "task_id": "N033", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_0571": { + "frame_idx": 571, + "caption": "Computing a grasp pose for the small ring; the right gripper is below and to the left of and in front of the ring.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "NavTo", + "planner_state": "finished", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0577": { + "frame_idx": 577, + "caption": "Working on the small ring; the right gripper is below and to the left of and in front of the ring.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0814": { + "frame_idx": 814, + "caption": "Computing a grasp pose for the small ring; the right gripper is below and to the left of and in front of the ring.", + "skill": "ReachStance", + "phase": "verify", + "skill_state": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0828": { + "frame_idx": 828, + "caption": "Pre-grasping the small ring, servoing the arm toward it; the right gripper is below and to the left of and in front of the ring.", + "skill": "Grasp", + "phase": "pre_grasp", + "skill_state": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0830": { + "frame_idx": 830, + "caption": "Pre-grasping the small ring, moving the arm toward it; the right gripper is below and to the left of and in front of the ring.", + "skill": "Grasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0883": { + "frame_idx": 883, + "caption": "Grasping the small ring, moving the arm in to make contact; the right gripper is below and to the left of and in front of the ring.", + "skill": "Grasp", + "phase": "grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0919": { + "frame_idx": 919, + "caption": "Grasping the small ring, moving the arm in to make contact; the right gripper is below and to the left of the ring.", + "skill": "Grasp", + "phase": "grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_0945": { + "frame_idx": 945, + "caption": "Closing the right gripper on the ring; the right gripper is below and to the left of the ring.", + "skill": "Grasp", + "phase": "close_gripper", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_1005": { + "frame_idx": 1005, + "caption": "Lifting the ring away with the gripper; the right gripper is below and to the left of the ring.", + "skill": "Grasp", + "phase": "retrieval", + "skill_state": "running", + "planner": "ParallelGripper", + "planner_state": "finished", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_1006": { + "frame_idx": 1006, + "caption": "Lifting the ring away with the arm; the right gripper is below and to the left of the ring.", + "skill": "Grasp", + "phase": "retrieval", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_1066": { + "frame_idx": 1066, + "caption": "Done — the small ring is grasped; the right gripper is below and to the left of the ring.", + "skill": "Grasp", + "phase": "completed", + "skill_state": "finished", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + } + } + }, + "depth_range": [ + 0.1, + 20.0 + ], + "annotation_sidecar": null, + "annotation_sidecar_keys": [], + "terminated": true, + "truncated": false +} \ No newline at end of file diff --git a/N033/go2_arm/dr_off/seed_1016/rec/stationring/000/lerobot_v21/meta/info.json b/N033/go2_arm/dr_off/seed_1016/rec/stationring/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..20636a4d5400725088a74088c5b3cb99e85ef941 --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1016/rec/stationring/000/lerobot_v21/meta/info.json @@ -0,0 +1,336 @@ +{ + "codebase_version": "v2.1", + "robot_type": "Go2PlusCfg", + "total_episodes": 1, + "total_frames": 1327, + "total_tasks": 1, + "total_videos": 2, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 25, + "splits": { + "train": "0:1" + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", + "features": { + "action": { + "dtype": "float32", + "shape": [ + 12 + ], + "names": [ + "base_action_0", + "base_action_1", + "base_action_2", + "base_action_3", + "eef0.pos_x", + "eef0.pos_y", + "eef0.pos_z", + "eef0.quat_w", + "eef0.quat_x", + "eef0.quat_y", + "eef0.quat_z", + "gripper" + ] + }, + "action_is_hold": { + "dtype": "bool", + "shape": [ + 12 + ], + "names": null + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 26 + ], + "names": [ + "joint_0", + "joint_1", + "joint_2", + "joint_3", + "joint_4", + "joint_5", + "joint_6", + "joint_7", + "joint_8", + "joint_9", + "joint_10", + "joint_11", + "joint_12", + "joint_13", + "joint_14", + "joint_15", + "joint_16", + "joint_17", + "joint_18", + "joint_19", + "joint_20", + "joint_21", + "joint_22", + "joint_23", + "gripper_0", + "gripper_1" + ] + }, + "observation.joint_vel": { + "dtype": "float32", + "shape": [ + 20 + ], + "names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ] + }, + "observation.eef_pose": { + "dtype": "float32", + "shape": [ + 7 + ], + "names": null + }, + "observation.environment_state": { + "dtype": "float32", + "shape": [ + 70 + ], + "names": [ + "object_pose.peg_1.0", + "object_pose.peg_1.1", + "object_pose.peg_1.2", + "object_pose.peg_1.3", + "object_pose.peg_1.4", + "object_pose.peg_1.5", + "object_pose.peg_1.6", + "object_pose.peg_2.0", + "object_pose.peg_2.1", + "object_pose.peg_2.2", + "object_pose.peg_2.3", + "object_pose.peg_2.4", + "object_pose.peg_2.5", + "object_pose.peg_2.6", + "object_pose.rack_back.0", + "object_pose.rack_back.1", + "object_pose.rack_back.2", + "object_pose.rack_back.3", + "object_pose.rack_back.4", + "object_pose.rack_back.5", + "object_pose.rack_back.6", + "object_pose.ring.0", + "object_pose.ring.1", + "object_pose.ring.2", + "object_pose.ring.3", + "object_pose.ring.4", + "object_pose.ring.5", + "object_pose.ring.6", + "object_pose.ring_small.0", + "object_pose.ring_small.1", + "object_pose.ring_small.2", + "object_pose.ring_small.3", + "object_pose.ring_small.4", + "object_pose.ring_small.5", + "object_pose.ring_small.6", + "object_pose.rod_h.0", + "object_pose.rod_h.1", + "object_pose.rod_h.2", + "object_pose.rod_h.3", + "object_pose.rod_h.4", + "object_pose.rod_h.5", + "object_pose.rod_h.6", + "object_pose.rod_s.0", + "object_pose.rod_s.1", + "object_pose.rod_s.2", + "object_pose.rod_s.3", + "object_pose.rod_s.4", + "object_pose.rod_s.5", + "object_pose.rod_s.6", + "object_pose.rod_stop.0", + "object_pose.rod_stop.1", + "object_pose.rod_stop.2", + "object_pose.rod_stop.3", + "object_pose.rod_stop.4", + "object_pose.rod_stop.5", + "object_pose.rod_stop.6", + "object_pose.table_A.0", + "object_pose.table_A.1", + "object_pose.table_A.2", + "object_pose.table_A.3", + "object_pose.table_A.4", + "object_pose.table_A.5", + "object_pose.table_A.6", + "object_pose.table_B.0", + "object_pose.table_B.1", + "object_pose.table_B.2", + "object_pose.table_B.3", + "object_pose.table_B.4", + "object_pose.table_B.5", + "object_pose.table_B.6" + ] + }, + "action.command": { + "dtype": "float32", + "shape": [ + 1184 + ], + "names": null + }, + "action.applied": { + "dtype": "float32", + "shape": [ + 20 + ], + "names": null + }, + "narration": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "collect_info": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "extra.reward": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "extra.action_info": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "next.truncated": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "sim_step_idx": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "next.done": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "observation.images.head": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25, + "video.codec": "libsvtav1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.wrist": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25, + "video.codec": "libsvtav1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + } + } +} \ No newline at end of file diff --git a/N033/go2_arm/dr_off/seed_1016/rec/stationring/000/lerobot_v21/meta/magicsim_manifest.json b/N033/go2_arm/dr_off/seed_1016/rec/stationring/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..b1d917f00df6ab30c537d492eec805deb50100cc --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1016/rec/stationring/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,290 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 03:14:01" + }, + "embodiment": { + "robots": [ + { + "name": "Go2Plus", + "cfg": "Go2PlusCfg", + "type": "mobilemanip", + "joint_names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 12, + "nan_policy": "from_raw", + "segments": [ + { + "name": "Go2Plus.base_action", + "start": 0, + "end": 4, + "names": [ + "base_action_0", + "base_action_1", + "base_action_2", + "base_action_3" + ], + "source": "Go2UnifiedLocomotionAction", + "names_source": "fallback" + }, + { + "name": "Go2Plus.arm_action", + "start": 4, + "end": 11, + "names": [ + "eef0.pos_x", + "eef0.pos_y", + "eef0.pos_z", + "eef0.quat_w", + "eef0.quat_x", + "eef0.quat_y", + "eef0.quat_z" + ], + "source": "Go2PlusCuroboIKAction", + "names_source": "pose_layout" + }, + { + "name": "Go2Plus.eef_action", + "start": 11, + "end": 12, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 26, + "segments": [ + { + "name": "Go2Plus.joint_pos", + "start": 0, + "end": 24, + "names": [ + "joint_0", + "joint_1", + "joint_2", + "joint_3", + "joint_4", + "joint_5", + "joint_6", + "joint_7", + "joint_8", + "joint_9", + "joint_10", + "joint_11", + "joint_12", + "joint_13", + "joint_14", + "joint_15", + "joint_16", + "joint_17", + "joint_18", + "joint_19", + "joint_20", + "joint_21", + "joint_22", + "joint_23" + ], + "source": "ObservationManager", + "names_source": "fallback_dim_mismatch(joint_names=20,obs=24)" + }, + { + "name": "Go2Plus.gripper_pos", + "start": 24, + "end": 26, + "names": [ + "gripper_0", + "gripper_1" + ], + "source": "ObservationManager", + "names_source": "generated" + } + ] + }, + "joint_vel_layout": { + "dim": 20, + "segments": [ + { + "name": "Go2Plus.joint_vel", + "start": 0, + "end": 20, + "names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "action_levels": { + "L0": "task command list (collect.auto_collect_info.current_action)", + "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)", + "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)", + "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy", + "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)" + }, + "cameras": { + "head": { + "intrinsics": { + "K": [ + [ + 607.7061061683956, + 0.0, + 320.0 + ], + [ + 0.0, + 607.3754374751866, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 55.53991912549515, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.33205100893974304, + 0.038026999682188034, + 0.09355899691581726 + ], + "quat": [ + -0.5022302269935608, + -0.499491810798645, + 0.5120040774345398, + 0.4859265089035034 + ] + }, + "wrist": { + "intrinsics": { + "K": [ + [ + 617.2500342478374, + 0.0, + 320.0 + ], + [ + 0.0, + 617.548655622722, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 54.807019583348044, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + -0.0749870017170906, + 0.005288999993354082, + 0.04582099989056587 + ], + "quat": [ + 0.1271296590566635, + 0.701795220375061, + -0.6904057860374451, + -0.12108422070741653 + ] + } + }, + "lerobot": { + "codebase_version": "v2.1", + "video_keys": [ + "observation.images.head", + "observation.images.wrist" + ], + "columns": [ + "action", + "action.applied", + "action.command", + "action_is_hold", + "collect_info", + "episode_index", + "extra.action_info", + "extra.reward", + "frame_index", + "index", + "narration", + "next.done", + "next.truncated", + "observation.eef_pose", + "observation.environment_state", + "observation.images.head", + "observation.images.wrist", + "observation.joint_vel", + "observation.state", + "sim_step_idx", + "task_index", + "timestamp" + ] + }, + "generated_run": { + "run_id": "stationring/000", + "task_type": "RingCommand" + } +} \ No newline at end of file diff --git a/N033/go2_arm/dr_off/seed_1016/rec/stationring/000/lerobot_v21/meta/stats.json b/N033/go2_arm/dr_off/seed_1016/rec/stationring/000/lerobot_v21/meta/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..a05d98565432228d085d7d0d75e3861cec92d46b --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1016/rec/stationring/000/lerobot_v21/meta/stats.json @@ -0,0 +1,5809 @@ +{ + "action": { + "mean": [ + 0.14732518055937346, + 0.0029397711555032057, + 0.025006459622005928, + 0.35342209859728, + 0.5258412620202886, + 0.7956160738693653, + 0.6910611920637032, + 0.16988110144783342, + -0.502710915057616, + 0.8026571946657952, + 0.11493501604830154, + 0.4875659382064808 + ], + "std": [ + 0.16463093734014292, + 0.029512979574559096, + 0.2444995447360554, + 0.01685363442934535, + 1.2676055032167965, + 1.7682901349119302, + 0.03863647274920172, + 0.0474508603438658, + 0.20868109156476575, + 0.10669550405752486, + 0.06140036005015933, + 0.49984537019693476 + ], + "min": [ + 0.0, + -0.06231524050235748, + -0.800000011920929, + 0.33000001311302185, + -2.884603977203369, + -1.833670973777771, + 0.6215142011642456, + 0.08131252229213715, + -0.6838259100914001, + 0.6822124719619751, + 0.014943737536668777, + 0.0 + ], + "max": [ + 0.3499999940395355, + 0.25, + 0.800000011920929, + 0.3792630136013031, + 1.8608700037002563, + 3.1890525817871094, + 0.7914299964904785, + 0.2615866959095001, + -0.08257126808166504, + 0.9821720123291016, + 0.18713568150997162, + 1.0 + ], + "count": [ + 1327 + ] + }, + "action_is_hold": { + "mean": [ + 0.18010550113036924, + 0.18010550113036924, + 0.18010550113036924, + 0.18010550113036924, + 0.22381311228334588, + 0.22381311228334588, + 0.22381311228334588, + 0.22381311228334588, + 0.22381311228334588, + 0.22381311228334588, + 0.22381311228334588, + 0.9510173323285607 + ], + "std": [ + 0.3842753044276292, + 0.3842753044276292, + 0.3842753044276292, + 0.3842753044276292, + 0.4167982762121113, + 0.4167982762121113, + 0.4167982762121113, + 0.4167982762121113, + 0.4167982762121113, + 0.4167982762121113, + 0.4167982762121113, + 0.2158318001111724 + ], + "min": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "max": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "count": [ + 1327 + ] + }, + "observation.state": { + "mean": [ + -0.030934629126047986, + 0.014804845066117137, + -0.051698781243559026, + 0.0882653711590363, + -0.11040108895086712, + 0.640168080495189, + 0.6619971999793279, + 0.8169364621968043, + 0.795123747352738, + 1.7645696570483382, + -1.3940658211797903, + -1.3898229580133952, + -1.3957805648816648, + -1.4309610580266106, + -1.137586831732091, + 0.14131624064061613, + 0.6186943971850231, + -0.2429888260445966, + 0.025018110360385964, + -0.02530496292442263, + 0.34841447211198434, + 0.47030050485986535, + 1.0938397630790884, + 0.38138241168692677, + -0.02530496292442263, + -0.025018110360385964 + ], + "std": [ + 0.02644552988953429, + 0.03139374661841059, + 0.03680127472385778, + 0.03256440520326804, + 0.07877616308660582, + 0.10326671605295186, + 0.08787018438802874, + 0.08599151194382063, + 0.09795576248380716, + 0.2472289403737232, + 0.10007471717489277, + 0.09648915826311281, + 0.11454755989791406, + 0.10669226440399526, + 0.4288105301828699, + 0.11980571202724064, + 0.19691516587387986, + 0.1957476989438169, + 0.010209592686014695, + 0.009916136681127492, + 1.323150098921457, + 1.6645227276085393, + 0.4856706478008266, + 0.013480210779195789, + 0.009916136681127492, + 0.010209592686014695 + ], + "min": [ + -0.16801539063453674, + -0.0991235002875328, + -0.14415553212165833, + -0.0522259958088398, + -0.33637088537216187, + 0.4470718204975128, + 0.4432220458984375, + 0.5870674252510071, + 0.6227120161056519, + 1.508397102355957, + -1.5475332736968994, + -1.5996445417404175, + -1.5944993495941162, + -1.6525585651397705, + -2.360671281814575, + -0.002439438132569194, + 0.35944148898124695, + -0.526505172252655, + 0.0144652733579278, + -0.03500000014901161, + -3.1999762058258057, + -2.033966064453125, + 0.09568548947572708, + 0.3519573211669922, + -0.03500000014901161, + -0.03500000014901161 + ], + "max": [ + 0.11254686862230301, + 0.1467733234167099, + 0.16014735400676727, + 0.18895941972732544, + 0.0010267379693686962, + 0.8377453684806824, + 0.9140487313270569, + 1.0268498659133911, + 1.0109533071517944, + 2.456897497177124, + -1.2221367359161377, + -1.1796436309814453, + -1.1634448766708374, + -1.1243138313293457, + -0.756980836391449, + 0.3216278851032257, + 1.0448169708251953, + 0.00018756024655885994, + 0.03500000014901161, + -0.014773150905966759, + 1.7232142686843872, + 2.664170980453491, + 1.6490530967712402, + 0.40471068024635315, + -0.014773150905966759, + -0.0144652733579278 + ], + "count": [ + 1327 + ] + }, + "observation.joint_vel": { + "mean": [ + -0.0038823367564469794, + 0.0027292650178665336, + 0.0022987324942059773, + -0.0025405097655795844, + 0.0004004941641744514, + -0.004683558801993313, + -0.006004202268336838, + -0.0048096148352481365, + -0.005977677637692306, + -0.004217937429508892, + 0.00044395800265581816, + 0.00994772204342278, + 0.0052732730659519325, + 0.0001801394069239307, + -0.002772004061166719, + -0.003291040601435375, + 0.009047138889895757, + 0.008147561797165996, + 0.001040230117369156, + -0.00026890846723698635 + ], + "std": [ + 0.4179073106774828, + 0.37929890003221967, + 0.46526190160511854, + 0.5204486117459057, + 0.06767495607641237, + 1.135719601589445, + 1.1323451053334757, + 0.8780621786088797, + 0.7317792840732285, + 0.1830390089531987, + 0.6589909185005192, + 1.0586961326110877, + 1.0306934670855563, + 1.10028558568451, + 0.29049339030351734, + 0.05207529352133174, + 0.12137651667800677, + 0.07650047822450003, + 0.01026987931259445, + 0.010130671208023969 + ], + "min": [ + -2.304323434829712, + -3.622119188308716, + -3.290942668914795, + -2.4897677898406982, + -0.7105566263198853, + -4.849489688873291, + -4.864991188049316, + -3.8876307010650635, + -3.3207623958587646, + -1.019720196723938, + -3.206754684448242, + -5.869719505310059, + -3.8416194915771484, + -5.607366561889648, + -2.4145102500915527, + -0.3746822476387024, + -0.7146247625350952, + -0.3999471664428711, + -0.20007523894309998, + -0.20003706216812134 + ], + "max": [ + 2.960714817047119, + 2.604438543319702, + 5.043395042419434, + 2.644503355026245, + 0.33580803871154785, + 1.4633678197860718, + 2.278306007385254, + 3.078244924545288, + 4.0411906242370605, + 1.3433314561843872, + 3.601088762283325, + 5.08962869644165, + 3.6082916259765625, + 3.2460784912109375, + 1.5015572309494019, + 0.34427565336227417, + 1.0531610250473022, + 0.4813157021999359, + 0.20001095533370972, + 0.20025703310966492 + ], + "count": [ + 1327 + ] + }, + "observation.eef_pose": { + "mean": [ + 0.5250742133912443, + 0.7957305417921795, + 0.6903429306263122, + 0.1695476316404055, + -0.5038955098785848, + 0.8017028586345233, + 0.11538033595009684 + ], + "std": [ + 1.266975551229216, + 1.7683064188713946, + 0.03885525595071263, + 0.04723931639644202, + 0.20924074678439566, + 0.10715937782916612, + 0.061696638599072186 + ], + "min": [ + -2.884603977203369, + -1.8336838483810425, + 0.6202079653739929, + 0.07742440700531006, + -0.6921948194503784, + 0.6821390390396118, + 0.015104949474334717 + ], + "max": [ + 1.866413950920105, + 3.192505121231079, + 0.7911718487739563, + 0.2613900303840637, + -0.08322705328464508, + 0.9821945428848267, + 0.185028076171875 + ], + "count": [ + 1327 + ] + }, + "observation.environment_state": { + "mean": [ + -0.1562941074371338, + -0.08034676313400269, + 0.4699999988079071, + 1.0, + 0.0, + 0.0, + 0.0, + -0.45629408955574036, + -0.0802416056394577, + 0.4699999988079071, + 1.0, + 0.0, + 0.0, + 0.0, + -0.30625730752944946, + 0.024705808609724045, + 0.4300000071525574, + 1.0, + 0.0, + 0.0, + 0.0, + 0.7645311362417829, + 1.143004180459599, + 0.4601149452792673, + 0.9781256947377255, + -0.044286217517287625, + 0.002222785424301798, + -0.08987899592536906, + -0.4563024605497347, + -0.13554219419828645, + 0.46878641890958456, + 0.9999947421696281, + -0.00038008303815318577, + 0.003211403988124894, + -0.0003018487190145904, + 1.8561670780181885, + 3.1589457988739014, + 0.5299999713897705, + 0.9978959560394287, + 0.0, + 0.0, + -0.06483564525842667, + 1.8726394176483154, + 3.2851755619049072, + 0.48980000615119934, + 0.9517102837562561, + -0.30007314682006836, + 0.019496414810419083, + -0.061834730207920074, + 1.8820466995239258, + 3.357264280319214, + 0.38999998569488525, + 0.9978959560394287, + 0.0, + 0.0, + -0.06483564525842667, + -0.25625380873680115, + 0.034688279032707214, + 0.18000000715255737, + 1.0, + 0.0, + 0.0, + 0.0, + 1.8729888200759888, + 3.2878527641296387, + 0.18000000715255737, + 0.9978959560394287, + 0.0, + 0.0, + -0.06483564525842667 + ], + "std": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.9123553336358733, + 1.5209230407145864, + 0.027995795592020662, + 0.047987416165692735, + 0.09940265847808505, + 0.007862836717406303, + 0.14484535773148302, + 1.0670940141454491e-08, + 6.993697447040498e-09, + 3.719293245236674e-09, + 2.435163824095557e-08, + 1.5168199196015146e-07, + 2.5889694008622445e-07, + 1.0311522523136017e-07, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 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": [ + -0.1562941074371338, + -0.08034676313400269, + 0.4699999988079071, + 1.0, + 0.0, + 0.0, + 0.0, + -0.45629408955574036, + -0.0802416056394577, + 0.4699999988079071, + 1.0, + 0.0, + 0.0, + 0.0, + -0.30625730752944946, + 0.024705808609724045, + 0.4300000071525574, + 1.0, + 0.0, + 0.0, + 0.0, + -0.15668317675590515, + -0.5744839310646057, + 0.43060195446014404, + 0.7655857801437378, + -0.38930773735046387, + -0.015073999762535095, + -0.6432985067367554, + -0.4563024938106537, + -0.13554221391677856, + 0.46878641843795776, + 0.999994695186615, + -0.00038046931149438024, + 0.003210821421816945, + -0.00030218306346796453, + 1.8561670780181885, + 3.1589457988739014, + 0.5299999713897705, + 0.9978959560394287, + 0.0, + 0.0, + -0.06483564525842667, + 1.8726394176483154, + 3.2851755619049072, + 0.48980000615119934, + 0.9517102837562561, + -0.30007314682006836, + 0.019496414810419083, + -0.061834730207920074, + 1.8820466995239258, + 3.357264280319214, + 0.38999998569488525, + 0.9978959560394287, + 0.0, + 0.0, + -0.06483564525842667, + -0.25625380873680115, + 0.034688279032707214, + 0.18000000715255737, + 1.0, + 0.0, + 0.0, + 0.0, + 1.8729888200759888, + 3.2878527641296387, + 0.18000000715255737, + 0.9978959560394287, + 0.0, + 0.0, + -0.06483564525842667 + ], + "max": [ + -0.1562941074371338, + -0.08034676313400269, + 0.4699999988079071, + 1.0, + 0.0, + 0.0, + 0.0, + -0.45629408955574036, + -0.0802416056394577, + 0.4699999988079071, + 1.0, + 0.0, + 0.0, + 0.0, + -0.30625730752944946, + 0.024705808609724045, + 0.4300000071525574, + 1.0, + 0.0, + 0.0, + 0.0, + 1.8812370300292969, + 3.321822166442871, + 0.5370054244995117, + 1.0, + 0.0176507830619812, + 0.040503110736608505, + 0.002114036586135626, + -0.4563024342060089, + -0.13554218411445618, + 0.46878644824028015, + 0.9999947547912598, + -0.0003796667733695358, + 0.0032122114207595587, + -0.0003016362024936825, + 1.8561670780181885, + 3.1589457988739014, + 0.5299999713897705, + 0.9978959560394287, + 0.0, + 0.0, + -0.06483564525842667, + 1.8726394176483154, + 3.2851755619049072, + 0.48980000615119934, + 0.9517102837562561, + -0.30007314682006836, + 0.019496414810419083, + -0.061834730207920074, + 1.8820466995239258, + 3.357264280319214, + 0.38999998569488525, + 0.9978959560394287, + 0.0, + 0.0, + -0.06483564525842667, + -0.25625380873680115, + 0.034688279032707214, + 0.18000000715255737, + 1.0, + 0.0, + 0.0, + 0.0, + 1.8729888200759888, + 3.2878527641296387, + 0.18000000715255737, + 0.9978959560394287, + 0.0, + 0.0, + -0.06483564525842667 + ], + "count": [ + 1327 + ] + }, + "action.command": { + "mean": [ + -1.1777862988328456, + -0.9581669978564313, + 1.269371874080283, + 0.7418827686780765, + 0.0, + 0.0, + 0.6704447909637734, + 1.0126213592233009, + 0.2547965485349442, + 0.3266070320768264, + 0.6826936775040858, + 0.1657220308786457, + -0.4635782823472926, + 0.8241120104072164, + 0.10172878126659006, + 0.5384615384615384, + -1.4900756630362297, + -1.233201525649246, + 1.4991374210435517, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.013772828706205359, + -0.14372018583154006, + 0.678051716772316, + 0.17459920013624608, + -0.3419902396843048, + 0.8893325366255252, + 0.07802041328338148, + 0.0, + -1.4330854739765733, + -1.2190444384302412, + 1.4991374210435517, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.013772828706205359, + -0.14372018583154006, + 0.678051716772316, + 0.17459920013624608, + -0.3419902396843048, + 0.8893325366255252, + 0.07802041328338148, + 0.0, + -1.3821716529070114, + -1.2082577128799594, + 1.4991374210435517, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.013772828706205359, + -0.14372018583154006, + 0.678051716772316, + 0.17459920013624608, + -0.3419902396843048, + 0.8893325366255252, + 0.07802041328338148, + 0.0, + -1.312359509001277, + -1.1914450854671246, + 1.4991374210435517, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.013772828706205359, + -0.14372018583154006, + 0.678051716772316, + 0.17459920013624608, + -0.3419902396843048, + 0.8893325366255252, + 0.07802041328338148, + 0.0, + -1.2743875150169646, + -1.183323969646376, + 1.4991374210435517, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.013772828706205359, + -0.14372018583154006, + 0.678051716772316, + 0.17459920013624608, + -0.3419902396843048, + 0.8893325366255252, + 0.07802041328338148, + 0.0, + -1.2223682513042373, + -1.174131691455841, + 1.4991374210435517, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.013772828706205359, + -0.14372018583154006, + 0.678051716772316, + 0.17459920013624608, + -0.3419902396843048, + 0.8893325366255252, + 0.07802041328338148, + 0.0, + -1.166919623406566, + -1.1584161082092597, + 1.4991374210435517, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.013772828706205359, + -0.14372018583154006, + 0.678051716772316, + 0.17459920013624608, + -0.3419902396843048, + 0.8893325366255252, + 0.07802041328338148, + 0.0, + -1.097733707452307, + -1.1426453444422509, + 1.4991374210435517, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.013772828706205359, + -0.14372018583154006, + 0.678051716772316, + 0.17459920013624608, + -0.3419902396843048, + 0.8893325366255252, + 0.07802041328338148, + 0.0, + -1.0688126281816133, + -1.1349739030915864, + 1.4991374210435517, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.013772828706205359, + -0.14372018583154006, + 0.678051716772316, + 0.17459920013624608, + -0.3419902396843048, + 0.8893325366255252, + 0.07802041328338148, + 0.0, + -1.0185983728389352, + -1.1205829333285897, + 1.4991374210435517, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.013772828706205359, + -0.14372018583154006, + 0.678051716772316, + 0.17459920013624608, + -0.3419902396843048, + 0.8893325366255252, + 0.07802041328338148, + 0.0, + -0.9676743125428959, + -1.1110633271081107, + 1.4991374210435517, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.013772828706205359, + -0.14372018583154006, + 0.678051716772316, + 0.17459920013624608, + -0.3419902396843048, + 0.8893325366255252, + 0.07802041328338148, + 0.0, + -0.9490696149212974, + -1.0917928340483685, + 1.4991374210435517, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.013772828706205359, + -0.14372018583154006, + 0.678051716772316, + 0.17459920013624608, + -0.3419902396843048, + 0.8893325366255252, + 0.07802041328338148, + 0.0, + -0.896620122753844, + -1.0638090420742423, + 1.4991374210435517, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.013772828706205359, + -0.14372018583154006, + 0.678051716772316, + 0.17459920013624608, + -0.3419902396843048, + 0.8893325366255252, + 0.07802041328338148, + 0.0, + -0.8401678855321846, + -1.0171733839171273, + 1.4991374210435517, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.013772828706205359, + -0.14372018583154006, + 0.678051716772316, + 0.17459920013624608, + -0.3419902396843048, + 0.8893325366255252, + 0.07802041328338148, + 0.0, + -0.808323259256324, + -0.9952357320152984, + 1.4991374210435517, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.013772828706205359, + -0.14372018583154006, + 0.678051716772316, + 0.17459920013624608, + -0.3419902396843048, + 0.8893325366255252, + 0.07802041328338148, + 0.0, + -0.7509955630010489, + -0.9607861911763951, + 1.4991374210435517, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.013772828706205359, + -0.14372018583154006, + 0.678051716772316, + 0.17459920013624608, + -0.3419902396843048, + 0.8893325366255252, + 0.07802041328338148, + 0.0, + -0.7267929814299758, + -0.9350454746460428, + 1.4991374210435517, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.013772828706205359, + -0.14372018583154006, + 0.678051716772316, + 0.17459920013624608, + -0.3419902396843048, + 0.8893325366255252, + 0.07802041328338148, + 0.0, + -0.7072318171968266, + -0.8919670828142945, + 1.4991374210435517, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.013772828706205359, + -0.14372018583154006, + 0.678051716772316, + 0.17459920013624608, + -0.3419902396843048, + 0.8893325366255252, + 0.07802041328338148, + 0.0, + -0.6592316968100411, + -0.8653274047739652, + 1.4991374210435517, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.013772828706205359, + -0.14372018583154006, + 0.678051716772316, + 0.17459920013624608, + -0.3419902396843048, + 0.8893325366255252, + 0.07802041328338148, + 0.0, + -0.6136936448058303, + -0.8046854076032736, + 1.4991374210435517, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.013772828706205359, + -0.14372018583154006, + 0.678051716772316, + 0.17459920013624608, + -0.3419902396843048, + 0.8893325366255252, + 0.07802041328338148, + 0.0, + -0.5909565942628043, + -0.7938654912369592, + 1.4991374210435517, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.013772828706205359, + -0.14372018583154006, + 0.678051716772316, + 0.17459920013624608, + -0.3419902396843048, + 0.8893325366255252, + 0.07802041328338148, + 0.0, + -0.5465144551530177, + -0.7781960973326041, + 1.4991374210435517, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.013772828706205359, + -0.14372018583154006, + 0.678051716772316, + 0.17459920013624608, + -0.3419902396843048, + 0.8893325366255252, + 0.07802041328338148, + 0.0, + -0.5224098490208996, + -0.7217302643218819, + 1.4991374210435517, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.013772828706205359, + -0.14372018583154006, + 0.678051716772316, + 0.17459920013624608, + -0.3419902396843048, + 0.8893325366255252, + 0.07802041328338148, + 0.0, + -0.5152597196248113, + -0.7054218957010581, + 1.4991374210435517, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.013772828706205359, + -0.14372018583154006, + 0.678051716772316, + 0.17459920013624608, + -0.3419902396843048, + 0.8893325366255252, + 0.07802041328338148, + 0.0, + -0.45398356841534987, + -0.6495182447287501, + 1.4991374210435517, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.013772828706205359, + -0.14372018583154006, + 0.678051716772316, + 0.17459920013624608, + -0.3419902396843048, + 0.8893325366255252, + 0.07802041328338148, + 0.0, + -0.4197881148785961, + -0.612582262681455, + 1.4991374210435517, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.013772828706205359, + -0.14372018583154006, + 0.678051716772316, + 0.17459920013624608, + -0.3419902396843048, + 0.8893325366255252, + 0.07802041328338148, + 0.0, + -0.38558398947423816, + -0.5773714479743218, + 1.4991374210435517, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.013772828706205359, + -0.14372018583154006, + 0.678051716772316, + 0.17459920013624608, + -0.3419902396843048, + 0.8893325366255252, + 0.07802041328338148, + 0.0, + -0.32465839750912723, + -0.5205778820174081, + 1.4991374210435517, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.013772828706205359, + -0.14372018583154006, + 0.678051716772316, + 0.17459920013624608, + -0.3419902396843048, + 0.8893325366255252, + 0.07802041328338148, + 0.0, + -0.3171345092812363, + -0.505102658758358, + 1.4991374210435517, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.013772828706205359, + -0.14372018583154006, + 0.678051716772316, + 0.17459920013624608, + -0.3419902396843048, + 0.8893325366255252, + 0.07802041328338148, + 0.0, + -0.29190836390670466, + -0.44954558720394056, + 1.4991374210435517, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.013772828706205359, + -0.14372018583154006, + 0.678051716772316, + 0.17459920013624608, + -0.3419902396843048, + 0.8893325366255252, + 0.07802041328338148, + 0.0, + -0.24841666951471444, + -0.43253492396705007, + 1.4991374210435517, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.013772828706205359, + -0.14372018583154006, + 0.678051716772316, + 0.17459920013624608, + -0.3419902396843048, + 0.8893325366255252, + 0.07802041328338148, + 0.0, + -0.22163624666175064, + -0.4100728485049034, + 1.4991374210435517, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.013772828706205359, + -0.14372018583154006, + 0.678051716772316, + 0.17459920013624608, + -0.3419902396843048, + 0.8893325366255252, + 0.07802041328338148, + 0.0, + -0.17967914440193955, + -0.3599434324673244, + 1.4991374210435517, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.013772828706205359, + -0.14372018583154006, + 0.678051716772316, + 0.17459920013624608, + -0.3419902396843048, + 0.8893325366255252, + 0.07802041328338148, + 0.0, + -0.13437942339449513, + -0.3381370233029735, + 1.4991374210435517, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.013772828706205359, + -0.14372018583154006, + 0.678051716772316, + 0.17459920013624608, + -0.3419902396843048, + 0.8893325366255252, + 0.07802041328338148, + 0.0, + -0.11096464249552512, + -0.2874081852484722, + 1.4991374210435517, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.013772828706205359, + -0.14372018583154006, + 0.678051716772316, + 0.17459920013624608, + -0.3419902396843048, + 0.8893325366255252, + 0.07802041328338148, + 0.0, + -0.09728108376872782, + -0.26742834339336474, + 1.4991374210435517, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.013772828706205359, + -0.14372018583154006, + 0.678051716772316, + 0.17459920013624608, + -0.3419902396843048, + 0.8893325366255252, + 0.07802041328338148, + 0.0, + -0.042434368814740865, + -0.21499596931496445, + 1.4991374210435517, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.013772828706205359, + -0.14372018583154006, + 0.678051716772316, + 0.17459920013624608, + -0.3419902396843048, + 0.8893325366255252, + 0.07802041328338148, + 0.0, + -0.012671928016506896, + -0.18131875748537024, + 1.4991374210435517, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.013772828706205359, + -0.14372018583154006, + 0.678051716772316, + 0.17459920013624608, + -0.3419902396843048, + 0.8893325366255252, + 0.07802041328338148, + 0.0, + 0.026055114609854563, + -0.14262944216630896, + 1.4991374210435517, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.013772828706205359, + -0.14372018583154006, + 0.678051716772316, + 0.17459920013624608, + -0.3419902396843048, + 0.8893325366255252, + 0.07802041328338148, + 0.0, + 0.08134809805422413, + -0.09202547827545478, + 1.4991374210435517, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.013772828706205359, + -0.14372018583154006, + 0.678051716772316, + 0.17459920013624608, + -0.3419902396843048, + 0.8893325366255252, + 0.07802041328338148, + 0.0, + 0.0945445323476986, + -0.07026309991369442, + 1.4991374210435517, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.013772828706205359, + -0.14372018583154006, + 0.678051716772316, + 0.17459920013624608, + -0.3419902396843048, + 0.8893325366255252, + 0.07802041328338148, + 0.0, + 0.12421588751734519, + -0.01966615355744654, + 1.4991374210435517, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.013772828706205359, + -0.14372018583154006, + 0.678051716772316, + 0.17459920013624608, + -0.3419902396843048, + 0.8893325366255252, + 0.07802041328338148, + 0.0, + 0.16317305516223518, + 0.002149958999789491, + 1.4991374210435517, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.013772828706205359, + -0.14372018583154006, + 0.678051716772316, + 0.17459920013624608, + -0.3419902396843048, + 0.8893325366255252, + 0.07802041328338148, + 0.0, + 0.20306810310908727, + 0.06429909686652982, + 1.4991374210435517, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.013772828706205359, + -0.14372018583154006, + 0.678051716772316, + 0.17459920013624608, + -0.3419902396843048, + 0.8893325366255252, + 0.07802041328338148, + 0.0, + 0.23184327203400282, + 0.07457688876560756, + 1.4991374210435517, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.013772828706205359, + -0.14372018583154006, + 0.678051716772316, + 0.17459920013624608, + -0.3419902396843048, + 0.8893325366255252, + 0.07802041328338148, + 0.0, + 0.2720735219060158, + 0.09164501452932552, + 1.4991374210435517, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.013772828706205359, + -0.14372018583154006, + 0.678051716772316, + 0.17459920013624608, + -0.3419902396843048, + 0.8893325366255252, + 0.07802041328338148, + 0.0, + 0.3005134353832323, + 0.14700381853142563, + 1.4991374210435517, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.013772828706205359, + -0.14372018583154006, + 0.678051716772316, + 0.17459920013624608, + -0.3419902396843048, + 0.8893325366255252, + 0.07802041328338148, + 0.0, + 0.31826178881586814, + 0.16103063067611384, + 1.4991374210435517, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.013772828706205359, + -0.14372018583154006, + 0.678051716772316, + 0.17459920013624608, + -0.3419902396843048, + 0.8893325366255252, + 0.07802041328338148, + 0.0, + 0.3690585287249818, + 0.21938897152336276, + 1.4991374210435517, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.013772828706205359, + -0.14372018583154006, + 0.678051716772316, + 0.17459920013624608, + -0.3419902396843048, + 0.8893325366255252, + 0.07802041328338148, + 0.0, + 0.3917232240949358, + 0.2432970514102858, + 1.4991374210435517, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.013772828706205359, + -0.14372018583154006, + 0.678051716772316, + 0.17459920013624608, + -0.3419902396843048, + 0.8893325366255252, + 0.07802041328338148, + 0.0, + 0.43754794646282585, + 0.2917553137759773, + 1.4991374210435517, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.013772828706205359, + -0.14372018583154006, + 0.678051716772316, + 0.17459920013624608, + -0.3419902396843048, + 0.8893325366255252, + 0.07802041328338148, + 0.0, + 0.4857934859334206, + 0.33271314416612896, + 1.4991374210435517, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.013772828706205359, + -0.14372018583154006, + 0.678051716772316, + 0.17459920013624608, + -0.3419902396843048, + 0.8893325366255252, + 0.07802041328338148, + 0.0, + 0.5060373763648831, + 0.3641217874020946, + 1.4991374210435517, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.013772828706205359, + -0.14372018583154006, + 0.678051716772316, + 0.17459920013624608, + -0.3419902396843048, + 0.8893325366255252, + 0.07802041328338148, + 0.0, + 0.539708322408248, + 0.408669899921028, + 1.4991374210435517, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.013772828706205359, + -0.14372018583154006, + 0.678051716772316, + 0.17459920013624608, + -0.3419902396843048, + 0.8893325366255252, + 0.07802041328338148, + 0.0, + 0.5746790122012703, + 0.4365391901561192, + 1.4991374210435517, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.013772828706205359, + -0.14372018583154006, + 0.678051716772316, + 0.17459920013624608, + -0.3419902396843048, + 0.8893325366255252, + 0.07802041328338148, + 0.0, + 0.6073507155690875, + 0.48898320052088523, + 1.4991374210435517, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.013772828706205359, + -0.14372018583154006, + 0.678051716772316, + 0.17459920013624608, + -0.3419902396843048, + 0.8893325366255252, + 0.07802041328338148, + 0.0, + 0.6434209212964895, + 0.508990217228325, + 1.4991374210435517, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.013772828706205359, + -0.14372018583154006, + 0.678051716772316, + 0.17459920013624608, + -0.3419902396843048, + 0.8893325366255252, + 0.07802041328338148, + 0.0, + 0.6992563191725283, + 0.5726147354865561, + 1.4991374210435517, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.013772828706205359, + -0.14372018583154006, + 0.678051716772316, + 0.17459920013624608, + -0.3419902396843048, + 0.8893325366255252, + 0.07802041328338148, + 0.0, + 0.7121628249178127, + 0.5814412443005309, + 1.4991374210435517, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.013772828706205359, + -0.14372018583154006, + 0.678051716772316, + 0.17459920013624608, + -0.3419902396843048, + 0.8893325366255252, + 0.07802041328338148, + 0.0, + 0.7351904724325452, + 0.5899542010560328, + 1.4991374210435517, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.013772828706205359, + -0.14372018583154006, + 0.678051716772316, + 0.17459920013624608, + -0.3419902396843048, + 0.8893325366255252, + 0.07802041328338148, + 0.0, + 0.7584050443707681, + 0.6904926713632078, + 1.4991374210435517, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.013772828706205359, + -0.14372018583154006, + 0.678051716772316, + 0.17459920013624608, + -0.3419902396843048, + 0.8893325366255252, + 0.07802041328338148, + 0.0, + 1.5116345882415771, + 2.0177180767059326, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.9905917301476851, + 0.8246459806406939, + 0.682080852000462, + 0.21944519104780974, + -0.463078567933323, + 0.825403333729149, + 0.12189162662120116, + 0.0, + 1.5464919805526733, + 2.102877616882324, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.9905917301476851, + 0.8246459806406939, + 0.682080852000462, + 0.21944519104780974, + -0.463078567933323, + 0.825403333729149, + 0.12189162662120116, + 0.0, + 1.5615594387054443, + 2.139688730239868, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.9905917301476851, + 0.8246459806406939, + 0.682080852000462, + 0.21944519104780974, + -0.463078567933323, + 0.825403333729149, + 0.12189162662120116, + 0.0, + 1.5890296697616577, + 2.206800699234009, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.9905917301476851, + 0.8246459806406939, + 0.682080852000462, + 0.21944519104780974, + -0.463078567933323, + 0.825403333729149, + 0.12189162662120116, + 0.0, + 1.6113795042037964, + 2.2614033222198486, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.9905917301476851, + 0.8246459806406939, + 0.682080852000462, + 0.21944519104780974, + -0.463078567933323, + 0.825403333729149, + 0.12189162662120116, + 0.0, + 1.63177490234375, + 2.3112308979034424, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.9905917301476851, + 0.8246459806406939, + 0.682080852000462, + 0.21944519104780974, + -0.463078567933323, + 0.825403333729149, + 0.12189162662120116, + 0.0, + 1.66196608543396, + 2.3849904537200928, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.9905917301476851, + 0.8246459806406939, + 0.682080852000462, + 0.21944519104780974, + -0.463078567933323, + 0.825403333729149, + 0.12189162662120116, + 0.0, + 1.6752245426177979, + 2.417382001876831, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.9905917301476851, + 0.8246459806406939, + 0.682080852000462, + 0.21944519104780974, + -0.463078567933323, + 0.825403333729149, + 0.12189162662120116, + 0.0, + 1.714522361755371, + 2.513390064239502, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.9905917301476851, + 0.8246459806406939, + 0.682080852000462, + 0.21944519104780974, + -0.463078567933323, + 0.825403333729149, + 0.12189162662120116, + 0.0, + 1.7196598052978516, + 2.5259413719177246, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.9905917301476851, + 0.8246459806406939, + 0.682080852000462, + 0.21944519104780974, + -0.463078567933323, + 0.825403333729149, + 0.12189162662120116, + 0.0, + 1.7417317628860474, + 2.579864978790283, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.9905917301476851, + 0.8246459806406939, + 0.682080852000462, + 0.21944519104780974, + -0.463078567933323, + 0.825403333729149, + 0.12189162662120116, + 0.0, + 1.7558233737945557, + 2.6077253818511963, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.9905917301476851, + 0.8246459806406939, + 0.682080852000462, + 0.21944519104780974, + -0.463078567933323, + 0.825403333729149, + 0.12189162662120116, + 0.0 + ], + "std": [ + 1.5699407167600383, + 1.082620576850211, + 0.4592601660722227, + 0.007104473066798281, + 0.0, + 0.0, + 0.007952005800724075, + 1.293312118273056, + 1.250943369213417, + 1.602253475080523, + 0.024701719792907913, + 0.05127173141699638, + 0.221596192182274, + 0.11168073727350693, + 0.06257420189572878, + 0.49851851526214325, + 1.47456937838414, + 0.6996955095364435, + 0.0643679793468408, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3339403288817886, + 1.3754082801880814, + 0.006199675996238417, + 0.051904321050675016, + 0.2010800587381689, + 0.09354235434586783, + 0.060666653875112025, + 0.0, + 1.4671161420032137, + 0.6927301513656048, + 0.0643679793468408, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3339403288817886, + 1.3754082801880814, + 0.006199675996238417, + 0.051904321050675016, + 0.2010800587381689, + 0.09354235434586783, + 0.060666653875112025, + 0.0, + 1.4813975054059758, + 0.6918476265958492, + 0.0643679793468408, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3339403288817886, + 1.3754082801880814, + 0.006199675996238417, + 0.051904321050675016, + 0.2010800587381689, + 0.09354235434586783, + 0.060666653875112025, + 0.0, + 1.4782268408731778, + 0.6848349521950733, + 0.0643679793468408, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3339403288817886, + 1.3754082801880814, + 0.006199675996238417, + 0.051904321050675016, + 0.2010800587381689, + 0.09354235434586783, + 0.060666653875112025, + 0.0, + 1.488020150730045, + 0.6839579417227974, + 0.0643679793468408, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3339403288817886, + 1.3754082801880814, + 0.006199675996238417, + 0.051904321050675016, + 0.2010800587381689, + 0.09354235434586783, + 0.060666653875112025, + 0.0, + 1.5231893987277405, + 0.6883040085939899, + 0.0643679793468408, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3339403288817886, + 1.3754082801880814, + 0.006199675996238417, + 0.051904321050675016, + 0.2010800587381689, + 0.09354235434586783, + 0.060666653875112025, + 0.0, + 1.49409111060351, + 0.6759556880997132, + 0.0643679793468408, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3339403288817886, + 1.3754082801880814, + 0.006199675996238417, + 0.051904321050675016, + 0.2010800587381689, + 0.09354235434586783, + 0.060666653875112025, + 0.0, + 1.500975955584255, + 0.6715630461675977, + 0.0643679793468408, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3339403288817886, + 1.3754082801880814, + 0.006199675996238417, + 0.051904321050675016, + 0.2010800587381689, + 0.09354235434586783, + 0.060666653875112025, + 0.0, + 1.4917126918221224, + 0.6666305367248225, + 0.0643679793468408, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3339403288817886, + 1.3754082801880814, + 0.006199675996238417, + 0.051904321050675016, + 0.2010800587381689, + 0.09354235434586783, + 0.060666653875112025, + 0.0, + 1.4635728464098834, + 0.6549918114456689, + 0.0643679793468408, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3339403288817886, + 1.3754082801880814, + 0.006199675996238417, + 0.051904321050675016, + 0.2010800587381689, + 0.09354235434586783, + 0.060666653875112025, + 0.0, + 1.4921402870503577, + 0.6577516283905918, + 0.0643679793468408, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3339403288817886, + 1.3754082801880814, + 0.006199675996238417, + 0.051904321050675016, + 0.2010800587381689, + 0.09354235434586783, + 0.060666653875112025, + 0.0, + 1.5006067348276335, + 0.6723547925563709, + 0.0643679793468408, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3339403288817886, + 1.3754082801880814, + 0.006199675996238417, + 0.051904321050675016, + 0.2010800587381689, + 0.09354235434586783, + 0.060666653875112025, + 0.0, + 1.4657053675471086, + 0.6700427602836566, + 0.0643679793468408, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3339403288817886, + 1.3754082801880814, + 0.006199675996238417, + 0.051904321050675016, + 0.2010800587381689, + 0.09354235434586783, + 0.060666653875112025, + 0.0, + 1.464987812176758, + 0.6948158009743152, + 0.0643679793468408, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3339403288817886, + 1.3754082801880814, + 0.006199675996238417, + 0.051904321050675016, + 0.2010800587381689, + 0.09354235434586783, + 0.060666653875112025, + 0.0, + 1.4548349084223315, + 0.7015780640116194, + 0.0643679793468408, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3339403288817886, + 1.3754082801880814, + 0.006199675996238417, + 0.051904321050675016, + 0.2010800587381689, + 0.09354235434586783, + 0.060666653875112025, + 0.0, + 1.425305845454796, + 0.7054273401153303, + 0.0643679793468408, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3339403288817886, + 1.3754082801880814, + 0.006199675996238417, + 0.051904321050675016, + 0.2010800587381689, + 0.09354235434586783, + 0.060666653875112025, + 0.0, + 1.437819001938061, + 0.7255336397486734, + 0.0643679793468408, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3339403288817886, + 1.3754082801880814, + 0.006199675996238417, + 0.051904321050675016, + 0.2010800587381689, + 0.09354235434586783, + 0.060666653875112025, + 0.0, + 1.450982637995802, + 0.762912757282009, + 0.0643679793468408, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3339403288817886, + 1.3754082801880814, + 0.006199675996238417, + 0.051904321050675016, + 0.2010800587381689, + 0.09354235434586783, + 0.060666653875112025, + 0.0, + 1.407867858039772, + 0.7579803664262745, + 0.0643679793468408, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3339403288817886, + 1.3754082801880814, + 0.006199675996238417, + 0.051904321050675016, + 0.2010800587381689, + 0.09354235434586783, + 0.060666653875112025, + 0.0, + 1.4006998346134083, + 0.7965367234707236, + 0.0643679793468408, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3339403288817886, + 1.3754082801880814, + 0.006199675996238417, + 0.051904321050675016, + 0.2010800587381689, + 0.09354235434586783, + 0.060666653875112025, + 0.0, + 1.3785610568365048, + 0.7920012100933966, + 0.0643679793468408, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3339403288817886, + 1.3754082801880814, + 0.006199675996238417, + 0.051904321050675016, + 0.2010800587381689, + 0.09354235434586783, + 0.060666653875112025, + 0.0, + 1.3300620100995642, + 0.7764379800554967, + 0.0643679793468408, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3339403288817886, + 1.3754082801880814, + 0.006199675996238417, + 0.051904321050675016, + 0.2010800587381689, + 0.09354235434586783, + 0.060666653875112025, + 0.0, + 1.3495087137795416, + 0.8266330623790861, + 0.0643679793468408, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3339403288817886, + 1.3754082801880814, + 0.006199675996238417, + 0.051904321050675016, + 0.2010800587381689, + 0.09354235434586783, + 0.060666653875112025, + 0.0, + 1.3548565150449001, + 0.8409832322073898, + 0.0643679793468408, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3339403288817886, + 1.3754082801880814, + 0.006199675996238417, + 0.051904321050675016, + 0.2010800587381689, + 0.09354235434586783, + 0.060666653875112025, + 0.0, + 1.3207015494327965, + 0.8614528158335222, + 0.0643679793468408, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3339403288817886, + 1.3754082801880814, + 0.006199675996238417, + 0.051904321050675016, + 0.2010800587381689, + 0.09354235434586783, + 0.060666653875112025, + 0.0, + 1.3071148244544315, + 0.8798910701280579, + 0.0643679793468408, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3339403288817886, + 1.3754082801880814, + 0.006199675996238417, + 0.051904321050675016, + 0.2010800587381689, + 0.09354235434586783, + 0.060666653875112025, + 0.0, + 1.2918702822696775, + 0.8962136945272239, + 0.0643679793468408, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3339403288817886, + 1.3754082801880814, + 0.006199675996238417, + 0.051904321050675016, + 0.2010800587381689, + 0.09354235434586783, + 0.060666653875112025, + 0.0, + 1.2590646296730905, + 0.9180450576317005, + 0.0643679793468408, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3339403288817886, + 1.3754082801880814, + 0.006199675996238417, + 0.051904321050675016, + 0.2010800587381689, + 0.09354235434586783, + 0.060666653875112025, + 0.0, + 1.2630841671229727, + 0.9310847998768589, + 0.0643679793468408, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3339403288817886, + 1.3754082801880814, + 0.006199675996238417, + 0.051904321050675016, + 0.2010800587381689, + 0.09354235434586783, + 0.060666653875112025, + 0.0, + 1.2800629262161856, + 0.9792927895415413, + 0.0643679793468408, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3339403288817886, + 1.3754082801880814, + 0.006199675996238417, + 0.051904321050675016, + 0.2010800587381689, + 0.09354235434586783, + 0.060666653875112025, + 0.0, + 1.2342000397856743, + 0.9661116915418034, + 0.0643679793468408, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3339403288817886, + 1.3754082801880814, + 0.006199675996238417, + 0.051904321050675016, + 0.2010800587381689, + 0.09354235434586783, + 0.060666653875112025, + 0.0, + 1.2173935283715827, + 0.9726492914272216, + 0.0643679793468408, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3339403288817886, + 1.3754082801880814, + 0.006199675996238417, + 0.051904321050675016, + 0.2010800587381689, + 0.09354235434586783, + 0.060666653875112025, + 0.0, + 1.205310546384734, + 1.0011522800101467, + 0.0643679793468408, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3339403288817886, + 1.3754082801880814, + 0.006199675996238417, + 0.051904321050675016, + 0.2010800587381689, + 0.09354235434586783, + 0.060666653875112025, + 0.0, + 1.1614408413166009, + 0.9924212200710514, + 0.0643679793468408, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3339403288817886, + 1.3754082801880814, + 0.006199675996238417, + 0.051904321050675016, + 0.2010800587381689, + 0.09354235434586783, + 0.060666653875112025, + 0.0, + 1.1764002706045957, + 1.0361420984009377, + 0.0643679793468408, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3339403288817886, + 1.3754082801880814, + 0.006199675996238417, + 0.051904321050675016, + 0.2010800587381689, + 0.09354235434586783, + 0.060666653875112025, + 0.0, + 1.175922928112044, + 1.049876493893898, + 0.0643679793468408, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3339403288817886, + 1.3754082801880814, + 0.006199675996238417, + 0.051904321050675016, + 0.2010800587381689, + 0.09354235434586783, + 0.060666653875112025, + 0.0, + 1.147635649359304, + 1.0711254537979278, + 0.0643679793468408, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3339403288817886, + 1.3754082801880814, + 0.006199675996238417, + 0.051904321050675016, + 0.2010800587381689, + 0.09354235434586783, + 0.060666653875112025, + 0.0, + 1.137269185164855, + 1.089043155446359, + 0.0643679793468408, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3339403288817886, + 1.3754082801880814, + 0.006199675996238417, + 0.051904321050675016, + 0.2010800587381689, + 0.09354235434586783, + 0.060666653875112025, + 0.0, + 1.1188856439670118, + 1.1060846767317922, + 0.0643679793468408, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3339403288817886, + 1.3754082801880814, + 0.006199675996238417, + 0.051904321050675016, + 0.2010800587381689, + 0.09354235434586783, + 0.060666653875112025, + 0.0, + 1.0882171966958407, + 1.124749802861877, + 0.0643679793468408, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3339403288817886, + 1.3754082801880814, + 0.006199675996238417, + 0.051904321050675016, + 0.2010800587381689, + 0.09354235434586783, + 0.060666653875112025, + 0.0, + 1.090135579281193, + 1.1410438403721281, + 0.0643679793468408, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3339403288817886, + 1.3754082801880814, + 0.006199675996238417, + 0.051904321050675016, + 0.2010800587381689, + 0.09354235434586783, + 0.060666653875112025, + 0.0, + 1.0960374192087874, + 1.1797158753706076, + 0.0643679793468408, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3339403288817886, + 1.3754082801880814, + 0.006199675996238417, + 0.051904321050675016, + 0.2010800587381689, + 0.09354235434586783, + 0.060666653875112025, + 0.0, + 1.0612314107337573, + 1.1759514482957643, + 0.0643679793468408, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3339403288817886, + 1.3754082801880814, + 0.006199675996238417, + 0.051904321050675016, + 0.2010800587381689, + 0.09354235434586783, + 0.060666653875112025, + 0.0, + 1.0635567840487266, + 1.2207585542875308, + 0.0643679793468408, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3339403288817886, + 1.3754082801880814, + 0.006199675996238417, + 0.051904321050675016, + 0.2010800587381689, + 0.09354235434586783, + 0.060666653875112025, + 0.0, + 1.0322810525332804, + 1.210843491670065, + 0.0643679793468408, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3339403288817886, + 1.3754082801880814, + 0.006199675996238417, + 0.051904321050675016, + 0.2010800587381689, + 0.09354235434586783, + 0.060666653875112025, + 0.0, + 0.9911289770697116, + 1.200280469452786, + 0.0643679793468408, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3339403288817886, + 1.3754082801880814, + 0.006199675996238417, + 0.051904321050675016, + 0.2010800587381689, + 0.09354235434586783, + 0.060666653875112025, + 0.0, + 1.0033307536263132, + 1.245735535044391, + 0.0643679793468408, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3339403288817886, + 1.3754082801880814, + 0.006199675996238417, + 0.051904321050675016, + 0.2010800587381689, + 0.09354235434586783, + 0.060666653875112025, + 0.0, + 0.9913724659145783, + 1.2490173721500846, + 0.0643679793468408, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3339403288817886, + 1.3754082801880814, + 0.006199675996238417, + 0.051904321050675016, + 0.2010800587381689, + 0.09354235434586783, + 0.060666653875112025, + 0.0, + 0.974519142265477, + 1.2806741238328772, + 0.0643679793468408, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3339403288817886, + 1.3754082801880814, + 0.006199675996238417, + 0.051904321050675016, + 0.2010800587381689, + 0.09354235434586783, + 0.060666653875112025, + 0.0, + 0.9649674006992645, + 1.2921945585372023, + 0.0643679793468408, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3339403288817886, + 1.3754082801880814, + 0.006199675996238417, + 0.051904321050675016, + 0.2010800587381689, + 0.09354235434586783, + 0.060666653875112025, + 0.0, + 0.9457690775796629, + 1.315633287473204, + 0.0643679793468408, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3339403288817886, + 1.3754082801880814, + 0.006199675996238417, + 0.051904321050675016, + 0.2010800587381689, + 0.09354235434586783, + 0.060666653875112025, + 0.0, + 0.9159609200077689, + 1.3280121737776602, + 0.0643679793468408, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3339403288817886, + 1.3754082801880814, + 0.006199675996238417, + 0.051904321050675016, + 0.2010800587381689, + 0.09354235434586783, + 0.060666653875112025, + 0.0, + 0.9170191314808941, + 1.3505925697005783, + 0.0643679793468408, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3339403288817886, + 1.3754082801880814, + 0.006199675996238417, + 0.051904321050675016, + 0.2010800587381689, + 0.09354235434586783, + 0.060666653875112025, + 0.0, + 0.9114418049949007, + 1.3787459043888917, + 0.0643679793468408, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3339403288817886, + 1.3754082801880814, + 0.006199675996238417, + 0.051904321050675016, + 0.2010800587381689, + 0.09354235434586783, + 0.060666653875112025, + 0.0, + 0.888100436020728, + 1.385495167321672, + 0.0643679793468408, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3339403288817886, + 1.3754082801880814, + 0.006199675996238417, + 0.051904321050675016, + 0.2010800587381689, + 0.09354235434586783, + 0.060666653875112025, + 0.0, + 0.8914808337820722, + 1.4240812563611591, + 0.0643679793468408, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3339403288817886, + 1.3754082801880814, + 0.006199675996238417, + 0.051904321050675016, + 0.2010800587381689, + 0.09354235434586783, + 0.060666653875112025, + 0.0, + 0.8590707875590207, + 1.4203606471984933, + 0.0643679793468408, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3339403288817886, + 1.3754082801880814, + 0.006199675996238417, + 0.051904321050675016, + 0.2010800587381689, + 0.09354235434586783, + 0.060666653875112025, + 0.0, + 0.8400472320931817, + 1.454518814660749, + 0.0643679793468408, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3339403288817886, + 1.3754082801880814, + 0.006199675996238417, + 0.051904321050675016, + 0.2010800587381689, + 0.09354235434586783, + 0.060666653875112025, + 0.0, + 0.8300410130985537, + 1.4552261270753017, + 0.0643679793468408, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3339403288817886, + 1.3754082801880814, + 0.006199675996238417, + 0.051904321050675016, + 0.2010800587381689, + 0.09354235434586783, + 0.060666653875112025, + 0.0, + 0.8052869018645625, + 1.4476434937018656, + 0.0643679793468408, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3339403288817886, + 1.3754082801880814, + 0.006199675996238417, + 0.051904321050675016, + 0.2010800587381689, + 0.09354235434586783, + 0.060666653875112025, + 0.0, + 0.8259369156757458, + 1.4495445625790264, + 0.0643679793468408, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3339403288817886, + 1.3754082801880814, + 0.006199675996238417, + 0.051904321050675016, + 0.2010800587381689, + 0.09354235434586783, + 0.060666653875112025, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.570685274525631, + 1.114877306330084, + 0.0042028684118909565, + 0.019687452627593725, + 0.1814845831982787, + 0.07512043521856615, + 0.04781127287902638, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.570685274525631, + 1.114877306330084, + 0.0042028684118909565, + 0.019687452627593725, + 0.1814845831982787, + 0.07512043521856615, + 0.04781127287902638, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.570685274525631, + 1.114877306330084, + 0.0042028684118909565, + 0.019687452627593725, + 0.1814845831982787, + 0.07512043521856615, + 0.04781127287902638, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.570685274525631, + 1.114877306330084, + 0.0042028684118909565, + 0.019687452627593725, + 0.1814845831982787, + 0.07512043521856615, + 0.04781127287902638, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.570685274525631, + 1.114877306330084, + 0.0042028684118909565, + 0.019687452627593725, + 0.1814845831982787, + 0.07512043521856615, + 0.04781127287902638, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.570685274525631, + 1.114877306330084, + 0.0042028684118909565, + 0.019687452627593725, + 0.1814845831982787, + 0.07512043521856615, + 0.04781127287902638, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.570685274525631, + 1.114877306330084, + 0.0042028684118909565, + 0.019687452627593725, + 0.1814845831982787, + 0.07512043521856615, + 0.04781127287902638, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.570685274525631, + 1.114877306330084, + 0.0042028684118909565, + 0.019687452627593725, + 0.1814845831982787, + 0.07512043521856615, + 0.04781127287902638, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.570685274525631, + 1.114877306330084, + 0.0042028684118909565, + 0.019687452627593725, + 0.1814845831982787, + 0.07512043521856615, + 0.04781127287902638, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.570685274525631, + 1.114877306330084, + 0.0042028684118909565, + 0.019687452627593725, + 0.1814845831982787, + 0.07512043521856615, + 0.04781127287902638, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.570685274525631, + 1.114877306330084, + 0.0042028684118909565, + 0.019687452627593725, + 0.1814845831982787, + 0.07512043521856615, + 0.04781127287902638, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.570685274525631, + 1.114877306330084, + 0.0042028684118909565, + 0.019687452627593725, + 0.1814845831982787, + 0.07512043521856615, + 0.04781127287902638, + 0.0 + ], + "min": [ + -3.1999716758728027, + -2.033930540084839, + 0.33000001311302185, + 0.7375694513320923, + -0.0, + -0.0, + 0.655781090259552, + -1.0, + -2.884603977203369, + -1.833670973777771, + 0.6215142011642456, + 0.08131252229213715, + -0.6838259100914001, + 0.6822124719619751, + 0.014943737536668777, + 0.0, + -3.123638153076172, + -2.00834059715271, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.6523538827896118, + 0.10067223012447357, + -0.6838259100914001, + 0.6822124719619751, + 0.014943737536668777, + 0.0, + -3.0583910942077637, + -1.9864671230316162, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.6523538827896118, + 0.10067223012447357, + -0.6838259100914001, + 0.6822124719619751, + 0.014943737536668777, + 0.0, + -3.023298501968384, + -1.9747027158737183, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.6523538827896118, + 0.10067223012447357, + -0.6838259100914001, + 0.6822124719619751, + 0.014943737536668777, + 0.0, + -2.9499738216400146, + -1.950121283531189, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.6523538827896118, + 0.10067223012447357, + -0.6838259100914001, + 0.6822124719619751, + 0.014943737536668777, + 0.0, + -2.922851085662842, + -1.9410285949707031, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.6523538827896118, + 0.10067223012447357, + -0.6838259100914001, + 0.6822124719619751, + 0.014943737536668777, + 0.0, + -2.9097931385040283, + -1.9366509914398193, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.6523538827896118, + 0.10067223012447357, + -0.6838259100914001, + 0.6822124719619751, + 0.014943737536668777, + 0.0, + -2.822108745574951, + -1.9072556495666504, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.6523538827896118, + 0.10067223012447357, + -0.6838259100914001, + 0.6822124719619751, + 0.014943737536668777, + 0.0, + -2.760550022125244, + -1.8866186141967773, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.6523538827896118, + 0.10067223012447357, + -0.6838259100914001, + 0.6822124719619751, + 0.014943737536668777, + 0.0, + -2.7213668823242188, + -1.8734828233718872, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.6523538827896118, + 0.10067223012447357, + -0.6838259100914001, + 0.6822124719619751, + 0.014943737536668777, + 0.0, + -2.6399786472320557, + -1.8461982011795044, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.6523538827896118, + 0.10067223012447357, + -0.6838259100914001, + 0.6822124719619751, + 0.014943737536668777, + 0.0, + -2.6207022666931152, + -1.839735984802246, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.6523538827896118, + 0.10067223012447357, + -0.6838259100914001, + 0.6822124719619751, + 0.014943737536668777, + 0.0, + -2.6114768981933594, + -1.8366432189941406, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.6523538827896118, + 0.10067223012447357, + -0.6838259100914001, + 0.6822124719619751, + 0.014943737536668777, + 0.0, + -2.5203628540039062, + -1.8060981035232544, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.6523538827896118, + 0.10067223012447357, + -0.6838259100914001, + 0.6822124719619751, + 0.014943737536668777, + 0.0, + -2.463115692138672, + -1.7869065999984741, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.6523538827896118, + 0.10067223012447357, + -0.6838259100914001, + 0.6822124719619751, + 0.014943737536668777, + 0.0, + -2.4200234413146973, + -1.7724603414535522, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.6523538827896118, + 0.10067223012447357, + -0.6838259100914001, + 0.6822124719619751, + 0.014943737536668777, + 0.0, + -2.3299827575683594, + -1.7422751188278198, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.6523538827896118, + 0.10067223012447357, + -0.6838259100914001, + 0.6822124719619751, + 0.014943737536668777, + 0.0, + -2.3196425437927246, + -1.7388086318969727, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.6523538827896118, + 0.10067223012447357, + -0.6838259100914001, + 0.6822124719619751, + 0.014943737536668777, + 0.0, + -2.314664363861084, + -1.7371397018432617, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.6523538827896118, + 0.10067223012447357, + -0.6838259100914001, + 0.6822124719619751, + 0.014943737536668777, + 0.0, + -2.218900680541992, + -1.7050358057022095, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.6523538827896118, + 0.10067223012447357, + -0.6838259100914001, + 0.6822124719619751, + 0.014943737536668777, + 0.0, + -2.165421724319458, + -1.6871074438095093, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.6523538827896118, + 0.10067223012447357, + -0.6838259100914001, + 0.6822124719619751, + 0.014943737536668777, + 0.0, + -2.1181588172912598, + -1.6712629795074463, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.6523538827896118, + 0.10067223012447357, + -0.6838259100914001, + 0.6822124719619751, + 0.014943737536668777, + 0.0, + -2.0199882984161377, + -1.6383522748947144, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.6523538827896118, + 0.10067223012447357, + -0.6838259100914001, + 0.6822124719619751, + 0.014943737536668777, + 0.0, + -2.0174272060394287, + -1.6374937295913696, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.6523538827896118, + 0.10067223012447357, + -0.6838259100914001, + 0.6822124719619751, + 0.014943737536668777, + 0.0, + -2.0162014961242676, + -1.637082815170288, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.6523538827896118, + 0.10067223012447357, + -0.6838259100914001, + 0.6822124719619751, + 0.014943737536668777, + 0.0, + -1.9170876741409302, + -1.603855848312378, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.6523538827896118, + 0.10067223012447357, + -0.6838259100914001, + 0.6822124719619751, + 0.014943737536668777, + 0.0, + -1.8678405284881592, + -1.5873461961746216, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.6523538827896118, + 0.10067223012447357, + -0.6838259100914001, + 0.6822124719619751, + 0.014943737536668777, + 0.0, + -1.8167481422424316, + -1.5702179670333862, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.6523538827896118, + 0.10067223012447357, + -0.6838259100914001, + 0.6822124719619751, + 0.014943737536668777, + 0.0, + -1.7194796800613403, + -1.5376096963882446, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.6523538827896118, + 0.10067223012447357, + -0.6838259100914001, + 0.6822124719619751, + 0.014943737536668777, + 0.0, + -1.7164087295532227, + -1.536580204963684, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.6523538827896118, + 0.10067223012447357, + -0.6838259100914001, + 0.6822124719619751, + 0.014943737536668777, + 0.0, + -1.7099920511245728, + -1.5344290733337402, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.6523538827896118, + 0.10067223012447357, + -0.6838259100914001, + 0.6822124719619751, + 0.014943737536668777, + 0.0, + -1.615692377090454, + -1.502816081047058, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.6523538827896118, + 0.10067223012447357, + -0.6838259100914001, + 0.6822124719619751, + 0.014943737536668777, + 0.0, + -1.5702933073043823, + -1.4875965118408203, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.6523538827896118, + 0.10067223012447357, + -0.6838259100914001, + 0.6822124719619751, + 0.014943737536668777, + 0.0, + -1.5149503946304321, + -1.4690433740615845, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.6523538827896118, + 0.10067223012447357, + -0.6838259100914001, + 0.6822124719619751, + 0.014943737536668777, + 0.0, + -1.421050786972046, + -1.437564492225647, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.6523538827896118, + 0.10067223012447357, + -0.6838259100914001, + 0.6822124719619751, + 0.014943737536668777, + 0.0, + -1.4142084121704102, + -1.4352706670761108, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.6523538827896118, + 0.10067223012447357, + -0.6838259100914001, + 0.6822124719619751, + 0.014943737536668777, + 0.0, + -1.399996042251587, + -1.4305061101913452, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.6523538827896118, + 0.10067223012447357, + -0.6838259100914001, + 0.6822124719619751, + 0.014943737536668777, + 0.0, + -1.313812017440796, + -1.4016138315200806, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.6523538827896118, + 0.10067223012447357, + -0.6838259100914001, + 0.6822124719619751, + 0.014943737536668777, + 0.0, + -1.2725653648376465, + -1.3877862691879272, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.6523538827896118, + 0.10067223012447357, + -0.6838259100914001, + 0.6822124719619751, + 0.014943737536668777, + 0.0, + -1.213472604751587, + -1.3679759502410889, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.6523538827896118, + 0.10067223012447357, + -0.6838259100914001, + 0.6822124719619751, + 0.014943737536668777, + 0.0, + -1.124204397201538, + -1.3380496501922607, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.6523538827896118, + 0.10067223012447357, + -0.6838259100914001, + 0.6822124719619751, + 0.014943737536668777, + 0.0, + -1.113133192062378, + -1.3343381881713867, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.6523538827896118, + 0.10067223012447357, + -0.6838259100914001, + 0.6822124719619751, + 0.014943737536668777, + 0.0, + -1.090000033378601, + -1.3265830278396606, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.6523538827896118, + 0.10067223012447357, + -0.6838259100914001, + 0.6822124719619751, + 0.014943737536668777, + 0.0, + -1.0124839544296265, + -1.3005965948104858, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.6523538827896118, + 0.10067223012447357, + -0.6838259100914001, + 0.6822124719619751, + 0.014943737536668777, + 0.0, + -0.9751650094985962, + -1.2880858182907104, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.6523538827896118, + 0.10067223012447357, + -0.6838259100914001, + 0.6822124719619751, + 0.014943737536668777, + 0.0, + -0.9117418527603149, + -1.2668238878250122, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.6523538827896118, + 0.10067223012447357, + -0.6838259100914001, + 0.6822124719619751, + 0.014943737536668777, + 0.0, + -0.8259223699569702, + -1.238053798675537, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.6523538827896118, + 0.10067223012447357, + -0.6838259100914001, + 0.6822124719619751, + 0.014943737536668777, + 0.0, + -0.810999870300293, + -1.2330511808395386, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.6523538827896118, + 0.10067223012447357, + -0.6838259100914001, + 0.6822124719619751, + 0.014943737536668777, + 0.0, + -0.7800038456916809, + -1.2226600646972656, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.6523538827896118, + 0.10067223012447357, + -0.6838259100914001, + 0.6822124719619751, + 0.014943737536668777, + 0.0, + -0.7105365991592407, + -1.1993718147277832, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.6523538827896118, + 0.10067223012447357, + -0.6838259100914001, + 0.6822124719619751, + 0.014943737536668777, + 0.0, + -0.6772902607917786, + -1.188226342201233, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.6523538827896118, + 0.10067223012447357, + -0.6838259100914001, + 0.6822124719619751, + 0.014943737536668777, + 0.0, + -0.6101971864700317, + -1.165734052658081, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.6523538827896118, + 0.10067223012447357, + -0.6838259100914001, + 0.6822124719619751, + 0.014943737536668777, + 0.0, + -0.5289294719696045, + -1.138489842414856, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.6523538827896118, + 0.10067223012447357, + -0.6838259100914001, + 0.6822124719619751, + 0.014943737536668777, + 0.0, + -0.5098578929901123, + -1.132096290588379, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.6523538827896118, + 0.10067223012447357, + -0.6838259100914001, + 0.6822124719619751, + 0.014943737536668777, + 0.0, + -0.4700082540512085, + -1.1187371015548706, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.6523538827896118, + 0.10067223012447357, + -0.6838259100914001, + 0.6822124719619751, + 0.014943737536668777, + 0.0, + -0.4091794490814209, + -1.0983448028564453, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.6523538827896118, + 0.10067223012447357, + -0.6838259100914001, + 0.6822124719619751, + 0.014943737536668777, + 0.0, + -0.3802526295185089, + -1.0886473655700684, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.6523538827896118, + 0.10067223012447357, + -0.6838259100914001, + 0.6822124719619751, + 0.014943737536668777, + 0.0, + -0.30827781558036804, + -1.0645185708999634, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.6523538827896118, + 0.10067223012447357, + -0.6838259100914001, + 0.6822124719619751, + 0.014943737536668777, + 0.0, + -0.23136767745018005, + -1.038735270500183, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.6523538827896118, + 0.10067223012447357, + -0.6838259100914001, + 0.6822124719619751, + 0.014943737536668777, + 0.0, + -0.20737604796886444, + -1.0306923389434814, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.6523538827896118, + 0.10067223012447357, + -0.6838259100914001, + 0.6822124719619751, + 0.014943737536668777, + 0.0, + -0.15692521631717682, + -1.0137791633605957, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.6523538827896118, + 0.10067223012447357, + -0.6838259100914001, + 0.6822124719619751, + 0.014943737536668777, + 0.0, + -0.15658721327781677, + -0.9153467416763306, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.884603977203369, + -1.833670973777771, + 0.6523538827896118, + 0.10067223012447357, + -0.6838259100914001, + 0.6822124719619751, + 0.014943737536668777, + 0.0, + 1.5116345882415771, + 2.0177180767059326, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.15634147822856903, + -0.5886220932006836, + 0.6672670841217041, + 0.18346267938613892, + -0.6838259100914001, + 0.6822124719619751, + 0.017082853242754936, + 0.0, + 1.5464919805526733, + 2.102877616882324, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.15634147822856903, + -0.5886220932006836, + 0.6672670841217041, + 0.18346267938613892, + -0.6838259100914001, + 0.6822124719619751, + 0.017082853242754936, + 0.0, + 1.5615594387054443, + 2.139688730239868, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.15634147822856903, + -0.5886220932006836, + 0.6672670841217041, + 0.18346267938613892, + -0.6838259100914001, + 0.6822124719619751, + 0.017082853242754936, + 0.0, + 1.5890296697616577, + 2.206800699234009, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.15634147822856903, + -0.5886220932006836, + 0.6672670841217041, + 0.18346267938613892, + -0.6838259100914001, + 0.6822124719619751, + 0.017082853242754936, + 0.0, + 1.6113795042037964, + 2.2614033222198486, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.15634147822856903, + -0.5886220932006836, + 0.6672670841217041, + 0.18346267938613892, + -0.6838259100914001, + 0.6822124719619751, + 0.017082853242754936, + 0.0, + 1.63177490234375, + 2.3112308979034424, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.15634147822856903, + -0.5886220932006836, + 0.6672670841217041, + 0.18346267938613892, + -0.6838259100914001, + 0.6822124719619751, + 0.017082853242754936, + 0.0, + 1.66196608543396, + 2.3849904537200928, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.15634147822856903, + -0.5886220932006836, + 0.6672670841217041, + 0.18346267938613892, + -0.6838259100914001, + 0.6822124719619751, + 0.017082853242754936, + 0.0, + 1.6752245426177979, + 2.417382001876831, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.15634147822856903, + -0.5886220932006836, + 0.6672670841217041, + 0.18346267938613892, + -0.6838259100914001, + 0.6822124719619751, + 0.017082853242754936, + 0.0, + 1.714522361755371, + 2.513390064239502, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.15634147822856903, + -0.5886220932006836, + 0.6672670841217041, + 0.18346267938613892, + -0.6838259100914001, + 0.6822124719619751, + 0.017082853242754936, + 0.0, + 1.7196598052978516, + 2.5259413719177246, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.15634147822856903, + -0.5886220932006836, + 0.6672670841217041, + 0.18346267938613892, + -0.6838259100914001, + 0.6822124719619751, + 0.017082853242754936, + 0.0, + 1.7417317628860474, + 2.579864978790283, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.15634147822856903, + -0.5886220932006836, + 0.6672670841217041, + 0.18346267938613892, + -0.6838259100914001, + 0.6822124719619751, + 0.017082853242754936, + 0.0, + 1.7558233737945557, + 2.6077253818511963, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.15634147822856903, + -0.5886220932006836, + 0.6672670841217041, + 0.18346267938613892, + -0.6838259100914001, + 0.6822124719619751, + 0.017082853242754936, + 0.0 + ], + "max": [ + 1.7336199283599854, + 2.6840972900390625, + 1.5704457759857178, + 0.7549510598182678, + -0.0, + -0.0, + 0.6752712726593018, + 2.0, + 1.8608700037002563, + 3.1890525817871094, + 0.7914299964904785, + 0.2615866959095001, + -0.08257126808166504, + 0.9821720123291016, + 0.18713568150997162, + 1.0, + -0.15902474522590637, + -0.6016067266464233, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9821720123291016, + 0.18250806629657745, + 0.0, + -0.10876237601041794, + -0.5937370657920837, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9821720123291016, + 0.18250806629657745, + 0.0, + -0.04495718330144882, + -0.5837469696998596, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9821720123291016, + 0.18250806629657745, + 0.0, + 0.021992893889546394, + -0.573264479637146, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9821720123291016, + 0.18250806629657745, + 0.0, + 0.0688050240278244, + -0.5659350156784058, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9821720123291016, + 0.18250806629657745, + 0.0, + 0.15257054567337036, + -0.5528196692466736, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9821720123291016, + 0.18250806629657745, + 0.0, + 0.1817529946565628, + -0.5482505559921265, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9821720123291016, + 0.18250806629657745, + 0.0, + 0.2571536600589752, + -0.536444902420044, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9821720123291016, + 0.18250806629657745, + 0.0, + 0.2777130603790283, + -0.5332258939743042, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9821720123291016, + 0.18250806629657745, + 0.0, + 0.3025262951850891, + -0.5293408632278442, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9821720123291016, + 0.18250806629657745, + 0.0, + 0.3792373538017273, + -0.5173300504684448, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9821720123291016, + 0.18250806629657745, + 0.0, + 0.40548446774482727, + -0.48487770557403564, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9821720123291016, + 0.18250806629657745, + 0.0, + 0.42642951011657715, + -0.458980917930603, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9821720123291016, + 0.18250806629657745, + 0.0, + 0.48223403096199036, + -0.3899833559989929, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9821720123291016, + 0.18250806629657745, + 0.0, + 0.5049139261245728, + -0.3619416058063507, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9821720123291016, + 0.18250806629657745, + 0.0, + 0.5355865955352783, + -0.3240174353122711, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9821720123291016, + 0.18250806629657745, + 0.0, + 0.5710844397544861, + -0.2801273465156555, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9821720123291016, + 0.18250806629657745, + 0.0, + 0.6025280356407166, + -0.20330791175365448, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9821720123291016, + 0.18250806629657745, + 0.0, + 0.611609697341919, + -0.18112055957317352, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9821720123291016, + 0.18250806629657745, + 0.0, + 0.6506773829460144, + -0.08567485958337784, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9821720123291016, + 0.18250806629657745, + 0.0, + 0.6534304022789001, + -0.07894901931285858, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9821720123291016, + 0.18250806629657745, + 0.0, + 0.654093861579895, + -0.07732810080051422, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9821720123291016, + 0.18250806629657745, + 0.0, + 0.6957524418830872, + 0.024447374045848846, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9821720123291016, + 0.18250806629657745, + 0.0, + 0.7077298760414124, + 0.05370922386646271, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9821720123291016, + 0.18250806629657745, + 0.0, + 0.7381753325462341, + 0.12809017300605774, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9821720123291016, + 0.18250806629657745, + 0.0, + 0.7601064443588257, + 0.18166983127593994, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9821720123291016, + 0.18250806629657745, + 0.0, + 0.7805497646331787, + 0.2316146045923233, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9821720123291016, + 0.18250806629657745, + 0.0, + 0.8118626475334167, + 0.3081147074699402, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9821720123291016, + 0.18250806629657745, + 0.0, + 0.8230148553848267, + 0.3353605270385742, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9821720123291016, + 0.18250806629657745, + 0.0, + 0.8635672330856323, + 0.43443354964256287, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9821720123291016, + 0.18250806629657745, + 0.0, + 0.8656598329544067, + 0.43954601883888245, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9821720123291016, + 0.18250806629657745, + 0.0, + 0.8772695064544678, + 0.46790939569473267, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9821720123291016, + 0.18250806629657745, + 0.0, + 0.9083196520805359, + 0.5437676310539246, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9821720123291016, + 0.18250806629657745, + 0.0, + 0.9140194654464722, + 0.5576927661895752, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9821720123291016, + 0.18250806629657745, + 0.0, + 0.9509376883506775, + 0.6478871703147888, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9821720123291016, + 0.18250806629657745, + 0.0, + 0.9641903638839722, + 0.6802646517753601, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9821720123291016, + 0.18250806629657745, + 0.0, + 0.9935029745101929, + 0.7518778443336487, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9821720123291016, + 0.18250806629657745, + 0.0, + 1.0139079093933105, + 0.8017288446426392, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9821720123291016, + 0.18250806629657745, + 0.0, + 1.0360406637191772, + 0.8558010458946228, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9821720123291016, + 0.18250806629657745, + 0.0, + 1.063650131225586, + 0.9232534766197205, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9821720123291016, + 0.18250806629657745, + 0.0, + 1.078578233718872, + 0.9597240090370178, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9821720123291016, + 0.18250806629657745, + 0.0, + 1.1135770082473755, + 1.0452290773391724, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9821720123291016, + 0.18250806629657745, + 0.0, + 1.121115803718567, + 1.0636471509933472, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9821720123291016, + 0.18250806629657745, + 0.0, + 1.1631098985671997, + 1.1662423610687256, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9821720123291016, + 0.18250806629657745, + 0.0, + 1.1636533737182617, + 1.1675701141357422, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9821720123291016, + 0.18250806629657745, + 0.0, + 1.1667368412017822, + 1.1751033067703247, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9821720123291016, + 0.18250806629657745, + 0.0, + 1.2061909437179565, + 1.2714930772781372, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9821720123291016, + 0.18250806629657745, + 0.0, + 1.2131448984146118, + 1.2884823083877563, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9821720123291016, + 0.18250806629657745, + 0.0, + 1.248728632926941, + 1.3754162788391113, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9821720123291016, + 0.18250806629657745, + 0.0, + 1.2627712488174438, + 1.4097235202789307, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9821720123291016, + 0.18250806629657745, + 0.0, + 1.2912662029266357, + 1.4793392419815063, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9821720123291016, + 0.18250806629657745, + 0.0, + 1.3126047849655151, + 1.5314711332321167, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9821720123291016, + 0.18250806629657745, + 0.0, + 1.3338038921356201, + 1.5832624435424805, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9821720123291016, + 0.18250806629657745, + 0.0, + 1.3624403476715088, + 1.6532237529754639, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9821720123291016, + 0.18250806629657745, + 0.0, + 1.376341462135315, + 1.6871854066848755, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9821720123291016, + 0.18250806629657745, + 0.0, + 1.412064552307129, + 1.774459958076477, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9821720123291016, + 0.18250806629657745, + 0.0, + 1.4188791513442993, + 1.79110848903656, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9821720123291016, + 0.18250806629657745, + 0.0, + 1.4575425386428833, + 1.8855665922164917, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9821720123291016, + 0.18250806629657745, + 0.0, + 1.4614167213439941, + 1.8950315713882446, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9821720123291016, + 0.18250806629657745, + 0.0, + 1.462099552154541, + 1.8966999053955078, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9821720123291016, + 0.18250806629657745, + 0.0, + 1.503954291343689, + 1.99895441532135, + 1.5704457759857178, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9821720123291016, + 0.18250806629657745, + 0.0, + 1.5116345882415771, + 2.0177180767059326, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9641060829162598, + 0.18250806629657745, + 0.0, + 1.5464919805526733, + 2.102877616882324, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9641060829162598, + 0.18250806629657745, + 0.0, + 1.5615594387054443, + 2.139688730239868, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9641060829162598, + 0.18250806629657745, + 0.0, + 1.5890296697616577, + 2.206800699234009, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9641060829162598, + 0.18250806629657745, + 0.0, + 1.6113795042037964, + 2.2614033222198486, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9641060829162598, + 0.18250806629657745, + 0.0, + 1.63177490234375, + 2.3112308979034424, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9641060829162598, + 0.18250806629657745, + 0.0, + 1.66196608543396, + 2.3849904537200928, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9641060829162598, + 0.18250806629657745, + 0.0, + 1.6752245426177979, + 2.417382001876831, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9641060829162598, + 0.18250806629657745, + 0.0, + 1.714522361755371, + 2.513390064239502, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9641060829162598, + 0.18250806629657745, + 0.0, + 1.7196598052978516, + 2.5259413719177246, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9641060829162598, + 0.18250806629657745, + 0.0, + 1.7417317628860474, + 2.579864978790283, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9641060829162598, + 0.18250806629657745, + 0.0, + 1.7558233737945557, + 2.6077253818511963, + 1.4410343170166016, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8591045141220093, + 2.810220241546631, + 0.6957975625991821, + 0.2615866959095001, + -0.08257126808166504, + 0.9641060829162598, + 0.18250806629657745, + 0.0 + ], + "count": [ + 1327 + ] + }, + "action.applied": { + "mean": [ + 0.27351150348973435, + 0.6836841631717222, + -1.142887124551717, + -0.21305922565373964, + 0.6786483844914828, + -1.1707008808469448, + 0.17364583776445433, + 0.808769155060697, + -1.2766544035977678, + -0.1934468919873103, + 0.7238262870209327, + -1.2710548499606118, + -0.11036461797012795, + 1.7640444546062064, + -1.138202739327854, + 0.1411016752624521, + 0.6196195620428644, + -0.2421060581965741, + 0.006936699351311269, + -0.006936699351311269 + ], + "std": [ + 0.13180443235207812, + 0.10875410219105602, + 0.1612284140646264, + 0.13021342197554256, + 0.09990909197916305, + 0.15108523259644951, + 0.1320830929863727, + 0.09611184384543402, + 0.16441665049355528, + 0.12301714818645618, + 0.11594603809112512, + 0.15684230879170236, + 0.07917954634817137, + 0.2478273268330583, + 0.429814573530436, + 0.11972176739434465, + 0.19719464363864764, + 0.19508838558736136, + 0.013952300184523649, + 0.013952300184523649 + ], + "min": [ + -0.2132595181465149, + 0.40486252307891846, + -1.723492980003357, + -0.5216443538665771, + 0.39678269624710083, + -1.6093052625656128, + -0.15488138794898987, + 0.47490978240966797, + -1.7270143032073975, + -0.5374079346656799, + 0.5194993019104004, + -1.6857362985610962, + -0.3542080223560333, + 1.5073527097702026, + -2.4076056480407715, + -0.014950262382626534, + 0.3597450852394104, + -0.5469725728034973, + 0.0, + -0.03500000014901161 + ], + "max": [ + 0.6584811806678772, + 0.9078214168548584, + -0.7459514737129211, + 0.15880367159843445, + 0.9662188291549683, + -0.8124980330467224, + 0.5173496007919312, + 1.087999701499939, + -0.9446255564689636, + 0.34280362725257874, + 1.0727459192276, + -0.910713255405426, + -0.00010238598770229146, + 2.4761910438537598, + -0.7544415593147278, + 0.33922258019447327, + 1.0723692178726196, + 0.011068494990468025, + 0.03500000014901161, + 0.0 + ], + "count": [ + 1327 + ] + }, + "extra.reward": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 1327 + ] + }, + "next.truncated": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 1327 + ] + }, + "sim_step_idx": { + "mean": [ + 1427.0 + ], + "std": [ + 766.1435896749382 + ], + "min": [ + 101.0 + ], + "max": [ + 2753.0 + ], + "count": [ + 1327 + ] + }, + "timestamp": { + "mean": [ + 26.520000000678692 + ], + "std": [ + 15.322871791091485 + ], + "min": [ + 0.0 + ], + "max": [ + 53.040000915527344 + ], + "count": [ + 1327 + ] + }, + "frame_index": { + "mean": [ + 663.0 + ], + "std": [ + 383.0717948374691 + ], + "min": [ + 0.0 + ], + "max": [ + 1326.0 + ], + "count": [ + 1327 + ] + }, + "episode_index": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 1327 + ] + }, + "index": { + "mean": [ + 663.0 + ], + "std": [ + 383.0717948374691 + ], + "min": [ + 0.0 + ], + "max": [ + 1326.0 + ], + "count": [ + 1327 + ] + }, + "task_index": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 1327 + ] + }, + "next.done": { + "mean": [ + 0.0007535795026375283 + ], + "std": [ + 0.02744105720577713 + ], + "min": [ + 0.0 + ], + "max": [ + 1.0 + ], + "count": [ + 1327 + ] + }, + "observation.images.head": { + "mean": [ + [ + [ + 0.5485931177321728 + ] + ], + [ + [ + 0.4661694696126675 + ] + ], + [ + [ + 0.4215045417501628 + ] + ] + ], + "std": [ + [ + [ + 0.0848610128577055 + ] + ], + [ + [ + 0.09792477703317963 + ] + ], + [ + [ + 0.11058106234026005 + ] + ] + ], + "min": [ + [ + [ + 0.00784313725490196 + ] + ], + [ + [ + 0.00784313725490196 + ] + ], + [ + [ + 0.00784313725490196 + ] + ] + ], + "max": [ + [ + [ + 0.8901960784313725 + ] + ], + [ + [ + 0.8862745098039215 + ] + ], + [ + [ + 0.8901960784313725 + ] + ] + ], + "count": [ + 100 + ] + }, + "observation.images.wrist": { + "mean": [ + [ + [ + 0.5955991129235486 + ] + ], + [ + [ + 0.5320041411386865 + ] + ], + [ + [ + 0.4717311653920981 + ] + ] + ], + "std": [ + [ + [ + 0.13725525002071737 + ] + ], + [ + [ + 0.14152844737434092 + ] + ], + [ + [ + 0.14146934005853576 + ] + ] + ], + "min": [ + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ] + ], + "max": [ + [ + [ + 0.9529411764705882 + ] + ], + [ + [ + 0.9333333333333333 + ] + ], + [ + [ + 0.9294117647058824 + ] + ] + ], + "count": [ + 100 + ] + } +} \ No newline at end of file diff --git a/N033/go2_arm/dr_off/seed_1016/rec/stationring/000/lerobot_v21/meta/tasks.jsonl b/N033/go2_arm/dr_off/seed_1016/rec/stationring/000/lerobot_v21/meta/tasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dbadecbe4a732b4588b1a79a8efeb41ca322b43c --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1016/rec/stationring/000/lerobot_v21/meta/tasks.jsonl @@ -0,0 +1 @@ +{"task_index": 0, "task": "Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end."} diff --git a/N033/go2_arm/dr_off/seed_1016/rec/stationring/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 b/N033/go2_arm/dr_off/seed_1016/rec/stationring/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a2b1e8f38f3173beffba90f46a729da620e1dcef --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1016/rec/stationring/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 sha256:437baeaa8fdb0ee77078e278424f5a41dc8c952e72c4fd8842b6e5bd925c2137 +size 10229290 diff --git a/N033/go2_arm/dr_off/seed_1016/rec/stationring/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 b/N033/go2_arm/dr_off/seed_1016/rec/stationring/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d16530b8ee49dca0322ce0028cc340299bd7978c --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1016/rec/stationring/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:aab70017d1de1024f0560967128ec91fb49fdd0d44f82c0777fbd253c203d2b0 +size 23273196 diff --git a/N033/go2_arm/dr_off/seed_1016/rec/stationring/000/run_meta.json b/N033/go2_arm/dr_off/seed_1016/rec/stationring/000/run_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c3e90429f4b45d1c2c21e241f45d25bbb2082568 --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1016/rec/stationring/000/run_meta.json @@ -0,0 +1,1707 @@ +{ + "run_id": "stationring/000", + "created": "2026-11-08 02:59:55", + "num_envs": 1, + "session_id": null, + "record_config": { + "output_dir": "/mnt/scratch/xc536_atomic/n033_go2_off_1016/out/rec", + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "json_round": null, + "schema": { + "source": "robot_manager", + "nan_policy": "from_raw" + }, + "lerobot": { + "subsample_every": 2 + } + }, + "config": { + "env_string": "StationRingEnv-V0", + "env": { + "sim": { + "device": "cpu", + "use_fabric": false, + "decimation": 4, + "dt": 0.005, + "seed": 1016, + "soft_resets": 2, + "enable_scene_query_support": true, + "scene": { + "num_envs": 1, + "env_spacing": 16 + }, + "render": { + "rendering_mode": "performance", + "enable_reflections": false, + "enable_global_illumination": false, + "enable_translucency": false, + "enable_dl_denoiser": false + } + }, + "robot": { + "Go2Plus": { + "name": "go2plus", + "type": "mobilemanip", + "common": { + "pos": [ + [ + -3.4, + -2.2, + 0.44999999999999996 + ], + [ + -3.4, + -2.2, + 0.44999999999999996 + ] + ], + "ori": [ + [ + 0, + 0, + 40.0 + ], + [ + 0, + 0, + 40.0 + ] + ], + "initial_joint_pos": null + }, + "action": { + "base_action": "unified", + "arm_action": "ik_curobo", + "eef_action": "binary" + }, + "reset": "default", + "planner": { + "dual_mode": true, + "base_joint_names": [ + "base_x", + "base_y", + "base_yaw", + "base_height" + ], + "ik": { + "type": "go2plus", + "enable": true, + "ik_num_instances": 1, + "ik_batch_size": 1, + "ik_max_goalset": 128, + "ik_num_seeds": 64, + "ik_position_threshold": 0.005, + "ik_rotation_threshold": 0.05, + "microbatch_wait_ms": 20.0, + "relative_to_world_frame": false, + "eef_num": 1, + "debug": false, + "seed_use_live_joint_pos": true + }, + "motiongen": { + "type": "go2plus", + "enable": true, + "batch_size": 1, + "debug": false, + "motiongen_num_instances": 1, + "microbatch_wait_ms": 400.0, + "mode": "position", + "relative_to_world_frame": false, + "eef_num": 1, + "seed_use_live_joint_pos": true, + "anchor_ik_seeds_to_current_state": false, + "num_trajopt_seeds": 1, + "num_ik_seeds": 4, + "max_attempts": 4, + "joint_limit_retry_weight": 100000000.0, + "start_state_limit_inset": 0.002 + }, + "body": { + "type": "nav", + "dwb_type": "dwb_quadruped", + "dwb_quadruped": { + "device": "cpu", + "dt": 0.02, + "debug": false, + "num_rollout_steps": 60, + "num_speed_samples": 11, + "num_steer_samples": 11, + "num_vx_samples": 7, + "num_vy_samples": 7, + "num_yaw_samples": 7, + "max_accel": 1.5, + "max_steer_rate": 1.5, + "max_accel_vx": 1.5, + "max_accel_vy": 1.5, + "max_yaw_accel": 1.5, + "w_goal": 6.0, + "w_path": 24.0, + "w_vel": 0.2, + "w_vy": 0.0, + "dilate_radius": 0.2, + "goal_cost_mode": "path", + "room_size": 12.0, + "occupancy_update_interval": 25, + "scan_height": 0.38, + "scan_min_z": 0.15, + "scan_max_z": 0.63, + "goal_pos_threshold": 0.16, + "goal_yaw_threshold": 0.08, + "goal_yaw_hysteresis": 0.02, + "kp_goal_yaw": 4.0, + "heading_reference": "path", + "turn_yaw_threshold": 0.8, + "heading_lookahead": 0.8, + "heading_min_leg": 0.35, + "route_yaw_gain": 2.0, + "min_vx": -0.35, + "max_vx": 0.35, + "min_vy": -0.25, + "max_vy": 0.25, + "min_yaw_rate": -0.8, + "max_yaw_rate": 0.8, + "dynamic_window_source": "command", + "default_height": 0.35, + "safety_min_progress_speed": 0.1, + "safety_stop_distance": 0.2, + "safety_enabled": true, + "safety_deceleration": 0.5, + "safety_reaction_time": 0.5, + "safety_release_distance": 0.35, + "scan_type": "3d", + "robot_type": "quadruped", + "velocity_frame": "body" + }, + "p_controller": { + "velocity_frame": "body", + "nav_upgrade_distance": 0.03, + "nav_heading_target": -1, + "kp_linear_x": 3.0, + "kd_linear_x": 0.4, + "kp_linear_y": 3.0, + "kd_linear_y": 0.4, + "kp_angular": 1.5, + "kd_angular": 0.2, + "kp_angular_turning_only": 1.5, + "kd_angular_turning_only": 0.2, + "min_vel": -0.4, + "max_vel": 0.5, + "linear_dead_zone": 0.01, + "angular_dead_zone": 0.05 + } + }, + "arm": { + "type": "default" + }, + "eef": { + "type": "default" + } + }, + "physics": { + "robot_radius": 0.5 + } + } + }, + "camera": { + "enable_tiled": false, + "colorize_depth": false, + "head": { + "camera": { + "type": "camera", + "mesh": "pinhole", + "resolution": [ + 640, + 480 + ], + "frequency": 25, + "focal_length": 1.8231182098388672, + "horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.4407838582992554, + "clipping_range": [ + 0.05, + 30.0 + ], + "focus_distance": 3.0, + "mode": "RGB", + "mount_link": "Robot_0/Bodies/go2_base", + "pos": [ + 0.332051, + 0.038027, + 0.093559 + ], + "ori": [ + 169.9473, + -88.6452, + 81.5985 + ] + }, + "annotator": { + "enabled": true, + "rgb_capture": { + "type": "rgb", + "device": "cpu" + } + } + }, + "wrist": { + "camera": { + "type": "camera", + "mesh": "pinhole", + "resolution": [ + 640, + 480 + ], + "frequency": 25, + "focal_length": 1.8517500162124634, + "horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.4393036365509033, + "clipping_range": [ + 0.05, + 30.0 + ], + "focus_distance": 3.0, + "mode": "RGB", + "mount_link": "Robot_0/Bodies/piper_link6", + "pos": [ + -0.074987, + 0.005289, + 0.045821 + ], + "ori": [ + 179.3135, + -20.212, + 88.9402 + ] + }, + "annotator": { + "enabled": true, + "rgb_capture": { + "type": "rgb", + "device": "cpu" + } + } + } + }, + "nav": { + "navmesh": { + "enabled": true, + "visualize": false, + "bake_timeout_s": 180, + "agent_height_cm": 65, + "min_agent_radius_cm": 30.0, + "max_agent_radius_cm": 30.0, + "max_step_height_cm": 20, + "max_floor_slope_deg": 30, + "agent_island_radius_cm": 5, + "auto_exclude_rigid_bodies": true, + "validate_path_clearance": true, + "validate_path_window": true, + "navmesh_offset_z_m": 0, + "verbose": false + }, + "occupancymap": { + "cell_size": 0.05 + } + }, + "scene": { + "background": { + "intensity": [ + 1000, + 1000 + ] + }, + "terrain": { + "type": "nav_room", + "collision": true, + "hide_top_walls": true, + "usd": [ + "$MAGICSIM_ASSETS/Room/Collected_SimpleRoom" + ], + "annotation": "Annotation", + "random": false, + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0, + "friction_combine_mode": "multiply", + "restitution_combine_mode": "multiply" + } + }, + "objects": { + "table_A": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "table_A_1": { + "pos": [ + -0.25625379571040385, + 0.03468828088051888, + 0.18 + ], + "ori": [ + 0.0, + 0.0, + -0.020084178950554588 + ], + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.45, + 0.35 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "table_B": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "table_B_1": { + "pos": [ + 1.8729888091603093, + 3.2878527785956155, + 0.18 + ], + "ori": [ + 0.0, + 0.0, + -7.434817113870423 + ], + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.45, + 0.35 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "rack_back": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "rack_back_1": { + "pos": [ + -0.30625729798896406, + 0.024705808247046393, + 0.42999999999999994 + ], + "ori": [ + 0.0, + 0.0, + -0.020084178950554588 + ], + "primitive_params": { + "size": [ + 0.7, + 0.03, + 0.2 + ] + }, + "visual": { + "color": [ + [ + 0.45, + 0.35, + 0.25 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "peg_1": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "peg_1_1": { + "pos": [ + -0.15629411338409768, + -0.0803467655584858, + 0.47 + ], + "ori": [ + 0.0, + 0.0, + -0.020084178950554588 + ], + "primitive_params": { + "size": [ + 0.02, + 0.18, + 0.02 + ] + }, + "visual": { + "color": [ + [ + 0.35, + 0.35, + 0.35 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "peg_2": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "peg_2_1": { + "pos": [ + -0.45629409495287476, + -0.08024160504556532, + 0.47 + ], + "ori": [ + 0.0, + 0.0, + -0.020084178950554588 + ], + "primitive_params": { + "size": [ + 0.02, + 0.18, + 0.02 + ] + }, + "visual": { + "color": [ + [ + 0.35, + 0.35, + 0.35 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "ring": { + "usd": [ + "$MAGICSIM_ASSETS/Object/MMB_A07/ring_wide/Object.usda" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "ring_1": { + "pos": [ + -0.15630621567783895, + -0.11487196706700249, + 0.43999999999999995 + ], + "ori": [ + 0.0, + 0.0, + -0.020084178950554588 + ], + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.05, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + } + } + } + }, + "ring_small": { + "usd": [ + "$MAGICSIM_ASSETS/Object/MMB_A07/ring_small/Object.usda" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "ring_small_1": { + "pos": [ + -0.4563135069175973, + -0.13561970179735472, + 0.46499999999999997 + ], + "ori": [ + 0.0, + 0.0, + -0.020084178950554588 + ], + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.05, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + } + } + } + }, + "rod_h": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "rod_h_1": { + "pos": [ + 1.856167045133505, + 3.1589457258210425, + 0.53 + ], + "ori": [ + 0.0, + 0.0, + -7.434817113870423 + ], + "primitive_params": { + "size": [ + 0.02, + 0.14, + 0.02 + ] + }, + "visual": { + "color": [ + [ + 0.75, + 0.75, + 0.78 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 0.3, + "dynamic_friction": 0.25, + "restitution": 0.0 + } + } + } + }, + "rod_s": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "rod_s_1": { + "pos": [ + 1.872639434061291, + 3.285175478268759, + 0.48979999999999996 + ], + "ori": [ + -35.0, + 0.0, + -7.434817113870423 + ], + "primitive_params": { + "size": [ + 0.02, + 0.14, + 0.02 + ] + }, + "visual": { + "color": [ + [ + 0.75, + 0.75, + 0.78 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 0.3, + "dynamic_friction": 0.25, + "restitution": 0.0 + } + } + } + }, + "rod_stop": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "rod_stop_1": { + "pos": [ + 1.8820466820978192, + 3.357264268551155, + 0.38999999999999996 + ], + "ori": [ + 0.0, + 0.0, + -7.434817113870423 + ], + "primitive_params": { + "size": [ + 0.1, + 0.012, + 0.12 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.3, + 0.25 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + } + } + } + }, + "task": { + "new_seed_per_episode": true, + "observation": {}, + "reward": {}, + "termination": { + "timeout_steps": 30000, + "success_hold_frames": 10, + "fall_height": 0.08, + "fall_tilt": 1.0, + "lift_height": 0.12, + "grasp_distance": 0.25 + }, + "grasp": { + "mode": "generated", + "debug": false, + "floor_z": 0.03 + }, + "stance": { + "radii": [ + 0.5, + 0.46, + 0.54 + ], + "heights": [ + 0.3, + 0.34, + 0.26 + ], + "bearings_deg": [ + 0, + -25, + 25 + ], + "yaw_offsets_deg": [ + 0.0 + ], + "include_current": true + }, + "station": { + "task_id": "N033", + "task_version": "EXT60-MobileAvatar-v3", + "family_id": "ring_on_bent_rod", + "primary_category": "C2", + "stage": "full", + "layout": { + "floor_z": 0.03, + "start": { + "x": -3.4, + "y": -2.2, + "yaw_deg": 40.0, + "radius": 0.3, + "yaw_spread_deg": 20.0 + }, + "stations": { + "A": { + "center": [ + -0.25625379571040385, + 0.03468828088051888 + ], + "facing_deg": 89.97991582104945, + "standoff": 0.7, + "table": { + "width": 0.9, + "depth": 0.5, + "height": 0.3 + } + }, + "B": { + "center": [ + 1.8729888091603093, + 3.2878527785956155 + ], + "facing_deg": 82.56518288612958, + "standoff": 0.7, + "table": { + "width": 0.9, + "depth": 0.5, + "height": 0.3 + } + } + } + }, + "route": [ + "A", + "B" + ], + "fixtures": { + "rod": { + "pivot": [ + 0.0, + -0.2 + ], + "yaw_deg": 0.0 + } + }, + "instruction": "pick up the large ring (not the small one)", + "ring": { + "target": "ring", + "others": [ + "ring_small" + ], + "swap": "random", + "rod": { + "open": -0.2, + "bend": -0.06, + "slope_deg": 35.0, + "horizontal_len": 0.14, + "slope_len": 0.14, + "z": 0.2, + "fixture": "rod" + }, + "swapped": false + }, + "dr": { + "enabled": true, + "stations": { + "center_m": 0.25, + "facing_deg": 8.0 + }, + "objects": { + "across_m": 0.025, + "along_m": 0.02, + "yaw_deg": 8.0 + } + }, + "place_check": { + "ring": { + "at": { + "station": "B", + "across": 0.0, + "along": -0.06, + "z": 0.2 + }, + "yaw_deg": 0.0, + "clearance": 0.004 + } + }, + "success": { + "thread_tol": 0.03, + "lost_dist": 0.06, + "axis_deg": 55.0, + "entry_s": 0.08, + "end_margin": 0.07, + "back_tol": 0.04, + "release_dist": 0.15, + "rest_speed": 0.05, + "held_lift": 0.04, + "lift": 0.08 + }, + "objects": { + "rack_back": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.7, + 0.03, + 0.2 + ], + "at": { + "station": "A", + "across": -0.05, + "along": -0.01, + "z": 0.1 + }, + "color": [ + 0.45, + 0.35, + 0.25 + ], + "pos": [ + -0.30625729798896406, + 0.024705808247046393, + 0.42999999999999994 + ], + "yaw_deg": -0.020084178950554588 + }, + "peg_1": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.02, + 0.18, + 0.02 + ], + "at": { + "station": "A", + "across": 0.1, + "along": -0.115, + "z": 0.14 + }, + "color": [ + 0.35, + 0.35, + 0.35 + ], + "pos": [ + -0.15629411338409768, + -0.0803467655584858, + 0.47 + ], + "yaw_deg": -0.020084178950554588 + }, + "peg_2": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.02, + 0.18, + 0.02 + ], + "at": { + "station": "A", + "across": -0.2, + "along": -0.115, + "z": 0.14 + }, + "color": [ + 0.35, + 0.35, + 0.35 + ], + "pos": [ + -0.45629409495287476, + -0.08024160504556532, + 0.47 + ], + "yaw_deg": -0.020084178950554588 + }, + "ring": { + "catalog": "ring_wide", + "type": "rigid", + "at": { + "station": "A", + "across": 0.1, + "along": -0.1495252036296558, + "z": 0.11 + }, + "yaw_deg": -0.020084178950554588, + "jitter": { + "across_m": 0.0, + "along_m": 0.012, + "yaw_deg": 0.0 + }, + "friction": { + "static": 1.5, + "dynamic": 1.5 + }, + "asset": "$MAGICSIM_ASSETS/Object/MMB_A07/ring_wide/Object.usda", + "parts": [ + { + "name": "seg0", + "center": [ + 0.051, + 0.0, + 0.0 + ], + "half": [ + 0.011, + 0.0175, + 0.025124891681027845 + ], + "rpy_deg": [ + 0.0, + -0.0, + 0.0 + ] + }, + { + "name": "seg1", + "center": [ + 0.03606244584051392, + 0.0, + 0.03606244584051392 + ], + "half": [ + 0.011, + 0.0175, + 0.025124891681027845 + ], + "rpy_deg": [ + 0.0, + -45.0, + 0.0 + ] + }, + { + "name": "seg2", + "center": [ + 3.1228493378257503e-18, + 0.0, + 0.051 + ], + "half": [ + 0.011, + 0.0175, + 0.025124891681027845 + ], + "rpy_deg": [ + 0.0, + -90.0, + 0.0 + ] + }, + { + "name": "seg3", + "center": [ + -0.03606244584051392, + 0.0, + 0.03606244584051392 + ], + "half": [ + 0.011, + 0.0175, + 0.025124891681027845 + ], + "rpy_deg": [ + 0.0, + -135.0, + 0.0 + ] + }, + { + "name": "seg4", + "center": [ + -0.051, + 0.0, + 6.245698675651501e-18 + ], + "half": [ + 0.011, + 0.0175, + 0.025124891681027845 + ], + "rpy_deg": [ + 0.0, + -180.0, + 0.0 + ] + }, + { + "name": "seg5", + "center": [ + -0.03606244584051393, + 0.0, + -0.03606244584051392 + ], + "half": [ + 0.011, + 0.0175, + 0.025124891681027845 + ], + "rpy_deg": [ + 0.0, + -225.0, + 0.0 + ] + }, + { + "name": "seg6", + "center": [ + -9.368548013477251e-18, + 0.0, + -0.051 + ], + "half": [ + 0.011, + 0.0175, + 0.025124891681027845 + ], + "rpy_deg": [ + 0.0, + -270.0, + 0.0 + ] + }, + { + "name": "seg7", + "center": [ + 0.036062445840513914, + 0.0, + -0.03606244584051393 + ], + "half": [ + 0.011, + 0.0175, + 0.025124891681027845 + ], + "rpy_deg": [ + 0.0, + -315.0, + 0.0 + ] + }, + { + "name": "tab", + "center": [ + 0.0, + 0.0, + 0.09 + ], + "half": [ + 0.015, + 0.0175, + 0.03 + ], + "rpy_deg": [ + 0.0, + 0.0, + 0.0 + ] + } + ], + "mass": 0.05, + "com": [ + 0.0, + 0.0, + 0.0 + ], + "grasp": { + "part": "tab", + "thin_axis": 0, + "min_elevation_deg": 60.0, + "inset": 0.02, + "min_overlap_x": 0.016, + "min_overlap_z": 0.015 + }, + "pos": [ + -0.15630621567783895, + -0.11487196706700249, + 0.43999999999999995 + ] + }, + "ring_small": { + "catalog": "ring_small", + "type": "rigid", + "at": { + "station": "A", + "across": -0.2, + "along": -0.17037810015407645, + "z": 0.135 + }, + "yaw_deg": -0.020084178950554588, + "jitter": { + "across_m": 0.0, + "along_m": 0.012, + "yaw_deg": 0.0 + }, + "friction": { + "static": 1.5, + "dynamic": 1.5 + }, + "asset": "$MAGICSIM_ASSETS/Object/MMB_A07/ring_small/Object.usda", + "parts": [ + { + "name": "seg0", + "center": [ + 0.026, + 0.0, + 0.0 + ], + "half": [ + 0.011, + 0.0175, + 0.01476955262170047 + ], + "rpy_deg": [ + 0.0, + -0.0, + 0.0 + ] + }, + { + "name": "seg1", + "center": [ + 0.018384776310850236, + 0.0, + 0.018384776310850233 + ], + "half": [ + 0.011, + 0.0175, + 0.01476955262170047 + ], + "rpy_deg": [ + 0.0, + -45.0, + 0.0 + ] + }, + { + "name": "seg2", + "center": [ + 1.5920408388915591e-18, + 0.0, + 0.026 + ], + "half": [ + 0.011, + 0.0175, + 0.01476955262170047 + ], + "rpy_deg": [ + 0.0, + -90.0, + 0.0 + ] + }, + { + "name": "seg3", + "center": [ + -0.018384776310850233, + 0.0, + 0.018384776310850236 + ], + "half": [ + 0.011, + 0.0175, + 0.01476955262170047 + ], + "rpy_deg": [ + 0.0, + -135.0, + 0.0 + ] + }, + { + "name": "seg4", + "center": [ + -0.026, + 0.0, + 3.1840816777831182e-18 + ], + "half": [ + 0.011, + 0.0175, + 0.01476955262170047 + ], + "rpy_deg": [ + 0.0, + -180.0, + 0.0 + ] + }, + { + "name": "seg5", + "center": [ + -0.01838477631085024, + 0.0, + -0.018384776310850233 + ], + "half": [ + 0.011, + 0.0175, + 0.01476955262170047 + ], + "rpy_deg": [ + 0.0, + -225.0, + 0.0 + ] + }, + { + "name": "seg6", + "center": [ + -4.776122516674677e-18, + 0.0, + -0.026 + ], + "half": [ + 0.011, + 0.0175, + 0.01476955262170047 + ], + "rpy_deg": [ + 0.0, + -270.0, + 0.0 + ] + }, + { + "name": "seg7", + "center": [ + 0.01838477631085023, + 0.0, + -0.01838477631085024 + ], + "half": [ + 0.011, + 0.0175, + 0.01476955262170047 + ], + "rpy_deg": [ + 0.0, + -315.0, + 0.0 + ] + }, + { + "name": "tab", + "center": [ + 0.0, + 0.0, + 0.065 + ], + "half": [ + 0.015, + 0.0175, + 0.03 + ], + "rpy_deg": [ + 0.0, + 0.0, + 0.0 + ] + } + ], + "mass": 0.05, + "com": [ + 0.0, + 0.0, + 0.0 + ], + "grasp": { + "part": "tab", + "thin_axis": 0, + "min_elevation_deg": 60.0, + "inset": 0.02, + "min_overlap_x": 0.016, + "min_overlap_z": 0.015 + }, + "pos": [ + -0.4563135069175973, + -0.13561970179735472, + 0.46499999999999997 + ] + }, + "rod_h": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.02, + 0.14, + 0.02 + ], + "at": { + "station": "B", + "across": 0.0, + "along": -0.13, + "z": 0.2 + }, + "fixture": "rod", + "color": [ + 0.75, + 0.75, + 0.78 + ], + "friction_static": 0.3, + "friction_dynamic": 0.25, + "pos": [ + 1.856167045133505, + 3.1589457258210425, + 0.53 + ], + "yaw_deg": -7.434817113870423 + }, + "rod_s": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.02, + 0.14, + 0.02 + ], + "at": { + "station": "B", + "across": 0.0, + "along": -0.0027, + "z": 0.1598 + }, + "roll_deg": -35.0, + "fixture": "rod", + "color": [ + 0.75, + 0.75, + 0.78 + ], + "friction_static": 0.3, + "friction_dynamic": 0.25, + "pos": [ + 1.872639434061291, + 3.285175478268759, + 0.48979999999999996 + ], + "yaw_deg": -7.434817113870423 + }, + "rod_stop": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.1, + 0.012, + 0.12 + ], + "at": { + "station": "B", + "across": 0.0, + "along": 0.07, + "z": 0.06 + }, + "fixture": "rod", + "color": [ + 0.55, + 0.3, + 0.25 + ], + "pos": [ + 1.8820466820978192, + 3.357264268551155, + 0.38999999999999996 + ], + "yaw_deg": -7.434817113870423 + } + }, + "planner_seeds": "lean", + "report_jsonl": "/mnt/scratch/xc536_atomic/n033_go2_off_1016/out/report.episodes.jsonl", + "dr_applied": true, + "level": "easy" + }, + "command": { + "StationRing": { + "obj_type": "rigid", + "obj_name": "ring", + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.015, + "withdraw": 0.09, + "settle_ticks": 120 + } + } + }, + "collect": { + "global_planner": { + "NavTo": { + "use_navmesh": true, + "use_absolute": true, + "translation_threshold": 0.2, + "rotation_threshold": 0.15, + "num_path_segments": 30, + "start_forward_offset": 0.0, + "visualize_path": false, + "carry_arm": true + }, + "RetractMoveL": { + "translation_threshold": 0.06, + "rotation_threshold": 0.3, + "motiongen_distance_threshold": 0.05, + "timeout_steps": 2000, + "base_pos_threshold": 0.12, + "base_rot_threshold": 0.5, + "eef_pos_threshold": 0.03, + "eef_rot_threshold": 0.3, + "base_waypoint_max_steps": 20, + "arm_waypoint_max_steps": 8 + }, + "MobileMoveL": { + "translation_threshold": 0.006, + "rotation_threshold": 0.2, + "motiongen_distance_threshold": 0.05, + "timeout_steps": 1500, + "stall_release_ticks": 100, + "stall_release_factor": 5.0, + "reactive": false, + "base_pos_threshold": 0.12, + "base_rot_threshold": 0.5, + "eef_pos_threshold": 0.03, + "eef_rot_threshold": 0.3, + "waypoint_max_steps": 8, + "interp_steps": 60, + "interp_validate_target": true, + "retry_mobile_on_locked_plan_failure": true + }, + "MobileServoL": { + "base_pos_threshold": 0.12, + "waypoint_max_steps": 20, + "translation_threshold": 0.05, + "timeout_steps": 300 + }, + "ParallelGripper": { + "gripper_threshold": 0.0005, + "timeout_steps": 60 + } + }, + "atomic_skill": { + "NavToPose": { + "robot_id": 0, + "show_marker": false + }, + "Move": { + "arm_planner": "MobileMoveL", + "hand_planner": "ParallelGripper", + "obstacle_avoid_paths": [], + "obstacle_ignore_paths": [], + "close_value": 1.0, + "open_value": 0.0, + "hold_steps": 10 + }, + "ReachStance": { + "check_current_first": true, + "stance_margin": 0.03, + "max_reach": 0.85, + "max_walks": 4, + "reject_radius": 0.05, + "obstacle_avoidance": [ + "dynamic" + ], + "walk_planner": "MobileServoL", + "strategy_kwargs": { + "reach_steps": 2 + }, + "debug": false + }, + "Grasp": { + "pre_grasp_offset": 0.1, + "retrieval_offset": 0.03, + "mobile": true, + "pre_grasp_planner": "MobileMoveL", + "pre_grasp_mode": -1, + "grasp_mode": 4, + "retrieval_mode": 4, + "goalset_lock_base": true, + "reactive": false, + "viz_grasp": false + } + }, + "command": { + "StationRing": { + "obj_type": "rigid", + "obj_name": "ring", + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.015, + "withdraw": 0.09, + "settle_ticks": 120 + } + }, + "auto_collect": {}, + "record": { + "output_dir": "/mnt/scratch/xc536_atomic/n033_go2_off_1016/out/rec", + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "json_round": null, + "schema": { + "source": "robot_manager", + "nan_policy": "from_raw" + }, + "lerobot": { + "subsample_every": 2 + } + } + }, + "visual_dr": { + "keep": [ + "ring", + "ring_small" + ] + } + }, + "git_sha": null, + "collect_runtime": { + "max_trajectories": 1 + } +} \ No newline at end of file diff --git a/N033/go2_arm/dr_off/seed_1016/rec/stationring/000/sim_info/0/actions.npz b/N033/go2_arm/dr_off/seed_1016/rec/stationring/000/sim_info/0/actions.npz new file mode 100644 index 0000000000000000000000000000000000000000..d294b20443342024bd0eb004e2529bbe0d4c1c27 --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1016/rec/stationring/000/sim_info/0/actions.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:36204fe49f32d91d575253d43ca50fb68d07d248cff172a7a36447621d6c9df6 +size 598622 diff --git a/N033/go2_arm/dr_off/seed_1016/rec/stationring/000/sim_info/0/device_commands.jsonl b/N033/go2_arm/dr_off/seed_1016/rec/stationring/000/sim_info/0/device_commands.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N033/go2_arm/dr_off/seed_1016/rec/stationring/000/sim_info/0/device_events.jsonl b/N033/go2_arm/dr_off/seed_1016/rec/stationring/000/sim_info/0/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N033/go2_arm/dr_off/seed_1016/rec/stationring/000/sim_info/0/scene_snapshot.json b/N033/go2_arm/dr_off/seed_1016/rec/stationring/000/sim_info/0/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..cb799340cec5af15107738a73be98095fe5c40e3 --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1016/rec/stationring/000/sim_info/0/scene_snapshot.json @@ -0,0 +1,669 @@ +{ + "trajectory_id": 0, + "env_id": 0, + "run_id": "stationring/000", + "task_type": "RingCommand", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])", + "avatars": "avatar_manager.set_avatars_state(snapshot['avatars'], env_ids=[env_id]) (present when the scene has animated avatars)" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "table_A": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.25625379571040385, + 0.03468828088051888, + 0.18 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + -0.00017526753072161227 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.45, + 0.35 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + } + }, + "type_specific": {} + } + ], + "table_B": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 1.8729888091603093, + 3.2878527785956155, + 0.18 + ], + "ori": [ + 0.9978959560394287, + 0.0, + 0.0, + -0.06483551114797592 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.45, + 0.35 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + } + }, + "type_specific": {} + } + ], + "rack_back": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.30625729798896406, + 0.024705808247046393, + 0.42999999999999994 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + -0.00017526753072161227 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.45, + 0.35, + 0.25 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.7, + 0.03, + 0.2 + ] + } + }, + "type_specific": {} + } + ], + "peg_1": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.15629411338409768, + -0.0803467655584858, + 0.47 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + -0.00017526753072161227 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.35, + 0.35, + 0.35 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.02, + 0.18, + 0.02 + ] + } + }, + "type_specific": {} + } + ], + "peg_2": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.45629409495287476, + -0.08024160504556532, + 0.47 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + -0.00017526753072161227 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.35, + 0.35, + 0.35 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.02, + 0.18, + 0.02 + ] + } + }, + "type_specific": {} + } + ], + "ring": [ + { + "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MMB_A07/ring_wide/Object.usda", + "pose": { + "pos": [ + -0.15630662441253662, + -0.11487219482660294, + 0.4399998188018799 + ], + "ori": [ + 1.0, + -2.591551265140879e-06, + 4.739862106362125e-06, + 6.645657890658185e-07 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.05, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -0.0007721409783698618, + 0.0001566357386764139, + -0.0002345123066334054 + ], + "angular_velocity": [ + 0.004847360774874687, + 0.03064403496682644, + -0.0004644711734727025 + ] + } + } + ], + "ring_small": [ + { + "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MMB_A07/ring_small/Object.usda", + "pose": { + "pos": [ + -0.4563024640083313, + -0.13554219901561737, + 0.46878641843795776 + ], + "ori": [ + 0.999994695186615, + -0.0003800933773163706, + 0.0032114172354340553, + -0.00030184315983206034 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.05, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -0.0007023545913398266, + -5.251559923635796e-05, + 6.568641401827335e-05 + ], + "angular_velocity": [ + 0.0009027028572745621, + -0.048638250678777695, + 0.0012589419493451715 + ] + } + } + ], + "rod_h": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 1.856167045133505, + 3.1589457258210425, + 0.53 + ], + "ori": [ + 0.9978959560394287, + 0.0, + 0.0, + -0.06483551114797592 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.75, + 0.75, + 0.78 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 0.3, + "dynamic_friction": 0.25, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.02, + 0.14, + 0.02 + ] + } + }, + "type_specific": {} + } + ], + "rod_s": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 1.872639434061291, + 3.285175478268759, + 0.48979999999999996 + ], + "ori": [ + 0.9517102837562561, + -0.30007311701774597, + 0.019496412947773933, + -0.06183472275733948 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.75, + 0.75, + 0.78 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 0.3, + "dynamic_friction": 0.25, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.02, + 0.14, + 0.02 + ] + } + }, + "type_specific": {} + } + ], + "rod_stop": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 1.8820466820978192, + 3.357264268551155, + 0.38999999999999996 + ], + "ori": [ + 0.9978959560394287, + 0.0, + 0.0, + -0.06483551114797592 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.3, + 0.25 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.1, + 0.012, + 0.12 + ] + } + }, + "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": { + "Go2Plus": { + "root_pose": [ + [ + -3.199971914291382, + -2.033930540084839, + 0.3519573211669922, + 0.9593559503555298, + 0.0054574087262153625, + -0.005047701299190521, + 0.282100647687912 + ] + ], + "root_vel": [ + [ + -0.001001587021164596, + -0.000760264287237078, + -0.0007829022943042219, + -0.006292286794632673, + 0.010295898653566837, + -0.0015745452838018537 + ] + ], + "joint_pos": [ + [ + 0.04205912724137306, + -0.036508217453956604, + -0.07507628947496414, + 0.08049227297306061, + -0.00010370785457780585, + 0.6489418745040894, + 0.7321053147315979, + 1.0182216167449951, + 1.0109533071517944, + 1.7056596279144287, + -1.5216588973999023, + -1.5528384447097778, + -1.5944993495941162, + -1.6173592805862427, + -0.9956306219100952, + 4.3547330278670415e-05, + 0.6994913816452026, + -5.461738328449428e-05, + 0.03500000014901161, + -0.03499830141663551 + ] + ], + "joint_vel": [ + [ + 0.0012162781786173582, + 0.000776234082877636, + -0.0007686649914830923, + -0.0019631567411124706, + 0.0004812670813407749, + -0.007304721511900425, + -0.006982308812439442, + -0.02240118384361267, + -0.024012025445699692, + -0.03689265251159668, + -0.018503796309232712, + -0.021336300298571587, + 0.008175879716873169, + 0.008746347390115261, + -0.026734089478850365, + -0.0005145955365151167, + 0.011384314857423306, + 0.0005463649868033826, + 1.7494589599209576e-07, + 3.0008679914317327e-06 + ] + ] + } + }, + "cameras": { + "cameras": { + "head": [ + [ + 0.33205100893974304, + 0.038026999682188034, + 0.09355899691581726, + -0.5022302269935608, + -0.499491810798645, + 0.5120040774345398, + 0.4859265089035034 + ] + ], + "wrist": [ + [ + -0.0749870017170906, + 0.005288999993354082, + 0.04582099989056587, + 0.1271296590566635, + 0.701795220375061, + -0.6904057860374451, + -0.12108422070741653 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/N033/go2_arm/dr_off/seed_1016/rec/stationring/000/sim_info/0/sim_states.npz b/N033/go2_arm/dr_off/seed_1016/rec/stationring/000/sim_info/0/sim_states.npz new file mode 100644 index 0000000000000000000000000000000000000000..fabc9238029155337281be251cf095a6ff17680d --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1016/rec/stationring/000/sim_info/0/sim_states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:534d05c14f74a699a8d45ea2b61c48d4f0632ef7e756c3fdbfd5b9d2af993b20 +size 625652 diff --git a/N033/go2_arm/dr_off/seed_1016/rec/stationring/000/sim_info/magicsim_manifest.json b/N033/go2_arm/dr_off/seed_1016/rec/stationring/000/sim_info/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..1d62ea1895d5a7ab9b4229c1fcccab1cd1346c89 --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1016/rec/stationring/000/sim_info/magicsim_manifest.json @@ -0,0 +1,259 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 03:14:19" + }, + "embodiment": { + "robots": [ + { + "name": "Go2Plus", + "cfg": "Go2PlusCfg", + "type": "mobilemanip", + "joint_names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 12, + "nan_policy": "from_raw", + "segments": [ + { + "name": "Go2Plus.base_action", + "start": 0, + "end": 4, + "names": [ + "base_action_0", + "base_action_1", + "base_action_2", + "base_action_3" + ], + "source": "Go2UnifiedLocomotionAction", + "names_source": "fallback" + }, + { + "name": "Go2Plus.arm_action", + "start": 4, + "end": 11, + "names": [ + "eef0.pos_x", + "eef0.pos_y", + "eef0.pos_z", + "eef0.quat_w", + "eef0.quat_x", + "eef0.quat_y", + "eef0.quat_z" + ], + "source": "Go2PlusCuroboIKAction", + "names_source": "pose_layout" + }, + { + "name": "Go2Plus.eef_action", + "start": 11, + "end": 12, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 26, + "segments": [ + { + "name": "Go2Plus.joint_pos", + "start": 0, + "end": 24, + "names": [ + "joint_0", + "joint_1", + "joint_2", + "joint_3", + "joint_4", + "joint_5", + "joint_6", + "joint_7", + "joint_8", + "joint_9", + "joint_10", + "joint_11", + "joint_12", + "joint_13", + "joint_14", + "joint_15", + "joint_16", + "joint_17", + "joint_18", + "joint_19", + "joint_20", + "joint_21", + "joint_22", + "joint_23" + ], + "source": "ObservationManager", + "names_source": "fallback_dim_mismatch(joint_names=20,obs=24)" + }, + { + "name": "Go2Plus.gripper_pos", + "start": 24, + "end": 26, + "names": [ + "gripper_0", + "gripper_1" + ], + "source": "ObservationManager", + "names_source": "generated" + } + ] + }, + "joint_vel_layout": { + "dim": 20, + "segments": [ + { + "name": "Go2Plus.joint_vel", + "start": 0, + "end": 20, + "names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "action_levels": { + "L0": "task command list (collect.auto_collect_info.current_action)", + "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)", + "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)", + "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy", + "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)" + }, + "cameras": { + "head": { + "intrinsics": { + "K": [ + [ + 607.7061061683956, + 0.0, + 320.0 + ], + [ + 0.0, + 607.3754374751866, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 55.53991912549515, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.33205100893974304, + 0.038026999682188034, + 0.09355899691581726 + ], + "quat": [ + -0.5022302269935608, + -0.499491810798645, + 0.5120040774345398, + 0.4859265089035034 + ] + }, + "wrist": { + "intrinsics": { + "K": [ + [ + 617.2500342478374, + 0.0, + 320.0 + ], + [ + 0.0, + 617.548655622722, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 54.807019583348044, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + -0.0749870017170906, + 0.005288999993354082, + 0.04582099989056587 + ], + "quat": [ + 0.1271296590566635, + 0.701795220375061, + -0.6904057860374451, + -0.12108422070741653 + ] + } + }, + "generated_run": { + "run_id": "stationring/000", + "task_type": "RingCommand" + } +} \ No newline at end of file diff --git a/N033/go2_arm/dr_off/seed_1016/report.episodes.jsonl b/N033/go2_arm/dr_off/seed_1016/report.episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a897a5a1b4a5a4115ded1ef44356fc7443025538 --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1016/report.episodes.jsonl @@ -0,0 +1 @@ +{"task_id": "N033", "task_version": "EXT60-MobileAvatar-v3", "instruction": "pick up the large ring (not the small one)", "agent_id": "a07", "family_id": "ring_on_bent_rod", "primary_category": "C2", "level": "easy", "embodiment": "go2_arm", "scene_seed": 1016, "execution_mode": "expert_privileged_command", "station_layout": {"A": {"center": [-0.25625379571040385, 0.03468828088051888], "facing": 1.57, "stand": [-0.257, -0.915, 1.57]}, "B": {"center": [1.8729888091603093, 3.2878527785956155], "facing": 1.441, "stand": [1.75, 2.346, 1.441]}}, "spawn_pose": [-3.192, -2.029, 0.567], "base_path": [[-3.192, -2.029, 0.567], [-3.196, -2.031, 0.574], [-3.198, -2.033, 0.572], [-3.199, -2.033, 0.572], [-3.2, -2.034, 0.572], [-3.136, -2.004, 0.51], [-3.001, -1.952, 0.345], [-2.84, -1.906, 0.298], [-2.676, -1.858, 0.303], [-2.512, -1.805, 0.311], [-2.349, -1.751, 0.315], [-2.186, -1.698, 0.314], [-2.023, -1.643, 0.312], [-1.86, -1.589, 0.31], [-1.697, -1.533, 0.315], [-1.535, -1.479, 0.313], [-1.371, -1.424, 0.316], [-1.208, -1.369, 0.316], [-1.045, -1.316, 0.313], [-0.882, -1.261, 0.311], [-0.718, -1.206, 0.316], [-0.555, -1.151, 0.315], [-0.401, -1.097, 0.314], [-0.292, -1.056, 0.316], [-0.244, -1.038, 0.363], [-0.244, -1.034, 0.686], [-0.242, -1.037, 1.093], [-0.239, -1.04, 1.507], [-0.239, -1.022, 1.636], [-0.23, -0.927, 1.569], [-0.217, -0.814, 1.52], [-0.209, -0.697, 1.504], [-0.207, -0.626, 1.504], [-0.211, -0.624, 1.504], [-0.211, -0.633, 1.503], [-0.212, -0.635, 1.503], [-0.211, -0.631, 1.503], [-0.213, -0.624, 1.502], [-0.214, -0.617, 1.502], [-0.213, -0.615, 1.501], [-0.214, -0.615, 1.501], [-0.214, -0.614, 1.501], [-0.214, -0.614, 1.501], [-0.214, -0.616, 1.499], [-0.214, -0.62, 1.498], [-0.214, -0.62, 1.498], [-0.214, -0.616, 1.499], [-0.214, -0.614, 1.499], [-0.214, -0.611, 1.499], [-0.214, -0.61, 1.499], [-0.214, -0.61, 1.498], [-0.217, -0.616, 1.271], [-0.221, -0.619, 0.866], [-0.226, -0.618, 0.447], [-0.144, -0.597, 0.139], [0.013, -0.58, 0.101], [0.18, -0.541, 0.126], [0.339, -0.447, 0.144], [0.49, -0.319, 0.27], [0.572, -0.23, 0.623], [0.59, -0.202, 1.021], [0.642, -0.083, 1.208], [0.704, 0.075, 1.212], [0.771, 0.234, 1.189], [0.841, 0.391, 1.175], [0.91, 0.549, 1.17], [0.975, 0.709, 1.169], [1.04, 0.87, 1.173], [1.105, 1.029, 1.175], [1.171, 1.189, 1.174], [1.237, 1.347, 1.175], [1.301, 1.506, 1.174], [1.366, 1.665, 1.171], [1.43, 1.824, 1.17], [1.495, 1.983, 1.176], [1.56, 2.143, 1.174], [1.624, 2.301, 1.177], [1.677, 2.432, 1.178], [1.703, 2.492, 1.269], [1.705, 2.5, 1.442], [1.703, 2.497, 1.45], [1.702, 2.495, 1.441], [1.7, 2.493, 1.437], [1.7, 2.492, 1.437], [1.7, 2.49, 1.432], [1.699, 2.485, 1.431], [1.7, 2.486, 1.431], [1.701, 2.483, 1.429], [1.708, 2.554, 1.436], [1.723, 2.65, 1.427], [1.721, 2.661, 1.424], [1.718, 2.64, 1.419], [1.718, 2.628, 1.416], [1.718, 2.624, 1.416], [1.719, 2.627, 1.415], [1.718, 2.629, 1.415], [1.718, 2.626, 1.415], [1.718, 2.624, 1.415], [1.718, 2.624, 1.415], [1.718, 2.623, 1.415], [1.718, 2.623, 1.415], [1.718, 2.623, 1.415], [1.718, 2.623, 1.415], [1.718, 2.623, 1.415], [1.718, 2.623, 1.415], [1.718, 2.623, 1.415], [1.718, 2.623, 1.415], [1.718, 2.623, 1.415], [1.719, 2.626, 1.412], [1.719, 2.627, 1.413], [1.719, 2.627, 1.413]], "stage_events": [{"tick": 474, "event": "enter_station", "station": "A", "xy": [-0.895, -1.265]}, {"tick": 1660, "event": "leave_station", "station": "A", "xy": [0.998, 0.767]}, {"tick": 1838, "event": "enter_station", "station": "B", "xy": [1.462, 1.901]}], "transport_state": {"ring": {"entered": true, "entry_s": 0.0, "max_s": 0.274131392021427, "was_threaded": true, "lost": 0, "held": false, "grasps": 2}}, "manipulation_success": true, "mobile_success": true, "full_success": true, "failure_reason": null, "fail_class_hint": null, "distance_to_first_interaction": 2.442, "interstation_path_lengths": [4.46], "station_transition_order": ["A", "B"], "final_approach_pose": [1.719, 2.627, 1.413], "regrasp_events": 1, "control_ticks": 2172, "wall_s": 643.9, "phase": "done", "state": "success: task sequence complete", "check": {"ring": {"held": false, "dist_wrist": 0.428, "s": 0.272, "rod_dist": 0.029, "axis_deg": 2.8, "threaded": true, "entered_via_open_end": true, "entry_s": 0.0, "max_s": 0.274, "lost_count": 0, "at_rest": true}, "decoy": {"ring_small": {"lift": 0.0, "max_lift_near_wrist": 0.0, "dist_wrist": 3.854}}, "rod_length": 0.28, "released": true, "other_rings_on_rod": [], "manipulation_success": true}, "route": ["A", "B"], "total_path_m": 7.82, "planner_seeds": "lean"} diff --git a/N033/go2_arm/dr_off/seed_1016/report.json b/N033/go2_arm/dr_off/seed_1016/report.json new file mode 100644 index 0000000000000000000000000000000000000000..f260f8d2629e3f3293c50059caa9a4950ab81891 --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1016/report.json @@ -0,0 +1,791 @@ +{ + "task_id": "N033", + "level": "easy", + "seed": 1016, + "episodes_requested": 1, + "episodes": [ + { + "task_id": "N033", + "task_version": "EXT60-MobileAvatar-v3", + "instruction": "pick up the large ring (not the small one)", + "agent_id": "a07", + "family_id": "ring_on_bent_rod", + "primary_category": "C2", + "level": "easy", + "embodiment": "go2_arm", + "scene_seed": 1016, + "execution_mode": "expert_privileged_command", + "station_layout": { + "A": { + "center": [ + -0.25625379571040385, + 0.03468828088051888 + ], + "facing": 1.57, + "stand": [ + -0.257, + -0.915, + 1.57 + ] + }, + "B": { + "center": [ + 1.8729888091603093, + 3.2878527785956155 + ], + "facing": 1.441, + "stand": [ + 1.75, + 2.346, + 1.441 + ] + } + }, + "spawn_pose": [ + -3.192, + -2.029, + 0.567 + ], + "base_path": [ + [ + -3.192, + -2.029, + 0.567 + ], + [ + -3.196, + -2.031, + 0.574 + ], + [ + -3.198, + -2.033, + 0.572 + ], + [ + -3.199, + -2.033, + 0.572 + ], + [ + -3.2, + -2.034, + 0.572 + ], + [ + -3.136, + -2.004, + 0.51 + ], + [ + -3.001, + -1.952, + 0.345 + ], + [ + -2.84, + -1.906, + 0.298 + ], + [ + -2.676, + -1.858, + 0.303 + ], + [ + -2.512, + -1.805, + 0.311 + ], + [ + -2.349, + -1.751, + 0.315 + ], + [ + -2.186, + -1.698, + 0.314 + ], + [ + -2.023, + -1.643, + 0.312 + ], + [ + -1.86, + -1.589, + 0.31 + ], + [ + -1.697, + -1.533, + 0.315 + ], + [ + -1.535, + -1.479, + 0.313 + ], + [ + -1.371, + -1.424, + 0.316 + ], + [ + -1.208, + -1.369, + 0.316 + ], + [ + -1.045, + -1.316, + 0.313 + ], + [ + -0.882, + -1.261, + 0.311 + ], + [ + -0.718, + -1.206, + 0.316 + ], + [ + -0.555, + -1.151, + 0.315 + ], + [ + -0.401, + -1.097, + 0.314 + ], + [ + -0.292, + -1.056, + 0.316 + ], + [ + -0.244, + -1.038, + 0.363 + ], + [ + -0.244, + -1.034, + 0.686 + ], + [ + -0.242, + -1.037, + 1.093 + ], + [ + -0.239, + -1.04, + 1.507 + ], + [ + -0.239, + -1.022, + 1.636 + ], + [ + -0.23, + -0.927, + 1.569 + ], + [ + -0.217, + -0.814, + 1.52 + ], + [ + -0.209, + -0.697, + 1.504 + ], + [ + -0.207, + -0.626, + 1.504 + ], + [ + -0.211, + -0.624, + 1.504 + ], + [ + -0.211, + -0.633, + 1.503 + ], + [ + -0.212, + -0.635, + 1.503 + ], + [ + -0.211, + -0.631, + 1.503 + ], + [ + -0.213, + -0.624, + 1.502 + ], + [ + -0.214, + -0.617, + 1.502 + ], + [ + -0.213, + -0.615, + 1.501 + ], + [ + -0.214, + -0.615, + 1.501 + ], + [ + -0.214, + -0.614, + 1.501 + ], + [ + -0.214, + -0.614, + 1.501 + ], + [ + -0.214, + -0.616, + 1.499 + ], + [ + -0.214, + -0.62, + 1.498 + ], + [ + -0.214, + -0.62, + 1.498 + ], + [ + -0.214, + -0.616, + 1.499 + ], + [ + -0.214, + -0.614, + 1.499 + ], + [ + -0.214, + -0.611, + 1.499 + ], + [ + -0.214, + -0.61, + 1.499 + ], + [ + -0.214, + -0.61, + 1.498 + ], + [ + -0.217, + -0.616, + 1.271 + ], + [ + -0.221, + -0.619, + 0.866 + ], + [ + -0.226, + -0.618, + 0.447 + ], + [ + -0.144, + -0.597, + 0.139 + ], + [ + 0.013, + -0.58, + 0.101 + ], + [ + 0.18, + -0.541, + 0.126 + ], + [ + 0.339, + -0.447, + 0.144 + ], + [ + 0.49, + -0.319, + 0.27 + ], + [ + 0.572, + -0.23, + 0.623 + ], + [ + 0.59, + -0.202, + 1.021 + ], + [ + 0.642, + -0.083, + 1.208 + ], + [ + 0.704, + 0.075, + 1.212 + ], + [ + 0.771, + 0.234, + 1.189 + ], + [ + 0.841, + 0.391, + 1.175 + ], + [ + 0.91, + 0.549, + 1.17 + ], + [ + 0.975, + 0.709, + 1.169 + ], + [ + 1.04, + 0.87, + 1.173 + ], + [ + 1.105, + 1.029, + 1.175 + ], + [ + 1.171, + 1.189, + 1.174 + ], + [ + 1.237, + 1.347, + 1.175 + ], + [ + 1.301, + 1.506, + 1.174 + ], + [ + 1.366, + 1.665, + 1.171 + ], + [ + 1.43, + 1.824, + 1.17 + ], + [ + 1.495, + 1.983, + 1.176 + ], + [ + 1.56, + 2.143, + 1.174 + ], + [ + 1.624, + 2.301, + 1.177 + ], + [ + 1.677, + 2.432, + 1.178 + ], + [ + 1.703, + 2.492, + 1.269 + ], + [ + 1.705, + 2.5, + 1.442 + ], + [ + 1.703, + 2.497, + 1.45 + ], + [ + 1.702, + 2.495, + 1.441 + ], + [ + 1.7, + 2.493, + 1.437 + ], + [ + 1.7, + 2.492, + 1.437 + ], + [ + 1.7, + 2.49, + 1.432 + ], + [ + 1.699, + 2.485, + 1.431 + ], + [ + 1.7, + 2.486, + 1.431 + ], + [ + 1.701, + 2.483, + 1.429 + ], + [ + 1.708, + 2.554, + 1.436 + ], + [ + 1.723, + 2.65, + 1.427 + ], + [ + 1.721, + 2.661, + 1.424 + ], + [ + 1.718, + 2.64, + 1.419 + ], + [ + 1.718, + 2.628, + 1.416 + ], + [ + 1.718, + 2.624, + 1.416 + ], + [ + 1.719, + 2.627, + 1.415 + ], + [ + 1.718, + 2.629, + 1.415 + ], + [ + 1.718, + 2.626, + 1.415 + ], + [ + 1.718, + 2.624, + 1.415 + ], + [ + 1.718, + 2.624, + 1.415 + ], + [ + 1.718, + 2.623, + 1.415 + ], + [ + 1.718, + 2.623, + 1.415 + ], + [ + 1.718, + 2.623, + 1.415 + ], + [ + 1.718, + 2.623, + 1.415 + ], + [ + 1.718, + 2.623, + 1.415 + ], + [ + 1.718, + 2.623, + 1.415 + ], + [ + 1.718, + 2.623, + 1.415 + ], + [ + 1.718, + 2.623, + 1.415 + ], + [ + 1.718, + 2.623, + 1.415 + ], + [ + 1.719, + 2.626, + 1.412 + ], + [ + 1.719, + 2.627, + 1.413 + ], + [ + 1.719, + 2.627, + 1.413 + ] + ], + "stage_events": [ + { + "tick": 474, + "event": "enter_station", + "station": "A", + "xy": [ + -0.895, + -1.265 + ] + }, + { + "tick": 1660, + "event": "leave_station", + "station": "A", + "xy": [ + 0.998, + 0.767 + ] + }, + { + "tick": 1838, + "event": "enter_station", + "station": "B", + "xy": [ + 1.462, + 1.901 + ] + } + ], + "transport_state": { + "ring": { + "entered": true, + "entry_s": 0.0, + "max_s": 0.274131392021427, + "was_threaded": true, + "lost": 0, + "held": false, + "grasps": 2 + } + }, + "manipulation_success": true, + "mobile_success": true, + "full_success": true, + "failure_reason": null, + "fail_class_hint": null, + "distance_to_first_interaction": 2.442, + "interstation_path_lengths": [ + 4.46 + ], + "station_transition_order": [ + "A", + "B" + ], + "final_approach_pose": [ + 1.719, + 2.627, + 1.413 + ], + "regrasp_events": 1, + "control_ticks": 2172, + "wall_s": 643.9, + "phase": "done", + "state": "success: task sequence complete", + "check": { + "ring": { + "held": false, + "dist_wrist": 0.428, + "s": 0.272, + "rod_dist": 0.029, + "axis_deg": 2.8, + "threaded": true, + "entered_via_open_end": true, + "entry_s": 0.0, + "max_s": 0.274, + "lost_count": 0, + "at_rest": true + }, + "decoy": { + "ring_small": { + "lift": 0.0, + "max_lift_near_wrist": 0.0, + "dist_wrist": 3.854 + } + }, + "rod_length": 0.28, + "released": true, + "other_rings_on_rod": [], + "manipulation_success": true + }, + "route": [ + "A", + "B" + ], + "total_path_m": 7.82, + "planner_seeds": "lean" + } + ], + "error": null, + "collect": { + "task": "N033", + "robot": "go2_arm", + "visual_dr": false, + "env": { + "MMB_COLLECT": "1", + "MMB_TASK_ID": "N033", + "MMB_CLEAN_VIEW": "1", + "MMB_REAL_ROBOT_LOOK": "1", + "MMB_VISUAL_DR": "0" + }, + "cameras": { + "head": { + "link": "Robot_0/Bodies/go2_base", + "pos": [ + 0.332051, + 0.038027, + 0.093559 + ], + "ori": [ + 169.9473, + -88.6452, + 81.5985 + ], + "focal_length": 1.8231182098388672, + "horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.4407838582992554 + }, + "wrist": { + "link": "Robot_0/Bodies/piper_link6", + "pos": [ + -0.074987, + 0.005289, + 0.045821 + ], + "ori": [ + 179.3135, + -20.212, + 88.9402 + ], + "focal_length": 1.8517500162124634, + "horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.4393036365509033 + } + }, + "resolution": [ + 640, + 480 + ], + "camera_hz": 25, + "record": { + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + } + }, + "review_cameras": [], + "policy_obs_signature": [ + "/camera_info[0]/rgb[0]:(480, 640, 4):uint8", + "/camera_info[1]/rgb[0]:(480, 640, 4):uint8", + "/robot_state[0]/Go2Plus/base_ang_vel:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/base_lin_vel:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/base_pos:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/base_quat:(1, 4):torch.float32", + "/robot_state[0]/Go2Plus/eef_pos:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/eef_quat:(1, 4):torch.float32", + "/robot_state[0]/Go2Plus/eef_relative_pos:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/eef_relative_quat:(1, 4):torch.float32", + "/robot_state[0]/Go2Plus/finger_joint_pos:(1, 2):torch.float32", + "/robot_state[0]/Go2Plus/gripper_pos:(1, 2):torch.float32", + "/robot_state[0]/Go2Plus/joint_effort:(1, 20):torch.float32", + "/robot_state[0]/Go2Plus/joint_pos:(1, 24):torch.float32", + "/robot_state[0]/Go2Plus/joint_vel:(1, 20):torch.float32" + ], + "n_success": 1, + "elapsed_s": 898.7, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 23.1 + } +} diff --git a/N033/go2_arm/dr_on/seed_2016/check.json b/N033/go2_arm/dr_on/seed_2016/check.json new file mode 100644 index 0000000000000000000000000000000000000000..b97967c69d29e20c5de6e9282f3054a7b088357f --- /dev/null +++ b/N033/go2_arm/dr_on/seed_2016/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.'; expected 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "1414 rows vs ceil(2828/2) = 1414" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..2927, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "19.74 MB, 1414 frames at 25 fps, mean luma 63..96, std 45, new picture 1413x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1414 vs 1414" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "32.29 MB, 1414 frames at 25 fps, mean luma 94..141, std 25, new picture 1413x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1414 vs 1414" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationring/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N033/go2_arm/dr_on/seed_2016/check.txt b/N033/go2_arm/dr_on/seed_2016/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..d381731b9e673a54da34c1c1ededd28af799d426 --- /dev/null +++ b/N033/go2_arm/dr_on/seed_2016/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n033_go2_on_2016/out task=N033 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n033_go2_on_2016/out/rec/stationring/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1414 videos 2 robot_type Go2PlusCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 1414 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5'] +[PASS] action shape: parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y'] +[PASS] task text = MobileBench instruction: task_index 0: 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.'; expected 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.' +rows 1414 at dataset fps 25 = 56.56 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1414 rows vs ceil(2828/2) = 1414 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..2927, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 19.74 MB, 1414 frames at 25 fps, mean luma 63..96, std 45, new picture 1413x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1414 vs 1414 +[PASS] video observation.images.wrist decodes, 640x480, not black: 32.29 MB, 1414 frames at 25 fps, mean luma 94..141, std 25, new picture 1413x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1414 vs 1414 +parquet size 4.67 MB +[PASS] sim_info present: rec/stationring/000/sim_info +dataset size 56.95 MB; whole cell dir 58.4 MB +RESULT: ALL PASS diff --git a/N033/go2_arm/dr_on/seed_2016/rec/stationring/000/completed/0.json b/N033/go2_arm/dr_on/seed_2016/rec/stationring/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..c24e4e92ce410caf19b3ef731d95205d50917856 --- /dev/null +++ b/N033/go2_arm/dr_on/seed_2016/rec/stationring/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationring/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N033/go2_arm/dr_on/seed_2016/rec/stationring/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N033/go2_arm/dr_on/seed_2016/rec/stationring/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..0e900e72b179b72f6bb1e6c3d7daf86f3654e28c --- /dev/null +++ b/N033/go2_arm/dr_on/seed_2016/rec/stationring/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:baf724f565e4d512f7bc2ea82bdfa85db6f23b930533d5e11a21fd61a167d17d +size 4669080 diff --git a/N033/go2_arm/dr_on/seed_2016/rec/stationring/000/lerobot_v21/meta/episodes.jsonl b/N033/go2_arm/dr_on/seed_2016/rec/stationring/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9b94ac2205d7f126d04dc28f944cf268654befae --- /dev/null +++ b/N033/go2_arm/dr_on/seed_2016/rec/stationring/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end."], "length": 1414, "magicsim/control_steps": 2828, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the brown rod stop. There are a large gray table A, a large gray table B, a medium brown rack back, a small gray peg 1, a small gray peg 2, a small ring, a small ring small, a small white rod h, a small white rod s and a small brown rod stop. The gray table B is behind the brown rod stop. The brown rack back is to the right of the gray peg 2. The white rod h is to the right of the white rod s. The white rod s is on top of the brown rod stop. The white rod s is behind the brown rod stop. The brown rod stop is in front of the white rod s. The scene is viewed from front, at table height."} diff --git a/N033/go2_arm/dr_on/seed_2016/rec/stationring/000/lerobot_v21/meta/episodes_stats.jsonl b/N033/go2_arm/dr_on/seed_2016/rec/stationring/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8b10886ea2acc3793caf70213a28cf6f1c2fabdc --- /dev/null +++ b/N033/go2_arm/dr_on/seed_2016/rec/stationring/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.13609019244982845, 0.00016128888835832792, 0.020254982187171616, 0.3547846929946074, 0.4750754990242158, 0.6618587261611198, 0.7009021416833411, 0.10565395120009674, -0.5326450218036877, 0.806123477439732, 0.07018539525964988, 0.4603960396039604], "std": [0.16279614254531208, 0.026061869022333123, 0.25505788310434035, 0.017392619944391084, 1.3821213421392025, 1.6664556229818979, 0.04606060829863234, 0.011393205624373865, 0.19567641786512094, 0.105770147373801, 0.02754812265397819, 0.4984290584636382], "min": [0.0, -0.0899999737739563, -0.800000011920929, 0.33000001311302185, -3.06595778465271, -2.1763150691986084, 0.6220706701278687, 0.06426195800304413, -0.7606063485145569, 0.6372067928314209, 0.006118644494563341, 0.0], "max": [0.3499999940395355, 0.25, 0.800000011920929, 0.38014376163482666, 2.0595269203186035, 2.807760000228882, 0.8083099722862244, 0.13388973474502563, -0.08128396421670914, 0.9889659881591797, 0.12123486399650574, 1.0], "count": [1414]}, "action_is_hold": {"mean": [0.1768033946251768, 0.1768033946251768, 0.1768033946251768, 0.1768033946251768, 0.21287128712871287, 0.21287128712871287, 0.21287128712871287, 0.21287128712871287, 0.21287128712871287, 0.21287128712871287, 0.21287128712871287, 0.954031117397454], "std": [0.3815022336424647, 0.3815022336424647, 0.3815022336424647, 0.3815022336424647, 0.40933739414434145, 0.40933739414434145, 0.40933739414434145, 0.40933739414434145, 0.40933739414434145, 0.40933739414434145, 0.40933739414434145, 0.2094176316235595], "min": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], "count": [1414]}, "observation.state": {"mean": [-0.028233700627553298, 0.015853852198937323, -0.04992161624897326, 0.09226841724965537, -0.0824038243531755, 0.6435475205473044, 0.6835864209892726, 0.8109528970768968, 0.7713449564900728, 1.8656761004698832, -1.3877988818511262, -1.3808143714698402, -1.3898232672811397, -1.42589972523348, -1.3244583607563034, 0.03675246244233862, 0.8472038780614375, -0.12282756969388518, 0.025580019572199107, -0.025875552179347172, 0.30851717370257964, 0.3022235995163493, 1.146332596888426, 0.38226016070245855, -0.025875552179347172, -0.025580019572199107], "std": [0.03376511723077896, 0.03571130863449422, 0.049823766398699086, 0.03802937618671835, 0.07935076082302189, 0.08955926047728556, 0.08915970997112653, 0.09586883404739893, 0.11380831200646956, 0.21191157597971916, 0.1067640338586771, 0.10202523152233464, 0.10236940255832494, 0.11033943653269289, 0.41481331854737175, 0.024293439572065714, 0.19320197171518025, 0.08243755415991898, 0.010173727130134877, 0.009855093505002863, 1.4395086230737315, 1.5675191469191823, 0.46664973106967766, 0.014185684293852844, 0.009855093505002863, 0.010173727130134877], "min": [-0.16858939826488495, -0.10913286358118057, -0.23446249961853027, -0.05974575877189636, -0.5259646773338318, 0.4819575548171997, 0.4342103600502014, 0.599530816078186, 0.5796266198158264, 1.670127511024475, -1.5481452941894531, -1.597590446472168, -1.6252970695495605, -1.649595022201538, -2.3104817867279053, -0.006019114051014185, 0.52879399061203, -0.2355368435382843, 0.014437529258430004, -0.03500000014901161, -3.3036446571350098, -2.464582920074463, 0.09072072058916092, 0.35194942355155945, -0.03500000014901161, -0.03500000014901161], "max": [0.16497398912906647, 0.20780736207962036, 0.1505996584892273, 0.211086705327034, 0.003404006827622652, 0.8278646469116211, 0.9027298092842102, 1.0740485191345215, 1.0110244750976562, 2.423283100128174, -1.0820672512054443, -1.168467402458191, -1.1499345302581787, -1.177737832069397, -0.9739652872085571, 0.0805770754814148, 1.2043007612228394, 0.009436815977096558, 0.03500000014901161, -0.014872947707772255, 1.8431497812271118, 2.27266526222229, 1.9133447408676147, 0.406333863735199, -0.014872947707772255, -0.014437529258430004], "count": [1414]}, "observation.joint_vel": {"mean": [-0.0020330825135801904, 0.0007215738432006777, 0.0029890538840071272, 0.00078177826373931, 0.0008238998351889793, -0.004026070251366885, -0.007655390018102884, -0.004164231761108888, -0.008675115438668007, -0.0037366146096727785, -0.00016113812721305087, 0.01101599894919162, 0.004036356831706146, 0.009309369471520253, -0.004031470012811026, -0.002962389282336393, 0.011756949498504367, -0.015098858240276831, 0.000982652126659111, 7.249225473045179e-05], "std": [0.4234969383472639, 0.38802443401139985, 0.48694318823592525, 0.5204820324400145, 0.1123950656161822, 1.0849603267796744, 1.0821675246376858, 0.8610033311377522, 0.7066284878835709, 0.15240217584440705, 0.6532877557328621, 1.0238123798747882, 1.0158409679423204, 1.0669058275758712, 0.2649531444936142, 0.03185903191018767, 0.13069015831377256, 0.056545709766166574, 0.01061385883531263, 0.010429548555689103], "min": [-3.0645525455474854, -3.7115368843078613, -2.8654541969299316, -2.797637939453125, -1.1534795761108398, -4.604048252105713, -4.768334865570068, -3.9928650856018066, -3.5899441242218018, -0.7979986667633057, -4.110939979553223, -6.548891067504883, -4.341464996337891, -5.408658027648926, -2.0413994789123535, -0.2918855547904968, -0.6311227679252625, -0.45829084515571594, -0.20009426772594452, -0.2001064419746399], "max": [3.246659994125366, 2.6387836933135986, 4.970480918884277, 2.670954704284668, 0.5039128065109253, 1.8318302631378174, 2.3779044151306152, 3.0717098712921143, 4.109174728393555, 1.3440725803375244, 3.3790218830108643, 4.85136604309082, 3.588735342025757, 3.6189229488372803, 1.3461856842041016, 0.24473588168621063, 0.9112910032272339, 0.3727899491786957, 0.2000289410352707, 0.20035013556480408], "count": [1414]}, "observation.eef_pose": {"mean": [0.47365682992999886, 0.6597780111710814, 0.6985730322280733, 0.1097366396111174, -0.5334585443181229, 0.8041825737524909, 0.07384065961230762], "std": [1.3818698292949785, 1.6640109694174834, 0.042280142349719926, 0.013963422037995369, 0.19614827540437255, 0.1074584925980939, 0.03164459740261241], "min": [-3.06595778465271, -2.17633056640625, 0.6206836700439453, 0.06705409288406372, -0.7750564813613892, 0.6196215152740479, 0.005983889102935791], "max": [2.0597009658813477, 2.807521343231201, 0.7946987748146057, 0.1345866322517395, -0.0820024162530899, 0.98899245262146, 0.12193608283996582], "count": [1414]}, "observation.environment_state": {"mean": [-0.3645881712436676, -0.0780785009264946, 0.4699999988079071, 0.9998525381088257, 0.0, 0.0, -0.017172712832689285, -0.6644112467765808, -0.06777603924274445, 0.4699999988079071, 0.9998525381088257, 0.0, 0.0, -0.017172712832689285, -0.5108938217163086, 0.032010793685913086, 0.4300000071525574, 0.9998525381088257, 0.0, 0.0, -0.017172712832689285, 0.6950758287917853, 1.0077087508755833, 0.45951677104286964, 0.977183529899009, -0.04604481120266074, 9.221004670398337e-05, -0.09029302932585483, -0.6658159908344587, -0.10865482739587821, 0.46878600120544434, 0.9998519420623779, -4.0383646326124275e-06, 0.00024381276623338007, -0.017206020193514342, 1.9163179397583008, 2.739678144454956, 0.5299999713897705, 0.9999649524688721, 0.0, 0.0, -0.00837220624089241, 1.9184489250183105, 2.866960287094116, 0.48980000615119934, 0.9536835551261902, -0.3006952106952667, 0.002517008688300848, -0.007982932031154633, 1.9196659326553345, 2.939650058746338, 0.38999998569488525, 0.9999649524688721, 0.0, 0.0, -0.00837220624089241, -0.46057993173599243, 0.040287818759679794, 0.18000000715255737, 0.9998525381088257, 0.0, 0.0, -0.017172712832689285, 1.9184942245483398, 2.869659900665283, 0.18000000715255737, 0.9999649524688721, 0.0, 0.0, -0.00837220624089241], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.052732252475952, 1.3618272687798103, 0.028431004444889663, 0.046319255952615046, 0.09667672238288977, 0.003164618864759562, 0.15276615365728194, 2.7455433919262142e-08, 6.231738270682622e-09, 0.0, 0.0, 2.0163595726745933e-07, 2.226959945669771e-07, 1.21519399756371e-07, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 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": [-0.3645881712436676, -0.0780785009264946, 0.4699999988079071, 0.9998525381088257, 0.0, 0.0, -0.017172712832689285, -0.6644112467765808, -0.06777603924274445, 0.4699999988079071, 0.9998525381088257, 0.0, 0.0, -0.017172712832689285, -0.5108938217163086, 0.032010793685913086, 0.4300000071525574, 0.9998525381088257, 0.0, 0.0, -0.017172712832689285, -0.3695567846298218, -0.592557430267334, 0.43052974343299866, 0.7643669843673706, -0.3766808807849884, -0.0114641347900033, -0.6447583436965942, -0.6658160090446472, -0.10865484178066254, 0.46878600120544434, 0.9998519420623779, -4.605580670613563e-06, 0.0002431199245620519, -0.017206350341439247, 1.9163179397583008, 2.739678144454956, 0.5299999713897705, 0.9999649524688721, 0.0, 0.0, -0.00837220624089241, 1.9184489250183105, 2.866960287094116, 0.48980000615119934, 0.9536835551261902, -0.3006952106952667, 0.002517008688300848, -0.007982932031154633, 1.9196659326553345, 2.939650058746338, 0.38999998569488525, 0.9999649524688721, 0.0, 0.0, -0.00837220624089241, -0.46057993173599243, 0.040287818759679794, 0.18000000715255737, 0.9998525381088257, 0.0, 0.0, -0.017172712832689285, 1.9184942245483398, 2.869659900665283, 0.18000000715255737, 0.9999649524688721, 0.0, 0.0, -0.00837220624089241], "max": [-0.3645881712436676, -0.0780785009264946, 0.4699999988079071, 0.9998525381088257, 0.0, 0.0, -0.017172712832689285, -0.6644112467765808, -0.06777603924274445, 0.4699999988079071, 0.9998525381088257, 0.0, 0.0, -0.017172712832689285, -0.5108938217163086, 0.032010793685913086, 0.4300000071525574, 0.9998525381088257, 0.0, 0.0, -0.017172712832689285, 2.0732028484344482, 2.9046685695648193, 0.53515625, 0.9999445080757141, 0.04092949628829956, 0.015786975622177124, -0.005196291487663984, -0.6658159494400024, -0.10865481197834015, 0.46878600120544434, 0.9998519420623779, -3.5807856875180732e-06, 0.0002447380102239549, -0.017205487936735153, 1.9163179397583008, 2.739678144454956, 0.5299999713897705, 0.9999649524688721, 0.0, 0.0, -0.00837220624089241, 1.9184489250183105, 2.866960287094116, 0.48980000615119934, 0.9536835551261902, -0.3006952106952667, 0.002517008688300848, -0.007982932031154633, 1.9196659326553345, 2.939650058746338, 0.38999998569488525, 0.9999649524688721, 0.0, 0.0, -0.00837220624089241, -0.46057993173599243, 0.040287818759679794, 0.18000000715255737, 0.9998525381088257, 0.0, 0.0, -0.017172712832689285, 1.9184942245483398, 2.869659900665283, 0.18000000715255737, 0.9999649524688721, 0.0, 0.0, -0.00837220624089241], "count": [1414]}, "action.command": {"mean": [-1.3124544205153046, -1.1379859746222334, 1.282570901700264, 0.7362538572904226, 0.0, 0.0, 0.6762792352083568, 0.89937106918239, 0.21496209330850105, 0.2849859721282529, 0.6926060169533578, 0.10744782478313454, -0.4923650040312169, 0.8297306404173749, 0.0644815916991278, 0.5384615384615384, -1.665902541640387, -1.4326551720662213, 1.5461690670594828, 0.0, 0.0, 0.0, 0.0, 2.0, -0.10315645941494041, -0.28645568926171233, 0.6818687998302988, 0.11534098657441919, -0.35363917329680306, 0.9109630470698581, 0.04475136099869898, 0.0, -1.6213951553471537, -1.4161937827270472, 1.5461690670594828, 0.0, 0.0, 0.0, 0.0, 2.0, -0.10315645941494041, -0.28645568926171233, 0.6818687998302988, 0.11534098657441919, -0.35363917329680306, 0.9109630470698581, 0.04475136099869898, 0.0, -1.5616560151473173, -1.402174333298744, 1.5461690670594828, 0.0, 0.0, 0.0, 0.0, 2.0, -0.10315645941494041, -0.28645568926171233, 0.6818687998302988, 0.11534098657441919, -0.35363917329680306, 0.9109630470698581, 0.04475136099869898, 0.0, -1.5167357158697967, -1.3891626908842178, 1.5461690670594828, 0.0, 0.0, 0.0, 0.0, 2.0, -0.10315645941494041, -0.28645568926171233, 0.6818687998302988, 0.11534098657441919, -0.35363917329680306, 0.9109630470698581, 0.04475136099869898, 0.0, -1.4575725275658151, -1.371680079314794, 1.5461690670594828, 0.0, 0.0, 0.0, 0.0, 2.0, -0.10315645941494041, -0.28645568926171233, 0.6818687998302988, 0.11534098657441919, -0.35363917329680306, 0.9109630470698581, 0.04475136099869898, 0.0, -1.3997328022891775, -1.3559973945328458, 1.5461690670594828, 0.0, 0.0, 0.0, 0.0, 2.0, -0.10315645941494041, -0.28645568926171233, 0.6818687998302988, 0.11534098657441919, -0.35363917329680306, 0.9109630470698581, 0.04475136099869898, 0.0, -1.354060385654308, -1.341253800303161, 1.5461690670594828, 0.0, 0.0, 0.0, 0.0, 2.0, -0.10315645941494041, -0.28645568926171233, 0.6818687998302988, 0.11534098657441919, -0.35363917329680306, 0.9109630470698581, 0.04475136099869898, 0.0, -1.2866139082791368, -1.3213141048862997, 1.5461690670594828, 0.0, 0.0, 0.0, 0.0, 2.0, -0.10315645941494041, -0.28645568926171233, 0.6818687998302988, 0.11534098657441919, -0.35363917329680306, 0.9109630470698581, 0.04475136099869898, 0.0, -1.2571194734059354, -1.3118680630278996, 1.5461690670594828, 0.0, 0.0, 0.0, 0.0, 2.0, -0.10315645941494041, -0.28645568926171233, 0.6818687998302988, 0.11534098657441919, -0.35363917329680306, 0.9109630470698581, 0.04475136099869898, 0.0, -1.2273288649705298, -1.303324276885571, 1.5461690670594828, 0.0, 0.0, 0.0, 0.0, 2.0, -0.10315645941494041, -0.28645568926171233, 0.6818687998302988, 0.11534098657441919, -0.35363917329680306, 0.9109630470698581, 0.04475136099869898, 0.0, -1.159173878109659, -1.2823714678802907, 1.5461690670594828, 0.0, 0.0, 0.0, 0.0, 2.0, -0.10315645941494041, -0.28645568926171233, 0.6818687998302988, 0.11534098657441919, -0.35363917329680306, 0.9109630470698581, 0.04475136099869898, 0.0, -1.0924949058292441, -1.2591386807280047, 1.5461690670594828, 0.0, 0.0, 0.0, 0.0, 2.0, -0.10315645941494041, -0.28645568926171233, 0.6818687998302988, 0.11534098657441919, -0.35363917329680306, 0.9109630470698581, 0.04475136099869898, 0.0, -1.0735499893849596, -1.2274766803529362, 1.5461690670594828, 0.0, 0.0, 0.0, 0.0, 2.0, -0.10315645941494041, -0.28645568926171233, 0.6818687998302988, 0.11534098657441919, -0.35363917329680306, 0.9109630470698581, 0.04475136099869898, 0.0, -1.0450787172996052, -1.1972364224319696, 1.5461690670594828, 0.0, 0.0, 0.0, 0.0, 2.0, -0.10315645941494041, -0.28645568926171233, 0.6818687998302988, 0.11534098657441919, -0.35363917329680306, 0.9109630470698581, 0.04475136099869898, 0.0, -0.9891259510817461, -1.1506269235355115, 1.5461690670594828, 0.0, 0.0, 0.0, 0.0, 2.0, -0.10315645941494041, -0.28645568926171233, 0.6818687998302988, 0.11534098657441919, -0.35363917329680306, 0.9109630470698581, 0.04475136099869898, 0.0, -0.9401429321495223, -1.113818405575552, 1.5461690670594828, 0.0, 0.0, 0.0, 0.0, 2.0, -0.10315645941494041, -0.28645568926171233, 0.6818687998302988, 0.11534098657441919, -0.35363917329680306, 0.9109630470698581, 0.04475136099869898, 0.0, -0.9154496734286912, -1.0798361482646195, 1.5461690670594828, 0.0, 0.0, 0.0, 0.0, 2.0, -0.10315645941494041, -0.28645568926171233, 0.6818687998302988, 0.11534098657441919, -0.35363917329680306, 0.9109630470698581, 0.04475136099869898, 0.0, -0.8924884638092937, -1.0496528002420442, 1.5461690670594828, 0.0, 0.0, 0.0, 0.0, 2.0, -0.10315645941494041, -0.28645568926171233, 0.6818687998302988, 0.11534098657441919, -0.35363917329680306, 0.9109630470698581, 0.04475136099869898, 0.0, -0.838152076278467, -1.0031538301177938, 1.5461690670594828, 0.0, 0.0, 0.0, 0.0, 2.0, -0.10315645941494041, -0.28645568926171233, 0.6818687998302988, 0.11534098657441919, -0.35363917329680306, 0.9109630470698581, 0.04475136099869898, 0.0, -0.7926610147415386, -0.9629984785386971, 1.5461690670594828, 0.0, 0.0, 0.0, 0.0, 2.0, -0.10315645941494041, -0.28645568926171233, 0.6818687998302988, 0.11534098657441919, -0.35363917329680306, 0.9109630470698581, 0.04475136099869898, 0.0, -0.7608014358610239, -0.9263563535377546, 1.5461690670594828, 0.0, 0.0, 0.0, 0.0, 2.0, -0.10315645941494041, -0.28645568926171233, 0.6818687998302988, 0.11534098657441919, -0.35363917329680306, 0.9109630470698581, 0.04475136099869898, 0.0, -0.7323323041432382, -0.898241649171798, 1.5461690670594828, 0.0, 0.0, 0.0, 0.0, 2.0, -0.10315645941494041, -0.28645568926171233, 0.6818687998302988, 0.11534098657441919, -0.35363917329680306, 0.9109630470698581, 0.04475136099869898, 0.0, -0.6821143705959825, -0.847618564751874, 1.5461690670594828, 0.0, 0.0, 0.0, 0.0, 2.0, -0.10315645941494041, -0.28645568926171233, 0.6818687998302988, 0.11534098657441919, -0.35363917329680306, 0.9109630470698581, 0.04475136099869898, 0.0, -0.649903124264944, -0.819986415995085, 1.5461690670594828, 0.0, 0.0, 0.0, 0.0, 2.0, -0.10315645941494041, -0.28645568926171233, 0.6818687998302988, 0.11534098657441919, -0.35363917329680306, 0.9109630470698581, 0.04475136099869898, 0.0, -0.6030860180802886, -0.7684371732812647, 1.5461690670594828, 0.0, 0.0, 0.0, 0.0, 2.0, -0.10315645941494041, -0.28645568926171233, 0.6818687998302988, 0.11534098657441919, -0.35363917329680306, 0.9109630470698581, 0.04475136099869898, 0.0, -0.5665298012515434, -0.7379789408730867, 1.5461690670594828, 0.0, 0.0, 0.0, 0.0, 2.0, -0.10315645941494041, -0.28645568926171233, 0.6818687998302988, 0.11534098657441919, -0.35363917329680306, 0.9109630470698581, 0.04475136099869898, 0.0, -0.52474683486099, -0.6902377896509126, 1.5461690670594828, 0.0, 0.0, 0.0, 0.0, 2.0, -0.10315645941494041, -0.28645568926171233, 0.6818687998302988, 0.11534098657441919, -0.35363917329680306, 0.9109630470698581, 0.04475136099869898, 0.0, -0.49888653805244765, -0.6640044721900767, 1.5461690670594828, 0.0, 0.0, 0.0, 0.0, 2.0, -0.10315645941494041, -0.28645568926171233, 0.6818687998302988, 0.11534098657441919, -0.35363917329680306, 0.9109630470698581, 0.04475136099869898, 0.0, -0.4466083677337848, -0.6122052789105227, 1.5461690670594828, 0.0, 0.0, 0.0, 0.0, 2.0, -0.10315645941494041, -0.28645568926171233, 0.6818687998302988, 0.11534098657441919, -0.35363917329680306, 0.9109630470698581, 0.04475136099869898, 0.0, -0.3997279903380719, -0.5761496739383805, 1.5461690670594828, 0.0, 0.0, 0.0, 0.0, 2.0, -0.10315645941494041, -0.28645568926171233, 0.6818687998302988, 0.11534098657441919, -0.35363917329680306, 0.9109630470698581, 0.04475136099869898, 0.0, -0.3683854860614284, -0.5340794325801855, 1.5461690670594828, 0.0, 0.0, 0.0, 0.0, 2.0, -0.10315645941494041, -0.28645568926171233, 0.6818687998302988, 0.11534098657441919, -0.35363917329680306, 0.9109630470698581, 0.04475136099869898, 0.0, -0.3526137762269929, -0.5151028413424039, 1.5461690670594828, 0.0, 0.0, 0.0, 0.0, 2.0, -0.10315645941494041, -0.28645568926171233, 0.6818687998302988, 0.11534098657441919, -0.35363917329680306, 0.9109630470698581, 0.04475136099869898, 0.0, -0.28994807753926305, -0.45582446775762697, 1.5461690670594828, 0.0, 0.0, 0.0, 0.0, 2.0, -0.10315645941494041, -0.28645568926171233, 0.6818687998302988, 0.11534098657441919, -0.35363917329680306, 0.9109630470698581, 0.04475136099869898, 0.0, -0.24205916239351358, -0.4228761580832082, 1.5461690670594828, 0.0, 0.0, 0.0, 0.0, 2.0, -0.10315645941494041, -0.28645568926171233, 0.6818687998302988, 0.11534098657441919, -0.35363917329680306, 0.9109630470698581, 0.04475136099869898, 0.0, -0.21150900314606924, -0.37756693613473585, 1.5461690670594828, 0.0, 0.0, 0.0, 0.0, 2.0, -0.10315645941494041, -0.28645568926171233, 0.6818687998302988, 0.11534098657441919, -0.35363917329680306, 0.9109630470698581, 0.04475136099869898, 0.0, -0.20176644468010863, -0.3654702969509558, 1.5461690670594828, 0.0, 0.0, 0.0, 0.0, 2.0, -0.10315645941494041, -0.28645568926171233, 0.6818687998302988, 0.11534098657441919, -0.35363917329680306, 0.9109630470698581, 0.04475136099869898, 0.0, -0.1332840053697767, -0.2994161798831649, 1.5461690670594828, 0.0, 0.0, 0.0, 0.0, 2.0, -0.10315645941494041, -0.28645568926171233, 0.6818687998302988, 0.11534098657441919, -0.35363917329680306, 0.9109630470698581, 0.04475136099869898, 0.0, -0.09734744176523497, -0.2763513961624395, 1.5461690670594828, 0.0, 0.0, 0.0, 0.0, 2.0, -0.10315645941494041, -0.28645568926171233, 0.6818687998302988, 0.11534098657441919, -0.35363917329680306, 0.9109630470698581, 0.04475136099869898, 0.0, -0.055075379033481725, -0.22127359289774443, 1.5461690670594828, 0.0, 0.0, 0.0, 0.0, 2.0, -0.10315645941494041, -0.28645568926171233, 0.6818687998302988, 0.11534098657441919, -0.35363917329680306, 0.9109630470698581, 0.04475136099869898, 0.0, -0.038926876907585936, -0.20985269101559653, 1.5461690670594828, 0.0, 0.0, 0.0, 0.0, 2.0, -0.10315645941494041, -0.28645568926171233, 0.6818687998302988, 0.11534098657441919, -0.35363917329680306, 0.9109630470698581, 0.04475136099869898, 0.0, 0.02329173280885023, -0.1430518637363499, 1.5461690670594828, 0.0, 0.0, 0.0, 0.0, 2.0, -0.10315645941494041, -0.28645568926171233, 0.6818687998302988, 0.11534098657441919, -0.35363917329680306, 0.9109630470698581, 0.04475136099869898, 0.0, 0.04782956569784351, -0.12959432546310068, 1.5461690670594828, 0.0, 0.0, 0.0, 0.0, 2.0, -0.10315645941494041, -0.28645568926171233, 0.6818687998302988, 0.11534098657441919, -0.35363917329680306, 0.9109630470698581, 0.04475136099869898, 0.0, 0.09078091522026951, -0.08196066493750731, 1.5461690670594828, 0.0, 0.0, 0.0, 0.0, 2.0, -0.10315645941494041, -0.28645568926171233, 0.6818687998302988, 0.11534098657441919, -0.35363917329680306, 0.9109630470698581, 0.04475136099869898, 0.0, 0.12390687491623091, -0.05424391240762144, 1.5461690670594828, 0.0, 0.0, 0.0, 0.0, 2.0, -0.10315645941494041, -0.28645568926171233, 0.6818687998302988, 0.11534098657441919, -0.35363917329680306, 0.9109630470698581, 0.04475136099869898, 0.0, 0.14346605196340273, -0.043965286822934546, 1.5461690670594828, 0.0, 0.0, 0.0, 0.0, 2.0, -0.10315645941494041, -0.28645568926171233, 0.6818687998302988, 0.11534098657441919, -0.35363917329680306, 0.9109630470698581, 0.04475136099869898, 0.0, 0.19292607945194512, 0.017153972415123165, 1.5461690670594828, 0.0, 0.0, 0.0, 0.0, 2.0, -0.10315645941494041, -0.28645568926171233, 0.6818687998302988, 0.11534098657441919, -0.35363917329680306, 0.9109630470698581, 0.04475136099869898, 0.0, 0.2216746249058013, 0.03417723434709279, 1.5461690670594828, 0.0, 0.0, 0.0, 0.0, 2.0, -0.10315645941494041, -0.28645568926171233, 0.6818687998302988, 0.11534098657441919, -0.35363917329680306, 0.9109630470698581, 0.04475136099869898, 0.0, 0.2867036012246116, 0.1013065413405328, 1.5461690670594828, 0.0, 0.0, 0.0, 0.0, 2.0, -0.10315645941494041, -0.28645568926171233, 0.6818687998302988, 0.11534098657441919, -0.35363917329680306, 0.9109630470698581, 0.04475136099869898, 0.0, 0.29993340053232054, 0.11234474386063928, 1.5461690670594828, 0.0, 0.0, 0.0, 0.0, 2.0, -0.10315645941494041, -0.28645568926171233, 0.6818687998302988, 0.11534098657441919, -0.35363917329680306, 0.9109630470698581, 0.04475136099869898, 0.0, 0.33779094341568777, 0.1638008617501978, 1.5461690670594828, 0.0, 0.0, 0.0, 0.0, 2.0, -0.10315645941494041, -0.28645568926171233, 0.6818687998302988, 0.11534098657441919, -0.35363917329680306, 0.9109630470698581, 0.04475136099869898, 0.0, 0.37837248734701107, 0.19060235372042025, 1.5461690670594828, 0.0, 0.0, 0.0, 0.0, 2.0, -0.10315645941494041, -0.28645568926171233, 0.6818687998302988, 0.11534098657441919, -0.35363917329680306, 0.9109630470698581, 0.04475136099869898, 0.0, 0.448582326272042, 0.256398834485103, 1.5461690670594828, 0.0, 0.0, 0.0, 0.0, 2.0, -0.10315645941494041, -0.28645568926171233, 0.6818687998302988, 0.11534098657441919, -0.35363917329680306, 0.9109630470698581, 0.04475136099869898, 0.0, 0.4568116008586498, 0.26885988534331134, 1.5461690670594828, 0.0, 0.0, 0.0, 0.0, 2.0, -0.10315645941494041, -0.28645568926171233, 0.6818687998302988, 0.11534098657441919, -0.35363917329680306, 0.9109630470698581, 0.04475136099869898, 0.0, 0.4841643736855609, 0.311200580181638, 1.5461690670594828, 0.0, 0.0, 0.0, 0.0, 2.0, -0.10315645941494041, -0.28645568926171233, 0.6818687998302988, 0.11534098657441919, -0.35363917329680306, 0.9109630470698581, 0.04475136099869898, 0.0, 0.535023042796003, 0.3470039263854316, 1.5461690670594828, 0.0, 0.0, 0.0, 0.0, 2.0, -0.10315645941494041, -0.28645568926171233, 0.6818687998302988, 0.11534098657441919, -0.35363917329680306, 0.9109630470698581, 0.04475136099869898, 0.0, 0.5932495697846123, 0.4029013721234691, 1.5461690670594828, 0.0, 0.0, 0.0, 0.0, 2.0, -0.10315645941494041, -0.28645568926171233, 0.6818687998302988, 0.11534098657441919, -0.35363917329680306, 0.9109630470698581, 0.04475136099869898, 0.0, 0.6132316157384016, 0.42514644755545894, 1.5461690670594828, 0.0, 0.0, 0.0, 0.0, 2.0, -0.10315645941494041, -0.28645568926171233, 0.6818687998302988, 0.11534098657441919, -0.35363917329680306, 0.9109630470698581, 0.04475136099869898, 0.0, 0.6470037073962981, 0.4668180464215078, 1.5461690670594828, 0.0, 0.0, 0.0, 0.0, 2.0, -0.10315645941494041, -0.28645568926171233, 0.6818687998302988, 0.11534098657441919, -0.35363917329680306, 0.9109630470698581, 0.04475136099869898, 0.0, 0.6916917664452251, 0.5034145101974392, 1.5461690670594828, 0.0, 0.0, 0.0, 0.0, 2.0, -0.10315645941494041, -0.28645568926171233, 0.6818687998302988, 0.11534098657441919, -0.35363917329680306, 0.9109630470698581, 0.04475136099869898, 0.0, 0.7382600457634934, 0.5495910333066855, 1.5461690670594828, 0.0, 0.0, 0.0, 0.0, 2.0, -0.10315645941494041, -0.28645568926171233, 0.6818687998302988, 0.11534098657441919, -0.35363917329680306, 0.9109630470698581, 0.04475136099869898, 0.0, 0.7702773807579029, 0.5817968109347401, 1.5461690670594828, 0.0, 0.0, 0.0, 0.0, 2.0, -0.10315645941494041, -0.28645568926171233, 0.6818687998302988, 0.11534098657441919, -0.35363917329680306, 0.9109630470698581, 0.04475136099869898, 0.0, 0.8111096457411675, 0.6234051248704664, 1.5461690670594828, 0.0, 0.0, 0.0, 0.0, 2.0, -0.10315645941494041, -0.28645568926171233, 0.6818687998302988, 0.11534098657441919, -0.35363917329680306, 0.9109630470698581, 0.04475136099869898, 0.0, 0.82967719060266, 0.6952828569323242, 1.5461690670594828, 0.0, 0.0, 0.0, 0.0, 2.0, -0.10315645941494041, -0.28645568926171233, 0.6818687998302988, 0.11534098657441919, -0.35363917329680306, 0.9109630470698581, 0.04475136099869898, 0.0, 1.8560059070587158, 2.0533037185668945, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, 0.9481581234596145, 0.6854311085502867, 0.6888777531368632, 0.11314544929584987, -0.43072412696102974, 0.8762971090598846, 0.055095729416787205, 0.0, 1.889037847518921, 2.105088472366333, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, 0.9481581234596145, 0.6854311085502867, 0.6888777531368632, 0.11314544929584987, -0.43072412696102974, 0.8762971090598846, 0.055095729416787205, 0.0, 1.8842862844467163, 2.1760709285736084, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, 0.9481581234596145, 0.6854311085502867, 0.6888777531368632, 0.11314544929584987, -0.43072412696102974, 0.8762971090598846, 0.055095729416787205, 0.0], "std": [1.538861578732747, 1.1645026324892598, 0.491524248543797, 0.01683775068348512, 0.0, 0.0, 0.0171196193969128, 1.3259215242099869, 1.3687668536641606, 1.5690253452819083, 0.03673936858803982, 0.012122504211988582, 0.2023619440854536, 0.10736801135419369, 0.028203297342409256, 0.4985185152621432, 1.4167480684077818, 0.9002048152364723, 0.008755801822441496, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4303014676582786, 1.35002272040695, 0.009027150512183654, 0.007753153370027379, 0.1585858502941643, 0.06452619335919366, 0.020146015994789847, 0.0, 1.400942978256368, 0.8871367653072317, 0.008755801822441496, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4303014676582786, 1.35002272040695, 0.009027150512183654, 0.007753153370027379, 0.1585858502941643, 0.06452619335919366, 0.020146015994789847, 0.0, 1.4269206518215682, 0.8858751051388638, 0.008755801822441496, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4303014676582786, 1.35002272040695, 0.009027150512183654, 0.007753153370027379, 0.1585858502941643, 0.06452619335919366, 0.020146015994789847, 0.0, 1.4320211337226596, 0.8799476794829749, 0.008755801822441496, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4303014676582786, 1.35002272040695, 0.009027150512183654, 0.007753153370027379, 0.1585858502941643, 0.06452619335919366, 0.020146015994789847, 0.0, 1.4367206889153912, 0.8714447372878414, 0.008755801822441496, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4303014676582786, 1.35002272040695, 0.009027150512183654, 0.007753153370027379, 0.1585858502941643, 0.06452619335919366, 0.020146015994789847, 0.0, 1.44954810946041, 0.8659719610075823, 0.008755801822441496, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4303014676582786, 1.35002272040695, 0.009027150512183654, 0.007753153370027379, 0.1585858502941643, 0.06452619335919366, 0.020146015994789847, 0.0, 1.4458860705006187, 0.8568932303796456, 0.008755801822441496, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4303014676582786, 1.35002272040695, 0.009027150512183654, 0.007753153370027379, 0.1585858502941643, 0.06452619335919366, 0.020146015994789847, 0.0, 1.4511883347399825, 0.8471807945785902, 0.008755801822441496, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4303014676582786, 1.35002272040695, 0.009027150512183654, 0.007753153370027379, 0.1585858502941643, 0.06452619335919366, 0.020146015994789847, 0.0, 1.4492624252833826, 0.8414693562752181, 0.008755801822441496, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4303014676582786, 1.35002272040695, 0.009027150512183654, 0.007753153370027379, 0.1585858502941643, 0.06452619335919366, 0.020146015994789847, 0.0, 1.4531441195571038, 0.837710518331537, 0.008755801822441496, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4303014676582786, 1.35002272040695, 0.009027150512183654, 0.007753153370027379, 0.1585858502941643, 0.06452619335919366, 0.020146015994789847, 0.0, 1.453806119903316, 0.8262761117288695, 0.008755801822441496, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4303014676582786, 1.35002272040695, 0.009027150512183654, 0.007753153370027379, 0.1585858502941643, 0.06452619335919366, 0.020146015994789847, 0.0, 1.4384778425065348, 0.8095785139385191, 0.008755801822441496, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4303014676582786, 1.35002272040695, 0.009027150512183654, 0.007753153370027379, 0.1585858502941643, 0.06452619335919366, 0.020146015994789847, 0.0, 1.4472058641524754, 0.8339363564601329, 0.008755801822441496, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4303014676582786, 1.35002272040695, 0.009027150512183654, 0.007753153370027379, 0.1585858502941643, 0.06452619335919366, 0.020146015994789847, 0.0, 1.466067774071748, 0.8577890725289921, 0.008755801822441496, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4303014676582786, 1.35002272040695, 0.009027150512183654, 0.007753153370027379, 0.1585858502941643, 0.06452619335919366, 0.020146015994789847, 0.0, 1.43910722022619, 0.8611632265349022, 0.008755801822441496, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4303014676582786, 1.35002272040695, 0.009027150512183654, 0.007753153370027379, 0.1585858502941643, 0.06452619335919366, 0.020146015994789847, 0.0, 1.4079872277696555, 0.8567667857459519, 0.008755801822441496, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4303014676582786, 1.35002272040695, 0.009027150512183654, 0.007753153370027379, 0.1585858502941643, 0.06452619335919366, 0.020146015994789847, 0.0, 1.421328025828139, 0.8829327479974091, 0.008755801822441496, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4303014676582786, 1.35002272040695, 0.009027150512183654, 0.007753153370027379, 0.1585858502941643, 0.06452619335919366, 0.020146015994789847, 0.0, 1.4310697608604173, 0.9046593431962829, 0.008755801822441496, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4303014676582786, 1.35002272040695, 0.009027150512183654, 0.007753153370027379, 0.1585858502941643, 0.06452619335919366, 0.020146015994789847, 0.0, 1.4072138584816603, 0.910210021049104, 0.008755801822441496, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4303014676582786, 1.35002272040695, 0.009027150512183654, 0.007753153370027379, 0.1585858502941643, 0.06452619335919366, 0.020146015994789847, 0.0, 1.3895481856370426, 0.9171125020009647, 0.008755801822441496, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4303014676582786, 1.35002272040695, 0.009027150512183654, 0.007753153370027379, 0.1585858502941643, 0.06452619335919366, 0.020146015994789847, 0.0, 1.3932075958911527, 0.9376209746220411, 0.008755801822441496, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4303014676582786, 1.35002272040695, 0.009027150512183654, 0.007753153370027379, 0.1585858502941643, 0.06452619335919366, 0.020146015994789847, 0.0, 1.3877688019766903, 0.9474322490158383, 0.008755801822441496, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4303014676582786, 1.35002272040695, 0.009027150512183654, 0.007753153370027379, 0.1585858502941643, 0.06452619335919366, 0.020146015994789847, 0.0, 1.3801138628219405, 0.966634407743261, 0.008755801822441496, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4303014676582786, 1.35002272040695, 0.009027150512183654, 0.007753153370027379, 0.1585858502941643, 0.06452619335919366, 0.020146015994789847, 0.0, 1.3660978634611105, 0.9700481229360903, 0.008755801822441496, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4303014676582786, 1.35002272040695, 0.009027150512183654, 0.007753153370027379, 0.1585858502941643, 0.06452619335919366, 0.020146015994789847, 0.0, 1.3671553033936175, 0.9959612829879347, 0.008755801822441496, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4303014676582786, 1.35002272040695, 0.009027150512183654, 0.007753153370027379, 0.1585858502941643, 0.06452619335919366, 0.020146015994789847, 0.0, 1.3495528825059502, 0.9981774652783245, 0.008755801822441496, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4303014676582786, 1.35002272040695, 0.009027150512183654, 0.007753153370027379, 0.1585858502941643, 0.06452619335919366, 0.020146015994789847, 0.0, 1.3537613310095618, 1.0244962147955181, 0.008755801822441496, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4303014676582786, 1.35002272040695, 0.009027150512183654, 0.007753153370027379, 0.1585858502941643, 0.06452619335919366, 0.020146015994789847, 0.0, 1.3501287005788372, 1.0346870268660624, 0.008755801822441496, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4303014676582786, 1.35002272040695, 0.009027150512183654, 0.007753153370027379, 0.1585858502941643, 0.06452619335919366, 0.020146015994789847, 0.0, 1.3404646670484919, 1.053019675887401, 0.008755801822441496, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4303014676582786, 1.35002272040695, 0.009027150512183654, 0.007753153370027379, 0.1585858502941643, 0.06452619335919366, 0.020146015994789847, 0.0, 1.312237043717743, 1.0503337944645255, 0.008755801822441496, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4303014676582786, 1.35002272040695, 0.009027150512183654, 0.007753153370027379, 0.1585858502941643, 0.06452619335919366, 0.020146015994789847, 0.0, 1.3271707003358295, 1.0815905907670167, 0.008755801822441496, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4303014676582786, 1.35002272040695, 0.009027150512183654, 0.007753153370027379, 0.1585858502941643, 0.06452619335919366, 0.020146015994789847, 0.0, 1.3305579404424808, 1.0932836664551016, 0.008755801822441496, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4303014676582786, 1.35002272040695, 0.009027150512183654, 0.007753153370027379, 0.1585858502941643, 0.06452619335919366, 0.020146015994789847, 0.0, 1.3136799826905532, 1.1100831372426458, 0.008755801822441496, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4303014676582786, 1.35002272040695, 0.009027150512183654, 0.007753153370027379, 0.1585858502941643, 0.06452619335919366, 0.020146015994789847, 0.0, 1.2775381879579064, 1.1001953802957019, 0.008755801822441496, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4303014676582786, 1.35002272040695, 0.009027150512183654, 0.007753153370027379, 0.1585858502941643, 0.06452619335919366, 0.020146015994789847, 0.0, 1.3001906581296052, 1.1385779956454745, 0.008755801822441496, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4303014676582786, 1.35002272040695, 0.009027150512183654, 0.007753153370027379, 0.1585858502941643, 0.06452619335919366, 0.020146015994789847, 0.0, 1.3029874379577902, 1.1464898254800773, 0.008755801822441496, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4303014676582786, 1.35002272040695, 0.009027150512183654, 0.007753153370027379, 0.1585858502941643, 0.06452619335919366, 0.020146015994789847, 0.0, 1.2869390767489115, 1.1671915329778078, 0.008755801822441496, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4303014676582786, 1.35002272040695, 0.009027150512183654, 0.007753153370027379, 0.1585858502941643, 0.06452619335919366, 0.020146015994789847, 0.0, 1.2566936744955381, 1.156717198604472, 0.008755801822441496, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4303014676582786, 1.35002272040695, 0.009027150512183654, 0.007753153370027379, 0.1585858502941643, 0.06452619335919366, 0.020146015994789847, 0.0, 1.273705605464606, 1.1958141401783928, 0.008755801822441496, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4303014676582786, 1.35002272040695, 0.009027150512183654, 0.007753153370027379, 0.1585858502941643, 0.06452619335919366, 0.020146015994789847, 0.0, 1.262102576376925, 1.1930511796955066, 0.008755801822441496, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4303014676582786, 1.35002272040695, 0.009027150512183654, 0.007753153370027379, 0.1585858502941643, 0.06452619335919366, 0.020146015994789847, 0.0, 1.2602963091528483, 1.2243490127057832, 0.008755801822441496, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4303014676582786, 1.35002272040695, 0.009027150512183654, 0.007753153370027379, 0.1585858502941643, 0.06452619335919366, 0.020146015994789847, 0.0, 1.23533271206511, 1.212981296310781, 0.008755801822441496, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4303014676582786, 1.35002272040695, 0.009027150512183654, 0.007753153370027379, 0.1585858502941643, 0.06452619335919366, 0.020146015994789847, 0.0, 1.2369444810035906, 1.237382087326141, 0.008755801822441496, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4303014676582786, 1.35002272040695, 0.009027150512183654, 0.007753153370027379, 0.1585858502941643, 0.06452619335919366, 0.020146015994789847, 0.0, 1.2212131205817518, 1.23960479784687, 0.008755801822441496, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4303014676582786, 1.35002272040695, 0.009027150512183654, 0.007753153370027379, 0.1585858502941643, 0.06452619335919366, 0.020146015994789847, 0.0, 1.2004708654377665, 1.2297186414648975, 0.008755801822441496, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4303014676582786, 1.35002272040695, 0.009027150512183654, 0.007753153370027379, 0.1585858502941643, 0.06452619335919366, 0.020146015994789847, 0.0, 1.2141205428979933, 1.2693479783765143, 0.008755801822441496, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4303014676582786, 1.35002272040695, 0.009027150512183654, 0.007753153370027379, 0.1585858502941643, 0.06452619335919366, 0.020146015994789847, 0.0, 1.187237453433658, 1.2583411893853116, 0.008755801822441496, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4303014676582786, 1.35002272040695, 0.009027150512183654, 0.007753153370027379, 0.1585858502941643, 0.06452619335919366, 0.020146015994789847, 0.0, 1.1802899936417242, 1.2861057751943095, 0.008755801822441496, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4303014676582786, 1.35002272040695, 0.009027150512183654, 0.007753153370027379, 0.1585858502941643, 0.06452619335919366, 0.020146015994789847, 0.0, 1.1739484366163793, 1.2869359941793208, 0.008755801822441496, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4303014676582786, 1.35002272040695, 0.009027150512183654, 0.007753153370027379, 0.1585858502941643, 0.06452619335919366, 0.020146015994789847, 0.0, 1.1931922961749128, 1.3258692038834243, 0.008755801822441496, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4303014676582786, 1.35002272040695, 0.009027150512183654, 0.007753153370027379, 0.1585858502941643, 0.06452619335919366, 0.020146015994789847, 0.0, 1.160459230615825, 1.3154310304226817, 0.008755801822441496, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4303014676582786, 1.35002272040695, 0.009027150512183654, 0.007753153370027379, 0.1585858502941643, 0.06452619335919366, 0.020146015994789847, 0.0, 1.140386070915155, 1.3331155543659803, 0.008755801822441496, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4303014676582786, 1.35002272040695, 0.009027150512183654, 0.007753153370027379, 0.1585858502941643, 0.06452619335919366, 0.020146015994789847, 0.0, 1.1469699949751442, 1.3439258888255066, 0.008755801822441496, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4303014676582786, 1.35002272040695, 0.009027150512183654, 0.007753153370027379, 0.1585858502941643, 0.06452619335919366, 0.020146015994789847, 0.0, 1.1705889099960287, 1.3815543416670744, 0.008755801822441496, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4303014676582786, 1.35002272040695, 0.009027150512183654, 0.007753153370027379, 0.1585858502941643, 0.06452619335919366, 0.020146015994789847, 0.0, 1.1337335300415239, 1.3725470140214713, 0.008755801822441496, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4303014676582786, 1.35002272040695, 0.009027150512183654, 0.007753153370027379, 0.1585858502941643, 0.06452619335919366, 0.020146015994789847, 0.0, 1.1195909378465327, 1.3896619146711686, 0.008755801822441496, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4303014676582786, 1.35002272040695, 0.009027150512183654, 0.007753153370027379, 0.1585858502941643, 0.06452619335919366, 0.020146015994789847, 0.0, 1.1205001180374008, 1.4011695619418727, 0.008755801822441496, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4303014676582786, 1.35002272040695, 0.009027150512183654, 0.007753153370027379, 0.1585858502941643, 0.06452619335919366, 0.020146015994789847, 0.0, 1.129704374456169, 1.428115784802793, 0.008755801822441496, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4303014676582786, 1.35002272040695, 0.009027150512183654, 0.007753153370027379, 0.1585858502941643, 0.06452619335919366, 0.020146015994789847, 0.0, 1.1069875260040212, 1.429652860708693, 0.008755801822441496, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4303014676582786, 1.35002272040695, 0.009027150512183654, 0.007753153370027379, 0.1585858502941643, 0.06452619335919366, 0.020146015994789847, 0.0, 1.098444777164949, 1.446047507115762, 0.008755801822441496, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4303014676582786, 1.35002272040695, 0.009027150512183654, 0.007753153370027379, 0.1585858502941643, 0.06452619335919366, 0.020146015994789847, 0.0, 1.0934326523789748, 1.4581615313945135, 0.008755801822441496, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4303014676582786, 1.35002272040695, 0.009027150512183654, 0.007753153370027379, 0.1585858502941643, 0.06452619335919366, 0.020146015994789847, 0.0, 1.088049018676272, 1.4745966661676702, 0.008755801822441496, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4303014676582786, 1.35002272040695, 0.009027150512183654, 0.007753153370027379, 0.1585858502941643, 0.06452619335919366, 0.020146015994789847, 0.0, 1.1015087624251072, 1.4482137532606913, 0.008755801822441496, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4303014676582786, 1.35002272040695, 0.009027150512183654, 0.007753153370027379, 0.1585858502941643, 0.06452619335919366, 0.020146015994789847, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7171957222537845, 1.0030170382587018, 0.00459651315930235, 0.008844489318938742, 0.16242468851045516, 0.06218235311205701, 0.02038507548424197, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7171957222537845, 1.0030170382587018, 0.00459651315930235, 0.008844489318938742, 0.16242468851045516, 0.06218235311205701, 0.02038507548424197, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7171957222537845, 1.0030170382587018, 0.00459651315930235, 0.008844489318938742, 0.16242468851045516, 0.06218235311205701, 0.02038507548424197, 0.0], "min": [-3.303647518157959, -2.464446544647217, 0.33000001311302185, 0.6422280669212341, -0.0, -0.0, 0.6655760407447815, -1.0, -3.06595778465271, -2.1763150691986084, 0.6220706701278687, 0.06426195800304413, -0.7606063485145569, 0.6372067928314209, 0.006118644494563341, 0.0, -3.2388367652893066, -2.432101011276245, 1.5364480018615723, 0.0, 0.0, 0.0, 0.0, 2.0, -3.06595778465271, -2.1763150691986084, 0.6523398160934448, 0.0940961092710495, -0.689705491065979, 0.7122385501861572, 0.006118644494563341, 0.0, -3.1767818927764893, -2.4011309146881104, 1.5364480018615723, 0.0, 0.0, 0.0, 0.0, 2.0, -3.06595778465271, -2.1763150691986084, 0.6523398160934448, 0.0940961092710495, -0.689705491065979, 0.7122385501861572, 0.006118644494563341, 0.0, -3.1458842754364014, -2.3857107162475586, 1.5364480018615723, 0.0, 0.0, 0.0, 0.0, 2.0, -3.06595778465271, -2.1763150691986084, 0.6523398160934448, 0.0940961092710495, -0.689705491065979, 0.7122385501861572, 0.006118644494563341, 0.0, -3.1066267490386963, -2.3661181926727295, 1.5364480018615723, 0.0, 0.0, 0.0, 0.0, 2.0, -3.06595778465271, -2.1763150691986084, 0.6523398160934448, 0.0940961092710495, -0.689705491065979, 0.7122385501861572, 0.006118644494563341, 0.0, -3.0526812076568604, -2.3391952514648438, 1.5364480018615723, 0.0, 0.0, 0.0, 0.0, 2.0, -3.06595778465271, -2.1763150691986084, 0.6523398160934448, 0.0940961092710495, -0.689705491065979, 0.7122385501861572, 0.006118644494563341, 0.0, -3.0090830326080322, -2.317436456680298, 1.5364480018615723, 0.0, 0.0, 0.0, 0.0, 2.0, -3.06595778465271, -2.1763150691986084, 0.6523398160934448, 0.0940961092710495, -0.689705491065979, 0.7122385501861572, 0.006118644494563341, 0.0, -2.9593448638916016, -2.2926132678985596, 1.5364480018615723, 0.0, 0.0, 0.0, 0.0, 2.0, -3.06595778465271, -2.1763150691986084, 0.6523398160934448, 0.0940961092710495, -0.689705491065979, 0.7122385501861572, 0.006118644494563341, 0.0, -2.897785186767578, -2.261890411376953, 1.5364480018615723, 0.0, 0.0, 0.0, 0.0, 2.0, -3.06595778465271, -2.1763150691986084, 0.6523398160934448, 0.0940961092710495, -0.689705491065979, 0.7122385501861572, 0.006118644494563341, 0.0, -2.86615252494812, -2.246103286743164, 1.5364480018615723, 0.0, 0.0, 0.0, 0.0, 2.0, -3.06595778465271, -2.1763150691986084, 0.6523398160934448, 0.0940961092710495, -0.689705491065979, 0.7122385501861572, 0.006118644494563341, 0.0, -2.8406715393066406, -2.233386278152466, 1.5364480018615723, 0.0, 0.0, 0.0, 0.0, 2.0, -3.06595778465271, -2.1763150691986084, 0.6523398160934448, 0.0940961092710495, -0.689705491065979, 0.7122385501861572, 0.006118644494563341, 0.0, -2.773251533508301, -2.1997385025024414, 1.5364480018615723, 0.0, 0.0, 0.0, 0.0, 2.0, -3.06595778465271, -2.1763150691986084, 0.6523398160934448, 0.0940961092710495, -0.689705491065979, 0.7122385501861572, 0.006118644494563341, 0.0, -2.689554452896118, -2.1579673290252686, 1.5364480018615723, 0.0, 0.0, 0.0, 0.0, 2.0, -3.06595778465271, -2.1763150691986084, 0.6523398160934448, 0.0940961092710495, -0.689705491065979, 0.7122385501861572, 0.006118644494563341, 0.0, -2.680299758911133, -2.153348445892334, 1.5364480018615723, 0.0, 0.0, 0.0, 0.0, 2.0, -3.06595778465271, -2.1763150691986084, 0.6523398160934448, 0.0940961092710495, -0.689705491065979, 0.7122385501861572, 0.006118644494563341, 0.0, -2.672769784927368, -2.149590492248535, 1.5364480018615723, 0.0, 0.0, 0.0, 0.0, 2.0, -3.06595778465271, -2.1763150691986084, 0.6523398160934448, 0.0940961092710495, -0.689705491065979, 0.7122385501861572, 0.006118644494563341, 0.0, -2.5868842601776123, -2.106727123260498, 1.5364480018615723, 0.0, 0.0, 0.0, 0.0, 2.0, -3.06595778465271, -2.1763150691986084, 0.6523398160934448, 0.0940961092710495, -0.689705491065979, 0.7122385501861572, 0.006118644494563341, 0.0, -2.5033504962921143, -2.065037488937378, 1.5364480018615723, 0.0, 0.0, 0.0, 0.0, 2.0, -3.06595778465271, -2.1763150691986084, 0.6523398160934448, 0.0940961092710495, -0.689705491065979, 0.7122385501861572, 0.006118644494563341, 0.0, -2.493468761444092, -2.060105800628662, 1.5364480018615723, 0.0, 0.0, 0.0, 0.0, 2.0, -3.06595778465271, -2.1763150691986084, 0.6523398160934448, 0.0940961092710495, -0.689705491065979, 0.7122385501861572, 0.006118644494563341, 0.0, -2.4813232421875, -2.054044246673584, 1.5364480018615723, 0.0, 0.0, 0.0, 0.0, 2.0, -3.06595778465271, -2.1763150691986084, 0.6523398160934448, 0.0940961092710495, -0.689705491065979, 0.7122385501861572, 0.006118644494563341, 0.0, -2.400501012802124, -2.0137078762054443, 1.5364480018615723, 0.0, 0.0, 0.0, 0.0, 2.0, -3.06595778465271, -2.1763150691986084, 0.6523398160934448, 0.0940961092710495, -0.689705491065979, 0.7122385501861572, 0.006118644494563341, 0.0, -2.3353967666625977, -1.9812159538269043, 1.5364480018615723, 0.0, 0.0, 0.0, 0.0, 2.0, -3.06595778465271, -2.1763150691986084, 0.6523398160934448, 0.0940961092710495, -0.689705491065979, 0.7122385501861572, 0.006118644494563341, 0.0, -2.3076000213623047, -1.9673432111740112, 1.5364480018615723, 0.0, 0.0, 0.0, 0.0, 2.0, -3.06595778465271, -2.1763150691986084, 0.6523398160934448, 0.0940961092710495, -0.689705491065979, 0.7122385501861572, 0.006118644494563341, 0.0, -2.27309250831604, -1.9501214027404785, 1.5364480018615723, 0.0, 0.0, 0.0, 0.0, 2.0, -3.06595778465271, -2.1763150691986084, 0.6523398160934448, 0.0940961092710495, -0.689705491065979, 0.7122385501861572, 0.006118644494563341, 0.0, -2.2143757343292236, -1.9208173751831055, 1.5364480018615723, 0.0, 0.0, 0.0, 0.0, 2.0, -3.06595778465271, -2.1763150691986084, 0.6523398160934448, 0.0940961092710495, -0.689705491065979, 0.7122385501861572, 0.006118644494563341, 0.0, -2.1666033267974854, -1.8969752788543701, 1.5364480018615723, 0.0, 0.0, 0.0, 0.0, 2.0, -3.06595778465271, -2.1763150691986084, 0.6523398160934448, 0.0940961092710495, -0.689705491065979, 0.7122385501861572, 0.006118644494563341, 0.0, -2.120960235595703, -1.87419593334198, 1.5364480018615723, 0.0, 0.0, 0.0, 0.0, 2.0, -3.06595778465271, -2.1763150691986084, 0.6523398160934448, 0.0940961092710495, -0.689705491065979, 0.7122385501861572, 0.006118644494563341, 0.0, -2.0648610591888428, -1.8461982011795044, 1.5364480018615723, 0.0, 0.0, 0.0, 0.0, 2.0, -3.06595778465271, -2.1763150691986084, 0.6523398160934448, 0.0940961092710495, -0.689705491065979, 0.7122385501861572, 0.006118644494563341, 0.0, -2.0277504920959473, -1.8276772499084473, 1.5364480018615723, 0.0, 0.0, 0.0, 0.0, 2.0, -3.06595778465271, -2.1763150691986084, 0.6523398160934448, 0.0940961092710495, -0.689705491065979, 0.7122385501861572, 0.006118644494563341, 0.0, -1.9978570938110352, -1.812758207321167, 1.5364480018615723, 0.0, 0.0, 0.0, 0.0, 2.0, -3.06595778465271, -2.1763150691986084, 0.6523398160934448, 0.0940961092710495, -0.689705491065979, 0.7122385501861572, 0.006118644494563341, 0.0, -1.934849500656128, -1.7813127040863037, 1.5364480018615723, 0.0, 0.0, 0.0, 0.0, 2.0, -3.06595778465271, -2.1763150691986084, 0.6523398160934448, 0.0940961092710495, -0.689705491065979, 0.7122385501861572, 0.006118644494563341, 0.0, -1.8566296100616455, -1.7422751188278198, 1.5364480018615723, 0.0, 0.0, 0.0, 0.0, 2.0, -3.06595778465271, -2.1763150691986084, 0.6523398160934448, 0.0940961092710495, -0.689705491065979, 0.7122385501861572, 0.006118644494563341, 0.0, -1.8418670892715454, -1.7349075078964233, 1.5364480018615723, 0.0, 0.0, 0.0, 0.0, 2.0, -3.06595778465271, -2.1763150691986084, 0.6523398160934448, 0.0940961092710495, -0.689705491065979, 0.7122385501861572, 0.006118644494563341, 0.0, -1.829856038093567, -1.7289130687713623, 1.5364480018615723, 0.0, 0.0, 0.0, 0.0, 2.0, -3.06595778465271, -2.1763150691986084, 0.6523398160934448, 0.0940961092710495, -0.689705491065979, 0.7122385501861572, 0.006118644494563341, 0.0, -1.7484517097473145, -1.6882861852645874, 1.5364480018615723, 0.0, 0.0, 0.0, 0.0, 2.0, -3.06595778465271, -2.1763150691986084, 0.6523398160934448, 0.0940961092710495, -0.689705491065979, 0.7122385501861572, 0.006118644494563341, 0.0, -1.6604366302490234, -1.644360065460205, 1.5364480018615723, 0.0, 0.0, 0.0, 0.0, 2.0, -3.06595778465271, -2.1763150691986084, 0.6523398160934448, 0.0940961092710495, -0.689705491065979, 0.7122385501861572, 0.006118644494563341, 0.0, -1.655036211013794, -1.6416648626327515, 1.5364480018615723, 0.0, 0.0, 0.0, 0.0, 2.0, -3.06595778465271, -2.1763150691986084, 0.6523398160934448, 0.0940961092710495, -0.689705491065979, 0.7122385501861572, 0.006118644494563341, 0.0, -1.648398756980896, -1.6383522748947144, 1.5364480018615723, 0.0, 0.0, 0.0, 0.0, 2.0, -3.06595778465271, -2.1763150691986084, 0.6523398160934448, 0.0940961092710495, -0.689705491065979, 0.7122385501861572, 0.006118644494563341, 0.0, -1.562098741531372, -1.5952820777893066, 1.5364480018615723, 0.0, 0.0, 0.0, 0.0, 2.0, -3.06595778465271, -2.1763150691986084, 0.6523398160934448, 0.0940961092710495, -0.689705491065979, 0.7122385501861572, 0.006118644494563341, 0.0, -1.4925824403762817, -1.5605882406234741, 1.5364480018615723, 0.0, 0.0, 0.0, 0.0, 2.0, -3.06595778465271, -2.1763150691986084, 0.6523398160934448, 0.0940961092710495, -0.689705491065979, 0.7122385501861572, 0.006118644494563341, 0.0, -1.4691977500915527, -1.548917531967163, 1.5364480018615723, 0.0, 0.0, 0.0, 0.0, 2.0, -3.06595778465271, -2.1763150691986084, 0.6523398160934448, 0.0940961092710495, -0.689705491065979, 0.7122385501861572, 0.006118644494563341, 0.0, -1.4401670694351196, -1.5344290733337402, 1.5364480018615723, 0.0, 0.0, 0.0, 0.0, 2.0, -3.06595778465271, -2.1763150691986084, 0.6523398160934448, 0.0940961092710495, -0.689705491065979, 0.7122385501861572, 0.006118644494563341, 0.0, -1.3759430646896362, -1.5023764371871948, 1.5364480018615723, 0.0, 0.0, 0.0, 0.0, 2.0, -3.06595778465271, -2.1763150691986084, 0.6523398160934448, 0.0940961092710495, -0.689705491065979, 0.7122385501861572, 0.006118644494563341, 0.0, -1.323689579963684, -1.4762979745864868, 1.5364480018615723, 0.0, 0.0, 0.0, 0.0, 2.0, -3.06595778465271, -2.1763150691986084, 0.6523398160934448, 0.0940961092710495, -0.689705491065979, 0.7122385501861572, 0.006118644494563341, 0.0, -1.2825276851654053, -1.4557551145553589, 1.5364480018615723, 0.0, 0.0, 0.0, 0.0, 2.0, -3.06595778465271, -2.1763150691986084, 0.6523398160934448, 0.0940961092710495, -0.689705491065979, 0.7122385501861572, 0.006118644494563341, 0.0, -1.2319360971450806, -1.4305061101913452, 1.5364480018615723, 0.0, 0.0, 0.0, 0.0, 2.0, -3.06595778465271, -2.1763150691986084, 0.6523398160934448, 0.0940961092710495, -0.689705491065979, 0.7122385501861572, 0.006118644494563341, 0.0, -1.1893479824066162, -1.4092514514923096, 1.5364480018615723, 0.0, 0.0, 0.0, 0.0, 2.0, -3.06595778465271, -2.1763150691986084, 0.6523398160934448, 0.0940961092710495, -0.689705491065979, 0.7122385501861572, 0.006118644494563341, 0.0, -1.1550424098968506, -1.3921303749084473, 1.5364480018615723, 0.0, 0.0, 0.0, 0.0, 2.0, -3.06595778465271, -2.1763150691986084, 0.6523398160934448, 0.0940961092710495, -0.689705491065979, 0.7122385501861572, 0.006118644494563341, 0.0, -1.0964471101760864, -1.362886905670166, 1.5364480018615723, 0.0, 0.0, 0.0, 0.0, 2.0, -3.06595778465271, -2.1763150691986084, 0.6523398160934448, 0.0940961092710495, -0.689705491065979, 0.7122385501861572, 0.006118644494563341, 0.0, -1.0237047672271729, -1.3265830278396606, 1.5364480018615723, 0.0, 0.0, 0.0, 0.0, 2.0, -3.06595778465271, -2.1763150691986084, 0.6523398160934448, 0.0940961092710495, -0.689705491065979, 0.7122385501861572, 0.006118644494563341, 0.0, -1.0034343004226685, -1.3164665699005127, 1.5364480018615723, 0.0, 0.0, 0.0, 0.0, 2.0, -3.06595778465271, -2.1763150691986084, 0.6523398160934448, 0.0940961092710495, -0.689705491065979, 0.7122385501861572, 0.006118644494563341, 0.0, -0.9869421124458313, -1.308235764503479, 1.5364480018615723, 0.0, 0.0, 0.0, 0.0, 2.0, -3.06595778465271, -2.1763150691986084, 0.6523398160934448, 0.0940961092710495, -0.689705491065979, 0.7122385501861572, 0.006118644494563341, 0.0, -0.9100189208984375, -1.2698453664779663, 1.5364480018615723, 0.0, 0.0, 0.0, 0.0, 2.0, -3.06595778465271, -2.1763150691986084, 0.6523398160934448, 0.0940961092710495, -0.689705491065979, 0.7122385501861572, 0.006118644494563341, 0.0, -0.8175230026245117, -1.2236829996109009, 1.5364480018615723, 0.0, 0.0, 0.0, 0.0, 2.0, -3.06595778465271, -2.1763150691986084, 0.6523398160934448, 0.0940961092710495, -0.689705491065979, 0.7122385501861572, 0.006118644494563341, 0.0, -0.8166034817695618, -1.2232240438461304, 1.5364480018615723, 0.0, 0.0, 0.0, 0.0, 2.0, -3.06595778465271, -2.1763150691986084, 0.6523398160934448, 0.0940961092710495, -0.689705491065979, 0.7122385501861572, 0.006118644494563341, 0.0, -0.8154734373092651, -1.2226600646972656, 1.5364480018615723, 0.0, 0.0, 0.0, 0.0, 2.0, -3.06595778465271, -2.1763150691986084, 0.6523398160934448, 0.0940961092710495, -0.689705491065979, 0.7122385501861572, 0.006118644494563341, 0.0, -0.7236963510513306, -1.1768563985824585, 1.5364480018615723, 0.0, 0.0, 0.0, 0.0, 2.0, -3.06595778465271, -2.1763150691986084, 0.6523398160934448, 0.0940961092710495, -0.689705491065979, 0.7122385501861572, 0.006118644494563341, 0.0, -0.6497681140899658, -1.1399606466293335, 1.5364480018615723, 0.0, 0.0, 0.0, 0.0, 2.0, -3.06595778465271, -2.1763150691986084, 0.6523398160934448, 0.0940961092710495, -0.689705491065979, 0.7122385501861572, 0.006118644494563341, 0.0, -0.6307954788208008, -1.130491852760315, 1.5364480018615723, 0.0, 0.0, 0.0, 0.0, 2.0, -3.06595778465271, -2.1763150691986084, 0.6523398160934448, 0.0940961092710495, -0.689705491065979, 0.7122385501861572, 0.006118644494563341, 0.0, -0.6072423458099365, -1.1187371015548706, 1.5364480018615723, 0.0, 0.0, 0.0, 0.0, 2.0, -3.06595778465271, -2.1763150691986084, 0.6523398160934448, 0.0940961092710495, -0.689705491065979, 0.7122385501861572, 0.006118644494563341, 0.0, -0.537333071231842, -1.083847165107727, 1.5364480018615723, 0.0, 0.0, 0.0, 0.0, 2.0, -3.06595778465271, -2.1763150691986084, 0.6523398160934448, 0.0940961092710495, -0.689705491065979, 0.7122385501861572, 0.006118644494563341, 0.0, -0.48128026723861694, -1.0558726787567139, 1.5364480018615723, 0.0, 0.0, 0.0, 0.0, 2.0, -3.06595778465271, -2.1763150691986084, 0.6523398160934448, 0.0940961092710495, -0.689705491065979, 0.7122385501861572, 0.006118644494563341, 0.0, -0.4436982572078705, -1.0371164083480835, 1.5364480018615723, 0.0, 0.0, 0.0, 0.0, 2.0, -3.06595778465271, -2.1763150691986084, 0.6523398160934448, 0.0940961092710495, -0.689705491065979, 0.7122385501861572, 0.006118644494563341, 0.0, -0.3968888521194458, -1.0137550830841064, 1.5364480018615723, 0.0, 0.0, 0.0, 0.0, 2.0, -3.06595778465271, -2.1763150691986084, 0.6523398160934448, 0.0940961092710495, -0.689705491065979, 0.7122385501861572, 0.006118644494563341, 0.0, -0.39326488971710205, -0.9125859141349792, 1.5364480018615723, 0.0, 0.0, 0.0, 0.0, 2.0, -3.06595778465271, -2.1763150691986084, 0.6523398160934448, 0.0940961092710495, -0.689705491065979, 0.7122385501861572, 0.006118644494563341, 0.0, 1.8560059070587158, 2.0533037185668945, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, -0.3704397678375244, -0.5991382598876953, 0.6741507053375244, 0.0940961092710495, -0.689705491065979, 0.7122385501861572, 0.006118644494563341, 0.0, 1.889037847518921, 2.105088472366333, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, -0.3704397678375244, -0.5991382598876953, 0.6741507053375244, 0.0940961092710495, -0.689705491065979, 0.7122385501861572, 0.006118644494563341, 0.0, 1.8842862844467163, 2.1760709285736084, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, -0.3704397678375244, -0.5991382598876953, 0.6741507053375244, 0.0940961092710495, -0.689705491065979, 0.7122385501861572, 0.006118644494563341, 0.0], "max": [1.8459405899047852, 2.29069185256958, 1.5540554523468018, 0.7463300228118896, -0.0, -0.0, 0.7665135860443115, 2.0, 2.0595269203186035, 2.8070919513702393, 0.8083099722862244, 0.13388973474502563, -0.08128396421670914, 0.9889659881591797, 0.12123486399650574, 1.0, -0.3898319602012634, -0.6218371391296387, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0595269203186035, 2.45517897605896, 0.7044693231582642, 0.13388973474502563, -0.08128396421670914, 0.9889659881591797, 0.09037695080041885, 0.0, -0.3595602810382843, -0.6171461939811707, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0595269203186035, 2.45517897605896, 0.7044693231582642, 0.13388973474502563, -0.08128396421670914, 0.9889659881591797, 0.09037695080041885, 0.0, -0.2764229476451874, -0.6042631268501282, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0595269203186035, 2.45517897605896, 0.7044693231582642, 0.13388973474502563, -0.08128396421670914, 0.9889659881591797, 0.09037695080041885, 0.0, -0.2269086241722107, -0.5965903401374817, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0595269203186035, 2.45517897605896, 0.7044693231582642, 0.13388973474502563, -0.08128396421670914, 0.9889659881591797, 0.09037695080041885, 0.0, -0.16351252794265747, -0.5867663621902466, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0595269203186035, 2.45517897605896, 0.7044693231582642, 0.13388973474502563, -0.08128396421670914, 0.9889659881591797, 0.09037695080041885, 0.0, -0.09411909431219101, -0.5760130286216736, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0595269203186035, 2.45517897605896, 0.7044693231582642, 0.13388973474502563, -0.08128396421670914, 0.9889659881591797, 0.09037695080041885, 0.0, -0.05174509063363075, -0.5694466829299927, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0595269203186035, 2.45517897605896, 0.7044693231582642, 0.13388973474502563, -0.08128396421670914, 0.9889659881591797, 0.09037695080041885, 0.0, 0.020477157086133957, -0.5582550168037415, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0595269203186035, 2.45517897605896, 0.7044693231582642, 0.13388973474502563, -0.08128396421670914, 0.9889659881591797, 0.09037695080041885, 0.0, 0.048236917704343796, -0.5539532899856567, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0595269203186035, 2.45517897605896, 0.7044693231582642, 0.13388973474502563, -0.08128396421670914, 0.9889659881591797, 0.09037695080041885, 0.0, 0.08152378350496292, -0.5487951040267944, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0595269203186035, 2.45517897605896, 0.7044693231582642, 0.13388973474502563, -0.08128396421670914, 0.9889659881591797, 0.09037695080041885, 0.0, 0.15027503669261932, -0.5381413102149963, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0595269203186035, 2.45517897605896, 0.7044693231582642, 0.13388973474502563, -0.08128396421670914, 0.9889659881591797, 0.09037695080041885, 0.0, 0.2031477689743042, -0.5299481153488159, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0595269203186035, 2.45517897605896, 0.7044693231582642, 0.13388973474502563, -0.08128396421670914, 0.9889659881591797, 0.09037695080041885, 0.0, 0.2299540489912033, -0.4763469099998474, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0595269203186035, 2.45517897605896, 0.7044693231582642, 0.13388973474502563, -0.08128396421670914, 0.9889659881591797, 0.09037695080041885, 0.0, 0.2754143178462982, -0.42462241649627686, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0595269203186035, 2.45517897605896, 0.7044693231582642, 0.13388973474502563, -0.08128396421670914, 0.9889659881591797, 0.09037695080041885, 0.0, 0.3070836067199707, -0.3749738037586212, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0595269203186035, 2.45517897605896, 0.7044693231582642, 0.13388973474502563, -0.08128396421670914, 0.9889659881591797, 0.09037695080041885, 0.0, 0.32803672552108765, -0.34212517738342285, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0595269203186035, 2.45517897605896, 0.7044693231582642, 0.13388973474502563, -0.08128396421670914, 0.9889659881591797, 0.09037695080041885, 0.0, 0.36474609375, -0.28457513451576233, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0595269203186035, 2.45517897605896, 0.7044693231582642, 0.13388973474502563, -0.08128396421670914, 0.9889659881591797, 0.09037695080041885, 0.0, 0.3964817225933075, -0.23482255637645721, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0595269203186035, 2.45517897605896, 0.7044693231582642, 0.13388973474502563, -0.08128396421670914, 0.9889659881591797, 0.09037695080041885, 0.0, 0.4293310046195984, -0.18332406878471375, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0595269203186035, 2.45517897605896, 0.7044693231582642, 0.13388973474502563, -0.08128396421670914, 0.9889659881591797, 0.09037695080041885, 0.0, 0.4589105248451233, -0.13695162534713745, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0595269203186035, 2.45517897605896, 0.7044693231582642, 0.13388973474502563, -0.08128396421670914, 0.9889659881591797, 0.09037695080041885, 0.0, 0.49406614899635315, -0.08183743804693222, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0595269203186035, 2.45517897605896, 0.7044693231582642, 0.13388973474502563, -0.08128396421670914, 0.9889659881591797, 0.09037695080041885, 0.0, 0.5176365375518799, -0.044885680079460144, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0595269203186035, 2.45517897605896, 0.7044693231582642, 0.13388973474502563, -0.08128396421670914, 0.9889659881591797, 0.09037695080041885, 0.0, 0.5609596371650696, 0.023032864555716515, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0595269203186035, 2.45517897605896, 0.7044693231582642, 0.13388973474502563, -0.08128396421670914, 0.9889659881591797, 0.09037695080041885, 0.0, 0.5805466175079346, 0.0537397600710392, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0595269203186035, 2.45517897605896, 0.7044693231582642, 0.13388973474502563, -0.08128396421670914, 0.9889659881591797, 0.09037695080041885, 0.0, 0.6283161640167236, 0.12862908840179443, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0595269203186035, 2.45517897605896, 0.7044693231582642, 0.13388973474502563, -0.08128396421670914, 0.9889659881591797, 0.09037695080041885, 0.0, 0.6490178108215332, 0.16108344495296478, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0595269203186035, 2.45517897605896, 0.7044693231582642, 0.13388973474502563, -0.08128396421670914, 0.9889659881591797, 0.09037695080041885, 0.0, 0.6945913434028625, 0.23252999782562256, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0595269203186035, 2.45517897605896, 0.7044693231582642, 0.13388973474502563, -0.08128396421670914, 0.9889659881591797, 0.09037695080041885, 0.0, 0.7171797156333923, 0.2679422199726105, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0595269203186035, 2.45517897605896, 0.7044693231582642, 0.13388973474502563, -0.08128396421670914, 0.9889659881591797, 0.09037695080041885, 0.0, 0.7607534527778625, 0.33625370264053345, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0595269203186035, 2.45517897605896, 0.7044693231582642, 0.13388973474502563, -0.08128396421670914, 0.9889659881591797, 0.09037695080041885, 0.0, 0.7822090983390808, 0.36989012360572815, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0595269203186035, 2.45517897605896, 0.7044693231582642, 0.13388973474502563, -0.08128396421670914, 0.9889659881591797, 0.09037695080041885, 0.0, 0.8270024061203003, 0.44011348485946655, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0595269203186035, 2.45517897605896, 0.7044693231582642, 0.13388973474502563, -0.08128396421670914, 0.9889659881591797, 0.09037695080041885, 0.0, 0.8458250164985657, 0.46962207555770874, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0595269203186035, 2.45517897605896, 0.7044693231582642, 0.13388973474502563, -0.08128396421670914, 0.9889659881591797, 0.09037695080041885, 0.0, 0.8932886719703674, 0.5440317988395691, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0595269203186035, 2.45517897605896, 0.7044693231582642, 0.13388973474502563, -0.08128396421670914, 0.9889659881591797, 0.09037695080041885, 0.0, 0.908624529838562, 0.5680741667747498, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0595269203186035, 2.45517897605896, 0.7044693231582642, 0.13388973474502563, -0.08128396421670914, 0.9889659881591797, 0.09037695080041885, 0.0, 0.9595778584480286, 0.6479547619819641, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0595269203186035, 2.45517897605896, 0.7044693231582642, 0.13388973474502563, -0.08128396421670914, 0.9889659881591797, 0.09037695080041885, 0.0, 0.9718394875526428, 0.6671776175498962, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0595269203186035, 2.45517897605896, 0.7044693231582642, 0.13388973474502563, -0.08128396421670914, 0.9889659881591797, 0.09037695080041885, 0.0, 1.0258671045303345, 0.7518778443336487, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0595269203186035, 2.45517897605896, 0.7044693231582642, 0.13388973474502563, -0.08128396421670914, 0.9889659881591797, 0.09037695080041885, 0.0, 1.0345615148544312, 0.7655083537101746, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0595269203186035, 2.45517897605896, 0.7044693231582642, 0.13388973474502563, -0.08128396421670914, 0.9889659881591797, 0.09037695080041885, 0.0, 1.0921562910079956, 0.8558009266853333, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0595269203186035, 2.45517897605896, 0.7044693231582642, 0.13388973474502563, -0.08128396421670914, 0.9889659881591797, 0.09037695080041885, 0.0, 1.0978538990020752, 0.8647332191467285, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0595269203186035, 2.45517897605896, 0.7044693231582642, 0.13388973474502563, -0.08128396421670914, 0.9889659881591797, 0.09037695080041885, 0.0, 1.1584455966949463, 0.9597241282463074, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0595269203186035, 2.45517897605896, 0.7044693231582642, 0.13388973474502563, -0.08128396421670914, 0.9889659881591797, 0.09037695080041885, 0.0, 1.1604986190795898, 0.9629427194595337, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0595269203186035, 2.45517897605896, 0.7044693231582642, 0.13388973474502563, -0.08128396421670914, 0.9889659881591797, 0.09037695080041885, 0.0, 1.2049016952514648, 1.032554268836975, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0595269203186035, 2.45517897605896, 0.7044693231582642, 0.13388973474502563, -0.08128396421670914, 0.9889659881591797, 0.09037695080041885, 0.0, 1.22385835647583, 1.0622730255126953, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0595269203186035, 2.45517897605896, 0.7044693231582642, 0.13388973474502563, -0.08128396421670914, 0.9889659881591797, 0.09037695080041885, 0.0, 1.224734902381897, 1.0636471509933472, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0595269203186035, 2.45517897605896, 0.7044693231582642, 0.13388973474502563, -0.08128396421670914, 0.9889659881591797, 0.09037695080041885, 0.0, 1.2864892482757568, 1.1604607105255127, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0595269203186035, 2.45517897605896, 0.7044693231582642, 0.13388973474502563, -0.08128396421670914, 0.9889659881591797, 0.09037695080041885, 0.0, 1.291024088859558, 1.1675701141357422, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0595269203186035, 2.45517897605896, 0.7044693231582642, 0.13388973474502563, -0.08128396421670914, 0.9889659881591797, 0.09037695080041885, 0.0, 1.3497954607009888, 1.2597070932388306, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0595269203186035, 2.45517897605896, 0.7044693231582642, 0.13388973474502563, -0.08128396421670914, 0.9889659881591797, 0.09037695080041885, 0.0, 1.3573133945465088, 1.2714930772781372, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0595269203186035, 2.45517897605896, 0.7044693231582642, 0.13388973474502563, -0.08128396421670914, 0.9889659881591797, 0.09037695080041885, 0.0, 1.412503957748413, 1.3580164909362793, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0595269203186035, 2.45517897605896, 0.7044693231582642, 0.13388973474502563, -0.08128396421670914, 0.9889659881591797, 0.09037695080041885, 0.0, 1.4236027002334595, 1.3754162788391113, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0595269203186035, 2.45517897605896, 0.7044693231582642, 0.13388973474502563, -0.08128396421670914, 0.9889659881591797, 0.09037695080041885, 0.0, 1.4757325649261475, 1.4571412801742554, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0595269203186035, 2.45517897605896, 0.7044693231582642, 0.13388973474502563, -0.08128396421670914, 0.9889659881591797, 0.09037695080041885, 0.0, 1.4898920059204102, 1.4793392419815063, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0595269203186035, 2.45517897605896, 0.7044693231582642, 0.13388973474502563, -0.08128396421670914, 0.9889659881591797, 0.09037695080041885, 0.0, 1.5385184288024902, 1.5555720329284668, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0595269203186035, 2.45517897605896, 0.7044693231582642, 0.13388973474502563, -0.08128396421670914, 0.9889659881591797, 0.09037695080041885, 0.0, 1.5561813116073608, 1.5832624435424805, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0595269203186035, 2.45517897605896, 0.7044693231582642, 0.13388973474502563, -0.08128396421670914, 0.9889659881591797, 0.09037695080041885, 0.0, 1.6016695499420166, 1.6545753479003906, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0595269203186035, 2.45517897605896, 0.7044693231582642, 0.13388973474502563, -0.08128396421670914, 0.9889659881591797, 0.09037695080041885, 0.0, 1.622470498085022, 1.6871854066848755, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0595269203186035, 2.45517897605896, 0.7044693231582642, 0.13388973474502563, -0.08128396421670914, 0.9889659881591797, 0.09037695080041885, 0.0, 1.6645328998565674, 1.7531275749206543, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0595269203186035, 2.45517897605896, 0.7044693231582642, 0.13388973474502563, -0.08128396421670914, 0.9889659881591797, 0.09037695080041885, 0.0, 1.6887598037719727, 1.79110848903656, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0595269203186035, 2.45517897605896, 0.7044693231582642, 0.13388973474502563, -0.08128396421670914, 0.9889659881591797, 0.09037695080041885, 0.0, 1.7276335954666138, 1.8520517349243164, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0595269203186035, 2.45517897605896, 0.7044693231582642, 0.13388973474502563, -0.08128396421670914, 0.9889659881591797, 0.09037695080041885, 0.0, 1.755136489868164, 1.895168662071228, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0595269203186035, 2.45517897605896, 0.7044693231582642, 0.13388973474502563, -0.08128396421670914, 0.9889659881591797, 0.09037695080041885, 0.0, 1.7911196947097778, 1.9515801668167114, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0595269203186035, 2.45517897605896, 0.7044693231582642, 0.13388973474502563, -0.08128396421670914, 0.9889659881591797, 0.09037695080041885, 0.0, 1.8218104839324951, 1.9996947050094604, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0595269203186035, 2.45517897605896, 0.7044693231582642, 0.13388973474502563, -0.08128396421670914, 0.9889659881591797, 0.09037695080041885, 0.0, 1.8560059070587158, 2.0533037185668945, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0595269203186035, 2.45517897605896, 0.7044693231582642, 0.13388973474502563, -0.08128396421670914, 0.9889659881591797, 0.09037695080041885, 0.0, 1.889037847518921, 2.105088472366333, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0595269203186035, 2.45517897605896, 0.7044693231582642, 0.13388973474502563, -0.08128396421670914, 0.9889659881591797, 0.09037695080041885, 0.0, 1.8842862844467163, 2.1760709285736084, 1.5540554523468018, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0595269203186035, 2.45517897605896, 0.7044693231582642, 0.13388973474502563, -0.08128396421670914, 0.9889659881591797, 0.09037695080041885, 0.0], "count": [1414]}, "action.applied": {"mean": [0.28051063814892035, 0.6654517126850562, -1.1384020401362482, -0.2067464837169504, 0.6763441886178506, -1.1642141091772995, 0.17882623211539955, 0.812431972552897, -1.275758064535079, -0.2024049306633491, 0.7205327266176486, -1.2627739914320146, -0.08234534339859274, 1.865008814668723, -1.3248270682179102, 0.036724816708136945, 0.8481089768264722, -0.12217379624232978, 0.00772277231010723, -0.00772277231010723], "std": [0.13387130500202213, 0.11979956082260602, 0.15796221694955082, 0.12946139272320253, 0.1003513868115505, 0.14996674361444762, 0.1301876213863272, 0.10780422083559171, 0.16384003838052374, 0.11917477150514254, 0.11142688101737744, 0.15519760703712254, 0.08027980356166588, 0.21229322361875827, 0.4154507663513593, 0.02454271127502606, 0.19342146143077604, 0.08210669181824143, 0.014513987041842617, 0.014513987041842617], "min": [-0.20778147876262665, 0.3498670160770416, -1.7488421201705933, -0.5107346177101135, 0.16309159994125366, -1.5779337882995605, -0.15742520987987518, 0.48670732975006104, -1.7435972690582275, -0.5822263956069946, 0.5519755482673645, -1.703762412071228, -0.5590257048606873, 1.6664131879806519, -2.330559015274048, -0.017739977687597275, 0.515749454498291, -0.2402721643447876, 0.0, -0.03500000014901161], "max": [0.7059306502342224, 0.9252271056175232, -0.8121899366378784, 0.1913902312517166, 0.9452517032623291, -0.7426891922950745, 0.5094380378723145, 1.1030535697937012, -0.9497355818748474, 0.31362536549568176, 1.0823297500610352, -0.9339680671691895, 0.003542997408658266, 2.4431262016296387, -0.9698488712310791, 0.08341971784830093, 1.2177999019622803, 0.0227215513586998, 0.03500000014901161, 0.0], "count": [1414]}, "extra.reward": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1414]}, "next.truncated": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1414]}, "sim_step_idx": {"mean": [1514.0], "std": [816.3730764791303], "min": [101.0], "max": [2927.0], "count": [1414]}, "timestamp": {"mean": [28.26000000225562], "std": [16.32746152996173], "min": [0.0], "max": [56.52000045776367], "count": [1414]}, "frame_index": {"mean": [706.5], "std": [408.18653823956515], "min": [0.0], "max": [1413.0], "count": [1414]}, "episode_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1414]}, "index": {"mean": [706.5], "std": [408.18653823956515], "min": [0.0], "max": [1413.0], "count": [1414]}, "task_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1414]}, "next.done": {"mean": [0.0007072135785007072], "std": [0.02658408221953678], "min": [0.0], "max": [1.0], "count": [1414]}, "observation.images.head": {"mean": [[[0.3767190363592916]], [[0.2844258744759693]], [[0.24672100289988766]]], "std": [[[0.2247472209648078]], [[0.16372657435144589]], [[0.14583404126253915]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9294117647058824]], [[0.8745098039215686]], [[0.9058823529411765]]], "count": [100]}, "observation.images.wrist": {"mean": [[[0.5530006774633601]], [[0.4452616039918739]], [[0.37761221495289776]]], "std": [[[0.13103593231482322]], [[0.12253695630056617]], [[0.10694177882914087]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9372549019607843]], [[0.8941176470588236]], [[0.8117647058823529]]], "count": [100]}}} diff --git a/N033/go2_arm/dr_on/seed_2016/rec/stationring/000/lerobot_v21/meta/extra/episode_000000.json b/N033/go2_arm/dr_on/seed_2016/rec/stationring/000/lerobot_v21/meta/extra/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..1575feac17b5b1a6ca9dff42ad8ac61ad9bbe05e --- /dev/null +++ b/N033/go2_arm/dr_on/seed_2016/rec/stationring/000/lerobot_v21/meta/extra/episode_000000.json @@ -0,0 +1,706 @@ +{ + "episode_index": 0, + "trajectory_id": 0, + "env_id": 0, + "task_type": "RingCommand", + "subsample_every": 2, + "control_steps": 2828, + "language": { + "scene": { + "objects": [ + { + "id": "table_A_1", + "cat_name": "table_A", + "inst_id": 1, + "noun": "table A", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 3.7350900939545233, + -0.6244439570292438, + -0.21473467391733095 + ], + "bbox": { + "extent": [ + 0.9343200814275237, + 0.5617761878483769, + 0.30000001192092896 + ], + "center": [ + -2.7755575615628914e-17, + 0.0, + 0.0 + ] + } + }, + { + "id": "table_B_1", + "cat_name": "table_B", + "inst_id": 1, + "noun": "table B", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 7.4310010099975115, + -0.6828813723397945, + -0.2612922804021275 + ], + "bbox": { + "extent": [ + 0.9167414541040826, + 0.5301346595043963, + 0.30000001192092896 + ], + "center": [ + -1.942890293094024e-16, + 0.0, + 0.0 + ] + } + }, + { + "id": "rack_back_1", + "cat_name": "rack_back", + "inst_id": 1, + "noun": "rack back", + "color": "brown", + "size": "medium", + "material": null, + "category": "geometry", + "pos": [ + 3.7000826406130787, + -0.5887443409791201, + 0.03546527737047476 + ], + "bbox": { + "extent": [ + 0.7020591943492072, + 0.07804814588832701, + 0.20000000298023224 + ], + "center": [ + -8.326672684688674e-17, + 3.469446951953614e-18, + 0.0 + ] + } + }, + { + "id": "peg_1_1", + "cat_name": "peg_1", + "inst_id": 1, + "noun": "peg 1", + "color": "gray", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.7076146572431345, + -0.7713976330085613, + 0.07676955845963537 + ], + "bbox": { + "extent": [ + 0.03235523794089557, + 0.18137281133264804, + 0.019999999552965164 + ], + "center": [ + -2.42861286636753e-17, + 1.3877787807814457e-17, + 0.0 + ] + } + }, + { + "id": "peg_2_1", + "cat_name": "peg_2", + "inst_id": 1, + "noun": "peg 2", + "color": "gray", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.526289161711209, + -0.5323979794378008, + 0.07724941589503945 + ], + "bbox": { + "extent": [ + 0.032355237940895794, + 0.18137281133264804, + 0.019999999552965164 + ], + "center": [ + -2.7755575615628914e-17, + -6.938893903907228e-18, + 0.0 + ] + } + }, + { + "id": "ring_1", + "cat_name": "ring", + "inst_id": 1, + "noun": "ring", + "color": null, + "size": "small", + "material": null, + "category": "rigid", + "pos": [ + 3.6657160208644575, + -0.8031256740317329, + 0.04754182092490896 + ], + "bbox": { + "extent": [ + 0.12640740817246976, + 0.043511597620375195, + 0.18200375029515148 + ], + "center": [ + -6.340296159410008e-07, + -6.249470832844772e-08, + 0.028999888999300893 + ] + } + }, + { + "id": "ring_small_1", + "cat_name": "ring_small", + "inst_id": 1, + "noun": "ring small", + "color": null, + "size": "small", + "material": null, + "category": "rigid", + "pos": [ + 3.493691794159389, + -0.5571277552782583, + 0.07663881512994516 + ], + "bbox": { + "extent": [ + 0.07648593469219409, + 0.04009192622657309, + 0.13205182838819657 + ], + "center": [ + -1.416211626492983e-05, + -4.879659638822031e-07, + 0.029000049027938596 + ] + } + }, + { + "id": "rod_h_1", + "cat_name": "rod_h", + "inst_id": 1, + "noun": "rod h", + "color": "white", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 7.333297718303896, + -0.7605869314221824, + 0.09058257360128938 + ], + "bbox": { + "extent": [ + 0.02468761339778605, + 0.14066965969891543, + 0.019999999552965164 + ], + "center": [ + -4.163336342344337e-17, + 2.220446049250313e-16, + 0.0 + ] + } + }, + { + "id": "rod_s_1", + "cat_name": "rod_s", + "inst_id": 1, + "noun": "rod s", + "color": "white", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 7.432818912790801, + -0.6821838470477517, + 0.04851336623443896 + ], + "bbox": { + "extent": [ + 0.02422302593566395, + 0.1593422814344832, + 0.15194097245708593 + ], + "center": [ + -9.194034422677078e-17, + 5.273559366969494e-16, + 5.551115123125783e-17 + ] + } + }, + { + "id": "rod_stop_1", + "cat_name": "rod_stop", + "inst_id": 1, + "noun": "rod stop", + "color": "brown", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 7.488677501002889, + -0.6379955726401266, + -0.05234566671665093 + ], + "bbox": { + "extent": [ + 0.10040179696431098, + 0.01534829574338925, + 0.11999999731779099 + ], + "center": [ + 1.8735013540549517e-16, + 0.0, + 0.0 + ] + } + } + ], + "relations": [ + { + "subject": "table_B_1", + "relation": "behind", + "object": "rod_stop_1" + }, + { + "subject": "rack_back_1", + "relation": "right_of", + "object": "peg_2_1" + }, + { + "subject": "rod_h_1", + "relation": "right_of", + "object": "rod_s_1" + }, + { + "subject": "rod_s_1", + "relation": "on_top_of", + "object": "rod_stop_1" + }, + { + "subject": "rod_s_1", + "relation": "behind", + "object": "rod_stop_1" + }, + { + "subject": "rod_stop_1", + "relation": "in_front_of", + "object": "rod_s_1" + } + ], + "cameras": [ + { + "name": "head", + "intrinsics": { + "K": [ + [ + 607.7061061683956, + 0.0, + 320.0 + ], + [ + 0.0, + 607.3754374751866, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 55.53991912549515, + "resolution": [ + 640, + 480 + ] + }, + "pos_robot": [ + 4.232718689292094, + -1.2411699601780086, + -0.30280151080396567 + ], + "viewpoint": "front, at table height", + "extrinsics": { + "R": [ + [ + 0.0034545225363202814, + -0.9995776319673901, + 0.028855223868669955 + ], + [ + -0.02338972540530354, + 0.0287667346071393, + 0.9993124615081647 + ], + [ + -0.9997204544368945, + -0.0041270631819024794, + -0.023280471000004077 + ] + ], + "t": [ + 0.03416419479862187, + -0.08682200219228882, + 0.33429322289826396 + ] + } + }, + { + "name": "wrist", + "intrinsics": { + "K": [ + [ + 617.2500342478374, + 0.0, + 320.0 + ], + [ + 0.0, + 617.548655622722, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 54.807019583348044, + "resolution": [ + 640, + 480 + ] + }, + "pos_robot": [ + 3.9497178190196487, + -0.9465708536260861, + -0.34919665006369216 + ], + "viewpoint": "front, at table height", + "extrinsics": { + "R": [ + [ + 0.017356943317221596, + -0.9998337334638687, + 0.005589449560045617 + ], + [ + -0.9382601518788614, + -0.014355819960515381, + 0.34563246061317376 + ], + [ + -0.3454947523696107, + -0.011243480820582297, + -0.9383533237667454 + ] + ], + "t": [ + 0.006333551580298355, + -0.08611861262827436, + 0.017148138726427706 + ] + } + } + ], + "robots": [ + { + "name": "Go2Plus", + "model": "go2plus", + "type": "mobilemanip", + "noun": "Unitree Go2 EDU quadruped with a Piper arm", + "arms": 1, + "arm_layout": null, + "mobile": true, + "dexterous": false, + "base_pose": { + "pos": [ + -3.4, + -2.2, + 0.44999999999999996 + ], + "ori": [ + 0.9396926164627075, + 0.0, + 0.0, + 0.3420201539993286 + ] + }, + "facing_yaw_deg": 40.000001288448495, + "gripper": "parallel gripper" + } + ], + "lighting": [], + "background": { + "name": null, + "kind": "background", + "type": "dome", + "pose": null, + "setting": null, + "time_of_day": null, + "indoor": false, + "intensity": 1000.0, + "ambient": "dim" + }, + "effects": [], + "caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the brown rod stop. There are a large gray table A, a large gray table B, a medium brown rack back, a small gray peg 1, a small gray peg 2, a small ring, a small ring small, a small white rod h, a small white rod s and a small brown rod stop. The gray table B is behind the brown rod stop. The brown rack back is to the right of the gray peg 2. The white rod h is to the right of the white rod s. The white rod s is on top of the brown rod stop. The white rod s is behind the brown rod stop. The brown rod stop is in front of the white rod s. The scene is viewed from front, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n [rod stop]\n\n\n\n [ring small]\n\n\n\n[robot]" + }, + "task": { + "task_type": "StationRing", + "instruction": "Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.", + "template_id": -1, + "slots": { + "obj": 1.536448029680426, + "support": null + }, + "generic_instruction": "Stationring the 1.536448029680426.", + "task_id": "N033", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_0575": { + "frame_idx": 575, + "caption": "Computing a grasp pose for the small ring; the right gripper is below and to the left of and in front of the ring.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "NavTo", + "planner_state": "finished", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0601": { + "frame_idx": 601, + "caption": "Working on the small ring; the right gripper is below and to the left of and in front of the ring.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0744": { + "frame_idx": 744, + "caption": "Working on the small ring; the right gripper is below and in front of the ring.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "in_front_of" + ] + }, + "frame_0751": { + "frame_idx": 751, + "caption": "Working on the small ring; the right gripper is below and to the left of and in front of the ring.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0882": { + "frame_idx": 882, + "caption": "Computing a grasp pose for the small ring; the right gripper is below and to the left of and in front of the ring.", + "skill": "ReachStance", + "phase": "verify", + "skill_state": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0896": { + "frame_idx": 896, + "caption": "Pre-grasping the small ring, servoing the arm toward it; the right gripper is below and to the left of and in front of the ring.", + "skill": "Grasp", + "phase": "pre_grasp", + "skill_state": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0897": { + "frame_idx": 897, + "caption": "Pre-grasping the small ring, moving the arm toward it; the right gripper is below and to the left of and in front of the ring.", + "skill": "Grasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0916": { + "frame_idx": 916, + "caption": "Pre-grasping the small ring, moving the arm toward it; the right gripper is below and in front of the ring.", + "skill": "Grasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "in_front_of" + ] + }, + "frame_0932": { + "frame_idx": 932, + "caption": "Pre-grasping the small ring, moving the arm toward it; the right gripper is below the ring.", + "skill": "Grasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_0950": { + "frame_idx": 950, + "caption": "Grasping the small ring, moving the arm in to make contact; the right gripper is below the ring.", + "skill": "Grasp", + "phase": "grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_1012": { + "frame_idx": 1012, + "caption": "Closing the right gripper on the ring; the right gripper is below the ring.", + "skill": "Grasp", + "phase": "close_gripper", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_1072": { + "frame_idx": 1072, + "caption": "Lifting the ring away with the gripper; the right gripper is below the ring.", + "skill": "Grasp", + "phase": "retrieval", + "skill_state": "running", + "planner": "ParallelGripper", + "planner_state": "finished", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_1073": { + "frame_idx": 1073, + "caption": "Lifting the ring away with the arm; the right gripper is below the ring.", + "skill": "Grasp", + "phase": "retrieval", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_1133": { + "frame_idx": 1133, + "caption": "Done — the small ring is grasped; the right gripper is below the ring.", + "skill": "Grasp", + "phase": "completed", + "skill_state": "finished", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + } + } + }, + "depth_range": [ + 0.1, + 20.0 + ], + "annotation_sidecar": null, + "annotation_sidecar_keys": [], + "terminated": true, + "truncated": false +} \ No newline at end of file diff --git a/N033/go2_arm/dr_on/seed_2016/rec/stationring/000/lerobot_v21/meta/info.json b/N033/go2_arm/dr_on/seed_2016/rec/stationring/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..576673f33ef6f77e2d0609abab0bfdaf3b1f2f4a --- /dev/null +++ b/N033/go2_arm/dr_on/seed_2016/rec/stationring/000/lerobot_v21/meta/info.json @@ -0,0 +1,336 @@ +{ + "codebase_version": "v2.1", + "robot_type": "Go2PlusCfg", + "total_episodes": 1, + "total_frames": 1414, + "total_tasks": 1, + "total_videos": 2, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 25, + "splits": { + "train": "0:1" + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", + "features": { + "action": { + "dtype": "float32", + "shape": [ + 12 + ], + "names": [ + "base_action_0", + "base_action_1", + "base_action_2", + "base_action_3", + "eef0.pos_x", + "eef0.pos_y", + "eef0.pos_z", + "eef0.quat_w", + "eef0.quat_x", + "eef0.quat_y", + "eef0.quat_z", + "gripper" + ] + }, + "action_is_hold": { + "dtype": "bool", + "shape": [ + 12 + ], + "names": null + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 26 + ], + "names": [ + "joint_0", + "joint_1", + "joint_2", + "joint_3", + "joint_4", + "joint_5", + "joint_6", + "joint_7", + "joint_8", + "joint_9", + "joint_10", + "joint_11", + "joint_12", + "joint_13", + "joint_14", + "joint_15", + "joint_16", + "joint_17", + "joint_18", + "joint_19", + "joint_20", + "joint_21", + "joint_22", + "joint_23", + "gripper_0", + "gripper_1" + ] + }, + "observation.joint_vel": { + "dtype": "float32", + "shape": [ + 20 + ], + "names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ] + }, + "observation.eef_pose": { + "dtype": "float32", + "shape": [ + 7 + ], + "names": null + }, + "observation.environment_state": { + "dtype": "float32", + "shape": [ + 70 + ], + "names": [ + "object_pose.peg_1.0", + "object_pose.peg_1.1", + "object_pose.peg_1.2", + "object_pose.peg_1.3", + "object_pose.peg_1.4", + "object_pose.peg_1.5", + "object_pose.peg_1.6", + "object_pose.peg_2.0", + "object_pose.peg_2.1", + "object_pose.peg_2.2", + "object_pose.peg_2.3", + "object_pose.peg_2.4", + "object_pose.peg_2.5", + "object_pose.peg_2.6", + "object_pose.rack_back.0", + "object_pose.rack_back.1", + "object_pose.rack_back.2", + "object_pose.rack_back.3", + "object_pose.rack_back.4", + "object_pose.rack_back.5", + "object_pose.rack_back.6", + "object_pose.ring.0", + "object_pose.ring.1", + "object_pose.ring.2", + "object_pose.ring.3", + "object_pose.ring.4", + "object_pose.ring.5", + "object_pose.ring.6", + "object_pose.ring_small.0", + "object_pose.ring_small.1", + "object_pose.ring_small.2", + "object_pose.ring_small.3", + "object_pose.ring_small.4", + "object_pose.ring_small.5", + "object_pose.ring_small.6", + "object_pose.rod_h.0", + "object_pose.rod_h.1", + "object_pose.rod_h.2", + "object_pose.rod_h.3", + "object_pose.rod_h.4", + "object_pose.rod_h.5", + "object_pose.rod_h.6", + "object_pose.rod_s.0", + "object_pose.rod_s.1", + "object_pose.rod_s.2", + "object_pose.rod_s.3", + "object_pose.rod_s.4", + "object_pose.rod_s.5", + "object_pose.rod_s.6", + "object_pose.rod_stop.0", + "object_pose.rod_stop.1", + "object_pose.rod_stop.2", + "object_pose.rod_stop.3", + "object_pose.rod_stop.4", + "object_pose.rod_stop.5", + "object_pose.rod_stop.6", + "object_pose.table_A.0", + "object_pose.table_A.1", + "object_pose.table_A.2", + "object_pose.table_A.3", + "object_pose.table_A.4", + "object_pose.table_A.5", + "object_pose.table_A.6", + "object_pose.table_B.0", + "object_pose.table_B.1", + "object_pose.table_B.2", + "object_pose.table_B.3", + "object_pose.table_B.4", + "object_pose.table_B.5", + "object_pose.table_B.6" + ] + }, + "action.command": { + "dtype": "float32", + "shape": [ + 1072 + ], + "names": null + }, + "action.applied": { + "dtype": "float32", + "shape": [ + 20 + ], + "names": null + }, + "narration": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "collect_info": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "extra.reward": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "extra.action_info": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "next.truncated": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "sim_step_idx": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "next.done": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "observation.images.head": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25, + "video.codec": "libsvtav1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.wrist": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25, + "video.codec": "libsvtav1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + } + } +} \ No newline at end of file diff --git a/N033/go2_arm/dr_on/seed_2016/rec/stationring/000/lerobot_v21/meta/magicsim_manifest.json b/N033/go2_arm/dr_on/seed_2016/rec/stationring/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..6a01af3b5c2b9e6e3d8d47b85534c9a2b8890f32 --- /dev/null +++ b/N033/go2_arm/dr_on/seed_2016/rec/stationring/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,290 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 03:05:51" + }, + "embodiment": { + "robots": [ + { + "name": "Go2Plus", + "cfg": "Go2PlusCfg", + "type": "mobilemanip", + "joint_names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 12, + "nan_policy": "from_raw", + "segments": [ + { + "name": "Go2Plus.base_action", + "start": 0, + "end": 4, + "names": [ + "base_action_0", + "base_action_1", + "base_action_2", + "base_action_3" + ], + "source": "Go2UnifiedLocomotionAction", + "names_source": "fallback" + }, + { + "name": "Go2Plus.arm_action", + "start": 4, + "end": 11, + "names": [ + "eef0.pos_x", + "eef0.pos_y", + "eef0.pos_z", + "eef0.quat_w", + "eef0.quat_x", + "eef0.quat_y", + "eef0.quat_z" + ], + "source": "Go2PlusCuroboIKAction", + "names_source": "pose_layout" + }, + { + "name": "Go2Plus.eef_action", + "start": 11, + "end": 12, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 26, + "segments": [ + { + "name": "Go2Plus.joint_pos", + "start": 0, + "end": 24, + "names": [ + "joint_0", + "joint_1", + "joint_2", + "joint_3", + "joint_4", + "joint_5", + "joint_6", + "joint_7", + "joint_8", + "joint_9", + "joint_10", + "joint_11", + "joint_12", + "joint_13", + "joint_14", + "joint_15", + "joint_16", + "joint_17", + "joint_18", + "joint_19", + "joint_20", + "joint_21", + "joint_22", + "joint_23" + ], + "source": "ObservationManager", + "names_source": "fallback_dim_mismatch(joint_names=20,obs=24)" + }, + { + "name": "Go2Plus.gripper_pos", + "start": 24, + "end": 26, + "names": [ + "gripper_0", + "gripper_1" + ], + "source": "ObservationManager", + "names_source": "generated" + } + ] + }, + "joint_vel_layout": { + "dim": 20, + "segments": [ + { + "name": "Go2Plus.joint_vel", + "start": 0, + "end": 20, + "names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "action_levels": { + "L0": "task command list (collect.auto_collect_info.current_action)", + "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)", + "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)", + "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy", + "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)" + }, + "cameras": { + "head": { + "intrinsics": { + "K": [ + [ + 607.7061061683956, + 0.0, + 320.0 + ], + [ + 0.0, + 607.3754374751866, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 55.53991912549515, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.33205100893974304, + 0.038026999682188034, + 0.09355899691581726 + ], + "quat": [ + -0.5022302269935608, + -0.499491810798645, + 0.5120040774345398, + 0.4859265089035034 + ] + }, + "wrist": { + "intrinsics": { + "K": [ + [ + 617.2500342478374, + 0.0, + 320.0 + ], + [ + 0.0, + 617.548655622722, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 54.807019583348044, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + -0.0749870017170906, + 0.005288999993354082, + 0.04582099989056587 + ], + "quat": [ + 0.1271296590566635, + 0.701795220375061, + -0.6904057860374451, + -0.12108422070741653 + ] + } + }, + "lerobot": { + "codebase_version": "v2.1", + "video_keys": [ + "observation.images.head", + "observation.images.wrist" + ], + "columns": [ + "action", + "action.applied", + "action.command", + "action_is_hold", + "collect_info", + "episode_index", + "extra.action_info", + "extra.reward", + "frame_index", + "index", + "narration", + "next.done", + "next.truncated", + "observation.eef_pose", + "observation.environment_state", + "observation.images.head", + "observation.images.wrist", + "observation.joint_vel", + "observation.state", + "sim_step_idx", + "task_index", + "timestamp" + ] + }, + "generated_run": { + "run_id": "stationring/000", + "task_type": "RingCommand" + } +} \ No newline at end of file diff --git a/N033/go2_arm/dr_on/seed_2016/rec/stationring/000/lerobot_v21/meta/stats.json b/N033/go2_arm/dr_on/seed_2016/rec/stationring/000/lerobot_v21/meta/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..7fc9723e0d6a60af15489659d89bffef4799c318 --- /dev/null +++ b/N033/go2_arm/dr_on/seed_2016/rec/stationring/000/lerobot_v21/meta/stats.json @@ -0,0 +1,5361 @@ +{ + "action": { + "mean": [ + 0.13609019244982845, + 0.00016128888835832792, + 0.020254982187171616, + 0.3547846929946074, + 0.4750754990242158, + 0.6618587261611198, + 0.7009021416833411, + 0.10565395120009674, + -0.5326450218036877, + 0.806123477439732, + 0.07018539525964988, + 0.4603960396039604 + ], + "std": [ + 0.16279614254531208, + 0.026061869022333123, + 0.25505788310434035, + 0.017392619944391084, + 1.3821213421392025, + 1.6664556229818979, + 0.04606060829863234, + 0.011393205624373865, + 0.19567641786512094, + 0.105770147373801, + 0.02754812265397819, + 0.4984290584636382 + ], + "min": [ + 0.0, + -0.0899999737739563, + -0.800000011920929, + 0.33000001311302185, + -3.06595778465271, + -2.1763150691986084, + 0.6220706701278687, + 0.06426195800304413, + -0.7606063485145569, + 0.6372067928314209, + 0.006118644494563341, + 0.0 + ], + "max": [ + 0.3499999940395355, + 0.25, + 0.800000011920929, + 0.38014376163482666, + 2.0595269203186035, + 2.807760000228882, + 0.8083099722862244, + 0.13388973474502563, + -0.08128396421670914, + 0.9889659881591797, + 0.12123486399650574, + 1.0 + ], + "count": [ + 1414 + ] + }, + "action_is_hold": { + "mean": [ + 0.1768033946251768, + 0.1768033946251768, + 0.1768033946251768, + 0.1768033946251768, + 0.21287128712871287, + 0.21287128712871287, + 0.21287128712871287, + 0.21287128712871287, + 0.21287128712871287, + 0.21287128712871287, + 0.21287128712871287, + 0.954031117397454 + ], + "std": [ + 0.3815022336424647, + 0.3815022336424647, + 0.3815022336424647, + 0.3815022336424647, + 0.40933739414434145, + 0.40933739414434145, + 0.40933739414434145, + 0.40933739414434145, + 0.40933739414434145, + 0.40933739414434145, + 0.40933739414434145, + 0.2094176316235595 + ], + "min": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "max": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "count": [ + 1414 + ] + }, + "observation.state": { + "mean": [ + -0.028233700627553298, + 0.015853852198937323, + -0.04992161624897326, + 0.09226841724965537, + -0.0824038243531755, + 0.6435475205473044, + 0.6835864209892726, + 0.8109528970768968, + 0.7713449564900728, + 1.8656761004698832, + -1.3877988818511262, + -1.3808143714698402, + -1.3898232672811397, + -1.42589972523348, + -1.3244583607563034, + 0.03675246244233862, + 0.8472038780614375, + -0.12282756969388518, + 0.025580019572199107, + -0.025875552179347172, + 0.30851717370257964, + 0.3022235995163493, + 1.146332596888426, + 0.38226016070245855, + -0.025875552179347172, + -0.025580019572199107 + ], + "std": [ + 0.03376511723077896, + 0.03571130863449422, + 0.049823766398699086, + 0.03802937618671835, + 0.07935076082302189, + 0.08955926047728556, + 0.08915970997112653, + 0.09586883404739893, + 0.11380831200646956, + 0.21191157597971916, + 0.1067640338586771, + 0.10202523152233464, + 0.10236940255832494, + 0.11033943653269287, + 0.41481331854737175, + 0.024293439572065714, + 0.19320197171518025, + 0.08243755415991898, + 0.010173727130134877, + 0.009855093505002863, + 1.4395086230737315, + 1.5675191469191823, + 0.46664973106967766, + 0.014185684293852844, + 0.009855093505002863, + 0.010173727130134877 + ], + "min": [ + -0.16858939826488495, + -0.10913286358118057, + -0.23446249961853027, + -0.05974575877189636, + -0.5259646773338318, + 0.4819575548171997, + 0.4342103600502014, + 0.599530816078186, + 0.5796266198158264, + 1.670127511024475, + -1.5481452941894531, + -1.597590446472168, + -1.6252970695495605, + -1.649595022201538, + -2.3104817867279053, + -0.006019114051014185, + 0.52879399061203, + -0.2355368435382843, + 0.014437529258430004, + -0.03500000014901161, + -3.3036446571350098, + -2.464582920074463, + 0.09072072058916092, + 0.35194942355155945, + -0.03500000014901161, + -0.03500000014901161 + ], + "max": [ + 0.16497398912906647, + 0.20780736207962036, + 0.1505996584892273, + 0.211086705327034, + 0.003404006827622652, + 0.8278646469116211, + 0.9027298092842102, + 1.0740485191345215, + 1.0110244750976562, + 2.423283100128174, + -1.0820672512054443, + -1.168467402458191, + -1.1499345302581787, + -1.177737832069397, + -0.9739652872085571, + 0.0805770754814148, + 1.2043007612228394, + 0.009436815977096558, + 0.03500000014901161, + -0.014872947707772255, + 1.8431497812271118, + 2.27266526222229, + 1.9133447408676147, + 0.406333863735199, + -0.014872947707772255, + -0.014437529258430004 + ], + "count": [ + 1414 + ] + }, + "observation.joint_vel": { + "mean": [ + -0.0020330825135801904, + 0.0007215738432006777, + 0.0029890538840071272, + 0.00078177826373931, + 0.0008238998351889793, + -0.004026070251366885, + -0.007655390018102884, + -0.004164231761108888, + -0.008675115438668007, + -0.0037366146096727785, + -0.00016113812721305087, + 0.01101599894919162, + 0.004036356831706146, + 0.009309369471520253, + -0.004031470012811026, + -0.002962389282336393, + 0.011756949498504367, + -0.015098858240276831, + 0.000982652126659111, + 7.249225473045179e-05 + ], + "std": [ + 0.4234969383472639, + 0.38802443401139985, + 0.4869431882359252, + 0.5204820324400145, + 0.1123950656161822, + 1.0849603267796744, + 1.0821675246376858, + 0.8610033311377522, + 0.7066284878835709, + 0.15240217584440705, + 0.6532877557328621, + 1.0238123798747882, + 1.0158409679423204, + 1.0669058275758712, + 0.2649531444936142, + 0.03185903191018767, + 0.13069015831377256, + 0.056545709766166574, + 0.01061385883531263, + 0.010429548555689103 + ], + "min": [ + -3.0645525455474854, + -3.7115368843078613, + -2.8654541969299316, + -2.797637939453125, + -1.1534795761108398, + -4.604048252105713, + -4.768334865570068, + -3.9928650856018066, + -3.5899441242218018, + -0.7979986667633057, + -4.110939979553223, + -6.548891067504883, + -4.341464996337891, + -5.408658027648926, + -2.0413994789123535, + -0.2918855547904968, + -0.6311227679252625, + -0.45829084515571594, + -0.20009426772594452, + -0.2001064419746399 + ], + "max": [ + 3.246659994125366, + 2.6387836933135986, + 4.970480918884277, + 2.670954704284668, + 0.5039128065109253, + 1.8318302631378174, + 2.3779044151306152, + 3.0717098712921143, + 4.109174728393555, + 1.3440725803375244, + 3.3790218830108643, + 4.85136604309082, + 3.588735342025757, + 3.6189229488372803, + 1.3461856842041016, + 0.24473588168621063, + 0.9112910032272339, + 0.3727899491786957, + 0.2000289410352707, + 0.20035013556480408 + ], + "count": [ + 1414 + ] + }, + "observation.eef_pose": { + "mean": [ + 0.47365682992999886, + 0.6597780111710814, + 0.6985730322280733, + 0.1097366396111174, + -0.5334585443181229, + 0.8041825737524909, + 0.07384065961230762 + ], + "std": [ + 1.3818698292949785, + 1.6640109694174834, + 0.042280142349719926, + 0.013963422037995369, + 0.19614827540437255, + 0.1074584925980939, + 0.03164459740261241 + ], + "min": [ + -3.06595778465271, + -2.17633056640625, + 0.6206836700439453, + 0.06705409288406372, + -0.7750564813613892, + 0.6196215152740479, + 0.005983889102935791 + ], + "max": [ + 2.0597009658813477, + 2.807521343231201, + 0.7946987748146057, + 0.1345866322517395, + -0.0820024162530899, + 0.98899245262146, + 0.12193608283996582 + ], + "count": [ + 1414 + ] + }, + "observation.environment_state": { + "mean": [ + -0.3645881712436676, + -0.0780785009264946, + 0.4699999988079071, + 0.9998525381088257, + 0.0, + 0.0, + -0.017172712832689285, + -0.6644112467765808, + -0.06777603924274445, + 0.4699999988079071, + 0.9998525381088257, + 0.0, + 0.0, + -0.017172712832689285, + -0.5108938217163086, + 0.032010793685913086, + 0.4300000071525574, + 0.9998525381088257, + 0.0, + 0.0, + -0.017172712832689285, + 0.6950758287917853, + 1.0077087508755833, + 0.45951677104286964, + 0.977183529899009, + -0.04604481120266074, + 9.221004670398337e-05, + -0.09029302932585483, + -0.6658159908344587, + -0.10865482739587821, + 0.46878600120544434, + 0.9998519420623779, + -4.0383646326124275e-06, + 0.00024381276623338007, + -0.017206020193514342, + 1.9163179397583008, + 2.739678144454956, + 0.5299999713897705, + 0.9999649524688721, + 0.0, + 0.0, + -0.00837220624089241, + 1.9184489250183105, + 2.866960287094116, + 0.48980000615119934, + 0.9536835551261902, + -0.3006952106952667, + 0.002517008688300848, + -0.007982932031154633, + 1.9196659326553345, + 2.939650058746338, + 0.38999998569488525, + 0.9999649524688721, + 0.0, + 0.0, + -0.00837220624089241, + -0.46057993173599243, + 0.040287818759679794, + 0.18000000715255737, + 0.9998525381088257, + 0.0, + 0.0, + -0.017172712832689285, + 1.9184942245483398, + 2.869659900665283, + 0.18000000715255737, + 0.9999649524688721, + 0.0, + 0.0, + -0.00837220624089241 + ], + "std": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.052732252475952, + 1.3618272687798103, + 0.028431004444889663, + 0.046319255952615046, + 0.09667672238288977, + 0.003164618864759562, + 0.15276615365728194, + 2.7455433919262142e-08, + 6.231738270682622e-09, + 0.0, + 0.0, + 2.0163595726745933e-07, + 2.2269599456697707e-07, + 1.21519399756371e-07, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 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": [ + -0.3645881712436676, + -0.0780785009264946, + 0.4699999988079071, + 0.9998525381088257, + 0.0, + 0.0, + -0.017172712832689285, + -0.6644112467765808, + -0.06777603924274445, + 0.4699999988079071, + 0.9998525381088257, + 0.0, + 0.0, + -0.017172712832689285, + -0.5108938217163086, + 0.032010793685913086, + 0.4300000071525574, + 0.9998525381088257, + 0.0, + 0.0, + -0.017172712832689285, + -0.3695567846298218, + -0.592557430267334, + 0.43052974343299866, + 0.7643669843673706, + -0.3766808807849884, + -0.0114641347900033, + -0.6447583436965942, + -0.6658160090446472, + -0.10865484178066254, + 0.46878600120544434, + 0.9998519420623779, + -4.605580670613563e-06, + 0.0002431199245620519, + -0.017206350341439247, + 1.9163179397583008, + 2.739678144454956, + 0.5299999713897705, + 0.9999649524688721, + 0.0, + 0.0, + -0.00837220624089241, + 1.9184489250183105, + 2.866960287094116, + 0.48980000615119934, + 0.9536835551261902, + -0.3006952106952667, + 0.002517008688300848, + -0.007982932031154633, + 1.9196659326553345, + 2.939650058746338, + 0.38999998569488525, + 0.9999649524688721, + 0.0, + 0.0, + -0.00837220624089241, + -0.46057993173599243, + 0.040287818759679794, + 0.18000000715255737, + 0.9998525381088257, + 0.0, + 0.0, + -0.017172712832689285, + 1.9184942245483398, + 2.869659900665283, + 0.18000000715255737, + 0.9999649524688721, + 0.0, + 0.0, + -0.00837220624089241 + ], + "max": [ + -0.3645881712436676, + -0.0780785009264946, + 0.4699999988079071, + 0.9998525381088257, + 0.0, + 0.0, + -0.017172712832689285, + -0.6644112467765808, + -0.06777603924274445, + 0.4699999988079071, + 0.9998525381088257, + 0.0, + 0.0, + -0.017172712832689285, + -0.5108938217163086, + 0.032010793685913086, + 0.4300000071525574, + 0.9998525381088257, + 0.0, + 0.0, + -0.017172712832689285, + 2.0732028484344482, + 2.9046685695648193, + 0.53515625, + 0.9999445080757141, + 0.04092949628829956, + 0.015786975622177124, + -0.005196291487663984, + -0.6658159494400024, + -0.10865481197834015, + 0.46878600120544434, + 0.9998519420623779, + -3.5807856875180732e-06, + 0.0002447380102239549, + -0.017205487936735153, + 1.9163179397583008, + 2.739678144454956, + 0.5299999713897705, + 0.9999649524688721, + 0.0, + 0.0, + -0.00837220624089241, + 1.9184489250183105, + 2.866960287094116, + 0.48980000615119934, + 0.9536835551261902, + -0.3006952106952667, + 0.002517008688300848, + -0.007982932031154633, + 1.9196659326553345, + 2.939650058746338, + 0.38999998569488525, + 0.9999649524688721, + 0.0, + 0.0, + -0.00837220624089241, + -0.46057993173599243, + 0.040287818759679794, + 0.18000000715255737, + 0.9998525381088257, + 0.0, + 0.0, + -0.017172712832689285, + 1.9184942245483398, + 2.869659900665283, + 0.18000000715255737, + 0.9999649524688721, + 0.0, + 0.0, + -0.00837220624089241 + ], + "count": [ + 1414 + ] + }, + "action.command": { + "mean": [ + -1.3124544205153046, + -1.1379859746222334, + 1.282570901700264, + 0.7362538572904226, + 0.0, + 0.0, + 0.6762792352083568, + 0.89937106918239, + 0.21496209330850105, + 0.2849859721282529, + 0.6926060169533578, + 0.10744782478313454, + -0.4923650040312169, + 0.8297306404173749, + 0.0644815916991278, + 0.5384615384615384, + -1.665902541640387, + -1.4326551720662213, + 1.5461690670594828, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.10315645941494041, + -0.28645568926171233, + 0.6818687998302988, + 0.11534098657441919, + -0.35363917329680306, + 0.9109630470698581, + 0.04475136099869898, + 0.0, + -1.6213951553471537, + -1.4161937827270472, + 1.5461690670594828, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.10315645941494041, + -0.28645568926171233, + 0.6818687998302988, + 0.11534098657441919, + -0.35363917329680306, + 0.9109630470698581, + 0.04475136099869898, + 0.0, + -1.5616560151473173, + -1.402174333298744, + 1.5461690670594828, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.10315645941494041, + -0.28645568926171233, + 0.6818687998302988, + 0.11534098657441919, + -0.35363917329680306, + 0.9109630470698581, + 0.04475136099869898, + 0.0, + -1.5167357158697967, + -1.3891626908842178, + 1.5461690670594828, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.10315645941494041, + -0.28645568926171233, + 0.6818687998302988, + 0.11534098657441919, + -0.35363917329680306, + 0.9109630470698581, + 0.04475136099869898, + 0.0, + -1.4575725275658151, + -1.371680079314794, + 1.5461690670594828, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.10315645941494041, + -0.28645568926171233, + 0.6818687998302988, + 0.11534098657441919, + -0.35363917329680306, + 0.9109630470698581, + 0.04475136099869898, + 0.0, + -1.3997328022891775, + -1.3559973945328458, + 1.5461690670594828, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.10315645941494041, + -0.28645568926171233, + 0.6818687998302988, + 0.11534098657441919, + -0.35363917329680306, + 0.9109630470698581, + 0.04475136099869898, + 0.0, + -1.354060385654308, + -1.341253800303161, + 1.5461690670594828, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.10315645941494041, + -0.28645568926171233, + 0.6818687998302988, + 0.11534098657441919, + -0.35363917329680306, + 0.9109630470698581, + 0.04475136099869898, + 0.0, + -1.2866139082791368, + -1.3213141048862997, + 1.5461690670594828, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.10315645941494041, + -0.28645568926171233, + 0.6818687998302988, + 0.11534098657441919, + -0.35363917329680306, + 0.9109630470698581, + 0.04475136099869898, + 0.0, + -1.2571194734059354, + -1.3118680630278996, + 1.5461690670594828, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.10315645941494041, + -0.28645568926171233, + 0.6818687998302988, + 0.11534098657441919, + -0.35363917329680306, + 0.9109630470698581, + 0.04475136099869898, + 0.0, + -1.2273288649705298, + -1.303324276885571, + 1.5461690670594828, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.10315645941494041, + -0.28645568926171233, + 0.6818687998302988, + 0.11534098657441919, + -0.35363917329680306, + 0.9109630470698581, + 0.04475136099869898, + 0.0, + -1.159173878109659, + -1.2823714678802907, + 1.5461690670594828, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.10315645941494041, + -0.28645568926171233, + 0.6818687998302988, + 0.11534098657441919, + -0.35363917329680306, + 0.9109630470698581, + 0.04475136099869898, + 0.0, + -1.0924949058292441, + -1.2591386807280047, + 1.5461690670594828, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.10315645941494041, + -0.28645568926171233, + 0.6818687998302988, + 0.11534098657441919, + -0.35363917329680306, + 0.9109630470698581, + 0.04475136099869898, + 0.0, + -1.0735499893849596, + -1.2274766803529362, + 1.5461690670594828, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.10315645941494041, + -0.28645568926171233, + 0.6818687998302988, + 0.11534098657441919, + -0.35363917329680306, + 0.9109630470698581, + 0.04475136099869898, + 0.0, + -1.0450787172996052, + -1.1972364224319696, + 1.5461690670594828, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.10315645941494041, + -0.28645568926171233, + 0.6818687998302988, + 0.11534098657441919, + -0.35363917329680306, + 0.9109630470698581, + 0.04475136099869898, + 0.0, + -0.9891259510817461, + -1.1506269235355115, + 1.5461690670594828, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.10315645941494041, + -0.28645568926171233, + 0.6818687998302988, + 0.11534098657441919, + -0.35363917329680306, + 0.9109630470698581, + 0.04475136099869898, + 0.0, + -0.9401429321495223, + -1.113818405575552, + 1.5461690670594828, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.10315645941494041, + -0.28645568926171233, + 0.6818687998302988, + 0.11534098657441919, + -0.35363917329680306, + 0.9109630470698581, + 0.04475136099869898, + 0.0, + -0.9154496734286912, + -1.0798361482646195, + 1.5461690670594828, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.10315645941494041, + -0.28645568926171233, + 0.6818687998302988, + 0.11534098657441919, + -0.35363917329680306, + 0.9109630470698581, + 0.04475136099869898, + 0.0, + -0.8924884638092937, + -1.0496528002420442, + 1.5461690670594828, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.10315645941494041, + -0.28645568926171233, + 0.6818687998302988, + 0.11534098657441919, + -0.35363917329680306, + 0.9109630470698581, + 0.04475136099869898, + 0.0, + -0.838152076278467, + -1.0031538301177938, + 1.5461690670594828, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.10315645941494041, + -0.28645568926171233, + 0.6818687998302988, + 0.11534098657441919, + -0.35363917329680306, + 0.9109630470698581, + 0.04475136099869898, + 0.0, + -0.7926610147415386, + -0.9629984785386971, + 1.5461690670594828, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.10315645941494041, + -0.28645568926171233, + 0.6818687998302988, + 0.11534098657441919, + -0.35363917329680306, + 0.9109630470698581, + 0.04475136099869898, + 0.0, + -0.7608014358610239, + -0.9263563535377546, + 1.5461690670594828, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.10315645941494041, + -0.28645568926171233, + 0.6818687998302988, + 0.11534098657441919, + -0.35363917329680306, + 0.9109630470698581, + 0.04475136099869898, + 0.0, + -0.7323323041432382, + -0.898241649171798, + 1.5461690670594828, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.10315645941494041, + -0.28645568926171233, + 0.6818687998302988, + 0.11534098657441919, + -0.35363917329680306, + 0.9109630470698581, + 0.04475136099869898, + 0.0, + -0.6821143705959825, + -0.847618564751874, + 1.5461690670594828, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.10315645941494041, + -0.28645568926171233, + 0.6818687998302988, + 0.11534098657441919, + -0.35363917329680306, + 0.9109630470698581, + 0.04475136099869898, + 0.0, + -0.649903124264944, + -0.819986415995085, + 1.5461690670594828, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.10315645941494041, + -0.28645568926171233, + 0.6818687998302988, + 0.11534098657441919, + -0.35363917329680306, + 0.9109630470698581, + 0.04475136099869898, + 0.0, + -0.6030860180802886, + -0.7684371732812647, + 1.5461690670594828, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.10315645941494041, + -0.28645568926171233, + 0.6818687998302988, + 0.11534098657441919, + -0.35363917329680306, + 0.9109630470698581, + 0.04475136099869898, + 0.0, + -0.5665298012515434, + -0.7379789408730867, + 1.5461690670594828, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.10315645941494041, + -0.28645568926171233, + 0.6818687998302988, + 0.11534098657441919, + -0.35363917329680306, + 0.9109630470698581, + 0.04475136099869898, + 0.0, + -0.52474683486099, + -0.6902377896509126, + 1.5461690670594828, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.10315645941494041, + -0.28645568926171233, + 0.6818687998302988, + 0.11534098657441919, + -0.35363917329680306, + 0.9109630470698581, + 0.04475136099869898, + 0.0, + -0.49888653805244765, + -0.6640044721900767, + 1.5461690670594828, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.10315645941494041, + -0.28645568926171233, + 0.6818687998302988, + 0.11534098657441919, + -0.35363917329680306, + 0.9109630470698581, + 0.04475136099869898, + 0.0, + -0.4466083677337848, + -0.6122052789105227, + 1.5461690670594828, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.10315645941494041, + -0.28645568926171233, + 0.6818687998302988, + 0.11534098657441919, + -0.35363917329680306, + 0.9109630470698581, + 0.04475136099869898, + 0.0, + -0.3997279903380719, + -0.5761496739383805, + 1.5461690670594828, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.10315645941494041, + -0.28645568926171233, + 0.6818687998302988, + 0.11534098657441919, + -0.35363917329680306, + 0.9109630470698581, + 0.04475136099869898, + 0.0, + -0.3683854860614284, + -0.5340794325801855, + 1.5461690670594828, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.10315645941494041, + -0.28645568926171233, + 0.6818687998302988, + 0.11534098657441919, + -0.35363917329680306, + 0.9109630470698581, + 0.04475136099869898, + 0.0, + -0.3526137762269929, + -0.5151028413424039, + 1.5461690670594828, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.10315645941494041, + -0.28645568926171233, + 0.6818687998302988, + 0.11534098657441919, + -0.35363917329680306, + 0.9109630470698581, + 0.04475136099869898, + 0.0, + -0.28994807753926305, + -0.45582446775762697, + 1.5461690670594828, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.10315645941494041, + -0.28645568926171233, + 0.6818687998302988, + 0.11534098657441919, + -0.35363917329680306, + 0.9109630470698581, + 0.04475136099869898, + 0.0, + -0.24205916239351358, + -0.4228761580832082, + 1.5461690670594828, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.10315645941494041, + -0.28645568926171233, + 0.6818687998302988, + 0.11534098657441919, + -0.35363917329680306, + 0.9109630470698581, + 0.04475136099869898, + 0.0, + -0.21150900314606924, + -0.37756693613473585, + 1.5461690670594828, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.10315645941494041, + -0.28645568926171233, + 0.6818687998302988, + 0.11534098657441919, + -0.35363917329680306, + 0.9109630470698581, + 0.04475136099869898, + 0.0, + -0.20176644468010863, + -0.3654702969509558, + 1.5461690670594828, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.10315645941494041, + -0.28645568926171233, + 0.6818687998302988, + 0.11534098657441919, + -0.35363917329680306, + 0.9109630470698581, + 0.04475136099869898, + 0.0, + -0.1332840053697767, + -0.2994161798831649, + 1.5461690670594828, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.10315645941494041, + -0.28645568926171233, + 0.6818687998302988, + 0.11534098657441919, + -0.35363917329680306, + 0.9109630470698581, + 0.04475136099869898, + 0.0, + -0.09734744176523497, + -0.2763513961624395, + 1.5461690670594828, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.10315645941494041, + -0.28645568926171233, + 0.6818687998302988, + 0.11534098657441919, + -0.35363917329680306, + 0.9109630470698581, + 0.04475136099869898, + 0.0, + -0.055075379033481725, + -0.22127359289774443, + 1.5461690670594828, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.10315645941494041, + -0.28645568926171233, + 0.6818687998302988, + 0.11534098657441919, + -0.35363917329680306, + 0.9109630470698581, + 0.04475136099869898, + 0.0, + -0.038926876907585936, + -0.20985269101559653, + 1.5461690670594828, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.10315645941494041, + -0.28645568926171233, + 0.6818687998302988, + 0.11534098657441919, + -0.35363917329680306, + 0.9109630470698581, + 0.04475136099869898, + 0.0, + 0.02329173280885023, + -0.1430518637363499, + 1.5461690670594828, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.10315645941494041, + -0.28645568926171233, + 0.6818687998302988, + 0.11534098657441919, + -0.35363917329680306, + 0.9109630470698581, + 0.04475136099869898, + 0.0, + 0.04782956569784351, + -0.12959432546310068, + 1.5461690670594828, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.10315645941494041, + -0.28645568926171233, + 0.6818687998302988, + 0.11534098657441919, + -0.35363917329680306, + 0.9109630470698581, + 0.04475136099869898, + 0.0, + 0.09078091522026951, + -0.08196066493750731, + 1.5461690670594828, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.10315645941494041, + -0.28645568926171233, + 0.6818687998302988, + 0.11534098657441919, + -0.35363917329680306, + 0.9109630470698581, + 0.04475136099869898, + 0.0, + 0.12390687491623091, + -0.05424391240762144, + 1.5461690670594828, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.10315645941494041, + -0.28645568926171233, + 0.6818687998302988, + 0.11534098657441919, + -0.35363917329680306, + 0.9109630470698581, + 0.04475136099869898, + 0.0, + 0.14346605196340273, + -0.043965286822934546, + 1.5461690670594828, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.10315645941494041, + -0.28645568926171233, + 0.6818687998302988, + 0.11534098657441919, + -0.35363917329680306, + 0.9109630470698581, + 0.04475136099869898, + 0.0, + 0.19292607945194512, + 0.017153972415123165, + 1.5461690670594828, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.10315645941494041, + -0.28645568926171233, + 0.6818687998302988, + 0.11534098657441919, + -0.35363917329680306, + 0.9109630470698581, + 0.04475136099869898, + 0.0, + 0.2216746249058013, + 0.03417723434709279, + 1.5461690670594828, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.10315645941494041, + -0.28645568926171233, + 0.6818687998302988, + 0.11534098657441919, + -0.35363917329680306, + 0.9109630470698581, + 0.04475136099869898, + 0.0, + 0.2867036012246116, + 0.1013065413405328, + 1.5461690670594828, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.10315645941494041, + -0.28645568926171233, + 0.6818687998302988, + 0.11534098657441919, + -0.35363917329680306, + 0.9109630470698581, + 0.04475136099869898, + 0.0, + 0.29993340053232054, + 0.11234474386063928, + 1.5461690670594828, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.10315645941494041, + -0.28645568926171233, + 0.6818687998302988, + 0.11534098657441919, + -0.35363917329680306, + 0.9109630470698581, + 0.04475136099869898, + 0.0, + 0.33779094341568777, + 0.1638008617501978, + 1.5461690670594828, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.10315645941494041, + -0.28645568926171233, + 0.6818687998302988, + 0.11534098657441919, + -0.35363917329680306, + 0.9109630470698581, + 0.04475136099869898, + 0.0, + 0.37837248734701107, + 0.19060235372042025, + 1.5461690670594828, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.10315645941494041, + -0.28645568926171233, + 0.6818687998302988, + 0.11534098657441919, + -0.35363917329680306, + 0.9109630470698581, + 0.04475136099869898, + 0.0, + 0.448582326272042, + 0.256398834485103, + 1.5461690670594828, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.10315645941494041, + -0.28645568926171233, + 0.6818687998302988, + 0.11534098657441919, + -0.35363917329680306, + 0.9109630470698581, + 0.04475136099869898, + 0.0, + 0.4568116008586498, + 0.26885988534331134, + 1.5461690670594828, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.10315645941494041, + -0.28645568926171233, + 0.6818687998302988, + 0.11534098657441919, + -0.35363917329680306, + 0.9109630470698581, + 0.04475136099869898, + 0.0, + 0.4841643736855609, + 0.311200580181638, + 1.5461690670594828, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.10315645941494041, + -0.28645568926171233, + 0.6818687998302988, + 0.11534098657441919, + -0.35363917329680306, + 0.9109630470698581, + 0.04475136099869898, + 0.0, + 0.535023042796003, + 0.3470039263854316, + 1.5461690670594828, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.10315645941494041, + -0.28645568926171233, + 0.6818687998302988, + 0.11534098657441919, + -0.35363917329680306, + 0.9109630470698581, + 0.04475136099869898, + 0.0, + 0.5932495697846123, + 0.4029013721234691, + 1.5461690670594828, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.10315645941494041, + -0.28645568926171233, + 0.6818687998302988, + 0.11534098657441919, + -0.35363917329680306, + 0.9109630470698581, + 0.04475136099869898, + 0.0, + 0.6132316157384016, + 0.42514644755545894, + 1.5461690670594828, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.10315645941494041, + -0.28645568926171233, + 0.6818687998302988, + 0.11534098657441919, + -0.35363917329680306, + 0.9109630470698581, + 0.04475136099869898, + 0.0, + 0.6470037073962981, + 0.4668180464215078, + 1.5461690670594828, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.10315645941494041, + -0.28645568926171233, + 0.6818687998302988, + 0.11534098657441919, + -0.35363917329680306, + 0.9109630470698581, + 0.04475136099869898, + 0.0, + 0.6916917664452251, + 0.5034145101974392, + 1.5461690670594828, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.10315645941494041, + -0.28645568926171233, + 0.6818687998302988, + 0.11534098657441919, + -0.35363917329680306, + 0.9109630470698581, + 0.04475136099869898, + 0.0, + 0.7382600457634934, + 0.5495910333066855, + 1.5461690670594828, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.10315645941494041, + -0.28645568926171233, + 0.6818687998302988, + 0.11534098657441919, + -0.35363917329680306, + 0.9109630470698581, + 0.04475136099869898, + 0.0, + 0.7702773807579029, + 0.5817968109347401, + 1.5461690670594828, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.10315645941494041, + -0.28645568926171233, + 0.6818687998302988, + 0.11534098657441919, + -0.35363917329680306, + 0.9109630470698581, + 0.04475136099869898, + 0.0, + 0.8111096457411675, + 0.6234051248704664, + 1.5461690670594828, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.10315645941494041, + -0.28645568926171233, + 0.6818687998302988, + 0.11534098657441919, + -0.35363917329680306, + 0.9109630470698581, + 0.04475136099869898, + 0.0, + 0.82967719060266, + 0.6952828569323242, + 1.5461690670594828, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.10315645941494041, + -0.28645568926171233, + 0.6818687998302988, + 0.11534098657441919, + -0.35363917329680306, + 0.9109630470698581, + 0.04475136099869898, + 0.0, + 1.8560059070587158, + 2.0533037185668945, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.9481581234596145, + 0.6854311085502867, + 0.6888777531368632, + 0.11314544929584987, + -0.43072412696102974, + 0.8762971090598846, + 0.055095729416787205, + 0.0, + 1.889037847518921, + 2.105088472366333, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.9481581234596145, + 0.6854311085502867, + 0.6888777531368632, + 0.11314544929584987, + -0.43072412696102974, + 0.8762971090598846, + 0.055095729416787205, + 0.0, + 1.8842862844467163, + 2.1760709285736084, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.9481581234596145, + 0.6854311085502867, + 0.6888777531368632, + 0.11314544929584987, + -0.43072412696102974, + 0.8762971090598846, + 0.055095729416787205, + 0.0 + ], + "std": [ + 1.538861578732747, + 1.1645026324892598, + 0.49152424854379695, + 0.01683775068348512, + 0.0, + 0.0, + 0.0171196193969128, + 1.3259215242099869, + 1.3687668536641606, + 1.5690253452819083, + 0.03673936858803982, + 0.012122504211988582, + 0.2023619440854536, + 0.10736801135419369, + 0.028203297342409252, + 0.4985185152621432, + 1.4167480684077818, + 0.9002048152364723, + 0.008755801822441496, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4303014676582786, + 1.35002272040695, + 0.009027150512183654, + 0.007753153370027379, + 0.1585858502941643, + 0.06452619335919366, + 0.020146015994789847, + 0.0, + 1.400942978256368, + 0.8871367653072317, + 0.008755801822441496, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4303014676582786, + 1.35002272040695, + 0.009027150512183654, + 0.007753153370027379, + 0.1585858502941643, + 0.06452619335919366, + 0.020146015994789847, + 0.0, + 1.4269206518215682, + 0.8858751051388638, + 0.008755801822441496, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4303014676582786, + 1.35002272040695, + 0.009027150512183654, + 0.007753153370027379, + 0.1585858502941643, + 0.06452619335919366, + 0.020146015994789847, + 0.0, + 1.4320211337226596, + 0.8799476794829749, + 0.008755801822441496, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4303014676582786, + 1.35002272040695, + 0.009027150512183654, + 0.007753153370027379, + 0.1585858502941643, + 0.06452619335919366, + 0.020146015994789847, + 0.0, + 1.4367206889153912, + 0.8714447372878414, + 0.008755801822441496, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4303014676582786, + 1.35002272040695, + 0.009027150512183654, + 0.007753153370027379, + 0.1585858502941643, + 0.06452619335919366, + 0.020146015994789847, + 0.0, + 1.44954810946041, + 0.8659719610075823, + 0.008755801822441496, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4303014676582786, + 1.35002272040695, + 0.009027150512183654, + 0.007753153370027379, + 0.1585858502941643, + 0.06452619335919366, + 0.020146015994789847, + 0.0, + 1.4458860705006187, + 0.8568932303796456, + 0.008755801822441496, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4303014676582786, + 1.35002272040695, + 0.009027150512183654, + 0.007753153370027379, + 0.1585858502941643, + 0.06452619335919366, + 0.020146015994789847, + 0.0, + 1.4511883347399825, + 0.8471807945785902, + 0.008755801822441496, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4303014676582786, + 1.35002272040695, + 0.009027150512183654, + 0.007753153370027379, + 0.1585858502941643, + 0.06452619335919366, + 0.020146015994789847, + 0.0, + 1.4492624252833826, + 0.8414693562752181, + 0.008755801822441496, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4303014676582786, + 1.35002272040695, + 0.009027150512183654, + 0.007753153370027379, + 0.1585858502941643, + 0.06452619335919366, + 0.020146015994789847, + 0.0, + 1.4531441195571038, + 0.837710518331537, + 0.008755801822441496, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4303014676582786, + 1.35002272040695, + 0.009027150512183654, + 0.007753153370027379, + 0.1585858502941643, + 0.06452619335919366, + 0.020146015994789847, + 0.0, + 1.453806119903316, + 0.8262761117288695, + 0.008755801822441496, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4303014676582786, + 1.35002272040695, + 0.009027150512183654, + 0.007753153370027379, + 0.1585858502941643, + 0.06452619335919366, + 0.020146015994789847, + 0.0, + 1.4384778425065348, + 0.8095785139385191, + 0.008755801822441496, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4303014676582786, + 1.35002272040695, + 0.009027150512183654, + 0.007753153370027379, + 0.1585858502941643, + 0.06452619335919366, + 0.020146015994789847, + 0.0, + 1.4472058641524754, + 0.8339363564601329, + 0.008755801822441496, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4303014676582786, + 1.35002272040695, + 0.009027150512183654, + 0.007753153370027379, + 0.1585858502941643, + 0.06452619335919366, + 0.020146015994789847, + 0.0, + 1.466067774071748, + 0.8577890725289921, + 0.008755801822441496, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4303014676582786, + 1.35002272040695, + 0.009027150512183654, + 0.007753153370027379, + 0.1585858502941643, + 0.06452619335919366, + 0.020146015994789847, + 0.0, + 1.43910722022619, + 0.8611632265349023, + 0.008755801822441496, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4303014676582786, + 1.35002272040695, + 0.009027150512183654, + 0.007753153370027379, + 0.1585858502941643, + 0.06452619335919366, + 0.020146015994789847, + 0.0, + 1.4079872277696555, + 0.8567667857459518, + 0.008755801822441496, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4303014676582786, + 1.35002272040695, + 0.009027150512183654, + 0.007753153370027379, + 0.1585858502941643, + 0.06452619335919366, + 0.020146015994789847, + 0.0, + 1.421328025828139, + 0.882932747997409, + 0.008755801822441496, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4303014676582786, + 1.35002272040695, + 0.009027150512183654, + 0.007753153370027379, + 0.1585858502941643, + 0.06452619335919366, + 0.020146015994789847, + 0.0, + 1.4310697608604173, + 0.9046593431962829, + 0.008755801822441496, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4303014676582786, + 1.35002272040695, + 0.009027150512183654, + 0.007753153370027379, + 0.1585858502941643, + 0.06452619335919366, + 0.020146015994789847, + 0.0, + 1.4072138584816603, + 0.9102100210491041, + 0.008755801822441496, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4303014676582786, + 1.35002272040695, + 0.009027150512183654, + 0.007753153370027379, + 0.1585858502941643, + 0.06452619335919366, + 0.020146015994789847, + 0.0, + 1.3895481856370426, + 0.9171125020009647, + 0.008755801822441496, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4303014676582786, + 1.35002272040695, + 0.009027150512183654, + 0.007753153370027379, + 0.1585858502941643, + 0.06452619335919366, + 0.020146015994789847, + 0.0, + 1.3932075958911527, + 0.937620974622041, + 0.008755801822441496, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4303014676582786, + 1.35002272040695, + 0.009027150512183654, + 0.007753153370027379, + 0.1585858502941643, + 0.06452619335919366, + 0.020146015994789847, + 0.0, + 1.3877688019766903, + 0.9474322490158383, + 0.008755801822441496, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4303014676582786, + 1.35002272040695, + 0.009027150512183654, + 0.007753153370027379, + 0.1585858502941643, + 0.06452619335919366, + 0.020146015994789847, + 0.0, + 1.3801138628219405, + 0.966634407743261, + 0.008755801822441496, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4303014676582786, + 1.35002272040695, + 0.009027150512183654, + 0.007753153370027379, + 0.1585858502941643, + 0.06452619335919366, + 0.020146015994789847, + 0.0, + 1.3660978634611105, + 0.9700481229360903, + 0.008755801822441496, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4303014676582786, + 1.35002272040695, + 0.009027150512183654, + 0.007753153370027379, + 0.1585858502941643, + 0.06452619335919366, + 0.020146015994789847, + 0.0, + 1.3671553033936175, + 0.9959612829879347, + 0.008755801822441496, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4303014676582786, + 1.35002272040695, + 0.009027150512183654, + 0.007753153370027379, + 0.1585858502941643, + 0.06452619335919366, + 0.020146015994789847, + 0.0, + 1.3495528825059502, + 0.9981774652783244, + 0.008755801822441496, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4303014676582786, + 1.35002272040695, + 0.009027150512183654, + 0.007753153370027379, + 0.1585858502941643, + 0.06452619335919366, + 0.020146015994789847, + 0.0, + 1.3537613310095618, + 1.0244962147955181, + 0.008755801822441496, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4303014676582786, + 1.35002272040695, + 0.009027150512183654, + 0.007753153370027379, + 0.1585858502941643, + 0.06452619335919366, + 0.020146015994789847, + 0.0, + 1.3501287005788372, + 1.0346870268660624, + 0.008755801822441496, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4303014676582786, + 1.35002272040695, + 0.009027150512183654, + 0.007753153370027379, + 0.1585858502941643, + 0.06452619335919366, + 0.020146015994789847, + 0.0, + 1.3404646670484919, + 1.053019675887401, + 0.008755801822441496, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4303014676582786, + 1.35002272040695, + 0.009027150512183654, + 0.007753153370027379, + 0.1585858502941643, + 0.06452619335919366, + 0.020146015994789847, + 0.0, + 1.312237043717743, + 1.0503337944645255, + 0.008755801822441496, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4303014676582786, + 1.35002272040695, + 0.009027150512183654, + 0.007753153370027379, + 0.1585858502941643, + 0.06452619335919366, + 0.020146015994789847, + 0.0, + 1.3271707003358295, + 1.0815905907670167, + 0.008755801822441496, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4303014676582786, + 1.35002272040695, + 0.009027150512183654, + 0.007753153370027379, + 0.1585858502941643, + 0.06452619335919366, + 0.020146015994789847, + 0.0, + 1.3305579404424808, + 1.0932836664551016, + 0.008755801822441496, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4303014676582786, + 1.35002272040695, + 0.009027150512183654, + 0.007753153370027379, + 0.1585858502941643, + 0.06452619335919366, + 0.020146015994789847, + 0.0, + 1.3136799826905532, + 1.1100831372426458, + 0.008755801822441496, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4303014676582786, + 1.35002272040695, + 0.009027150512183654, + 0.007753153370027379, + 0.1585858502941643, + 0.06452619335919366, + 0.020146015994789847, + 0.0, + 1.2775381879579064, + 1.1001953802957019, + 0.008755801822441496, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4303014676582786, + 1.35002272040695, + 0.009027150512183654, + 0.007753153370027379, + 0.1585858502941643, + 0.06452619335919366, + 0.020146015994789847, + 0.0, + 1.3001906581296052, + 1.1385779956454745, + 0.008755801822441496, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4303014676582786, + 1.35002272040695, + 0.009027150512183654, + 0.007753153370027379, + 0.1585858502941643, + 0.06452619335919366, + 0.020146015994789847, + 0.0, + 1.3029874379577902, + 1.1464898254800773, + 0.008755801822441496, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4303014676582786, + 1.35002272040695, + 0.009027150512183654, + 0.007753153370027379, + 0.1585858502941643, + 0.06452619335919366, + 0.020146015994789847, + 0.0, + 1.2869390767489115, + 1.1671915329778078, + 0.008755801822441496, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4303014676582786, + 1.35002272040695, + 0.009027150512183654, + 0.007753153370027379, + 0.1585858502941643, + 0.06452619335919366, + 0.020146015994789847, + 0.0, + 1.2566936744955381, + 1.156717198604472, + 0.008755801822441496, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4303014676582786, + 1.35002272040695, + 0.009027150512183654, + 0.007753153370027379, + 0.1585858502941643, + 0.06452619335919366, + 0.020146015994789847, + 0.0, + 1.273705605464606, + 1.1958141401783928, + 0.008755801822441496, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4303014676582786, + 1.35002272040695, + 0.009027150512183654, + 0.007753153370027379, + 0.1585858502941643, + 0.06452619335919366, + 0.020146015994789847, + 0.0, + 1.262102576376925, + 1.1930511796955066, + 0.008755801822441496, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4303014676582786, + 1.35002272040695, + 0.009027150512183654, + 0.007753153370027379, + 0.1585858502941643, + 0.06452619335919366, + 0.020146015994789847, + 0.0, + 1.2602963091528483, + 1.2243490127057832, + 0.008755801822441496, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4303014676582786, + 1.35002272040695, + 0.009027150512183654, + 0.007753153370027379, + 0.1585858502941643, + 0.06452619335919366, + 0.020146015994789847, + 0.0, + 1.23533271206511, + 1.212981296310781, + 0.008755801822441496, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4303014676582786, + 1.35002272040695, + 0.009027150512183654, + 0.007753153370027379, + 0.1585858502941643, + 0.06452619335919366, + 0.020146015994789847, + 0.0, + 1.2369444810035906, + 1.237382087326141, + 0.008755801822441496, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4303014676582786, + 1.35002272040695, + 0.009027150512183654, + 0.007753153370027379, + 0.1585858502941643, + 0.06452619335919366, + 0.020146015994789847, + 0.0, + 1.2212131205817518, + 1.23960479784687, + 0.008755801822441496, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4303014676582786, + 1.35002272040695, + 0.009027150512183654, + 0.007753153370027379, + 0.1585858502941643, + 0.06452619335919366, + 0.020146015994789847, + 0.0, + 1.2004708654377665, + 1.2297186414648975, + 0.008755801822441496, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4303014676582786, + 1.35002272040695, + 0.009027150512183654, + 0.007753153370027379, + 0.1585858502941643, + 0.06452619335919366, + 0.020146015994789847, + 0.0, + 1.2141205428979935, + 1.2693479783765143, + 0.008755801822441496, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4303014676582786, + 1.35002272040695, + 0.009027150512183654, + 0.007753153370027379, + 0.1585858502941643, + 0.06452619335919366, + 0.020146015994789847, + 0.0, + 1.187237453433658, + 1.2583411893853116, + 0.008755801822441496, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4303014676582786, + 1.35002272040695, + 0.009027150512183654, + 0.007753153370027379, + 0.1585858502941643, + 0.06452619335919366, + 0.020146015994789847, + 0.0, + 1.1802899936417242, + 1.2861057751943095, + 0.008755801822441496, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4303014676582786, + 1.35002272040695, + 0.009027150512183654, + 0.007753153370027379, + 0.1585858502941643, + 0.06452619335919366, + 0.020146015994789847, + 0.0, + 1.1739484366163793, + 1.2869359941793208, + 0.008755801822441496, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4303014676582786, + 1.35002272040695, + 0.009027150512183654, + 0.007753153370027379, + 0.1585858502941643, + 0.06452619335919366, + 0.020146015994789847, + 0.0, + 1.1931922961749128, + 1.3258692038834243, + 0.008755801822441496, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4303014676582786, + 1.35002272040695, + 0.009027150512183654, + 0.007753153370027379, + 0.1585858502941643, + 0.06452619335919366, + 0.020146015994789847, + 0.0, + 1.160459230615825, + 1.3154310304226817, + 0.008755801822441496, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4303014676582786, + 1.35002272040695, + 0.009027150512183654, + 0.007753153370027379, + 0.1585858502941643, + 0.06452619335919366, + 0.020146015994789847, + 0.0, + 1.140386070915155, + 1.3331155543659803, + 0.008755801822441496, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4303014676582786, + 1.35002272040695, + 0.009027150512183654, + 0.007753153370027379, + 0.1585858502941643, + 0.06452619335919366, + 0.020146015994789847, + 0.0, + 1.1469699949751442, + 1.3439258888255066, + 0.008755801822441496, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4303014676582786, + 1.35002272040695, + 0.009027150512183654, + 0.007753153370027379, + 0.1585858502941643, + 0.06452619335919366, + 0.020146015994789847, + 0.0, + 1.1705889099960287, + 1.3815543416670744, + 0.008755801822441496, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4303014676582786, + 1.35002272040695, + 0.009027150512183654, + 0.007753153370027379, + 0.1585858502941643, + 0.06452619335919366, + 0.020146015994789847, + 0.0, + 1.1337335300415239, + 1.3725470140214713, + 0.008755801822441496, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4303014676582786, + 1.35002272040695, + 0.009027150512183654, + 0.007753153370027379, + 0.1585858502941643, + 0.06452619335919366, + 0.020146015994789847, + 0.0, + 1.1195909378465327, + 1.3896619146711686, + 0.008755801822441496, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4303014676582786, + 1.35002272040695, + 0.009027150512183654, + 0.007753153370027379, + 0.1585858502941643, + 0.06452619335919366, + 0.020146015994789847, + 0.0, + 1.1205001180374008, + 1.4011695619418727, + 0.008755801822441496, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4303014676582786, + 1.35002272040695, + 0.009027150512183654, + 0.007753153370027379, + 0.1585858502941643, + 0.06452619335919366, + 0.020146015994789847, + 0.0, + 1.129704374456169, + 1.428115784802793, + 0.008755801822441496, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4303014676582786, + 1.35002272040695, + 0.009027150512183654, + 0.007753153370027379, + 0.1585858502941643, + 0.06452619335919366, + 0.020146015994789847, + 0.0, + 1.1069875260040212, + 1.429652860708693, + 0.008755801822441496, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4303014676582786, + 1.35002272040695, + 0.009027150512183654, + 0.007753153370027379, + 0.1585858502941643, + 0.06452619335919366, + 0.020146015994789847, + 0.0, + 1.098444777164949, + 1.446047507115762, + 0.008755801822441496, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4303014676582786, + 1.35002272040695, + 0.009027150512183654, + 0.007753153370027379, + 0.1585858502941643, + 0.06452619335919366, + 0.020146015994789847, + 0.0, + 1.0934326523789748, + 1.4581615313945135, + 0.008755801822441496, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4303014676582786, + 1.35002272040695, + 0.009027150512183654, + 0.007753153370027379, + 0.1585858502941643, + 0.06452619335919366, + 0.020146015994789847, + 0.0, + 1.088049018676272, + 1.4745966661676702, + 0.008755801822441496, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4303014676582786, + 1.35002272040695, + 0.009027150512183654, + 0.007753153370027379, + 0.1585858502941643, + 0.06452619335919366, + 0.020146015994789847, + 0.0, + 1.1015087624251072, + 1.4482137532606913, + 0.008755801822441496, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4303014676582786, + 1.35002272040695, + 0.009027150512183654, + 0.007753153370027379, + 0.1585858502941643, + 0.06452619335919366, + 0.020146015994789847, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.7171957222537845, + 1.0030170382587018, + 0.00459651315930235, + 0.008844489318938742, + 0.16242468851045516, + 0.06218235311205701, + 0.02038507548424197, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.7171957222537845, + 1.0030170382587018, + 0.00459651315930235, + 0.008844489318938742, + 0.16242468851045516, + 0.06218235311205701, + 0.02038507548424197, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.7171957222537845, + 1.0030170382587018, + 0.00459651315930235, + 0.008844489318938742, + 0.16242468851045516, + 0.06218235311205701, + 0.02038507548424197, + 0.0 + ], + "min": [ + -3.303647518157959, + -2.464446544647217, + 0.33000001311302185, + 0.6422280669212341, + -0.0, + -0.0, + 0.6655760407447815, + -1.0, + -3.06595778465271, + -2.1763150691986084, + 0.6220706701278687, + 0.06426195800304413, + -0.7606063485145569, + 0.6372067928314209, + 0.006118644494563341, + 0.0, + -3.2388367652893066, + -2.432101011276245, + 1.5364480018615723, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.06595778465271, + -2.1763150691986084, + 0.6523398160934448, + 0.0940961092710495, + -0.689705491065979, + 0.7122385501861572, + 0.006118644494563341, + 0.0, + -3.1767818927764893, + -2.4011309146881104, + 1.5364480018615723, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.06595778465271, + -2.1763150691986084, + 0.6523398160934448, + 0.0940961092710495, + -0.689705491065979, + 0.7122385501861572, + 0.006118644494563341, + 0.0, + -3.1458842754364014, + -2.3857107162475586, + 1.5364480018615723, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.06595778465271, + -2.1763150691986084, + 0.6523398160934448, + 0.0940961092710495, + -0.689705491065979, + 0.7122385501861572, + 0.006118644494563341, + 0.0, + -3.1066267490386963, + -2.3661181926727295, + 1.5364480018615723, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.06595778465271, + -2.1763150691986084, + 0.6523398160934448, + 0.0940961092710495, + -0.689705491065979, + 0.7122385501861572, + 0.006118644494563341, + 0.0, + -3.0526812076568604, + -2.3391952514648438, + 1.5364480018615723, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.06595778465271, + -2.1763150691986084, + 0.6523398160934448, + 0.0940961092710495, + -0.689705491065979, + 0.7122385501861572, + 0.006118644494563341, + 0.0, + -3.0090830326080322, + -2.317436456680298, + 1.5364480018615723, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.06595778465271, + -2.1763150691986084, + 0.6523398160934448, + 0.0940961092710495, + -0.689705491065979, + 0.7122385501861572, + 0.006118644494563341, + 0.0, + -2.9593448638916016, + -2.2926132678985596, + 1.5364480018615723, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.06595778465271, + -2.1763150691986084, + 0.6523398160934448, + 0.0940961092710495, + -0.689705491065979, + 0.7122385501861572, + 0.006118644494563341, + 0.0, + -2.897785186767578, + -2.261890411376953, + 1.5364480018615723, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.06595778465271, + -2.1763150691986084, + 0.6523398160934448, + 0.0940961092710495, + -0.689705491065979, + 0.7122385501861572, + 0.006118644494563341, + 0.0, + -2.86615252494812, + -2.246103286743164, + 1.5364480018615723, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.06595778465271, + -2.1763150691986084, + 0.6523398160934448, + 0.0940961092710495, + -0.689705491065979, + 0.7122385501861572, + 0.006118644494563341, + 0.0, + -2.8406715393066406, + -2.233386278152466, + 1.5364480018615723, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.06595778465271, + -2.1763150691986084, + 0.6523398160934448, + 0.0940961092710495, + -0.689705491065979, + 0.7122385501861572, + 0.006118644494563341, + 0.0, + -2.773251533508301, + -2.1997385025024414, + 1.5364480018615723, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.06595778465271, + -2.1763150691986084, + 0.6523398160934448, + 0.0940961092710495, + -0.689705491065979, + 0.7122385501861572, + 0.006118644494563341, + 0.0, + -2.689554452896118, + -2.1579673290252686, + 1.5364480018615723, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.06595778465271, + -2.1763150691986084, + 0.6523398160934448, + 0.0940961092710495, + -0.689705491065979, + 0.7122385501861572, + 0.006118644494563341, + 0.0, + -2.680299758911133, + -2.153348445892334, + 1.5364480018615723, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.06595778465271, + -2.1763150691986084, + 0.6523398160934448, + 0.0940961092710495, + -0.689705491065979, + 0.7122385501861572, + 0.006118644494563341, + 0.0, + -2.672769784927368, + -2.149590492248535, + 1.5364480018615723, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.06595778465271, + -2.1763150691986084, + 0.6523398160934448, + 0.0940961092710495, + -0.689705491065979, + 0.7122385501861572, + 0.006118644494563341, + 0.0, + -2.5868842601776123, + -2.106727123260498, + 1.5364480018615723, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.06595778465271, + -2.1763150691986084, + 0.6523398160934448, + 0.0940961092710495, + -0.689705491065979, + 0.7122385501861572, + 0.006118644494563341, + 0.0, + -2.5033504962921143, + -2.065037488937378, + 1.5364480018615723, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.06595778465271, + -2.1763150691986084, + 0.6523398160934448, + 0.0940961092710495, + -0.689705491065979, + 0.7122385501861572, + 0.006118644494563341, + 0.0, + -2.493468761444092, + -2.060105800628662, + 1.5364480018615723, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.06595778465271, + -2.1763150691986084, + 0.6523398160934448, + 0.0940961092710495, + -0.689705491065979, + 0.7122385501861572, + 0.006118644494563341, + 0.0, + -2.4813232421875, + -2.054044246673584, + 1.5364480018615723, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.06595778465271, + -2.1763150691986084, + 0.6523398160934448, + 0.0940961092710495, + -0.689705491065979, + 0.7122385501861572, + 0.006118644494563341, + 0.0, + -2.400501012802124, + -2.0137078762054443, + 1.5364480018615723, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.06595778465271, + -2.1763150691986084, + 0.6523398160934448, + 0.0940961092710495, + -0.689705491065979, + 0.7122385501861572, + 0.006118644494563341, + 0.0, + -2.3353967666625977, + -1.9812159538269043, + 1.5364480018615723, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.06595778465271, + -2.1763150691986084, + 0.6523398160934448, + 0.0940961092710495, + -0.689705491065979, + 0.7122385501861572, + 0.006118644494563341, + 0.0, + -2.3076000213623047, + -1.9673432111740112, + 1.5364480018615723, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.06595778465271, + -2.1763150691986084, + 0.6523398160934448, + 0.0940961092710495, + -0.689705491065979, + 0.7122385501861572, + 0.006118644494563341, + 0.0, + -2.27309250831604, + -1.9501214027404785, + 1.5364480018615723, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.06595778465271, + -2.1763150691986084, + 0.6523398160934448, + 0.0940961092710495, + -0.689705491065979, + 0.7122385501861572, + 0.006118644494563341, + 0.0, + -2.2143757343292236, + -1.9208173751831055, + 1.5364480018615723, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.06595778465271, + -2.1763150691986084, + 0.6523398160934448, + 0.0940961092710495, + -0.689705491065979, + 0.7122385501861572, + 0.006118644494563341, + 0.0, + -2.1666033267974854, + -1.8969752788543701, + 1.5364480018615723, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.06595778465271, + -2.1763150691986084, + 0.6523398160934448, + 0.0940961092710495, + -0.689705491065979, + 0.7122385501861572, + 0.006118644494563341, + 0.0, + -2.120960235595703, + -1.87419593334198, + 1.5364480018615723, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.06595778465271, + -2.1763150691986084, + 0.6523398160934448, + 0.0940961092710495, + -0.689705491065979, + 0.7122385501861572, + 0.006118644494563341, + 0.0, + -2.0648610591888428, + -1.8461982011795044, + 1.5364480018615723, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.06595778465271, + -2.1763150691986084, + 0.6523398160934448, + 0.0940961092710495, + -0.689705491065979, + 0.7122385501861572, + 0.006118644494563341, + 0.0, + -2.0277504920959473, + -1.8276772499084473, + 1.5364480018615723, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.06595778465271, + -2.1763150691986084, + 0.6523398160934448, + 0.0940961092710495, + -0.689705491065979, + 0.7122385501861572, + 0.006118644494563341, + 0.0, + -1.9978570938110352, + -1.812758207321167, + 1.5364480018615723, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.06595778465271, + -2.1763150691986084, + 0.6523398160934448, + 0.0940961092710495, + -0.689705491065979, + 0.7122385501861572, + 0.006118644494563341, + 0.0, + -1.934849500656128, + -1.7813127040863037, + 1.5364480018615723, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.06595778465271, + -2.1763150691986084, + 0.6523398160934448, + 0.0940961092710495, + -0.689705491065979, + 0.7122385501861572, + 0.006118644494563341, + 0.0, + -1.8566296100616455, + -1.7422751188278198, + 1.5364480018615723, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.06595778465271, + -2.1763150691986084, + 0.6523398160934448, + 0.0940961092710495, + -0.689705491065979, + 0.7122385501861572, + 0.006118644494563341, + 0.0, + -1.8418670892715454, + -1.7349075078964233, + 1.5364480018615723, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.06595778465271, + -2.1763150691986084, + 0.6523398160934448, + 0.0940961092710495, + -0.689705491065979, + 0.7122385501861572, + 0.006118644494563341, + 0.0, + -1.829856038093567, + -1.7289130687713623, + 1.5364480018615723, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.06595778465271, + -2.1763150691986084, + 0.6523398160934448, + 0.0940961092710495, + -0.689705491065979, + 0.7122385501861572, + 0.006118644494563341, + 0.0, + -1.7484517097473145, + -1.6882861852645874, + 1.5364480018615723, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.06595778465271, + -2.1763150691986084, + 0.6523398160934448, + 0.0940961092710495, + -0.689705491065979, + 0.7122385501861572, + 0.006118644494563341, + 0.0, + -1.6604366302490234, + -1.644360065460205, + 1.5364480018615723, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.06595778465271, + -2.1763150691986084, + 0.6523398160934448, + 0.0940961092710495, + -0.689705491065979, + 0.7122385501861572, + 0.006118644494563341, + 0.0, + -1.655036211013794, + -1.6416648626327515, + 1.5364480018615723, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.06595778465271, + -2.1763150691986084, + 0.6523398160934448, + 0.0940961092710495, + -0.689705491065979, + 0.7122385501861572, + 0.006118644494563341, + 0.0, + -1.648398756980896, + -1.6383522748947144, + 1.5364480018615723, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.06595778465271, + -2.1763150691986084, + 0.6523398160934448, + 0.0940961092710495, + -0.689705491065979, + 0.7122385501861572, + 0.006118644494563341, + 0.0, + -1.562098741531372, + -1.5952820777893066, + 1.5364480018615723, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.06595778465271, + -2.1763150691986084, + 0.6523398160934448, + 0.0940961092710495, + -0.689705491065979, + 0.7122385501861572, + 0.006118644494563341, + 0.0, + -1.4925824403762817, + -1.5605882406234741, + 1.5364480018615723, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.06595778465271, + -2.1763150691986084, + 0.6523398160934448, + 0.0940961092710495, + -0.689705491065979, + 0.7122385501861572, + 0.006118644494563341, + 0.0, + -1.4691977500915527, + -1.548917531967163, + 1.5364480018615723, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.06595778465271, + -2.1763150691986084, + 0.6523398160934448, + 0.0940961092710495, + -0.689705491065979, + 0.7122385501861572, + 0.006118644494563341, + 0.0, + -1.4401670694351196, + -1.5344290733337402, + 1.5364480018615723, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.06595778465271, + -2.1763150691986084, + 0.6523398160934448, + 0.0940961092710495, + -0.689705491065979, + 0.7122385501861572, + 0.006118644494563341, + 0.0, + -1.3759430646896362, + -1.5023764371871948, + 1.5364480018615723, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.06595778465271, + -2.1763150691986084, + 0.6523398160934448, + 0.0940961092710495, + -0.689705491065979, + 0.7122385501861572, + 0.006118644494563341, + 0.0, + -1.323689579963684, + -1.4762979745864868, + 1.5364480018615723, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.06595778465271, + -2.1763150691986084, + 0.6523398160934448, + 0.0940961092710495, + -0.689705491065979, + 0.7122385501861572, + 0.006118644494563341, + 0.0, + -1.2825276851654053, + -1.4557551145553589, + 1.5364480018615723, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.06595778465271, + -2.1763150691986084, + 0.6523398160934448, + 0.0940961092710495, + -0.689705491065979, + 0.7122385501861572, + 0.006118644494563341, + 0.0, + -1.2319360971450806, + -1.4305061101913452, + 1.5364480018615723, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.06595778465271, + -2.1763150691986084, + 0.6523398160934448, + 0.0940961092710495, + -0.689705491065979, + 0.7122385501861572, + 0.006118644494563341, + 0.0, + -1.1893479824066162, + -1.4092514514923096, + 1.5364480018615723, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.06595778465271, + -2.1763150691986084, + 0.6523398160934448, + 0.0940961092710495, + -0.689705491065979, + 0.7122385501861572, + 0.006118644494563341, + 0.0, + -1.1550424098968506, + -1.3921303749084473, + 1.5364480018615723, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.06595778465271, + -2.1763150691986084, + 0.6523398160934448, + 0.0940961092710495, + -0.689705491065979, + 0.7122385501861572, + 0.006118644494563341, + 0.0, + -1.0964471101760864, + -1.362886905670166, + 1.5364480018615723, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.06595778465271, + -2.1763150691986084, + 0.6523398160934448, + 0.0940961092710495, + -0.689705491065979, + 0.7122385501861572, + 0.006118644494563341, + 0.0, + -1.0237047672271729, + -1.3265830278396606, + 1.5364480018615723, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.06595778465271, + -2.1763150691986084, + 0.6523398160934448, + 0.0940961092710495, + -0.689705491065979, + 0.7122385501861572, + 0.006118644494563341, + 0.0, + -1.0034343004226685, + -1.3164665699005127, + 1.5364480018615723, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.06595778465271, + -2.1763150691986084, + 0.6523398160934448, + 0.0940961092710495, + -0.689705491065979, + 0.7122385501861572, + 0.006118644494563341, + 0.0, + -0.9869421124458313, + -1.308235764503479, + 1.5364480018615723, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.06595778465271, + -2.1763150691986084, + 0.6523398160934448, + 0.0940961092710495, + -0.689705491065979, + 0.7122385501861572, + 0.006118644494563341, + 0.0, + -0.9100189208984375, + -1.2698453664779663, + 1.5364480018615723, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.06595778465271, + -2.1763150691986084, + 0.6523398160934448, + 0.0940961092710495, + -0.689705491065979, + 0.7122385501861572, + 0.006118644494563341, + 0.0, + -0.8175230026245117, + -1.2236829996109009, + 1.5364480018615723, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.06595778465271, + -2.1763150691986084, + 0.6523398160934448, + 0.0940961092710495, + -0.689705491065979, + 0.7122385501861572, + 0.006118644494563341, + 0.0, + -0.8166034817695618, + -1.2232240438461304, + 1.5364480018615723, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.06595778465271, + -2.1763150691986084, + 0.6523398160934448, + 0.0940961092710495, + -0.689705491065979, + 0.7122385501861572, + 0.006118644494563341, + 0.0, + -0.8154734373092651, + -1.2226600646972656, + 1.5364480018615723, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.06595778465271, + -2.1763150691986084, + 0.6523398160934448, + 0.0940961092710495, + -0.689705491065979, + 0.7122385501861572, + 0.006118644494563341, + 0.0, + -0.7236963510513306, + -1.1768563985824585, + 1.5364480018615723, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.06595778465271, + -2.1763150691986084, + 0.6523398160934448, + 0.0940961092710495, + -0.689705491065979, + 0.7122385501861572, + 0.006118644494563341, + 0.0, + -0.6497681140899658, + -1.1399606466293335, + 1.5364480018615723, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.06595778465271, + -2.1763150691986084, + 0.6523398160934448, + 0.0940961092710495, + -0.689705491065979, + 0.7122385501861572, + 0.006118644494563341, + 0.0, + -0.6307954788208008, + -1.130491852760315, + 1.5364480018615723, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.06595778465271, + -2.1763150691986084, + 0.6523398160934448, + 0.0940961092710495, + -0.689705491065979, + 0.7122385501861572, + 0.006118644494563341, + 0.0, + -0.6072423458099365, + -1.1187371015548706, + 1.5364480018615723, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.06595778465271, + -2.1763150691986084, + 0.6523398160934448, + 0.0940961092710495, + -0.689705491065979, + 0.7122385501861572, + 0.006118644494563341, + 0.0, + -0.537333071231842, + -1.083847165107727, + 1.5364480018615723, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.06595778465271, + -2.1763150691986084, + 0.6523398160934448, + 0.0940961092710495, + -0.689705491065979, + 0.7122385501861572, + 0.006118644494563341, + 0.0, + -0.48128026723861694, + -1.0558726787567139, + 1.5364480018615723, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.06595778465271, + -2.1763150691986084, + 0.6523398160934448, + 0.0940961092710495, + -0.689705491065979, + 0.7122385501861572, + 0.006118644494563341, + 0.0, + -0.4436982572078705, + -1.0371164083480835, + 1.5364480018615723, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.06595778465271, + -2.1763150691986084, + 0.6523398160934448, + 0.0940961092710495, + -0.689705491065979, + 0.7122385501861572, + 0.006118644494563341, + 0.0, + -0.3968888521194458, + -1.0137550830841064, + 1.5364480018615723, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.06595778465271, + -2.1763150691986084, + 0.6523398160934448, + 0.0940961092710495, + -0.689705491065979, + 0.7122385501861572, + 0.006118644494563341, + 0.0, + -0.39326488971710205, + -0.9125859141349792, + 1.5364480018615723, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.06595778465271, + -2.1763150691986084, + 0.6523398160934448, + 0.0940961092710495, + -0.689705491065979, + 0.7122385501861572, + 0.006118644494563341, + 0.0, + 1.8560059070587158, + 2.0533037185668945, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.3704397678375244, + -0.5991382598876953, + 0.6741507053375244, + 0.0940961092710495, + -0.689705491065979, + 0.7122385501861572, + 0.006118644494563341, + 0.0, + 1.889037847518921, + 2.105088472366333, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.3704397678375244, + -0.5991382598876953, + 0.6741507053375244, + 0.0940961092710495, + -0.689705491065979, + 0.7122385501861572, + 0.006118644494563341, + 0.0, + 1.8842862844467163, + 2.1760709285736084, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.3704397678375244, + -0.5991382598876953, + 0.6741507053375244, + 0.0940961092710495, + -0.689705491065979, + 0.7122385501861572, + 0.006118644494563341, + 0.0 + ], + "max": [ + 1.8459405899047852, + 2.29069185256958, + 1.5540554523468018, + 0.7463300228118896, + -0.0, + -0.0, + 0.7665135860443115, + 2.0, + 2.0595269203186035, + 2.8070919513702393, + 0.8083099722862244, + 0.13388973474502563, + -0.08128396421670914, + 0.9889659881591797, + 0.12123486399650574, + 1.0, + -0.3898319602012634, + -0.6218371391296387, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0595269203186035, + 2.45517897605896, + 0.7044693231582642, + 0.13388973474502563, + -0.08128396421670914, + 0.9889659881591797, + 0.09037695080041885, + 0.0, + -0.3595602810382843, + -0.6171461939811707, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0595269203186035, + 2.45517897605896, + 0.7044693231582642, + 0.13388973474502563, + -0.08128396421670914, + 0.9889659881591797, + 0.09037695080041885, + 0.0, + -0.2764229476451874, + -0.6042631268501282, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0595269203186035, + 2.45517897605896, + 0.7044693231582642, + 0.13388973474502563, + -0.08128396421670914, + 0.9889659881591797, + 0.09037695080041885, + 0.0, + -0.2269086241722107, + -0.5965903401374817, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0595269203186035, + 2.45517897605896, + 0.7044693231582642, + 0.13388973474502563, + -0.08128396421670914, + 0.9889659881591797, + 0.09037695080041885, + 0.0, + -0.16351252794265747, + -0.5867663621902466, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0595269203186035, + 2.45517897605896, + 0.7044693231582642, + 0.13388973474502563, + -0.08128396421670914, + 0.9889659881591797, + 0.09037695080041885, + 0.0, + -0.09411909431219101, + -0.5760130286216736, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0595269203186035, + 2.45517897605896, + 0.7044693231582642, + 0.13388973474502563, + -0.08128396421670914, + 0.9889659881591797, + 0.09037695080041885, + 0.0, + -0.05174509063363075, + -0.5694466829299927, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0595269203186035, + 2.45517897605896, + 0.7044693231582642, + 0.13388973474502563, + -0.08128396421670914, + 0.9889659881591797, + 0.09037695080041885, + 0.0, + 0.020477157086133957, + -0.5582550168037415, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0595269203186035, + 2.45517897605896, + 0.7044693231582642, + 0.13388973474502563, + -0.08128396421670914, + 0.9889659881591797, + 0.09037695080041885, + 0.0, + 0.048236917704343796, + -0.5539532899856567, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0595269203186035, + 2.45517897605896, + 0.7044693231582642, + 0.13388973474502563, + -0.08128396421670914, + 0.9889659881591797, + 0.09037695080041885, + 0.0, + 0.08152378350496292, + -0.5487951040267944, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0595269203186035, + 2.45517897605896, + 0.7044693231582642, + 0.13388973474502563, + -0.08128396421670914, + 0.9889659881591797, + 0.09037695080041885, + 0.0, + 0.15027503669261932, + -0.5381413102149963, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0595269203186035, + 2.45517897605896, + 0.7044693231582642, + 0.13388973474502563, + -0.08128396421670914, + 0.9889659881591797, + 0.09037695080041885, + 0.0, + 0.2031477689743042, + -0.5299481153488159, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0595269203186035, + 2.45517897605896, + 0.7044693231582642, + 0.13388973474502563, + -0.08128396421670914, + 0.9889659881591797, + 0.09037695080041885, + 0.0, + 0.2299540489912033, + -0.4763469099998474, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0595269203186035, + 2.45517897605896, + 0.7044693231582642, + 0.13388973474502563, + -0.08128396421670914, + 0.9889659881591797, + 0.09037695080041885, + 0.0, + 0.2754143178462982, + -0.42462241649627686, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0595269203186035, + 2.45517897605896, + 0.7044693231582642, + 0.13388973474502563, + -0.08128396421670914, + 0.9889659881591797, + 0.09037695080041885, + 0.0, + 0.3070836067199707, + -0.3749738037586212, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0595269203186035, + 2.45517897605896, + 0.7044693231582642, + 0.13388973474502563, + -0.08128396421670914, + 0.9889659881591797, + 0.09037695080041885, + 0.0, + 0.32803672552108765, + -0.34212517738342285, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0595269203186035, + 2.45517897605896, + 0.7044693231582642, + 0.13388973474502563, + -0.08128396421670914, + 0.9889659881591797, + 0.09037695080041885, + 0.0, + 0.36474609375, + -0.28457513451576233, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0595269203186035, + 2.45517897605896, + 0.7044693231582642, + 0.13388973474502563, + -0.08128396421670914, + 0.9889659881591797, + 0.09037695080041885, + 0.0, + 0.3964817225933075, + -0.23482255637645721, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0595269203186035, + 2.45517897605896, + 0.7044693231582642, + 0.13388973474502563, + -0.08128396421670914, + 0.9889659881591797, + 0.09037695080041885, + 0.0, + 0.4293310046195984, + -0.18332406878471375, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0595269203186035, + 2.45517897605896, + 0.7044693231582642, + 0.13388973474502563, + -0.08128396421670914, + 0.9889659881591797, + 0.09037695080041885, + 0.0, + 0.4589105248451233, + -0.13695162534713745, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0595269203186035, + 2.45517897605896, + 0.7044693231582642, + 0.13388973474502563, + -0.08128396421670914, + 0.9889659881591797, + 0.09037695080041885, + 0.0, + 0.49406614899635315, + -0.08183743804693222, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0595269203186035, + 2.45517897605896, + 0.7044693231582642, + 0.13388973474502563, + -0.08128396421670914, + 0.9889659881591797, + 0.09037695080041885, + 0.0, + 0.5176365375518799, + -0.044885680079460144, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0595269203186035, + 2.45517897605896, + 0.7044693231582642, + 0.13388973474502563, + -0.08128396421670914, + 0.9889659881591797, + 0.09037695080041885, + 0.0, + 0.5609596371650696, + 0.023032864555716515, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0595269203186035, + 2.45517897605896, + 0.7044693231582642, + 0.13388973474502563, + -0.08128396421670914, + 0.9889659881591797, + 0.09037695080041885, + 0.0, + 0.5805466175079346, + 0.0537397600710392, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0595269203186035, + 2.45517897605896, + 0.7044693231582642, + 0.13388973474502563, + -0.08128396421670914, + 0.9889659881591797, + 0.09037695080041885, + 0.0, + 0.6283161640167236, + 0.12862908840179443, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0595269203186035, + 2.45517897605896, + 0.7044693231582642, + 0.13388973474502563, + -0.08128396421670914, + 0.9889659881591797, + 0.09037695080041885, + 0.0, + 0.6490178108215332, + 0.16108344495296478, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0595269203186035, + 2.45517897605896, + 0.7044693231582642, + 0.13388973474502563, + -0.08128396421670914, + 0.9889659881591797, + 0.09037695080041885, + 0.0, + 0.6945913434028625, + 0.23252999782562256, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0595269203186035, + 2.45517897605896, + 0.7044693231582642, + 0.13388973474502563, + -0.08128396421670914, + 0.9889659881591797, + 0.09037695080041885, + 0.0, + 0.7171797156333923, + 0.2679422199726105, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0595269203186035, + 2.45517897605896, + 0.7044693231582642, + 0.13388973474502563, + -0.08128396421670914, + 0.9889659881591797, + 0.09037695080041885, + 0.0, + 0.7607534527778625, + 0.33625370264053345, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0595269203186035, + 2.45517897605896, + 0.7044693231582642, + 0.13388973474502563, + -0.08128396421670914, + 0.9889659881591797, + 0.09037695080041885, + 0.0, + 0.7822090983390808, + 0.36989012360572815, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0595269203186035, + 2.45517897605896, + 0.7044693231582642, + 0.13388973474502563, + -0.08128396421670914, + 0.9889659881591797, + 0.09037695080041885, + 0.0, + 0.8270024061203003, + 0.44011348485946655, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0595269203186035, + 2.45517897605896, + 0.7044693231582642, + 0.13388973474502563, + -0.08128396421670914, + 0.9889659881591797, + 0.09037695080041885, + 0.0, + 0.8458250164985657, + 0.46962207555770874, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0595269203186035, + 2.45517897605896, + 0.7044693231582642, + 0.13388973474502563, + -0.08128396421670914, + 0.9889659881591797, + 0.09037695080041885, + 0.0, + 0.8932886719703674, + 0.5440317988395691, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0595269203186035, + 2.45517897605896, + 0.7044693231582642, + 0.13388973474502563, + -0.08128396421670914, + 0.9889659881591797, + 0.09037695080041885, + 0.0, + 0.908624529838562, + 0.5680741667747498, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0595269203186035, + 2.45517897605896, + 0.7044693231582642, + 0.13388973474502563, + -0.08128396421670914, + 0.9889659881591797, + 0.09037695080041885, + 0.0, + 0.9595778584480286, + 0.6479547619819641, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0595269203186035, + 2.45517897605896, + 0.7044693231582642, + 0.13388973474502563, + -0.08128396421670914, + 0.9889659881591797, + 0.09037695080041885, + 0.0, + 0.9718394875526428, + 0.6671776175498962, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0595269203186035, + 2.45517897605896, + 0.7044693231582642, + 0.13388973474502563, + -0.08128396421670914, + 0.9889659881591797, + 0.09037695080041885, + 0.0, + 1.0258671045303345, + 0.7518778443336487, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0595269203186035, + 2.45517897605896, + 0.7044693231582642, + 0.13388973474502563, + -0.08128396421670914, + 0.9889659881591797, + 0.09037695080041885, + 0.0, + 1.0345615148544312, + 0.7655083537101746, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0595269203186035, + 2.45517897605896, + 0.7044693231582642, + 0.13388973474502563, + -0.08128396421670914, + 0.9889659881591797, + 0.09037695080041885, + 0.0, + 1.0921562910079956, + 0.8558009266853333, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0595269203186035, + 2.45517897605896, + 0.7044693231582642, + 0.13388973474502563, + -0.08128396421670914, + 0.9889659881591797, + 0.09037695080041885, + 0.0, + 1.0978538990020752, + 0.8647332191467285, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0595269203186035, + 2.45517897605896, + 0.7044693231582642, + 0.13388973474502563, + -0.08128396421670914, + 0.9889659881591797, + 0.09037695080041885, + 0.0, + 1.1584455966949463, + 0.9597241282463074, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0595269203186035, + 2.45517897605896, + 0.7044693231582642, + 0.13388973474502563, + -0.08128396421670914, + 0.9889659881591797, + 0.09037695080041885, + 0.0, + 1.1604986190795898, + 0.9629427194595337, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0595269203186035, + 2.45517897605896, + 0.7044693231582642, + 0.13388973474502563, + -0.08128396421670914, + 0.9889659881591797, + 0.09037695080041885, + 0.0, + 1.2049016952514648, + 1.032554268836975, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0595269203186035, + 2.45517897605896, + 0.7044693231582642, + 0.13388973474502563, + -0.08128396421670914, + 0.9889659881591797, + 0.09037695080041885, + 0.0, + 1.22385835647583, + 1.0622730255126953, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0595269203186035, + 2.45517897605896, + 0.7044693231582642, + 0.13388973474502563, + -0.08128396421670914, + 0.9889659881591797, + 0.09037695080041885, + 0.0, + 1.224734902381897, + 1.0636471509933472, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0595269203186035, + 2.45517897605896, + 0.7044693231582642, + 0.13388973474502563, + -0.08128396421670914, + 0.9889659881591797, + 0.09037695080041885, + 0.0, + 1.2864892482757568, + 1.1604607105255127, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0595269203186035, + 2.45517897605896, + 0.7044693231582642, + 0.13388973474502563, + -0.08128396421670914, + 0.9889659881591797, + 0.09037695080041885, + 0.0, + 1.291024088859558, + 1.1675701141357422, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0595269203186035, + 2.45517897605896, + 0.7044693231582642, + 0.13388973474502563, + -0.08128396421670914, + 0.9889659881591797, + 0.09037695080041885, + 0.0, + 1.3497954607009888, + 1.2597070932388306, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0595269203186035, + 2.45517897605896, + 0.7044693231582642, + 0.13388973474502563, + -0.08128396421670914, + 0.9889659881591797, + 0.09037695080041885, + 0.0, + 1.3573133945465088, + 1.2714930772781372, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0595269203186035, + 2.45517897605896, + 0.7044693231582642, + 0.13388973474502563, + -0.08128396421670914, + 0.9889659881591797, + 0.09037695080041885, + 0.0, + 1.412503957748413, + 1.3580164909362793, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0595269203186035, + 2.45517897605896, + 0.7044693231582642, + 0.13388973474502563, + -0.08128396421670914, + 0.9889659881591797, + 0.09037695080041885, + 0.0, + 1.4236027002334595, + 1.3754162788391113, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0595269203186035, + 2.45517897605896, + 0.7044693231582642, + 0.13388973474502563, + -0.08128396421670914, + 0.9889659881591797, + 0.09037695080041885, + 0.0, + 1.4757325649261475, + 1.4571412801742554, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0595269203186035, + 2.45517897605896, + 0.7044693231582642, + 0.13388973474502563, + -0.08128396421670914, + 0.9889659881591797, + 0.09037695080041885, + 0.0, + 1.4898920059204102, + 1.4793392419815063, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0595269203186035, + 2.45517897605896, + 0.7044693231582642, + 0.13388973474502563, + -0.08128396421670914, + 0.9889659881591797, + 0.09037695080041885, + 0.0, + 1.5385184288024902, + 1.5555720329284668, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0595269203186035, + 2.45517897605896, + 0.7044693231582642, + 0.13388973474502563, + -0.08128396421670914, + 0.9889659881591797, + 0.09037695080041885, + 0.0, + 1.5561813116073608, + 1.5832624435424805, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0595269203186035, + 2.45517897605896, + 0.7044693231582642, + 0.13388973474502563, + -0.08128396421670914, + 0.9889659881591797, + 0.09037695080041885, + 0.0, + 1.6016695499420166, + 1.6545753479003906, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0595269203186035, + 2.45517897605896, + 0.7044693231582642, + 0.13388973474502563, + -0.08128396421670914, + 0.9889659881591797, + 0.09037695080041885, + 0.0, + 1.622470498085022, + 1.6871854066848755, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0595269203186035, + 2.45517897605896, + 0.7044693231582642, + 0.13388973474502563, + -0.08128396421670914, + 0.9889659881591797, + 0.09037695080041885, + 0.0, + 1.6645328998565674, + 1.7531275749206543, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0595269203186035, + 2.45517897605896, + 0.7044693231582642, + 0.13388973474502563, + -0.08128396421670914, + 0.9889659881591797, + 0.09037695080041885, + 0.0, + 1.6887598037719727, + 1.79110848903656, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0595269203186035, + 2.45517897605896, + 0.7044693231582642, + 0.13388973474502563, + -0.08128396421670914, + 0.9889659881591797, + 0.09037695080041885, + 0.0, + 1.7276335954666138, + 1.8520517349243164, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0595269203186035, + 2.45517897605896, + 0.7044693231582642, + 0.13388973474502563, + -0.08128396421670914, + 0.9889659881591797, + 0.09037695080041885, + 0.0, + 1.755136489868164, + 1.895168662071228, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0595269203186035, + 2.45517897605896, + 0.7044693231582642, + 0.13388973474502563, + -0.08128396421670914, + 0.9889659881591797, + 0.09037695080041885, + 0.0, + 1.7911196947097778, + 1.9515801668167114, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0595269203186035, + 2.45517897605896, + 0.7044693231582642, + 0.13388973474502563, + -0.08128396421670914, + 0.9889659881591797, + 0.09037695080041885, + 0.0, + 1.8218104839324951, + 1.9996947050094604, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0595269203186035, + 2.45517897605896, + 0.7044693231582642, + 0.13388973474502563, + -0.08128396421670914, + 0.9889659881591797, + 0.09037695080041885, + 0.0, + 1.8560059070587158, + 2.0533037185668945, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0595269203186035, + 2.45517897605896, + 0.7044693231582642, + 0.13388973474502563, + -0.08128396421670914, + 0.9889659881591797, + 0.09037695080041885, + 0.0, + 1.889037847518921, + 2.105088472366333, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0595269203186035, + 2.45517897605896, + 0.7044693231582642, + 0.13388973474502563, + -0.08128396421670914, + 0.9889659881591797, + 0.09037695080041885, + 0.0, + 1.8842862844467163, + 2.1760709285736084, + 1.5540554523468018, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0595269203186035, + 2.45517897605896, + 0.7044693231582642, + 0.13388973474502563, + -0.08128396421670914, + 0.9889659881591797, + 0.09037695080041885, + 0.0 + ], + "count": [ + 1414 + ] + }, + "action.applied": { + "mean": [ + 0.28051063814892035, + 0.6654517126850562, + -1.1384020401362482, + -0.2067464837169504, + 0.6763441886178506, + -1.1642141091772995, + 0.17882623211539955, + 0.812431972552897, + -1.275758064535079, + -0.2024049306633491, + 0.7205327266176486, + -1.2627739914320146, + -0.08234534339859274, + 1.865008814668723, + -1.3248270682179102, + 0.036724816708136945, + 0.8481089768264722, + -0.12217379624232978, + 0.00772277231010723, + -0.00772277231010723 + ], + "std": [ + 0.13387130500202213, + 0.11979956082260602, + 0.15796221694955082, + 0.12946139272320253, + 0.1003513868115505, + 0.14996674361444762, + 0.1301876213863272, + 0.1078042208355917, + 0.16384003838052374, + 0.11917477150514254, + 0.11142688101737744, + 0.15519760703712254, + 0.08027980356166588, + 0.21229322361875827, + 0.4154507663513593, + 0.02454271127502606, + 0.19342146143077604, + 0.08210669181824143, + 0.014513987041842617, + 0.014513987041842617 + ], + "min": [ + -0.20778147876262665, + 0.3498670160770416, + -1.7488421201705933, + -0.5107346177101135, + 0.16309159994125366, + -1.5779337882995605, + -0.15742520987987518, + 0.48670732975006104, + -1.7435972690582275, + -0.5822263956069946, + 0.5519755482673645, + -1.703762412071228, + -0.5590257048606873, + 1.6664131879806519, + -2.330559015274048, + -0.017739977687597275, + 0.515749454498291, + -0.2402721643447876, + 0.0, + -0.03500000014901161 + ], + "max": [ + 0.7059306502342224, + 0.9252271056175232, + -0.8121899366378784, + 0.1913902312517166, + 0.9452517032623291, + -0.7426891922950745, + 0.5094380378723145, + 1.1030535697937012, + -0.9497355818748474, + 0.31362536549568176, + 1.0823297500610352, + -0.9339680671691895, + 0.003542997408658266, + 2.4431262016296387, + -0.9698488712310791, + 0.08341971784830093, + 1.2177999019622803, + 0.0227215513586998, + 0.03500000014901161, + 0.0 + ], + "count": [ + 1414 + ] + }, + "extra.reward": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 1414 + ] + }, + "next.truncated": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 1414 + ] + }, + "sim_step_idx": { + "mean": [ + 1514.0 + ], + "std": [ + 816.3730764791303 + ], + "min": [ + 101.0 + ], + "max": [ + 2927.0 + ], + "count": [ + 1414 + ] + }, + "timestamp": { + "mean": [ + 28.26000000225562 + ], + "std": [ + 16.32746152996173 + ], + "min": [ + 0.0 + ], + "max": [ + 56.52000045776367 + ], + "count": [ + 1414 + ] + }, + "frame_index": { + "mean": [ + 706.5 + ], + "std": [ + 408.18653823956515 + ], + "min": [ + 0.0 + ], + "max": [ + 1413.0 + ], + "count": [ + 1414 + ] + }, + "episode_index": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 1414 + ] + }, + "index": { + "mean": [ + 706.5 + ], + "std": [ + 408.18653823956515 + ], + "min": [ + 0.0 + ], + "max": [ + 1413.0 + ], + "count": [ + 1414 + ] + }, + "task_index": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 1414 + ] + }, + "next.done": { + "mean": [ + 0.0007072135785007072 + ], + "std": [ + 0.02658408221953678 + ], + "min": [ + 0.0 + ], + "max": [ + 1.0 + ], + "count": [ + 1414 + ] + }, + "observation.images.head": { + "mean": [ + [ + [ + 0.3767190363592916 + ] + ], + [ + [ + 0.2844258744759693 + ] + ], + [ + [ + 0.24672100289988766 + ] + ] + ], + "std": [ + [ + [ + 0.2247472209648078 + ] + ], + [ + [ + 0.16372657435144589 + ] + ], + [ + [ + 0.14583404126253915 + ] + ] + ], + "min": [ + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ] + ], + "max": [ + [ + [ + 0.9294117647058824 + ] + ], + [ + [ + 0.8745098039215686 + ] + ], + [ + [ + 0.9058823529411765 + ] + ] + ], + "count": [ + 100 + ] + }, + "observation.images.wrist": { + "mean": [ + [ + [ + 0.5530006774633601 + ] + ], + [ + [ + 0.4452616039918739 + ] + ], + [ + [ + 0.37761221495289776 + ] + ] + ], + "std": [ + [ + [ + 0.13103593231482322 + ] + ], + [ + [ + 0.12253695630056617 + ] + ], + [ + [ + 0.10694177882914087 + ] + ] + ], + "min": [ + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ] + ], + "max": [ + [ + [ + 0.9372549019607843 + ] + ], + [ + [ + 0.8941176470588236 + ] + ], + [ + [ + 0.8117647058823529 + ] + ] + ], + "count": [ + 100 + ] + } +} \ No newline at end of file diff --git a/N033/go2_arm/dr_on/seed_2016/rec/stationring/000/lerobot_v21/meta/tasks.jsonl b/N033/go2_arm/dr_on/seed_2016/rec/stationring/000/lerobot_v21/meta/tasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dbadecbe4a732b4588b1a79a8efeb41ca322b43c --- /dev/null +++ b/N033/go2_arm/dr_on/seed_2016/rec/stationring/000/lerobot_v21/meta/tasks.jsonl @@ -0,0 +1 @@ +{"task_index": 0, "task": "Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end."} diff --git a/N033/go2_arm/dr_on/seed_2016/rec/stationring/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 b/N033/go2_arm/dr_on/seed_2016/rec/stationring/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5de8410ea4e56f8cdd94e0a5653f329ccb55bec9 --- /dev/null +++ b/N033/go2_arm/dr_on/seed_2016/rec/stationring/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 sha256:9fbd26a8bebd84cc8c19a31d0f9970da679a2fbae125de08fc5d53fddcfa30c2 +size 19737027 diff --git a/N033/go2_arm/dr_on/seed_2016/rec/stationring/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 b/N033/go2_arm/dr_on/seed_2016/rec/stationring/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ac40eaf8248792df82ae7ee3f7f3b11b73010a9d --- /dev/null +++ b/N033/go2_arm/dr_on/seed_2016/rec/stationring/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 sha256:94651211a73f1cfd24038488628c26e5cd1ccce5396729253a8e5545bc1aca75 +size 32287974 diff --git a/N033/go2_arm/dr_on/seed_2016/rec/stationring/000/run_meta.json b/N033/go2_arm/dr_on/seed_2016/rec/stationring/000/run_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..95aa34766a198874adcd0b11ca77d53a92abf017 --- /dev/null +++ b/N033/go2_arm/dr_on/seed_2016/rec/stationring/000/run_meta.json @@ -0,0 +1,1707 @@ +{ + "run_id": "stationring/000", + "created": "2026-11-08 02:51:49", + "num_envs": 1, + "session_id": null, + "record_config": { + "output_dir": "/mnt/scratch/xc536_atomic/n033_go2_on_2016/out/rec", + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "json_round": null, + "schema": { + "source": "robot_manager", + "nan_policy": "from_raw" + }, + "lerobot": { + "subsample_every": 2 + } + }, + "config": { + "env_string": "StationRingEnv-V0", + "env": { + "sim": { + "device": "cpu", + "use_fabric": false, + "decimation": 4, + "dt": 0.005, + "seed": 2016, + "soft_resets": 2, + "enable_scene_query_support": true, + "scene": { + "num_envs": 1, + "env_spacing": 16 + }, + "render": { + "rendering_mode": "performance", + "enable_reflections": false, + "enable_global_illumination": false, + "enable_translucency": false, + "enable_dl_denoiser": false + } + }, + "robot": { + "Go2Plus": { + "name": "go2plus", + "type": "mobilemanip", + "common": { + "pos": [ + [ + -3.4, + -2.2, + 0.44999999999999996 + ], + [ + -3.4, + -2.2, + 0.44999999999999996 + ] + ], + "ori": [ + [ + 0, + 0, + 40.0 + ], + [ + 0, + 0, + 40.0 + ] + ], + "initial_joint_pos": null + }, + "action": { + "base_action": "unified", + "arm_action": "ik_curobo", + "eef_action": "binary" + }, + "reset": "default", + "planner": { + "dual_mode": true, + "base_joint_names": [ + "base_x", + "base_y", + "base_yaw", + "base_height" + ], + "ik": { + "type": "go2plus", + "enable": true, + "ik_num_instances": 1, + "ik_batch_size": 1, + "ik_max_goalset": 128, + "ik_num_seeds": 64, + "ik_position_threshold": 0.005, + "ik_rotation_threshold": 0.05, + "microbatch_wait_ms": 20.0, + "relative_to_world_frame": false, + "eef_num": 1, + "debug": false, + "seed_use_live_joint_pos": true + }, + "motiongen": { + "type": "go2plus", + "enable": true, + "batch_size": 1, + "debug": false, + "motiongen_num_instances": 1, + "microbatch_wait_ms": 400.0, + "mode": "position", + "relative_to_world_frame": false, + "eef_num": 1, + "seed_use_live_joint_pos": true, + "anchor_ik_seeds_to_current_state": false, + "num_trajopt_seeds": 1, + "num_ik_seeds": 4, + "max_attempts": 4, + "joint_limit_retry_weight": 100000000.0, + "start_state_limit_inset": 0.002 + }, + "body": { + "type": "nav", + "dwb_type": "dwb_quadruped", + "dwb_quadruped": { + "device": "cpu", + "dt": 0.02, + "debug": false, + "num_rollout_steps": 60, + "num_speed_samples": 11, + "num_steer_samples": 11, + "num_vx_samples": 7, + "num_vy_samples": 7, + "num_yaw_samples": 7, + "max_accel": 1.5, + "max_steer_rate": 1.5, + "max_accel_vx": 1.5, + "max_accel_vy": 1.5, + "max_yaw_accel": 1.5, + "w_goal": 6.0, + "w_path": 24.0, + "w_vel": 0.2, + "w_vy": 0.0, + "dilate_radius": 0.2, + "goal_cost_mode": "path", + "room_size": 12.0, + "occupancy_update_interval": 25, + "scan_height": 0.38, + "scan_min_z": 0.15, + "scan_max_z": 0.63, + "goal_pos_threshold": 0.16, + "goal_yaw_threshold": 0.08, + "goal_yaw_hysteresis": 0.02, + "kp_goal_yaw": 4.0, + "heading_reference": "path", + "turn_yaw_threshold": 0.8, + "heading_lookahead": 0.8, + "heading_min_leg": 0.35, + "route_yaw_gain": 2.0, + "min_vx": -0.35, + "max_vx": 0.35, + "min_vy": -0.25, + "max_vy": 0.25, + "min_yaw_rate": -0.8, + "max_yaw_rate": 0.8, + "dynamic_window_source": "command", + "default_height": 0.35, + "safety_min_progress_speed": 0.1, + "safety_stop_distance": 0.2, + "safety_enabled": true, + "safety_deceleration": 0.5, + "safety_reaction_time": 0.5, + "safety_release_distance": 0.35, + "scan_type": "3d", + "robot_type": "quadruped", + "velocity_frame": "body" + }, + "p_controller": { + "velocity_frame": "body", + "nav_upgrade_distance": 0.03, + "nav_heading_target": -1, + "kp_linear_x": 3.0, + "kd_linear_x": 0.4, + "kp_linear_y": 3.0, + "kd_linear_y": 0.4, + "kp_angular": 1.5, + "kd_angular": 0.2, + "kp_angular_turning_only": 1.5, + "kd_angular_turning_only": 0.2, + "min_vel": -0.4, + "max_vel": 0.5, + "linear_dead_zone": 0.01, + "angular_dead_zone": 0.05 + } + }, + "arm": { + "type": "default" + }, + "eef": { + "type": "default" + } + }, + "physics": { + "robot_radius": 0.5 + } + } + }, + "camera": { + "enable_tiled": false, + "colorize_depth": false, + "head": { + "camera": { + "type": "camera", + "mesh": "pinhole", + "resolution": [ + 640, + 480 + ], + "frequency": 25, + "focal_length": 1.8231182098388672, + "horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.4407838582992554, + "clipping_range": [ + 0.05, + 30.0 + ], + "focus_distance": 3.0, + "mode": "RGB", + "mount_link": "Robot_0/Bodies/go2_base", + "pos": [ + 0.332051, + 0.038027, + 0.093559 + ], + "ori": [ + 169.9473, + -88.6452, + 81.5985 + ] + }, + "annotator": { + "enabled": true, + "rgb_capture": { + "type": "rgb", + "device": "cpu" + } + } + }, + "wrist": { + "camera": { + "type": "camera", + "mesh": "pinhole", + "resolution": [ + 640, + 480 + ], + "frequency": 25, + "focal_length": 1.8517500162124634, + "horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.4393036365509033, + "clipping_range": [ + 0.05, + 30.0 + ], + "focus_distance": 3.0, + "mode": "RGB", + "mount_link": "Robot_0/Bodies/piper_link6", + "pos": [ + -0.074987, + 0.005289, + 0.045821 + ], + "ori": [ + 179.3135, + -20.212, + 88.9402 + ] + }, + "annotator": { + "enabled": true, + "rgb_capture": { + "type": "rgb", + "device": "cpu" + } + } + } + }, + "nav": { + "navmesh": { + "enabled": true, + "visualize": false, + "bake_timeout_s": 180, + "agent_height_cm": 65, + "min_agent_radius_cm": 30.0, + "max_agent_radius_cm": 30.0, + "max_step_height_cm": 20, + "max_floor_slope_deg": 30, + "agent_island_radius_cm": 5, + "auto_exclude_rigid_bodies": true, + "validate_path_clearance": true, + "validate_path_window": true, + "navmesh_offset_z_m": 0, + "verbose": false + }, + "occupancymap": { + "cell_size": 0.05 + } + }, + "scene": { + "background": { + "intensity": [ + 1000, + 1000 + ] + }, + "terrain": { + "type": "nav_room", + "collision": true, + "hide_top_walls": true, + "usd": [ + "$MAGICSIM_ASSETS/Room/Collected_SimpleRoom" + ], + "annotation": "Annotation", + "random": false, + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0, + "friction_combine_mode": "multiply", + "restitution_combine_mode": "multiply" + } + }, + "objects": { + "table_A": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "table_A_1": { + "pos": [ + -0.4605799211267972, + 0.0402878190828665, + 0.18 + ], + "ori": [ + 0.0, + 0.0, + -1.9680124581205547 + ], + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.45, + 0.35 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "table_B": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "table_B_1": { + "pos": [ + 1.9184941727169043, + 2.8696599221398773, + 0.18 + ], + "ori": [ + 0.0, + 0.0, + -0.9591812284775187 + ], + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.45, + 0.35 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "rack_back": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "rack_back_1": { + "pos": [ + -0.5108938443233053, + 0.03201079470354504, + 0.42999999999999994 + ], + "ori": [ + 0.0, + 0.0, + -1.9680124581205547 + ], + "primitive_params": { + "size": [ + 0.7, + 0.03, + 0.2 + ] + }, + "visual": { + "color": [ + [ + 0.45, + 0.35, + 0.25 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "peg_1": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "peg_1_1": { + "pos": [ + -0.36458818310103713, + -0.07807850311561129, + 0.47 + ], + "ori": [ + 0.0, + 0.0, + -1.9680124581205547 + ], + "primitive_params": { + "size": [ + 0.02, + 0.18, + 0.02 + ] + }, + "visual": { + "color": [ + [ + 0.35, + 0.35, + 0.35 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "peg_2": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "peg_2_1": { + "pos": [ + -0.6644112296724165, + -0.06777604007726418, + 0.47 + ], + "ori": [ + 0.0, + 0.0, + -1.9680124581205547 + ], + "primitive_params": { + "size": [ + 0.02, + 0.18, + 0.02 + ] + }, + "visual": { + "color": [ + [ + 0.35, + 0.35, + 0.35 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "ring": { + "usd": [ + "$MAGICSIM_ASSETS/Object/MMB_A07/ring_wide/Object.usda" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "ring_1": { + "pos": [ + -0.36637804366277504, + -0.13016715847509036, + 0.43999999999999995 + ], + "ori": [ + 0.0, + 0.0, + -1.9680124581205547 + ], + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.05, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + } + } + } + }, + "ring_small": { + "usd": [ + "$MAGICSIM_ASSETS/Object/MMB_A07/ring_small/Object.usda" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "ring_small_1": { + "pos": [ + -0.6658167367565152, + -0.10867921190749814, + 0.46499999999999997 + ], + "ori": [ + 0.0, + 0.0, + -1.9680124581205547 + ], + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.05, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + } + } + } + }, + "rod_h": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "rod_h_1": { + "pos": [ + 1.9163179611970549, + 2.739678138402998, + 0.53 + ], + "ori": [ + 0.0, + 0.0, + -0.9591812284775187 + ], + "primitive_params": { + "size": [ + 0.02, + 0.14, + 0.02 + ] + }, + "visual": { + "color": [ + [ + 0.75, + 0.75, + 0.78 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 0.3, + "dynamic_friction": 0.25, + "restitution": 0.0 + } + } + } + }, + "rod_s": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "rod_s_1": { + "pos": [ + 1.9184489744776458, + 2.8669603004776496, + 0.48979999999999996 + ], + "ori": [ + -35.0, + 0.0, + -0.9591812284775187 + ], + "primitive_params": { + "size": [ + 0.02, + 0.14, + 0.02 + ] + }, + "visual": { + "color": [ + [ + 0.75, + 0.75, + 0.78 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 0.3, + "dynamic_friction": 0.25, + "restitution": 0.0 + } + } + } + }, + "rod_stop": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "rod_stop_1": { + "pos": [ + 1.9196659789199002, + 2.9396501133828123, + 0.38999999999999996 + ], + "ori": [ + 0.0, + 0.0, + -0.9591812284775187 + ], + "primitive_params": { + "size": [ + 0.1, + 0.012, + 0.12 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.3, + 0.25 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + } + } + } + }, + "task": { + "new_seed_per_episode": true, + "observation": {}, + "reward": {}, + "termination": { + "timeout_steps": 30000, + "success_hold_frames": 10, + "fall_height": 0.08, + "fall_tilt": 1.0, + "lift_height": 0.12, + "grasp_distance": 0.25 + }, + "grasp": { + "mode": "generated", + "debug": false, + "floor_z": 0.03 + }, + "stance": { + "radii": [ + 0.5, + 0.46, + 0.54 + ], + "heights": [ + 0.3, + 0.34, + 0.26 + ], + "bearings_deg": [ + 0, + -25, + 25 + ], + "yaw_offsets_deg": [ + 0.0 + ], + "include_current": true + }, + "station": { + "task_id": "N033", + "task_version": "EXT60-MobileAvatar-v3", + "family_id": "ring_on_bent_rod", + "primary_category": "C2", + "stage": "full", + "layout": { + "floor_z": 0.03, + "start": { + "x": -3.4, + "y": -2.2, + "yaw_deg": 40.0, + "radius": 0.3, + "yaw_spread_deg": 20.0 + }, + "stations": { + "A": { + "center": [ + -0.4605799211267972, + 0.0402878190828665 + ], + "facing_deg": 88.03198754187945, + "standoff": 0.7, + "table": { + "width": 0.9, + "depth": 0.5, + "height": 0.3 + } + }, + "B": { + "center": [ + 1.9184941727169043, + 2.8696599221398773 + ], + "facing_deg": 89.04081877152248, + "standoff": 0.7, + "table": { + "width": 0.9, + "depth": 0.5, + "height": 0.3 + } + } + } + }, + "route": [ + "A", + "B" + ], + "fixtures": { + "rod": { + "pivot": [ + 0.0, + -0.2 + ], + "yaw_deg": 0.0 + } + }, + "instruction": "pick up the large ring (not the small one)", + "ring": { + "target": "ring", + "others": [ + "ring_small" + ], + "swap": "random", + "rod": { + "open": -0.2, + "bend": -0.06, + "slope_deg": 35.0, + "horizontal_len": 0.14, + "slope_len": 0.14, + "z": 0.2, + "fixture": "rod" + }, + "swapped": false + }, + "dr": { + "enabled": true, + "stations": { + "center_m": 0.25, + "facing_deg": 8.0 + }, + "objects": { + "across_m": 0.025, + "along_m": 0.02, + "yaw_deg": 8.0 + } + }, + "place_check": { + "ring": { + "at": { + "station": "B", + "across": 0.0, + "along": -0.06, + "z": 0.2 + }, + "yaw_deg": 0.0, + "clearance": 0.004 + } + }, + "success": { + "thread_tol": 0.03, + "lost_dist": 0.06, + "axis_deg": 55.0, + "entry_s": 0.08, + "end_margin": 0.07, + "back_tol": 0.04, + "release_dist": 0.15, + "rest_speed": 0.05, + "held_lift": 0.04, + "lift": 0.08 + }, + "objects": { + "rack_back": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.7, + 0.03, + 0.2 + ], + "at": { + "station": "A", + "across": -0.05, + "along": -0.01, + "z": 0.1 + }, + "color": [ + 0.45, + 0.35, + 0.25 + ], + "pos": [ + -0.5108938443233053, + 0.03201079470354504, + 0.42999999999999994 + ], + "yaw_deg": -1.9680124581205547 + }, + "peg_1": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.02, + 0.18, + 0.02 + ], + "at": { + "station": "A", + "across": 0.1, + "along": -0.115, + "z": 0.14 + }, + "color": [ + 0.35, + 0.35, + 0.35 + ], + "pos": [ + -0.36458818310103713, + -0.07807850311561129, + 0.47 + ], + "yaw_deg": -1.9680124581205547 + }, + "peg_2": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.02, + 0.18, + 0.02 + ], + "at": { + "station": "A", + "across": -0.2, + "along": -0.115, + "z": 0.14 + }, + "color": [ + 0.35, + 0.35, + 0.35 + ], + "pos": [ + -0.6644112296724165, + -0.06777604007726418, + 0.47 + ], + "yaw_deg": -1.9680124581205547 + }, + "ring": { + "catalog": "ring_wide", + "type": "rigid", + "at": { + "station": "A", + "across": 0.1, + "along": -0.16711939771322243, + "z": 0.11 + }, + "yaw_deg": -1.9680124581205547, + "jitter": { + "across_m": 0.0, + "along_m": 0.012, + "yaw_deg": 0.0 + }, + "friction": { + "static": 1.5, + "dynamic": 1.5 + }, + "asset": "$MAGICSIM_ASSETS/Object/MMB_A07/ring_wide/Object.usda", + "parts": [ + { + "name": "seg0", + "center": [ + 0.051, + 0.0, + 0.0 + ], + "half": [ + 0.011, + 0.0175, + 0.025124891681027845 + ], + "rpy_deg": [ + 0.0, + -0.0, + 0.0 + ] + }, + { + "name": "seg1", + "center": [ + 0.03606244584051392, + 0.0, + 0.03606244584051392 + ], + "half": [ + 0.011, + 0.0175, + 0.025124891681027845 + ], + "rpy_deg": [ + 0.0, + -45.0, + 0.0 + ] + }, + { + "name": "seg2", + "center": [ + 3.1228493378257503e-18, + 0.0, + 0.051 + ], + "half": [ + 0.011, + 0.0175, + 0.025124891681027845 + ], + "rpy_deg": [ + 0.0, + -90.0, + 0.0 + ] + }, + { + "name": "seg3", + "center": [ + -0.03606244584051392, + 0.0, + 0.03606244584051392 + ], + "half": [ + 0.011, + 0.0175, + 0.025124891681027845 + ], + "rpy_deg": [ + 0.0, + -135.0, + 0.0 + ] + }, + { + "name": "seg4", + "center": [ + -0.051, + 0.0, + 6.245698675651501e-18 + ], + "half": [ + 0.011, + 0.0175, + 0.025124891681027845 + ], + "rpy_deg": [ + 0.0, + -180.0, + 0.0 + ] + }, + { + "name": "seg5", + "center": [ + -0.03606244584051393, + 0.0, + -0.03606244584051392 + ], + "half": [ + 0.011, + 0.0175, + 0.025124891681027845 + ], + "rpy_deg": [ + 0.0, + -225.0, + 0.0 + ] + }, + { + "name": "seg6", + "center": [ + -9.368548013477251e-18, + 0.0, + -0.051 + ], + "half": [ + 0.011, + 0.0175, + 0.025124891681027845 + ], + "rpy_deg": [ + 0.0, + -270.0, + 0.0 + ] + }, + { + "name": "seg7", + "center": [ + 0.036062445840513914, + 0.0, + -0.03606244584051393 + ], + "half": [ + 0.011, + 0.0175, + 0.025124891681027845 + ], + "rpy_deg": [ + 0.0, + -315.0, + 0.0 + ] + }, + { + "name": "tab", + "center": [ + 0.0, + 0.0, + 0.09 + ], + "half": [ + 0.015, + 0.0175, + 0.03 + ], + "rpy_deg": [ + 0.0, + 0.0, + 0.0 + ] + } + ], + "mass": 0.05, + "com": [ + 0.0, + 0.0, + 0.0 + ], + "grasp": { + "part": "tab", + "thin_axis": 0, + "min_elevation_deg": 60.0, + "inset": 0.02, + "min_overlap_x": 0.016, + "min_overlap_z": 0.015 + }, + "pos": [ + -0.36637804366277504, + -0.13016715847509036, + 0.43999999999999995 + ] + }, + "ring_small": { + "catalog": "ring_small", + "type": "rigid", + "at": { + "station": "A", + "across": -0.2, + "along": -0.15592731259119144, + "z": 0.135 + }, + "yaw_deg": -1.9680124581205547, + "jitter": { + "across_m": 0.0, + "along_m": 0.012, + "yaw_deg": 0.0 + }, + "friction": { + "static": 1.5, + "dynamic": 1.5 + }, + "asset": "$MAGICSIM_ASSETS/Object/MMB_A07/ring_small/Object.usda", + "parts": [ + { + "name": "seg0", + "center": [ + 0.026, + 0.0, + 0.0 + ], + "half": [ + 0.011, + 0.0175, + 0.01476955262170047 + ], + "rpy_deg": [ + 0.0, + -0.0, + 0.0 + ] + }, + { + "name": "seg1", + "center": [ + 0.018384776310850236, + 0.0, + 0.018384776310850233 + ], + "half": [ + 0.011, + 0.0175, + 0.01476955262170047 + ], + "rpy_deg": [ + 0.0, + -45.0, + 0.0 + ] + }, + { + "name": "seg2", + "center": [ + 1.5920408388915591e-18, + 0.0, + 0.026 + ], + "half": [ + 0.011, + 0.0175, + 0.01476955262170047 + ], + "rpy_deg": [ + 0.0, + -90.0, + 0.0 + ] + }, + { + "name": "seg3", + "center": [ + -0.018384776310850233, + 0.0, + 0.018384776310850236 + ], + "half": [ + 0.011, + 0.0175, + 0.01476955262170047 + ], + "rpy_deg": [ + 0.0, + -135.0, + 0.0 + ] + }, + { + "name": "seg4", + "center": [ + -0.026, + 0.0, + 3.1840816777831182e-18 + ], + "half": [ + 0.011, + 0.0175, + 0.01476955262170047 + ], + "rpy_deg": [ + 0.0, + -180.0, + 0.0 + ] + }, + { + "name": "seg5", + "center": [ + -0.01838477631085024, + 0.0, + -0.018384776310850233 + ], + "half": [ + 0.011, + 0.0175, + 0.01476955262170047 + ], + "rpy_deg": [ + 0.0, + -225.0, + 0.0 + ] + }, + { + "name": "seg6", + "center": [ + -4.776122516674677e-18, + 0.0, + -0.026 + ], + "half": [ + 0.011, + 0.0175, + 0.01476955262170047 + ], + "rpy_deg": [ + 0.0, + -270.0, + 0.0 + ] + }, + { + "name": "seg7", + "center": [ + 0.01838477631085023, + 0.0, + -0.01838477631085024 + ], + "half": [ + 0.011, + 0.0175, + 0.01476955262170047 + ], + "rpy_deg": [ + 0.0, + -315.0, + 0.0 + ] + }, + { + "name": "tab", + "center": [ + 0.0, + 0.0, + 0.065 + ], + "half": [ + 0.015, + 0.0175, + 0.03 + ], + "rpy_deg": [ + 0.0, + 0.0, + 0.0 + ] + } + ], + "mass": 0.05, + "com": [ + 0.0, + 0.0, + 0.0 + ], + "grasp": { + "part": "tab", + "thin_axis": 0, + "min_elevation_deg": 60.0, + "inset": 0.02, + "min_overlap_x": 0.016, + "min_overlap_z": 0.015 + }, + "pos": [ + -0.6658167367565152, + -0.10867921190749814, + 0.46499999999999997 + ] + }, + "rod_h": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.02, + 0.14, + 0.02 + ], + "at": { + "station": "B", + "across": 0.0, + "along": -0.13, + "z": 0.2 + }, + "fixture": "rod", + "color": [ + 0.75, + 0.75, + 0.78 + ], + "friction_static": 0.3, + "friction_dynamic": 0.25, + "pos": [ + 1.9163179611970549, + 2.739678138402998, + 0.53 + ], + "yaw_deg": -0.9591812284775187 + }, + "rod_s": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.02, + 0.14, + 0.02 + ], + "at": { + "station": "B", + "across": 0.0, + "along": -0.0027, + "z": 0.1598 + }, + "roll_deg": -35.0, + "fixture": "rod", + "color": [ + 0.75, + 0.75, + 0.78 + ], + "friction_static": 0.3, + "friction_dynamic": 0.25, + "pos": [ + 1.9184489744776458, + 2.8669603004776496, + 0.48979999999999996 + ], + "yaw_deg": -0.9591812284775187 + }, + "rod_stop": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.1, + 0.012, + 0.12 + ], + "at": { + "station": "B", + "across": 0.0, + "along": 0.07, + "z": 0.06 + }, + "fixture": "rod", + "color": [ + 0.55, + 0.3, + 0.25 + ], + "pos": [ + 1.9196659789199002, + 2.9396501133828123, + 0.38999999999999996 + ], + "yaw_deg": -0.9591812284775187 + } + }, + "planner_seeds": "lean", + "report_jsonl": "/mnt/scratch/xc536_atomic/n033_go2_on_2016/out/report.episodes.jsonl", + "dr_applied": true, + "level": "easy" + }, + "command": { + "StationRing": { + "obj_type": "rigid", + "obj_name": "ring", + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.015, + "withdraw": 0.09, + "settle_ticks": 120 + } + } + }, + "collect": { + "global_planner": { + "NavTo": { + "use_navmesh": true, + "use_absolute": true, + "translation_threshold": 0.2, + "rotation_threshold": 0.15, + "num_path_segments": 30, + "start_forward_offset": 0.0, + "visualize_path": false, + "carry_arm": true + }, + "RetractMoveL": { + "translation_threshold": 0.06, + "rotation_threshold": 0.3, + "motiongen_distance_threshold": 0.05, + "timeout_steps": 2000, + "base_pos_threshold": 0.12, + "base_rot_threshold": 0.5, + "eef_pos_threshold": 0.03, + "eef_rot_threshold": 0.3, + "base_waypoint_max_steps": 20, + "arm_waypoint_max_steps": 8 + }, + "MobileMoveL": { + "translation_threshold": 0.006, + "rotation_threshold": 0.2, + "motiongen_distance_threshold": 0.05, + "timeout_steps": 1500, + "stall_release_ticks": 100, + "stall_release_factor": 5.0, + "reactive": false, + "base_pos_threshold": 0.12, + "base_rot_threshold": 0.5, + "eef_pos_threshold": 0.03, + "eef_rot_threshold": 0.3, + "waypoint_max_steps": 8, + "interp_steps": 60, + "interp_validate_target": true, + "retry_mobile_on_locked_plan_failure": true + }, + "MobileServoL": { + "base_pos_threshold": 0.12, + "waypoint_max_steps": 20, + "translation_threshold": 0.05, + "timeout_steps": 300 + }, + "ParallelGripper": { + "gripper_threshold": 0.0005, + "timeout_steps": 60 + } + }, + "atomic_skill": { + "NavToPose": { + "robot_id": 0, + "show_marker": false + }, + "Move": { + "arm_planner": "MobileMoveL", + "hand_planner": "ParallelGripper", + "obstacle_avoid_paths": [], + "obstacle_ignore_paths": [], + "close_value": 1.0, + "open_value": 0.0, + "hold_steps": 10 + }, + "ReachStance": { + "check_current_first": true, + "stance_margin": 0.03, + "max_reach": 0.85, + "max_walks": 4, + "reject_radius": 0.05, + "obstacle_avoidance": [ + "dynamic" + ], + "walk_planner": "MobileServoL", + "strategy_kwargs": { + "reach_steps": 2 + }, + "debug": false + }, + "Grasp": { + "pre_grasp_offset": 0.1, + "retrieval_offset": 0.03, + "mobile": true, + "pre_grasp_planner": "MobileMoveL", + "pre_grasp_mode": -1, + "grasp_mode": 4, + "retrieval_mode": 4, + "goalset_lock_base": true, + "reactive": false, + "viz_grasp": false + } + }, + "command": { + "StationRing": { + "obj_type": "rigid", + "obj_name": "ring", + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.015, + "withdraw": 0.09, + "settle_ticks": 120 + } + }, + "auto_collect": {}, + "record": { + "output_dir": "/mnt/scratch/xc536_atomic/n033_go2_on_2016/out/rec", + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "json_round": null, + "schema": { + "source": "robot_manager", + "nan_policy": "from_raw" + }, + "lerobot": { + "subsample_every": 2 + } + } + }, + "visual_dr": { + "keep": [ + "ring", + "ring_small" + ] + } + }, + "git_sha": null, + "collect_runtime": { + "max_trajectories": 1 + } +} \ No newline at end of file diff --git a/N033/go2_arm/dr_on/seed_2016/rec/stationring/000/sim_info/0/actions.npz b/N033/go2_arm/dr_on/seed_2016/rec/stationring/000/sim_info/0/actions.npz new file mode 100644 index 0000000000000000000000000000000000000000..f68f24a2b82ed4bba9f060b4c6889a8be5fdc71b --- /dev/null +++ b/N033/go2_arm/dr_on/seed_2016/rec/stationring/000/sim_info/0/actions.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f52451ef49d8ee00fdff747999d8a4ec35bd6f1a9289f0f928a21a7caa7334d0 +size 602717 diff --git a/N033/go2_arm/dr_on/seed_2016/rec/stationring/000/sim_info/0/device_commands.jsonl b/N033/go2_arm/dr_on/seed_2016/rec/stationring/000/sim_info/0/device_commands.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N033/go2_arm/dr_on/seed_2016/rec/stationring/000/sim_info/0/device_events.jsonl b/N033/go2_arm/dr_on/seed_2016/rec/stationring/000/sim_info/0/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N033/go2_arm/dr_on/seed_2016/rec/stationring/000/sim_info/0/scene_snapshot.json b/N033/go2_arm/dr_on/seed_2016/rec/stationring/000/sim_info/0/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..186cfc224264aa1c34be55e1e3b471290ce235ca --- /dev/null +++ b/N033/go2_arm/dr_on/seed_2016/rec/stationring/000/sim_info/0/scene_snapshot.json @@ -0,0 +1,669 @@ +{ + "trajectory_id": 0, + "env_id": 0, + "run_id": "stationring/000", + "task_type": "RingCommand", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])", + "avatars": "avatar_manager.set_avatars_state(snapshot['avatars'], env_ids=[env_id]) (present when the scene has animated avatars)" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "table_A": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.4605799211267972, + 0.0402878190828665, + 0.18 + ], + "ori": [ + 0.9998525381088257, + 0.0, + 0.0, + -0.01717330515384674 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.45, + 0.35 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + } + }, + "type_specific": {} + } + ], + "table_B": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 1.9184941727169043, + 2.8696599221398773, + 0.18 + ], + "ori": [ + 0.9999649524688721, + 0.0, + 0.0, + -0.008370337076485157 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.45, + 0.35 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + } + }, + "type_specific": {} + } + ], + "rack_back": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.5108938443233053, + 0.03201079470354504, + 0.42999999999999994 + ], + "ori": [ + 0.9998525381088257, + 0.0, + 0.0, + -0.01717330515384674 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.45, + 0.35, + 0.25 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.7, + 0.03, + 0.2 + ] + } + }, + "type_specific": {} + } + ], + "peg_1": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.36458818310103713, + -0.07807850311561129, + 0.47 + ], + "ori": [ + 0.9998525381088257, + 0.0, + 0.0, + -0.01717330515384674 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.35, + 0.35, + 0.35 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.02, + 0.18, + 0.02 + ] + } + }, + "type_specific": {} + } + ], + "peg_2": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.6644112296724165, + -0.06777604007726418, + 0.47 + ], + "ori": [ + 0.9998525381088257, + 0.0, + 0.0, + -0.01717330515384674 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.35, + 0.35, + 0.35 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.02, + 0.18, + 0.02 + ] + } + }, + "type_specific": {} + } + ], + "ring": [ + { + "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MMB_A07/ring_wide/Object.usda", + "pose": { + "pos": [ + -0.3663795590400696, + -0.130167156457901, + 0.44000041484832764 + ], + "ori": [ + 0.9998525381088257, + -5.052015694673173e-07, + 1.8996033759322017e-05, + -0.017171867191791534 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.05, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -0.0002721035561989993, + -0.00013201789988670498, + 0.00014186384214553982 + ], + "angular_velocity": [ + -0.003358070272952318, + 0.010172816924750805, + -0.00035321590257808566 + ] + } + } + ], + "ring_small": [ + { + "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MMB_A07/ring_small/Object.usda", + "pose": { + "pos": [ + -0.6658159494400024, + -0.10865482687950134, + 0.46878600120544434 + ], + "ori": [ + 0.9998519420623779, + -3.945003754779464e-06, + 0.00024363986449316144, + -0.017206210643053055 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.05, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -0.0007305029430426657, + 1.566921673656907e-05, + 6.553237471962348e-05 + ], + "angular_velocity": [ + 0.011949088424444199, + -0.05974873900413513, + 0.004939266014844179 + ] + } + } + ], + "rod_h": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 1.9163179611970549, + 2.739678138402998, + 0.53 + ], + "ori": [ + 0.9999649524688721, + 0.0, + 0.0, + -0.008370337076485157 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.75, + 0.75, + 0.78 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 0.3, + "dynamic_friction": 0.25, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.02, + 0.14, + 0.02 + ] + } + }, + "type_specific": {} + } + ], + "rod_s": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 1.9184489744776458, + 2.8669603004776496, + 0.48979999999999996 + ], + "ori": [ + 0.9536835551261902, + -0.3006952702999115, + 0.0025170091539621353, + -0.007982932962477207 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.75, + 0.75, + 0.78 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 0.3, + "dynamic_friction": 0.25, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.02, + 0.14, + 0.02 + ] + } + }, + "type_specific": {} + } + ], + "rod_stop": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 1.9196659789199002, + 2.9396501133828123, + 0.38999999999999996 + ], + "ori": [ + 0.9999649524688721, + 0.0, + 0.0, + -0.008370337076485157 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.3, + 0.25 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.1, + 0.012, + 0.12 + ] + } + }, + "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": { + "Go2Plus": { + "root_pose": [ + [ + -3.3036446571350098, + -2.4645495414733887, + 0.35194942355155945, + 0.9031441807746887, + 0.006188535131514072, + -0.004115913063287735, + 0.4292730689048767 + ] + ], + "root_vel": [ + [ + -0.0006044990150257945, + -0.0009552036644890904, + -0.0007402641349472106, + -0.008720417506992817, + 0.008239715360105038, + 0.0007511393050663173 + ] + ], + "joint_pos": [ + [ + 0.042032647877931595, + -0.03646161034703255, + -0.07511678338050842, + 0.08042699098587036, + -0.00010749495413620025, + 0.6491951942443848, + 0.7324446439743042, + 1.0184406042099, + 1.0110244750976562, + 1.7056598663330078, + -1.5217865705490112, + -1.5529861450195312, + -1.5944159030914307, + -1.617340087890625, + -0.9956303238868713, + 4.285009345039725e-05, + 0.6994909644126892, + -5.4885258577996865e-05, + 0.03500000014901161, + -0.034998051822185516 + ] + ], + "joint_vel": [ + [ + -0.0010479970369488, + -0.0012575755827128887, + 0.0006238931091502309, + -0.0007352277752943337, + 0.000425435951910913, + -0.007420199457556009, + -0.005530772730708122, + -0.023489415645599365, + -0.02250983938574791, + -0.03674287348985672, + -0.019301095977425575, + -0.02096671238541603, + 0.009344641119241714, + 0.008461175486445427, + -0.026756687089800835, + -0.0005031079635955393, + 0.011329267174005508, + 0.0005132294609211385, + -1.516194743089727e-07, + 7.224638466141187e-06 + ] + ] + } + }, + "cameras": { + "cameras": { + "head": [ + [ + 0.33205100893974304, + 0.038026999682188034, + 0.09355899691581726, + -0.5022302269935608, + -0.499491810798645, + 0.5120040774345398, + 0.4859265089035034 + ] + ], + "wrist": [ + [ + -0.0749870017170906, + 0.005288999993354082, + 0.04582099989056587, + 0.1271296590566635, + 0.701795220375061, + -0.6904057860374451, + -0.12108422070741653 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/N033/go2_arm/dr_on/seed_2016/rec/stationring/000/sim_info/0/sim_states.npz b/N033/go2_arm/dr_on/seed_2016/rec/stationring/000/sim_info/0/sim_states.npz new file mode 100644 index 0000000000000000000000000000000000000000..b009d04d01d4b8880e7211a70924158f5aef2a29 --- /dev/null +++ b/N033/go2_arm/dr_on/seed_2016/rec/stationring/000/sim_info/0/sim_states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:05efa4356f9c3fdab840f12aa8d3ae18a310a97b527626b702fb9c0b160df01c +size 664411 diff --git a/N033/go2_arm/dr_on/seed_2016/rec/stationring/000/sim_info/magicsim_manifest.json b/N033/go2_arm/dr_on/seed_2016/rec/stationring/000/sim_info/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..ba04f0030798e8be3bf4cd5bf4dedea964accca8 --- /dev/null +++ b/N033/go2_arm/dr_on/seed_2016/rec/stationring/000/sim_info/magicsim_manifest.json @@ -0,0 +1,259 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 03:06:11" + }, + "embodiment": { + "robots": [ + { + "name": "Go2Plus", + "cfg": "Go2PlusCfg", + "type": "mobilemanip", + "joint_names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 12, + "nan_policy": "from_raw", + "segments": [ + { + "name": "Go2Plus.base_action", + "start": 0, + "end": 4, + "names": [ + "base_action_0", + "base_action_1", + "base_action_2", + "base_action_3" + ], + "source": "Go2UnifiedLocomotionAction", + "names_source": "fallback" + }, + { + "name": "Go2Plus.arm_action", + "start": 4, + "end": 11, + "names": [ + "eef0.pos_x", + "eef0.pos_y", + "eef0.pos_z", + "eef0.quat_w", + "eef0.quat_x", + "eef0.quat_y", + "eef0.quat_z" + ], + "source": "Go2PlusCuroboIKAction", + "names_source": "pose_layout" + }, + { + "name": "Go2Plus.eef_action", + "start": 11, + "end": 12, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 26, + "segments": [ + { + "name": "Go2Plus.joint_pos", + "start": 0, + "end": 24, + "names": [ + "joint_0", + "joint_1", + "joint_2", + "joint_3", + "joint_4", + "joint_5", + "joint_6", + "joint_7", + "joint_8", + "joint_9", + "joint_10", + "joint_11", + "joint_12", + "joint_13", + "joint_14", + "joint_15", + "joint_16", + "joint_17", + "joint_18", + "joint_19", + "joint_20", + "joint_21", + "joint_22", + "joint_23" + ], + "source": "ObservationManager", + "names_source": "fallback_dim_mismatch(joint_names=20,obs=24)" + }, + { + "name": "Go2Plus.gripper_pos", + "start": 24, + "end": 26, + "names": [ + "gripper_0", + "gripper_1" + ], + "source": "ObservationManager", + "names_source": "generated" + } + ] + }, + "joint_vel_layout": { + "dim": 20, + "segments": [ + { + "name": "Go2Plus.joint_vel", + "start": 0, + "end": 20, + "names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "action_levels": { + "L0": "task command list (collect.auto_collect_info.current_action)", + "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)", + "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)", + "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy", + "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)" + }, + "cameras": { + "head": { + "intrinsics": { + "K": [ + [ + 607.7061061683956, + 0.0, + 320.0 + ], + [ + 0.0, + 607.3754374751866, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 55.53991912549515, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.33205100893974304, + 0.038026999682188034, + 0.09355899691581726 + ], + "quat": [ + -0.5022302269935608, + -0.499491810798645, + 0.5120040774345398, + 0.4859265089035034 + ] + }, + "wrist": { + "intrinsics": { + "K": [ + [ + 617.2500342478374, + 0.0, + 320.0 + ], + [ + 0.0, + 617.548655622722, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 54.807019583348044, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + -0.0749870017170906, + 0.005288999993354082, + 0.04582099989056587 + ], + "quat": [ + 0.1271296590566635, + 0.701795220375061, + -0.6904057860374451, + -0.12108422070741653 + ] + } + }, + "generated_run": { + "run_id": "stationring/000", + "task_type": "RingCommand" + } +} \ No newline at end of file diff --git a/N033/go2_arm/dr_on/seed_2016/rec/stationring/000/visual_dr.json b/N033/go2_arm/dr_on/seed_2016/rec/stationring/000/visual_dr.json new file mode 100644 index 0000000000000000000000000000000000000000..d8190e86be062427ce7f2ac0b90a79785e012cfa --- /dev/null +++ b/N033/go2_arm/dr_on/seed_2016/rec/stationring/000/visual_dr.json @@ -0,0 +1,675 @@ +{ + "version": 1, + "settings": { + "enabled": false, + "keep": [ + "ring", + "ring_small" + ], + "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": 2016, + "seeds": { + "0": 2016 + }, + "lights": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/RectLight", + "type": "RectLight", + "intensity": 19555.838171, + "intensity_base": 15000.0, + "enable_color_temperature": true, + "color_temperature_k": 4432.659188, + "rotate_deg": [ + -4.501, + 4.158, + 2.508 + ] + } + ], + "domes": [ + { + "path": "/World/background", + "type": "DomeLight", + "intensity": 687.912881, + "intensity_base": 1000.0, + "enable_color_temperature": true, + "color_temperature_k": 6989.900936, + "rotate_deg": [ + 0.0, + 0.0, + 104.734 + ], + "dome": { + "path": "/World/background", + "hdr_base": null, + "hdr": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Background/evening_road_01_4k.hdr", + "color": [ + 0.75106, + 0.702525, + 0.78421 + ] + } + } + ], + "materials": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light", + "shader": "omnipbr", + "color": [ + 0.7607, + 0.7935, + 0.834 + ], + "color_base": [ + 1.0, + 1.0, + 1.0 + ], + "roughness": 0.508665, + "roughness_base": 0.5, + "bound_prims": 1 + } + ], + "display_colors": [], + "swapped": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/ParquetFloor", + "role": "ground", + "mdl": "Source/Concrete/Concrete_Wall_Aged_Scratched.mdl", + "material": "/MmbVdrLooks/Source_Concrete_Concrete_Wall_Aged_Scratched", + "bound_prims": 1, + "pool_size": 42, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic", + "role": "wall", + "mdl": "Source/Concrete/Concrete_Formed.mdl", + "material": "/MmbVdrLooks/Source_Concrete_Concrete_Formed", + "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/Stone/Stone_Natural_Black.mdl", + "material": "/MmbVdrLooks/Source_Stone_Stone_Natural_Black", + "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": { + "ring": 9, + "ring_small": 9 + }, + "physics_skip": { + "physics_binding": 26, + "rigid_body": 222, + "examples": [ + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calf_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calf_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calf_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calflower_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calflower1_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_foot_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_foot_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_hip/go2_FL_hip_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_hip/go2_FL_hip_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_hip/go2_FL_hip_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_thigh/go2_FL_thigh_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_thigh/go2_FL_thigh_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_thigh/go2_FL_thigh_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calf_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calf_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calf_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calflower_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calflower1_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_foot_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_foot_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_hip/go2_FR_hip_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_hip/go2_FR_hip_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_hip/go2_FR_hip_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_thigh/go2_FR_thigh_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_thigh/go2_FR_thigh_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_thigh/go2_FR_thigh_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calf_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calf_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calf_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calflower_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calflower1_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_foot_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_foot_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_hip/go2_RL_hip_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_hip/go2_RL_hip_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_hip/go2_RL_hip_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_thigh/go2_RL_thigh_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_thigh/go2_RL_thigh_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_thigh/go2_RL_thigh_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RR_calf/go2_RR_calf_geometry/visual_0", + "rigid_body" + ] + ] + }, + "material_library": { + "root": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Material", + "pool_sizes": { + "ground": 42, + "wall": 28, + "furniture": 38, + "object": 54 + } + }, + "no_swap": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass", + "reason": "glass", + "bound_prims": 1 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light", + "reason": "emissive", + "bound_prims": 1 + } + ], + "unsupported": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass", + "mdl": "OmniGlass.mdl", + "bound_prims": 1 + } + ] + }, + { + "env_ids": [ + 0 + ], + "reset_index": 1, + "episode_seed": 2017, + "seeds": { + "0": 2017 + }, + "lights": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/RectLight", + "type": "RectLight", + "intensity": 19826.541244, + "intensity_base": 15000.0, + "enable_color_temperature": true, + "color_temperature_k": 6123.198733, + "rotate_deg": [ + 3.744, + -0.662, + 0.369 + ] + } + ], + "domes": [ + { + "path": "/World/background", + "type": "DomeLight", + "intensity": 902.622891, + "intensity_base": 1000.0, + "enable_color_temperature": true, + "color_temperature_k": 5779.991296, + "rotate_deg": [ + 0.0, + 0.0, + 216.688 + ], + "dome": { + "path": "/World/background", + "hdr_base": null, + "color": [ + 0.707795, + 0.70669, + 0.775285 + ] + } + } + ], + "materials": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light", + "shader": "omnipbr", + "color": [ + 0.7256, + 0.6665, + 0.7207 + ], + "color_base": [ + 1.0, + 1.0, + 1.0 + ], + "roughness": 0.510508, + "roughness_base": 0.5, + "bound_prims": 1 + } + ], + "display_colors": [], + "swapped": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/ParquetFloor", + "role": "ground", + "mdl": "Ground/Cobblestone_Medieval.mdl", + "material": "/MmbVdrLooks/Ground_Cobblestone_Medieval", + "bound_prims": 1, + "pool_size": 42, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic", + "role": "wall", + "mdl": "Source/Concrete/Concrete_Wall_Aged_Scratched.mdl", + "material": "/MmbVdrLooks/Source_Concrete_Concrete_Wall_Aged_Scratched", + "bound_prims": 17, + "pool_size": 28, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic2", + "role": "wall", + "mdl": "Source/Stone/Serizzo_Gneis.mdl", + "material": "/MmbVdrLooks/Source_Stone_Serizzo_Gneis", + "bound_prims": 22, + "pool_size": 28, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WoodWall", + "role": "wall", + "mdl": "Source/Paint/Paint_Gun_Metal.mdl", + "material": "/MmbVdrLooks/Source_Paint_Paint_Gun_Metal", + "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": { + "ring": 9, + "ring_small": 9 + }, + "physics_skip": { + "physics_binding": 26, + "rigid_body": 222, + "examples": [ + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calf_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calf_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calf_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calflower_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calflower1_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_foot_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_foot_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_hip/go2_FL_hip_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_hip/go2_FL_hip_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_hip/go2_FL_hip_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_thigh/go2_FL_thigh_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_thigh/go2_FL_thigh_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_thigh/go2_FL_thigh_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calf_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calf_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calf_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calflower_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calflower1_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_foot_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_foot_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_hip/go2_FR_hip_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_hip/go2_FR_hip_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_hip/go2_FR_hip_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_thigh/go2_FR_thigh_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_thigh/go2_FR_thigh_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_thigh/go2_FR_thigh_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calf_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calf_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calf_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calflower_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calflower1_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_foot_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_foot_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_hip/go2_RL_hip_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_hip/go2_RL_hip_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_hip/go2_RL_hip_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_thigh/go2_RL_thigh_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_thigh/go2_RL_thigh_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_thigh/go2_RL_thigh_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RR_calf/go2_RR_calf_geometry/visual_0", + "rigid_body" + ] + ] + }, + "material_library": { + "root": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Material", + "pool_sizes": { + "ground": 42, + "wall": 28, + "furniture": 38, + "object": 54 + } + }, + "no_swap": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass", + "reason": "glass", + "bound_prims": 1 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light", + "reason": "emissive", + "bound_prims": 1 + } + ], + "unsupported": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass", + "mdl": "OmniGlass.mdl", + "bound_prims": 1 + } + ] + } + ] +} \ No newline at end of file diff --git a/N033/go2_arm/dr_on/seed_2016/report.episodes.jsonl b/N033/go2_arm/dr_on/seed_2016/report.episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0e8e6f0970c11f2aedaebb578ca303dd2bc59b1a --- /dev/null +++ b/N033/go2_arm/dr_on/seed_2016/report.episodes.jsonl @@ -0,0 +1 @@ +{"task_id": "N033", "task_version": "EXT60-MobileAvatar-v3", "instruction": "pick up the large ring (not the small one)", "agent_id": "a07", "family_id": "ring_on_bent_rod", "primary_category": "C2", "level": "easy", "embodiment": "go2_arm", "scene_seed": 2016, "execution_mode": "expert_privileged_command", "station_layout": {"A": {"center": [-0.4605799211267972, 0.0402878190828665], "facing": 1.536, "stand": [-0.493, -0.909, 1.536]}, "B": {"center": [1.9184941727169043, 2.8696599221398773], "facing": 1.554, "stand": [1.903, 1.92, 1.554]}}, "spawn_pose": [-3.297, -2.457, 0.882], "base_path": [[-3.298, -2.458, 0.883], [-3.301, -2.461, 0.89], [-3.302, -2.463, 0.887], [-3.303, -2.464, 0.887], [-3.304, -2.465, 0.887], [-3.242, -2.424, 0.818], [-3.131, -2.351, 0.548], [-2.982, -2.287, 0.433], [-2.824, -2.222, 0.432], [-2.667, -2.15, 0.444], [-2.513, -2.074, 0.45], [-2.358, -1.996, 0.455], [-2.204, -1.919, 0.455], [-2.05, -1.842, 0.457], [-1.896, -1.766, 0.454], [-1.743, -1.69, 0.451], [-1.589, -1.614, 0.45], [-1.435, -1.537, 0.453], [-1.283, -1.459, 0.455], [-1.129, -1.383, 0.454], [-0.975, -1.305, 0.456], [-0.821, -1.229, 0.454], [-0.67, -1.153, 0.45], [-0.552, -1.09, 0.447], [-0.483, -1.05, 0.456], [-0.473, -1.032, 0.621], [-0.473, -1.033, 0.997], [-0.47, -1.036, 1.407], [-0.468, -1.036, 1.771], [-0.471, -1.047, 1.902], [-0.471, -1.053, 1.764], [-0.478, -1.016, 1.592], [-0.458, -0.916, 1.499], [-0.439, -0.801, 1.481], [-0.43, -0.684, 1.475], [-0.431, -0.634, 1.475], [-0.432, -0.641, 1.474], [-0.433, -0.652, 1.473], [-0.433, -0.655, 1.473], [-0.433, -0.649, 1.472], [-0.434, -0.641, 1.471], [-0.434, -0.638, 1.471], [-0.434, -0.634, 1.471], [-0.434, -0.634, 1.471], [-0.434, -0.634, 1.471], [-0.434, -0.634, 1.471], [-0.434, -0.636, 1.468], [-0.435, -0.639, 1.466], [-0.435, -0.637, 1.466], [-0.435, -0.634, 1.466], [-0.435, -0.632, 1.466], [-0.435, -0.629, 1.466], [-0.435, -0.628, 1.466], [-0.436, -0.629, 1.44], [-0.436, -0.637, 1.124], [-0.441, -0.64, 0.705], [-0.433, -0.632, 0.3], [-0.312, -0.612, 0.104], [-0.149, -0.593, 0.105], [0.017, -0.542, 0.13], [0.173, -0.437, 0.145], [0.222, -0.386, 0.415], [0.236, -0.374, 0.807], [0.32, -0.284, 1.022], [0.42, -0.15, 1.039], [0.518, -0.012, 1.011], [0.616, 0.127, 0.993], [0.713, 0.268, 0.988], [0.806, 0.411, 0.993], [0.898, 0.557, 0.996], [0.99, 0.702, 0.993], [1.082, 0.846, 0.996], [1.174, 0.99, 0.995], [1.266, 1.135, 0.993], [1.358, 1.28, 0.992], [1.45, 1.424, 0.997], [1.541, 1.568, 0.995], [1.634, 1.713, 0.996], [1.726, 1.857, 0.996], [1.798, 1.987, 0.995], [1.837, 2.065, 1.062], [1.836, 2.083, 1.393], [1.834, 2.083, 1.603], [1.834, 2.077, 1.605], [1.836, 2.078, 1.578], [1.837, 2.081, 1.554], [1.837, 2.084, 1.535], [1.836, 2.087, 1.524], [1.836, 2.088, 1.521], [1.835, 2.092, 1.519], [1.835, 2.09, 1.515], [1.835, 2.162, 1.514], [1.84, 2.255, 1.512], [1.84, 2.267, 1.506], [1.84, 2.255, 1.507], [1.84, 2.246, 1.507], [1.841, 2.242, 1.508], [1.841, 2.241, 1.508], [1.841, 2.241, 1.508], [1.841, 2.24, 1.508], [1.842, 2.241, 1.508], [1.842, 2.241, 1.508], [1.842, 2.24, 1.508], [1.842, 2.24, 1.508], [1.842, 2.24, 1.508], [1.842, 2.24, 1.508], [1.842, 2.24, 1.508], [1.842, 2.24, 1.508], [1.842, 2.24, 1.508], [1.842, 2.24, 1.508], [1.842, 2.24, 1.508], [1.842, 2.24, 1.508], [1.842, 2.24, 1.508], [1.842, 2.24, 1.508], [1.842, 2.24, 1.508], [1.842, 2.243, 1.508], [1.843, 2.242, 1.509], [1.843, 2.24, 1.509]], "stage_events": [{"tick": 500, "event": "enter_station", "station": "A", "xy": [-0.981, -1.309]}, {"tick": 1726, "event": "leave_station", "station": "A", "xy": [0.898, 0.557]}, {"tick": 1887, "event": "enter_station", "station": "B", "xy": [1.491, 1.487]}], "transport_state": {"ring": {"entered": true, "entry_s": 0.0, "max_s": 0.2748283706831631, "was_threaded": true, "lost": 0, "held": false, "grasps": 2}}, "manipulation_success": true, "mobile_success": true, "full_success": true, "failure_reason": null, "fail_class_hint": null, "distance_to_first_interaction": 2.608, "interstation_path_lengths": [4.142], "station_transition_order": ["A", "B"], "final_approach_pose": [1.843, 2.24, 1.509], "regrasp_events": 1, "control_ticks": 2328, "wall_s": 665.5, "phase": "done", "state": "success: task sequence complete", "check": {"ring": {"held": false, "dist_wrist": 0.395, "s": 0.273, "rod_dist": 0.028, "axis_deg": 5.9, "threaded": true, "entered_via_open_end": true, "entry_s": 0.0, "max_s": 0.275, "lost_count": 0, "at_rest": true}, "decoy": {"ring_small": {"lift": 0.0, "max_lift_near_wrist": 0.0, "dist_wrist": 3.725}}, "rod_length": 0.28, "released": true, "other_rings_on_rod": [], "manipulation_success": true}, "route": ["A", "B"], "total_path_m": 7.71, "planner_seeds": "lean"} diff --git a/N033/go2_arm/dr_on/seed_2016/report.json b/N033/go2_arm/dr_on/seed_2016/report.json new file mode 100644 index 0000000000000000000000000000000000000000..bfce702bf210866677a1434ba1202cd2c91748d2 --- /dev/null +++ b/N033/go2_arm/dr_on/seed_2016/report.json @@ -0,0 +1,826 @@ +{ + "task_id": "N033", + "level": "easy", + "seed": 2016, + "episodes_requested": 1, + "episodes": [ + { + "task_id": "N033", + "task_version": "EXT60-MobileAvatar-v3", + "instruction": "pick up the large ring (not the small one)", + "agent_id": "a07", + "family_id": "ring_on_bent_rod", + "primary_category": "C2", + "level": "easy", + "embodiment": "go2_arm", + "scene_seed": 2016, + "execution_mode": "expert_privileged_command", + "station_layout": { + "A": { + "center": [ + -0.4605799211267972, + 0.0402878190828665 + ], + "facing": 1.536, + "stand": [ + -0.493, + -0.909, + 1.536 + ] + }, + "B": { + "center": [ + 1.9184941727169043, + 2.8696599221398773 + ], + "facing": 1.554, + "stand": [ + 1.903, + 1.92, + 1.554 + ] + } + }, + "spawn_pose": [ + -3.297, + -2.457, + 0.882 + ], + "base_path": [ + [ + -3.298, + -2.458, + 0.883 + ], + [ + -3.301, + -2.461, + 0.89 + ], + [ + -3.302, + -2.463, + 0.887 + ], + [ + -3.303, + -2.464, + 0.887 + ], + [ + -3.304, + -2.465, + 0.887 + ], + [ + -3.242, + -2.424, + 0.818 + ], + [ + -3.131, + -2.351, + 0.548 + ], + [ + -2.982, + -2.287, + 0.433 + ], + [ + -2.824, + -2.222, + 0.432 + ], + [ + -2.667, + -2.15, + 0.444 + ], + [ + -2.513, + -2.074, + 0.45 + ], + [ + -2.358, + -1.996, + 0.455 + ], + [ + -2.204, + -1.919, + 0.455 + ], + [ + -2.05, + -1.842, + 0.457 + ], + [ + -1.896, + -1.766, + 0.454 + ], + [ + -1.743, + -1.69, + 0.451 + ], + [ + -1.589, + -1.614, + 0.45 + ], + [ + -1.435, + -1.537, + 0.453 + ], + [ + -1.283, + -1.459, + 0.455 + ], + [ + -1.129, + -1.383, + 0.454 + ], + [ + -0.975, + -1.305, + 0.456 + ], + [ + -0.821, + -1.229, + 0.454 + ], + [ + -0.67, + -1.153, + 0.45 + ], + [ + -0.552, + -1.09, + 0.447 + ], + [ + -0.483, + -1.05, + 0.456 + ], + [ + -0.473, + -1.032, + 0.621 + ], + [ + -0.473, + -1.033, + 0.997 + ], + [ + -0.47, + -1.036, + 1.407 + ], + [ + -0.468, + -1.036, + 1.771 + ], + [ + -0.471, + -1.047, + 1.902 + ], + [ + -0.471, + -1.053, + 1.764 + ], + [ + -0.478, + -1.016, + 1.592 + ], + [ + -0.458, + -0.916, + 1.499 + ], + [ + -0.439, + -0.801, + 1.481 + ], + [ + -0.43, + -0.684, + 1.475 + ], + [ + -0.431, + -0.634, + 1.475 + ], + [ + -0.432, + -0.641, + 1.474 + ], + [ + -0.433, + -0.652, + 1.473 + ], + [ + -0.433, + -0.655, + 1.473 + ], + [ + -0.433, + -0.649, + 1.472 + ], + [ + -0.434, + -0.641, + 1.471 + ], + [ + -0.434, + -0.638, + 1.471 + ], + [ + -0.434, + -0.634, + 1.471 + ], + [ + -0.434, + -0.634, + 1.471 + ], + [ + -0.434, + -0.634, + 1.471 + ], + [ + -0.434, + -0.634, + 1.471 + ], + [ + -0.434, + -0.636, + 1.468 + ], + [ + -0.435, + -0.639, + 1.466 + ], + [ + -0.435, + -0.637, + 1.466 + ], + [ + -0.435, + -0.634, + 1.466 + ], + [ + -0.435, + -0.632, + 1.466 + ], + [ + -0.435, + -0.629, + 1.466 + ], + [ + -0.435, + -0.628, + 1.466 + ], + [ + -0.436, + -0.629, + 1.44 + ], + [ + -0.436, + -0.637, + 1.124 + ], + [ + -0.441, + -0.64, + 0.705 + ], + [ + -0.433, + -0.632, + 0.3 + ], + [ + -0.312, + -0.612, + 0.104 + ], + [ + -0.149, + -0.593, + 0.105 + ], + [ + 0.017, + -0.542, + 0.13 + ], + [ + 0.173, + -0.437, + 0.145 + ], + [ + 0.222, + -0.386, + 0.415 + ], + [ + 0.236, + -0.374, + 0.807 + ], + [ + 0.32, + -0.284, + 1.022 + ], + [ + 0.42, + -0.15, + 1.039 + ], + [ + 0.518, + -0.012, + 1.011 + ], + [ + 0.616, + 0.127, + 0.993 + ], + [ + 0.713, + 0.268, + 0.988 + ], + [ + 0.806, + 0.411, + 0.993 + ], + [ + 0.898, + 0.557, + 0.996 + ], + [ + 0.99, + 0.702, + 0.993 + ], + [ + 1.082, + 0.846, + 0.996 + ], + [ + 1.174, + 0.99, + 0.995 + ], + [ + 1.266, + 1.135, + 0.993 + ], + [ + 1.358, + 1.28, + 0.992 + ], + [ + 1.45, + 1.424, + 0.997 + ], + [ + 1.541, + 1.568, + 0.995 + ], + [ + 1.634, + 1.713, + 0.996 + ], + [ + 1.726, + 1.857, + 0.996 + ], + [ + 1.798, + 1.987, + 0.995 + ], + [ + 1.837, + 2.065, + 1.062 + ], + [ + 1.836, + 2.083, + 1.393 + ], + [ + 1.834, + 2.083, + 1.603 + ], + [ + 1.834, + 2.077, + 1.605 + ], + [ + 1.836, + 2.078, + 1.578 + ], + [ + 1.837, + 2.081, + 1.554 + ], + [ + 1.837, + 2.084, + 1.535 + ], + [ + 1.836, + 2.087, + 1.524 + ], + [ + 1.836, + 2.088, + 1.521 + ], + [ + 1.835, + 2.092, + 1.519 + ], + [ + 1.835, + 2.09, + 1.515 + ], + [ + 1.835, + 2.162, + 1.514 + ], + [ + 1.84, + 2.255, + 1.512 + ], + [ + 1.84, + 2.267, + 1.506 + ], + [ + 1.84, + 2.255, + 1.507 + ], + [ + 1.84, + 2.246, + 1.507 + ], + [ + 1.841, + 2.242, + 1.508 + ], + [ + 1.841, + 2.241, + 1.508 + ], + [ + 1.841, + 2.241, + 1.508 + ], + [ + 1.841, + 2.24, + 1.508 + ], + [ + 1.842, + 2.241, + 1.508 + ], + [ + 1.842, + 2.241, + 1.508 + ], + [ + 1.842, + 2.24, + 1.508 + ], + [ + 1.842, + 2.24, + 1.508 + ], + [ + 1.842, + 2.24, + 1.508 + ], + [ + 1.842, + 2.24, + 1.508 + ], + [ + 1.842, + 2.24, + 1.508 + ], + [ + 1.842, + 2.24, + 1.508 + ], + [ + 1.842, + 2.24, + 1.508 + ], + [ + 1.842, + 2.24, + 1.508 + ], + [ + 1.842, + 2.24, + 1.508 + ], + [ + 1.842, + 2.24, + 1.508 + ], + [ + 1.842, + 2.24, + 1.508 + ], + [ + 1.842, + 2.24, + 1.508 + ], + [ + 1.842, + 2.24, + 1.508 + ], + [ + 1.842, + 2.243, + 1.508 + ], + [ + 1.843, + 2.242, + 1.509 + ], + [ + 1.843, + 2.24, + 1.509 + ] + ], + "stage_events": [ + { + "tick": 500, + "event": "enter_station", + "station": "A", + "xy": [ + -0.981, + -1.309 + ] + }, + { + "tick": 1726, + "event": "leave_station", + "station": "A", + "xy": [ + 0.898, + 0.557 + ] + }, + { + "tick": 1887, + "event": "enter_station", + "station": "B", + "xy": [ + 1.491, + 1.487 + ] + } + ], + "transport_state": { + "ring": { + "entered": true, + "entry_s": 0.0, + "max_s": 0.2748283706831631, + "was_threaded": true, + "lost": 0, + "held": false, + "grasps": 2 + } + }, + "manipulation_success": true, + "mobile_success": true, + "full_success": true, + "failure_reason": null, + "fail_class_hint": null, + "distance_to_first_interaction": 2.608, + "interstation_path_lengths": [ + 4.142 + ], + "station_transition_order": [ + "A", + "B" + ], + "final_approach_pose": [ + 1.843, + 2.24, + 1.509 + ], + "regrasp_events": 1, + "control_ticks": 2328, + "wall_s": 665.5, + "phase": "done", + "state": "success: task sequence complete", + "check": { + "ring": { + "held": false, + "dist_wrist": 0.395, + "s": 0.273, + "rod_dist": 0.028, + "axis_deg": 5.9, + "threaded": true, + "entered_via_open_end": true, + "entry_s": 0.0, + "max_s": 0.275, + "lost_count": 0, + "at_rest": true + }, + "decoy": { + "ring_small": { + "lift": 0.0, + "max_lift_near_wrist": 0.0, + "dist_wrist": 3.725 + } + }, + "rod_length": 0.28, + "released": true, + "other_rings_on_rod": [], + "manipulation_success": true + }, + "route": [ + "A", + "B" + ], + "total_path_m": 7.71, + "planner_seeds": "lean" + } + ], + "error": null, + "collect": { + "task": "N033", + "robot": "go2_arm", + "visual_dr": true, + "env": { + "MMB_COLLECT": "1", + "MMB_TASK_ID": "N033", + "MMB_CLEAN_VIEW": "1", + "MMB_REAL_ROBOT_LOOK": "1", + "MMB_VISUAL_DR": "1" + }, + "cameras": { + "head": { + "link": "Robot_0/Bodies/go2_base", + "pos": [ + 0.332051, + 0.038027, + 0.093559 + ], + "ori": [ + 169.9473, + -88.6452, + 81.5985 + ], + "focal_length": 1.8231182098388672, + "horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.4407838582992554 + }, + "wrist": { + "link": "Robot_0/Bodies/piper_link6", + "pos": [ + -0.074987, + 0.005289, + 0.045821 + ], + "ori": [ + 179.3135, + -20.212, + 88.9402 + ], + "focal_length": 1.8517500162124634, + "horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.4393036365509033 + } + }, + "resolution": [ + 640, + 480 + ], + "camera_hz": 25, + "record": { + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + } + }, + "review_cameras": [], + "policy_obs_signature": [ + "/camera_info[0]/rgb[0]:(480, 640, 4):uint8", + "/camera_info[1]/rgb[0]:(480, 640, 4):uint8", + "/robot_state[0]/Go2Plus/base_ang_vel:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/base_lin_vel:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/base_pos:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/base_quat:(1, 4):torch.float32", + "/robot_state[0]/Go2Plus/eef_pos:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/eef_quat:(1, 4):torch.float32", + "/robot_state[0]/Go2Plus/eef_relative_pos:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/eef_relative_quat:(1, 4):torch.float32", + "/robot_state[0]/Go2Plus/finger_joint_pos:(1, 2):torch.float32", + "/robot_state[0]/Go2Plus/gripper_pos:(1, 2):torch.float32", + "/robot_state[0]/Go2Plus/joint_effort:(1, 20):torch.float32", + "/robot_state[0]/Go2Plus/joint_pos:(1, 24):torch.float32", + "/robot_state[0]/Go2Plus/joint_vel:(1, 20):torch.float32" + ], + "n_success": 1, + "elapsed_s": 994.6, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 26.6 + } +} diff --git a/N033/sawyer_umi/dr_off/seed_1020/check.json b/N033/sawyer_umi/dr_off/seed_1020/check.json new file mode 100644 index 0000000000000000000000000000000000000000..d7f2d732611e52cb03bb52f79859dc7de1643a45 --- /dev/null +++ b/N033/sawyer_umi/dr_off/seed_1020/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.'; expected 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "2172 rows vs ceil(4344/2) = 2172" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..4443, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "26.48 MB, 2172 frames at 25 fps, mean luma 99..149, std 27, new picture 2171x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2172 vs 2172" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "38.54 MB, 2172 frames at 25 fps, mean luma 106..150, std 23, new picture 2171x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2172 vs 2172" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationringxr/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N033/sawyer_umi/dr_off/seed_1020/check.txt b/N033/sawyer_umi/dr_off/seed_1020/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..b9c02633372064f5671fe04736d1e10a91c0df12 --- /dev/null +++ b/N033/sawyer_umi/dr_off/seed_1020/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n033_saw_off_1020/out task=N033 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n033_saw_off_1020/out/rec/stationringxr/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2172 videos 2 robot_type RidgebackSawyerUmiCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 2172 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1'] +[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z'] +[PASS] task text = MobileBench instruction: task_index 0: 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.'; expected 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.' +rows 2172 at dataset fps 25 = 86.88 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2172 rows vs ceil(4344/2) = 2172 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..4443, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 26.48 MB, 2172 frames at 25 fps, mean luma 99..149, std 27, new picture 2171x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2172 vs 2172 +[PASS] video observation.images.wrist decodes, 640x480, not black: 38.54 MB, 2172 frames at 25 fps, mean luma 106..150, std 23, new picture 2171x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2172 vs 2172 +parquet size 2.62 MB +[PASS] sim_info present: rec/stationringxr/000/sim_info +dataset size 67.85 MB; whole cell dir 69.1 MB +RESULT: ALL PASS diff --git a/N033/sawyer_umi/dr_off/seed_1020/rec/stationringxr/000/completed/0.json b/N033/sawyer_umi/dr_off/seed_1020/rec/stationringxr/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..91a50a443cc1602752f4a6179432b21f7f41bb42 --- /dev/null +++ b/N033/sawyer_umi/dr_off/seed_1020/rec/stationringxr/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationringxr/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N033/sawyer_umi/dr_off/seed_1020/rec/stationringxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N033/sawyer_umi/dr_off/seed_1020/rec/stationringxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..2d2c9b8a54310e3297d4f99f227dde5d8b9ea36b --- /dev/null +++ b/N033/sawyer_umi/dr_off/seed_1020/rec/stationringxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bd13d9a722fddf79bc80ecef0eedcec52b5c0df336157431408267975216a50f +size 2624076 diff --git a/N033/sawyer_umi/dr_off/seed_1020/rec/stationringxr/000/lerobot_v21/meta/episodes.jsonl b/N033/sawyer_umi/dr_off/seed_1020/rec/stationringxr/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..804b51e6560387d52f427dcd5f064fdc00593d4b --- /dev/null +++ b/N033/sawyer_umi/dr_off/seed_1020/rec/stationringxr/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end."], "length": 2172, "magicsim/control_steps": 4344, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the brown rod stop. There are a large gray table A, a large gray table B, a medium brown rack back, a small gray peg 1, a small gray peg 2, a small ring, a small ring small, a small white rod h, a small white rod s and a small brown rod stop. The gray table B is to the right of the brown rod stop. The brown rack back is in front of the gray peg 2. The white rod h is to the right of the white rod s. The white rod s is on top of the brown rod stop. The white rod s is to the right of the brown rod stop. The brown rod stop is to the left of the white rod s. The scene is viewed from front, at table height."} diff --git a/N033/sawyer_umi/dr_off/seed_1020/rec/stationringxr/000/lerobot_v21/meta/episodes_stats.jsonl b/N033/sawyer_umi/dr_off/seed_1020/rec/stationringxr/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f63b52ca383ee34acffa0197f9cc013b2522e4e5 --- /dev/null +++ b/N033/sawyer_umi/dr_off/seed_1020/rec/stationringxr/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.0850500227449527, -0.0008209233243416301, 0.008830114905022446, 0.4859740078435528, 0.5883972136643381, 1.0492449994739248, -0.23777594654709375, -0.06670404849471061, -0.2586241312681751, 0.16809985571854763, 0.4539594843462247], "std": [0.11876852939556401, 0.009938923480605183, 0.1498867661396785, 1.2058812024278562, 1.6340004237060943, 0.20515246485149, 0.6108776985905171, 0.11152389705325137, 0.536455055294712, 0.41288728539151875, 0.497875758516442], "min": [0.0, -0.07047224044799805, -0.800000011920929, -3.1327784061431885, -2.0050339698791504, 0.7507400512695312, -0.7066218852996826, -0.3912975490093231, -0.7485718727111816, -0.7696211338043213, 0.0], "max": [0.30000001192092896, 0.1300821453332901, 0.800000011920929, 1.9089487791061401, 2.9229800701141357, 1.37311589717865, 0.8276573419570923, 0.2546903192996979, 0.7489374279975891, 0.9671496152877808, 1.0], "count": [2172]}, "action_is_hold": {"mean": [0.13121546961325967, 0.13121546961325967, 0.13121546961325967, 0.14594843462246776, 0.14594843462246776, 0.14594843462246776, 0.14594843462246776, 0.14594843462246776, 0.14594843462246776, 0.14594843462246776, 0.990791896869245], "std": [0.3376358543570737, 0.3376358543570737, 0.3376358543570737, 0.35305451286411843, 0.35305451286411843, 0.35305451286411843, 0.35305451286411843, 0.35305451286411843, 0.35305451286411843, 0.35305451286411843, 0.09551604036751561], "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": [2172]}, "observation.state": {"mean": [1.036549993476815, -2.6157365391926213, 1.1305524072100444, 0.4256191259620117, -0.4255812731082339, -0.9331931144163753, 0.7843211241332375, -0.7657716000796416, 0.6351372609499749, -2.2380602489299317, 0.41494828944193507, 0.014863259359690172, -0.01580526529637229, -0.01580526529637229, -0.014863259359690172], "std": [1.919289304400005, 0.6570862160234385, 0.3748639580518789, 0.2608641132454755, 0.2609098820529786, 0.3477997967459674, 0.4678177751479854, 0.755878079067426, 0.4118199176634022, 0.21010062565226476, 0.40081289462460806, 0.007020047041818864, 0.007127250189298281, 0.007127250189298281, 0.007020047041818864], "min": [-3.390869379043579, -3.411677837371826, 0.29456907510757446, -0.008639789186418056, -0.8115209937095642, -1.6114085912704468, -0.0031909726094454527, -1.656284213066101, -0.5322049260139465, -2.869551181793213, -0.040095552802085876, 0.0, -0.020833000540733337, -0.020833000540733337, -0.020833000540733337], "max": [3.4040372371673584, -1.7263736724853516, 1.3924952745437622, 0.8119837641716003, 0.006548949982970953, -0.5696132183074951, 1.3807731866836548, 0.6683879494667053, 1.1641813516616821, -1.804167628288269, 1.1480474472045898, 0.020833000540733337, 0.0, 0.0, -0.0], "count": [2172]}, "observation.joint_vel": {"mean": [0.0782956859606431, 0.007578157090099889, 0.008118151557366836, 0.001484011745539602, -0.0005492053373084021, 0.005883640874680286, 0.0002245119997830967, -0.011496581294355188, -0.001484707758443053, 0.007318004502124321, 0.0028830728798530723, -0.0007762117350647499, 0.00901087569668893], "std": [0.11038500144671957, 0.055166121651331605, 0.14924713072739568, 0.04960233554561071, 0.04091260123374996, 0.055407021394952724, 0.08639162954494121, 0.08413156284122271, 0.10930309594183026, 0.06654664813350815, 0.09468475572535229, 0.007370874381269912, 0.012378910506144463], "min": [-0.00031026790384203196, -0.13178355991840363, -0.8000695109367371, -0.18947020173072815, -0.5705475807189941, -0.13276277482509613, -0.20787610113620758, -0.19615599513053894, -0.3285914957523346, -0.32174623012542725, -0.4116569459438324, -0.09956341981887817, -0.10010930150747299], "max": [0.29841452836990356, 0.15763580799102783, 0.7999998331069946, 0.6462578773498535, 0.19006748497486115, 0.265855073928833, 0.19596314430236816, 0.18693414330482483, 0.3244561553001404, 0.32273799180984497, 0.4116155207157135, 0.10001268237829208, 0.1000000387430191], "count": [2172]}, "observation.eef_pose": {"mean": [0.4867150917522027, 0.5903363243417735, 1.0512832881227603, -0.6277328109982703, -0.07023160543779862, -0.5464535055520839, 0.28354632444199496], "std": [1.2074983241064279, 1.6337120190823222, 0.2072199843303846, 0.18218934171790094, 0.11299708757966136, 0.23964506495207993, 0.3444095362944012], "min": [-3.1327784061431885, -2.0091190338134766, 0.7527837753295898, -0.8123641014099121, -0.3928356170654297, -0.7492688894271851, 0.009613394737243652], "max": [1.9090098142623901, 2.923147201538086, 1.3856849670410156, -0.19477859139442444, 0.2027915120124817, -0.11016833037137985, 0.9674173593521118], "count": [2172]}, "observation.environment_state": {"mean": [-0.2161240577697754, -0.3373463451862335, 0.4699999988079071, 0.9981967210769653, 0.0, 0.0, -0.06002754345536232, -0.5139620900154114, -0.3013947904109955, 0.4699999988079071, 0.9981967210769653, 0.0, 0.0, -0.06002754345536232, -0.35246002674102783, -0.21512725949287415, 0.4300000071525574, 0.9981967210769653, 0.0, 0.0, -0.06002754345536232, 0.6683406602579163, 0.7865648382487209, 0.5219753709506813, 0.9852686578452478, -0.03802335160530906, 0.002369013652604211, -0.09069273280720339, -0.519694742000564, -0.3489021139689352, 0.46878658505379606, 0.9981965914944917, -5.039925082983279e-05, -0.0008145944237546965, -0.06002428020396944, 1.7844210863113403, 2.829169750213623, 0.5299999713897705, 0.9995346665382385, 0.0, 0.0, -0.0305032841861248, 1.792183756828308, 2.956233024597168, 0.48980000615119934, 0.9532731175422668, -0.3005658984184265, 0.009172757156193256, -0.029092269018292427, 1.796617031097412, 3.0287976264953613, 0.38999998569488525, 0.9995346665382385, 0.0, 0.0, -0.0305032841861248, -0.3016219735145569, -0.21119125187397003, 0.18000000715255737, 0.9981967210769653, 0.0, 0.0, -0.06002754345536232, 1.7923485040664673, 2.958927869796753, 0.18000000715255737, 0.9995346665382385, 0.0, 0.0, -0.0305032841861248], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.9205441577205383, 1.5062630236794763, 0.11113681237040662, 0.031110333082233106, 0.08822303680234177, 0.005654060831429692, 0.10385566388151106, 3.505645409715426e-08, 1.3529241725565176e-08, 1.6039511334248313e-08, 2.25983849553734e-08, 2.1463802064475408e-07, 1.523497647173886e-06, 1.927501729793624e-07, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 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": [-0.2161240577697754, -0.3373463451862335, 0.4699999988079071, 0.9981967210769653, 0.0, 0.0, -0.06002754345536232, -0.5139620900154114, -0.3013947904109955, 0.4699999988079071, 0.9981967210769653, 0.0, 0.0, -0.06002754345536232, -0.35246002674102783, -0.21512725949287415, 0.4300000071525574, 0.9981967210769653, 0.0, 0.0, -0.06002754345536232, -0.24125856161117554, -0.9292160868644714, 0.43057408928871155, 0.8346795439720154, -0.3884128928184509, -0.02923468127846718, -0.55071622133255, -0.5196948051452637, -0.3489021360874176, 0.4687865376472473, 0.998196542263031, -5.097134999232367e-05, -0.000816972169559449, -0.06002477556467056, 1.7844210863113403, 2.829169750213623, 0.5299999713897705, 0.9995346665382385, 0.0, 0.0, -0.0305032841861248, 1.792183756828308, 2.956233024597168, 0.48980000615119934, 0.9532731175422668, -0.3005658984184265, 0.009172757156193256, -0.029092269018292427, 1.796617031097412, 3.0287976264953613, 0.38999998569488525, 0.9995346665382385, 0.0, 0.0, -0.0305032841861248, -0.3016219735145569, -0.21119125187397003, 0.18000000715255737, 0.9981967210769653, 0.0, 0.0, -0.06002754345536232, 1.7923485040664673, 2.958927869796753, 0.18000000715255737, 0.9995346665382385, 0.0, 0.0, -0.0305032841861248], "max": [-0.2161240577697754, -0.3373463451862335, 0.4699999988079071, 0.9981967210769653, 0.0, 0.0, -0.06002754345536232, -0.5139620900154114, -0.3013947904109955, 0.4699999988079071, 0.9981967210769653, 0.0, 0.0, -0.06002754345536232, -0.35246002674102783, -0.21512725949287415, 0.4300000071525574, 0.9981967210769653, 0.0, 0.0, -0.06002754345536232, 1.9080144166946411, 2.9932990074157715, 0.6881128549575806, 0.9995473027229309, 0.015285879373550415, 0.03049979917705059, 0.016065875068306923, -0.5196946859359741, -0.3489020764827728, 0.4687866270542145, 0.9981966018676758, -4.969517976860516e-05, -0.000812226440757513, -0.060023631900548935, 1.7844210863113403, 2.829169750213623, 0.5299999713897705, 0.9995346665382385, 0.0, 0.0, -0.0305032841861248, 1.792183756828308, 2.956233024597168, 0.48980000615119934, 0.9532731175422668, -0.3005658984184265, 0.009172757156193256, -0.029092269018292427, 1.796617031097412, 3.0287976264953613, 0.38999998569488525, 0.9995346665382385, 0.0, 0.0, -0.0305032841861248, -0.3016219735145569, -0.21119125187397003, 0.18000000715255737, 0.9981967210769653, 0.0, 0.0, -0.06002754345536232, 1.7923485040664673, 2.958927869796753, 0.18000000715255737, 0.9995346665382385, 0.0, 0.0, -0.0305032841861248], "count": [2172]}, "action.command": {"mean": [-1.5418956172840477, -1.657416601352093, 1.4867180078018942, 0.0, 0.0, 0.0, 0.0, 0.44258760107816714, 0.35361787304081366, 0.35448137938654967, 1.0683046109914136, -0.17423692546443476, -0.07403992704866388, -0.2053227063218217, 0.18232842557875295, 0.5, -1.4687053376783705, -1.6343095024604968, 1.4867180078018942, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19614704566352037, -0.07173318283908035, 1.1457715396656585, -0.5051003123211754, -0.1371994958981671, -0.46172396199685845, 0.46269085488779127, 0.0, -1.41184164483451, -1.6137369267074517, 1.4867180078018942, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19614704566352037, -0.07173318283908035, 1.1457715396656585, -0.5051003123211754, -0.1371994958981671, -0.46172396199685845, 0.46269085488779127, 0.0, -1.3476123339392145, -1.5924966078702645, 1.4867180078018942, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19614704566352037, -0.07173318283908035, 1.1457715396656585, -0.5051003123211754, -0.1371994958981671, -0.46172396199685845, 0.46269085488779127, 0.0, -1.2526438570343326, -1.560106917881645, 1.4867180078018942, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19614704566352037, -0.07173318283908035, 1.1457715396656585, -0.5051003123211754, -0.1371994958981671, -0.46172396199685845, 0.46269085488779127, 0.0, -1.2134720479960934, -1.546924086429613, 1.4867180078018942, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19614704566352037, -0.07173318283908035, 1.1457715396656585, -0.5051003123211754, -0.1371994958981671, -0.46172396199685845, 0.46269085488779127, 0.0, -1.1337684259286376, -1.522199761172581, 1.4867180078018942, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19614704566352037, -0.07173318283908035, 1.1457715396656585, -0.5051003123211754, -0.1371994958981671, -0.46172396199685845, 0.46269085488779127, 0.0, -1.0321786489187335, -1.4872230927505836, 1.4867180078018942, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19614704566352037, -0.07173318283908035, 1.1457715396656585, -0.5051003123211754, -0.1371994958981671, -0.46172396199685845, 0.46269085488779127, 0.0, -0.9560407528428219, -1.460725089359711, 1.4867180078018942, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19614704566352037, -0.07173318283908035, 1.1457715396656585, -0.5051003123211754, -0.1371994958981671, -0.46172396199685845, 0.46269085488779127, 0.0, -0.9012984363487483, -1.4426732212973283, 1.4867180078018942, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19614704566352037, -0.07173318283908035, 1.1457715396656585, -0.5051003123211754, -0.1371994958981671, -0.46172396199685845, 0.46269085488779127, 0.0, -0.811850011081439, -1.41285707383947, 1.4867180078018942, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19614704566352037, -0.07173318283908035, 1.1457715396656585, -0.5051003123211754, -0.1371994958981671, -0.46172396199685845, 0.46269085488779127, 0.0, -0.7375630081501777, -1.3882362874634062, 1.4867180078018942, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19614704566352037, -0.07173318283908035, 1.1457715396656585, -0.5051003123211754, -0.1371994958981671, -0.46172396199685845, 0.46269085488779127, 0.0, -0.7032027608076019, -1.3330579466883912, 1.4867180078018942, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19614704566352037, -0.07173318283908035, 1.1457715396656585, -0.5051003123211754, -0.1371994958981671, -0.46172396199685845, 0.46269085488779127, 0.0, -0.6287493096338794, -1.2374257709947938, 1.4867180078018942, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19614704566352037, -0.07173318283908035, 1.1457715396656585, -0.5051003123211754, -0.1371994958981671, -0.46172396199685845, 0.46269085488779127, 0.0, -0.5712761868275869, -1.1942206375267475, 1.4867180078018942, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19614704566352037, -0.07173318283908035, 1.1457715396656585, -0.5051003123211754, -0.1371994958981671, -0.46172396199685845, 0.46269085488779127, 0.0, -0.5389649087538099, -1.1340418385817865, 1.4867180078018942, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19614704566352037, -0.07173318283908035, 1.1457715396656585, -0.5051003123211754, -0.1371994958981671, -0.46172396199685845, 0.46269085488779127, 0.0, -0.5111190813004703, -1.0998491364209642, 1.4867180078018942, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19614704566352037, -0.07173318283908035, 1.1457715396656585, -0.5051003123211754, -0.1371994958981671, -0.46172396199685845, 0.46269085488779127, 0.0, -0.43995868357842277, -1.0074078758735827, 1.4867180078018942, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19614704566352037, -0.07173318283908035, 1.1457715396656585, -0.5051003123211754, -0.1371994958981671, -0.46172396199685845, 0.46269085488779127, 0.0, -0.4158487437551866, -0.9968155424691102, 1.4867180078018942, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19614704566352037, -0.07173318283908035, 1.1457715396656585, -0.5051003123211754, -0.1371994958981671, -0.46172396199685845, 0.46269085488779127, 0.0, -0.3820344161559648, -0.983040515082834, 1.4867180078018942, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19614704566352037, -0.07173318283908035, 1.1457715396656585, -0.5051003123211754, -0.1371994958981671, -0.46172396199685845, 0.46269085488779127, 0.0, -0.297298081252607, -0.8913100022371574, 1.4867180078018942, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19614704566352037, -0.07173318283908035, 1.1457715396656585, -0.5051003123211754, -0.1371994958981671, -0.46172396199685845, 0.46269085488779127, 0.0, -0.2773987701655503, -0.8422651862884316, 1.4867180078018942, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19614704566352037, -0.07173318283908035, 1.1457715396656585, -0.5051003123211754, -0.1371994958981671, -0.46172396199685845, 0.46269085488779127, 0.0, -0.24503731620685937, -0.7625542654584876, 1.4867180078018942, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19614704566352037, -0.07173318283908035, 1.1457715396656585, -0.5051003123211754, -0.1371994958981671, -0.46172396199685845, 0.46269085488779127, 0.0, -0.18424786580517688, -0.7306542778763536, 1.4867180078018942, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19614704566352037, -0.07173318283908035, 1.1457715396656585, -0.5051003123211754, -0.1371994958981671, -0.46172396199685845, 0.46269085488779127, 0.0, -0.14071503081129272, -0.6923910157562906, 1.4867180078018942, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19614704566352037, -0.07173318283908035, 1.1457715396656585, -0.5051003123211754, -0.1371994958981671, -0.46172396199685845, 0.46269085488779127, 0.0, -0.09091304182471716, -0.6185894512274874, 1.4867180078018942, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19614704566352037, -0.07173318283908035, 1.1457715396656585, -0.5051003123211754, -0.1371994958981671, -0.46172396199685845, 0.46269085488779127, 0.0, -0.03486926352496639, -0.5646003896345472, 1.4867180078018942, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19614704566352037, -0.07173318283908035, 1.1457715396656585, -0.5051003123211754, -0.1371994958981671, -0.46172396199685845, 0.46269085488779127, 0.0, 0.006127558481532897, -0.49713112260194103, 1.4867180078018942, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19614704566352037, -0.07173318283908035, 1.1457715396656585, -0.5051003123211754, -0.1371994958981671, -0.46172396199685845, 0.46269085488779127, 0.0, 0.04847188594629946, -0.4118335968710382, 1.4867180078018942, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19614704566352037, -0.07173318283908035, 1.1457715396656585, -0.5051003123211754, -0.1371994958981671, -0.46172396199685845, 0.46269085488779127, 0.0, 0.10151824021018674, -0.3794134272588208, 1.4867180078018942, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19614704566352037, -0.07173318283908035, 1.1457715396656585, -0.5051003123211754, -0.1371994958981671, -0.46172396199685845, 0.46269085488779127, 0.0, 0.1644133992259278, -0.31266292274800117, 1.4867180078018942, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19614704566352037, -0.07173318283908035, 1.1457715396656585, -0.5051003123211754, -0.1371994958981671, -0.46172396199685845, 0.46269085488779127, 0.0, 0.19689676900615607, -0.26201229138224646, 1.4867180078018942, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19614704566352037, -0.07173318283908035, 1.1457715396656585, -0.5051003123211754, -0.1371994958981671, -0.46172396199685845, 0.46269085488779127, 0.0, 0.22738551879677538, -0.24011488078421006, 1.4867180078018942, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19614704566352037, -0.07173318283908035, 1.1457715396656585, -0.5051003123211754, -0.1371994958981671, -0.46172396199685845, 0.46269085488779127, 0.0, 0.2929999438101935, -0.14427373227517165, 1.4867180078018942, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19614704566352037, -0.07173318283908035, 1.1457715396656585, -0.5051003123211754, -0.1371994958981671, -0.46172396199685845, 0.46269085488779127, 0.0, 0.3225032500087413, -0.10764036477948519, 1.4867180078018942, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19614704566352037, -0.07173318283908035, 1.1457715396656585, -0.5051003123211754, -0.1371994958981671, -0.46172396199685845, 0.46269085488779127, 0.0, 0.39063284669756354, -0.02587785474922625, 1.4867180078018942, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19614704566352037, -0.07173318283908035, 1.1457715396656585, -0.5051003123211754, -0.1371994958981671, -0.46172396199685845, 0.46269085488779127, 0.0, 0.45730801147195793, 0.0398895099024067, 1.4867180078018942, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19614704566352037, -0.07173318283908035, 1.1457715396656585, -0.5051003123211754, -0.1371994958981671, -0.46172396199685845, 0.46269085488779127, 0.0, 0.4899364859533951, 0.09316433064071587, 1.4867180078018942, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19614704566352037, -0.07173318283908035, 1.1457715396656585, -0.5051003123211754, -0.1371994958981671, -0.46172396199685845, 0.46269085488779127, 0.0, 0.5427936978404297, 0.16802876947172019, 1.4867180078018942, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19614704566352037, -0.07173318283908035, 1.1457715396656585, -0.5051003123211754, -0.1371994958981671, -0.46172396199685845, 0.46269085488779127, 0.0, 0.5898635807058736, 0.21245084108258577, 1.4867180078018942, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19614704566352037, -0.07173318283908035, 1.1457715396656585, -0.5051003123211754, -0.1371994958981671, -0.46172396199685845, 0.46269085488779127, 0.0, 0.6378251172501944, 0.29950250050412164, 1.4867180078018942, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19614704566352037, -0.07173318283908035, 1.1457715396656585, -0.5051003123211754, -0.1371994958981671, -0.46172396199685845, 0.46269085488779127, 0.0, 0.6891051089817098, 0.3314685372493727, 1.4867180078018942, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19614704566352037, -0.07173318283908035, 1.1457715396656585, -0.5051003123211754, -0.1371994958981671, -0.46172396199685845, 0.46269085488779127, 0.0, 0.7449361673919609, 0.4241939868627642, 1.4867180078018942, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19614704566352037, -0.07173318283908035, 1.1457715396656585, -0.5051003123211754, -0.1371994958981671, -0.46172396199685845, 0.46269085488779127, 0.0, 1.4364560842514038, 1.4733390808105469, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 1.135136381339501, 0.7455788304317085, 1.000360131263733, -0.6795823181815007, -0.15164889129536116, -0.6838242377647582, 0.1489715306636165, 0.0, 1.4388242959976196, 1.4792407751083374, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 1.135136381339501, 0.7455788304317085, 1.000360131263733, -0.6795823181815007, -0.15164889129536116, -0.6838242377647582, 0.1489715306636165, 0.0, 1.4992908239364624, 1.629927396774292, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 1.135136381339501, 0.7455788304317085, 1.000360131263733, -0.6795823181815007, -0.15164889129536116, -0.6838242377647582, 0.1489715306636165, 0.0, 1.5124403238296509, 1.6626968383789062, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 1.135136381339501, 0.7455788304317085, 1.000360131263733, -0.6795823181815007, -0.15164889129536116, -0.6838242377647582, 0.1489715306636165, 0.0, 1.5634223222732544, 1.7897473573684692, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 1.135136381339501, 0.7455788304317085, 1.000360131263733, -0.6795823181815007, -0.15164889129536116, -0.6838242377647582, 0.1489715306636165, 0.0, 1.5866135358810425, 1.8475414514541626, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 1.135136381339501, 0.7455788304317085, 1.000360131263733, -0.6795823181815007, -0.15164889129536116, -0.6838242377647582, 0.1489715306636165, 0.0, 1.6301109790802002, 1.9559398889541626, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 1.135136381339501, 0.7455788304317085, 1.000360131263733, -0.6795823181815007, -0.15164889129536116, -0.6838242377647582, 0.1489715306636165, 0.0, 1.6599746942520142, 2.030362367630005, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 1.135136381339501, 0.7455788304317085, 1.000360131263733, -0.6795823181815007, -0.15164889129536116, -0.6838242377647582, 0.1489715306636165, 0.0, 1.6981184482574463, 2.1254193782806396, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 1.135136381339501, 0.7455788304317085, 1.000360131263733, -0.6795823181815007, -0.15164889129536116, -0.6838242377647582, 0.1489715306636165, 0.0, 1.7464388608932495, 2.1773569583892822, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 1.135136381339501, 0.7455788304317085, 1.000360131263733, -0.6795823181815007, -0.15164889129536116, -0.6838242377647582, 0.1489715306636165, 0.0], "std": [1.4788356530281457, 0.5856071837638093, 0.02883253866005169, 0.0, 0.0, 0.0, 0.0, 1.4989008694540238, 1.2014794245488523, 1.545281147199009, 0.20677760089077712, 0.6244551909445706, 0.11849320032623699, 0.5423092282423406, 0.43666256769946304, 0.5, 1.5124968691276597, 0.5943362940377412, 0.02883253866005169, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3862953815390675, 1.4108844072637718, 0.18180604058812372, 0.2282863594715123, 0.08546484868282002, 0.27935118111438345, 0.40164907378128334, 0.0, 1.4799221908567932, 0.5801920989086669, 0.02883253866005169, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3862953815390675, 1.4108844072637718, 0.18180604058812372, 0.2282863594715123, 0.08546484868282002, 0.27935118111438345, 0.40164907378128334, 0.0, 1.487893124706786, 0.5801668045557258, 0.02883253866005169, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3862953815390675, 1.4108844072637718, 0.18180604058812372, 0.2282863594715123, 0.08546484868282002, 0.27935118111438345, 0.40164907378128334, 0.0, 1.4776186275927925, 0.5722688027567137, 0.02883253866005169, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3862953815390675, 1.4108844072637718, 0.18180604058812372, 0.2282863594715123, 0.08546484868282002, 0.27935118111438345, 0.40164907378128334, 0.0, 1.477349271807969, 0.570425164240958, 0.02883253866005169, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3862953815390675, 1.4108844072637718, 0.18180604058812372, 0.2282863594715123, 0.08546484868282002, 0.27935118111438345, 0.40164907378128334, 0.0, 1.5238495125960263, 0.5834385564237347, 0.02883253866005169, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3862953815390675, 1.4108844072637718, 0.18180604058812372, 0.2282863594715123, 0.08546484868282002, 0.27935118111438345, 0.40164907378128334, 0.0, 1.50549100206424, 0.5723645142623248, 0.02883253866005169, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3862953815390675, 1.4108844072637718, 0.18180604058812372, 0.2282863594715123, 0.08546484868282002, 0.27935118111438345, 0.40164907378128334, 0.0, 1.485361748725256, 0.561795021757154, 0.02883253866005169, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3862953815390675, 1.4108844072637718, 0.18180604058812372, 0.2282863594715123, 0.08546484868282002, 0.27935118111438345, 0.40164907378128334, 0.0, 1.4933017260668804, 0.5621819381352426, 0.02883253866005169, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3862953815390675, 1.4108844072637718, 0.18180604058812372, 0.2282863594715123, 0.08546484868282002, 0.27935118111438345, 0.40164907378128334, 0.0, 1.4991116790306058, 0.5602614861936804, 0.02883253866005169, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3862953815390675, 1.4108844072637718, 0.18180604058812372, 0.2282863594715123, 0.08546484868282002, 0.27935118111438345, 0.40164907378128334, 0.0, 1.5071081688992662, 0.5597965934309983, 0.02883253866005169, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3862953815390675, 1.4108844072637718, 0.18180604058812372, 0.2282863594715123, 0.08546484868282002, 0.27935118111438345, 0.40164907378128334, 0.0, 1.504864559793393, 0.5922763742673726, 0.02883253866005169, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3862953815390675, 1.4108844072637718, 0.18180604058812372, 0.2282863594715123, 0.08546484868282002, 0.27935118111438345, 0.40164907378128334, 0.0, 1.4766414115214295, 0.6343568157433253, 0.02883253866005169, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3862953815390675, 1.4108844072637718, 0.18180604058812372, 0.2282863594715123, 0.08546484868282002, 0.27935118111438345, 0.40164907378128334, 0.0, 1.4249667638270203, 0.6306360454996516, 0.02883253866005169, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3862953815390675, 1.4108844072637718, 0.18180604058812372, 0.2282863594715123, 0.08546484868282002, 0.27935118111438345, 0.40164907378128334, 0.0, 1.4309507099576202, 0.6709831550978566, 0.02883253866005169, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3862953815390675, 1.4108844072637718, 0.18180604058812372, 0.2282863594715123, 0.08546484868282002, 0.27935118111438345, 0.40164907378128334, 0.0, 1.4188585846273338, 0.6848600441568914, 0.02883253866005169, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3862953815390675, 1.4108844072637718, 0.18180604058812372, 0.2282863594715123, 0.08546484868282002, 0.27935118111438345, 0.40164907378128334, 0.0, 1.3928979726149828, 0.7263078360696267, 0.02883253866005169, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3862953815390675, 1.4108844072637718, 0.18180604058812372, 0.2282863594715123, 0.08546484868282002, 0.27935118111438345, 0.40164907378128334, 0.0, 1.3638674402267186, 0.7158401315295856, 0.02883253866005169, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3862953815390675, 1.4108844072637718, 0.18180604058812372, 0.2282863594715123, 0.08546484868282002, 0.27935118111438345, 0.40164907378128334, 0.0, 1.3220968691113122, 0.6998810375030101, 0.02883253866005169, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3862953815390675, 1.4108844072637718, 0.18180604058812372, 0.2282863594715123, 0.08546484868282002, 0.27935118111438345, 0.40164907378128334, 0.0, 1.2732731857330029, 0.7275411829042391, 0.02883253866005169, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3862953815390675, 1.4108844072637718, 0.18180604058812372, 0.2282863594715123, 0.08546484868282002, 0.27935118111438345, 0.40164907378128334, 0.0, 1.2886562808247746, 0.7665592123567596, 0.02883253866005169, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3862953815390675, 1.4108844072637718, 0.18180604058812372, 0.2282863594715123, 0.08546484868282002, 0.27935118111438345, 0.40164907378128334, 0.0, 1.313625703089412, 0.8299550814917637, 0.02883253866005169, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3862953815390675, 1.4108844072637718, 0.18180604058812372, 0.2282863594715123, 0.08546484868282002, 0.27935118111438345, 0.40164907378128334, 0.0, 1.2454993175024167, 0.8097031687122481, 0.02883253866005169, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3862953815390675, 1.4108844072637718, 0.18180604058812372, 0.2282863594715123, 0.08546484868282002, 0.27935118111438345, 0.40164907378128334, 0.0, 1.211764442502702, 0.8134331335985705, 0.02883253866005169, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3862953815390675, 1.4108844072637718, 0.18180604058812372, 0.2282863594715123, 0.08546484868282002, 0.27935118111438345, 0.40164907378128334, 0.0, 1.2024851655153308, 0.8532084599874427, 0.02883253866005169, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3862953815390675, 1.4108844072637718, 0.18180604058812372, 0.2282863594715123, 0.08546484868282002, 0.27935118111438345, 0.40164907378128334, 0.0, 1.1636719403682367, 0.8636027491217891, 0.02883253866005169, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3862953815390675, 1.4108844072637718, 0.18180604058812372, 0.2282863594715123, 0.08546484868282002, 0.27935118111438345, 0.40164907378128334, 0.0, 1.1625896037280665, 0.9042874656468378, 0.02883253866005169, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3862953815390675, 1.4108844072637718, 0.18180604058812372, 0.2282863594715123, 0.08546484868282002, 0.27935118111438345, 0.40164907378128334, 0.0, 1.176711033939508, 0.964769083703913, 0.02883253866005169, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3862953815390675, 1.4108844072637718, 0.18180604058812372, 0.2282863594715123, 0.08546484868282002, 0.27935118111438345, 0.40164907378128334, 0.0, 1.1217367233669335, 0.9525167171940154, 0.02883253866005169, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3862953815390675, 1.4108844072637718, 0.18180604058812372, 0.2282863594715123, 0.08546484868282002, 0.27935118111438345, 0.40164907378128334, 0.0, 1.0841933619593835, 0.9714674790092005, 0.02883253866005169, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3862953815390675, 1.4108844072637718, 0.18180604058812372, 0.2282863594715123, 0.08546484868282002, 0.27935118111438345, 0.40164907378128334, 0.0, 1.0805947605330186, 1.0003832273682447, 0.02883253866005169, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3862953815390675, 1.4108844072637718, 0.18180604058812372, 0.2282863594715123, 0.08546484868282002, 0.27935118111438345, 0.40164907378128334, 0.0, 1.052183910717872, 0.9972003836971244, 0.02883253866005169, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3862953815390675, 1.4108844072637718, 0.18180604058812372, 0.2282863594715123, 0.08546484868282002, 0.27935118111438345, 0.40164907378128334, 0.0, 1.0385985754189342, 1.0479574569331638, 0.02883253866005169, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3862953815390675, 1.4108844072637718, 0.18180604058812372, 0.2282863594715123, 0.08546484868282002, 0.27935118111438345, 0.40164907378128334, 0.0, 1.0261825079271614, 1.0631397962696882, 0.02883253866005169, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3862953815390675, 1.4108844072637718, 0.18180604058812372, 0.2282863594715123, 0.08546484868282002, 0.27935118111438345, 0.40164907378128334, 0.0, 0.9947462790564526, 1.0948502508150424, 0.02883253866005169, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3862953815390675, 1.4108844072637718, 0.18180604058812372, 0.2282863594715123, 0.08546484868282002, 0.27935118111438345, 0.40164907378128334, 0.0, 0.9500704043770063, 1.1090334341364074, 0.02883253866005169, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3862953815390675, 1.4108844072637718, 0.18180604058812372, 0.2282863594715123, 0.08546484868282002, 0.27935118111438345, 0.40164907378128334, 0.0, 0.9487965865776793, 1.1409138841779152, 0.02883253866005169, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3862953815390675, 1.4108844072637718, 0.18180604058812372, 0.2282863594715123, 0.08546484868282002, 0.27935118111438345, 0.40164907378128334, 0.0, 0.9355657211075443, 1.1790322996163156, 0.02883253866005169, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3862953815390675, 1.4108844072637718, 0.18180604058812372, 0.2282863594715123, 0.08546484868282002, 0.27935118111438345, 0.40164907378128334, 0.0, 0.9020672465489278, 1.1866718919797719, 0.02883253866005169, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3862953815390675, 1.4108844072637718, 0.18180604058812372, 0.2282863594715123, 0.08546484868282002, 0.27935118111438345, 0.40164907378128334, 0.0, 0.9087283254151637, 1.2438707391346397, 0.02883253866005169, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3862953815390675, 1.4108844072637718, 0.18180604058812372, 0.2282863594715123, 0.08546484868282002, 0.27935118111438345, 0.40164907378128334, 0.0, 0.8561952106410904, 1.2327659948620622, 0.02883253866005169, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3862953815390675, 1.4108844072637718, 0.18180604058812372, 0.2282863594715123, 0.08546484868282002, 0.27935118111438345, 0.40164907378128334, 0.0, 0.8487053782914273, 1.2721258106244244, 0.02883253866005169, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3862953815390675, 1.4108844072637718, 0.18180604058812372, 0.2282863594715123, 0.08546484868282002, 0.27935118111438345, 0.40164907378128334, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5278332145428521, 1.2026188102583601, 0.0, 0.03758265106613797, 0.106374681087529, 0.038094785560042914, 0.10574917569843224, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5278332145428521, 1.2026188102583601, 0.0, 0.03758265106613797, 0.106374681087529, 0.038094785560042914, 0.10574917569843224, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5278332145428521, 1.2026188102583601, 0.0, 0.03758265106613797, 0.106374681087529, 0.038094785560042914, 0.10574917569843224, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5278332145428521, 1.2026188102583601, 0.0, 0.03758265106613797, 0.106374681087529, 0.038094785560042914, 0.10574917569843224, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5278332145428521, 1.2026188102583601, 0.0, 0.03758265106613797, 0.106374681087529, 0.038094785560042914, 0.10574917569843224, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5278332145428521, 1.2026188102583601, 0.0, 0.03758265106613797, 0.106374681087529, 0.038094785560042914, 0.10574917569843224, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5278332145428521, 1.2026188102583601, 0.0, 0.03758265106613797, 0.106374681087529, 0.038094785560042914, 0.10574917569843224, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5278332145428521, 1.2026188102583601, 0.0, 0.03758265106613797, 0.106374681087529, 0.038094785560042914, 0.10574917569843224, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5278332145428521, 1.2026188102583601, 0.0, 0.03758265106613797, 0.106374681087529, 0.038094785560042914, 0.10574917569843224, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5278332145428521, 1.2026188102583601, 0.0, 0.03758265106613797, 0.106374681087529, 0.038094785560042914, 0.10574917569843224, 0.0], "min": [-3.3908650875091553, -2.3895938396453857, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, -1.0, -3.1327784061431885, -2.0050339698791504, 0.7517412900924683, -0.7066218852996826, -0.3912975490093231, -0.7485718727111816, -0.7696211338043213, 0.0, -3.3597609996795654, -2.3774006366729736, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.0050339698791504, 1.000360131263733, -0.7042903900146484, -0.3912975490093231, -0.7090055346488953, 0.02439144253730774, 0.0, -3.262169599533081, -2.339143753051758, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.0050339698791504, 1.000360131263733, -0.7042903900146484, -0.3912975490093231, -0.7090055346488953, 0.02439144253730774, 0.0, -3.2079062461853027, -2.3178718090057373, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.0050339698791504, 1.000360131263733, -0.7042903900146484, -0.3912975490093231, -0.7090055346488953, 0.02439144253730774, 0.0, -3.1000916957855225, -2.2756073474884033, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.0050339698791504, 1.000360131263733, -0.7042903900146484, -0.3912975490093231, -0.7090055346488953, 0.02439144253730774, 0.0, -3.0605831146240234, -2.2601194381713867, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.0050339698791504, 1.000360131263733, -0.7042903900146484, -0.3912975490093231, -0.7090055346488953, 0.02439144253730774, 0.0, -3.039018154144287, -2.2516655921936035, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.0050339698791504, 1.000360131263733, -0.7042903900146484, -0.3912975490093231, -0.7090055346488953, 0.02439144253730774, 0.0, -2.9144749641418457, -2.202843189239502, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.0050339698791504, 1.000360131263733, -0.7042903900146484, -0.3912975490093231, -0.7090055346488953, 0.02439144253730774, 0.0, -2.8131697177886963, -2.163130283355713, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.0050339698791504, 1.000360131263733, -0.7042903900146484, -0.3912975490093231, -0.7090055346488953, 0.02439144253730774, 0.0, -2.768354654312134, -2.145562171936035, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.0050339698791504, 1.000360131263733, -0.7042903900146484, -0.3912975490093231, -0.7090055346488953, 0.02439144253730774, 0.0, -2.6861703395843506, -2.11334490776062, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.0050339698791504, 1.000360131263733, -0.7042903900146484, -0.3912975490093231, -0.7090055346488953, 0.02439144253730774, 0.0, -2.6218812465667725, -2.0881428718566895, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.0050339698791504, 1.000360131263733, -0.7042903900146484, -0.3912975490093231, -0.7090055346488953, 0.02439144253730774, 0.0, -2.5847158432006836, -2.073573589324951, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.0050339698791504, 1.000360131263733, -0.7042903900146484, -0.3912975490093231, -0.7090055346488953, 0.02439144253730774, 0.0, -2.474975347518921, -2.0305540561676025, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.0050339698791504, 1.000360131263733, -0.7042903900146484, -0.3912975490093231, -0.7090055346488953, 0.02439144253730774, 0.0, -2.3528940677642822, -1.9826968908309937, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.0050339698791504, 1.000360131263733, -0.7042903900146484, -0.3912975490093231, -0.7090055346488953, 0.02439144253730774, 0.0, -2.328064441680908, -1.972963571548462, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.0050339698791504, 1.000360131263733, -0.7042903900146484, -0.3912975490093231, -0.7090055346488953, 0.02439144253730774, 0.0, -2.285099983215332, -1.9561209678649902, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.0050339698791504, 1.000360131263733, -0.7042903900146484, -0.3912975490093231, -0.7090055346488953, 0.02439144253730774, 0.0, -2.18148136138916, -1.915501356124878, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.0050339698791504, 1.000360131263733, -0.7042903900146484, -0.3912975490093231, -0.7090055346488953, 0.02439144253730774, 0.0, -2.121074914932251, -1.8918213844299316, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.0050339698791504, 1.000360131263733, -0.7042903900146484, -0.3912975490093231, -0.7090055346488953, 0.02439144253730774, 0.0, -2.0350353717803955, -1.8580929040908813, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.0050339698791504, 1.000360131263733, -0.7042903900146484, -0.3912975490093231, -0.7090055346488953, 0.02439144253730774, 0.0, -1.889255404472351, -1.800945520401001, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.0050339698791504, 1.000360131263733, -0.7042903900146484, -0.3912975490093231, -0.7090055346488953, 0.02439144253730774, 0.0, -1.8885893821716309, -1.8006844520568848, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.0050339698791504, 1.000360131263733, -0.7042903900146484, -0.3912975490093231, -0.7090055346488953, 0.02439144253730774, 0.0, -1.8874468803405762, -1.8002365827560425, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.0050339698791504, 1.000360131263733, -0.7042903900146484, -0.3912975490093231, -0.7090055346488953, 0.02439144253730774, 0.0, -1.7414798736572266, -1.7430158853530884, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.0050339698791504, 1.000360131263733, -0.7042903900146484, -0.3912975490093231, -0.7090055346488953, 0.02439144253730774, 0.0, -1.6557687520980835, -1.709416151046753, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.0050339698791504, 1.000360131263733, -0.7042903900146484, -0.3912975490093231, -0.7090055346488953, 0.02439144253730774, 0.0, -1.5943650007247925, -1.68534517288208, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.0050339698791504, 1.000360131263733, -0.7042903900146484, -0.3912975490093231, -0.7090055346488953, 0.02439144253730774, 0.0, -1.4897935390472412, -1.6443519592285156, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.0050339698791504, 1.000360131263733, -0.7042903900146484, -0.3912975490093231, -0.7090055346488953, 0.02439144253730774, 0.0, -1.4474434852600098, -1.627750277519226, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.0050339698791504, 1.000360131263733, -0.7042903900146484, -0.3912975490093231, -0.7090055346488953, 0.02439144253730774, 0.0, -1.4227550029754639, -1.6180721521377563, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.0050339698791504, 1.000360131263733, -0.7042903900146484, -0.3912975490093231, -0.7090055346488953, 0.02439144253730774, 0.0, -1.30097496509552, -1.5703330039978027, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.0050339698791504, 1.000360131263733, -0.7042903900146484, -0.3912975490093231, -0.7090055346488953, 0.02439144253730774, 0.0, -1.191139817237854, -1.5272763967514038, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.0050339698791504, 1.000360131263733, -0.7042903900146484, -0.3912975490093231, -0.7090055346488953, 0.02439144253730774, 0.0, -1.1541571617126465, -1.5127787590026855, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.0050339698791504, 1.000360131263733, -0.7042903900146484, -0.3912975490093231, -0.7090055346488953, 0.02439144253730774, 0.0, -1.088146686553955, -1.486901879310608, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.0050339698791504, 1.000360131263733, -0.7042903900146484, -0.3912975490093231, -0.7090055346488953, 0.02439144253730774, 0.0, -1.0055466890335083, -1.454521656036377, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.0050339698791504, 1.000360131263733, -0.7042903900146484, -0.3912975490093231, -0.7090055346488953, 0.02439144253730774, 0.0, -0.9605197310447693, -1.4368705749511719, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.0050339698791504, 1.000360131263733, -0.7042903900146484, -0.3912975490093231, -0.7090055346488953, 0.02439144253730774, 0.0, -0.8530858159065247, -1.394755244255066, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.0050339698791504, 1.000360131263733, -0.7042903900146484, -0.3912975490093231, -0.7090055346488953, 0.02439144253730774, 0.0, -0.7305529713630676, -1.3467209339141846, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.0050339698791504, 1.000360131263733, -0.7042903900146484, -0.3912975490093231, -0.7090055346488953, 0.02439144253730774, 0.0, -0.6963318586349487, -1.333305835723877, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.0050339698791504, 1.000360131263733, -0.7042903900146484, -0.3912975490093231, -0.7090055346488953, 0.02439144253730774, 0.0, -0.6269322633743286, -1.3061003684997559, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.0050339698791504, 1.000360131263733, -0.7042903900146484, -0.3912975490093231, -0.7090055346488953, 0.02439144253730774, 0.0, -0.5379796624183655, -1.2712299823760986, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.0050339698791504, 1.000360131263733, -0.7042903900146484, -0.3912975490093231, -0.7090055346488953, 0.02439144253730774, 0.0, -0.49834638833999634, -1.2556933164596558, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.0050339698791504, 1.000360131263733, -0.7042903900146484, -0.3912975490093231, -0.7090055346488953, 0.02439144253730774, 0.0, -0.3813849091529846, -1.2098431587219238, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.0050339698791504, 1.000360131263733, -0.7042903900146484, -0.3912975490093231, -0.7090055346488953, 0.02439144253730774, 0.0, -0.31618940830230713, -1.16632878780365, 1.4506690502166748, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1327784061431885, -2.0050339698791504, 1.000360131263733, -0.7042903900146484, -0.3912975490093231, -0.7090055346488953, 0.02439144253730774, 0.0, 1.4364560842514038, 1.4733390808105469, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, -0.23013204336166382, -0.9355553388595581, 1.000360131263733, -0.7042903900146484, -0.3912975490093231, -0.7090055346488953, 0.02439144253730774, 0.0, 1.4388242959976196, 1.4792407751083374, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, -0.23013204336166382, -0.9355553388595581, 1.000360131263733, -0.7042903900146484, -0.3912975490093231, -0.7090055346488953, 0.02439144253730774, 0.0, 1.4992908239364624, 1.629927396774292, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, -0.23013204336166382, -0.9355553388595581, 1.000360131263733, -0.7042903900146484, -0.3912975490093231, -0.7090055346488953, 0.02439144253730774, 0.0, 1.5124403238296509, 1.6626968383789062, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, -0.23013204336166382, -0.9355553388595581, 1.000360131263733, -0.7042903900146484, -0.3912975490093231, -0.7090055346488953, 0.02439144253730774, 0.0, 1.5634223222732544, 1.7897473573684692, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, -0.23013204336166382, -0.9355553388595581, 1.000360131263733, -0.7042903900146484, -0.3912975490093231, -0.7090055346488953, 0.02439144253730774, 0.0, 1.5866135358810425, 1.8475414514541626, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, -0.23013204336166382, -0.9355553388595581, 1.000360131263733, -0.7042903900146484, -0.3912975490093231, -0.7090055346488953, 0.02439144253730774, 0.0, 1.6301109790802002, 1.9559398889541626, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, -0.23013204336166382, -0.9355553388595581, 1.000360131263733, -0.7042903900146484, -0.3912975490093231, -0.7090055346488953, 0.02439144253730774, 0.0, 1.6599746942520142, 2.030362367630005, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, -0.23013204336166382, -0.9355553388595581, 1.000360131263733, -0.7042903900146484, -0.3912975490093231, -0.7090055346488953, 0.02439144253730774, 0.0, 1.6981184482574463, 2.1254193782806396, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, -0.23013204336166382, -0.9355553388595581, 1.000360131263733, -0.7042903900146484, -0.3912975490093231, -0.7090055346488953, 0.02439144253730774, 0.0, 1.7464388608932495, 2.1773569583892822, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, -0.23013204336166382, -0.9355553388595581, 1.000360131263733, -0.7042903900146484, -0.3912975490093231, -0.7090055346488953, 0.02439144253730774, 0.0], "max": [-0.35909897089004517, -1.1890385150909424, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9089487791061401, 2.9229800701141357, 1.37311589717865, 0.8276573419570923, 0.2546903192996979, 0.7489374279975891, 0.9671496152877808, 1.0, -0.2589859068393707, -1.1589497327804565, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9089487791061401, 2.621677875518799, 1.3730814456939697, -0.1951058954000473, -0.026284754276275635, -0.11048052459955215, 0.9671496152877808, 0.0, -0.22817596793174744, -1.1496899127960205, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9089487791061401, 2.621677875518799, 1.3730814456939697, -0.1951058954000473, -0.026284754276275635, -0.11048052459955215, 0.9671496152877808, 0.0, -0.15757137537002563, -1.1284698247909546, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9089487791061401, 2.621677875518799, 1.3730814456939697, -0.1951058954000473, -0.026284754276275635, -0.11048052459955215, 0.9671496152877808, 0.0, -0.07082060724496841, -1.102397084236145, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9089487791061401, 2.621677875518799, 1.3730814456939697, -0.1951058954000473, -0.026284754276275635, -0.11048052459955215, 0.9671496152877808, 0.0, -0.031864233314991, -1.0906888246536255, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9089487791061401, 2.621677875518799, 1.3730814456939697, -0.1951058954000473, -0.026284754276275635, -0.11048052459955215, 0.9671496152877808, 0.0, 0.08503103256225586, -1.0555561780929565, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9089487791061401, 2.621677875518799, 1.3730814456939697, -0.1951058954000473, -0.026284754276275635, -0.11048052459955215, 0.9671496152877808, 0.0, 0.17193737626075745, -1.029436707496643, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9089487791061401, 2.621677875518799, 1.3730814456939697, -0.1951058954000473, -0.026284754276275635, -0.11048052459955215, 0.9671496152877808, 0.0, 0.23197557032108307, -1.01139235496521, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9089487791061401, 2.621677875518799, 1.3730814456939697, -0.1951058954000473, -0.026284754276275635, -0.11048052459955215, 0.9671496152877808, 0.0, 0.29306840896606445, -0.9930310249328613, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9089487791061401, 2.621677875518799, 1.3730814456939697, -0.1951058954000473, -0.026284754276275635, -0.11048052459955215, 0.9671496152877808, 0.0, 0.3871637284755707, -0.9647508859634399, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9089487791061401, 2.621677875518799, 1.3730814456939697, -0.1951058954000473, -0.026284754276275635, -0.11048052459955215, 0.9671496152877808, 0.0, 0.46784645318984985, -0.9405019283294678, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9089487791061401, 2.621677875518799, 1.3730814456939697, -0.1951058954000473, -0.026284754276275635, -0.11048052459955215, 0.9671496152877808, 0.0, 0.5004122257232666, -0.8593457341194153, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9089487791061401, 2.621677875518799, 1.3730814456939697, -0.1951058954000473, -0.026284754276275635, -0.11048052459955215, 0.9671496152877808, 0.0, 0.5522923469543457, -0.7300569415092468, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9089487791061401, 2.621677875518799, 1.3730814456939697, -0.1951058954000473, -0.026284754276275635, -0.11048052459955215, 0.9671496152877808, 0.0, 0.5684352517127991, -0.6898277401924133, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9089487791061401, 2.621677875518799, 1.3730814456939697, -0.1951058954000473, -0.026284754276275635, -0.11048052459955215, 0.9671496152877808, 0.0, 0.6055325865745544, -0.597378671169281, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9089487791061401, 2.621677875518799, 1.3730814456939697, -0.1951058954000473, -0.026284754276275635, -0.11048052459955215, 0.9671496152877808, 0.0, 0.6237069368362427, -0.5520870089530945, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9089487791061401, 2.621677875518799, 1.3730814456939697, -0.1951058954000473, -0.026284754276275635, -0.11048052459955215, 0.9671496152877808, 0.0, 0.6741036176681519, -0.42649513483047485, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9089487791061401, 2.621677875518799, 1.3730814456939697, -0.1951058954000473, -0.026284754276275635, -0.11048052459955215, 0.9671496152877808, 0.0, 0.6749944686889648, -0.4242750406265259, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9089487791061401, 2.621677875518799, 1.3730814456939697, -0.1951058954000473, -0.026284754276275635, -0.11048052459955215, 0.9671496152877808, 0.0, 0.6754000186920166, -0.42326435446739197, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9089487791061401, 2.621677875518799, 1.3730814456939697, -0.1951058954000473, -0.026284754276275635, -0.11048052459955215, 0.9671496152877808, 0.0, 0.7210863828659058, -0.30941081047058105, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9089487791061401, 2.621677875518799, 1.3730814456939697, -0.1951058954000473, -0.026284754276275635, -0.11048052459955215, 0.9671496152877808, 0.0, 0.7532893419265747, -0.22915874421596527, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9089487791061401, 2.621677875518799, 1.3730814456939697, -0.1951058954000473, -0.026284754276275635, -0.11048052459955215, 0.9671496152877808, 0.0, 0.8056217432022095, -0.0987427830696106, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9089487791061401, 2.621677875518799, 1.3730814456939697, -0.1951058954000473, -0.026284754276275635, -0.11048052459955215, 0.9671496152877808, 0.0, 0.8119226098060608, -0.08304060250520706, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9089487791061401, 2.621677875518799, 1.3730814456939697, -0.1951058954000473, -0.026284754276275635, -0.11048052459955215, 0.9671496152877808, 0.0, 0.8284737467765808, -0.041794054210186005, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9089487791061401, 2.621677875518799, 1.3730814456939697, -0.1951058954000473, -0.026284754276275635, -0.11048052459955215, 0.9671496152877808, 0.0, 0.8708540201187134, 0.06382045894861221, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9089487791061401, 2.621677875518799, 1.3730814456939697, -0.1951058954000473, -0.026284754276275635, -0.11048052459955215, 0.9671496152877808, 0.0, 0.8958543539047241, 0.12612304091453552, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9089487791061401, 2.621677875518799, 1.3730814456939697, -0.1951058954000473, -0.026284754276275635, -0.11048052459955215, 0.9671496152877808, 0.0, 0.9359855055809021, 0.2261326014995575, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9089487791061401, 2.621677875518799, 1.3730814456939697, -0.1951058954000473, -0.026284754276275635, -0.11048052459955215, 0.9671496152877808, 0.0, 0.9896243810653687, 0.35980430245399475, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9089487791061401, 2.621677875518799, 1.3730814456939697, -0.1951058954000473, -0.026284754276275635, -0.11048052459955215, 0.9671496152877808, 0.0, 0.9987013936042786, 0.38242483139038086, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9089487791061401, 2.621677875518799, 1.3730814456939697, -0.1951058954000473, -0.026284754276275635, -0.11048052459955215, 0.9671496152877808, 0.0, 1.0315687656402588, 0.4643324613571167, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9089487791061401, 2.621677875518799, 1.3730814456939697, -0.1951058954000473, -0.026284754276275635, -0.11048052459955215, 0.9671496152877808, 0.0, 1.061173915863037, 0.5381103754043579, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9089487791061401, 2.621677875518799, 1.3730814456939697, -0.1951058954000473, -0.026284754276275635, -0.11048052459955215, 0.9671496152877808, 0.0, 1.068939208984375, 0.5574620962142944, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9089487791061401, 2.621677875518799, 1.3730814456939697, -0.1951058954000473, -0.026284754276275635, -0.11048052459955215, 0.9671496152877808, 0.0, 1.1236878633499146, 0.6938995718955994, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9089487791061401, 2.621677875518799, 1.3730814456939697, -0.1951058954000473, -0.026284754276275635, -0.11048052459955215, 0.9671496152877808, 0.0, 1.1432605981826782, 0.7426760196685791, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9089487791061401, 2.621677875518799, 1.3730814456939697, -0.1951058954000473, -0.026284754276275635, -0.11048052459955215, 0.9671496152877808, 0.0, 1.1862469911575317, 0.8498010635375977, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9089487791061401, 2.621677875518799, 1.3730814456939697, -0.1951058954000473, -0.026284754276275635, -0.11048052459955215, 0.9671496152877808, 0.0, 1.2171896696090698, 0.9269123673439026, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9089487791061401, 2.621677875518799, 1.3730814456939697, -0.1951058954000473, -0.026284754276275635, -0.11048052459955215, 0.9671496152877808, 0.0, 1.2487993240356445, 1.0056856870651245, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9089487791061401, 2.621677875518799, 1.3730814456939697, -0.1951058954000473, -0.026284754276275635, -0.11048052459955215, 0.9671496152877808, 0.0, 1.291074275970459, 1.1110378503799438, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9089487791061401, 2.621677875518799, 1.3730814456939697, -0.1951058954000473, -0.026284754276275635, -0.11048052459955215, 0.9671496152877808, 0.0, 1.3113515377044678, 1.1615701913833618, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9089487791061401, 2.621677875518799, 1.3730814456939697, -0.1951058954000473, -0.026284754276275635, -0.11048052459955215, 0.9671496152877808, 0.0, 1.364640712738037, 1.294370412826538, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9089487791061401, 2.621677875518799, 1.3730814456939697, -0.1951058954000473, -0.026284754276275635, -0.11048052459955215, 0.9671496152877808, 0.0, 1.3739038705825806, 1.3174546957015991, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9089487791061401, 2.621677875518799, 1.3730814456939697, -0.1951058954000473, -0.026284754276275635, -0.11048052459955215, 0.9671496152877808, 0.0, 1.4237444400787354, 1.441660761833191, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9089487791061401, 2.621677875518799, 1.3730814456939697, -0.1951058954000473, -0.026284754276275635, -0.11048052459955215, 0.9671496152877808, 0.0, 1.4364560842514038, 1.4733390808105469, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9089487791061401, 2.621677875518799, 1.000360131263733, -0.5887908935546875, -0.026284754276275635, -0.59183269739151, 0.3872275948524475, 0.0, 1.4388242959976196, 1.4792407751083374, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9089487791061401, 2.621677875518799, 1.000360131263733, -0.5887908935546875, -0.026284754276275635, -0.59183269739151, 0.3872275948524475, 0.0, 1.4992908239364624, 1.629927396774292, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9089487791061401, 2.621677875518799, 1.000360131263733, -0.5887908935546875, -0.026284754276275635, -0.59183269739151, 0.3872275948524475, 0.0, 1.5124403238296509, 1.6626968383789062, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9089487791061401, 2.621677875518799, 1.000360131263733, -0.5887908935546875, -0.026284754276275635, -0.59183269739151, 0.3872275948524475, 0.0, 1.5634223222732544, 1.7897473573684692, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9089487791061401, 2.621677875518799, 1.000360131263733, -0.5887908935546875, -0.026284754276275635, -0.59183269739151, 0.3872275948524475, 0.0, 1.5866135358810425, 1.8475414514541626, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9089487791061401, 2.621677875518799, 1.000360131263733, -0.5887908935546875, -0.026284754276275635, -0.59183269739151, 0.3872275948524475, 0.0, 1.6301109790802002, 1.9559398889541626, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9089487791061401, 2.621677875518799, 1.000360131263733, -0.5887908935546875, -0.026284754276275635, -0.59183269739151, 0.3872275948524475, 0.0, 1.6599746942520142, 2.030362367630005, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9089487791061401, 2.621677875518799, 1.000360131263733, -0.5887908935546875, -0.026284754276275635, -0.59183269739151, 0.3872275948524475, 0.0, 1.6981184482574463, 2.1254193782806396, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9089487791061401, 2.621677875518799, 1.000360131263733, -0.5887908935546875, -0.026284754276275635, -0.59183269739151, 0.3872275948524475, 0.0, 1.7464388608932495, 2.1773569583892822, 1.5097787380218506, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9089487791061401, 2.621677875518799, 1.000360131263733, -0.5887908935546875, -0.026284754276275635, -0.59183269739151, 0.3872275948524475, 0.0], "count": [2172]}, "action.applied": {"mean": [0.0850500227449527, -0.0008209233243416301, 0.008830114905022446, 0.42566435037383, -0.932921896927045, 0.7843145448571924, -0.7665184349720804, 0.6348748859047948, -2.2376425348592726, 0.4149455856967222, 0.0034981835513456312, -0.0034981835513456312], "std": [0.11876852939556401, 0.009938923480605183, 0.1498867661396785, 0.26077434035380154, 0.3473260881899261, 0.4676632256263503, 0.7550407239970663, 0.4120900537819068, 0.21042779398239292, 0.4006640595965726, 0.014163675292020781, 0.014163675292020781], "min": [0.0, -0.07047224044799805, -0.800000011920929, -0.005451255012303591, -1.605630874633789, -0.0024628331884741783, -1.6581419706344604, -0.537010669708252, -2.870936632156372, -0.04354412108659744, -0.009999999776482582, -0.020833000540733337], "max": [0.30000001192092896, 0.1300821453332901, 0.800000011920929, 0.8152309656143188, -0.5694988965988159, 1.3807919025421143, 0.6703957319259644, 1.165053367614746, -1.80415678024292, 1.1494877338409424, 0.020833000540733337, 0.009999999776482582], "count": [2172]}, "extra.reward": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [2172]}, "next.truncated": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [2172]}, "sim_step_idx": {"mean": [2272.0], "std": [1254.0046517723397], "min": [101.0], "max": [4443.0], "count": [2172]}, "timestamp": {"mean": [43.42000000252222], "std": [25.080093036195453], "min": [0.0], "max": [86.83999633789062], "count": [2172]}, "frame_index": {"mean": [1085.5], "std": [627.0023258861698], "min": [0.0], "max": [2171.0], "count": [2172]}, "episode_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [2172]}, "index": {"mean": [1085.5], "std": [627.0023258861698], "min": [0.0], "max": [2171.0], "count": [2172]}, "task_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [2172]}, "next.done": {"mean": [0.00046040515653775324], "std": [0.021452113733373378], "min": [0.0], "max": [1.0], "count": [2172]}, "observation.images.head": {"mean": [[[0.5425654757656121]], [[0.47994994753720366]], [[0.4124261504484529]]], "std": [[[0.1229670297407679]], [[0.1356742744749253]], [[0.13027691126285357]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9294117647058824]], [[0.8980392156862745]], [[0.8784313725490196]]], "count": [100]}, "observation.images.wrist": {"mean": [[[0.5606887221714965]], [[0.4986398363028152]], [[0.4147565528035524]]], "std": [[[0.11289950042291491]], [[0.122078324276763]], [[0.153451750237974]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9411764705882353]], [[0.9215686274509803]], [[0.9215686274509803]]], "count": [100]}}} diff --git a/N033/sawyer_umi/dr_off/seed_1020/rec/stationringxr/000/lerobot_v21/meta/extra/episode_000000.json b/N033/sawyer_umi/dr_off/seed_1020/rec/stationringxr/000/lerobot_v21/meta/extra/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..7b564735552c0a1306e045d9d245504b83b4ea95 --- /dev/null +++ b/N033/sawyer_umi/dr_off/seed_1020/rec/stationringxr/000/lerobot_v21/meta/extra/episode_000000.json @@ -0,0 +1,495 @@ +{ + "episode_index": 0, + "trajectory_id": 0, + "env_id": 0, + "task_type": "RingXRCommand", + "subsample_every": 2, + "control_steps": 4344, + "language": { + "scene": { + "objects": [ + { + "id": "table_A_1", + "cat_name": "table_A", + "inst_id": 1, + "noun": "table A", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 3.7795612316390277, + -0.04715592462470069, + 0.13000004285690514 + ], + "bbox": { + "extent": [ + 1.0189749409592745, + 0.7141549309688697, + 0.30000001192092896 + ], + "center": [ + 5.551115123125783e-17, + 0.0, + 0.0 + ] + } + }, + { + "id": "table_B_1", + "cat_name": "table_B", + "inst_id": 1, + "noun": "table B", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 7.334794439073961, + 1.292502447099989, + 0.1300000765057242 + ], + "bbox": { + "extent": [ + 0.9608646831689687, + 0.6095564697172327, + 0.30000001192092896 + ], + "center": [ + -1.1102230246251565e-16, + 0.0, + 0.0 + ] + } + }, + { + "id": "rack_back_1", + "cat_name": "rack_back", + "inst_id": 1, + "noun": "rack back", + "color": "brown", + "size": "medium", + "material": null, + "category": "geometry", + "pos": [ + 3.7360754944041, + -0.02052903809480543, + 0.3800000419986229 + ], + "bbox": { + "extent": [ + 0.7071384858075811, + 0.1965649472144488, + 0.20000000298023224 + ], + "center": [ + 0.0, + 1.3877787807814457e-17, + 0.0 + ] + } + }, + { + "id": "peg_1_1", + "cat_name": "peg_1", + "inst_id": 1, + "noun": "peg 1", + "color": "gray", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.7748260773466606, + -0.19947984734545116, + 0.42000004437550914 + ], + "bbox": { + "extent": [ + 0.0628309885833234, + 0.18475900563823072, + 0.019999999552965164 + ], + "center": [ + -1.0408340855860843e-17, + -2.7755575615628914e-17, + 0.0 + ] + } + }, + { + "id": "peg_2_1", + "cat_name": "peg_2", + "inst_id": 1, + "noun": "peg 2", + "color": "gray", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.554670170978979, + 0.004312637529297615, + 0.4200000393137986 + ], + "bbox": { + "extent": [ + 0.06283098858332328, + 0.18475900563823075, + 0.019999999552965164 + ], + "center": [ + -1.0408340855860843e-17, + -1.3877787807814457e-17, + 0.0 + ] + } + }, + { + "id": "ring_1", + "cat_name": "ring", + "inst_id": 1, + "noun": "ring", + "color": null, + "size": "small", + "material": null, + "category": "rigid", + "pos": [ + 3.7362726292471735, + -0.24112868398107518, + 0.39000010151274317 + ], + "bbox": { + "extent": [ + 0.13232895432430014, + 0.06450600920000271, + 0.18200051845345383 + ], + "center": [ + -8.407510560665132e-08, + 8.077865983752153e-09, + 0.028999985017512858 + ] + } + }, + { + "id": "ring_small_1", + "cat_name": "ring_small", + "inst_id": 1, + "noun": "ring small", + "color": null, + "size": "small", + "material": null, + "category": "rigid", + "pos": [ + 3.522165287502734, + -0.03080494160292185, + 0.4187866066932308 + ], + "bbox": { + "extent": [ + 0.08259198961969774, + 0.05261936238312352, + 0.1321833321088055 + ], + "center": [ + 4.744676453568783e-05, + -8.667101461523607e-08, + 0.029000110544508073 + ] + } + }, + { + "id": "rod_h_1", + "cat_name": "rod_h", + "inst_id": 1, + "noun": "rod h", + "color": "white", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 7.252274412780587, + 1.192051238530631, + 0.48000007644500475 + ], + "bbox": { + "extent": [ + 0.03704211758855272, + 0.1424345888220624, + 0.019999999552965164 + ], + "center": [ + -1.249000902703301e-16, + 2.220446049250313e-16, + 0.0 + ] + } + }, + { + "id": "rod_s_1", + "cat_name": "rod_s", + "inst_id": 1, + "noun": "rod s", + "color": "white", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 7.333080557557547, + 1.2904161559100793, + 0.43980007650446307 + ], + "bbox": { + "extent": [ + 0.03535691160152136, + 0.1607882041343427, + 0.15295343486893642 + ], + "center": [ + 2.220446049250313e-16, + 1.6653345369377348e-16, + 1.6653345369377348e-16 + ] + } + }, + { + "id": "rod_stop_1", + "cat_name": "rod_stop", + "inst_id": 1, + "noun": "rod stop", + "color": "brown", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 7.379228294055175, + 1.3465915635447656, + 0.34000007653841924 + ], + "bbox": { + "extent": [ + 0.10146075447107353, + 0.024172941687864213, + 0.11999999731779099 + ], + "center": [ + -4.163336342344337e-17, + 2.220446049250313e-16, + 0.0 + ] + } + } + ], + "relations": [ + { + "subject": "table_B_1", + "relation": "right_of", + "object": "rod_stop_1" + }, + { + "subject": "rack_back_1", + "relation": "in_front_of", + "object": "peg_2_1" + }, + { + "subject": "rod_h_1", + "relation": "right_of", + "object": "rod_s_1" + }, + { + "subject": "rod_s_1", + "relation": "on_top_of", + "object": "rod_stop_1" + }, + { + "subject": "rod_s_1", + "relation": "right_of", + "object": "rod_stop_1" + }, + { + "subject": "rod_stop_1", + "relation": "left_of", + "object": "rod_s_1" + } + ], + "cameras": [ + { + "name": "head", + "intrinsics": { + "K": [ + [ + 355.55555555555554, + 0.0, + 320.0 + ], + [ + 0.0, + 355.55555555555554, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 83.97442499163331, + "resolution": [ + 640, + 480 + ] + }, + "pos_robot": [ + 4.32316348504566, + -0.18001805857848424, + -0.094999950279115 + ], + "viewpoint": "front, at table height", + "extrinsics": { + "R": [ + [ + -8.039232568535226e-08, + -0.9999999999999964, + 2.5347603738179458e-08 + ], + [ + 0.8191520331270514, + -8.039232568535226e-08, + -0.5735764522919431 + ], + [ + 0.5735764522919431, + -2.5347603738179458e-08, + 0.819152033127055 + ] + ], + "t": [ + 1.855362002599171e-08, + -0.2032392724571752, + -0.08737481710326404 + ] + } + }, + { + "name": "wrist", + "intrinsics": { + "K": [ + [ + 320.0, + 0.0, + 320.0 + ], + [ + 0.0, + 320.0, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 90.0, + "resolution": [ + 640, + 480 + ] + }, + "pos_robot": [ + 4.196159914368672, + -0.08805973096973718, + -0.01999995181560376 + ], + "viewpoint": "front, at table height", + "extrinsics": { + "R": [ + [ + 0.0, + 1.0, + -1.4782795217992896e-16 + ], + [ + 1.0, + 0.0, + 2.5363269588459423e-17 + ], + [ + 2.5363269588459423e-17, + -1.4782795217992896e-16, + -1.0 + ] + ], + "t": [ + 4.4348384662715026e-18, + -0.05979999899864197, + 0.029999999329447746 + ] + } + } + ], + "robots": [ + { + "name": "RidgebackSawyerUmi", + "model": "ridgebacksawyer_umi", + "type": "mobilemanip", + "noun": "Ridgeback-Sawyer mobile manipulator with a UMI gripper", + "arms": 1, + "arm_layout": null, + "mobile": true, + "dexterous": false, + "base_pose": { + "pos": [ + -3.4, + -2.2, + 0.05 + ], + "ori": [ + 0.9396926164627075, + 0.0, + 0.0, + 0.3420201539993286 + ] + }, + "facing_yaw_deg": 40.000001288448495, + "gripper": "parallel gripper" + } + ], + "lighting": [], + "background": { + "name": null, + "kind": "background", + "type": "dome", + "pose": null, + "setting": null, + "time_of_day": null, + "indoor": false, + "intensity": 1000.0, + "ambient": "dim" + }, + "effects": [], + "caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the brown rod stop. There are a large gray table A, a large gray table B, a medium brown rack back, a small gray peg 1, a small gray peg 2, a small ring, a small ring small, a small white rod h, a small white rod s and a small brown rod stop. The gray table B is to the right of the brown rod stop. The brown rack back is in front of the gray peg 2. The white rod h is to the right of the white rod s. The white rod s is on top of the brown rod stop. The white rod s is to the right of the brown rod stop. The brown rod stop is to the left of the white rod s. The scene is viewed from front, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n[rod stop]\n\n\n\n [ring small]\n\n\n\n [robot]" + }, + "task": { + "task_type": "StationRingXR", + "instruction": "Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.", + "template_id": -1, + "slots": { + "obj": 1.4506690936101554, + "support": null + }, + "generic_instruction": "Stationringxr the 1.4506690936101554.", + "task_id": "N033", + "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 +} \ No newline at end of file diff --git a/N033/sawyer_umi/dr_off/seed_1020/rec/stationringxr/000/lerobot_v21/meta/info.json b/N033/sawyer_umi/dr_off/seed_1020/rec/stationringxr/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..79ecd9b8aa34874fe5d56b76d318da64f1bebff3 --- /dev/null +++ b/N033/sawyer_umi/dr_off/seed_1020/rec/stationringxr/000/lerobot_v21/meta/info.json @@ -0,0 +1,317 @@ +{ + "codebase_version": "v2.1", + "robot_type": "RidgebackSawyerUmiCfg", + "total_episodes": 1, + "total_frames": 2172, + "total_tasks": 1, + "total_videos": 2, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 25, + "splits": { + "train": "0:1" + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", + "features": { + "action": { + "dtype": "float32", + "shape": [ + 11 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "frame0.pos_x", + "frame0.pos_y", + "frame0.pos_z", + "frame0.quat_w", + "frame0.quat_x", + "frame0.quat_y", + "frame0.quat_z", + "gripper" + ] + }, + "action_is_hold": { + "dtype": "bool", + "shape": [ + 11 + ], + "names": null + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 15 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint", + "gripper_0", + "gripper_1" + ] + }, + "observation.joint_vel": { + "dtype": "float32", + "shape": [ + 13 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ] + }, + "observation.eef_pose": { + "dtype": "float32", + "shape": [ + 7 + ], + "names": null + }, + "observation.environment_state": { + "dtype": "float32", + "shape": [ + 70 + ], + "names": [ + "object_pose.peg_1.0", + "object_pose.peg_1.1", + "object_pose.peg_1.2", + "object_pose.peg_1.3", + "object_pose.peg_1.4", + "object_pose.peg_1.5", + "object_pose.peg_1.6", + "object_pose.peg_2.0", + "object_pose.peg_2.1", + "object_pose.peg_2.2", + "object_pose.peg_2.3", + "object_pose.peg_2.4", + "object_pose.peg_2.5", + "object_pose.peg_2.6", + "object_pose.rack_back.0", + "object_pose.rack_back.1", + "object_pose.rack_back.2", + "object_pose.rack_back.3", + "object_pose.rack_back.4", + "object_pose.rack_back.5", + "object_pose.rack_back.6", + "object_pose.ring.0", + "object_pose.ring.1", + "object_pose.ring.2", + "object_pose.ring.3", + "object_pose.ring.4", + "object_pose.ring.5", + "object_pose.ring.6", + "object_pose.ring_small.0", + "object_pose.ring_small.1", + "object_pose.ring_small.2", + "object_pose.ring_small.3", + "object_pose.ring_small.4", + "object_pose.ring_small.5", + "object_pose.ring_small.6", + "object_pose.rod_h.0", + "object_pose.rod_h.1", + "object_pose.rod_h.2", + "object_pose.rod_h.3", + "object_pose.rod_h.4", + "object_pose.rod_h.5", + "object_pose.rod_h.6", + "object_pose.rod_s.0", + "object_pose.rod_s.1", + "object_pose.rod_s.2", + "object_pose.rod_s.3", + "object_pose.rod_s.4", + "object_pose.rod_s.5", + "object_pose.rod_s.6", + "object_pose.rod_stop.0", + "object_pose.rod_stop.1", + "object_pose.rod_stop.2", + "object_pose.rod_stop.3", + "object_pose.rod_stop.4", + "object_pose.rod_stop.5", + "object_pose.rod_stop.6", + "object_pose.table_A.0", + "object_pose.table_A.1", + "object_pose.table_A.2", + "object_pose.table_A.3", + "object_pose.table_A.4", + "object_pose.table_A.5", + "object_pose.table_A.6", + "object_pose.table_B.0", + "object_pose.table_B.1", + "object_pose.table_B.2", + "object_pose.table_B.3", + "object_pose.table_B.4", + "object_pose.table_B.5", + "object_pose.table_B.6" + ] + }, + "action.command": { + "dtype": "float32", + "shape": [ + 848 + ], + "names": null + }, + "action.applied": { + "dtype": "float32", + "shape": [ + 12 + ], + "names": null + }, + "narration": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "collect_info": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "extra.reward": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "extra.action_info": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "next.truncated": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "sim_step_idx": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "next.done": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "observation.images.head": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25, + "video.codec": "libsvtav1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.wrist": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25, + "video.codec": "libsvtav1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + } + } +} \ No newline at end of file diff --git a/N033/sawyer_umi/dr_off/seed_1020/rec/stationringxr/000/lerobot_v21/meta/magicsim_manifest.json b/N033/sawyer_umi/dr_off/seed_1020/rec/stationringxr/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..30b81688967a4c78bbbd263fd4d6b812cc079a2b --- /dev/null +++ b/N033/sawyer_umi/dr_off/seed_1020/rec/stationringxr/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,264 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 03:08:23" + }, + "embodiment": { + "robots": [ + { + "name": "RidgebackSawyerUmi", + "cfg": "RidgebackSawyerUmiCfg", + "type": "mobilemanip", + "joint_names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 11, + "nan_policy": "from_raw", + "segments": [ + { + "name": "RidgebackSawyerUmi.base_action", + "start": 0, + "end": 3, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint" + ], + "source": "HolonomicAction", + "names_source": "_joint_names" + }, + { + "name": "RidgebackSawyerUmi.arm_action", + "start": 3, + "end": 10, + "names": [ + "frame0.pos_x", + "frame0.pos_y", + "frame0.pos_z", + "frame0.quat_w", + "frame0.quat_x", + "frame0.quat_y", + "frame0.quat_z" + ], + "source": "PinkInverseKinematicsAction", + "names_source": "pink_layout" + }, + { + "name": "RidgebackSawyerUmi.eef_action", + "start": 10, + "end": 11, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 15, + "segments": [ + { + "name": "RidgebackSawyerUmi.joint_pos", + "start": 0, + "end": 13, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ], + "source": "ObservationManager", + "names_source": "joint_names" + }, + { + "name": "RidgebackSawyerUmi.gripper_pos", + "start": 13, + "end": 15, + "names": [ + "gripper_0", + "gripper_1" + ], + "source": "ObservationManager", + "names_source": "generated" + } + ] + }, + "joint_vel_layout": { + "dim": 13, + "segments": [ + { + "name": "RidgebackSawyerUmi.joint_vel", + "start": 0, + "end": 13, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "action_levels": { + "L0": "task command list (collect.auto_collect_info.current_action)", + "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)", + "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)", + "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy", + "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)" + }, + "cameras": { + "head": { + "intrinsics": { + "K": [ + [ + 355.55555555555554, + 0.0, + 320.0 + ], + [ + 0.0, + 355.55555555555554, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 83.97442499163331, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.21660000085830688, + 0.0, + -0.04500000178813934 + ], + "quat": [ + -0.6743797063827515, + 0.21263112127780914, + -0.21263112127780914, + 0.6743797659873962 + ] + }, + "wrist": { + "intrinsics": { + "K": [ + [ + 320.0, + 0.0, + 320.0 + ], + [ + 0.0, + 320.0, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 90.0, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.05979999899864197, + 0.0, + 0.029999999329447746 + ], + "quat": [ + 6.123234262925839e-17, + 0.7071067690849304, + 0.7071067690849304, + -4.329780301713277e-17 + ] + } + }, + "lerobot": { + "codebase_version": "v2.1", + "video_keys": [ + "observation.images.head", + "observation.images.wrist" + ], + "columns": [ + "action", + "action.applied", + "action.command", + "action_is_hold", + "collect_info", + "episode_index", + "extra.action_info", + "extra.reward", + "frame_index", + "index", + "narration", + "next.done", + "next.truncated", + "observation.eef_pose", + "observation.environment_state", + "observation.images.head", + "observation.images.wrist", + "observation.joint_vel", + "observation.state", + "sim_step_idx", + "task_index", + "timestamp" + ] + }, + "generated_run": { + "run_id": "stationringxr/000", + "task_type": "RingXRCommand" + } +} \ No newline at end of file diff --git a/N033/sawyer_umi/dr_off/seed_1020/rec/stationringxr/000/lerobot_v21/meta/stats.json b/N033/sawyer_umi/dr_off/seed_1020/rec/stationringxr/000/lerobot_v21/meta/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..8905023c41cc1ed05d20a9087329f66985b35ca2 --- /dev/null +++ b/N033/sawyer_umi/dr_off/seed_1020/rec/stationringxr/000/lerobot_v21/meta/stats.json @@ -0,0 +1,4353 @@ +{ + "action": { + "mean": [ + 0.0850500227449527, + -0.0008209233243416301, + 0.008830114905022446, + 0.4859740078435528, + 0.5883972136643381, + 1.0492449994739248, + -0.23777594654709375, + -0.06670404849471061, + -0.2586241312681751, + 0.16809985571854763, + 0.4539594843462247 + ], + "std": [ + 0.11876852939556401, + 0.009938923480605183, + 0.1498867661396785, + 1.2058812024278562, + 1.6340004237060943, + 0.20515246485149, + 0.6108776985905171, + 0.11152389705325137, + 0.536455055294712, + 0.41288728539151875, + 0.49787575851644195 + ], + "min": [ + 0.0, + -0.07047224044799805, + -0.800000011920929, + -3.1327784061431885, + -2.0050339698791504, + 0.7507400512695312, + -0.7066218852996826, + -0.3912975490093231, + -0.7485718727111816, + -0.7696211338043213, + 0.0 + ], + "max": [ + 0.30000001192092896, + 0.1300821453332901, + 0.800000011920929, + 1.9089487791061401, + 2.9229800701141357, + 1.37311589717865, + 0.8276573419570923, + 0.2546903192996979, + 0.7489374279975891, + 0.9671496152877808, + 1.0 + ], + "count": [ + 2172 + ] + }, + "action_is_hold": { + "mean": [ + 0.13121546961325967, + 0.13121546961325967, + 0.13121546961325967, + 0.14594843462246776, + 0.14594843462246776, + 0.14594843462246776, + 0.14594843462246776, + 0.14594843462246776, + 0.14594843462246776, + 0.14594843462246776, + 0.990791896869245 + ], + "std": [ + 0.3376358543570737, + 0.3376358543570737, + 0.3376358543570737, + 0.35305451286411843, + 0.35305451286411843, + 0.35305451286411843, + 0.35305451286411843, + 0.35305451286411843, + 0.35305451286411843, + 0.35305451286411843, + 0.09551604036751561 + ], + "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": [ + 2172 + ] + }, + "observation.state": { + "mean": [ + 1.036549993476815, + -2.6157365391926213, + 1.1305524072100444, + 0.4256191259620117, + -0.4255812731082339, + -0.9331931144163753, + 0.7843211241332375, + -0.7657716000796416, + 0.6351372609499749, + -2.2380602489299317, + 0.41494828944193507, + 0.014863259359690172, + -0.01580526529637229, + -0.01580526529637229, + -0.014863259359690172 + ], + "std": [ + 1.919289304400005, + 0.6570862160234385, + 0.3748639580518789, + 0.2608641132454755, + 0.2609098820529786, + 0.3477997967459674, + 0.4678177751479854, + 0.755878079067426, + 0.4118199176634022, + 0.21010062565226476, + 0.40081289462460806, + 0.007020047041818864, + 0.007127250189298281, + 0.007127250189298281, + 0.007020047041818864 + ], + "min": [ + -3.390869379043579, + -3.411677837371826, + 0.29456907510757446, + -0.008639789186418056, + -0.8115209937095642, + -1.6114085912704468, + -0.0031909726094454527, + -1.656284213066101, + -0.5322049260139465, + -2.869551181793213, + -0.040095552802085876, + 0.0, + -0.020833000540733337, + -0.020833000540733337, + -0.020833000540733337 + ], + "max": [ + 3.4040372371673584, + -1.7263736724853516, + 1.3924952745437622, + 0.8119837641716003, + 0.006548949982970953, + -0.5696132183074951, + 1.3807731866836548, + 0.6683879494667053, + 1.1641813516616821, + -1.804167628288269, + 1.1480474472045898, + 0.020833000540733337, + 0.0, + 0.0, + -0.0 + ], + "count": [ + 2172 + ] + }, + "observation.joint_vel": { + "mean": [ + 0.0782956859606431, + 0.007578157090099889, + 0.008118151557366836, + 0.001484011745539602, + -0.0005492053373084021, + 0.005883640874680286, + 0.0002245119997830967, + -0.011496581294355188, + -0.001484707758443053, + 0.007318004502124321, + 0.0028830728798530723, + -0.0007762117350647499, + 0.00901087569668893 + ], + "std": [ + 0.11038500144671957, + 0.055166121651331605, + 0.14924713072739568, + 0.04960233554561071, + 0.04091260123374996, + 0.055407021394952724, + 0.08639162954494121, + 0.08413156284122271, + 0.10930309594183026, + 0.06654664813350815, + 0.09468475572535229, + 0.007370874381269912, + 0.012378910506144463 + ], + "min": [ + -0.00031026790384203196, + -0.13178355991840363, + -0.8000695109367371, + -0.18947020173072815, + -0.5705475807189941, + -0.13276277482509613, + -0.20787610113620758, + -0.19615599513053894, + -0.3285914957523346, + -0.32174623012542725, + -0.4116569459438324, + -0.09956341981887817, + -0.10010930150747299 + ], + "max": [ + 0.29841452836990356, + 0.15763580799102783, + 0.7999998331069946, + 0.6462578773498535, + 0.19006748497486115, + 0.265855073928833, + 0.19596314430236816, + 0.18693414330482483, + 0.3244561553001404, + 0.32273799180984497, + 0.4116155207157135, + 0.10001268237829208, + 0.1000000387430191 + ], + "count": [ + 2172 + ] + }, + "observation.eef_pose": { + "mean": [ + 0.4867150917522027, + 0.5903363243417735, + 1.0512832881227603, + -0.6277328109982703, + -0.07023160543779862, + -0.5464535055520839, + 0.28354632444199496 + ], + "std": [ + 1.2074983241064279, + 1.6337120190823222, + 0.2072199843303846, + 0.18218934171790094, + 0.11299708757966136, + 0.23964506495207993, + 0.3444095362944012 + ], + "min": [ + -3.1327784061431885, + -2.0091190338134766, + 0.7527837753295898, + -0.8123641014099121, + -0.3928356170654297, + -0.7492688894271851, + 0.009613394737243652 + ], + "max": [ + 1.9090098142623901, + 2.923147201538086, + 1.3856849670410156, + -0.19477859139442444, + 0.2027915120124817, + -0.11016833037137985, + 0.9674173593521118 + ], + "count": [ + 2172 + ] + }, + "observation.environment_state": { + "mean": [ + -0.2161240577697754, + -0.3373463451862335, + 0.4699999988079071, + 0.9981967210769653, + 0.0, + 0.0, + -0.06002754345536232, + -0.5139620900154114, + -0.3013947904109955, + 0.4699999988079071, + 0.9981967210769653, + 0.0, + 0.0, + -0.06002754345536232, + -0.35246002674102783, + -0.21512725949287415, + 0.4300000071525574, + 0.9981967210769653, + 0.0, + 0.0, + -0.06002754345536232, + 0.6683406602579163, + 0.7865648382487209, + 0.5219753709506813, + 0.9852686578452478, + -0.03802335160530906, + 0.002369013652604211, + -0.09069273280720339, + -0.519694742000564, + -0.3489021139689352, + 0.46878658505379606, + 0.9981965914944917, + -5.039925082983279e-05, + -0.0008145944237546965, + -0.06002428020396944, + 1.7844210863113403, + 2.829169750213623, + 0.5299999713897705, + 0.9995346665382385, + 0.0, + 0.0, + -0.0305032841861248, + 1.792183756828308, + 2.956233024597168, + 0.48980000615119934, + 0.9532731175422668, + -0.3005658984184265, + 0.009172757156193256, + -0.029092269018292427, + 1.796617031097412, + 3.0287976264953613, + 0.38999998569488525, + 0.9995346665382385, + 0.0, + 0.0, + -0.0305032841861248, + -0.3016219735145569, + -0.21119125187397003, + 0.18000000715255737, + 0.9981967210769653, + 0.0, + 0.0, + -0.06002754345536232, + 1.7923485040664673, + 2.958927869796753, + 0.18000000715255737, + 0.9995346665382385, + 0.0, + 0.0, + -0.0305032841861248 + ], + "std": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.9205441577205383, + 1.5062630236794763, + 0.11113681237040662, + 0.031110333082233106, + 0.08822303680234177, + 0.005654060831429692, + 0.10385566388151106, + 3.505645409715426e-08, + 1.3529241725565176e-08, + 1.6039511334248313e-08, + 2.25983849553734e-08, + 2.1463802064475408e-07, + 1.523497647173886e-06, + 1.927501729793624e-07, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 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": [ + -0.2161240577697754, + -0.3373463451862335, + 0.4699999988079071, + 0.9981967210769653, + 0.0, + 0.0, + -0.06002754345536232, + -0.5139620900154114, + -0.3013947904109955, + 0.4699999988079071, + 0.9981967210769653, + 0.0, + 0.0, + -0.06002754345536232, + -0.35246002674102783, + -0.21512725949287415, + 0.4300000071525574, + 0.9981967210769653, + 0.0, + 0.0, + -0.06002754345536232, + -0.24125856161117554, + -0.9292160868644714, + 0.43057408928871155, + 0.8346795439720154, + -0.3884128928184509, + -0.02923468127846718, + -0.55071622133255, + -0.5196948051452637, + -0.3489021360874176, + 0.4687865376472473, + 0.998196542263031, + -5.097134999232367e-05, + -0.000816972169559449, + -0.06002477556467056, + 1.7844210863113403, + 2.829169750213623, + 0.5299999713897705, + 0.9995346665382385, + 0.0, + 0.0, + -0.0305032841861248, + 1.792183756828308, + 2.956233024597168, + 0.48980000615119934, + 0.9532731175422668, + -0.3005658984184265, + 0.009172757156193256, + -0.029092269018292427, + 1.796617031097412, + 3.0287976264953613, + 0.38999998569488525, + 0.9995346665382385, + 0.0, + 0.0, + -0.0305032841861248, + -0.3016219735145569, + -0.21119125187397003, + 0.18000000715255737, + 0.9981967210769653, + 0.0, + 0.0, + -0.06002754345536232, + 1.7923485040664673, + 2.958927869796753, + 0.18000000715255737, + 0.9995346665382385, + 0.0, + 0.0, + -0.0305032841861248 + ], + "max": [ + -0.2161240577697754, + -0.3373463451862335, + 0.4699999988079071, + 0.9981967210769653, + 0.0, + 0.0, + -0.06002754345536232, + -0.5139620900154114, + -0.3013947904109955, + 0.4699999988079071, + 0.9981967210769653, + 0.0, + 0.0, + -0.06002754345536232, + -0.35246002674102783, + -0.21512725949287415, + 0.4300000071525574, + 0.9981967210769653, + 0.0, + 0.0, + -0.06002754345536232, + 1.9080144166946411, + 2.9932990074157715, + 0.6881128549575806, + 0.9995473027229309, + 0.015285879373550415, + 0.03049979917705059, + 0.016065875068306923, + -0.5196946859359741, + -0.3489020764827728, + 0.4687866270542145, + 0.9981966018676758, + -4.969517976860516e-05, + -0.000812226440757513, + -0.060023631900548935, + 1.7844210863113403, + 2.829169750213623, + 0.5299999713897705, + 0.9995346665382385, + 0.0, + 0.0, + -0.0305032841861248, + 1.792183756828308, + 2.956233024597168, + 0.48980000615119934, + 0.9532731175422668, + -0.3005658984184265, + 0.009172757156193256, + -0.029092269018292427, + 1.796617031097412, + 3.0287976264953613, + 0.38999998569488525, + 0.9995346665382385, + 0.0, + 0.0, + -0.0305032841861248, + -0.3016219735145569, + -0.21119125187397003, + 0.18000000715255737, + 0.9981967210769653, + 0.0, + 0.0, + -0.06002754345536232, + 1.7923485040664673, + 2.958927869796753, + 0.18000000715255737, + 0.9995346665382385, + 0.0, + 0.0, + -0.0305032841861248 + ], + "count": [ + 2172 + ] + }, + "action.command": { + "mean": [ + -1.5418956172840477, + -1.657416601352093, + 1.4867180078018942, + 0.0, + 0.0, + 0.0, + 0.0, + 0.44258760107816714, + 0.35361787304081366, + 0.35448137938654967, + 1.0683046109914136, + -0.17423692546443476, + -0.07403992704866388, + -0.2053227063218217, + 0.18232842557875295, + 0.5, + -1.4687053376783705, + -1.6343095024604968, + 1.4867180078018942, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19614704566352037, + -0.07173318283908035, + 1.1457715396656585, + -0.5051003123211754, + -0.1371994958981671, + -0.46172396199685845, + 0.46269085488779127, + 0.0, + -1.41184164483451, + -1.6137369267074517, + 1.4867180078018942, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19614704566352037, + -0.07173318283908035, + 1.1457715396656585, + -0.5051003123211754, + -0.1371994958981671, + -0.46172396199685845, + 0.46269085488779127, + 0.0, + -1.3476123339392145, + -1.5924966078702645, + 1.4867180078018942, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19614704566352037, + -0.07173318283908035, + 1.1457715396656585, + -0.5051003123211754, + -0.1371994958981671, + -0.46172396199685845, + 0.46269085488779127, + 0.0, + -1.2526438570343326, + -1.560106917881645, + 1.4867180078018942, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19614704566352037, + -0.07173318283908035, + 1.1457715396656585, + -0.5051003123211754, + -0.1371994958981671, + -0.46172396199685845, + 0.46269085488779127, + 0.0, + -1.2134720479960934, + -1.546924086429613, + 1.4867180078018942, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19614704566352037, + -0.07173318283908035, + 1.1457715396656585, + -0.5051003123211754, + -0.1371994958981671, + -0.46172396199685845, + 0.46269085488779127, + 0.0, + -1.1337684259286376, + -1.522199761172581, + 1.4867180078018942, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19614704566352037, + -0.07173318283908035, + 1.1457715396656585, + -0.5051003123211754, + -0.1371994958981671, + -0.46172396199685845, + 0.46269085488779127, + 0.0, + -1.0321786489187335, + -1.4872230927505836, + 1.4867180078018942, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19614704566352037, + -0.07173318283908035, + 1.1457715396656585, + -0.5051003123211754, + -0.1371994958981671, + -0.46172396199685845, + 0.46269085488779127, + 0.0, + -0.9560407528428219, + -1.460725089359711, + 1.4867180078018942, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19614704566352037, + -0.07173318283908035, + 1.1457715396656585, + -0.5051003123211754, + -0.1371994958981671, + -0.46172396199685845, + 0.46269085488779127, + 0.0, + -0.9012984363487483, + -1.4426732212973283, + 1.4867180078018942, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19614704566352037, + -0.07173318283908035, + 1.1457715396656585, + -0.5051003123211754, + -0.1371994958981671, + -0.46172396199685845, + 0.46269085488779127, + 0.0, + -0.811850011081439, + -1.41285707383947, + 1.4867180078018942, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19614704566352037, + -0.07173318283908035, + 1.1457715396656585, + -0.5051003123211754, + -0.1371994958981671, + -0.46172396199685845, + 0.46269085488779127, + 0.0, + -0.7375630081501777, + -1.3882362874634062, + 1.4867180078018942, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19614704566352037, + -0.07173318283908035, + 1.1457715396656585, + -0.5051003123211754, + -0.1371994958981671, + -0.46172396199685845, + 0.46269085488779127, + 0.0, + -0.7032027608076019, + -1.3330579466883912, + 1.4867180078018942, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19614704566352037, + -0.07173318283908035, + 1.1457715396656585, + -0.5051003123211754, + -0.1371994958981671, + -0.46172396199685845, + 0.46269085488779127, + 0.0, + -0.6287493096338794, + -1.2374257709947938, + 1.4867180078018942, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19614704566352037, + -0.07173318283908035, + 1.1457715396656585, + -0.5051003123211754, + -0.1371994958981671, + -0.46172396199685845, + 0.46269085488779127, + 0.0, + -0.5712761868275869, + -1.1942206375267475, + 1.4867180078018942, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19614704566352037, + -0.07173318283908035, + 1.1457715396656585, + -0.5051003123211754, + -0.1371994958981671, + -0.46172396199685845, + 0.46269085488779127, + 0.0, + -0.5389649087538099, + -1.1340418385817865, + 1.4867180078018942, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19614704566352037, + -0.07173318283908035, + 1.1457715396656585, + -0.5051003123211754, + -0.1371994958981671, + -0.46172396199685845, + 0.46269085488779127, + 0.0, + -0.5111190813004703, + -1.0998491364209642, + 1.4867180078018942, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19614704566352037, + -0.07173318283908035, + 1.1457715396656585, + -0.5051003123211754, + -0.1371994958981671, + -0.46172396199685845, + 0.46269085488779127, + 0.0, + -0.43995868357842277, + -1.0074078758735827, + 1.4867180078018942, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19614704566352037, + -0.07173318283908035, + 1.1457715396656585, + -0.5051003123211754, + -0.1371994958981671, + -0.46172396199685845, + 0.46269085488779127, + 0.0, + -0.4158487437551866, + -0.9968155424691102, + 1.4867180078018942, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19614704566352037, + -0.07173318283908035, + 1.1457715396656585, + -0.5051003123211754, + -0.1371994958981671, + -0.46172396199685845, + 0.46269085488779127, + 0.0, + -0.3820344161559648, + -0.983040515082834, + 1.4867180078018942, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19614704566352037, + -0.07173318283908035, + 1.1457715396656585, + -0.5051003123211754, + -0.1371994958981671, + -0.46172396199685845, + 0.46269085488779127, + 0.0, + -0.297298081252607, + -0.8913100022371574, + 1.4867180078018942, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19614704566352037, + -0.07173318283908035, + 1.1457715396656585, + -0.5051003123211754, + -0.1371994958981671, + -0.46172396199685845, + 0.46269085488779127, + 0.0, + -0.2773987701655503, + -0.8422651862884316, + 1.4867180078018942, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19614704566352037, + -0.07173318283908035, + 1.1457715396656585, + -0.5051003123211754, + -0.1371994958981671, + -0.46172396199685845, + 0.46269085488779127, + 0.0, + -0.24503731620685937, + -0.7625542654584876, + 1.4867180078018942, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19614704566352037, + -0.07173318283908035, + 1.1457715396656585, + -0.5051003123211754, + -0.1371994958981671, + -0.46172396199685845, + 0.46269085488779127, + 0.0, + -0.18424786580517688, + -0.7306542778763536, + 1.4867180078018942, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19614704566352037, + -0.07173318283908035, + 1.1457715396656585, + -0.5051003123211754, + -0.1371994958981671, + -0.46172396199685845, + 0.46269085488779127, + 0.0, + -0.14071503081129272, + -0.6923910157562906, + 1.4867180078018942, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19614704566352037, + -0.07173318283908035, + 1.1457715396656585, + -0.5051003123211754, + -0.1371994958981671, + -0.46172396199685845, + 0.46269085488779127, + 0.0, + -0.09091304182471716, + -0.6185894512274874, + 1.4867180078018942, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19614704566352037, + -0.07173318283908035, + 1.1457715396656585, + -0.5051003123211754, + -0.1371994958981671, + -0.46172396199685845, + 0.46269085488779127, + 0.0, + -0.03486926352496639, + -0.5646003896345472, + 1.4867180078018942, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19614704566352037, + -0.07173318283908035, + 1.1457715396656585, + -0.5051003123211754, + -0.1371994958981671, + -0.46172396199685845, + 0.46269085488779127, + 0.0, + 0.006127558481532897, + -0.49713112260194103, + 1.4867180078018942, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19614704566352037, + -0.07173318283908035, + 1.1457715396656585, + -0.5051003123211754, + -0.1371994958981671, + -0.46172396199685845, + 0.46269085488779127, + 0.0, + 0.04847188594629946, + -0.4118335968710382, + 1.4867180078018942, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19614704566352037, + -0.07173318283908035, + 1.1457715396656585, + -0.5051003123211754, + -0.1371994958981671, + -0.46172396199685845, + 0.46269085488779127, + 0.0, + 0.10151824021018674, + -0.3794134272588208, + 1.4867180078018942, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19614704566352037, + -0.07173318283908035, + 1.1457715396656585, + -0.5051003123211754, + -0.1371994958981671, + -0.46172396199685845, + 0.46269085488779127, + 0.0, + 0.1644133992259278, + -0.31266292274800117, + 1.4867180078018942, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19614704566352037, + -0.07173318283908035, + 1.1457715396656585, + -0.5051003123211754, + -0.1371994958981671, + -0.46172396199685845, + 0.46269085488779127, + 0.0, + 0.19689676900615607, + -0.26201229138224646, + 1.4867180078018942, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19614704566352037, + -0.07173318283908035, + 1.1457715396656585, + -0.5051003123211754, + -0.1371994958981671, + -0.46172396199685845, + 0.46269085488779127, + 0.0, + 0.22738551879677538, + -0.24011488078421006, + 1.4867180078018942, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19614704566352037, + -0.07173318283908035, + 1.1457715396656585, + -0.5051003123211754, + -0.1371994958981671, + -0.46172396199685845, + 0.46269085488779127, + 0.0, + 0.2929999438101935, + -0.14427373227517165, + 1.4867180078018942, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19614704566352037, + -0.07173318283908035, + 1.1457715396656585, + -0.5051003123211754, + -0.1371994958981671, + -0.46172396199685845, + 0.46269085488779127, + 0.0, + 0.3225032500087413, + -0.10764036477948519, + 1.4867180078018942, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19614704566352037, + -0.07173318283908035, + 1.1457715396656585, + -0.5051003123211754, + -0.1371994958981671, + -0.46172396199685845, + 0.46269085488779127, + 0.0, + 0.39063284669756354, + -0.02587785474922625, + 1.4867180078018942, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19614704566352037, + -0.07173318283908035, + 1.1457715396656585, + -0.5051003123211754, + -0.1371994958981671, + -0.46172396199685845, + 0.46269085488779127, + 0.0, + 0.45730801147195793, + 0.0398895099024067, + 1.4867180078018942, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19614704566352037, + -0.07173318283908035, + 1.1457715396656585, + -0.5051003123211754, + -0.1371994958981671, + -0.46172396199685845, + 0.46269085488779127, + 0.0, + 0.4899364859533951, + 0.09316433064071587, + 1.4867180078018942, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19614704566352037, + -0.07173318283908035, + 1.1457715396656585, + -0.5051003123211754, + -0.1371994958981671, + -0.46172396199685845, + 0.46269085488779127, + 0.0, + 0.5427936978404297, + 0.16802876947172019, + 1.4867180078018942, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19614704566352037, + -0.07173318283908035, + 1.1457715396656585, + -0.5051003123211754, + -0.1371994958981671, + -0.46172396199685845, + 0.46269085488779127, + 0.0, + 0.5898635807058736, + 0.21245084108258577, + 1.4867180078018942, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19614704566352037, + -0.07173318283908035, + 1.1457715396656585, + -0.5051003123211754, + -0.1371994958981671, + -0.46172396199685845, + 0.46269085488779127, + 0.0, + 0.6378251172501944, + 0.29950250050412164, + 1.4867180078018942, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19614704566352037, + -0.07173318283908035, + 1.1457715396656585, + -0.5051003123211754, + -0.1371994958981671, + -0.46172396199685845, + 0.46269085488779127, + 0.0, + 0.6891051089817098, + 0.3314685372493727, + 1.4867180078018942, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19614704566352037, + -0.07173318283908035, + 1.1457715396656585, + -0.5051003123211754, + -0.1371994958981671, + -0.46172396199685845, + 0.46269085488779127, + 0.0, + 0.7449361673919609, + 0.4241939868627642, + 1.4867180078018942, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19614704566352037, + -0.07173318283908035, + 1.1457715396656585, + -0.5051003123211754, + -0.1371994958981671, + -0.46172396199685845, + 0.46269085488779127, + 0.0, + 1.4364560842514038, + 1.4733390808105469, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.135136381339501, + 0.7455788304317085, + 1.000360131263733, + -0.6795823181815007, + -0.15164889129536116, + -0.6838242377647582, + 0.1489715306636165, + 0.0, + 1.4388242959976196, + 1.4792407751083374, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.135136381339501, + 0.7455788304317085, + 1.000360131263733, + -0.6795823181815007, + -0.15164889129536116, + -0.6838242377647582, + 0.1489715306636165, + 0.0, + 1.4992908239364624, + 1.629927396774292, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.135136381339501, + 0.7455788304317085, + 1.000360131263733, + -0.6795823181815007, + -0.15164889129536116, + -0.6838242377647582, + 0.1489715306636165, + 0.0, + 1.5124403238296509, + 1.6626968383789062, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.135136381339501, + 0.7455788304317085, + 1.000360131263733, + -0.6795823181815007, + -0.15164889129536116, + -0.6838242377647582, + 0.1489715306636165, + 0.0, + 1.5634223222732544, + 1.7897473573684692, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.135136381339501, + 0.7455788304317085, + 1.000360131263733, + -0.6795823181815007, + -0.15164889129536116, + -0.6838242377647582, + 0.1489715306636165, + 0.0, + 1.5866135358810425, + 1.8475414514541626, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.135136381339501, + 0.7455788304317085, + 1.000360131263733, + -0.6795823181815007, + -0.15164889129536116, + -0.6838242377647582, + 0.1489715306636165, + 0.0, + 1.6301109790802002, + 1.9559398889541626, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.135136381339501, + 0.7455788304317085, + 1.000360131263733, + -0.6795823181815007, + -0.15164889129536116, + -0.6838242377647582, + 0.1489715306636165, + 0.0, + 1.6599746942520142, + 2.030362367630005, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.135136381339501, + 0.7455788304317085, + 1.000360131263733, + -0.6795823181815007, + -0.15164889129536116, + -0.6838242377647582, + 0.1489715306636165, + 0.0, + 1.6981184482574463, + 2.1254193782806396, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.135136381339501, + 0.7455788304317085, + 1.000360131263733, + -0.6795823181815007, + -0.15164889129536116, + -0.6838242377647582, + 0.1489715306636165, + 0.0, + 1.7464388608932495, + 2.1773569583892822, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.135136381339501, + 0.7455788304317085, + 1.000360131263733, + -0.6795823181815007, + -0.15164889129536116, + -0.6838242377647582, + 0.1489715306636165, + 0.0 + ], + "std": [ + 1.4788356530281457, + 0.5856071837638093, + 0.02883253866005169, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4989008694540238, + 1.2014794245488523, + 1.545281147199009, + 0.20677760089077712, + 0.6244551909445706, + 0.11849320032623699, + 0.5423092282423406, + 0.43666256769946304, + 0.5, + 1.5124968691276597, + 0.5943362940377412, + 0.02883253866005169, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3862953815390675, + 1.4108844072637718, + 0.18180604058812372, + 0.2282863594715123, + 0.08546484868282002, + 0.27935118111438345, + 0.40164907378128334, + 0.0, + 1.4799221908567932, + 0.5801920989086669, + 0.02883253866005169, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3862953815390675, + 1.4108844072637718, + 0.18180604058812372, + 0.2282863594715123, + 0.08546484868282002, + 0.27935118111438345, + 0.40164907378128334, + 0.0, + 1.487893124706786, + 0.5801668045557258, + 0.02883253866005169, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3862953815390675, + 1.4108844072637718, + 0.18180604058812372, + 0.2282863594715123, + 0.08546484868282002, + 0.27935118111438345, + 0.40164907378128334, + 0.0, + 1.4776186275927925, + 0.5722688027567137, + 0.02883253866005169, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3862953815390675, + 1.4108844072637718, + 0.18180604058812372, + 0.2282863594715123, + 0.08546484868282002, + 0.27935118111438345, + 0.40164907378128334, + 0.0, + 1.477349271807969, + 0.570425164240958, + 0.02883253866005169, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3862953815390675, + 1.4108844072637718, + 0.18180604058812372, + 0.2282863594715123, + 0.08546484868282002, + 0.27935118111438345, + 0.40164907378128334, + 0.0, + 1.5238495125960263, + 0.5834385564237347, + 0.02883253866005169, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3862953815390675, + 1.4108844072637718, + 0.18180604058812372, + 0.2282863594715123, + 0.08546484868282002, + 0.27935118111438345, + 0.40164907378128334, + 0.0, + 1.50549100206424, + 0.5723645142623248, + 0.02883253866005169, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3862953815390675, + 1.4108844072637718, + 0.18180604058812372, + 0.2282863594715123, + 0.08546484868282002, + 0.27935118111438345, + 0.40164907378128334, + 0.0, + 1.485361748725256, + 0.561795021757154, + 0.02883253866005169, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3862953815390675, + 1.4108844072637718, + 0.18180604058812372, + 0.2282863594715123, + 0.08546484868282002, + 0.27935118111438345, + 0.40164907378128334, + 0.0, + 1.4933017260668804, + 0.5621819381352426, + 0.02883253866005169, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3862953815390675, + 1.4108844072637718, + 0.18180604058812372, + 0.2282863594715123, + 0.08546484868282002, + 0.27935118111438345, + 0.40164907378128334, + 0.0, + 1.4991116790306058, + 0.5602614861936804, + 0.02883253866005169, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3862953815390675, + 1.4108844072637718, + 0.18180604058812372, + 0.2282863594715123, + 0.08546484868282002, + 0.27935118111438345, + 0.40164907378128334, + 0.0, + 1.5071081688992662, + 0.5597965934309983, + 0.02883253866005169, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3862953815390675, + 1.4108844072637718, + 0.18180604058812372, + 0.2282863594715123, + 0.08546484868282002, + 0.27935118111438345, + 0.40164907378128334, + 0.0, + 1.504864559793393, + 0.5922763742673726, + 0.02883253866005169, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3862953815390675, + 1.4108844072637718, + 0.18180604058812372, + 0.2282863594715123, + 0.08546484868282002, + 0.27935118111438345, + 0.40164907378128334, + 0.0, + 1.4766414115214295, + 0.6343568157433253, + 0.02883253866005169, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3862953815390675, + 1.4108844072637718, + 0.18180604058812372, + 0.2282863594715123, + 0.08546484868282002, + 0.27935118111438345, + 0.40164907378128334, + 0.0, + 1.4249667638270203, + 0.6306360454996516, + 0.02883253866005169, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3862953815390675, + 1.4108844072637718, + 0.18180604058812372, + 0.2282863594715123, + 0.08546484868282002, + 0.27935118111438345, + 0.40164907378128334, + 0.0, + 1.4309507099576202, + 0.6709831550978566, + 0.02883253866005169, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3862953815390675, + 1.4108844072637718, + 0.18180604058812372, + 0.2282863594715123, + 0.08546484868282002, + 0.27935118111438345, + 0.40164907378128334, + 0.0, + 1.4188585846273338, + 0.6848600441568914, + 0.02883253866005169, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3862953815390675, + 1.4108844072637718, + 0.18180604058812372, + 0.2282863594715123, + 0.08546484868282002, + 0.27935118111438345, + 0.40164907378128334, + 0.0, + 1.3928979726149828, + 0.7263078360696267, + 0.02883253866005169, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3862953815390675, + 1.4108844072637718, + 0.18180604058812372, + 0.2282863594715123, + 0.08546484868282002, + 0.27935118111438345, + 0.40164907378128334, + 0.0, + 1.3638674402267186, + 0.7158401315295856, + 0.02883253866005169, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3862953815390675, + 1.4108844072637718, + 0.18180604058812372, + 0.2282863594715123, + 0.08546484868282002, + 0.27935118111438345, + 0.40164907378128334, + 0.0, + 1.3220968691113122, + 0.6998810375030101, + 0.02883253866005169, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3862953815390675, + 1.4108844072637718, + 0.18180604058812372, + 0.2282863594715123, + 0.08546484868282002, + 0.27935118111438345, + 0.40164907378128334, + 0.0, + 1.2732731857330029, + 0.7275411829042391, + 0.02883253866005169, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3862953815390675, + 1.4108844072637718, + 0.18180604058812372, + 0.2282863594715123, + 0.08546484868282002, + 0.27935118111438345, + 0.40164907378128334, + 0.0, + 1.2886562808247746, + 0.7665592123567596, + 0.02883253866005169, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3862953815390675, + 1.4108844072637718, + 0.18180604058812372, + 0.2282863594715123, + 0.08546484868282002, + 0.27935118111438345, + 0.40164907378128334, + 0.0, + 1.313625703089412, + 0.8299550814917637, + 0.02883253866005169, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3862953815390675, + 1.4108844072637718, + 0.18180604058812372, + 0.2282863594715123, + 0.08546484868282002, + 0.27935118111438345, + 0.40164907378128334, + 0.0, + 1.2454993175024167, + 0.8097031687122481, + 0.02883253866005169, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3862953815390675, + 1.4108844072637718, + 0.18180604058812372, + 0.2282863594715123, + 0.08546484868282002, + 0.27935118111438345, + 0.40164907378128334, + 0.0, + 1.211764442502702, + 0.8134331335985705, + 0.02883253866005169, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3862953815390675, + 1.4108844072637718, + 0.18180604058812372, + 0.2282863594715123, + 0.08546484868282002, + 0.27935118111438345, + 0.40164907378128334, + 0.0, + 1.2024851655153308, + 0.8532084599874427, + 0.02883253866005169, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3862953815390675, + 1.4108844072637718, + 0.18180604058812372, + 0.2282863594715123, + 0.08546484868282002, + 0.27935118111438345, + 0.40164907378128334, + 0.0, + 1.1636719403682367, + 0.8636027491217891, + 0.02883253866005169, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3862953815390675, + 1.4108844072637718, + 0.18180604058812372, + 0.2282863594715123, + 0.08546484868282002, + 0.27935118111438345, + 0.40164907378128334, + 0.0, + 1.1625896037280665, + 0.9042874656468378, + 0.02883253866005169, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3862953815390675, + 1.4108844072637718, + 0.18180604058812372, + 0.2282863594715123, + 0.08546484868282002, + 0.27935118111438345, + 0.40164907378128334, + 0.0, + 1.176711033939508, + 0.964769083703913, + 0.02883253866005169, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3862953815390675, + 1.4108844072637718, + 0.18180604058812372, + 0.2282863594715123, + 0.08546484868282002, + 0.27935118111438345, + 0.40164907378128334, + 0.0, + 1.1217367233669335, + 0.9525167171940154, + 0.02883253866005169, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3862953815390675, + 1.4108844072637718, + 0.18180604058812372, + 0.2282863594715123, + 0.08546484868282002, + 0.27935118111438345, + 0.40164907378128334, + 0.0, + 1.0841933619593835, + 0.9714674790092005, + 0.02883253866005169, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3862953815390675, + 1.4108844072637718, + 0.18180604058812372, + 0.2282863594715123, + 0.08546484868282002, + 0.27935118111438345, + 0.40164907378128334, + 0.0, + 1.0805947605330186, + 1.0003832273682447, + 0.02883253866005169, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3862953815390675, + 1.4108844072637718, + 0.18180604058812372, + 0.2282863594715123, + 0.08546484868282002, + 0.27935118111438345, + 0.40164907378128334, + 0.0, + 1.052183910717872, + 0.9972003836971243, + 0.02883253866005169, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3862953815390675, + 1.4108844072637718, + 0.18180604058812372, + 0.2282863594715123, + 0.08546484868282002, + 0.27935118111438345, + 0.40164907378128334, + 0.0, + 1.0385985754189342, + 1.0479574569331638, + 0.02883253866005169, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3862953815390675, + 1.4108844072637718, + 0.18180604058812372, + 0.2282863594715123, + 0.08546484868282002, + 0.27935118111438345, + 0.40164907378128334, + 0.0, + 1.0261825079271614, + 1.0631397962696882, + 0.02883253866005169, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3862953815390675, + 1.4108844072637718, + 0.18180604058812372, + 0.2282863594715123, + 0.08546484868282002, + 0.27935118111438345, + 0.40164907378128334, + 0.0, + 0.9947462790564526, + 1.0948502508150424, + 0.02883253866005169, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3862953815390675, + 1.4108844072637718, + 0.18180604058812372, + 0.2282863594715123, + 0.08546484868282002, + 0.27935118111438345, + 0.40164907378128334, + 0.0, + 0.9500704043770063, + 1.1090334341364074, + 0.02883253866005169, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3862953815390675, + 1.4108844072637718, + 0.18180604058812372, + 0.2282863594715123, + 0.08546484868282002, + 0.27935118111438345, + 0.40164907378128334, + 0.0, + 0.9487965865776793, + 1.1409138841779152, + 0.02883253866005169, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3862953815390675, + 1.4108844072637718, + 0.18180604058812372, + 0.2282863594715123, + 0.08546484868282002, + 0.27935118111438345, + 0.40164907378128334, + 0.0, + 0.9355657211075443, + 1.1790322996163156, + 0.02883253866005169, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3862953815390675, + 1.4108844072637718, + 0.18180604058812372, + 0.2282863594715123, + 0.08546484868282002, + 0.27935118111438345, + 0.40164907378128334, + 0.0, + 0.9020672465489278, + 1.1866718919797719, + 0.02883253866005169, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3862953815390675, + 1.4108844072637718, + 0.18180604058812372, + 0.2282863594715123, + 0.08546484868282002, + 0.27935118111438345, + 0.40164907378128334, + 0.0, + 0.9087283254151637, + 1.2438707391346397, + 0.02883253866005169, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3862953815390675, + 1.4108844072637718, + 0.18180604058812372, + 0.2282863594715123, + 0.08546484868282002, + 0.27935118111438345, + 0.40164907378128334, + 0.0, + 0.8561952106410904, + 1.2327659948620622, + 0.02883253866005169, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3862953815390675, + 1.4108844072637718, + 0.18180604058812372, + 0.2282863594715123, + 0.08546484868282002, + 0.27935118111438345, + 0.40164907378128334, + 0.0, + 0.8487053782914273, + 1.2721258106244244, + 0.02883253866005169, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3862953815390675, + 1.4108844072637718, + 0.18180604058812372, + 0.2282863594715123, + 0.08546484868282002, + 0.27935118111438345, + 0.40164907378128334, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.5278332145428521, + 1.2026188102583601, + 0.0, + 0.03758265106613797, + 0.106374681087529, + 0.038094785560042914, + 0.10574917569843224, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.5278332145428521, + 1.2026188102583601, + 0.0, + 0.03758265106613797, + 0.106374681087529, + 0.038094785560042914, + 0.10574917569843224, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.5278332145428521, + 1.2026188102583601, + 0.0, + 0.03758265106613797, + 0.106374681087529, + 0.038094785560042914, + 0.10574917569843224, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.5278332145428521, + 1.2026188102583601, + 0.0, + 0.03758265106613797, + 0.106374681087529, + 0.038094785560042914, + 0.10574917569843224, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.5278332145428521, + 1.2026188102583601, + 0.0, + 0.03758265106613797, + 0.106374681087529, + 0.038094785560042914, + 0.10574917569843224, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.5278332145428521, + 1.2026188102583601, + 0.0, + 0.03758265106613797, + 0.106374681087529, + 0.038094785560042914, + 0.10574917569843224, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.5278332145428521, + 1.2026188102583601, + 0.0, + 0.03758265106613797, + 0.106374681087529, + 0.038094785560042914, + 0.10574917569843224, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.5278332145428521, + 1.2026188102583601, + 0.0, + 0.03758265106613797, + 0.106374681087529, + 0.038094785560042914, + 0.10574917569843224, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.5278332145428521, + 1.2026188102583601, + 0.0, + 0.03758265106613797, + 0.106374681087529, + 0.038094785560042914, + 0.10574917569843224, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.5278332145428521, + 1.2026188102583601, + 0.0, + 0.03758265106613797, + 0.106374681087529, + 0.038094785560042914, + 0.10574917569843224, + 0.0 + ], + "min": [ + -3.3908650875091553, + -2.3895938396453857, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0, + -3.1327784061431885, + -2.0050339698791504, + 0.7517412900924683, + -0.7066218852996826, + -0.3912975490093231, + -0.7485718727111816, + -0.7696211338043213, + 0.0, + -3.3597609996795654, + -2.3774006366729736, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.0050339698791504, + 1.000360131263733, + -0.7042903900146484, + -0.3912975490093231, + -0.7090055346488953, + 0.02439144253730774, + 0.0, + -3.262169599533081, + -2.339143753051758, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.0050339698791504, + 1.000360131263733, + -0.7042903900146484, + -0.3912975490093231, + -0.7090055346488953, + 0.02439144253730774, + 0.0, + -3.2079062461853027, + -2.3178718090057373, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.0050339698791504, + 1.000360131263733, + -0.7042903900146484, + -0.3912975490093231, + -0.7090055346488953, + 0.02439144253730774, + 0.0, + -3.1000916957855225, + -2.2756073474884033, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.0050339698791504, + 1.000360131263733, + -0.7042903900146484, + -0.3912975490093231, + -0.7090055346488953, + 0.02439144253730774, + 0.0, + -3.0605831146240234, + -2.2601194381713867, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.0050339698791504, + 1.000360131263733, + -0.7042903900146484, + -0.3912975490093231, + -0.7090055346488953, + 0.02439144253730774, + 0.0, + -3.039018154144287, + -2.2516655921936035, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.0050339698791504, + 1.000360131263733, + -0.7042903900146484, + -0.3912975490093231, + -0.7090055346488953, + 0.02439144253730774, + 0.0, + -2.9144749641418457, + -2.202843189239502, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.0050339698791504, + 1.000360131263733, + -0.7042903900146484, + -0.3912975490093231, + -0.7090055346488953, + 0.02439144253730774, + 0.0, + -2.8131697177886963, + -2.163130283355713, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.0050339698791504, + 1.000360131263733, + -0.7042903900146484, + -0.3912975490093231, + -0.7090055346488953, + 0.02439144253730774, + 0.0, + -2.768354654312134, + -2.145562171936035, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.0050339698791504, + 1.000360131263733, + -0.7042903900146484, + -0.3912975490093231, + -0.7090055346488953, + 0.02439144253730774, + 0.0, + -2.6861703395843506, + -2.11334490776062, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.0050339698791504, + 1.000360131263733, + -0.7042903900146484, + -0.3912975490093231, + -0.7090055346488953, + 0.02439144253730774, + 0.0, + -2.6218812465667725, + -2.0881428718566895, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.0050339698791504, + 1.000360131263733, + -0.7042903900146484, + -0.3912975490093231, + -0.7090055346488953, + 0.02439144253730774, + 0.0, + -2.5847158432006836, + -2.073573589324951, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.0050339698791504, + 1.000360131263733, + -0.7042903900146484, + -0.3912975490093231, + -0.7090055346488953, + 0.02439144253730774, + 0.0, + -2.474975347518921, + -2.0305540561676025, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.0050339698791504, + 1.000360131263733, + -0.7042903900146484, + -0.3912975490093231, + -0.7090055346488953, + 0.02439144253730774, + 0.0, + -2.3528940677642822, + -1.9826968908309937, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.0050339698791504, + 1.000360131263733, + -0.7042903900146484, + -0.3912975490093231, + -0.7090055346488953, + 0.02439144253730774, + 0.0, + -2.328064441680908, + -1.972963571548462, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.0050339698791504, + 1.000360131263733, + -0.7042903900146484, + -0.3912975490093231, + -0.7090055346488953, + 0.02439144253730774, + 0.0, + -2.285099983215332, + -1.9561209678649902, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.0050339698791504, + 1.000360131263733, + -0.7042903900146484, + -0.3912975490093231, + -0.7090055346488953, + 0.02439144253730774, + 0.0, + -2.18148136138916, + -1.915501356124878, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.0050339698791504, + 1.000360131263733, + -0.7042903900146484, + -0.3912975490093231, + -0.7090055346488953, + 0.02439144253730774, + 0.0, + -2.121074914932251, + -1.8918213844299316, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.0050339698791504, + 1.000360131263733, + -0.7042903900146484, + -0.3912975490093231, + -0.7090055346488953, + 0.02439144253730774, + 0.0, + -2.0350353717803955, + -1.8580929040908813, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.0050339698791504, + 1.000360131263733, + -0.7042903900146484, + -0.3912975490093231, + -0.7090055346488953, + 0.02439144253730774, + 0.0, + -1.889255404472351, + -1.800945520401001, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.0050339698791504, + 1.000360131263733, + -0.7042903900146484, + -0.3912975490093231, + -0.7090055346488953, + 0.02439144253730774, + 0.0, + -1.8885893821716309, + -1.8006844520568848, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.0050339698791504, + 1.000360131263733, + -0.7042903900146484, + -0.3912975490093231, + -0.7090055346488953, + 0.02439144253730774, + 0.0, + -1.8874468803405762, + -1.8002365827560425, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.0050339698791504, + 1.000360131263733, + -0.7042903900146484, + -0.3912975490093231, + -0.7090055346488953, + 0.02439144253730774, + 0.0, + -1.7414798736572266, + -1.7430158853530884, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.0050339698791504, + 1.000360131263733, + -0.7042903900146484, + -0.3912975490093231, + -0.7090055346488953, + 0.02439144253730774, + 0.0, + -1.6557687520980835, + -1.709416151046753, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.0050339698791504, + 1.000360131263733, + -0.7042903900146484, + -0.3912975490093231, + -0.7090055346488953, + 0.02439144253730774, + 0.0, + -1.5943650007247925, + -1.68534517288208, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.0050339698791504, + 1.000360131263733, + -0.7042903900146484, + -0.3912975490093231, + -0.7090055346488953, + 0.02439144253730774, + 0.0, + -1.4897935390472412, + -1.6443519592285156, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.0050339698791504, + 1.000360131263733, + -0.7042903900146484, + -0.3912975490093231, + -0.7090055346488953, + 0.02439144253730774, + 0.0, + -1.4474434852600098, + -1.627750277519226, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.0050339698791504, + 1.000360131263733, + -0.7042903900146484, + -0.3912975490093231, + -0.7090055346488953, + 0.02439144253730774, + 0.0, + -1.4227550029754639, + -1.6180721521377563, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.0050339698791504, + 1.000360131263733, + -0.7042903900146484, + -0.3912975490093231, + -0.7090055346488953, + 0.02439144253730774, + 0.0, + -1.30097496509552, + -1.5703330039978027, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.0050339698791504, + 1.000360131263733, + -0.7042903900146484, + -0.3912975490093231, + -0.7090055346488953, + 0.02439144253730774, + 0.0, + -1.191139817237854, + -1.5272763967514038, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.0050339698791504, + 1.000360131263733, + -0.7042903900146484, + -0.3912975490093231, + -0.7090055346488953, + 0.02439144253730774, + 0.0, + -1.1541571617126465, + -1.5127787590026855, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.0050339698791504, + 1.000360131263733, + -0.7042903900146484, + -0.3912975490093231, + -0.7090055346488953, + 0.02439144253730774, + 0.0, + -1.088146686553955, + -1.486901879310608, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.0050339698791504, + 1.000360131263733, + -0.7042903900146484, + -0.3912975490093231, + -0.7090055346488953, + 0.02439144253730774, + 0.0, + -1.0055466890335083, + -1.454521656036377, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.0050339698791504, + 1.000360131263733, + -0.7042903900146484, + -0.3912975490093231, + -0.7090055346488953, + 0.02439144253730774, + 0.0, + -0.9605197310447693, + -1.4368705749511719, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.0050339698791504, + 1.000360131263733, + -0.7042903900146484, + -0.3912975490093231, + -0.7090055346488953, + 0.02439144253730774, + 0.0, + -0.8530858159065247, + -1.394755244255066, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.0050339698791504, + 1.000360131263733, + -0.7042903900146484, + -0.3912975490093231, + -0.7090055346488953, + 0.02439144253730774, + 0.0, + -0.7305529713630676, + -1.3467209339141846, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.0050339698791504, + 1.000360131263733, + -0.7042903900146484, + -0.3912975490093231, + -0.7090055346488953, + 0.02439144253730774, + 0.0, + -0.6963318586349487, + -1.333305835723877, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.0050339698791504, + 1.000360131263733, + -0.7042903900146484, + -0.3912975490093231, + -0.7090055346488953, + 0.02439144253730774, + 0.0, + -0.6269322633743286, + -1.3061003684997559, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.0050339698791504, + 1.000360131263733, + -0.7042903900146484, + -0.3912975490093231, + -0.7090055346488953, + 0.02439144253730774, + 0.0, + -0.5379796624183655, + -1.2712299823760986, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.0050339698791504, + 1.000360131263733, + -0.7042903900146484, + -0.3912975490093231, + -0.7090055346488953, + 0.02439144253730774, + 0.0, + -0.49834638833999634, + -1.2556933164596558, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.0050339698791504, + 1.000360131263733, + -0.7042903900146484, + -0.3912975490093231, + -0.7090055346488953, + 0.02439144253730774, + 0.0, + -0.3813849091529846, + -1.2098431587219238, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.0050339698791504, + 1.000360131263733, + -0.7042903900146484, + -0.3912975490093231, + -0.7090055346488953, + 0.02439144253730774, + 0.0, + -0.31618940830230713, + -1.16632878780365, + 1.4506690502166748, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1327784061431885, + -2.0050339698791504, + 1.000360131263733, + -0.7042903900146484, + -0.3912975490093231, + -0.7090055346488953, + 0.02439144253730774, + 0.0, + 1.4364560842514038, + 1.4733390808105469, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.23013204336166382, + -0.9355553388595581, + 1.000360131263733, + -0.7042903900146484, + -0.3912975490093231, + -0.7090055346488953, + 0.02439144253730774, + 0.0, + 1.4388242959976196, + 1.4792407751083374, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.23013204336166382, + -0.9355553388595581, + 1.000360131263733, + -0.7042903900146484, + -0.3912975490093231, + -0.7090055346488953, + 0.02439144253730774, + 0.0, + 1.4992908239364624, + 1.629927396774292, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.23013204336166382, + -0.9355553388595581, + 1.000360131263733, + -0.7042903900146484, + -0.3912975490093231, + -0.7090055346488953, + 0.02439144253730774, + 0.0, + 1.5124403238296509, + 1.6626968383789062, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.23013204336166382, + -0.9355553388595581, + 1.000360131263733, + -0.7042903900146484, + -0.3912975490093231, + -0.7090055346488953, + 0.02439144253730774, + 0.0, + 1.5634223222732544, + 1.7897473573684692, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.23013204336166382, + -0.9355553388595581, + 1.000360131263733, + -0.7042903900146484, + -0.3912975490093231, + -0.7090055346488953, + 0.02439144253730774, + 0.0, + 1.5866135358810425, + 1.8475414514541626, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.23013204336166382, + -0.9355553388595581, + 1.000360131263733, + -0.7042903900146484, + -0.3912975490093231, + -0.7090055346488953, + 0.02439144253730774, + 0.0, + 1.6301109790802002, + 1.9559398889541626, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.23013204336166382, + -0.9355553388595581, + 1.000360131263733, + -0.7042903900146484, + -0.3912975490093231, + -0.7090055346488953, + 0.02439144253730774, + 0.0, + 1.6599746942520142, + 2.030362367630005, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.23013204336166382, + -0.9355553388595581, + 1.000360131263733, + -0.7042903900146484, + -0.3912975490093231, + -0.7090055346488953, + 0.02439144253730774, + 0.0, + 1.6981184482574463, + 2.1254193782806396, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.23013204336166382, + -0.9355553388595581, + 1.000360131263733, + -0.7042903900146484, + -0.3912975490093231, + -0.7090055346488953, + 0.02439144253730774, + 0.0, + 1.7464388608932495, + 2.1773569583892822, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.23013204336166382, + -0.9355553388595581, + 1.000360131263733, + -0.7042903900146484, + -0.3912975490093231, + -0.7090055346488953, + 0.02439144253730774, + 0.0 + ], + "max": [ + -0.35909897089004517, + -1.1890385150909424, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9089487791061401, + 2.9229800701141357, + 1.37311589717865, + 0.8276573419570923, + 0.2546903192996979, + 0.7489374279975891, + 0.9671496152877808, + 1.0, + -0.2589859068393707, + -1.1589497327804565, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9089487791061401, + 2.621677875518799, + 1.3730814456939697, + -0.1951058954000473, + -0.026284754276275635, + -0.11048052459955215, + 0.9671496152877808, + 0.0, + -0.22817596793174744, + -1.1496899127960205, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9089487791061401, + 2.621677875518799, + 1.3730814456939697, + -0.1951058954000473, + -0.026284754276275635, + -0.11048052459955215, + 0.9671496152877808, + 0.0, + -0.15757137537002563, + -1.1284698247909546, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9089487791061401, + 2.621677875518799, + 1.3730814456939697, + -0.1951058954000473, + -0.026284754276275635, + -0.11048052459955215, + 0.9671496152877808, + 0.0, + -0.07082060724496841, + -1.102397084236145, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9089487791061401, + 2.621677875518799, + 1.3730814456939697, + -0.1951058954000473, + -0.026284754276275635, + -0.11048052459955215, + 0.9671496152877808, + 0.0, + -0.031864233314991, + -1.0906888246536255, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9089487791061401, + 2.621677875518799, + 1.3730814456939697, + -0.1951058954000473, + -0.026284754276275635, + -0.11048052459955215, + 0.9671496152877808, + 0.0, + 0.08503103256225586, + -1.0555561780929565, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9089487791061401, + 2.621677875518799, + 1.3730814456939697, + -0.1951058954000473, + -0.026284754276275635, + -0.11048052459955215, + 0.9671496152877808, + 0.0, + 0.17193737626075745, + -1.029436707496643, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9089487791061401, + 2.621677875518799, + 1.3730814456939697, + -0.1951058954000473, + -0.026284754276275635, + -0.11048052459955215, + 0.9671496152877808, + 0.0, + 0.23197557032108307, + -1.01139235496521, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9089487791061401, + 2.621677875518799, + 1.3730814456939697, + -0.1951058954000473, + -0.026284754276275635, + -0.11048052459955215, + 0.9671496152877808, + 0.0, + 0.29306840896606445, + -0.9930310249328613, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9089487791061401, + 2.621677875518799, + 1.3730814456939697, + -0.1951058954000473, + -0.026284754276275635, + -0.11048052459955215, + 0.9671496152877808, + 0.0, + 0.3871637284755707, + -0.9647508859634399, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9089487791061401, + 2.621677875518799, + 1.3730814456939697, + -0.1951058954000473, + -0.026284754276275635, + -0.11048052459955215, + 0.9671496152877808, + 0.0, + 0.46784645318984985, + -0.9405019283294678, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9089487791061401, + 2.621677875518799, + 1.3730814456939697, + -0.1951058954000473, + -0.026284754276275635, + -0.11048052459955215, + 0.9671496152877808, + 0.0, + 0.5004122257232666, + -0.8593457341194153, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9089487791061401, + 2.621677875518799, + 1.3730814456939697, + -0.1951058954000473, + -0.026284754276275635, + -0.11048052459955215, + 0.9671496152877808, + 0.0, + 0.5522923469543457, + -0.7300569415092468, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9089487791061401, + 2.621677875518799, + 1.3730814456939697, + -0.1951058954000473, + -0.026284754276275635, + -0.11048052459955215, + 0.9671496152877808, + 0.0, + 0.5684352517127991, + -0.6898277401924133, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9089487791061401, + 2.621677875518799, + 1.3730814456939697, + -0.1951058954000473, + -0.026284754276275635, + -0.11048052459955215, + 0.9671496152877808, + 0.0, + 0.6055325865745544, + -0.597378671169281, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9089487791061401, + 2.621677875518799, + 1.3730814456939697, + -0.1951058954000473, + -0.026284754276275635, + -0.11048052459955215, + 0.9671496152877808, + 0.0, + 0.6237069368362427, + -0.5520870089530945, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9089487791061401, + 2.621677875518799, + 1.3730814456939697, + -0.1951058954000473, + -0.026284754276275635, + -0.11048052459955215, + 0.9671496152877808, + 0.0, + 0.6741036176681519, + -0.42649513483047485, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9089487791061401, + 2.621677875518799, + 1.3730814456939697, + -0.1951058954000473, + -0.026284754276275635, + -0.11048052459955215, + 0.9671496152877808, + 0.0, + 0.6749944686889648, + -0.4242750406265259, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9089487791061401, + 2.621677875518799, + 1.3730814456939697, + -0.1951058954000473, + -0.026284754276275635, + -0.11048052459955215, + 0.9671496152877808, + 0.0, + 0.6754000186920166, + -0.42326435446739197, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9089487791061401, + 2.621677875518799, + 1.3730814456939697, + -0.1951058954000473, + -0.026284754276275635, + -0.11048052459955215, + 0.9671496152877808, + 0.0, + 0.7210863828659058, + -0.30941081047058105, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9089487791061401, + 2.621677875518799, + 1.3730814456939697, + -0.1951058954000473, + -0.026284754276275635, + -0.11048052459955215, + 0.9671496152877808, + 0.0, + 0.7532893419265747, + -0.22915874421596527, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9089487791061401, + 2.621677875518799, + 1.3730814456939697, + -0.1951058954000473, + -0.026284754276275635, + -0.11048052459955215, + 0.9671496152877808, + 0.0, + 0.8056217432022095, + -0.0987427830696106, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9089487791061401, + 2.621677875518799, + 1.3730814456939697, + -0.1951058954000473, + -0.026284754276275635, + -0.11048052459955215, + 0.9671496152877808, + 0.0, + 0.8119226098060608, + -0.08304060250520706, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9089487791061401, + 2.621677875518799, + 1.3730814456939697, + -0.1951058954000473, + -0.026284754276275635, + -0.11048052459955215, + 0.9671496152877808, + 0.0, + 0.8284737467765808, + -0.041794054210186005, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9089487791061401, + 2.621677875518799, + 1.3730814456939697, + -0.1951058954000473, + -0.026284754276275635, + -0.11048052459955215, + 0.9671496152877808, + 0.0, + 0.8708540201187134, + 0.06382045894861221, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9089487791061401, + 2.621677875518799, + 1.3730814456939697, + -0.1951058954000473, + -0.026284754276275635, + -0.11048052459955215, + 0.9671496152877808, + 0.0, + 0.8958543539047241, + 0.12612304091453552, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9089487791061401, + 2.621677875518799, + 1.3730814456939697, + -0.1951058954000473, + -0.026284754276275635, + -0.11048052459955215, + 0.9671496152877808, + 0.0, + 0.9359855055809021, + 0.2261326014995575, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9089487791061401, + 2.621677875518799, + 1.3730814456939697, + -0.1951058954000473, + -0.026284754276275635, + -0.11048052459955215, + 0.9671496152877808, + 0.0, + 0.9896243810653687, + 0.35980430245399475, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9089487791061401, + 2.621677875518799, + 1.3730814456939697, + -0.1951058954000473, + -0.026284754276275635, + -0.11048052459955215, + 0.9671496152877808, + 0.0, + 0.9987013936042786, + 0.38242483139038086, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9089487791061401, + 2.621677875518799, + 1.3730814456939697, + -0.1951058954000473, + -0.026284754276275635, + -0.11048052459955215, + 0.9671496152877808, + 0.0, + 1.0315687656402588, + 0.4643324613571167, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9089487791061401, + 2.621677875518799, + 1.3730814456939697, + -0.1951058954000473, + -0.026284754276275635, + -0.11048052459955215, + 0.9671496152877808, + 0.0, + 1.061173915863037, + 0.5381103754043579, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9089487791061401, + 2.621677875518799, + 1.3730814456939697, + -0.1951058954000473, + -0.026284754276275635, + -0.11048052459955215, + 0.9671496152877808, + 0.0, + 1.068939208984375, + 0.5574620962142944, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9089487791061401, + 2.621677875518799, + 1.3730814456939697, + -0.1951058954000473, + -0.026284754276275635, + -0.11048052459955215, + 0.9671496152877808, + 0.0, + 1.1236878633499146, + 0.6938995718955994, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9089487791061401, + 2.621677875518799, + 1.3730814456939697, + -0.1951058954000473, + -0.026284754276275635, + -0.11048052459955215, + 0.9671496152877808, + 0.0, + 1.1432605981826782, + 0.7426760196685791, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9089487791061401, + 2.621677875518799, + 1.3730814456939697, + -0.1951058954000473, + -0.026284754276275635, + -0.11048052459955215, + 0.9671496152877808, + 0.0, + 1.1862469911575317, + 0.8498010635375977, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9089487791061401, + 2.621677875518799, + 1.3730814456939697, + -0.1951058954000473, + -0.026284754276275635, + -0.11048052459955215, + 0.9671496152877808, + 0.0, + 1.2171896696090698, + 0.9269123673439026, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9089487791061401, + 2.621677875518799, + 1.3730814456939697, + -0.1951058954000473, + -0.026284754276275635, + -0.11048052459955215, + 0.9671496152877808, + 0.0, + 1.2487993240356445, + 1.0056856870651245, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9089487791061401, + 2.621677875518799, + 1.3730814456939697, + -0.1951058954000473, + -0.026284754276275635, + -0.11048052459955215, + 0.9671496152877808, + 0.0, + 1.291074275970459, + 1.1110378503799438, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9089487791061401, + 2.621677875518799, + 1.3730814456939697, + -0.1951058954000473, + -0.026284754276275635, + -0.11048052459955215, + 0.9671496152877808, + 0.0, + 1.3113515377044678, + 1.1615701913833618, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9089487791061401, + 2.621677875518799, + 1.3730814456939697, + -0.1951058954000473, + -0.026284754276275635, + -0.11048052459955215, + 0.9671496152877808, + 0.0, + 1.364640712738037, + 1.294370412826538, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9089487791061401, + 2.621677875518799, + 1.3730814456939697, + -0.1951058954000473, + -0.026284754276275635, + -0.11048052459955215, + 0.9671496152877808, + 0.0, + 1.3739038705825806, + 1.3174546957015991, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9089487791061401, + 2.621677875518799, + 1.3730814456939697, + -0.1951058954000473, + -0.026284754276275635, + -0.11048052459955215, + 0.9671496152877808, + 0.0, + 1.4237444400787354, + 1.441660761833191, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9089487791061401, + 2.621677875518799, + 1.3730814456939697, + -0.1951058954000473, + -0.026284754276275635, + -0.11048052459955215, + 0.9671496152877808, + 0.0, + 1.4364560842514038, + 1.4733390808105469, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9089487791061401, + 2.621677875518799, + 1.000360131263733, + -0.5887908935546875, + -0.026284754276275635, + -0.59183269739151, + 0.3872275948524475, + 0.0, + 1.4388242959976196, + 1.4792407751083374, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9089487791061401, + 2.621677875518799, + 1.000360131263733, + -0.5887908935546875, + -0.026284754276275635, + -0.59183269739151, + 0.3872275948524475, + 0.0, + 1.4992908239364624, + 1.629927396774292, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9089487791061401, + 2.621677875518799, + 1.000360131263733, + -0.5887908935546875, + -0.026284754276275635, + -0.59183269739151, + 0.3872275948524475, + 0.0, + 1.5124403238296509, + 1.6626968383789062, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9089487791061401, + 2.621677875518799, + 1.000360131263733, + -0.5887908935546875, + -0.026284754276275635, + -0.59183269739151, + 0.3872275948524475, + 0.0, + 1.5634223222732544, + 1.7897473573684692, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9089487791061401, + 2.621677875518799, + 1.000360131263733, + -0.5887908935546875, + -0.026284754276275635, + -0.59183269739151, + 0.3872275948524475, + 0.0, + 1.5866135358810425, + 1.8475414514541626, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9089487791061401, + 2.621677875518799, + 1.000360131263733, + -0.5887908935546875, + -0.026284754276275635, + -0.59183269739151, + 0.3872275948524475, + 0.0, + 1.6301109790802002, + 1.9559398889541626, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9089487791061401, + 2.621677875518799, + 1.000360131263733, + -0.5887908935546875, + -0.026284754276275635, + -0.59183269739151, + 0.3872275948524475, + 0.0, + 1.6599746942520142, + 2.030362367630005, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9089487791061401, + 2.621677875518799, + 1.000360131263733, + -0.5887908935546875, + -0.026284754276275635, + -0.59183269739151, + 0.3872275948524475, + 0.0, + 1.6981184482574463, + 2.1254193782806396, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9089487791061401, + 2.621677875518799, + 1.000360131263733, + -0.5887908935546875, + -0.026284754276275635, + -0.59183269739151, + 0.3872275948524475, + 0.0, + 1.7464388608932495, + 2.1773569583892822, + 1.5097787380218506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9089487791061401, + 2.621677875518799, + 1.000360131263733, + -0.5887908935546875, + -0.026284754276275635, + -0.59183269739151, + 0.3872275948524475, + 0.0 + ], + "count": [ + 2172 + ] + }, + "action.applied": { + "mean": [ + 0.0850500227449527, + -0.0008209233243416301, + 0.008830114905022446, + 0.42566435037383, + -0.932921896927045, + 0.7843145448571924, + -0.7665184349720804, + 0.6348748859047948, + -2.2376425348592726, + 0.4149455856967222, + 0.0034981835513456312, + -0.0034981835513456312 + ], + "std": [ + 0.11876852939556401, + 0.009938923480605183, + 0.1498867661396785, + 0.26077434035380154, + 0.3473260881899261, + 0.4676632256263503, + 0.7550407239970663, + 0.4120900537819068, + 0.21042779398239292, + 0.4006640595965726, + 0.014163675292020781, + 0.014163675292020781 + ], + "min": [ + 0.0, + -0.07047224044799805, + -0.800000011920929, + -0.005451255012303591, + -1.605630874633789, + -0.0024628331884741783, + -1.6581419706344604, + -0.537010669708252, + -2.870936632156372, + -0.04354412108659744, + -0.009999999776482582, + -0.020833000540733337 + ], + "max": [ + 0.30000001192092896, + 0.1300821453332901, + 0.800000011920929, + 0.8152309656143188, + -0.5694988965988159, + 1.3807919025421143, + 0.6703957319259644, + 1.165053367614746, + -1.80415678024292, + 1.1494877338409424, + 0.020833000540733337, + 0.009999999776482582 + ], + "count": [ + 2172 + ] + }, + "extra.reward": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 2172 + ] + }, + "next.truncated": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 2172 + ] + }, + "sim_step_idx": { + "mean": [ + 2272.0 + ], + "std": [ + 1254.0046517723397 + ], + "min": [ + 101.0 + ], + "max": [ + 4443.0 + ], + "count": [ + 2172 + ] + }, + "timestamp": { + "mean": [ + 43.42000000252222 + ], + "std": [ + 25.080093036195453 + ], + "min": [ + 0.0 + ], + "max": [ + 86.83999633789062 + ], + "count": [ + 2172 + ] + }, + "frame_index": { + "mean": [ + 1085.5 + ], + "std": [ + 627.0023258861698 + ], + "min": [ + 0.0 + ], + "max": [ + 2171.0 + ], + "count": [ + 2172 + ] + }, + "episode_index": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 2172 + ] + }, + "index": { + "mean": [ + 1085.5 + ], + "std": [ + 627.0023258861698 + ], + "min": [ + 0.0 + ], + "max": [ + 2171.0 + ], + "count": [ + 2172 + ] + }, + "task_index": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 2172 + ] + }, + "next.done": { + "mean": [ + 0.00046040515653775324 + ], + "std": [ + 0.021452113733373378 + ], + "min": [ + 0.0 + ], + "max": [ + 1.0 + ], + "count": [ + 2172 + ] + }, + "observation.images.head": { + "mean": [ + [ + [ + 0.5425654757656121 + ] + ], + [ + [ + 0.47994994753720366 + ] + ], + [ + [ + 0.4124261504484529 + ] + ] + ], + "std": [ + [ + [ + 0.1229670297407679 + ] + ], + [ + [ + 0.1356742744749253 + ] + ], + [ + [ + 0.13027691126285357 + ] + ] + ], + "min": [ + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ] + ], + "max": [ + [ + [ + 0.9294117647058824 + ] + ], + [ + [ + 0.8980392156862745 + ] + ], + [ + [ + 0.8784313725490196 + ] + ] + ], + "count": [ + 100 + ] + }, + "observation.images.wrist": { + "mean": [ + [ + [ + 0.5606887221714965 + ] + ], + [ + [ + 0.4986398363028152 + ] + ], + [ + [ + 0.4147565528035524 + ] + ] + ], + "std": [ + [ + [ + 0.11289950042291491 + ] + ], + [ + [ + 0.122078324276763 + ] + ], + [ + [ + 0.153451750237974 + ] + ] + ], + "min": [ + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ] + ], + "max": [ + [ + [ + 0.9411764705882353 + ] + ], + [ + [ + 0.9215686274509803 + ] + ], + [ + [ + 0.9215686274509803 + ] + ] + ], + "count": [ + 100 + ] + } +} \ No newline at end of file diff --git a/N033/sawyer_umi/dr_off/seed_1020/rec/stationringxr/000/lerobot_v21/meta/tasks.jsonl b/N033/sawyer_umi/dr_off/seed_1020/rec/stationringxr/000/lerobot_v21/meta/tasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dbadecbe4a732b4588b1a79a8efeb41ca322b43c --- /dev/null +++ b/N033/sawyer_umi/dr_off/seed_1020/rec/stationringxr/000/lerobot_v21/meta/tasks.jsonl @@ -0,0 +1 @@ +{"task_index": 0, "task": "Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end."} diff --git a/N033/sawyer_umi/dr_off/seed_1020/rec/stationringxr/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 b/N033/sawyer_umi/dr_off/seed_1020/rec/stationringxr/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..32d42fa6579f7e4729d7a7e8bbbf7dd9ea38bd6c --- /dev/null +++ b/N033/sawyer_umi/dr_off/seed_1020/rec/stationringxr/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 sha256:92ff924afcf80c03676f084f5ea065cc088a13ae980aa9f2a96ba560f69b12cf +size 26481517 diff --git a/N033/sawyer_umi/dr_off/seed_1020/rec/stationringxr/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 b/N033/sawyer_umi/dr_off/seed_1020/rec/stationringxr/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b50569fcf854012c11ba5584c50436501871121b --- /dev/null +++ b/N033/sawyer_umi/dr_off/seed_1020/rec/stationringxr/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:f4cc66f95ebedc65307a8006b78365f0e71074dccdb9092319d94ec0e896246a +size 38538103 diff --git a/N033/sawyer_umi/dr_off/seed_1020/rec/stationringxr/000/run_meta.json b/N033/sawyer_umi/dr_off/seed_1020/rec/stationringxr/000/run_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..443c3a1f87c234547918b9a2b43f898cf5cd3f72 --- /dev/null +++ b/N033/sawyer_umi/dr_off/seed_1020/rec/stationringxr/000/run_meta.json @@ -0,0 +1,1730 @@ +{ + "run_id": "stationringxr/000", + "created": "2026-11-08 02:51:07", + "num_envs": 1, + "session_id": null, + "record_config": { + "output_dir": "/mnt/scratch/xc536_atomic/n033_saw_off_1020/out/rec", + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "json_round": null, + "schema": { + "source": "robot_manager", + "nan_policy": "from_raw" + }, + "lerobot": { + "subsample_every": 2 + } + }, + "config": { + "env_string": "StationRingXREnv-V0", + "env": { + "sim": { + "device": "cpu", + "use_fabric": false, + "decimation": 4, + "dt": 0.005, + "seed": 1020, + "soft_resets": 2, + "enable_scene_query_support": true, + "scene": { + "num_envs": 1, + "env_spacing": 16 + }, + "render": { + "rendering_mode": "performance", + "enable_reflections": false, + "enable_global_illumination": false, + "enable_translucency": false, + "enable_dl_denoiser": false + } + }, + "nav": { + "navmesh": { + "enabled": true, + "visualize": false, + "bake_timeout_s": 180, + "agent_height_cm": 150, + "min_agent_radius_cm": 45.0, + "max_agent_radius_cm": 45.0, + "max_step_height_cm": 20, + "max_floor_slope_deg": 30, + "agent_island_radius_cm": 5, + "auto_exclude_rigid_bodies": true, + "validate_path_clearance": true, + "validate_path_window": true, + "navmesh_offset_z_m": 0, + "verbose": false + }, + "occupancymap": { + "cell_size": 0.05 + } + }, + "scene": { + "background": { + "intensity": [ + 1000, + 1000 + ] + }, + "terrain": { + "type": "nav_room", + "collision": true, + "hide_top_walls": true, + "usd": [ + "$MAGICSIM_ASSETS/Room/Collected_SimpleRoom" + ], + "annotation": "Annotation", + "random": false, + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0, + "friction_combine_mode": "multiply", + "restitution_combine_mode": "multiply" + } + }, + "objects": { + "table_A": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "table_A_1": { + "pos": [ + -0.3016219675206666, + -0.21119125015845192, + 0.18 + ], + "ori": [ + 0.0, + 0.0, + -6.882783466069554 + ], + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.45, + 0.35 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "table_B": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "table_B_1": { + "pos": [ + 1.7923484539399928, + 2.958927925239849, + 0.18 + ], + "ori": [ + 0.0, + 0.0, + -3.496053188578813 + ], + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.45, + 0.35 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "rack_back": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "rack_back_1": { + "pos": [ + -0.3524600225885379, + -0.21512725789676831, + 0.42999999999999994 + ], + "ori": [ + 0.0, + 0.0, + -6.882783466069554 + ], + "primitive_params": { + "size": [ + 0.7, + 0.03, + 0.2 + ] + }, + "visual": { + "color": [ + [ + 0.45, + 0.35, + 0.25 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "peg_1": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "peg_1_1": { + "pos": [ + -0.21612405819568956, + -0.33734634320291845, + 0.47 + ], + "ori": [ + 0.0, + 0.0, + -6.882783466069554 + ], + "primitive_params": { + "size": [ + 0.02, + 0.18, + 0.02 + ] + }, + "visual": { + "color": [ + [ + 0.35, + 0.35, + 0.35 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "peg_2": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "peg_2_1": { + "pos": [ + -0.513962077131466, + -0.3013947858456617, + 0.47 + ], + "ori": [ + 0.0, + 0.0, + -6.882783466069554 + ], + "primitive_params": { + "size": [ + 0.02, + 0.18, + 0.02 + ] + }, + "visual": { + "color": [ + [ + 0.35, + 0.35, + 0.35 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "ring": { + "usd": [ + "$MAGICSIM_ASSETS/Object/MMB_A07/ring_wide/Object.usda" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "ring_1": { + "pos": [ + -0.22292535027978153, + -0.3936911446366912, + 0.43999999999999995 + ], + "ori": [ + 0.0, + 0.0, + -6.882783466069554 + ], + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.05, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + } + } + } + }, + "ring_small": { + "usd": [ + "$MAGICSIM_ASSETS/Object/MMB_A07/ring_small/Object.usda" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "ring_small_1": { + "pos": [ + -0.5196886024483413, + -0.34883576145667816, + 0.46499999999999997 + ], + "ori": [ + 0.0, + 0.0, + -6.882783466069554 + ], + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.05, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + } + } + } + }, + "rod_h": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "rod_h_1": { + "pos": [ + 1.7844210821473987, + 2.829169855061297, + 0.53 + ], + "ori": [ + 0.0, + 0.0, + -3.496053188578813 + ], + "primitive_params": { + "size": [ + 0.02, + 0.14, + 0.02 + ] + }, + "visual": { + "color": [ + [ + 0.75, + 0.75, + 0.78 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 0.3, + "dynamic_friction": 0.25, + "restitution": 0.0 + } + } + } + }, + "rod_s": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "rod_s_1": { + "pos": [ + 1.7921838085258388, + 2.9562329499361404, + 0.48979999999999996 + ], + "ori": [ + -35.0, + 0.0, + -3.496053188578813 + ], + "primitive_params": { + "size": [ + 0.02, + 0.14, + 0.02 + ] + }, + "visual": { + "color": [ + [ + 0.75, + 0.75, + 0.78 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 0.3, + "dynamic_friction": 0.25, + "restitution": 0.0 + } + } + } + }, + "rod_stop": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "rod_stop_1": { + "pos": [ + 1.7966170387513896, + 3.028797655335992, + 0.38999999999999996 + ], + "ori": [ + 0.0, + 0.0, + -3.496053188578813 + ], + "primitive_params": { + "size": [ + 0.1, + 0.012, + 0.12 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.3, + 0.25 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + } + } + }, + "robot": { + "RidgebackSawyerUmi": { + "name": "ridgebacksawyer_umi", + "type": "mobilemanip", + "common": { + "pos": [ + [ + -3.4, + -2.2, + 0.05 + ], + [ + -3.4, + -2.2, + 0.05 + ] + ], + "ori": [ + [ + 0, + 0, + 40.0 + ], + [ + 0, + 0, + 40.0 + ] + ], + "initial_joint_pos": { + "dummy_base_.*": 0.0, + "head_pan": 0.0, + "right_j0": 0.0, + "right_j1": -1.6, + "right_j2": 0.0, + "right_j3": 0.5, + "right_j4": 0.0, + "right_j5": -2.32, + "right_j6": 0.0, + "right_gripper_l_finger_joint": 0.0, + "right_gripper_r_finger_joint": 0.0 + } + }, + "action": { + "base_action": "holonomic_action", + "arm_action": "ik_pink", + "eef_action": "binary" + }, + "planner": { + "dual_mode": true, + "base_joint_names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint" + ], + "ik": { + "type": "ridgebacksawyer_umi", + "model_tuning": "ridgeback_sawyer_umi", + "enable": true, + "ik_num_instances": 1, + "ik_batch_size": 1, + "ik_num_seeds": 32, + "ik_position_threshold": 0.005, + "ik_rotation_threshold": 0.05, + "microbatch_wait_ms": 20.0, + "relative_to_world_frame": false + }, + "motiongen": { + "type": "ridgebacksawyer_umi", + "model_tuning": "ridgeback_sawyer_umi", + "enable": true, + "motiongen_num_instances": 1, + "batch_size": 1, + "microbatch_wait_ms": 20.0, + "mode": "position", + "relative_to_world_frame": false, + "start_state_limit_inset": 0.002 + }, + "body": { + "type": "nav", + "dwb_type": "dwb_holonomic", + "dwb_holonomic": { + "device": "cpu", + "dt": 0.02, + "debug": false, + "num_rollout_steps": 60, + "num_speed_samples": 11, + "num_steer_samples": 11, + "num_vx_samples": 7, + "num_vy_samples": 7, + "num_yaw_samples": 7, + "max_accel": 1.5, + "max_steer_rate": 1.5, + "max_accel_vx": 1.5, + "max_accel_vy": 1.5, + "max_yaw_accel": 1.5, + "w_goal": 6.0, + "w_path": 8.0, + "w_vel": 0.2, + "w_vy": 0.0, + "goal_cost_mode": "path", + "dilate_radius": 0.36, + "room_size": 12.0, + "occupancy_update_interval": 25, + "scan_height": 0.35, + "scan_min_z": 0.12, + "scan_max_z": 1.65, + "goal_pos_threshold": 0.05, + "goal_yaw_threshold": 0.05, + "kp_goal_yaw": 1.5, + "heading_reference": "path", + "turn_yaw_threshold": 0.8, + "heading_lookahead": 0.8, + "heading_min_leg": 0.35, + "route_yaw_gain": 2.0, + "goal_yaw_hysteresis": 0.02, + "min_vx": -0.3, + "max_vx": 0.3, + "min_vy": -0.3, + "max_vy": 0.3, + "min_yaw_rate": -0.8, + "max_yaw_rate": 0.8, + "safety_enabled": true, + "safety_deceleration": 0.5, + "safety_reaction_time": 0.5, + "scan_type": "3d" + }, + "p_controller": { + "kp_angular_turning_only": 2.0, + "kd_angular_turning_only": 1.0, + "kp_linear_x": 3.0, + "kp_linear_y": 3.0, + "kp_angular": 2.0, + "kd_linear_x": 1.0, + "kd_linear_y": 1.0, + "min_vel": -0.4, + "max_vel": 0.5, + "linear_dead_zone": 0.01, + "angular_dead_zone": 0.05, + "nav_heading_target": -1, + "nav_upgrade_distance": 0.03 + } + }, + "arm": { + "type": "default" + }, + "eef": { + "type": "default" + } + }, + "physics": { + "robot_radius": 0.66, + "wheel_base": 0.01 + }, + "reset": "default" + } + }, + "camera": { + "enable_tiled": false, + "colorize_depth": false, + "head": { + "camera": { + "type": "camera", + "mesh": "pinhole", + "resolution": [ + 640, + 480 + ], + "frequency": 25, + "focal_length": 2.0, + "horizontal_aperture": 3.6, + "vertical_aperture": 2.7, + "clipping_range": [ + 0.05, + 30.0 + ], + "focus_distance": 3.0, + "mode": "RGB", + "mount_link": "Robot_0/head", + "pos": [ + 0.2166, + 0.0, + -0.045 + ], + "ori": [ + -0.0, + 35.0, + -90.0 + ] + }, + "annotator": { + "enabled": true, + "rgb_capture": { + "type": "rgb", + "device": "cpu" + } + } + }, + "wrist": { + "camera": { + "type": "camera", + "mesh": "pinhole", + "resolution": [ + 640, + 480 + ], + "frequency": 25, + "focal_length": 1.8, + "horizontal_aperture": 3.6, + "vertical_aperture": 2.7, + "clipping_range": [ + 0.05, + 30.0 + ], + "focus_distance": 3.0, + "mode": "RGB", + "mount_link": "Robot_0/right_electric_gripper_base", + "pos": [ + 0.0598, + 0.0, + 0.03 + ], + "ori": [ + 180.0, + 0.0, + -90.0 + ] + }, + "annotator": { + "enabled": true, + "rgb_capture": { + "type": "rgb", + "device": "cpu" + } + } + } + } + }, + "task": { + "new_seed_per_episode": true, + "observation": {}, + "reward": {}, + "termination": { + "timeout_steps": 30000, + "success_hold_frames": 10, + "fall_height": 0.02, + "fall_tilt": 1.0, + "lift_height": 0.12, + "grasp_distance": 0.25 + }, + "stance": { + "heights": [ + 0.3, + 0.34, + 0.26 + ], + "radii": [ + 0.5, + 0.46, + 0.54 + ] + }, + "station": { + "robot": { + "key": "RidgebackSawyerUmi", + "embodiment": "sawyer_umi", + "base_link": "torso", + "tcp_in_wrist": [ + 0.17174, + 0.00789, + 0.0, + 0.5, + 0.5, + 0.5, + 0.5 + ], + "wrist_ref_back": 0.0, + "spawn_dz": 0.02, + "finger_joints": [ + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ], + "dwb": { + "key": "dwb_holonomic", + "add_floor": false + } + }, + "task_id": "N033", + "task_version": "EXT60-MobileAvatar-v3", + "family_id": "ring_on_bent_rod", + "primary_category": "C2", + "stage": "full", + "layout": { + "floor_z": 0.03, + "start": { + "x": -3.4, + "y": -2.2, + "yaw_deg": 40.0, + "radius": 0.3, + "yaw_spread_deg": 20.0 + }, + "stations": { + "A": { + "center": [ + -0.3016219675206666, + -0.21119125015845192 + ], + "facing_deg": 83.11721653393045, + "standoff": 0.7, + "table": { + "width": 0.9, + "depth": 0.5, + "height": 0.3 + } + }, + "B": { + "center": [ + 1.7923484539399928, + 2.958927925239849 + ], + "facing_deg": 86.50394681142119, + "standoff": 0.7, + "table": { + "width": 0.9, + "depth": 0.5, + "height": 0.3 + } + } + } + }, + "route": [ + "A", + "B" + ], + "fixtures": { + "rod": { + "pivot": [ + 0.0, + -0.2 + ], + "yaw_deg": 0.0 + } + }, + "instruction": "pick up the large ring (not the small one)", + "ring": { + "target": "ring", + "others": [ + "ring_small" + ], + "swap": "random", + "rod": { + "open": -0.2, + "bend": -0.06, + "slope_deg": 35.0, + "horizontal_len": 0.14, + "slope_len": 0.14, + "z": 0.2, + "fixture": "rod" + }, + "swapped": false + }, + "dr": { + "enabled": true, + "stations": { + "center_m": 0.25, + "facing_deg": 8.0 + }, + "objects": { + "across_m": 0.025, + "along_m": 0.02, + "yaw_deg": 8.0 + } + }, + "place_check": { + "ring": { + "at": { + "station": "B", + "across": 0.0, + "along": -0.06, + "z": 0.2 + }, + "yaw_deg": 0.0, + "clearance": 0.004 + } + }, + "success": { + "thread_tol": 0.03, + "lost_dist": 0.06, + "axis_deg": 55.0, + "entry_s": 0.08, + "end_margin": 0.07, + "back_tol": 0.04, + "release_dist": 0.15, + "rest_speed": 0.05, + "held_lift": 0.04, + "lift": 0.08 + }, + "objects": { + "rack_back": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.7, + 0.03, + 0.2 + ], + "at": { + "station": "A", + "across": -0.05, + "along": -0.01, + "z": 0.1 + }, + "color": [ + 0.45, + 0.35, + 0.25 + ], + "pos": [ + -0.3524600225885379, + -0.21512725789676831, + 0.42999999999999994 + ], + "yaw_deg": -6.882783466069554 + }, + "peg_1": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.02, + 0.18, + 0.02 + ], + "at": { + "station": "A", + "across": 0.1, + "along": -0.115, + "z": 0.14 + }, + "color": [ + 0.35, + 0.35, + 0.35 + ], + "pos": [ + -0.21612405819568956, + -0.33734634320291845, + 0.47 + ], + "yaw_deg": -6.882783466069554 + }, + "peg_2": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.02, + 0.18, + 0.02 + ], + "at": { + "station": "A", + "across": -0.2, + "along": -0.115, + "z": 0.14 + }, + "color": [ + 0.35, + 0.35, + 0.35 + ], + "pos": [ + -0.513962077131466, + -0.3013947858456617, + 0.47 + ], + "yaw_deg": -6.882783466069554 + }, + "ring": { + "catalog": "ring_wide", + "type": "rigid", + "at": { + "station": "A", + "across": 0.1, + "along": -0.17175380359609754, + "z": 0.11 + }, + "yaw_deg": -6.882783466069554, + "jitter": { + "across_m": 0.0, + "along_m": 0.012, + "yaw_deg": 0.0 + }, + "friction": { + "static": 1.5, + "dynamic": 1.5 + }, + "asset": "$MAGICSIM_ASSETS/Object/MMB_A07/ring_wide/Object.usda", + "parts": [ + { + "name": "seg0", + "center": [ + 0.051, + 0.0, + 0.0 + ], + "half": [ + 0.011, + 0.0175, + 0.025124891681027845 + ], + "rpy_deg": [ + 0.0, + -0.0, + 0.0 + ] + }, + { + "name": "seg1", + "center": [ + 0.03606244584051392, + 0.0, + 0.03606244584051392 + ], + "half": [ + 0.011, + 0.0175, + 0.025124891681027845 + ], + "rpy_deg": [ + 0.0, + -45.0, + 0.0 + ] + }, + { + "name": "seg2", + "center": [ + 3.1228493378257503e-18, + 0.0, + 0.051 + ], + "half": [ + 0.011, + 0.0175, + 0.025124891681027845 + ], + "rpy_deg": [ + 0.0, + -90.0, + 0.0 + ] + }, + { + "name": "seg3", + "center": [ + -0.03606244584051392, + 0.0, + 0.03606244584051392 + ], + "half": [ + 0.011, + 0.0175, + 0.025124891681027845 + ], + "rpy_deg": [ + 0.0, + -135.0, + 0.0 + ] + }, + { + "name": "seg4", + "center": [ + -0.051, + 0.0, + 6.245698675651501e-18 + ], + "half": [ + 0.011, + 0.0175, + 0.025124891681027845 + ], + "rpy_deg": [ + 0.0, + -180.0, + 0.0 + ] + }, + { + "name": "seg5", + "center": [ + -0.03606244584051393, + 0.0, + -0.03606244584051392 + ], + "half": [ + 0.011, + 0.0175, + 0.025124891681027845 + ], + "rpy_deg": [ + 0.0, + -225.0, + 0.0 + ] + }, + { + "name": "seg6", + "center": [ + -9.368548013477251e-18, + 0.0, + -0.051 + ], + "half": [ + 0.011, + 0.0175, + 0.025124891681027845 + ], + "rpy_deg": [ + 0.0, + -270.0, + 0.0 + ] + }, + { + "name": "seg7", + "center": [ + 0.036062445840513914, + 0.0, + -0.03606244584051393 + ], + "half": [ + 0.011, + 0.0175, + 0.025124891681027845 + ], + "rpy_deg": [ + 0.0, + -315.0, + 0.0 + ] + }, + { + "name": "tab", + "center": [ + 0.0, + 0.0, + 0.09 + ], + "half": [ + 0.015, + 0.0175, + 0.03 + ], + "rpy_deg": [ + 0.0, + 0.0, + 0.0 + ] + } + ], + "mass": 0.05, + "com": [ + 0.0, + 0.0, + 0.0 + ], + "grasp": { + "part": "tab", + "thin_axis": 0, + "min_elevation_deg": 60.0, + "inset": 0.02, + "min_overlap_x": 0.016, + "min_overlap_z": 0.015 + }, + "pos": [ + -0.22292535027978153, + -0.3936911446366912, + 0.43999999999999995 + ] + }, + "ring_small": { + "catalog": "ring_small", + "type": "rigid", + "at": { + "station": "A", + "across": -0.2, + "along": -0.16278534565251015, + "z": 0.135 + }, + "yaw_deg": -6.882783466069554, + "jitter": { + "across_m": 0.0, + "along_m": 0.012, + "yaw_deg": 0.0 + }, + "friction": { + "static": 1.5, + "dynamic": 1.5 + }, + "asset": "$MAGICSIM_ASSETS/Object/MMB_A07/ring_small/Object.usda", + "parts": [ + { + "name": "seg0", + "center": [ + 0.026, + 0.0, + 0.0 + ], + "half": [ + 0.011, + 0.0175, + 0.01476955262170047 + ], + "rpy_deg": [ + 0.0, + -0.0, + 0.0 + ] + }, + { + "name": "seg1", + "center": [ + 0.018384776310850236, + 0.0, + 0.018384776310850233 + ], + "half": [ + 0.011, + 0.0175, + 0.01476955262170047 + ], + "rpy_deg": [ + 0.0, + -45.0, + 0.0 + ] + }, + { + "name": "seg2", + "center": [ + 1.5920408388915591e-18, + 0.0, + 0.026 + ], + "half": [ + 0.011, + 0.0175, + 0.01476955262170047 + ], + "rpy_deg": [ + 0.0, + -90.0, + 0.0 + ] + }, + { + "name": "seg3", + "center": [ + -0.018384776310850233, + 0.0, + 0.018384776310850236 + ], + "half": [ + 0.011, + 0.0175, + 0.01476955262170047 + ], + "rpy_deg": [ + 0.0, + -135.0, + 0.0 + ] + }, + { + "name": "seg4", + "center": [ + -0.026, + 0.0, + 3.1840816777831182e-18 + ], + "half": [ + 0.011, + 0.0175, + 0.01476955262170047 + ], + "rpy_deg": [ + 0.0, + -180.0, + 0.0 + ] + }, + { + "name": "seg5", + "center": [ + -0.01838477631085024, + 0.0, + -0.018384776310850233 + ], + "half": [ + 0.011, + 0.0175, + 0.01476955262170047 + ], + "rpy_deg": [ + 0.0, + -225.0, + 0.0 + ] + }, + { + "name": "seg6", + "center": [ + -4.776122516674677e-18, + 0.0, + -0.026 + ], + "half": [ + 0.011, + 0.0175, + 0.01476955262170047 + ], + "rpy_deg": [ + 0.0, + -270.0, + 0.0 + ] + }, + { + "name": "seg7", + "center": [ + 0.01838477631085023, + 0.0, + -0.01838477631085024 + ], + "half": [ + 0.011, + 0.0175, + 0.01476955262170047 + ], + "rpy_deg": [ + 0.0, + -315.0, + 0.0 + ] + }, + { + "name": "tab", + "center": [ + 0.0, + 0.0, + 0.065 + ], + "half": [ + 0.015, + 0.0175, + 0.03 + ], + "rpy_deg": [ + 0.0, + 0.0, + 0.0 + ] + } + ], + "mass": 0.05, + "com": [ + 0.0, + 0.0, + 0.0 + ], + "grasp": { + "part": "tab", + "thin_axis": 0, + "min_elevation_deg": 60.0, + "inset": 0.02, + "min_overlap_x": 0.016, + "min_overlap_z": 0.015 + }, + "pos": [ + -0.5196886024483413, + -0.34883576145667816, + 0.46499999999999997 + ] + }, + "rod_h": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.02, + 0.14, + 0.02 + ], + "at": { + "station": "B", + "across": 0.0, + "along": -0.13, + "z": 0.2 + }, + "fixture": "rod", + "color": [ + 0.75, + 0.75, + 0.78 + ], + "friction_static": 0.3, + "friction_dynamic": 0.25, + "pos": [ + 1.7844210821473987, + 2.829169855061297, + 0.53 + ], + "yaw_deg": -3.496053188578813 + }, + "rod_s": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.02, + 0.14, + 0.02 + ], + "at": { + "station": "B", + "across": 0.0, + "along": -0.0027, + "z": 0.1598 + }, + "roll_deg": -35.0, + "fixture": "rod", + "color": [ + 0.75, + 0.75, + 0.78 + ], + "friction_static": 0.3, + "friction_dynamic": 0.25, + "pos": [ + 1.7921838085258388, + 2.9562329499361404, + 0.48979999999999996 + ], + "yaw_deg": -3.496053188578813 + }, + "rod_stop": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.1, + 0.012, + 0.12 + ], + "at": { + "station": "B", + "across": 0.0, + "along": 0.07, + "z": 0.06 + }, + "fixture": "rod", + "color": [ + 0.55, + 0.3, + 0.25 + ], + "pos": [ + 1.7966170387513896, + 3.028797655335992, + 0.38999999999999996 + ], + "yaw_deg": -3.496053188578813 + } + }, + "report_jsonl": "/mnt/scratch/xc536_atomic/n033_saw_off_1020/out/report.episodes.jsonl", + "dr_applied": true, + "level": "easy" + }, + "command": { + "StationRing": { + "obj_type": "rigid", + "obj_name": "ring", + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.015, + "withdraw": 0.09, + "settle_ticks": 120 + }, + "StationRingXR": { + "obj_type": "rigid", + "obj_name": "ring", + "grasp_part": "tab", + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.015, + "lift": 0.03, + "withdraw": 0.09, + "over_top": 0.019, + "pre_clear": 0.1, + "carry_ahead": 0.5, + "carry_z": 0.8, + "settle_ticks": 120 + } + } + }, + "collect": { + "global_planner": { + "NavTo": { + "use_navmesh": true, + "use_absolute": true, + "translation_threshold": 0.12, + "rotation_threshold": 0.12, + "num_path_segments": 30, + "start_forward_offset": 0.0, + "visualize_path": false, + "carry_arm": true + }, + "RetractMoveL": { + "translation_threshold": 0.02, + "rotation_threshold": 0.2, + "motiongen_distance_threshold": 0.05, + "timeout_steps": 1800, + "base_pos_threshold": 0.12, + "base_rot_threshold": 0.5, + "eef_pos_threshold": 0.03, + "eef_rot_threshold": 0.3, + "base_waypoint_max_steps": 20, + "arm_waypoint_max_steps": 8, + "move_strategy_distance_threshold": 0.1, + "debug": false, + "debug_viz": false + }, + "MobileMoveL": { + "translation_threshold": 0.006, + "rotation_threshold": 0.08, + "motiongen_distance_threshold": 0.05, + "timeout_steps": 1800, + "stall_release_ticks": 100, + "stall_release_factor": 5.0, + "reactive": false, + "base_pos_threshold": 0.12, + "base_rot_threshold": 0.5, + "eef_pos_threshold": 0.03, + "eef_rot_threshold": 0.3, + "waypoint_max_steps": 20, + "interp_steps": 100, + "interp_validate_target": true, + "retry_mobile_on_locked_plan_failure": true, + "debug": false, + "debug_viz": false + }, + "MobileServoL": { + "base_pos_threshold": 0.12, + "waypoint_max_steps": 20, + "translation_threshold": 0.05, + "timeout_steps": 300 + }, + "ParallelGripper": { + "gripper_threshold": 0.0005, + "timeout_steps": 60 + } + }, + "atomic_skill": { + "NavToPose": { + "robot_id": 0, + "show_marker": false + }, + "Move": { + "arm_planner": "MobileMoveL", + "hand_planner": "ParallelGripper", + "obstacle_avoid_paths": [ + "dynamic/table_A", + "dynamic/table_B" + ], + "obstacle_ignore_paths": [], + "close_value": 1.0, + "open_value": 0.0, + "hold_steps": 10 + }, + "StationNavXR": { + "robot_id": 0, + "show_marker": false + }, + "ReachStance": { + "max_walks": 4 + }, + "Grasp": { + "retrieval_offset": 0.03 + } + }, + "command": { + "StationRing": { + "obj_type": "rigid", + "obj_name": "ring", + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.015, + "withdraw": 0.09, + "settle_ticks": 120 + }, + "StationRingXR": { + "obj_type": "rigid", + "obj_name": "ring", + "grasp_part": "tab", + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.015, + "lift": 0.03, + "withdraw": 0.09, + "over_top": 0.019, + "pre_clear": 0.1, + "carry_ahead": 0.5, + "carry_z": 0.8, + "settle_ticks": 120 + } + }, + "auto_collect": {}, + "record": { + "output_dir": "/mnt/scratch/xc536_atomic/n033_saw_off_1020/out/rec", + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "json_round": null, + "schema": { + "source": "robot_manager", + "nan_policy": "from_raw" + }, + "lerobot": { + "subsample_every": 2 + } + } + }, + "visual_dr": { + "keep": [ + "ring", + "ring_small" + ] + } + }, + "git_sha": null, + "collect_runtime": { + "max_trajectories": 1 + } +} \ No newline at end of file diff --git a/N033/sawyer_umi/dr_off/seed_1020/rec/stationringxr/000/sim_info/0/actions.npz b/N033/sawyer_umi/dr_off/seed_1020/rec/stationringxr/000/sim_info/0/actions.npz new file mode 100644 index 0000000000000000000000000000000000000000..3fdd7fa7b1a4166f7d94d0990874b68f0f9bb154 --- /dev/null +++ b/N033/sawyer_umi/dr_off/seed_1020/rec/stationringxr/000/sim_info/0/actions.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3f81a033603970c88733f8484e8124e51b053b77cdce62129f2f5d735d74b70a +size 559390 diff --git a/N033/sawyer_umi/dr_off/seed_1020/rec/stationringxr/000/sim_info/0/device_commands.jsonl b/N033/sawyer_umi/dr_off/seed_1020/rec/stationringxr/000/sim_info/0/device_commands.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N033/sawyer_umi/dr_off/seed_1020/rec/stationringxr/000/sim_info/0/device_events.jsonl b/N033/sawyer_umi/dr_off/seed_1020/rec/stationringxr/000/sim_info/0/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N033/sawyer_umi/dr_off/seed_1020/rec/stationringxr/000/sim_info/0/scene_snapshot.json b/N033/sawyer_umi/dr_off/seed_1020/rec/stationringxr/000/sim_info/0/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..ec1a95e791dd6528a6ff4b6f82fdf9cc441a94fa --- /dev/null +++ b/N033/sawyer_umi/dr_off/seed_1020/rec/stationringxr/000/sim_info/0/scene_snapshot.json @@ -0,0 +1,655 @@ +{ + "trajectory_id": 0, + "env_id": 0, + "run_id": "stationringxr/000", + "task_type": "RingXRCommand", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])", + "avatars": "avatar_manager.set_avatars_state(snapshot['avatars'], env_ids=[env_id]) (present when the scene has animated avatars)" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "table_A": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.3016219675206666, + -0.21119125015845192, + 0.18 + ], + "ori": [ + 0.9981967210769653, + 0.0, + 0.0, + -0.060027509927749634 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.45, + 0.35 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + } + }, + "type_specific": {} + } + ], + "table_B": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 1.7923484539399928, + 2.958927925239849, + 0.18 + ], + "ori": [ + 0.9995346665382385, + 0.0, + 0.0, + -0.03050408698618412 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.45, + 0.35 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + } + }, + "type_specific": {} + } + ], + "rack_back": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.3524600225885379, + -0.21512725789676831, + 0.42999999999999994 + ], + "ori": [ + 0.9981967210769653, + 0.0, + 0.0, + -0.060027509927749634 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.45, + 0.35, + 0.25 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.7, + 0.03, + 0.2 + ] + } + }, + "type_specific": {} + } + ], + "peg_1": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.21612405819568956, + -0.33734634320291845, + 0.47 + ], + "ori": [ + 0.9981967210769653, + 0.0, + 0.0, + -0.060027509927749634 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.35, + 0.35, + 0.35 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.02, + 0.18, + 0.02 + ] + } + }, + "type_specific": {} + } + ], + "peg_2": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.513962077131466, + -0.3013947858456617, + 0.47 + ], + "ori": [ + 0.9981967210769653, + 0.0, + 0.0, + -0.060027509927749634 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.35, + 0.35, + 0.35 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.02, + 0.18, + 0.02 + ] + } + }, + "type_specific": {} + } + ], + "ring": [ + { + "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MMB_A07/ring_wide/Object.usda", + "pose": { + "pos": [ + -0.22292552888393402, + -0.39369112253189087, + 0.440000057220459 + ], + "ori": [ + 0.9981966614723206, + 3.356524871378497e-07, + 1.7740560451784404e-06, + -0.060027893632650375 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.05, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -0.0001521141966804862, + 3.3032243663910776e-05, + 4.955198892275803e-05 + ], + "angular_velocity": [ + 0.0010948596755042672, + 0.005287717562168837, + -0.0012983668129891157 + ] + } + } + ], + "ring_small": [ + { + "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MMB_A07/ring_small/Object.usda", + "pose": { + "pos": [ + -0.5196947455406189, + -0.3489021062850952, + 0.4687865972518921 + ], + "ori": [ + 0.998196542263031, + -5.036662332713604e-05, + -0.0008135043899528682, + -0.06002434715628624 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.05, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -0.00013176289212424308, + 2.133280213456601e-05, + -0.00016673213394824415 + ], + "angular_velocity": [ + -0.0032252937089651823, + -0.015232772566378117, + -0.0016542981611564755 + ] + } + } + ], + "rod_h": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 1.7844210821473987, + 2.829169855061297, + 0.53 + ], + "ori": [ + 0.9995346665382385, + 0.0, + 0.0, + -0.03050408698618412 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.75, + 0.75, + 0.78 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 0.3, + "dynamic_friction": 0.25, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.02, + 0.14, + 0.02 + ] + } + }, + "type_specific": {} + } + ], + "rod_s": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 1.7921838085258388, + 2.9562329499361404, + 0.48979999999999996 + ], + "ori": [ + 0.9532731175422668, + -0.3005658686161041, + 0.009172756224870682, + -0.02909226529300213 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.75, + 0.75, + 0.78 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 0.3, + "dynamic_friction": 0.25, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.02, + 0.14, + 0.02 + ] + } + }, + "type_specific": {} + } + ], + "rod_stop": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 1.7966170387513896, + 3.028797655335992, + 0.38999999999999996 + ], + "ori": [ + 0.9995346665382385, + 0.0, + 0.0, + -0.03050408698618412 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.3, + 0.25 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.1, + 0.012, + 0.12 + ] + } + }, + "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": { + "RidgebackSawyerUmi": { + "root_pose": [ + [ + -3.390869379043579, + -2.389617443084717, + 0.05000000074505806, + 0.9512148499488831, + 0.0, + 0.0, + 0.3085293471813202 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.600000023841858, + 0.0, + 0.5, + 0.0, + -2.319999933242798, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "head": [ + [ + 0.21660000085830688, + 0.0, + -0.04500000178813934, + -0.6743797063827515, + 0.21263112127780914, + -0.21263112127780914, + 0.6743797659873962 + ] + ], + "wrist": [ + [ + 0.05979999899864197, + 0.0, + 0.029999999329447746, + 6.123234262925839e-17, + 0.7071067690849304, + 0.7071067690849304, + -4.329780301713277e-17 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/N033/sawyer_umi/dr_off/seed_1020/rec/stationringxr/000/sim_info/0/sim_states.npz b/N033/sawyer_umi/dr_off/seed_1020/rec/stationringxr/000/sim_info/0/sim_states.npz new file mode 100644 index 0000000000000000000000000000000000000000..49a00ac19048b58aab20174fda5910733618ac68 --- /dev/null +++ b/N033/sawyer_umi/dr_off/seed_1020/rec/stationringxr/000/sim_info/0/sim_states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b5e732a2fbbc5400cfcbf7cc538d084f9a7dff939ffb562d8f2ad11e572cfaac +size 598748 diff --git a/N033/sawyer_umi/dr_off/seed_1020/rec/stationringxr/000/sim_info/magicsim_manifest.json b/N033/sawyer_umi/dr_off/seed_1020/rec/stationringxr/000/sim_info/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..f20a34b63fafd09b0e74ff480f23d063e8c70134 --- /dev/null +++ b/N033/sawyer_umi/dr_off/seed_1020/rec/stationringxr/000/sim_info/magicsim_manifest.json @@ -0,0 +1,233 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 03:08:52" + }, + "embodiment": { + "robots": [ + { + "name": "RidgebackSawyerUmi", + "cfg": "RidgebackSawyerUmiCfg", + "type": "mobilemanip", + "joint_names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 11, + "nan_policy": "from_raw", + "segments": [ + { + "name": "RidgebackSawyerUmi.base_action", + "start": 0, + "end": 3, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint" + ], + "source": "HolonomicAction", + "names_source": "_joint_names" + }, + { + "name": "RidgebackSawyerUmi.arm_action", + "start": 3, + "end": 10, + "names": [ + "frame0.pos_x", + "frame0.pos_y", + "frame0.pos_z", + "frame0.quat_w", + "frame0.quat_x", + "frame0.quat_y", + "frame0.quat_z" + ], + "source": "PinkInverseKinematicsAction", + "names_source": "pink_layout" + }, + { + "name": "RidgebackSawyerUmi.eef_action", + "start": 10, + "end": 11, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 15, + "segments": [ + { + "name": "RidgebackSawyerUmi.joint_pos", + "start": 0, + "end": 13, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ], + "source": "ObservationManager", + "names_source": "joint_names" + }, + { + "name": "RidgebackSawyerUmi.gripper_pos", + "start": 13, + "end": 15, + "names": [ + "gripper_0", + "gripper_1" + ], + "source": "ObservationManager", + "names_source": "generated" + } + ] + }, + "joint_vel_layout": { + "dim": 13, + "segments": [ + { + "name": "RidgebackSawyerUmi.joint_vel", + "start": 0, + "end": 13, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "action_levels": { + "L0": "task command list (collect.auto_collect_info.current_action)", + "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)", + "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)", + "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy", + "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)" + }, + "cameras": { + "head": { + "intrinsics": { + "K": [ + [ + 355.55555555555554, + 0.0, + 320.0 + ], + [ + 0.0, + 355.55555555555554, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 83.97442499163331, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.21660000085830688, + 0.0, + -0.04500000178813934 + ], + "quat": [ + -0.6743797063827515, + 0.21263112127780914, + -0.21263112127780914, + 0.6743797659873962 + ] + }, + "wrist": { + "intrinsics": { + "K": [ + [ + 320.0, + 0.0, + 320.0 + ], + [ + 0.0, + 320.0, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 90.0, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.05979999899864197, + 0.0, + 0.029999999329447746 + ], + "quat": [ + 6.123234262925839e-17, + 0.7071067690849304, + 0.7071067690849304, + -4.329780301713277e-17 + ] + } + }, + "generated_run": { + "run_id": "stationringxr/000", + "task_type": "RingXRCommand" + } +} \ No newline at end of file diff --git a/N033/sawyer_umi/dr_off/seed_1020/report.episodes.jsonl b/N033/sawyer_umi/dr_off/seed_1020/report.episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8858418b64b9862e93c4f432bb1a224aa0bf2d87 --- /dev/null +++ b/N033/sawyer_umi/dr_off/seed_1020/report.episodes.jsonl @@ -0,0 +1 @@ +{"task_id": "N033", "task_version": "EXT60-MobileAvatar-v3", "instruction": "pick up the large ring (not the small one)", "agent_id": "a07", "family_id": "ring_on_bent_rod", "primary_category": "C2", "level": "easy", "embodiment": "sawyer_umi", "scene_seed": 1020, "execution_mode": "expert_privileged_command", "station_layout": {"A": {"center": [-0.3016219675206666, -0.21119125015845192], "facing": 1.451, "stand": [-0.415, -1.154, 1.451]}, "B": {"center": [1.7923484539399928, 2.958927925239849], "facing": 1.51, "stand": [1.734, 2.011, 1.51]}}, "spawn_pose": [-3.391, -2.39, 0.627], "base_path": [[-3.391, -2.39, 0.627], [-3.391, -2.39, 0.627], [-3.391, -2.39, 0.627], [-3.391, -2.39, 0.627], [-3.391, -2.39, 0.627], [-3.295, -2.336, 0.491], [-3.157, -2.277, 0.416], [-3.015, -2.226, 0.389], [-2.874, -2.175, 0.379], [-2.733, -2.124, 0.376], [-2.592, -2.072, 0.374], [-2.452, -2.02, 0.374], [-2.312, -1.964, 0.374], [-2.172, -1.911, 0.374], [-2.033, -1.855, 0.374], [-1.893, -1.801, 0.374], [-1.754, -1.746, 0.374], [-1.614, -1.692, 0.374], [-1.475, -1.636, 0.374], [-1.335, -1.582, 0.374], [-1.196, -1.527, 0.374], [-1.055, -1.473, 0.374], [-0.916, -1.417, 0.374], [-0.776, -1.363, 0.374], [-0.637, -1.307, 0.374], [-0.523, -1.258, 0.374], [-0.449, -1.228, 0.374], [-0.401, -1.208, 0.374], [-0.37, -1.194, 0.374], [-0.359, -1.189, 0.597], [-0.359, -1.189, 0.992], [-0.359, -1.189, 1.237], [-0.359, -1.189, 1.331], [-0.359, -1.189, 1.331], [-0.359, -1.189, 1.331], [-0.359, -1.189, 1.331], [-0.359, -1.189, 1.331], [-0.359, -1.189, 1.331], [-0.359, -1.189, 1.331], [-0.359, -1.189, 1.331], [-0.359, -1.189, 1.331], [-0.359, -1.189, 1.331], [-0.359, -1.189, 1.331], [-0.359, -1.189, 1.331], [-0.359, -1.189, 1.331], [-0.359, -1.189, 1.331], [-0.359, -1.189, 1.331], [-0.359, -1.189, 1.331], [-0.359, -1.189, 1.331], [-0.359, -1.189, 1.331], [-0.359, -1.189, 1.331], [-0.359, -1.189, 1.331], [-0.359, -1.189, 1.331], [-0.359, -1.189, 1.331], [-0.359, -1.189, 1.331], [-0.359, -1.189, 1.331], [-0.359, -1.189, 1.331], [-0.359, -1.189, 1.331], [-0.359, -1.189, 1.331], [-0.359, -1.189, 1.331], [-0.359, -1.189, 1.331], [-0.359, -1.189, 1.331], [-0.359, -1.189, 1.331], [-0.359, -1.189, 1.331], [-0.359, -1.189, 1.331], [-0.359, -1.189, 1.331], [-0.359, -1.189, 1.331], [-0.359, -1.189, 1.331], [-0.359, -1.189, 1.331], [-0.359, -1.189, 1.331], [-0.359, -1.189, 1.331], [-0.359, -1.189, 1.331], [-0.359, -1.189, 1.331], [-0.359, -1.189, 1.331], [-0.359, -1.189, 1.331], [-0.359, -1.189, 1.331], [-0.359, -1.189, 1.331], [-0.359, -1.189, 1.331], [-0.359, -1.189, 1.331], [-0.359, -1.189, 1.331], [-0.359, -1.189, 1.331], [-0.359, -1.189, 1.331], [-0.359, -1.189, 1.331], [-0.359, -1.189, 1.331], [-0.359, -1.189, 1.331], [-0.359, -1.189, 1.331], [-0.359, -1.189, 1.331], [-0.358, -1.189, 1.187], [-0.358, -1.189, 0.788], [-0.311, -1.16, 0.489], [-0.172, -1.108, 0.363], [-0.06, -1.082, 0.318], [0.084, -1.052, 0.301], [0.182, -1.025, 0.295], [0.282, -0.989, 0.321], [0.36, -0.929, 0.302], [0.397, -0.891, 0.605], [0.441, -0.869, 0.932], [0.515, -0.782, 1.097], [0.567, -0.684, 1.156], [0.611, -0.583, 1.177], [0.653, -0.481, 1.185], [0.694, -0.38, 1.188], [0.735, -0.279, 1.189], [0.773, -0.179, 1.189], [0.821, -0.062, 1.189], [0.866, 0.048, 1.189], [0.902, 0.139, 1.189], [0.947, 0.249, 1.189], [0.983, 0.339, 1.189], [1.033, 0.448, 1.189], [1.066, 0.538, 1.189], [1.109, 0.649, 1.189], [1.144, 0.739, 1.189], [1.19, 0.849, 1.189], [1.225, 0.939, 1.189], [1.268, 1.048, 1.189], [1.303, 1.139, 1.189], [1.348, 1.248, 1.189], [1.383, 1.339, 1.189], [1.432, 1.448, 1.189], [1.467, 1.54, 1.189], [1.51, 1.649, 1.189], [1.544, 1.739, 1.189], [1.59, 1.849, 1.189], [1.625, 1.938, 1.189], [1.666, 2.023, 1.189], [1.694, 2.078, 1.189], [1.712, 2.114, 1.189], [1.721, 2.136, 1.226], [1.721, 2.136, 1.377], [1.721, 2.135, 1.392], [1.721, 2.135, 1.392], [1.721, 2.135, 1.392], [1.721, 2.135, 1.392], [1.721, 2.135, 1.392], [1.721, 2.135, 1.392], [1.721, 2.135, 1.392], [1.721, 2.135, 1.392], [1.721, 2.135, 1.392], [1.721, 2.135, 1.392], [1.721, 2.135, 1.392], [1.721, 2.135, 1.392], [1.721, 2.135, 1.392], [1.721, 2.135, 1.392], [1.721, 2.135, 1.392], [1.721, 2.135, 1.392], [1.721, 2.135, 1.392], [1.721, 2.135, 1.392], [1.721, 2.135, 1.392], [1.721, 2.135, 1.392], [1.721, 2.135, 1.392], [1.721, 2.135, 1.392], [1.721, 2.135, 1.392], [1.721, 2.135, 1.392], [1.721, 2.135, 1.392], [1.721, 2.135, 1.392], [1.721, 2.135, 1.392], [1.721, 2.135, 1.392], [1.721, 2.135, 1.392], [1.721, 2.135, 1.392], [1.721, 2.135, 1.392], [1.721, 2.135, 1.392], [1.721, 2.135, 1.392], [1.721, 2.135, 1.392], [1.721, 2.135, 1.392], [1.721, 2.135, 1.392], [1.721, 2.135, 1.392], [1.721, 2.135, 1.392], [1.721, 2.135, 1.392], [1.721, 2.135, 1.392], [1.721, 2.135, 1.392], [1.721, 2.135, 1.392], [1.721, 2.135, 1.392], [1.721, 2.135, 1.392], [1.721, 2.135, 1.392], [1.721, 2.135, 1.392], [1.721, 2.135, 1.392]], "stage_events": [{"tick": 531, "event": "enter_station", "station": "A", "xy": [-1.028, -1.462]}, {"tick": 2740, "event": "leave_station", "station": "A", "xy": [1.013, 0.403]}, {"tick": 3028, "event": "enter_station", "station": "B", "xy": [1.47, 1.55]}], "transport_state": {"ring": {"entered": true, "entry_s": 0.0, "max_s": 0.2741655146051272, "was_threaded": true, "lost": 0, "held": false, "grasps": 1}}, "manipulation_success": true, "mobile_success": true, "full_success": true, "failure_reason": null, "fail_class_hint": null, "distance_to_first_interaction": 2.541, "interstation_path_lengths": [4.238], "station_transition_order": ["A", "B"], "final_approach_pose": [1.721, 2.135, 1.392], "regrasp_events": 0, "control_ticks": 3777, "wall_s": 833.8, "phase": "done", "state": "success: task sequence complete", "check": {"ring": {"held": false, "dist_wrist": 1.073, "s": 0.274, "rod_dist": 0.028, "axis_deg": 7.5, "threaded": true, "entered_via_open_end": true, "entry_s": 0.0, "max_s": 0.274, "lost_count": 0, "at_rest": true}, "decoy": {"ring_small": {"lift": 0.0, "max_lift_near_wrist": 0.0, "dist_wrist": 3.608}}, "rod_length": 0.28, "released": true, "other_rings_on_rod": [], "manipulation_success": true}, "route": ["A", "B"], "total_path_m": 7.42, "planner_seeds": "default"} diff --git a/N033/sawyer_umi/dr_off/seed_1020/report.json b/N033/sawyer_umi/dr_off/seed_1020/report.json new file mode 100644 index 0000000000000000000000000000000000000000..6c72ddaca59a113b1801de117626d5fd02f40f0d --- /dev/null +++ b/N033/sawyer_umi/dr_off/seed_1020/report.json @@ -0,0 +1,1128 @@ +{ + "task_id": "N033", + "robot": "sawyer_umi", + "level": "easy", + "seed": 1020, + "episodes_requested": 1, + "episodes": [ + { + "task_id": "N033", + "task_version": "EXT60-MobileAvatar-v3", + "instruction": "pick up the large ring (not the small one)", + "agent_id": "a07", + "family_id": "ring_on_bent_rod", + "primary_category": "C2", + "level": "easy", + "embodiment": "sawyer_umi", + "scene_seed": 1020, + "execution_mode": "expert_privileged_command", + "station_layout": { + "A": { + "center": [ + -0.3016219675206666, + -0.21119125015845192 + ], + "facing": 1.451, + "stand": [ + -0.415, + -1.154, + 1.451 + ] + }, + "B": { + "center": [ + 1.7923484539399928, + 2.958927925239849 + ], + "facing": 1.51, + "stand": [ + 1.734, + 2.011, + 1.51 + ] + } + }, + "spawn_pose": [ + -3.391, + -2.39, + 0.627 + ], + "base_path": [ + [ + -3.391, + -2.39, + 0.627 + ], + [ + -3.391, + -2.39, + 0.627 + ], + [ + -3.391, + -2.39, + 0.627 + ], + [ + -3.391, + -2.39, + 0.627 + ], + [ + -3.391, + -2.39, + 0.627 + ], + [ + -3.295, + -2.336, + 0.491 + ], + [ + -3.157, + -2.277, + 0.416 + ], + [ + -3.015, + -2.226, + 0.389 + ], + [ + -2.874, + -2.175, + 0.379 + ], + [ + -2.733, + -2.124, + 0.376 + ], + [ + -2.592, + -2.072, + 0.374 + ], + [ + -2.452, + -2.02, + 0.374 + ], + [ + -2.312, + -1.964, + 0.374 + ], + [ + -2.172, + -1.911, + 0.374 + ], + [ + -2.033, + -1.855, + 0.374 + ], + [ + -1.893, + -1.801, + 0.374 + ], + [ + -1.754, + -1.746, + 0.374 + ], + [ + -1.614, + -1.692, + 0.374 + ], + [ + -1.475, + -1.636, + 0.374 + ], + [ + -1.335, + -1.582, + 0.374 + ], + [ + -1.196, + -1.527, + 0.374 + ], + [ + -1.055, + -1.473, + 0.374 + ], + [ + -0.916, + -1.417, + 0.374 + ], + [ + -0.776, + -1.363, + 0.374 + ], + [ + -0.637, + -1.307, + 0.374 + ], + [ + -0.523, + -1.258, + 0.374 + ], + [ + -0.449, + -1.228, + 0.374 + ], + [ + -0.401, + -1.208, + 0.374 + ], + [ + -0.37, + -1.194, + 0.374 + ], + [ + -0.359, + -1.189, + 0.597 + ], + [ + -0.359, + -1.189, + 0.992 + ], + [ + -0.359, + -1.189, + 1.237 + ], + [ + -0.359, + -1.189, + 1.331 + ], + [ + -0.359, + -1.189, + 1.331 + ], + [ + -0.359, + -1.189, + 1.331 + ], + [ + -0.359, + -1.189, + 1.331 + ], + [ + -0.359, + -1.189, + 1.331 + ], + [ + -0.359, + -1.189, + 1.331 + ], + [ + -0.359, + -1.189, + 1.331 + ], + [ + -0.359, + -1.189, + 1.331 + ], + [ + -0.359, + -1.189, + 1.331 + ], + [ + -0.359, + -1.189, + 1.331 + ], + [ + -0.359, + -1.189, + 1.331 + ], + [ + -0.359, + -1.189, + 1.331 + ], + [ + -0.359, + -1.189, + 1.331 + ], + [ + -0.359, + -1.189, + 1.331 + ], + [ + -0.359, + -1.189, + 1.331 + ], + [ + -0.359, + -1.189, + 1.331 + ], + [ + -0.359, + -1.189, + 1.331 + ], + [ + -0.359, + -1.189, + 1.331 + ], + [ + -0.359, + -1.189, + 1.331 + ], + [ + -0.359, + -1.189, + 1.331 + ], + [ + -0.359, + -1.189, + 1.331 + ], + [ + -0.359, + -1.189, + 1.331 + ], + [ + -0.359, + -1.189, + 1.331 + ], + [ + -0.359, + -1.189, + 1.331 + ], + [ + -0.359, + -1.189, + 1.331 + ], + [ + -0.359, + -1.189, + 1.331 + ], + [ + -0.359, + -1.189, + 1.331 + ], + [ + -0.359, + -1.189, + 1.331 + ], + [ + -0.359, + -1.189, + 1.331 + ], + [ + -0.359, + -1.189, + 1.331 + ], + [ + -0.359, + -1.189, + 1.331 + ], + [ + -0.359, + -1.189, + 1.331 + ], + [ + -0.359, + -1.189, + 1.331 + ], + [ + -0.359, + -1.189, + 1.331 + ], + [ + -0.359, + -1.189, + 1.331 + ], + [ + -0.359, + -1.189, + 1.331 + ], + [ + -0.359, + -1.189, + 1.331 + ], + [ + -0.359, + -1.189, + 1.331 + ], + [ + -0.359, + -1.189, + 1.331 + ], + [ + -0.359, + -1.189, + 1.331 + ], + [ + -0.359, + -1.189, + 1.331 + ], + [ + -0.359, + -1.189, + 1.331 + ], + [ + -0.359, + -1.189, + 1.331 + ], + [ + -0.359, + -1.189, + 1.331 + ], + [ + -0.359, + -1.189, + 1.331 + ], + [ + -0.359, + -1.189, + 1.331 + ], + [ + -0.359, + -1.189, + 1.331 + ], + [ + -0.359, + -1.189, + 1.331 + ], + [ + -0.359, + -1.189, + 1.331 + ], + [ + -0.359, + -1.189, + 1.331 + ], + [ + -0.359, + -1.189, + 1.331 + ], + [ + -0.359, + -1.189, + 1.331 + ], + [ + -0.359, + -1.189, + 1.331 + ], + [ + -0.359, + -1.189, + 1.331 + ], + [ + -0.359, + -1.189, + 1.331 + ], + [ + -0.358, + -1.189, + 1.187 + ], + [ + -0.358, + -1.189, + 0.788 + ], + [ + -0.311, + -1.16, + 0.489 + ], + [ + -0.172, + -1.108, + 0.363 + ], + [ + -0.06, + -1.082, + 0.318 + ], + [ + 0.084, + -1.052, + 0.301 + ], + [ + 0.182, + -1.025, + 0.295 + ], + [ + 0.282, + -0.989, + 0.321 + ], + [ + 0.36, + -0.929, + 0.302 + ], + [ + 0.397, + -0.891, + 0.605 + ], + [ + 0.441, + -0.869, + 0.932 + ], + [ + 0.515, + -0.782, + 1.097 + ], + [ + 0.567, + -0.684, + 1.156 + ], + [ + 0.611, + -0.583, + 1.177 + ], + [ + 0.653, + -0.481, + 1.185 + ], + [ + 0.694, + -0.38, + 1.188 + ], + [ + 0.735, + -0.279, + 1.189 + ], + [ + 0.773, + -0.179, + 1.189 + ], + [ + 0.821, + -0.062, + 1.189 + ], + [ + 0.866, + 0.048, + 1.189 + ], + [ + 0.902, + 0.139, + 1.189 + ], + [ + 0.947, + 0.249, + 1.189 + ], + [ + 0.983, + 0.339, + 1.189 + ], + [ + 1.033, + 0.448, + 1.189 + ], + [ + 1.066, + 0.538, + 1.189 + ], + [ + 1.109, + 0.649, + 1.189 + ], + [ + 1.144, + 0.739, + 1.189 + ], + [ + 1.19, + 0.849, + 1.189 + ], + [ + 1.225, + 0.939, + 1.189 + ], + [ + 1.268, + 1.048, + 1.189 + ], + [ + 1.303, + 1.139, + 1.189 + ], + [ + 1.348, + 1.248, + 1.189 + ], + [ + 1.383, + 1.339, + 1.189 + ], + [ + 1.432, + 1.448, + 1.189 + ], + [ + 1.467, + 1.54, + 1.189 + ], + [ + 1.51, + 1.649, + 1.189 + ], + [ + 1.544, + 1.739, + 1.189 + ], + [ + 1.59, + 1.849, + 1.189 + ], + [ + 1.625, + 1.938, + 1.189 + ], + [ + 1.666, + 2.023, + 1.189 + ], + [ + 1.694, + 2.078, + 1.189 + ], + [ + 1.712, + 2.114, + 1.189 + ], + [ + 1.721, + 2.136, + 1.226 + ], + [ + 1.721, + 2.136, + 1.377 + ], + [ + 1.721, + 2.135, + 1.392 + ], + [ + 1.721, + 2.135, + 1.392 + ], + [ + 1.721, + 2.135, + 1.392 + ], + [ + 1.721, + 2.135, + 1.392 + ], + [ + 1.721, + 2.135, + 1.392 + ], + [ + 1.721, + 2.135, + 1.392 + ], + [ + 1.721, + 2.135, + 1.392 + ], + [ + 1.721, + 2.135, + 1.392 + ], + [ + 1.721, + 2.135, + 1.392 + ], + [ + 1.721, + 2.135, + 1.392 + ], + [ + 1.721, + 2.135, + 1.392 + ], + [ + 1.721, + 2.135, + 1.392 + ], + [ + 1.721, + 2.135, + 1.392 + ], + [ + 1.721, + 2.135, + 1.392 + ], + [ + 1.721, + 2.135, + 1.392 + ], + [ + 1.721, + 2.135, + 1.392 + ], + [ + 1.721, + 2.135, + 1.392 + ], + [ + 1.721, + 2.135, + 1.392 + ], + [ + 1.721, + 2.135, + 1.392 + ], + [ + 1.721, + 2.135, + 1.392 + ], + [ + 1.721, + 2.135, + 1.392 + ], + [ + 1.721, + 2.135, + 1.392 + ], + [ + 1.721, + 2.135, + 1.392 + ], + [ + 1.721, + 2.135, + 1.392 + ], + [ + 1.721, + 2.135, + 1.392 + ], + [ + 1.721, + 2.135, + 1.392 + ], + [ + 1.721, + 2.135, + 1.392 + ], + [ + 1.721, + 2.135, + 1.392 + ], + [ + 1.721, + 2.135, + 1.392 + ], + [ + 1.721, + 2.135, + 1.392 + ], + [ + 1.721, + 2.135, + 1.392 + ], + [ + 1.721, + 2.135, + 1.392 + ], + [ + 1.721, + 2.135, + 1.392 + ], + [ + 1.721, + 2.135, + 1.392 + ], + [ + 1.721, + 2.135, + 1.392 + ], + [ + 1.721, + 2.135, + 1.392 + ], + [ + 1.721, + 2.135, + 1.392 + ], + [ + 1.721, + 2.135, + 1.392 + ], + [ + 1.721, + 2.135, + 1.392 + ], + [ + 1.721, + 2.135, + 1.392 + ], + [ + 1.721, + 2.135, + 1.392 + ], + [ + 1.721, + 2.135, + 1.392 + ], + [ + 1.721, + 2.135, + 1.392 + ], + [ + 1.721, + 2.135, + 1.392 + ], + [ + 1.721, + 2.135, + 1.392 + ], + [ + 1.721, + 2.135, + 1.392 + ], + [ + 1.721, + 2.135, + 1.392 + ] + ], + "stage_events": [ + { + "tick": 531, + "event": "enter_station", + "station": "A", + "xy": [ + -1.028, + -1.462 + ] + }, + { + "tick": 2740, + "event": "leave_station", + "station": "A", + "xy": [ + 1.013, + 0.403 + ] + }, + { + "tick": 3028, + "event": "enter_station", + "station": "B", + "xy": [ + 1.47, + 1.55 + ] + } + ], + "transport_state": { + "ring": { + "entered": true, + "entry_s": 0.0, + "max_s": 0.2741655146051272, + "was_threaded": true, + "lost": 0, + "held": false, + "grasps": 1 + } + }, + "manipulation_success": true, + "mobile_success": true, + "full_success": true, + "failure_reason": null, + "fail_class_hint": null, + "distance_to_first_interaction": 2.541, + "interstation_path_lengths": [ + 4.238 + ], + "station_transition_order": [ + "A", + "B" + ], + "final_approach_pose": [ + 1.721, + 2.135, + 1.392 + ], + "regrasp_events": 0, + "control_ticks": 3777, + "wall_s": 833.8, + "phase": "done", + "state": "success: task sequence complete", + "check": { + "ring": { + "held": false, + "dist_wrist": 1.073, + "s": 0.274, + "rod_dist": 0.028, + "axis_deg": 7.5, + "threaded": true, + "entered_via_open_end": true, + "entry_s": 0.0, + "max_s": 0.274, + "lost_count": 0, + "at_rest": true + }, + "decoy": { + "ring_small": { + "lift": 0.0, + "max_lift_near_wrist": 0.0, + "dist_wrist": 3.608 + } + }, + "rod_length": 0.28, + "released": true, + "other_rings_on_rod": [], + "manipulation_success": true + }, + "route": [ + "A", + "B" + ], + "total_path_m": 7.42, + "planner_seeds": "default" + } + ], + "error": null, + "collect": { + "task": "N033", + "robot": "sawyer_umi", + "visual_dr": false, + "env": { + "MMB_COLLECT": "1", + "MMB_TASK_ID": "N033", + "MMB_CLEAN_VIEW": "1", + "MMB_REAL_ROBOT_LOOK": "1", + "MMB_VISUAL_DR": "0" + }, + "cameras": { + "head": { + "link": "Robot_0/head", + "pos": [ + 0.2166, + 0.0, + -0.045 + ], + "ori": [ + -0.0, + 35.0, + -90.0 + ], + "focal_length": 2.0, + "horizontal_aperture": 3.6, + "vertical_aperture": 2.7 + }, + "wrist": { + "link": "Robot_0/right_electric_gripper_base", + "pos": [ + 0.0598, + 0.0, + 0.03 + ], + "ori": [ + 180.0, + 0.0, + -90.0 + ], + "focal_length": 1.8, + "horizontal_aperture": 3.6, + "vertical_aperture": 2.7 + } + }, + "resolution": [ + 640, + 480 + ], + "camera_hz": 25, + "record": { + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + } + }, + "review_cameras": [], + "policy_obs_signature": [ + "/camera_info[0]/rgb[0]:(480, 640, 4):uint8", + "/camera_info[1]/rgb[0]:(480, 640, 4):uint8", + "/robot_state[0]/RidgebackSawyerUmi/base_ang_vel:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/base_heading_quat:(1, 4):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/base_lin_vel:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/base_pos:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/base_quat:(1, 4):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/eef_pos:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/eef_quat:(1, 4):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/eef_relative_pos:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/eef_relative_quat:(1, 4):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/eef_relatvie_pos_arm_base:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/gripper_pos:(1, 2):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/joint_effort:(1, 13):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/joint_pos:(1, 13):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/joint_vel:(1, 13):torch.float32" + ], + "n_success": 1, + "elapsed_s": 1087.7, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 33.9 + } +} diff --git a/N033/sawyer_umi/dr_on/seed_2021/check.json b/N033/sawyer_umi/dr_on/seed_2021/check.json new file mode 100644 index 0000000000000000000000000000000000000000..c88b26e5e100045cc96b420b79297dab5edd43d4 --- /dev/null +++ b/N033/sawyer_umi/dr_on/seed_2021/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.'; expected 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "2122 rows vs ceil(4244/2) = 2122" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..4343, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "52.49 MB, 2122 frames at 25 fps, mean luma 69..102, std 43, new picture 2121x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2122 vs 2122" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "48.06 MB, 2122 frames at 25 fps, mean luma 43..137, std 33, new picture 2121x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2122 vs 2122" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationringxr/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N033/sawyer_umi/dr_on/seed_2021/check.txt b/N033/sawyer_umi/dr_on/seed_2021/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..5aa6feda3fa47f6a5d3f654ad96be5eac9c0d69a --- /dev/null +++ b/N033/sawyer_umi/dr_on/seed_2021/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n033_saw_on_2021/out task=N033 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n033_saw_on_2021/out/rec/stationringxr/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2122 videos 2 robot_type RidgebackSawyerUmiCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 2122 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1'] +[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z'] +[PASS] task text = MobileBench instruction: task_index 0: 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.'; expected 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.' +rows 2122 at dataset fps 25 = 84.88 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2122 rows vs ceil(4244/2) = 2122 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..4343, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 52.49 MB, 2122 frames at 25 fps, mean luma 69..102, std 43, new picture 2121x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2122 vs 2122 +[PASS] video observation.images.wrist decodes, 640x480, not black: 48.06 MB, 2122 frames at 25 fps, mean luma 43..137, std 33, new picture 2121x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2122 vs 2122 +parquet size 2.46 MB +[PASS] sim_info present: rec/stationringxr/000/sim_info +dataset size 103.20 MB; whole cell dir 104.5 MB +RESULT: ALL PASS diff --git a/N033/sawyer_umi/dr_on/seed_2021/rec/stationringxr/000/completed/0.json b/N033/sawyer_umi/dr_on/seed_2021/rec/stationringxr/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..91a50a443cc1602752f4a6179432b21f7f41bb42 --- /dev/null +++ b/N033/sawyer_umi/dr_on/seed_2021/rec/stationringxr/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationringxr/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N033/sawyer_umi/dr_on/seed_2021/rec/stationringxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N033/sawyer_umi/dr_on/seed_2021/rec/stationringxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..5eb127b4af67fcfbfb3d793114c486892e820e98 --- /dev/null +++ b/N033/sawyer_umi/dr_on/seed_2021/rec/stationringxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:93b6ccec1e5dc139c7f5283a732025da0bc9fde15360065d9b31a00907b99598 +size 2460317 diff --git a/N033/sawyer_umi/dr_on/seed_2021/rec/stationringxr/000/lerobot_v21/meta/episodes.jsonl b/N033/sawyer_umi/dr_on/seed_2021/rec/stationringxr/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..feb98491f1ca48a87a98bd2aca8ac80ca326345f --- /dev/null +++ b/N033/sawyer_umi/dr_on/seed_2021/rec/stationringxr/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end."], "length": 2122, "magicsim/control_steps": 4244, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the ring. There are a large gray table A, a large gray table B, a medium brown rack back, a small gray peg 1, a small gray peg 2, a small ring, a small ring small, a small white rod h, a small white rod s and a small brown rod stop. The gray table B is behind the brown rod stop. The brown rack back is to the right of the gray peg 2. The gray peg 1 is on top of the ring. The white rod h is to the right of the white rod s. The white rod s is on top of the brown rod stop. The white rod s is behind the brown rod stop. The brown rod stop is in front of the white rod s. The scene is viewed from front, at table height."} diff --git a/N033/sawyer_umi/dr_on/seed_2021/rec/stationringxr/000/lerobot_v21/meta/episodes_stats.jsonl b/N033/sawyer_umi/dr_on/seed_2021/rec/stationringxr/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f47678f2f5dde25c88513615811f65e46c6f2c36 --- /dev/null +++ b/N033/sawyer_umi/dr_on/seed_2021/rec/stationringxr/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.08329699563545427, -0.0019835575236205947, 0.007345953146742945, 0.45533834289650554, 0.8567946234276442, 1.051354386186285, -0.2326625152003866, -0.059953397632998735, -0.2490732565936505, 0.1687334199977159, 0.44015080113100846], "std": [0.11878385545665353, 0.010101265990938121, 0.1576492390988711, 1.2117061034001553, 1.4759010724078159, 0.20833095252455638, 0.6186062514755559, 0.10896617921527281, 0.5390144353464945, 0.40826614563318897, 0.4964051504514685], "min": [0.0, -0.06866573542356491, -0.800000011920929, -3.2127041816711426, -1.6484390497207642, 0.7507398724555969, -0.7078923583030701, -0.36118659377098083, -0.7554994821548462, -0.734589695930481, 0.0], "max": [0.30000001192092896, 0.09898437559604645, 0.800000011920929, 1.9951025247573853, 2.9423298835754395, 1.373115062713623, 0.8466794490814209, 0.22942106425762177, 0.7559221982955933, 0.9632949233055115, 1.0], "count": [2122]}, "action_is_hold": {"mean": [0.13289349670122527, 0.13289349670122527, 0.13289349670122527, 0.14891611687087652, 0.14891611687087652, 0.14891611687087652, 0.14891611687087652, 0.14891611687087652, 0.14891611687087652, 0.14891611687087652, 0.9905749293119699], "std": [0.33945959293522093, 0.33945959293522093, 0.33945959293522093, 0.3560057682214949, 0.3560057682214949, 0.3560057682214949, 0.3560057682214949, 0.3560057682214949, 0.3560057682214949, 0.3560057682214949, 0.09662421399709292], "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": [2122]}, "observation.state": {"mean": [0.8033468498585923, -3.5238720214557917, 1.2117798567717082, 0.4146198423368969, -0.41458577016204373, -0.9397640822351709, 0.7789890627433003, -0.7559138801086889, 0.6291444561374202, -2.2359429515835028, 0.4059938701523913, 0.014971018683808481, -0.015515422458654312, -0.015515422458654312, -0.014971018683808481], "std": [1.889905734927482, 0.3364970934507721, 0.404849510740794, 0.2611833823923772, 0.26122974339104443, 0.35267923139259144, 0.4711812625992762, 0.7617232896495817, 0.4143126483883238, 0.21312689692119585, 0.3866374132249518, 0.007167459468361237, 0.007235215793304079, 0.007235215793304079, 0.007167459468361237], "min": [-3.356022596359253, -4.021008491516113, 0.39489567279815674, -0.008406146429479122, -0.7916749119758606, -1.6115096807479858, -0.003377356566488743, -1.671250820159912, -0.524172842502594, -2.8692476749420166, -0.0394865944981575, 0.0, -0.020833000540733337, -0.020833000540733337, -0.020833000540733337], "max": [3.155385732650757, -2.0892906188964844, 1.5395526885986328, 0.7923459410667419, 0.006360845640301704, -0.5704024434089661, 1.37265944480896, 0.6528811454772949, 1.1589200496673584, -1.804322361946106, 1.121018409729004, 0.020833000540733337, 0.0, 0.0, -0.0], "count": [2122]}, "observation.joint_vel": {"mean": [0.07675748754308151, -0.01644546864324615, 0.00769895789028754, 0.0008203423106342926, -0.0003413467882742103, 0.005519356935290636, 0.001162527284144199, -0.01206942120156786, -0.004181116999944065, 0.006192447334572806, 0.0002642093421354813, 0.0005290828785305988, 0.001437519163346159], "std": [0.10873665560270519, 0.0553616599328714, 0.15935733769133187, 0.04964595361800896, 0.03954390159912176, 0.05455829131876316, 0.08641765090125592, 0.08469884156798094, 0.11015624018653758, 0.0690389699274711, 0.09341937901274013, 0.006440188562203315, 0.007229608500290817], "min": [-0.0002995922404807061, -0.17894195020198822, -0.8000140190124512, -0.515835165977478, -0.19656209647655487, -0.13313136994838715, -0.20647791028022766, -0.1954432874917984, -0.3287276327610016, -0.3214746117591858, -0.4116363823413849, -0.09955353289842606, -0.10010934621095657], "max": [0.29594287276268005, 0.08932624757289886, 0.800138533115387, 0.3830425441265106, 0.4260145425796509, 0.2695220708847046, 0.19862554967403412, 0.18767838180065155, 0.32442861795425415, 0.32269519567489624, 0.40435242652893066, 0.10001256316900253, 0.1000000461935997], "count": [2122]}, "observation.eef_pose": {"mean": [0.45577525373442496, 0.8589625782135815, 1.0535096741868684, -0.6343686689291778, -0.04707884742868722, -0.5440670598674, 0.2628422942535704], "std": [1.2131837342120495, 1.4760286579389323, 0.21034771749878897, 0.17885088921676948, 0.11841072965245318, 0.24059050311818928, 0.35548882202690296], "min": [-3.2127041816711426, -1.6510897874832153, 0.7527704238891602, -0.8340070247650146, -0.3618735671043396, -0.7562112212181091, -0.041105806827545166], "max": [1.9952086210250854, 2.942471504211426, 1.385067343711853, -0.2130046784877777, 0.2262517213821411, -0.11239108443260193, 0.9635709524154663], "count": [2122]}, "observation.environment_state": {"mean": [-0.247096985578537, 0.07449351251125336, 0.4699999988079071, 0.9999797344207764, 0.0, 0.0, -0.006366376299411058, -0.5470726490020752, 0.078315868973732, 0.4699999988079071, 0.9999797344207764, 0.0, 0.0, -0.006366376299411058, -0.39574697613716125, 0.18139617145061493, 0.4300000071525574, 0.9999797344207764, 0.0, 0.0, -0.006366376299411058, 0.633280236491693, 1.0667218541132104, 0.5176925782770846, 0.9865100567179059, -0.04109865473436357, -0.0010432209515641756, -0.044188738714892185, -0.5475164030825159, 0.04351378116900633, 0.4687867515442171, 0.9999796748161316, 2.354440770169387e-06, 0.0002370478112761214, -0.006367302035805783, 1.7465038299560547, 2.847625255584717, 0.5299999713897705, 0.9990823268890381, 0.0, 0.0, 0.04283111169934273, 1.7356089353561401, 2.9744582176208496, 0.48980000615119934, 0.9528417587280273, -0.3004297912120819, -0.012879636138677597, 0.0408489890396595, 1.7293869256973267, 3.046891450881958, 0.38999998569488525, 0.9990823268890381, 0.0, 0.0, 0.04283111169934273, -0.345623642206192, 0.19075830280780792, 0.18000000715255737, 0.9999797344207764, 0.0, 0.0, -0.006366376299411058, 1.7353777885437012, 2.9771482944488525, 0.18000000715255737, 0.9990823268890381, 0.0, 0.0, 0.04283111169934273], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.9272020922935659, 1.3296627440126667, 0.10921869411634832, 0.025627599746257324, 0.09301362271754708, 0.0062729852092786535, 0.11750496423792274, 4.6315597240521044e-08, 8.060099690589533e-09, 2.4305177214415685e-08, 0.0, 3.1044803747669797e-07, 2.4815034110088406e-06, 1.4136810919194984e-07, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 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": [-0.247096985578537, 0.07449351251125336, 0.4699999988079071, 0.9999797344207764, 0.0, 0.0, -0.006366376299411058, -0.5470726490020752, 0.078315868973732, 0.4699999988079071, 0.9999797344207764, 0.0, 0.0, -0.006366376299411058, -0.39574697613716125, 0.18139617145061493, 0.4300000071525574, 0.9999797344207764, 0.0, 0.0, -0.006366376299411058, -0.24940675497055054, -0.45801085233688354, 0.4305282533168793, 0.8607740998268127, -0.3958326578140259, -0.02954409457743168, -0.5089746713638306, -0.5475164651870728, 0.04351375997066498, 0.46878671646118164, 0.9999796748161316, 1.6434247527286061e-06, 0.00023343732755165547, -0.006367859896272421, 1.7465038299560547, 2.847625255584717, 0.5299999713897705, 0.9990823268890381, 0.0, 0.0, 0.04283111169934273, 1.7356089353561401, 2.9744582176208496, 0.48980000615119934, 0.9528417587280273, -0.3004297912120819, -0.012879636138677597, 0.0408489890396595, 1.7293869256973267, 3.046891450881958, 0.38999998569488525, 0.9990823268890381, 0.0, 0.0, 0.04283111169934273, -0.345623642206192, 0.19075830280780792, 0.18000000715255737, 0.9999797344207764, 0.0, 0.0, -0.006366376299411058, 1.7353777885437012, 2.9771482944488525, 0.18000000715255737, 0.9990823268890381, 0.0, 0.0, 0.04283111169934273], "max": [-0.247096985578537, 0.07449351251125336, 0.4699999988079071, 0.9999797344207764, 0.0, 0.0, -0.006366376299411058, -0.5470726490020752, 0.078315868973732, 0.4699999988079071, 0.9999797344207764, 0.0, 0.0, -0.006366376299411058, -0.39574697613716125, 0.18139617145061493, 0.4300000071525574, 0.9999797344207764, 0.0, 0.0, -0.006366376299411058, 1.9958115816116333, 3.010361909866333, 0.6878238916397095, 0.9999908804893494, 0.012533657252788544, 0.0220461655408144, 0.06364767253398895, -0.5475162863731384, 0.04351380467414856, 0.4687868058681488, 0.9999796748161316, 3.1988975024432875e-06, 0.0002411902678431943, -0.006366897374391556, 1.7465038299560547, 2.847625255584717, 0.5299999713897705, 0.9990823268890381, 0.0, 0.0, 0.04283111169934273, 1.7356089353561401, 2.9744582176208496, 0.48980000615119934, 0.9528417587280273, -0.3004297912120819, -0.012879636138677597, 0.0408489890396595, 1.7293869256973267, 3.046891450881958, 0.38999998569488525, 0.9990823268890381, 0.0, 0.0, 0.04283111169934273, -0.345623642206192, 0.19075830280780792, 0.18000000715255737, 0.9999797344207764, 0.0, 0.0, -0.006366376299411058, 1.7353777885437012, 2.9771482944488525, 0.18000000715255737, 0.9990823268890381, 0.0, 0.0, 0.04283111169934273], "count": [2122]}, "action.command": {"mean": [-1.5865899552420715, -1.326278136851796, 1.6151142883188188, 0.0, 0.0, 0.0, 0.0, 0.4069767441860465, 0.3208863040884072, 0.6426427020280852, 1.0711847106087644, -0.1645206031642219, -0.07329766845649288, -0.1913021677529495, 0.19073041944773836, 0.5, -1.539647836787923, -1.3067889180487415, 1.6151142883188188, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14539737765454064, 0.21606639660938853, 1.156904931192274, -0.5040161760596485, -0.13931026291256107, -0.44646165461016657, 0.4886648231829212, 0.0, -1.4934991644574451, -1.2872741884577232, 1.6151142883188188, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14539737765454064, 0.21606639660938853, 1.156904931192274, -0.5040161760596485, -0.13931026291256107, -0.44646165461016657, 0.4886648231829212, 0.0, -1.3989078453626513, -1.2471372156526008, 1.6151142883188188, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14539737765454064, 0.21606639660938853, 1.156904931192274, -0.5040161760596485, -0.13931026291256107, -0.44646165461016657, 0.4886648231829212, 0.0, -1.307609585761461, -1.2080187108609584, 1.6151142883188188, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14539737765454064, 0.21606639660938853, 1.156904931192274, -0.5040161760596485, -0.13931026291256107, -0.44646165461016657, 0.4886648231829212, 0.0, -1.2892660523633943, -1.2003911575291486, 1.6151142883188188, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14539737765454064, 0.21606639660938853, 1.156904931192274, -0.5040161760596485, -0.13931026291256107, -0.44646165461016657, 0.4886648231829212, 0.0, -1.221628509303544, -1.1723424708547672, 1.6151142883188188, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14539737765454064, 0.21606639660938853, 1.156904931192274, -0.5040161760596485, -0.13931026291256107, -0.44646165461016657, 0.4886648231829212, 0.0, -1.1125294072498537, -1.1258871356177076, 1.6151142883188188, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14539737765454064, 0.21606639660938853, 1.156904931192274, -0.5040161760596485, -0.13931026291256107, -0.44646165461016657, 0.4886648231829212, 0.0, -1.0436893789693624, -1.0965230064521574, 1.6151142883188188, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14539737765454064, 0.21606639660938853, 1.156904931192274, -0.5040161760596485, -0.13931026291256107, -0.44646165461016657, 0.4886648231829212, 0.0, -0.9848642067053524, -1.0716949152411648, 1.6151142883188188, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14539737765454064, 0.21606639660938853, 1.156904931192274, -0.5040161760596485, -0.13931026291256107, -0.44646165461016657, 0.4886648231829212, 0.0, -0.8852914224830681, -1.0297651987219363, 1.6151142883188188, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14539737765454064, 0.21606639660938853, 1.156904931192274, -0.5040161760596485, -0.13931026291256107, -0.44646165461016657, 0.4886648231829212, 0.0, -0.841164379221208, -0.9792130522984118, 1.6151142883188188, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14539737765454064, 0.21606639660938853, 1.156904931192274, -0.5040161760596485, -0.13931026291256107, -0.44646165461016657, 0.4886648231829212, 0.0, -0.780010196084537, -0.8686745658323363, 1.6151142883188188, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14539737765454064, 0.21606639660938853, 1.156904931192274, -0.5040161760596485, -0.13931026291256107, -0.44646165461016657, 0.4886648231829212, 0.0, -0.7370860441516395, -0.8467243542848539, 1.6151142883188188, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14539737765454064, 0.21606639660938853, 1.156904931192274, -0.5040161760596485, -0.13931026291256107, -0.44646165461016657, 0.4886648231829212, 0.0, -0.6760319605065067, -0.8184509286140185, 1.6151142883188188, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14539737765454064, 0.21606639660938853, 1.156904931192274, -0.5040161760596485, -0.13931026291256107, -0.44646165461016657, 0.4886648231829212, 0.0, -0.673892213363715, -0.8139258859571347, 1.6151142883188188, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14539737765454064, 0.21606639660938853, 1.156904931192274, -0.5040161760596485, -0.13931026291256107, -0.44646165461016657, 0.4886648231829212, 0.0, -0.6428330758104921, -0.7392170852426233, 1.6151142883188188, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14539737765454064, 0.21606639660938853, 1.156904931192274, -0.5040161760596485, -0.13931026291256107, -0.44646165461016657, 0.4886648231829212, 0.0, -0.5644354695693943, -0.6677265712571328, 1.6151142883188188, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14539737765454064, 0.21606639660938853, 1.156904931192274, -0.5040161760596485, -0.13931026291256107, -0.44646165461016657, 0.4886648231829212, 0.0, -0.502231439071957, -0.6062789130889962, 1.6151142883188188, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14539737765454064, 0.21606639660938853, 1.156904931192274, -0.5040161760596485, -0.13931026291256107, -0.44646165461016657, 0.4886648231829212, 0.0, -0.44868965406485406, -0.5311923473897482, 1.6151142883188188, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14539737765454064, 0.21606639660938853, 1.156904931192274, -0.5040161760596485, -0.13931026291256107, -0.44646165461016657, 0.4886648231829212, 0.0, -0.4067010001280513, -0.4944530750988788, 1.6151142883188188, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14539737765454064, 0.21606639660938853, 1.156904931192274, -0.5040161760596485, -0.13931026291256107, -0.44646165461016657, 0.4886648231829212, 0.0, -0.3389011104948546, -0.406731374852069, 1.6151142883188188, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14539737765454064, 0.21606639660938853, 1.156904931192274, -0.5040161760596485, -0.13931026291256107, -0.44646165461016657, 0.4886648231829212, 0.0, -0.3110911255744159, -0.38326300714063816, 1.6151142883188188, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14539737765454064, 0.21606639660938853, 1.156904931192274, -0.5040161760596485, -0.13931026291256107, -0.44646165461016657, 0.4886648231829212, 0.0, -0.22741907602780825, -0.27913698937563575, 1.6151142883188188, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14539737765454064, 0.21606639660938853, 1.156904931192274, -0.5040161760596485, -0.13931026291256107, -0.44646165461016657, 0.4886648231829212, 0.0, -0.16695738521348488, -0.2509072848728725, 1.6151142883188188, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14539737765454064, 0.21606639660938853, 1.156904931192274, -0.5040161760596485, -0.13931026291256107, -0.44646165461016657, 0.4886648231829212, 0.0, -0.15417469617467564, -0.22752993236325567, 1.6151142883188188, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14539737765454064, 0.21606639660938853, 1.156904931192274, -0.5040161760596485, -0.13931026291256107, -0.44646165461016657, 0.4886648231829212, 0.0, -0.11909593854631696, -0.15917119373256228, 1.6151142883188188, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14539737765454064, 0.21606639660938853, 1.156904931192274, -0.5040161760596485, -0.13931026291256107, -0.44646165461016657, 0.4886648231829212, 0.0, -0.055831468583842234, -0.125583135532798, 1.6151142883188188, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14539737765454064, 0.21606639660938853, 1.156904931192274, -0.5040161760596485, -0.13931026291256107, -0.44646165461016657, 0.4886648231829212, 0.0, 0.027734302432928345, -0.023564593428844826, 1.6151142883188188, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14539737765454064, 0.21606639660938853, 1.156904931192274, -0.5040161760596485, -0.13931026291256107, -0.44646165461016657, 0.4886648231829212, 0.0, 0.055690703031726824, 0.0025249595062228837, 1.6151142883188188, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14539737765454064, 0.21606639660938853, 1.156904931192274, -0.5040161760596485, -0.13931026291256107, -0.44646165461016657, 0.4886648231829212, 0.0, 0.12103691545821982, 0.0882520363209802, 1.6151142883188188, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14539737765454064, 0.21606639660938853, 1.156904931192274, -0.5040161760596485, -0.13931026291256107, -0.44646165461016657, 0.4886648231829212, 0.0, 0.16558849825628252, 0.12696470603469975, 1.6151142883188188, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14539737765454064, 0.21606639660938853, 1.156904931192274, -0.5040161760596485, -0.13931026291256107, -0.44646165461016657, 0.4886648231829212, 0.0, 0.21995863835673687, 0.2021086816945352, 1.6151142883188188, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14539737765454064, 0.21606639660938853, 1.156904931192274, -0.5040161760596485, -0.13931026291256107, -0.44646165461016657, 0.4886648231829212, 0.0, 0.2752438354379593, 0.25055008106276727, 1.6151142883188188, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14539737765454064, 0.21606639660938853, 1.156904931192274, -0.5040161760596485, -0.13931026291256107, -0.44646165461016657, 0.4886648231829212, 0.0, 0.36557018616123493, 0.33618742642746063, 1.6151142883188188, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14539737765454064, 0.21606639660938853, 1.156904931192274, -0.5040161760596485, -0.13931026291256107, -0.44646165461016657, 0.4886648231829212, 0.0, 0.3844295098339653, 0.37344611366636776, 1.6151142883188188, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14539737765454064, 0.21606639660938853, 1.156904931192274, -0.5040161760596485, -0.13931026291256107, -0.44646165461016657, 0.4886648231829212, 0.0, 0.4114022125460322, 0.42671190101956813, 1.6151142883188188, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14539737765454064, 0.21606639660938853, 1.156904931192274, -0.5040161760596485, -0.13931026291256107, -0.44646165461016657, 0.4886648231829212, 0.0, 0.4933648976412686, 0.496403660093035, 1.6151142883188188, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14539737765454064, 0.21606639660938853, 1.156904931192274, -0.5040161760596485, -0.13931026291256107, -0.44646165461016657, 0.4886648231829212, 0.0, 0.5530465393730714, 0.5590548252130484, 1.6151142883188188, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14539737765454064, 0.21606639660938853, 1.156904931192274, -0.5040161760596485, -0.13931026291256107, -0.44646165461016657, 0.4886648231829212, 0.0, 0.6012894105179392, 0.6184122938192158, 1.6151142883188188, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14539737765454064, 0.21606639660938853, 1.156904931192274, -0.5040161760596485, -0.13931026291256107, -0.44646165461016657, 0.4886648231829212, 0.0, 0.6601419348925035, 0.6764908558925462, 1.6151142883188188, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14539737765454064, 0.21606639660938853, 1.156904931192274, -0.5040161760596485, -0.13931026291256107, -0.44646165461016657, 0.4886648231829212, 0.0, 0.7082408559646066, 0.7385205683488631, 1.6151142883188188, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14539737765454064, 0.21606639660938853, 1.156904931192274, -0.5040161760596485, -0.13931026291256107, -0.44646165461016657, 0.4886648231829212, 0.0, 0.7403258663704432, 0.7828620030438042, 1.6151142883188188, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14539737765454064, 0.21606639660938853, 1.156904931192274, -0.5040161760596485, -0.13931026291256107, -0.44646165461016657, 0.4886648231829212, 0.0, 0.8137105580907504, 0.8558563879276533, 1.6151142883188188, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14539737765454064, 0.21606639660938853, 1.156904931192274, -0.5040161760596485, -0.13931026291256107, -0.44646165461016657, 0.4886648231829212, 0.0, 0.8649227431983002, 0.9010760947411007, 1.6151142883188188, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14539737765454064, 0.21606639660938853, 1.156904931192274, -0.5040161760596485, -0.13931026291256107, -0.44646165461016657, 0.4886648231829212, 0.0, 1.720996618270874, 2.189411163330078, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1534168154244024, 1.061561232611021, 1.0001662969589233, -0.6808201911007556, -0.15984609647219633, -0.684825796945032, 0.15828897775190667, 0.0, 1.803567886352539, 2.197359323501587, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1534168154244024, 1.061561232611021, 1.0001662969589233, -0.6808201911007556, -0.15984609647219633, -0.684825796945032, 0.15828897775190667, 0.0], "std": [1.5066654330578892, 0.6497031099051447, 0.04858610553521475, 0.0, 0.0, 0.0, 0.0, 1.4971127792781138, 1.2102925735619925, 1.4004392716029637, 0.2102708004985428, 0.6327361886285578, 0.11237691753949813, 0.5447782881407472, 0.42990533404476033, 0.5, 1.5412991892446966, 0.6639693996547582, 0.04858610553521475, 0.0, 0.0, 0.0, 0.0, 0.0, 1.414341383950783, 1.3112761203194212, 0.18407372679857478, 0.22016951117247222, 0.07162321308304144, 0.28089376980930975, 0.39488342077602084, 0.0, 1.5432224474851857, 0.6642805597393769, 0.04858610553521475, 0.0, 0.0, 0.0, 0.0, 0.0, 1.414341383950783, 1.3112761203194212, 0.18407372679857478, 0.22016951117247222, 0.07162321308304144, 0.28089376980930975, 0.39488342077602084, 0.0, 1.5347132996695065, 0.6596030669507011, 0.04858610553521475, 0.0, 0.0, 0.0, 0.0, 0.0, 1.414341383950783, 1.3112761203194212, 0.18407372679857478, 0.22016951117247222, 0.07162321308304144, 0.28089376980930975, 0.39488342077602084, 0.0, 1.4922024616549567, 0.6404469211852094, 0.04858610553521475, 0.0, 0.0, 0.0, 0.0, 0.0, 1.414341383950783, 1.3112761203194212, 0.18407372679857478, 0.22016951117247222, 0.07162321308304144, 0.28089376980930975, 0.39488342077602084, 0.0, 1.5046687644383934, 0.6455660576983815, 0.04858610553521475, 0.0, 0.0, 0.0, 0.0, 0.0, 1.414341383950783, 1.3112761203194212, 0.18407372679857478, 0.22016951117247222, 0.07162321308304144, 0.28089376980930975, 0.39488342077602084, 0.0, 1.5575343072117123, 0.6673867764804897, 0.04858610553521475, 0.0, 0.0, 0.0, 0.0, 0.0, 1.414341383950783, 1.3112761203194212, 0.18407372679857478, 0.22016951117247222, 0.07162321308304144, 0.28089376980930975, 0.39488342077602084, 0.0, 1.5330171704908793, 0.6557153017519679, 0.04858610553521475, 0.0, 0.0, 0.0, 0.0, 0.0, 1.414341383950783, 1.3112761203194212, 0.18407372679857478, 0.22016951117247222, 0.07162321308304144, 0.28089376980930975, 0.39488342077602084, 0.0, 1.5128906427566904, 0.6463629052524607, 0.04858610553521475, 0.0, 0.0, 0.0, 0.0, 0.0, 1.414341383950783, 1.3112761203194212, 0.18407372679857478, 0.22016951117247222, 0.07162321308304144, 0.28089376980930975, 0.39488342077602084, 0.0, 1.5195973179627664, 0.6485760666599313, 0.04858610553521475, 0.0, 0.0, 0.0, 0.0, 0.0, 1.414341383950783, 1.3112761203194212, 0.18407372679857478, 0.22016951117247222, 0.07162321308304144, 0.28089376980930975, 0.39488342077602084, 0.0, 1.5396953290637923, 0.6560557802012156, 0.04858610553521475, 0.0, 0.0, 0.0, 0.0, 0.0, 1.414341383950783, 1.3112761203194212, 0.18407372679857478, 0.22016951117247222, 0.07162321308304144, 0.28089376980930975, 0.39488342077602084, 0.0, 1.5195450950854792, 0.6739156805990598, 0.04858610553521475, 0.0, 0.0, 0.0, 0.0, 0.0, 1.414341383950783, 1.3112761203194212, 0.18407372679857478, 0.22016951117247222, 0.07162321308304144, 0.28089376980930975, 0.39488342077602084, 0.0, 1.5325820435930595, 0.7510078275854297, 0.04858610553521475, 0.0, 0.0, 0.0, 0.0, 0.0, 1.414341383950783, 1.3112761203194212, 0.18407372679857478, 0.22016951117247222, 0.07162321308304144, 0.28089376980930975, 0.39488342077602084, 0.0, 1.4854328174274003, 0.7331804966102101, 0.04858610553521475, 0.0, 0.0, 0.0, 0.0, 0.0, 1.414341383950783, 1.3112761203194212, 0.18407372679857478, 0.22016951117247222, 0.07162321308304144, 0.28089376980930975, 0.39488342077602084, 0.0, 1.415386022039313, 0.7040118277549569, 0.04858610553521475, 0.0, 0.0, 0.0, 0.0, 0.0, 1.414341383950783, 1.3112761203194212, 0.18407372679857478, 0.22016951117247222, 0.07162321308304144, 0.28089376980930975, 0.39488342077602084, 0.0, 1.416507416387417, 0.7075592616111231, 0.04858610553521475, 0.0, 0.0, 0.0, 0.0, 0.0, 1.414341383950783, 1.3112761203194212, 0.18407372679857478, 0.22016951117247222, 0.07162321308304144, 0.28089376980930975, 0.39488342077602084, 0.0, 1.441918068150332, 0.7707216364493258, 0.04858610553521475, 0.0, 0.0, 0.0, 0.0, 0.0, 1.414341383950783, 1.3112761203194212, 0.18407372679857478, 0.22016951117247222, 0.07162321308304144, 0.28089376980930975, 0.39488342077602084, 0.0, 1.3875780018634856, 0.7787617621454291, 0.04858610553521475, 0.0, 0.0, 0.0, 0.0, 0.0, 1.414341383950783, 1.3112761203194212, 0.18407372679857478, 0.22016951117247222, 0.07162321308304144, 0.28089376980930975, 0.39488342077602084, 0.0, 1.3593326923213647, 0.7956516832791637, 0.04858610553521475, 0.0, 0.0, 0.0, 0.0, 0.0, 1.414341383950783, 1.3112761203194212, 0.18407372679857478, 0.22016951117247222, 0.07162321308304144, 0.28089376980930975, 0.39488342077602084, 0.0, 1.36400880230709, 0.8417367800560313, 0.04858610553521475, 0.0, 0.0, 0.0, 0.0, 0.0, 1.414341383950783, 1.3112761203194212, 0.18407372679857478, 0.22016951117247222, 0.07162321308304144, 0.28089376980930975, 0.39488342077602084, 0.0, 1.3387537894291666, 0.846402364557619, 0.04858610553521475, 0.0, 0.0, 0.0, 0.0, 0.0, 1.414341383950783, 1.3112761203194212, 0.18407372679857478, 0.22016951117247222, 0.07162321308304144, 0.28089376980930975, 0.39488342077602084, 0.0, 1.335062470513047, 0.8942985617518384, 0.04858610553521475, 0.0, 0.0, 0.0, 0.0, 0.0, 1.414341383950783, 1.3112761203194212, 0.18407372679857478, 0.22016951117247222, 0.07162321308304144, 0.28089376980930975, 0.39488342077602084, 0.0, 1.3172060418332483, 0.896159476174334, 0.04858610553521475, 0.0, 0.0, 0.0, 0.0, 0.0, 1.414341383950783, 1.3112761203194212, 0.18407372679857478, 0.22016951117247222, 0.07162321308304144, 0.28089376980930975, 0.39488342077602084, 0.0, 1.3072545386012435, 0.9493958744700293, 0.04858610553521475, 0.0, 0.0, 0.0, 0.0, 0.0, 1.414341383950783, 1.3112761203194212, 0.18407372679857478, 0.22016951117247222, 0.07162321308304144, 0.28089376980930975, 0.39488342077602084, 0.0, 1.238664835042823, 0.9210456778532473, 0.04858610553521475, 0.0, 0.0, 0.0, 0.0, 0.0, 1.414341383950783, 1.3112761203194212, 0.18407372679857478, 0.22016951117247222, 0.07162321308304144, 0.28089376980930975, 0.39488342077602084, 0.0, 1.2469003680805313, 0.9397957208721488, 0.04858610553521475, 0.0, 0.0, 0.0, 0.0, 0.0, 1.414341383950783, 1.3112761203194212, 0.18407372679857478, 0.22016951117247222, 0.07162321308304144, 0.28089376980930975, 0.39488342077602084, 0.0, 1.2749933339276533, 0.99722802876392, 0.04858610553521475, 0.0, 0.0, 0.0, 0.0, 0.0, 1.414341383950783, 1.3112761203194212, 0.18407372679857478, 0.22016951117247222, 0.07162321308304144, 0.28089376980930975, 0.39488342077602084, 0.0, 1.2085130815556264, 0.9733195717438626, 0.04858610553521475, 0.0, 0.0, 0.0, 0.0, 0.0, 1.414341383950783, 1.3112761203194212, 0.18407372679857478, 0.22016951117247222, 0.07162321308304144, 0.28089376980930975, 0.39488342077602084, 0.0, 1.1959946253108535, 1.0236810197361463, 0.04858610553521475, 0.0, 0.0, 0.0, 0.0, 0.0, 1.414341383950783, 1.3112761203194212, 0.18407372679857478, 0.22016951117247222, 0.07162321308304144, 0.28089376980930975, 0.39488342077602084, 0.0, 1.1813061393420474, 1.0291015778706512, 0.04858610553521475, 0.0, 0.0, 0.0, 0.0, 0.0, 1.414341383950783, 1.3112761203194212, 0.18407372679857478, 0.22016951117247222, 0.07162321308304144, 0.28089376980930975, 0.39488342077602084, 0.0, 1.1792894830598906, 1.0769415288194226, 0.04858610553521475, 0.0, 0.0, 0.0, 0.0, 0.0, 1.414341383950783, 1.3112761203194212, 0.18407372679857478, 0.22016951117247222, 0.07162321308304144, 0.28089376980930975, 0.39488342077602084, 0.0, 1.1521414129462604, 1.0815093682764698, 0.04858610553521475, 0.0, 0.0, 0.0, 0.0, 0.0, 1.414341383950783, 1.3112761203194212, 0.18407372679857478, 0.22016951117247222, 0.07162321308304144, 0.28089376980930975, 0.39488342077602084, 0.0, 1.1554476653733838, 1.1267379105687976, 0.04858610553521475, 0.0, 0.0, 0.0, 0.0, 0.0, 1.414341383950783, 1.3112761203194212, 0.18407372679857478, 0.22016951117247222, 0.07162321308304144, 0.28089376980930975, 0.39488342077602084, 0.0, 1.122283814009545, 1.1329774116831735, 0.04858610553521475, 0.0, 0.0, 0.0, 0.0, 0.0, 1.414341383950783, 1.3112761203194212, 0.18407372679857478, 0.22016951117247222, 0.07162321308304144, 0.28089376980930975, 0.39488342077602084, 0.0, 1.0765791756043956, 1.152399496934747, 0.04858610553521475, 0.0, 0.0, 0.0, 0.0, 0.0, 1.414341383950783, 1.3112761203194212, 0.18407372679857478, 0.22016951117247222, 0.07162321308304144, 0.28089376980930975, 0.39488342077602084, 0.0, 1.092345129861682, 1.1839975446201183, 0.04858610553521475, 0.0, 0.0, 0.0, 0.0, 0.0, 1.414341383950783, 1.3112761203194212, 0.18407372679857478, 0.22016951117247222, 0.07162321308304144, 0.28089376980930975, 0.39488342077602084, 0.0, 1.114865076193993, 1.2291581236186249, 0.04858610553521475, 0.0, 0.0, 0.0, 0.0, 0.0, 1.414341383950783, 1.3112761203194212, 0.18407372679857478, 0.22016951117247222, 0.07162321308304144, 0.28089376980930975, 0.39488342077602084, 0.0, 1.0629232609602597, 1.2353885335391455, 0.04858610553521475, 0.0, 0.0, 0.0, 0.0, 0.0, 1.414341383950783, 1.3112761203194212, 0.18407372679857478, 0.22016951117247222, 0.07162321308304144, 0.28089376980930975, 0.39488342077602084, 0.0, 1.0406492476033031, 1.2568455163032524, 0.04858610553521475, 0.0, 0.0, 0.0, 0.0, 0.0, 1.414341383950783, 1.3112761203194212, 0.18407372679857478, 0.22016951117247222, 0.07162321308304144, 0.28089376980930975, 0.39488342077602084, 0.0, 1.0340253861120716, 1.2865756914193724, 0.04858610553521475, 0.0, 0.0, 0.0, 0.0, 0.0, 1.414341383950783, 1.3112761203194212, 0.18407372679857478, 0.22016951117247222, 0.07162321308304144, 0.28089376980930975, 0.39488342077602084, 0.0, 1.0072256352346316, 1.3024725706366322, 0.04858610553521475, 0.0, 0.0, 0.0, 0.0, 0.0, 1.414341383950783, 1.3112761203194212, 0.18407372679857478, 0.22016951117247222, 0.07162321308304144, 0.28089376980930975, 0.39488342077602084, 0.0, 1.0043427705909647, 1.3361638289290771, 0.04858610553521475, 0.0, 0.0, 0.0, 0.0, 0.0, 1.414341383950783, 1.3112761203194212, 0.18407372679857478, 0.22016951117247222, 0.07162321308304144, 0.28089376980930975, 0.39488342077602084, 0.0, 1.0062903602790703, 1.3628503664928298, 0.04858610553521475, 0.0, 0.0, 0.0, 0.0, 0.0, 1.414341383950783, 1.3112761203194212, 0.18407372679857478, 0.22016951117247222, 0.07162321308304144, 0.28089376980930975, 0.39488342077602084, 0.0, 0.9736238472350893, 1.3834895831305833, 0.04858610553521475, 0.0, 0.0, 0.0, 0.0, 0.0, 1.414341383950783, 1.3112761203194212, 0.18407372679857478, 0.22016951117247222, 0.07162321308304144, 0.28089376980930975, 0.39488342077602084, 0.0, 0.9559430639509916, 1.4147785302251161, 0.04858610553521475, 0.0, 0.0, 0.0, 0.0, 0.0, 1.414341383950783, 1.3112761203194212, 0.18407372679857478, 0.22016951117247222, 0.07162321308304144, 0.28089376980930975, 0.39488342077602084, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5638204665401249, 1.0619915584869826, 0.0, 0.028711739557999924, 0.0875100588982297, 0.028960451686628398, 0.0870049323416063, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5638204665401249, 1.0619915584869826, 0.0, 0.028711739557999924, 0.0875100588982297, 0.028960451686628398, 0.0870049323416063, 0.0], "min": [-3.3560166358947754, -2.0892889499664307, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, -1.0, -3.2127041816711426, -1.6484390497207642, 0.7517411708831787, -0.7078923583030701, -0.36118659377098083, -0.7554994821548462, -0.734589695930481, 0.0, -3.349748373031616, -2.0865540504455566, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0001662969589233, -0.7049564123153687, -0.36118659377098083, -0.7092483043670654, -0.02479901909828186, 0.0, -3.3058583736419678, -2.0674047470092773, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0001662969589233, -0.7049564123153687, -0.36118659377098083, -0.7092483043670654, -0.02479901909828186, 0.0, -3.2012739181518555, -2.0217745304107666, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0001662969589233, -0.7049564123153687, -0.36118659377098083, -0.7092483043670654, -0.02479901909828186, 0.0, -3.0600509643554688, -1.9601590633392334, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0001662969589233, -0.7049564123153687, -0.36118659377098083, -0.7092483043670654, -0.02479901909828186, 0.0, -3.0563478469848633, -1.9585434198379517, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0001662969589233, -0.7049564123153687, -0.36118659377098083, -0.7092483043670654, -0.02479901909828186, 0.0, -3.050795555114746, -1.9561209678649902, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0001662969589233, -0.7049564123153687, -0.36118659377098083, -0.7092483043670654, -0.02479901909828186, 0.0, -2.9129035472869873, -1.895958662033081, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0001662969589233, -0.7049564123153687, -0.36118659377098083, -0.7092483043670654, -0.02479901909828186, 0.0, -2.8204269409179688, -1.8556110858917236, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0001662969589233, -0.7049564123153687, -0.36118659377098083, -0.7092483043670654, -0.02479901909828186, 0.0, -2.7694780826568604, -1.8333821296691895, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0001662969589233, -0.7049564123153687, -0.36118659377098083, -0.7092483043670654, -0.02479901909828186, 0.0, -2.6935083866119385, -1.8002365827560425, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0001662969589233, -0.7049564123153687, -0.36118659377098083, -0.7092483043670654, -0.02479901909828186, 0.0, -2.6257169246673584, -1.77065908908844, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0001662969589233, -0.7049564123153687, -0.36118659377098083, -0.7092483043670654, -0.02479901909828186, 0.0, -2.5798733234405518, -1.750657558441162, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0001662969589233, -0.7049564123153687, -0.36118659377098083, -0.7092483043670654, -0.02479901909828186, 0.0, -2.481577157974243, -1.7077709436416626, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0001662969589233, -0.7049564123153687, -0.36118659377098083, -0.7092483043670654, -0.02479901909828186, 0.0, -2.3382601737976074, -1.6452418565750122, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0001662969589233, -0.7049564123153687, -0.36118659377098083, -0.7092483043670654, -0.02479901909828186, 0.0, -2.337437391281128, -1.6448829174041748, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0001662969589233, -0.7049564123153687, -0.36118659377098083, -0.7092483043670654, -0.02479901909828186, 0.0, -2.3362205028533936, -1.6443519592285156, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0001662969589233, -0.7049564123153687, -0.36118659377098083, -0.7092483043670654, -0.02479901909828186, 0.0, -2.1940059661865234, -1.582303762435913, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0001662969589233, -0.7049564123153687, -0.36118659377098083, -0.7092483043670654, -0.02479901909828186, 0.0, -2.098630666732788, -1.540691614151001, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0001662969589233, -0.7049564123153687, -0.36118659377098083, -0.7092483043670654, -0.02479901909828186, 0.0, -2.0505805015563965, -1.519727349281311, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0001662969589233, -0.7049564123153687, -0.36118659377098083, -0.7092483043670654, -0.02479901909828186, 0.0, -1.9789323806762695, -1.4884673357009888, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0001662969589233, -0.7049564123153687, -0.36118659377098083, -0.7092483043670654, -0.02479901909828186, 0.0, -1.9067974090576172, -1.456994891166687, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0001662969589233, -0.7049564123153687, -0.36118659377098083, -0.7092483043670654, -0.02479901909828186, 0.0, -1.858016848564148, -1.4357119798660278, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0001662969589233, -0.7049564123153687, -0.36118659377098083, -0.7092483043670654, -0.02479901909828186, 0.0, -1.7626577615737915, -1.3941067457199097, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0001662969589233, -0.7049564123153687, -0.36118659377098083, -0.7092483043670654, -0.02479901909828186, 0.0, -1.621644377708435, -1.3325825929641724, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0001662969589233, -0.7049564123153687, -0.36118659377098083, -0.7092483043670654, -0.02479901909828186, 0.0, -1.6185334920883179, -1.3312252759933472, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0001662969589233, -0.7049564123153687, -0.36118659377098083, -0.7092483043670654, -0.02479901909828186, 0.0, -1.6164470911026, -1.3303149938583374, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0001662969589233, -0.7049564123153687, -0.36118659377098083, -0.7092483043670654, -0.02479901909828186, 0.0, -1.47510826587677, -1.2686488628387451, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0001662969589233, -0.7049564123153687, -0.36118659377098083, -0.7092483043670654, -0.02479901909828186, 0.0, -1.3768408298492432, -1.2257747650146484, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0001662969589233, -0.7049564123153687, -0.36118659377098083, -0.7092483043670654, -0.02479901909828186, 0.0, -1.331634283065796, -1.2060511112213135, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0001662969589233, -0.7049564123153687, -0.36118659377098083, -0.7092483043670654, -0.02479901909828186, 0.0, -1.263919711112976, -1.1765072345733643, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0001662969589233, -0.7049564123153687, -0.36118659377098083, -0.7092483043670654, -0.02479901909828186, 0.0, -1.1874854564666748, -1.143159031867981, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0001662969589233, -0.7049564123153687, -0.36118659377098083, -0.7092483043670654, -0.02479901909828186, 0.0, -1.136998176574707, -1.121131420135498, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0001662969589233, -0.7049564123153687, -0.36118659377098083, -0.7092483043670654, -0.02479901909828186, 0.0, -1.0427653789520264, -1.0800176858901978, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0001662969589233, -0.7049564123153687, -0.36118659377098083, -0.7092483043670654, -0.02479901909828186, 0.0, -0.8987635374069214, -1.017189621925354, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0001662969589233, -0.7049564123153687, -0.36118659377098083, -0.7092483043670654, -0.02479901909828186, 0.0, -0.8984197378158569, -1.0170396566390991, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0001662969589233, -0.7049564123153687, -0.36118659377098083, -0.7092483043670654, -0.02479901909828186, 0.0, -0.8978944420814514, -1.016810417175293, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0001662969589233, -0.7049564123153687, -0.36118659377098083, -0.7092483043670654, -0.02479901909828186, 0.0, -0.7549313306808472, -0.9544356465339661, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0001662969589233, -0.7049564123153687, -0.36118659377098083, -0.7092483043670654, -0.02479901909828186, 0.0, -0.6690911054611206, -0.9169835448265076, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0001662969589233, -0.7049564123153687, -0.36118659377098083, -0.7092483043670654, -0.02479901909828186, 0.0, -0.6130691766738892, -0.8925411701202393, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0001662969589233, -0.7049564123153687, -0.36118659377098083, -0.7092483043670654, -0.02479901909828186, 0.0, -0.5227430462837219, -0.853131890296936, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0001662969589233, -0.7049564123153687, -0.36118659377098083, -0.7092483043670654, -0.02479901909828186, 0.0, -0.4712584912776947, -0.8306691646575928, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0001662969589233, -0.7049564123153687, -0.36118659377098083, -0.7092483043670654, -0.02479901909828186, 0.0, -0.4414607286453247, -0.8176683783531189, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0001662969589233, -0.7049564123153687, -0.36118659377098083, -0.7092483043670654, -0.02479901909828186, 0.0, -0.32971251010894775, -0.768912672996521, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0001662969589233, -0.7049564123153687, -0.36118659377098083, -0.7092483043670654, -0.02479901909828186, 0.0, -0.2577360272407532, -0.7604386806488037, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0001662969589233, -0.7049564123153687, -0.36118659377098083, -0.7092483043670654, -0.02479901909828186, 0.0, 1.720996618270874, 2.189411163330078, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, -0.2277693748474121, -0.4644603729248047, 1.0001662969589233, -0.7049564123153687, -0.36118659377098083, -0.7092483043670654, -0.02479901909828186, 0.0, 1.803567886352539, 2.197359323501587, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, -0.2277693748474121, -0.4644603729248047, 1.0001662969589233, -0.7049564123153687, -0.36118659377098083, -0.7092483043670654, -0.02479901909828186, 0.0], "max": [-0.30366551876068115, -0.7730564475059509, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9951025247573853, 2.942279815673828, 1.373115062713623, 0.8466794490814209, 0.22942106425762177, 0.7559221982955933, 0.9632949233055115, 1.0, -0.22723278403282166, -0.7414194941520691, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9951025247573853, 2.656308650970459, 1.3730809688568115, -0.21332457661628723, 0.024335533380508423, -0.11272158473730087, 0.9632949233055115, 0.0, -0.17944645881652832, -0.7216398119926453, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9951025247573853, 2.656308650970459, 1.3730809688568115, -0.21332457661628723, 0.024335533380508423, -0.11272158473730087, 0.9632949233055115, 0.0, -0.09210067242383957, -0.6854857206344604, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9951025247573853, 2.656308650970459, 1.3730809688568115, -0.21332457661628723, 0.024335533380508423, -0.11272158473730087, 0.9632949233055115, 0.0, -0.03700035810470581, -0.6626786589622498, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9951025247573853, 2.656308650970459, 1.3730809688568115, -0.21332457661628723, 0.024335533380508423, -0.11272158473730087, 0.9632949233055115, 0.0, -0.008041777648031712, -0.6506921648979187, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9951025247573853, 2.656308650970459, 1.3730809688568115, -0.21332457661628723, 0.024335533380508423, -0.11272158473730087, 0.9632949233055115, 0.0, 0.10461073368787766, -0.6040631532669067, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9951025247573853, 2.656308650970459, 1.3730809688568115, -0.21332457661628723, 0.024335533380508423, -0.11272158473730087, 0.9632949233055115, 0.0, 0.19283351302146912, -0.5675460696220398, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9951025247573853, 2.656308650970459, 1.3730809688568115, -0.21332457661628723, 0.024335533380508423, -0.11272158473730087, 0.9632949233055115, 0.0, 0.24453581869602203, -0.546145498752594, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9951025247573853, 2.656308650970459, 1.3730809688568115, -0.21332457661628723, 0.024335533380508423, -0.11272158473730087, 0.9632949233055115, 0.0, 0.30907171964645386, -0.5194329023361206, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9951025247573853, 2.656308650970459, 1.3730809688568115, -0.21332457661628723, 0.024335533380508423, -0.11272158473730087, 0.9632949233055115, 0.0, 0.4257579445838928, -0.471134215593338, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9951025247573853, 2.656308650970459, 1.3730809688568115, -0.21332457661628723, 0.024335533380508423, -0.11272158473730087, 0.9632949233055115, 0.0, 0.4527270793914795, -0.4053743779659271, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9951025247573853, 2.656308650970459, 1.3730809688568115, -0.21332457661628723, 0.024335533380508423, -0.11272158473730087, 0.9632949233055115, 0.0, 0.524982213973999, -0.22919198870658875, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9951025247573853, 2.656308650970459, 1.3730809688568115, -0.21332457661628723, 0.024335533380508423, -0.11272158473730087, 0.9632949233055115, 0.0, 0.5277588367462158, -0.22242173552513123, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9951025247573853, 2.656308650970459, 1.3730809688568115, -0.21332457661628723, 0.024335533380508423, -0.11272158473730087, 0.9632949233055115, 0.0, 0.5291681289672852, -0.2189854085445404, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9951025247573853, 2.656308650970459, 1.3730809688568115, -0.21332457661628723, 0.024335533380508423, -0.11272158473730087, 0.9632949233055115, 0.0, 0.5322627425193787, -0.21143972873687744, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9951025247573853, 2.656308650970459, 1.3730809688568115, -0.21332457661628723, 0.024335533380508423, -0.11272158473730087, 0.9632949233055115, 0.0, 0.5849590301513672, -0.0829482153058052, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9951025247573853, 2.656308650970459, 1.3730809688568115, -0.21332457661628723, 0.024335533380508423, -0.11272158473730087, 0.9632949233055115, 0.0, 0.6170861124992371, -0.004611540585756302, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9951025247573853, 2.656308650970459, 1.3730809688568115, -0.21332457661628723, 0.024335533380508423, -0.11272158473730087, 0.9632949233055115, 0.0, 0.6552392840385437, 0.07121787220239639, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9951025247573853, 2.656308650970459, 1.3730809688568115, -0.21332457661628723, 0.024335533380508423, -0.11272158473730087, 0.9632949233055115, 0.0, 0.7127627730369568, 0.18554586172103882, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9951025247573853, 2.656308650970459, 1.3730809688568115, -0.21332457661628723, 0.024335533380508423, -0.11272158473730087, 0.9632949233055115, 0.0, 0.7332468032836914, 0.22625787556171417, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9951025247573853, 2.656308650970459, 1.3730809688568115, -0.21332457661628723, 0.024335533380508423, -0.11272158473730087, 0.9632949233055115, 0.0, 0.7979035377502441, 0.3547631502151489, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9951025247573853, 2.656308650970459, 1.3730809688568115, -0.21332457661628723, 0.024335533380508423, -0.11272158473730087, 0.9632949233055115, 0.0, 0.8105087876319885, 0.37981608510017395, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9951025247573853, 2.656308650970459, 1.3730809688568115, -0.21332457661628723, 0.024335533380508423, -0.11272158473730087, 0.9632949233055115, 0.0, 0.8857071399688721, 0.5292728543281555, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9951025247573853, 2.656308650970459, 1.3730809688568115, -0.21332457661628723, 0.024335533380508423, -0.11272158473730087, 0.9632949233055115, 0.0, 0.8877647519111633, 0.5333623886108398, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9951025247573853, 2.656308650970459, 1.3730809688568115, -0.21332457661628723, 0.024335533380508423, -0.11272158473730087, 0.9632949233055115, 0.0, 0.9075599908828735, 0.5727053880691528, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9951025247573853, 2.656308650970459, 1.3730809688568115, -0.21332457661628723, 0.024335533380508423, -0.11272158473730087, 0.9632949233055115, 0.0, 0.966559886932373, 0.689967691898346, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9951025247573853, 2.656308650970459, 1.3730809688568115, -0.21332457661628723, 0.024335533380508423, -0.11272158473730087, 0.9632949233055115, 0.0, 0.9732164740562439, 0.703197717666626, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9951025247573853, 2.656308650970459, 1.3730809688568115, -0.21332457661628723, 0.024335533380508423, -0.11272158473730087, 0.9632949233055115, 0.0, 1.0461227893829346, 0.8480989933013916, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9951025247573853, 2.656308650970459, 1.3730809688568115, -0.21332457661628723, 0.024335533380508423, -0.11272158473730087, 0.9632949233055115, 0.0, 1.0615719556808472, 0.8788041472434998, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9951025247573853, 2.656308650970459, 1.3730809688568115, -0.21332457661628723, 0.024335533380508423, -0.11272158473730087, 0.9632949233055115, 0.0, 1.1252009868621826, 1.0052669048309326, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9951025247573853, 2.656308650970459, 1.3730809688568115, -0.21332457661628723, 0.024335533380508423, -0.11272158473730087, 0.9632949233055115, 0.0, 1.1466360092163086, 1.047869086265564, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9951025247573853, 2.656308650970459, 1.3730809688568115, -0.21332457661628723, 0.024335533380508423, -0.11272158473730087, 0.9632949233055115, 0.0, 1.2038214206695557, 1.1615251302719116, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9951025247573853, 2.656308650970459, 1.3730809688568115, -0.21332457661628723, 0.024335533380508423, -0.11272158473730087, 0.9632949233055115, 0.0, 1.230867624282837, 1.215279459953308, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9951025247573853, 2.656308650970459, 1.3730809688568115, -0.21332457661628723, 0.024335533380508423, -0.11272158473730087, 0.9632949233055115, 0.0, 1.2822765111923218, 1.3174546957015991, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9951025247573853, 2.656308650970459, 1.3730809688568115, -0.21332457661628723, 0.024335533380508423, -0.11272158473730087, 0.9632949233055115, 0.0, 1.3145605325698853, 1.3816190958023071, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9951025247573853, 2.656308650970459, 1.3730809688568115, -0.21332457661628723, 0.024335533380508423, -0.11272158473730087, 0.9632949233055115, 0.0, 1.3607089519500732, 1.4733390808105469, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9951025247573853, 2.656308650970459, 1.3730809688568115, -0.21332457661628723, 0.024335533380508423, -0.11272158473730087, 0.9632949233055115, 0.0, 1.3984432220458984, 1.5483360290527344, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9951025247573853, 2.656308650970459, 1.3730809688568115, -0.21332457661628723, 0.024335533380508423, -0.11272158473730087, 0.9632949233055115, 0.0, 1.43915855884552, 1.6292577981948853, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9951025247573853, 2.656308650970459, 1.3730809688568115, -0.21332457661628723, 0.024335533380508423, -0.11272158473730087, 0.9632949233055115, 0.0, 1.4817612171173096, 1.7139304876327515, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9951025247573853, 2.656308650970459, 1.3730809688568115, -0.21332457661628723, 0.024335533380508423, -0.11272158473730087, 0.9632949233055115, 0.0, 1.5177937746047974, 1.7855452299118042, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9951025247573853, 2.656308650970459, 1.3730809688568115, -0.21332457661628723, 0.024335533380508423, -0.11272158473730087, 0.9632949233055115, 0.0, 1.5634379386901855, 1.8762630224227905, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9951025247573853, 2.656308650970459, 1.3730809688568115, -0.21332457661628723, 0.024335533380508423, -0.11272158473730087, 0.9632949233055115, 0.0, 1.5971813201904297, 1.9433280229568481, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9951025247573853, 2.656308650970459, 1.3730809688568115, -0.21332457661628723, 0.024335533380508423, -0.11272158473730087, 0.9632949233055115, 0.0, 1.6427505016326904, 2.0338966846466064, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9951025247573853, 2.656308650970459, 1.3730809688568115, -0.21332457661628723, 0.024335533380508423, -0.11272158473730087, 0.9632949233055115, 0.0, 1.6789075136184692, 2.1057589054107666, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9951025247573853, 2.656308650970459, 1.3730809688568115, -0.21332457661628723, 0.024335533380508423, -0.11272158473730087, 0.9632949233055115, 0.0, 1.720996618270874, 2.189411163330078, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9951025247573853, 2.656308650970459, 1.0001662969589233, -0.6070099472999573, 0.024335533380508423, -0.6103917956352234, 0.3584754467010498, 0.0, 1.803567886352539, 2.197359323501587, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9951025247573853, 2.656308650970459, 1.0001662969589233, -0.6070099472999573, 0.024335533380508423, -0.6103917956352234, 0.3584754467010498, 0.0], "count": [2122]}, "action.applied": {"mean": [0.08329699563545427, -0.0019835575236205947, 0.007345953146742945, 0.41468666585277275, -0.9394881637112135, 0.7789877716396156, -0.7566882860372818, 0.6289395337477254, -2.235518916725101, 0.4060864315913203, 0.0037667562010628678, -0.0037667562010628678], "std": [0.11878385545665353, 0.010101265990938121, 0.1576492390988711, 0.2610925707749817, 0.35221354696434587, 0.47102550989981967, 0.7608620934070882, 0.41463222663667065, 0.2134544631883567, 0.38652452980579227, 0.01414199690888344, 0.01414199690888344], "min": [0.0, -0.06866573542356491, -0.800000011920929, -0.0053541031666100025, -1.6057302951812744, -0.0024204892106354237, -1.673197627067566, -0.5276113748550415, -2.8702759742736816, -0.04311877861618996, -0.009999999776482582, -0.020833000540733337], "max": [0.30000001192092896, 0.09898437559604645, 0.800000011920929, 0.7919299006462097, -0.5702931880950928, 1.372678279876709, 0.6542772054672241, 1.1600415706634521, -1.80431067943573, 1.1224709749221802, 0.020833000540733337, 0.009999999776482582], "count": [2122]}, "extra.reward": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [2122]}, "next.truncated": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [2122]}, "sim_step_idx": {"mean": [2222.0], "std": [1225.1371351812008], "min": [101.0], "max": [4343.0], "count": [2122]}, "timestamp": {"mean": [42.42000000258165], "std": [24.50274270446678], "min": [0.0], "max": [84.83999633789062], "count": [2122]}, "frame_index": {"mean": [1060.5], "std": [612.5685675906004], "min": [0.0], "max": [2121.0], "count": [2122]}, "episode_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [2122]}, "index": {"mean": [1060.5], "std": [612.5685675906004], "min": [0.0], "max": [2121.0], "count": [2122]}, "task_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [2122]}, "next.done": {"mean": [0.000471253534401508], "std": [0.021703259075719992], "min": [0.0], "max": [1.0], "count": [2122]}, "observation.images.head": {"mean": [[[0.3883748017701949]], [[0.3239749610941124]], [[0.2923739923220394]]], "std": [[[0.19830446862666604]], [[0.16820542362921456]], [[0.14163401039899703]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.984313725490196]], [[0.9725490196078431]], [[0.9725490196078431]]], "count": [100]}, "observation.images.wrist": {"mean": [[[0.4361757348020177]], [[0.3686327662791684]], [[0.30725197994202674]]], "std": [[[0.19636293663612597]], [[0.16561665727407068]], [[0.15045667470580124]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.984313725490196]], [[0.9764705882352941]], [[0.984313725490196]]], "count": [100]}}} diff --git a/N033/sawyer_umi/dr_on/seed_2021/rec/stationringxr/000/lerobot_v21/meta/extra/episode_000000.json b/N033/sawyer_umi/dr_on/seed_2021/rec/stationringxr/000/lerobot_v21/meta/extra/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..c011aec379ca58b79fedf6b12c69e218d8d1a4bd --- /dev/null +++ b/N033/sawyer_umi/dr_on/seed_2021/rec/stationringxr/000/lerobot_v21/meta/extra/episode_000000.json @@ -0,0 +1,500 @@ +{ + "episode_index": 0, + "trajectory_id": 0, + "env_id": 0, + "task_type": "RingXRCommand", + "subsample_every": 2, + "control_steps": 4244, + "language": { + "scene": { + "objects": [ + { + "id": "table_A_1", + "cat_name": "table_A", + "inst_id": 1, + "noun": "table A", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 3.6544253673890426, + -0.9509282930902248, + 0.12999995440155626 + ], + "bbox": { + "extent": [ + 0.9127314386944949, + 0.5229166319583516, + 0.30000001192092896 + ], + "center": [ + 5.551115123125783e-17, + -2.7755575615628914e-17, + 0.0 + ] + } + }, + { + "id": "table_B_1", + "cat_name": "table_B", + "inst_id": 1, + "noun": "table B", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 7.130924878196758, + -0.8588009766811113, + 0.12999992237844718 + ], + "bbox": { + "extent": [ + 0.9852695819283602, + 0.6534852863204219, + 0.30000001192092896 + ], + "center": [ + -5.551115123125783e-17, + -2.220446049250313e-16, + 0.0 + ] + } + }, + { + "id": "rack_back_1", + "cat_name": "rack_back", + "inst_id": 1, + "noun": "rack back", + "color": "brown", + "size": "medium", + "material": null, + "category": "geometry", + "pos": [ + 3.6160291714748594, + -0.9173763655850112, + 0.37999995500156536 + ], + "bbox": { + "extent": [ + 0.7007638758141781, + 0.04782404657679987, + 0.20000000298023224 + ], + "center": [ + -2.7755575615628914e-17, + 1.3877787807814457e-17, + 0.0 + ] + } + }, + { + "id": "peg_1_1", + "cat_name": "peg_1", + "inst_id": 1, + "noun": "peg 1", + "color": "gray", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.6241753088198907, + -1.1002933974785838, + 0.4199999536215862 + ], + "bbox": { + "extent": [ + 0.024583326248177183, + 0.18050926564262865, + 0.019999999552965164 + ], + "center": [ + -3.469446951953614e-17, + 6.938893903907228e-18, + 0.0 + ] + } + }, + { + "id": "peg_2_1", + "cat_name": "peg_2", + "inst_id": 1, + "noun": "peg 2", + "color": "gray", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.4413725449339743, + -0.8624212689816331, + 0.4199999570349532 + ], + "bbox": { + "extent": [ + 0.024583326248177294, + 0.18050926564262865, + 0.019999999552965164 + ], + "center": [ + -8.326672684688674e-17, + 6.938893903907228e-18, + 0.0 + ] + } + }, + { + "id": "ring_1", + "cat_name": "ring", + "inst_id": 1, + "noun": "ring", + "color": null, + "size": "small", + "material": null, + "category": "rigid", + "pos": [ + 3.585840551923167, + -1.1297531301743595, + 0.3899998023762205 + ], + "bbox": { + "extent": [ + 0.12489212190555204, + 0.03815890554056027, + 0.18200120362948985 + ], + "center": [ + -1.1970250359330525e-07, + -2.0893789811141095e-07, + 0.028999978796374865 + ] + } + }, + { + "id": "ring_small_1", + "cat_name": "ring_small", + "inst_id": 1, + "noun": "ring small", + "color": null, + "size": "small", + "material": null, + "category": "rigid", + "pos": [ + 3.4137752839962348, + -0.8836291356512703, + 0.41878673320907767 + ], + "bbox": { + "extent": [ + 0.07496873552915745, + 0.0368851041275311, + 0.1320502212236993 + ], + "center": [ + -1.389723252777017e-05, + 3.7498339639993605e-08, + 0.029000048240168136 + ] + } + }, + { + "id": "rod_h_1", + "cat_name": "rod_h", + "inst_id": 1, + "noun": "rod h", + "color": "white", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 7.036130432528269, + -0.9477617145961033, + 0.4799999226356243 + ], + "bbox": { + "extent": [ + 0.043875489270275514, + 0.14341078475061853, + 0.019999999552965164 + ], + "center": [ + -1.1102230246251565e-16, + 0.0, + 0.0 + ] + } + }, + { + "id": "rod_s_1", + "cat_name": "rod_s", + "inst_id": 1, + "noun": "rod s", + "color": "white", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 7.128956073322859, + -0.8606486249320003, + 0.4397999223837885 + ], + "bbox": { + "extent": [ + 0.041514123266642056, + 0.161587817641551, + 0.15351331158860593 + ], + "center": [ + 3.3133218391157016e-16, + -8.326672684688674e-17, + 5.551115123125783e-17 + ] + } + }, + { + "id": "rod_stop_1", + "cat_name": "rod_stop", + "inst_id": 1, + "noun": "rod stop", + "color": "brown", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 7.181968044994615, + -0.8108990437200319, + 0.33999992223996717 + ], + "bbox": { + "extent": [ + 0.10204647204639022, + 0.02905392151247499, + 0.11999999731779099 + ], + "center": [ + -2.7755575615628914e-17, + -2.220446049250313e-16, + 0.0 + ] + } + } + ], + "relations": [ + { + "subject": "table_B_1", + "relation": "behind", + "object": "rod_stop_1" + }, + { + "subject": "rack_back_1", + "relation": "right_of", + "object": "peg_2_1" + }, + { + "subject": "peg_1_1", + "relation": "on_top_of", + "object": "ring_1" + }, + { + "subject": "rod_h_1", + "relation": "right_of", + "object": "rod_s_1" + }, + { + "subject": "rod_s_1", + "relation": "on_top_of", + "object": "rod_stop_1" + }, + { + "subject": "rod_s_1", + "relation": "behind", + "object": "rod_stop_1" + }, + { + "subject": "rod_stop_1", + "relation": "in_front_of", + "object": "rod_s_1" + } + ], + "cameras": [ + { + "name": "head", + "intrinsics": { + "K": [ + [ + 355.55555555555554, + 0.0, + 320.0 + ], + [ + 0.0, + 355.55555555555554, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 83.97442499163331, + "resolution": [ + 640, + 480 + ] + }, + "pos_robot": [ + 3.8529039086620664, + -1.5104731143949988, + -0.0950000532394344 + ], + "viewpoint": "front, at table height", + "extrinsics": { + "R": [ + [ + -8.039232568535226e-08, + -0.9999999999999964, + 2.5347603738179458e-08 + ], + [ + 0.8191520331270514, + -8.039232568535226e-08, + -0.5735764522919431 + ], + [ + 0.5735764522919431, + -2.5347603738179458e-08, + 0.819152033127055 + ] + ], + "t": [ + 1.855362002599171e-08, + -0.2032392724571752, + -0.08737481710326404 + ] + } + }, + { + "name": "wrist", + "intrinsics": { + "K": [ + [ + 320.0, + 0.0, + 320.0 + ], + [ + 0.0, + 320.0, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 90.0, + "resolution": [ + 640, + 480 + ] + }, + "pos_robot": [ + 3.75578266934621, + -1.3873727277651253, + -0.020000050331722842 + ], + "viewpoint": "front, at table height", + "extrinsics": { + "R": [ + [ + 0.0, + 1.0, + -1.4782795217992896e-16 + ], + [ + 1.0, + 0.0, + 2.5363269588459423e-17 + ], + [ + 2.5363269588459423e-17, + -1.4782795217992896e-16, + -1.0 + ] + ], + "t": [ + 4.4348384662715026e-18, + -0.05979999899864197, + 0.029999999329447746 + ] + } + } + ], + "robots": [ + { + "name": "RidgebackSawyerUmi", + "model": "ridgebacksawyer_umi", + "type": "mobilemanip", + "noun": "Ridgeback-Sawyer mobile manipulator with a UMI gripper", + "arms": 1, + "arm_layout": null, + "mobile": true, + "dexterous": false, + "base_pose": { + "pos": [ + -3.4, + -2.2, + 0.05 + ], + "ori": [ + 0.9396926164627075, + 0.0, + 0.0, + 0.3420201539993286 + ] + }, + "facing_yaw_deg": 40.000001288448495, + "gripper": "parallel gripper" + } + ], + "lighting": [], + "background": { + "name": null, + "kind": "background", + "type": "dome", + "pose": null, + "setting": null, + "time_of_day": null, + "indoor": false, + "intensity": 1000.0, + "ambient": "dim" + }, + "effects": [], + "caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the ring. There are a large gray table A, a large gray table B, a medium brown rack back, a small gray peg 1, a small gray peg 2, a small ring, a small ring small, a small white rod h, a small white rod s and a small brown rod stop. The gray table B is behind the brown rod stop. The brown rack back is to the right of the gray peg 2. The gray peg 1 is on top of the ring. The white rod h is to the right of the white rod s. The white rod s is on top of the brown rod stop. The white rod s is behind the brown rod stop. The brown rod stop is in front of the white rod s. The scene is viewed from front, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n [rod stop]\n\n\n\n [ring small]\n\n\n\n[robot]" + }, + "task": { + "task_type": "StationRingXR", + "instruction": "Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.", + "template_id": -1, + "slots": { + "obj": 1.558054802834693, + "support": null + }, + "generic_instruction": "Stationringxr the 1.558054802834693.", + "task_id": "N033", + "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 +} \ No newline at end of file diff --git a/N033/sawyer_umi/dr_on/seed_2021/rec/stationringxr/000/lerobot_v21/meta/info.json b/N033/sawyer_umi/dr_on/seed_2021/rec/stationringxr/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..4217d1fac4982bb19c350d9818a5f39f56c9a1ab --- /dev/null +++ b/N033/sawyer_umi/dr_on/seed_2021/rec/stationringxr/000/lerobot_v21/meta/info.json @@ -0,0 +1,317 @@ +{ + "codebase_version": "v2.1", + "robot_type": "RidgebackSawyerUmiCfg", + "total_episodes": 1, + "total_frames": 2122, + "total_tasks": 1, + "total_videos": 2, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 25, + "splits": { + "train": "0:1" + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", + "features": { + "action": { + "dtype": "float32", + "shape": [ + 11 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "frame0.pos_x", + "frame0.pos_y", + "frame0.pos_z", + "frame0.quat_w", + "frame0.quat_x", + "frame0.quat_y", + "frame0.quat_z", + "gripper" + ] + }, + "action_is_hold": { + "dtype": "bool", + "shape": [ + 11 + ], + "names": null + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 15 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint", + "gripper_0", + "gripper_1" + ] + }, + "observation.joint_vel": { + "dtype": "float32", + "shape": [ + 13 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ] + }, + "observation.eef_pose": { + "dtype": "float32", + "shape": [ + 7 + ], + "names": null + }, + "observation.environment_state": { + "dtype": "float32", + "shape": [ + 70 + ], + "names": [ + "object_pose.peg_1.0", + "object_pose.peg_1.1", + "object_pose.peg_1.2", + "object_pose.peg_1.3", + "object_pose.peg_1.4", + "object_pose.peg_1.5", + "object_pose.peg_1.6", + "object_pose.peg_2.0", + "object_pose.peg_2.1", + "object_pose.peg_2.2", + "object_pose.peg_2.3", + "object_pose.peg_2.4", + "object_pose.peg_2.5", + "object_pose.peg_2.6", + "object_pose.rack_back.0", + "object_pose.rack_back.1", + "object_pose.rack_back.2", + "object_pose.rack_back.3", + "object_pose.rack_back.4", + "object_pose.rack_back.5", + "object_pose.rack_back.6", + "object_pose.ring.0", + "object_pose.ring.1", + "object_pose.ring.2", + "object_pose.ring.3", + "object_pose.ring.4", + "object_pose.ring.5", + "object_pose.ring.6", + "object_pose.ring_small.0", + "object_pose.ring_small.1", + "object_pose.ring_small.2", + "object_pose.ring_small.3", + "object_pose.ring_small.4", + "object_pose.ring_small.5", + "object_pose.ring_small.6", + "object_pose.rod_h.0", + "object_pose.rod_h.1", + "object_pose.rod_h.2", + "object_pose.rod_h.3", + "object_pose.rod_h.4", + "object_pose.rod_h.5", + "object_pose.rod_h.6", + "object_pose.rod_s.0", + "object_pose.rod_s.1", + "object_pose.rod_s.2", + "object_pose.rod_s.3", + "object_pose.rod_s.4", + "object_pose.rod_s.5", + "object_pose.rod_s.6", + "object_pose.rod_stop.0", + "object_pose.rod_stop.1", + "object_pose.rod_stop.2", + "object_pose.rod_stop.3", + "object_pose.rod_stop.4", + "object_pose.rod_stop.5", + "object_pose.rod_stop.6", + "object_pose.table_A.0", + "object_pose.table_A.1", + "object_pose.table_A.2", + "object_pose.table_A.3", + "object_pose.table_A.4", + "object_pose.table_A.5", + "object_pose.table_A.6", + "object_pose.table_B.0", + "object_pose.table_B.1", + "object_pose.table_B.2", + "object_pose.table_B.3", + "object_pose.table_B.4", + "object_pose.table_B.5", + "object_pose.table_B.6" + ] + }, + "action.command": { + "dtype": "float32", + "shape": [ + 752 + ], + "names": null + }, + "action.applied": { + "dtype": "float32", + "shape": [ + 12 + ], + "names": null + }, + "narration": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "collect_info": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "extra.reward": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "extra.action_info": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "next.truncated": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "sim_step_idx": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "next.done": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "observation.images.head": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25, + "video.codec": "libsvtav1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.wrist": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25, + "video.codec": "libsvtav1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + } + } +} \ No newline at end of file diff --git a/N033/sawyer_umi/dr_on/seed_2021/rec/stationringxr/000/lerobot_v21/meta/magicsim_manifest.json b/N033/sawyer_umi/dr_on/seed_2021/rec/stationringxr/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..56d809315057cd35a6bb0ac2f13b63f1720453ff --- /dev/null +++ b/N033/sawyer_umi/dr_on/seed_2021/rec/stationringxr/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,264 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 03:09:04" + }, + "embodiment": { + "robots": [ + { + "name": "RidgebackSawyerUmi", + "cfg": "RidgebackSawyerUmiCfg", + "type": "mobilemanip", + "joint_names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 11, + "nan_policy": "from_raw", + "segments": [ + { + "name": "RidgebackSawyerUmi.base_action", + "start": 0, + "end": 3, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint" + ], + "source": "HolonomicAction", + "names_source": "_joint_names" + }, + { + "name": "RidgebackSawyerUmi.arm_action", + "start": 3, + "end": 10, + "names": [ + "frame0.pos_x", + "frame0.pos_y", + "frame0.pos_z", + "frame0.quat_w", + "frame0.quat_x", + "frame0.quat_y", + "frame0.quat_z" + ], + "source": "PinkInverseKinematicsAction", + "names_source": "pink_layout" + }, + { + "name": "RidgebackSawyerUmi.eef_action", + "start": 10, + "end": 11, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 15, + "segments": [ + { + "name": "RidgebackSawyerUmi.joint_pos", + "start": 0, + "end": 13, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ], + "source": "ObservationManager", + "names_source": "joint_names" + }, + { + "name": "RidgebackSawyerUmi.gripper_pos", + "start": 13, + "end": 15, + "names": [ + "gripper_0", + "gripper_1" + ], + "source": "ObservationManager", + "names_source": "generated" + } + ] + }, + "joint_vel_layout": { + "dim": 13, + "segments": [ + { + "name": "RidgebackSawyerUmi.joint_vel", + "start": 0, + "end": 13, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "action_levels": { + "L0": "task command list (collect.auto_collect_info.current_action)", + "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)", + "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)", + "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy", + "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)" + }, + "cameras": { + "head": { + "intrinsics": { + "K": [ + [ + 355.55555555555554, + 0.0, + 320.0 + ], + [ + 0.0, + 355.55555555555554, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 83.97442499163331, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.21660000085830688, + 0.0, + -0.04500000178813934 + ], + "quat": [ + -0.6743797063827515, + 0.21263112127780914, + -0.21263112127780914, + 0.6743797659873962 + ] + }, + "wrist": { + "intrinsics": { + "K": [ + [ + 320.0, + 0.0, + 320.0 + ], + [ + 0.0, + 320.0, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 90.0, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.05979999899864197, + 0.0, + 0.029999999329447746 + ], + "quat": [ + 6.123234262925839e-17, + 0.7071067690849304, + 0.7071067690849304, + -4.329780301713277e-17 + ] + } + }, + "lerobot": { + "codebase_version": "v2.1", + "video_keys": [ + "observation.images.head", + "observation.images.wrist" + ], + "columns": [ + "action", + "action.applied", + "action.command", + "action_is_hold", + "collect_info", + "episode_index", + "extra.action_info", + "extra.reward", + "frame_index", + "index", + "narration", + "next.done", + "next.truncated", + "observation.eef_pose", + "observation.environment_state", + "observation.images.head", + "observation.images.wrist", + "observation.joint_vel", + "observation.state", + "sim_step_idx", + "task_index", + "timestamp" + ] + }, + "generated_run": { + "run_id": "stationringxr/000", + "task_type": "RingXRCommand" + } +} \ No newline at end of file diff --git a/N033/sawyer_umi/dr_on/seed_2021/rec/stationringxr/000/lerobot_v21/meta/stats.json b/N033/sawyer_umi/dr_on/seed_2021/rec/stationringxr/000/lerobot_v21/meta/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..a9cae463fb712751700860b542ca212bb42cf62c --- /dev/null +++ b/N033/sawyer_umi/dr_on/seed_2021/rec/stationringxr/000/lerobot_v21/meta/stats.json @@ -0,0 +1,3969 @@ +{ + "action": { + "mean": [ + 0.08329699563545427, + -0.0019835575236205947, + 0.007345953146742945, + 0.45533834289650554, + 0.8567946234276442, + 1.051354386186285, + -0.2326625152003866, + -0.059953397632998735, + -0.2490732565936505, + 0.1687334199977159, + 0.44015080113100846 + ], + "std": [ + 0.11878385545665353, + 0.010101265990938121, + 0.1576492390988711, + 1.2117061034001553, + 1.4759010724078159, + 0.20833095252455638, + 0.6186062514755559, + 0.10896617921527281, + 0.5390144353464945, + 0.40826614563318897, + 0.4964051504514685 + ], + "min": [ + 0.0, + -0.06866573542356491, + -0.800000011920929, + -3.2127041816711426, + -1.6484390497207642, + 0.7507398724555969, + -0.7078923583030701, + -0.36118659377098083, + -0.7554994821548462, + -0.734589695930481, + 0.0 + ], + "max": [ + 0.30000001192092896, + 0.09898437559604645, + 0.800000011920929, + 1.9951025247573853, + 2.9423298835754395, + 1.373115062713623, + 0.8466794490814209, + 0.22942106425762177, + 0.7559221982955933, + 0.9632949233055115, + 1.0 + ], + "count": [ + 2122 + ] + }, + "action_is_hold": { + "mean": [ + 0.13289349670122527, + 0.13289349670122527, + 0.13289349670122527, + 0.14891611687087652, + 0.14891611687087652, + 0.14891611687087652, + 0.14891611687087652, + 0.14891611687087652, + 0.14891611687087652, + 0.14891611687087652, + 0.9905749293119699 + ], + "std": [ + 0.33945959293522093, + 0.33945959293522093, + 0.33945959293522093, + 0.3560057682214949, + 0.3560057682214949, + 0.3560057682214949, + 0.3560057682214949, + 0.3560057682214949, + 0.3560057682214949, + 0.3560057682214949, + 0.09662421399709292 + ], + "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": [ + 2122 + ] + }, + "observation.state": { + "mean": [ + 0.8033468498585923, + -3.5238720214557917, + 1.2117798567717082, + 0.4146198423368969, + -0.41458577016204373, + -0.9397640822351709, + 0.7789890627433003, + -0.7559138801086889, + 0.6291444561374202, + -2.2359429515835028, + 0.4059938701523913, + 0.014971018683808481, + -0.015515422458654312, + -0.015515422458654312, + -0.014971018683808481 + ], + "std": [ + 1.889905734927482, + 0.3364970934507721, + 0.404849510740794, + 0.2611833823923772, + 0.26122974339104443, + 0.35267923139259144, + 0.4711812625992762, + 0.7617232896495817, + 0.4143126483883238, + 0.21312689692119585, + 0.3866374132249518, + 0.007167459468361237, + 0.007235215793304079, + 0.007235215793304079, + 0.007167459468361237 + ], + "min": [ + -3.356022596359253, + -4.021008491516113, + 0.39489567279815674, + -0.008406146429479122, + -0.7916749119758606, + -1.6115096807479858, + -0.003377356566488743, + -1.671250820159912, + -0.524172842502594, + -2.8692476749420166, + -0.0394865944981575, + 0.0, + -0.020833000540733337, + -0.020833000540733337, + -0.020833000540733337 + ], + "max": [ + 3.155385732650757, + -2.0892906188964844, + 1.5395526885986328, + 0.7923459410667419, + 0.006360845640301704, + -0.5704024434089661, + 1.37265944480896, + 0.6528811454772949, + 1.1589200496673584, + -1.804322361946106, + 1.121018409729004, + 0.020833000540733337, + 0.0, + 0.0, + -0.0 + ], + "count": [ + 2122 + ] + }, + "observation.joint_vel": { + "mean": [ + 0.07675748754308151, + -0.01644546864324615, + 0.00769895789028754, + 0.0008203423106342926, + -0.0003413467882742103, + 0.005519356935290636, + 0.001162527284144199, + -0.01206942120156786, + -0.004181116999944065, + 0.006192447334572806, + 0.0002642093421354813, + 0.0005290828785305988, + 0.001437519163346159 + ], + "std": [ + 0.10873665560270519, + 0.0553616599328714, + 0.15935733769133187, + 0.04964595361800896, + 0.03954390159912176, + 0.05455829131876316, + 0.08641765090125592, + 0.08469884156798094, + 0.11015624018653758, + 0.0690389699274711, + 0.09341937901274013, + 0.006440188562203315, + 0.007229608500290817 + ], + "min": [ + -0.0002995922404807061, + -0.17894195020198822, + -0.8000140190124512, + -0.515835165977478, + -0.19656209647655487, + -0.13313136994838715, + -0.20647791028022766, + -0.1954432874917984, + -0.3287276327610016, + -0.3214746117591858, + -0.4116363823413849, + -0.09955353289842606, + -0.10010934621095657 + ], + "max": [ + 0.29594287276268005, + 0.08932624757289886, + 0.800138533115387, + 0.3830425441265106, + 0.4260145425796509, + 0.2695220708847046, + 0.19862554967403412, + 0.18767838180065155, + 0.32442861795425415, + 0.32269519567489624, + 0.40435242652893066, + 0.10001256316900253, + 0.1000000461935997 + ], + "count": [ + 2122 + ] + }, + "observation.eef_pose": { + "mean": [ + 0.45577525373442496, + 0.8589625782135815, + 1.0535096741868684, + -0.6343686689291778, + -0.04707884742868722, + -0.5440670598674, + 0.2628422942535704 + ], + "std": [ + 1.2131837342120495, + 1.4760286579389323, + 0.21034771749878897, + 0.17885088921676948, + 0.11841072965245318, + 0.24059050311818928, + 0.35548882202690296 + ], + "min": [ + -3.2127041816711426, + -1.6510897874832153, + 0.7527704238891602, + -0.8340070247650146, + -0.3618735671043396, + -0.7562112212181091, + -0.041105806827545166 + ], + "max": [ + 1.9952086210250854, + 2.942471504211426, + 1.385067343711853, + -0.2130046784877777, + 0.2262517213821411, + -0.11239108443260193, + 0.9635709524154663 + ], + "count": [ + 2122 + ] + }, + "observation.environment_state": { + "mean": [ + -0.247096985578537, + 0.07449351251125336, + 0.4699999988079071, + 0.9999797344207764, + 0.0, + 0.0, + -0.006366376299411058, + -0.5470726490020752, + 0.078315868973732, + 0.4699999988079071, + 0.9999797344207764, + 0.0, + 0.0, + -0.006366376299411058, + -0.39574697613716125, + 0.18139617145061493, + 0.4300000071525574, + 0.9999797344207764, + 0.0, + 0.0, + -0.006366376299411058, + 0.633280236491693, + 1.0667218541132104, + 0.5176925782770846, + 0.9865100567179059, + -0.04109865473436357, + -0.0010432209515641756, + -0.044188738714892185, + -0.5475164030825159, + 0.04351378116900633, + 0.4687867515442171, + 0.9999796748161316, + 2.354440770169387e-06, + 0.0002370478112761214, + -0.006367302035805783, + 1.7465038299560547, + 2.847625255584717, + 0.5299999713897705, + 0.9990823268890381, + 0.0, + 0.0, + 0.04283111169934273, + 1.7356089353561401, + 2.9744582176208496, + 0.48980000615119934, + 0.9528417587280273, + -0.3004297912120819, + -0.012879636138677597, + 0.0408489890396595, + 1.7293869256973267, + 3.046891450881958, + 0.38999998569488525, + 0.9990823268890381, + 0.0, + 0.0, + 0.04283111169934273, + -0.345623642206192, + 0.19075830280780792, + 0.18000000715255737, + 0.9999797344207764, + 0.0, + 0.0, + -0.006366376299411058, + 1.7353777885437012, + 2.9771482944488525, + 0.18000000715255737, + 0.9990823268890381, + 0.0, + 0.0, + 0.04283111169934273 + ], + "std": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.9272020922935659, + 1.3296627440126667, + 0.10921869411634832, + 0.025627599746257324, + 0.09301362271754708, + 0.0062729852092786535, + 0.11750496423792274, + 4.6315597240521044e-08, + 8.060099690589533e-09, + 2.4305177214415685e-08, + 0.0, + 3.1044803747669797e-07, + 2.4815034110088406e-06, + 1.4136810919194984e-07, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 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": [ + -0.247096985578537, + 0.07449351251125336, + 0.4699999988079071, + 0.9999797344207764, + 0.0, + 0.0, + -0.006366376299411058, + -0.5470726490020752, + 0.078315868973732, + 0.4699999988079071, + 0.9999797344207764, + 0.0, + 0.0, + -0.006366376299411058, + -0.39574697613716125, + 0.18139617145061493, + 0.4300000071525574, + 0.9999797344207764, + 0.0, + 0.0, + -0.006366376299411058, + -0.24940675497055054, + -0.45801085233688354, + 0.4305282533168793, + 0.8607740998268127, + -0.3958326578140259, + -0.02954409457743168, + -0.5089746713638306, + -0.5475164651870728, + 0.04351375997066498, + 0.46878671646118164, + 0.9999796748161316, + 1.6434247527286061e-06, + 0.00023343732755165547, + -0.006367859896272421, + 1.7465038299560547, + 2.847625255584717, + 0.5299999713897705, + 0.9990823268890381, + 0.0, + 0.0, + 0.04283111169934273, + 1.7356089353561401, + 2.9744582176208496, + 0.48980000615119934, + 0.9528417587280273, + -0.3004297912120819, + -0.012879636138677597, + 0.0408489890396595, + 1.7293869256973267, + 3.046891450881958, + 0.38999998569488525, + 0.9990823268890381, + 0.0, + 0.0, + 0.04283111169934273, + -0.345623642206192, + 0.19075830280780792, + 0.18000000715255737, + 0.9999797344207764, + 0.0, + 0.0, + -0.006366376299411058, + 1.7353777885437012, + 2.9771482944488525, + 0.18000000715255737, + 0.9990823268890381, + 0.0, + 0.0, + 0.04283111169934273 + ], + "max": [ + -0.247096985578537, + 0.07449351251125336, + 0.4699999988079071, + 0.9999797344207764, + 0.0, + 0.0, + -0.006366376299411058, + -0.5470726490020752, + 0.078315868973732, + 0.4699999988079071, + 0.9999797344207764, + 0.0, + 0.0, + -0.006366376299411058, + -0.39574697613716125, + 0.18139617145061493, + 0.4300000071525574, + 0.9999797344207764, + 0.0, + 0.0, + -0.006366376299411058, + 1.9958115816116333, + 3.010361909866333, + 0.6878238916397095, + 0.9999908804893494, + 0.012533657252788544, + 0.0220461655408144, + 0.06364767253398895, + -0.5475162863731384, + 0.04351380467414856, + 0.4687868058681488, + 0.9999796748161316, + 3.1988975024432875e-06, + 0.0002411902678431943, + -0.006366897374391556, + 1.7465038299560547, + 2.847625255584717, + 0.5299999713897705, + 0.9990823268890381, + 0.0, + 0.0, + 0.04283111169934273, + 1.7356089353561401, + 2.9744582176208496, + 0.48980000615119934, + 0.9528417587280273, + -0.3004297912120819, + -0.012879636138677597, + 0.0408489890396595, + 1.7293869256973267, + 3.046891450881958, + 0.38999998569488525, + 0.9990823268890381, + 0.0, + 0.0, + 0.04283111169934273, + -0.345623642206192, + 0.19075830280780792, + 0.18000000715255737, + 0.9999797344207764, + 0.0, + 0.0, + -0.006366376299411058, + 1.7353777885437012, + 2.9771482944488525, + 0.18000000715255737, + 0.9990823268890381, + 0.0, + 0.0, + 0.04283111169934273 + ], + "count": [ + 2122 + ] + }, + "action.command": { + "mean": [ + -1.5865899552420715, + -1.326278136851796, + 1.6151142883188188, + 0.0, + 0.0, + 0.0, + 0.0, + 0.4069767441860465, + 0.3208863040884072, + 0.6426427020280852, + 1.0711847106087644, + -0.1645206031642219, + -0.07329766845649288, + -0.1913021677529495, + 0.19073041944773836, + 0.5, + -1.539647836787923, + -1.3067889180487415, + 1.6151142883188188, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14539737765454064, + 0.21606639660938853, + 1.156904931192274, + -0.5040161760596485, + -0.13931026291256107, + -0.44646165461016657, + 0.4886648231829212, + 0.0, + -1.4934991644574451, + -1.2872741884577232, + 1.6151142883188188, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14539737765454064, + 0.21606639660938853, + 1.156904931192274, + -0.5040161760596485, + -0.13931026291256107, + -0.44646165461016657, + 0.4886648231829212, + 0.0, + -1.3989078453626513, + -1.2471372156526008, + 1.6151142883188188, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14539737765454064, + 0.21606639660938853, + 1.156904931192274, + -0.5040161760596485, + -0.13931026291256107, + -0.44646165461016657, + 0.4886648231829212, + 0.0, + -1.307609585761461, + -1.2080187108609584, + 1.6151142883188188, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14539737765454064, + 0.21606639660938853, + 1.156904931192274, + -0.5040161760596485, + -0.13931026291256107, + -0.44646165461016657, + 0.4886648231829212, + 0.0, + -1.2892660523633943, + -1.2003911575291486, + 1.6151142883188188, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14539737765454064, + 0.21606639660938853, + 1.156904931192274, + -0.5040161760596485, + -0.13931026291256107, + -0.44646165461016657, + 0.4886648231829212, + 0.0, + -1.221628509303544, + -1.1723424708547672, + 1.6151142883188188, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14539737765454064, + 0.21606639660938853, + 1.156904931192274, + -0.5040161760596485, + -0.13931026291256107, + -0.44646165461016657, + 0.4886648231829212, + 0.0, + -1.1125294072498537, + -1.1258871356177076, + 1.6151142883188188, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14539737765454064, + 0.21606639660938853, + 1.156904931192274, + -0.5040161760596485, + -0.13931026291256107, + -0.44646165461016657, + 0.4886648231829212, + 0.0, + -1.0436893789693624, + -1.0965230064521574, + 1.6151142883188188, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14539737765454064, + 0.21606639660938853, + 1.156904931192274, + -0.5040161760596485, + -0.13931026291256107, + -0.44646165461016657, + 0.4886648231829212, + 0.0, + -0.9848642067053524, + -1.0716949152411648, + 1.6151142883188188, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14539737765454064, + 0.21606639660938853, + 1.156904931192274, + -0.5040161760596485, + -0.13931026291256107, + -0.44646165461016657, + 0.4886648231829212, + 0.0, + -0.8852914224830681, + -1.0297651987219363, + 1.6151142883188188, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14539737765454064, + 0.21606639660938853, + 1.156904931192274, + -0.5040161760596485, + -0.13931026291256107, + -0.44646165461016657, + 0.4886648231829212, + 0.0, + -0.841164379221208, + -0.9792130522984118, + 1.6151142883188188, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14539737765454064, + 0.21606639660938853, + 1.156904931192274, + -0.5040161760596485, + -0.13931026291256107, + -0.44646165461016657, + 0.4886648231829212, + 0.0, + -0.780010196084537, + -0.8686745658323363, + 1.6151142883188188, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14539737765454064, + 0.21606639660938853, + 1.156904931192274, + -0.5040161760596485, + -0.13931026291256107, + -0.44646165461016657, + 0.4886648231829212, + 0.0, + -0.7370860441516395, + -0.8467243542848539, + 1.6151142883188188, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14539737765454064, + 0.21606639660938853, + 1.156904931192274, + -0.5040161760596485, + -0.13931026291256107, + -0.44646165461016657, + 0.4886648231829212, + 0.0, + -0.6760319605065067, + -0.8184509286140185, + 1.6151142883188188, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14539737765454064, + 0.21606639660938853, + 1.156904931192274, + -0.5040161760596485, + -0.13931026291256107, + -0.44646165461016657, + 0.4886648231829212, + 0.0, + -0.673892213363715, + -0.8139258859571347, + 1.6151142883188188, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14539737765454064, + 0.21606639660938853, + 1.156904931192274, + -0.5040161760596485, + -0.13931026291256107, + -0.44646165461016657, + 0.4886648231829212, + 0.0, + -0.6428330758104921, + -0.7392170852426233, + 1.6151142883188188, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14539737765454064, + 0.21606639660938853, + 1.156904931192274, + -0.5040161760596485, + -0.13931026291256107, + -0.44646165461016657, + 0.4886648231829212, + 0.0, + -0.5644354695693943, + -0.6677265712571328, + 1.6151142883188188, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14539737765454064, + 0.21606639660938853, + 1.156904931192274, + -0.5040161760596485, + -0.13931026291256107, + -0.44646165461016657, + 0.4886648231829212, + 0.0, + -0.502231439071957, + -0.6062789130889962, + 1.6151142883188188, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14539737765454064, + 0.21606639660938853, + 1.156904931192274, + -0.5040161760596485, + -0.13931026291256107, + -0.44646165461016657, + 0.4886648231829212, + 0.0, + -0.44868965406485406, + -0.5311923473897482, + 1.6151142883188188, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14539737765454064, + 0.21606639660938853, + 1.156904931192274, + -0.5040161760596485, + -0.13931026291256107, + -0.44646165461016657, + 0.4886648231829212, + 0.0, + -0.4067010001280513, + -0.4944530750988788, + 1.6151142883188188, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14539737765454064, + 0.21606639660938853, + 1.156904931192274, + -0.5040161760596485, + -0.13931026291256107, + -0.44646165461016657, + 0.4886648231829212, + 0.0, + -0.3389011104948546, + -0.406731374852069, + 1.6151142883188188, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14539737765454064, + 0.21606639660938853, + 1.156904931192274, + -0.5040161760596485, + -0.13931026291256107, + -0.44646165461016657, + 0.4886648231829212, + 0.0, + -0.3110911255744159, + -0.38326300714063816, + 1.6151142883188188, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14539737765454064, + 0.21606639660938853, + 1.156904931192274, + -0.5040161760596485, + -0.13931026291256107, + -0.44646165461016657, + 0.4886648231829212, + 0.0, + -0.22741907602780825, + -0.27913698937563575, + 1.6151142883188188, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14539737765454064, + 0.21606639660938853, + 1.156904931192274, + -0.5040161760596485, + -0.13931026291256107, + -0.44646165461016657, + 0.4886648231829212, + 0.0, + -0.16695738521348488, + -0.2509072848728725, + 1.6151142883188188, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14539737765454064, + 0.21606639660938853, + 1.156904931192274, + -0.5040161760596485, + -0.13931026291256107, + -0.44646165461016657, + 0.4886648231829212, + 0.0, + -0.15417469617467564, + -0.22752993236325567, + 1.6151142883188188, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14539737765454064, + 0.21606639660938853, + 1.156904931192274, + -0.5040161760596485, + -0.13931026291256107, + -0.44646165461016657, + 0.4886648231829212, + 0.0, + -0.11909593854631696, + -0.15917119373256228, + 1.6151142883188188, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14539737765454064, + 0.21606639660938853, + 1.156904931192274, + -0.5040161760596485, + -0.13931026291256107, + -0.44646165461016657, + 0.4886648231829212, + 0.0, + -0.055831468583842234, + -0.125583135532798, + 1.6151142883188188, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14539737765454064, + 0.21606639660938853, + 1.156904931192274, + -0.5040161760596485, + -0.13931026291256107, + -0.44646165461016657, + 0.4886648231829212, + 0.0, + 0.027734302432928345, + -0.023564593428844826, + 1.6151142883188188, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14539737765454064, + 0.21606639660938853, + 1.156904931192274, + -0.5040161760596485, + -0.13931026291256107, + -0.44646165461016657, + 0.4886648231829212, + 0.0, + 0.055690703031726824, + 0.0025249595062228837, + 1.6151142883188188, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14539737765454064, + 0.21606639660938853, + 1.156904931192274, + -0.5040161760596485, + -0.13931026291256107, + -0.44646165461016657, + 0.4886648231829212, + 0.0, + 0.12103691545821982, + 0.0882520363209802, + 1.6151142883188188, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14539737765454064, + 0.21606639660938853, + 1.156904931192274, + -0.5040161760596485, + -0.13931026291256107, + -0.44646165461016657, + 0.4886648231829212, + 0.0, + 0.16558849825628252, + 0.12696470603469975, + 1.6151142883188188, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14539737765454064, + 0.21606639660938853, + 1.156904931192274, + -0.5040161760596485, + -0.13931026291256107, + -0.44646165461016657, + 0.4886648231829212, + 0.0, + 0.21995863835673687, + 0.2021086816945352, + 1.6151142883188188, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14539737765454064, + 0.21606639660938853, + 1.156904931192274, + -0.5040161760596485, + -0.13931026291256107, + -0.44646165461016657, + 0.4886648231829212, + 0.0, + 0.2752438354379593, + 0.25055008106276727, + 1.6151142883188188, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14539737765454064, + 0.21606639660938853, + 1.156904931192274, + -0.5040161760596485, + -0.13931026291256107, + -0.44646165461016657, + 0.4886648231829212, + 0.0, + 0.36557018616123493, + 0.33618742642746063, + 1.6151142883188188, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14539737765454064, + 0.21606639660938853, + 1.156904931192274, + -0.5040161760596485, + -0.13931026291256107, + -0.44646165461016657, + 0.4886648231829212, + 0.0, + 0.3844295098339653, + 0.37344611366636776, + 1.6151142883188188, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14539737765454064, + 0.21606639660938853, + 1.156904931192274, + -0.5040161760596485, + -0.13931026291256107, + -0.44646165461016657, + 0.4886648231829212, + 0.0, + 0.4114022125460322, + 0.42671190101956813, + 1.6151142883188188, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14539737765454064, + 0.21606639660938853, + 1.156904931192274, + -0.5040161760596485, + -0.13931026291256107, + -0.44646165461016657, + 0.4886648231829212, + 0.0, + 0.4933648976412686, + 0.496403660093035, + 1.6151142883188188, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14539737765454064, + 0.21606639660938853, + 1.156904931192274, + -0.5040161760596485, + -0.13931026291256107, + -0.44646165461016657, + 0.4886648231829212, + 0.0, + 0.5530465393730714, + 0.5590548252130484, + 1.6151142883188188, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14539737765454064, + 0.21606639660938853, + 1.156904931192274, + -0.5040161760596485, + -0.13931026291256107, + -0.44646165461016657, + 0.4886648231829212, + 0.0, + 0.6012894105179392, + 0.6184122938192158, + 1.6151142883188188, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14539737765454064, + 0.21606639660938853, + 1.156904931192274, + -0.5040161760596485, + -0.13931026291256107, + -0.44646165461016657, + 0.4886648231829212, + 0.0, + 0.6601419348925035, + 0.6764908558925462, + 1.6151142883188188, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14539737765454064, + 0.21606639660938853, + 1.156904931192274, + -0.5040161760596485, + -0.13931026291256107, + -0.44646165461016657, + 0.4886648231829212, + 0.0, + 0.7082408559646066, + 0.7385205683488631, + 1.6151142883188188, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14539737765454064, + 0.21606639660938853, + 1.156904931192274, + -0.5040161760596485, + -0.13931026291256107, + -0.44646165461016657, + 0.4886648231829212, + 0.0, + 0.7403258663704432, + 0.7828620030438042, + 1.6151142883188188, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14539737765454064, + 0.21606639660938853, + 1.156904931192274, + -0.5040161760596485, + -0.13931026291256107, + -0.44646165461016657, + 0.4886648231829212, + 0.0, + 0.8137105580907504, + 0.8558563879276533, + 1.6151142883188188, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14539737765454064, + 0.21606639660938853, + 1.156904931192274, + -0.5040161760596485, + -0.13931026291256107, + -0.44646165461016657, + 0.4886648231829212, + 0.0, + 0.8649227431983002, + 0.9010760947411007, + 1.6151142883188188, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14539737765454064, + 0.21606639660938853, + 1.156904931192274, + -0.5040161760596485, + -0.13931026291256107, + -0.44646165461016657, + 0.4886648231829212, + 0.0, + 1.720996618270874, + 2.189411163330078, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1534168154244024, + 1.061561232611021, + 1.0001662969589233, + -0.6808201911007556, + -0.15984609647219633, + -0.684825796945032, + 0.15828897775190667, + 0.0, + 1.803567886352539, + 2.197359323501587, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1534168154244024, + 1.061561232611021, + 1.0001662969589233, + -0.6808201911007556, + -0.15984609647219633, + -0.684825796945032, + 0.15828897775190667, + 0.0 + ], + "std": [ + 1.5066654330578892, + 0.6497031099051447, + 0.04858610553521475, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4971127792781138, + 1.2102925735619925, + 1.4004392716029637, + 0.2102708004985428, + 0.6327361886285578, + 0.11237691753949813, + 0.5447782881407472, + 0.42990533404476033, + 0.5, + 1.5412991892446966, + 0.6639693996547582, + 0.04858610553521475, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.414341383950783, + 1.3112761203194212, + 0.18407372679857478, + 0.22016951117247222, + 0.07162321308304144, + 0.28089376980930975, + 0.39488342077602084, + 0.0, + 1.5432224474851857, + 0.6642805597393769, + 0.04858610553521475, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.414341383950783, + 1.3112761203194212, + 0.18407372679857478, + 0.22016951117247222, + 0.07162321308304144, + 0.28089376980930975, + 0.39488342077602084, + 0.0, + 1.5347132996695065, + 0.6596030669507011, + 0.04858610553521475, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.414341383950783, + 1.3112761203194212, + 0.18407372679857478, + 0.22016951117247222, + 0.07162321308304144, + 0.28089376980930975, + 0.39488342077602084, + 0.0, + 1.4922024616549567, + 0.6404469211852094, + 0.04858610553521475, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.414341383950783, + 1.3112761203194212, + 0.18407372679857478, + 0.22016951117247222, + 0.07162321308304144, + 0.28089376980930975, + 0.39488342077602084, + 0.0, + 1.5046687644383934, + 0.6455660576983815, + 0.04858610553521475, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.414341383950783, + 1.3112761203194212, + 0.18407372679857478, + 0.22016951117247222, + 0.07162321308304144, + 0.28089376980930975, + 0.39488342077602084, + 0.0, + 1.5575343072117123, + 0.6673867764804897, + 0.04858610553521475, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.414341383950783, + 1.3112761203194212, + 0.18407372679857478, + 0.22016951117247222, + 0.07162321308304144, + 0.28089376980930975, + 0.39488342077602084, + 0.0, + 1.5330171704908793, + 0.6557153017519679, + 0.04858610553521475, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.414341383950783, + 1.3112761203194212, + 0.18407372679857478, + 0.22016951117247222, + 0.07162321308304144, + 0.28089376980930975, + 0.39488342077602084, + 0.0, + 1.5128906427566904, + 0.6463629052524607, + 0.04858610553521475, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.414341383950783, + 1.3112761203194212, + 0.18407372679857478, + 0.22016951117247222, + 0.07162321308304144, + 0.28089376980930975, + 0.39488342077602084, + 0.0, + 1.5195973179627664, + 0.6485760666599313, + 0.04858610553521475, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.414341383950783, + 1.3112761203194212, + 0.18407372679857478, + 0.22016951117247222, + 0.07162321308304144, + 0.28089376980930975, + 0.39488342077602084, + 0.0, + 1.5396953290637923, + 0.6560557802012156, + 0.04858610553521475, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.414341383950783, + 1.3112761203194212, + 0.18407372679857478, + 0.22016951117247222, + 0.07162321308304144, + 0.28089376980930975, + 0.39488342077602084, + 0.0, + 1.5195450950854792, + 0.6739156805990598, + 0.04858610553521475, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.414341383950783, + 1.3112761203194212, + 0.18407372679857478, + 0.22016951117247222, + 0.07162321308304144, + 0.28089376980930975, + 0.39488342077602084, + 0.0, + 1.5325820435930595, + 0.7510078275854297, + 0.04858610553521475, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.414341383950783, + 1.3112761203194212, + 0.18407372679857478, + 0.22016951117247222, + 0.07162321308304144, + 0.28089376980930975, + 0.39488342077602084, + 0.0, + 1.4854328174274003, + 0.7331804966102101, + 0.04858610553521475, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.414341383950783, + 1.3112761203194212, + 0.18407372679857478, + 0.22016951117247222, + 0.07162321308304144, + 0.28089376980930975, + 0.39488342077602084, + 0.0, + 1.415386022039313, + 0.7040118277549569, + 0.04858610553521475, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.414341383950783, + 1.3112761203194212, + 0.18407372679857478, + 0.22016951117247222, + 0.07162321308304144, + 0.28089376980930975, + 0.39488342077602084, + 0.0, + 1.416507416387417, + 0.7075592616111231, + 0.04858610553521475, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.414341383950783, + 1.3112761203194212, + 0.18407372679857478, + 0.22016951117247222, + 0.07162321308304144, + 0.28089376980930975, + 0.39488342077602084, + 0.0, + 1.441918068150332, + 0.7707216364493258, + 0.04858610553521475, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.414341383950783, + 1.3112761203194212, + 0.18407372679857478, + 0.22016951117247222, + 0.07162321308304144, + 0.28089376980930975, + 0.39488342077602084, + 0.0, + 1.3875780018634856, + 0.7787617621454291, + 0.04858610553521475, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.414341383950783, + 1.3112761203194212, + 0.18407372679857478, + 0.22016951117247222, + 0.07162321308304144, + 0.28089376980930975, + 0.39488342077602084, + 0.0, + 1.3593326923213647, + 0.7956516832791637, + 0.04858610553521475, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.414341383950783, + 1.3112761203194212, + 0.18407372679857478, + 0.22016951117247222, + 0.07162321308304144, + 0.28089376980930975, + 0.39488342077602084, + 0.0, + 1.36400880230709, + 0.8417367800560313, + 0.04858610553521475, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.414341383950783, + 1.3112761203194212, + 0.18407372679857478, + 0.22016951117247222, + 0.07162321308304144, + 0.28089376980930975, + 0.39488342077602084, + 0.0, + 1.3387537894291666, + 0.846402364557619, + 0.04858610553521475, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.414341383950783, + 1.3112761203194212, + 0.18407372679857478, + 0.22016951117247222, + 0.07162321308304144, + 0.28089376980930975, + 0.39488342077602084, + 0.0, + 1.335062470513047, + 0.8942985617518384, + 0.04858610553521475, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.414341383950783, + 1.3112761203194212, + 0.18407372679857478, + 0.22016951117247222, + 0.07162321308304144, + 0.28089376980930975, + 0.39488342077602084, + 0.0, + 1.3172060418332483, + 0.896159476174334, + 0.04858610553521475, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.414341383950783, + 1.3112761203194212, + 0.18407372679857478, + 0.22016951117247222, + 0.07162321308304144, + 0.28089376980930975, + 0.39488342077602084, + 0.0, + 1.3072545386012435, + 0.9493958744700293, + 0.04858610553521475, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.414341383950783, + 1.3112761203194212, + 0.18407372679857478, + 0.22016951117247222, + 0.07162321308304144, + 0.28089376980930975, + 0.39488342077602084, + 0.0, + 1.238664835042823, + 0.9210456778532473, + 0.04858610553521475, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.414341383950783, + 1.3112761203194212, + 0.18407372679857478, + 0.22016951117247222, + 0.07162321308304144, + 0.28089376980930975, + 0.39488342077602084, + 0.0, + 1.2469003680805313, + 0.9397957208721488, + 0.04858610553521475, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.414341383950783, + 1.3112761203194212, + 0.18407372679857478, + 0.22016951117247222, + 0.07162321308304144, + 0.28089376980930975, + 0.39488342077602084, + 0.0, + 1.2749933339276533, + 0.9972280287639199, + 0.04858610553521475, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.414341383950783, + 1.3112761203194212, + 0.18407372679857478, + 0.22016951117247222, + 0.07162321308304144, + 0.28089376980930975, + 0.39488342077602084, + 0.0, + 1.2085130815556264, + 0.9733195717438626, + 0.04858610553521475, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.414341383950783, + 1.3112761203194212, + 0.18407372679857478, + 0.22016951117247222, + 0.07162321308304144, + 0.28089376980930975, + 0.39488342077602084, + 0.0, + 1.1959946253108535, + 1.0236810197361463, + 0.04858610553521475, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.414341383950783, + 1.3112761203194212, + 0.18407372679857478, + 0.22016951117247222, + 0.07162321308304144, + 0.28089376980930975, + 0.39488342077602084, + 0.0, + 1.1813061393420474, + 1.0291015778706512, + 0.04858610553521475, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.414341383950783, + 1.3112761203194212, + 0.18407372679857478, + 0.22016951117247222, + 0.07162321308304144, + 0.28089376980930975, + 0.39488342077602084, + 0.0, + 1.1792894830598906, + 1.0769415288194226, + 0.04858610553521475, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.414341383950783, + 1.3112761203194212, + 0.18407372679857478, + 0.22016951117247222, + 0.07162321308304144, + 0.28089376980930975, + 0.39488342077602084, + 0.0, + 1.1521414129462604, + 1.0815093682764698, + 0.04858610553521475, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.414341383950783, + 1.3112761203194212, + 0.18407372679857478, + 0.22016951117247222, + 0.07162321308304144, + 0.28089376980930975, + 0.39488342077602084, + 0.0, + 1.1554476653733838, + 1.1267379105687976, + 0.04858610553521475, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.414341383950783, + 1.3112761203194212, + 0.18407372679857478, + 0.22016951117247222, + 0.07162321308304144, + 0.28089376980930975, + 0.39488342077602084, + 0.0, + 1.122283814009545, + 1.1329774116831735, + 0.04858610553521475, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.414341383950783, + 1.3112761203194212, + 0.18407372679857478, + 0.22016951117247222, + 0.07162321308304144, + 0.28089376980930975, + 0.39488342077602084, + 0.0, + 1.0765791756043956, + 1.152399496934747, + 0.04858610553521475, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.414341383950783, + 1.3112761203194212, + 0.18407372679857478, + 0.22016951117247222, + 0.07162321308304144, + 0.28089376980930975, + 0.39488342077602084, + 0.0, + 1.092345129861682, + 1.1839975446201183, + 0.04858610553521475, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.414341383950783, + 1.3112761203194212, + 0.18407372679857478, + 0.22016951117247222, + 0.07162321308304144, + 0.28089376980930975, + 0.39488342077602084, + 0.0, + 1.114865076193993, + 1.2291581236186249, + 0.04858610553521475, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.414341383950783, + 1.3112761203194212, + 0.18407372679857478, + 0.22016951117247222, + 0.07162321308304144, + 0.28089376980930975, + 0.39488342077602084, + 0.0, + 1.0629232609602597, + 1.2353885335391455, + 0.04858610553521475, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.414341383950783, + 1.3112761203194212, + 0.18407372679857478, + 0.22016951117247222, + 0.07162321308304144, + 0.28089376980930975, + 0.39488342077602084, + 0.0, + 1.0406492476033031, + 1.2568455163032524, + 0.04858610553521475, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.414341383950783, + 1.3112761203194212, + 0.18407372679857478, + 0.22016951117247222, + 0.07162321308304144, + 0.28089376980930975, + 0.39488342077602084, + 0.0, + 1.0340253861120716, + 1.2865756914193724, + 0.04858610553521475, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.414341383950783, + 1.3112761203194212, + 0.18407372679857478, + 0.22016951117247222, + 0.07162321308304144, + 0.28089376980930975, + 0.39488342077602084, + 0.0, + 1.0072256352346316, + 1.3024725706366322, + 0.04858610553521475, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.414341383950783, + 1.3112761203194212, + 0.18407372679857478, + 0.22016951117247222, + 0.07162321308304144, + 0.28089376980930975, + 0.39488342077602084, + 0.0, + 1.0043427705909647, + 1.3361638289290771, + 0.04858610553521475, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.414341383950783, + 1.3112761203194212, + 0.18407372679857478, + 0.22016951117247222, + 0.07162321308304144, + 0.28089376980930975, + 0.39488342077602084, + 0.0, + 1.0062903602790703, + 1.3628503664928298, + 0.04858610553521475, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.414341383950783, + 1.3112761203194212, + 0.18407372679857478, + 0.22016951117247222, + 0.07162321308304144, + 0.28089376980930975, + 0.39488342077602084, + 0.0, + 0.9736238472350893, + 1.3834895831305833, + 0.04858610553521475, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.414341383950783, + 1.3112761203194212, + 0.18407372679857478, + 0.22016951117247222, + 0.07162321308304144, + 0.28089376980930975, + 0.39488342077602084, + 0.0, + 0.9559430639509916, + 1.4147785302251161, + 0.04858610553521475, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.414341383950783, + 1.3112761203194212, + 0.18407372679857478, + 0.22016951117247222, + 0.07162321308304144, + 0.28089376980930975, + 0.39488342077602084, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.5638204665401249, + 1.0619915584869826, + 0.0, + 0.028711739557999924, + 0.0875100588982297, + 0.028960451686628398, + 0.0870049323416063, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.5638204665401249, + 1.0619915584869826, + 0.0, + 0.028711739557999924, + 0.0875100588982297, + 0.028960451686628398, + 0.0870049323416063, + 0.0 + ], + "min": [ + -3.3560166358947754, + -2.0892889499664307, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0, + -3.2127041816711426, + -1.6484390497207642, + 0.7517411708831787, + -0.7078923583030701, + -0.36118659377098083, + -0.7554994821548462, + -0.734589695930481, + 0.0, + -3.349748373031616, + -2.0865540504455566, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0001662969589233, + -0.7049564123153687, + -0.36118659377098083, + -0.7092483043670654, + -0.02479901909828186, + 0.0, + -3.3058583736419678, + -2.0674047470092773, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0001662969589233, + -0.7049564123153687, + -0.36118659377098083, + -0.7092483043670654, + -0.02479901909828186, + 0.0, + -3.2012739181518555, + -2.0217745304107666, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0001662969589233, + -0.7049564123153687, + -0.36118659377098083, + -0.7092483043670654, + -0.02479901909828186, + 0.0, + -3.0600509643554688, + -1.9601590633392334, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0001662969589233, + -0.7049564123153687, + -0.36118659377098083, + -0.7092483043670654, + -0.02479901909828186, + 0.0, + -3.0563478469848633, + -1.9585434198379517, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0001662969589233, + -0.7049564123153687, + -0.36118659377098083, + -0.7092483043670654, + -0.02479901909828186, + 0.0, + -3.050795555114746, + -1.9561209678649902, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0001662969589233, + -0.7049564123153687, + -0.36118659377098083, + -0.7092483043670654, + -0.02479901909828186, + 0.0, + -2.9129035472869873, + -1.895958662033081, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0001662969589233, + -0.7049564123153687, + -0.36118659377098083, + -0.7092483043670654, + -0.02479901909828186, + 0.0, + -2.8204269409179688, + -1.8556110858917236, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0001662969589233, + -0.7049564123153687, + -0.36118659377098083, + -0.7092483043670654, + -0.02479901909828186, + 0.0, + -2.7694780826568604, + -1.8333821296691895, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0001662969589233, + -0.7049564123153687, + -0.36118659377098083, + -0.7092483043670654, + -0.02479901909828186, + 0.0, + -2.6935083866119385, + -1.8002365827560425, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0001662969589233, + -0.7049564123153687, + -0.36118659377098083, + -0.7092483043670654, + -0.02479901909828186, + 0.0, + -2.6257169246673584, + -1.77065908908844, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0001662969589233, + -0.7049564123153687, + -0.36118659377098083, + -0.7092483043670654, + -0.02479901909828186, + 0.0, + -2.5798733234405518, + -1.750657558441162, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0001662969589233, + -0.7049564123153687, + -0.36118659377098083, + -0.7092483043670654, + -0.02479901909828186, + 0.0, + -2.481577157974243, + -1.7077709436416626, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0001662969589233, + -0.7049564123153687, + -0.36118659377098083, + -0.7092483043670654, + -0.02479901909828186, + 0.0, + -2.3382601737976074, + -1.6452418565750122, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0001662969589233, + -0.7049564123153687, + -0.36118659377098083, + -0.7092483043670654, + -0.02479901909828186, + 0.0, + -2.337437391281128, + -1.6448829174041748, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0001662969589233, + -0.7049564123153687, + -0.36118659377098083, + -0.7092483043670654, + -0.02479901909828186, + 0.0, + -2.3362205028533936, + -1.6443519592285156, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0001662969589233, + -0.7049564123153687, + -0.36118659377098083, + -0.7092483043670654, + -0.02479901909828186, + 0.0, + -2.1940059661865234, + -1.582303762435913, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0001662969589233, + -0.7049564123153687, + -0.36118659377098083, + -0.7092483043670654, + -0.02479901909828186, + 0.0, + -2.098630666732788, + -1.540691614151001, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0001662969589233, + -0.7049564123153687, + -0.36118659377098083, + -0.7092483043670654, + -0.02479901909828186, + 0.0, + -2.0505805015563965, + -1.519727349281311, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0001662969589233, + -0.7049564123153687, + -0.36118659377098083, + -0.7092483043670654, + -0.02479901909828186, + 0.0, + -1.9789323806762695, + -1.4884673357009888, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0001662969589233, + -0.7049564123153687, + -0.36118659377098083, + -0.7092483043670654, + -0.02479901909828186, + 0.0, + -1.9067974090576172, + -1.456994891166687, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0001662969589233, + -0.7049564123153687, + -0.36118659377098083, + -0.7092483043670654, + -0.02479901909828186, + 0.0, + -1.858016848564148, + -1.4357119798660278, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0001662969589233, + -0.7049564123153687, + -0.36118659377098083, + -0.7092483043670654, + -0.02479901909828186, + 0.0, + -1.7626577615737915, + -1.3941067457199097, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0001662969589233, + -0.7049564123153687, + -0.36118659377098083, + -0.7092483043670654, + -0.02479901909828186, + 0.0, + -1.621644377708435, + -1.3325825929641724, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0001662969589233, + -0.7049564123153687, + -0.36118659377098083, + -0.7092483043670654, + -0.02479901909828186, + 0.0, + -1.6185334920883179, + -1.3312252759933472, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0001662969589233, + -0.7049564123153687, + -0.36118659377098083, + -0.7092483043670654, + -0.02479901909828186, + 0.0, + -1.6164470911026, + -1.3303149938583374, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0001662969589233, + -0.7049564123153687, + -0.36118659377098083, + -0.7092483043670654, + -0.02479901909828186, + 0.0, + -1.47510826587677, + -1.2686488628387451, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0001662969589233, + -0.7049564123153687, + -0.36118659377098083, + -0.7092483043670654, + -0.02479901909828186, + 0.0, + -1.3768408298492432, + -1.2257747650146484, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0001662969589233, + -0.7049564123153687, + -0.36118659377098083, + -0.7092483043670654, + -0.02479901909828186, + 0.0, + -1.331634283065796, + -1.2060511112213135, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0001662969589233, + -0.7049564123153687, + -0.36118659377098083, + -0.7092483043670654, + -0.02479901909828186, + 0.0, + -1.263919711112976, + -1.1765072345733643, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0001662969589233, + -0.7049564123153687, + -0.36118659377098083, + -0.7092483043670654, + -0.02479901909828186, + 0.0, + -1.1874854564666748, + -1.143159031867981, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0001662969589233, + -0.7049564123153687, + -0.36118659377098083, + -0.7092483043670654, + -0.02479901909828186, + 0.0, + -1.136998176574707, + -1.121131420135498, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0001662969589233, + -0.7049564123153687, + -0.36118659377098083, + -0.7092483043670654, + -0.02479901909828186, + 0.0, + -1.0427653789520264, + -1.0800176858901978, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0001662969589233, + -0.7049564123153687, + -0.36118659377098083, + -0.7092483043670654, + -0.02479901909828186, + 0.0, + -0.8987635374069214, + -1.017189621925354, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0001662969589233, + -0.7049564123153687, + -0.36118659377098083, + -0.7092483043670654, + -0.02479901909828186, + 0.0, + -0.8984197378158569, + -1.0170396566390991, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0001662969589233, + -0.7049564123153687, + -0.36118659377098083, + -0.7092483043670654, + -0.02479901909828186, + 0.0, + -0.8978944420814514, + -1.016810417175293, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0001662969589233, + -0.7049564123153687, + -0.36118659377098083, + -0.7092483043670654, + -0.02479901909828186, + 0.0, + -0.7549313306808472, + -0.9544356465339661, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0001662969589233, + -0.7049564123153687, + -0.36118659377098083, + -0.7092483043670654, + -0.02479901909828186, + 0.0, + -0.6690911054611206, + -0.9169835448265076, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0001662969589233, + -0.7049564123153687, + -0.36118659377098083, + -0.7092483043670654, + -0.02479901909828186, + 0.0, + -0.6130691766738892, + -0.8925411701202393, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0001662969589233, + -0.7049564123153687, + -0.36118659377098083, + -0.7092483043670654, + -0.02479901909828186, + 0.0, + -0.5227430462837219, + -0.853131890296936, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0001662969589233, + -0.7049564123153687, + -0.36118659377098083, + -0.7092483043670654, + -0.02479901909828186, + 0.0, + -0.4712584912776947, + -0.8306691646575928, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0001662969589233, + -0.7049564123153687, + -0.36118659377098083, + -0.7092483043670654, + -0.02479901909828186, + 0.0, + -0.4414607286453247, + -0.8176683783531189, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0001662969589233, + -0.7049564123153687, + -0.36118659377098083, + -0.7092483043670654, + -0.02479901909828186, + 0.0, + -0.32971251010894775, + -0.768912672996521, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0001662969589233, + -0.7049564123153687, + -0.36118659377098083, + -0.7092483043670654, + -0.02479901909828186, + 0.0, + -0.2577360272407532, + -0.7604386806488037, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0001662969589233, + -0.7049564123153687, + -0.36118659377098083, + -0.7092483043670654, + -0.02479901909828186, + 0.0, + 1.720996618270874, + 2.189411163330078, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.2277693748474121, + -0.4644603729248047, + 1.0001662969589233, + -0.7049564123153687, + -0.36118659377098083, + -0.7092483043670654, + -0.02479901909828186, + 0.0, + 1.803567886352539, + 2.197359323501587, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.2277693748474121, + -0.4644603729248047, + 1.0001662969589233, + -0.7049564123153687, + -0.36118659377098083, + -0.7092483043670654, + -0.02479901909828186, + 0.0 + ], + "max": [ + -0.30366551876068115, + -0.7730564475059509, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9951025247573853, + 2.942279815673828, + 1.373115062713623, + 0.8466794490814209, + 0.22942106425762177, + 0.7559221982955933, + 0.9632949233055115, + 1.0, + -0.22723278403282166, + -0.7414194941520691, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9951025247573853, + 2.656308650970459, + 1.3730809688568115, + -0.21332457661628723, + 0.024335533380508423, + -0.11272158473730087, + 0.9632949233055115, + 0.0, + -0.17944645881652832, + -0.7216398119926453, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9951025247573853, + 2.656308650970459, + 1.3730809688568115, + -0.21332457661628723, + 0.024335533380508423, + -0.11272158473730087, + 0.9632949233055115, + 0.0, + -0.09210067242383957, + -0.6854857206344604, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9951025247573853, + 2.656308650970459, + 1.3730809688568115, + -0.21332457661628723, + 0.024335533380508423, + -0.11272158473730087, + 0.9632949233055115, + 0.0, + -0.03700035810470581, + -0.6626786589622498, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9951025247573853, + 2.656308650970459, + 1.3730809688568115, + -0.21332457661628723, + 0.024335533380508423, + -0.11272158473730087, + 0.9632949233055115, + 0.0, + -0.008041777648031712, + -0.6506921648979187, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9951025247573853, + 2.656308650970459, + 1.3730809688568115, + -0.21332457661628723, + 0.024335533380508423, + -0.11272158473730087, + 0.9632949233055115, + 0.0, + 0.10461073368787766, + -0.6040631532669067, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9951025247573853, + 2.656308650970459, + 1.3730809688568115, + -0.21332457661628723, + 0.024335533380508423, + -0.11272158473730087, + 0.9632949233055115, + 0.0, + 0.19283351302146912, + -0.5675460696220398, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9951025247573853, + 2.656308650970459, + 1.3730809688568115, + -0.21332457661628723, + 0.024335533380508423, + -0.11272158473730087, + 0.9632949233055115, + 0.0, + 0.24453581869602203, + -0.546145498752594, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9951025247573853, + 2.656308650970459, + 1.3730809688568115, + -0.21332457661628723, + 0.024335533380508423, + -0.11272158473730087, + 0.9632949233055115, + 0.0, + 0.30907171964645386, + -0.5194329023361206, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9951025247573853, + 2.656308650970459, + 1.3730809688568115, + -0.21332457661628723, + 0.024335533380508423, + -0.11272158473730087, + 0.9632949233055115, + 0.0, + 0.4257579445838928, + -0.471134215593338, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9951025247573853, + 2.656308650970459, + 1.3730809688568115, + -0.21332457661628723, + 0.024335533380508423, + -0.11272158473730087, + 0.9632949233055115, + 0.0, + 0.4527270793914795, + -0.4053743779659271, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9951025247573853, + 2.656308650970459, + 1.3730809688568115, + -0.21332457661628723, + 0.024335533380508423, + -0.11272158473730087, + 0.9632949233055115, + 0.0, + 0.524982213973999, + -0.22919198870658875, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9951025247573853, + 2.656308650970459, + 1.3730809688568115, + -0.21332457661628723, + 0.024335533380508423, + -0.11272158473730087, + 0.9632949233055115, + 0.0, + 0.5277588367462158, + -0.22242173552513123, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9951025247573853, + 2.656308650970459, + 1.3730809688568115, + -0.21332457661628723, + 0.024335533380508423, + -0.11272158473730087, + 0.9632949233055115, + 0.0, + 0.5291681289672852, + -0.2189854085445404, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9951025247573853, + 2.656308650970459, + 1.3730809688568115, + -0.21332457661628723, + 0.024335533380508423, + -0.11272158473730087, + 0.9632949233055115, + 0.0, + 0.5322627425193787, + -0.21143972873687744, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9951025247573853, + 2.656308650970459, + 1.3730809688568115, + -0.21332457661628723, + 0.024335533380508423, + -0.11272158473730087, + 0.9632949233055115, + 0.0, + 0.5849590301513672, + -0.0829482153058052, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9951025247573853, + 2.656308650970459, + 1.3730809688568115, + -0.21332457661628723, + 0.024335533380508423, + -0.11272158473730087, + 0.9632949233055115, + 0.0, + 0.6170861124992371, + -0.004611540585756302, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9951025247573853, + 2.656308650970459, + 1.3730809688568115, + -0.21332457661628723, + 0.024335533380508423, + -0.11272158473730087, + 0.9632949233055115, + 0.0, + 0.6552392840385437, + 0.07121787220239639, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9951025247573853, + 2.656308650970459, + 1.3730809688568115, + -0.21332457661628723, + 0.024335533380508423, + -0.11272158473730087, + 0.9632949233055115, + 0.0, + 0.7127627730369568, + 0.18554586172103882, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9951025247573853, + 2.656308650970459, + 1.3730809688568115, + -0.21332457661628723, + 0.024335533380508423, + -0.11272158473730087, + 0.9632949233055115, + 0.0, + 0.7332468032836914, + 0.22625787556171417, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9951025247573853, + 2.656308650970459, + 1.3730809688568115, + -0.21332457661628723, + 0.024335533380508423, + -0.11272158473730087, + 0.9632949233055115, + 0.0, + 0.7979035377502441, + 0.3547631502151489, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9951025247573853, + 2.656308650970459, + 1.3730809688568115, + -0.21332457661628723, + 0.024335533380508423, + -0.11272158473730087, + 0.9632949233055115, + 0.0, + 0.8105087876319885, + 0.37981608510017395, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9951025247573853, + 2.656308650970459, + 1.3730809688568115, + -0.21332457661628723, + 0.024335533380508423, + -0.11272158473730087, + 0.9632949233055115, + 0.0, + 0.8857071399688721, + 0.5292728543281555, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9951025247573853, + 2.656308650970459, + 1.3730809688568115, + -0.21332457661628723, + 0.024335533380508423, + -0.11272158473730087, + 0.9632949233055115, + 0.0, + 0.8877647519111633, + 0.5333623886108398, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9951025247573853, + 2.656308650970459, + 1.3730809688568115, + -0.21332457661628723, + 0.024335533380508423, + -0.11272158473730087, + 0.9632949233055115, + 0.0, + 0.9075599908828735, + 0.5727053880691528, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9951025247573853, + 2.656308650970459, + 1.3730809688568115, + -0.21332457661628723, + 0.024335533380508423, + -0.11272158473730087, + 0.9632949233055115, + 0.0, + 0.966559886932373, + 0.689967691898346, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9951025247573853, + 2.656308650970459, + 1.3730809688568115, + -0.21332457661628723, + 0.024335533380508423, + -0.11272158473730087, + 0.9632949233055115, + 0.0, + 0.9732164740562439, + 0.703197717666626, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9951025247573853, + 2.656308650970459, + 1.3730809688568115, + -0.21332457661628723, + 0.024335533380508423, + -0.11272158473730087, + 0.9632949233055115, + 0.0, + 1.0461227893829346, + 0.8480989933013916, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9951025247573853, + 2.656308650970459, + 1.3730809688568115, + -0.21332457661628723, + 0.024335533380508423, + -0.11272158473730087, + 0.9632949233055115, + 0.0, + 1.0615719556808472, + 0.8788041472434998, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9951025247573853, + 2.656308650970459, + 1.3730809688568115, + -0.21332457661628723, + 0.024335533380508423, + -0.11272158473730087, + 0.9632949233055115, + 0.0, + 1.1252009868621826, + 1.0052669048309326, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9951025247573853, + 2.656308650970459, + 1.3730809688568115, + -0.21332457661628723, + 0.024335533380508423, + -0.11272158473730087, + 0.9632949233055115, + 0.0, + 1.1466360092163086, + 1.047869086265564, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9951025247573853, + 2.656308650970459, + 1.3730809688568115, + -0.21332457661628723, + 0.024335533380508423, + -0.11272158473730087, + 0.9632949233055115, + 0.0, + 1.2038214206695557, + 1.1615251302719116, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9951025247573853, + 2.656308650970459, + 1.3730809688568115, + -0.21332457661628723, + 0.024335533380508423, + -0.11272158473730087, + 0.9632949233055115, + 0.0, + 1.230867624282837, + 1.215279459953308, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9951025247573853, + 2.656308650970459, + 1.3730809688568115, + -0.21332457661628723, + 0.024335533380508423, + -0.11272158473730087, + 0.9632949233055115, + 0.0, + 1.2822765111923218, + 1.3174546957015991, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9951025247573853, + 2.656308650970459, + 1.3730809688568115, + -0.21332457661628723, + 0.024335533380508423, + -0.11272158473730087, + 0.9632949233055115, + 0.0, + 1.3145605325698853, + 1.3816190958023071, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9951025247573853, + 2.656308650970459, + 1.3730809688568115, + -0.21332457661628723, + 0.024335533380508423, + -0.11272158473730087, + 0.9632949233055115, + 0.0, + 1.3607089519500732, + 1.4733390808105469, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9951025247573853, + 2.656308650970459, + 1.3730809688568115, + -0.21332457661628723, + 0.024335533380508423, + -0.11272158473730087, + 0.9632949233055115, + 0.0, + 1.3984432220458984, + 1.5483360290527344, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9951025247573853, + 2.656308650970459, + 1.3730809688568115, + -0.21332457661628723, + 0.024335533380508423, + -0.11272158473730087, + 0.9632949233055115, + 0.0, + 1.43915855884552, + 1.6292577981948853, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9951025247573853, + 2.656308650970459, + 1.3730809688568115, + -0.21332457661628723, + 0.024335533380508423, + -0.11272158473730087, + 0.9632949233055115, + 0.0, + 1.4817612171173096, + 1.7139304876327515, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9951025247573853, + 2.656308650970459, + 1.3730809688568115, + -0.21332457661628723, + 0.024335533380508423, + -0.11272158473730087, + 0.9632949233055115, + 0.0, + 1.5177937746047974, + 1.7855452299118042, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9951025247573853, + 2.656308650970459, + 1.3730809688568115, + -0.21332457661628723, + 0.024335533380508423, + -0.11272158473730087, + 0.9632949233055115, + 0.0, + 1.5634379386901855, + 1.8762630224227905, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9951025247573853, + 2.656308650970459, + 1.3730809688568115, + -0.21332457661628723, + 0.024335533380508423, + -0.11272158473730087, + 0.9632949233055115, + 0.0, + 1.5971813201904297, + 1.9433280229568481, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9951025247573853, + 2.656308650970459, + 1.3730809688568115, + -0.21332457661628723, + 0.024335533380508423, + -0.11272158473730087, + 0.9632949233055115, + 0.0, + 1.6427505016326904, + 2.0338966846466064, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9951025247573853, + 2.656308650970459, + 1.3730809688568115, + -0.21332457661628723, + 0.024335533380508423, + -0.11272158473730087, + 0.9632949233055115, + 0.0, + 1.6789075136184692, + 2.1057589054107666, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9951025247573853, + 2.656308650970459, + 1.3730809688568115, + -0.21332457661628723, + 0.024335533380508423, + -0.11272158473730087, + 0.9632949233055115, + 0.0, + 1.720996618270874, + 2.189411163330078, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9951025247573853, + 2.656308650970459, + 1.0001662969589233, + -0.6070099472999573, + 0.024335533380508423, + -0.6103917956352234, + 0.3584754467010498, + 0.0, + 1.803567886352539, + 2.197359323501587, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9951025247573853, + 2.656308650970459, + 1.0001662969589233, + -0.6070099472999573, + 0.024335533380508423, + -0.6103917956352234, + 0.3584754467010498, + 0.0 + ], + "count": [ + 2122 + ] + }, + "action.applied": { + "mean": [ + 0.08329699563545427, + -0.0019835575236205947, + 0.007345953146742945, + 0.41468666585277275, + -0.9394881637112135, + 0.7789877716396156, + -0.7566882860372818, + 0.6289395337477254, + -2.235518916725101, + 0.4060864315913203, + 0.0037667562010628678, + -0.0037667562010628678 + ], + "std": [ + 0.11878385545665353, + 0.010101265990938121, + 0.1576492390988711, + 0.2610925707749817, + 0.35221354696434587, + 0.47102550989981967, + 0.7608620934070882, + 0.41463222663667065, + 0.2134544631883567, + 0.38652452980579227, + 0.01414199690888344, + 0.01414199690888344 + ], + "min": [ + 0.0, + -0.06866573542356491, + -0.800000011920929, + -0.0053541031666100025, + -1.6057302951812744, + -0.0024204892106354237, + -1.673197627067566, + -0.5276113748550415, + -2.8702759742736816, + -0.04311877861618996, + -0.009999999776482582, + -0.020833000540733337 + ], + "max": [ + 0.30000001192092896, + 0.09898437559604645, + 0.800000011920929, + 0.7919299006462097, + -0.5702931880950928, + 1.372678279876709, + 0.6542772054672241, + 1.1600415706634521, + -1.80431067943573, + 1.1224709749221802, + 0.020833000540733337, + 0.009999999776482582 + ], + "count": [ + 2122 + ] + }, + "extra.reward": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 2122 + ] + }, + "next.truncated": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 2122 + ] + }, + "sim_step_idx": { + "mean": [ + 2222.0 + ], + "std": [ + 1225.1371351812008 + ], + "min": [ + 101.0 + ], + "max": [ + 4343.0 + ], + "count": [ + 2122 + ] + }, + "timestamp": { + "mean": [ + 42.42000000258165 + ], + "std": [ + 24.50274270446678 + ], + "min": [ + 0.0 + ], + "max": [ + 84.83999633789062 + ], + "count": [ + 2122 + ] + }, + "frame_index": { + "mean": [ + 1060.5 + ], + "std": [ + 612.5685675906004 + ], + "min": [ + 0.0 + ], + "max": [ + 2121.0 + ], + "count": [ + 2122 + ] + }, + "episode_index": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 2122 + ] + }, + "index": { + "mean": [ + 1060.5 + ], + "std": [ + 612.5685675906004 + ], + "min": [ + 0.0 + ], + "max": [ + 2121.0 + ], + "count": [ + 2122 + ] + }, + "task_index": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 2122 + ] + }, + "next.done": { + "mean": [ + 0.000471253534401508 + ], + "std": [ + 0.021703259075719992 + ], + "min": [ + 0.0 + ], + "max": [ + 1.0 + ], + "count": [ + 2122 + ] + }, + "observation.images.head": { + "mean": [ + [ + [ + 0.3883748017701949 + ] + ], + [ + [ + 0.3239749610941124 + ] + ], + [ + [ + 0.2923739923220394 + ] + ] + ], + "std": [ + [ + [ + 0.19830446862666604 + ] + ], + [ + [ + 0.16820542362921456 + ] + ], + [ + [ + 0.14163401039899703 + ] + ] + ], + "min": [ + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ] + ], + "max": [ + [ + [ + 0.984313725490196 + ] + ], + [ + [ + 0.9725490196078431 + ] + ], + [ + [ + 0.9725490196078431 + ] + ] + ], + "count": [ + 100 + ] + }, + "observation.images.wrist": { + "mean": [ + [ + [ + 0.4361757348020177 + ] + ], + [ + [ + 0.3686327662791684 + ] + ], + [ + [ + 0.30725197994202674 + ] + ] + ], + "std": [ + [ + [ + 0.19636293663612597 + ] + ], + [ + [ + 0.16561665727407068 + ] + ], + [ + [ + 0.15045667470580124 + ] + ] + ], + "min": [ + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ] + ], + "max": [ + [ + [ + 0.984313725490196 + ] + ], + [ + [ + 0.9764705882352941 + ] + ], + [ + [ + 0.984313725490196 + ] + ] + ], + "count": [ + 100 + ] + } +} \ No newline at end of file diff --git a/N033/sawyer_umi/dr_on/seed_2021/rec/stationringxr/000/lerobot_v21/meta/tasks.jsonl b/N033/sawyer_umi/dr_on/seed_2021/rec/stationringxr/000/lerobot_v21/meta/tasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dbadecbe4a732b4588b1a79a8efeb41ca322b43c --- /dev/null +++ b/N033/sawyer_umi/dr_on/seed_2021/rec/stationringxr/000/lerobot_v21/meta/tasks.jsonl @@ -0,0 +1 @@ +{"task_index": 0, "task": "Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end."} diff --git a/N033/sawyer_umi/dr_on/seed_2021/rec/stationringxr/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 b/N033/sawyer_umi/dr_on/seed_2021/rec/stationringxr/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c7de1cd7e984049d57bee7caa4ddf8ec9b569696 --- /dev/null +++ b/N033/sawyer_umi/dr_on/seed_2021/rec/stationringxr/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:f649a8a37b8eddf263435e973bb873a75ff52f41111c3636d398a1dff604e51d +size 52487028 diff --git a/N033/sawyer_umi/dr_on/seed_2021/rec/stationringxr/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 b/N033/sawyer_umi/dr_on/seed_2021/rec/stationringxr/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f80e694b69ac8a2b984e3f76d87c6bc23c4d0d75 --- /dev/null +++ b/N033/sawyer_umi/dr_on/seed_2021/rec/stationringxr/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 sha256:0d695b9091aab77b57b6452543e0b40d02362ac8389a747245b870c259c698c9 +size 48063110 diff --git a/N033/sawyer_umi/dr_on/seed_2021/rec/stationringxr/000/run_meta.json b/N033/sawyer_umi/dr_on/seed_2021/rec/stationringxr/000/run_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cc2f60f546b75f5913cde6bda4975ddc09c77583 --- /dev/null +++ b/N033/sawyer_umi/dr_on/seed_2021/rec/stationringxr/000/run_meta.json @@ -0,0 +1,1730 @@ +{ + "run_id": "stationringxr/000", + "created": "2026-11-08 02:51:44", + "num_envs": 1, + "session_id": null, + "record_config": { + "output_dir": "/mnt/scratch/xc536_atomic/n033_saw_on_2021/out/rec", + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "json_round": null, + "schema": { + "source": "robot_manager", + "nan_policy": "from_raw" + }, + "lerobot": { + "subsample_every": 2 + } + }, + "config": { + "env_string": "StationRingXREnv-V0", + "env": { + "sim": { + "device": "cpu", + "use_fabric": false, + "decimation": 4, + "dt": 0.005, + "seed": 2021, + "soft_resets": 2, + "enable_scene_query_support": true, + "scene": { + "num_envs": 1, + "env_spacing": 16 + }, + "render": { + "rendering_mode": "performance", + "enable_reflections": false, + "enable_global_illumination": false, + "enable_translucency": false, + "enable_dl_denoiser": false + } + }, + "nav": { + "navmesh": { + "enabled": true, + "visualize": false, + "bake_timeout_s": 180, + "agent_height_cm": 150, + "min_agent_radius_cm": 45.0, + "max_agent_radius_cm": 45.0, + "max_step_height_cm": 20, + "max_floor_slope_deg": 30, + "agent_island_radius_cm": 5, + "auto_exclude_rigid_bodies": true, + "validate_path_clearance": true, + "validate_path_window": true, + "navmesh_offset_z_m": 0, + "verbose": false + }, + "occupancymap": { + "cell_size": 0.05 + } + }, + "scene": { + "background": { + "intensity": [ + 1000, + 1000 + ] + }, + "terrain": { + "type": "nav_room", + "collision": true, + "hide_top_walls": true, + "usd": [ + "$MAGICSIM_ASSETS/Room/Collected_SimpleRoom" + ], + "annotation": "Annotation", + "random": false, + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0, + "friction_combine_mode": "multiply", + "restitution_combine_mode": "multiply" + } + }, + "objects": { + "table_A": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "table_A_1": { + "pos": [ + -0.3456236314222738, + 0.19075829820448897, + 0.18 + ], + "ori": [ + 0.0, + 0.0, + -0.7300355474844764 + ], + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.45, + 0.35 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "table_B": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "table_B_1": { + "pos": [ + 1.7353778432795572, + 2.977148284075784, + 0.18 + ], + "ori": [ + 0.0, + 0.0, + 4.909614375351296 + ], + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.45, + 0.35 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "rack_back": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "rack_back_1": { + "pos": [ + -0.39574698460842367, + 0.1813961688859801, + 0.42999999999999994 + ], + "ori": [ + 0.0, + 0.0, + -0.7300355474844764 + ], + "primitive_params": { + "size": [ + 0.7, + 0.03, + 0.2 + ] + }, + "visual": { + "color": [ + [ + 0.45, + 0.35, + 0.25 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "peg_1": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "peg_1_1": { + "pos": [ + -0.24709698424280774, + 0.07449351507746889, + 0.47 + ], + "ori": [ + 0.0, + 0.0, + -0.7300355474844764 + ], + "primitive_params": { + "size": [ + 0.02, + 0.18, + 0.02 + ] + }, + "visual": { + "color": [ + [ + 0.35, + 0.35, + 0.35 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "peg_2": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "peg_2_1": { + "pos": [ + -0.5470726326073363, + 0.07831586883932133, + 0.47 + ], + "ori": [ + 0.0, + 0.0, + -0.7300355474844764 + ], + "primitive_params": { + "size": [ + 0.02, + 0.18, + 0.02 + ] + }, + "visual": { + "color": [ + [ + 0.35, + 0.35, + 0.35 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "ring": { + "usd": [ + "$MAGICSIM_ASSETS/Object/MMB_A07/ring_wide/Object.usda" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "ring_1": { + "pos": [ + -0.24771297793497865, + 0.026150761185461557, + 0.43999999999999995 + ], + "ori": [ + 0.0, + 0.0, + -0.7300355474844764 + ], + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.05, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + } + } + } + }, + "ring_small": { + "usd": [ + "$MAGICSIM_ASSETS/Object/MMB_A07/ring_small/Object.usda" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "ring_small_1": { + "pos": [ + -0.5475164948566392, + 0.043481870126792915, + 0.46499999999999997 + ], + "ori": [ + 0.0, + 0.0, + -0.7300355474844764 + ], + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.05, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + } + } + } + }, + "rod_h": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "rod_h_1": { + "pos": [ + 1.7465037777317818, + 2.8476252607070993, + 0.53 + ], + "ori": [ + 0.0, + 0.0, + 4.909614375351296 + ], + "primitive_params": { + "size": [ + 0.02, + 0.14, + 0.02 + ] + }, + "visual": { + "color": [ + [ + 0.75, + 0.75, + 0.78 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 0.3, + "dynamic_friction": 0.25, + "restitution": 0.0 + } + } + } + }, + "rod_s": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "rod_s_1": { + "pos": [ + 1.735608920379719, + 2.974458190513511, + 0.48979999999999996 + ], + "ori": [ + -35.0, + 0.0, + 4.909614375351296 + ], + "primitive_params": { + "size": [ + 0.02, + 0.14, + 0.02 + ] + }, + "visual": { + "color": [ + [ + 0.75, + 0.75, + 0.78 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 0.3, + "dynamic_friction": 0.25, + "restitution": 0.0 + } + } + } + }, + "rod_stop": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "rod_stop_1": { + "pos": [ + 1.72938695549759, + 3.0468914505050755, + 0.38999999999999996 + ], + "ori": [ + 0.0, + 0.0, + 4.909614375351296 + ], + "primitive_params": { + "size": [ + 0.1, + 0.012, + 0.12 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.3, + 0.25 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + } + } + }, + "robot": { + "RidgebackSawyerUmi": { + "name": "ridgebacksawyer_umi", + "type": "mobilemanip", + "common": { + "pos": [ + [ + -3.4, + -2.2, + 0.05 + ], + [ + -3.4, + -2.2, + 0.05 + ] + ], + "ori": [ + [ + 0, + 0, + 40.0 + ], + [ + 0, + 0, + 40.0 + ] + ], + "initial_joint_pos": { + "dummy_base_.*": 0.0, + "head_pan": 0.0, + "right_j0": 0.0, + "right_j1": -1.6, + "right_j2": 0.0, + "right_j3": 0.5, + "right_j4": 0.0, + "right_j5": -2.32, + "right_j6": 0.0, + "right_gripper_l_finger_joint": 0.0, + "right_gripper_r_finger_joint": 0.0 + } + }, + "action": { + "base_action": "holonomic_action", + "arm_action": "ik_pink", + "eef_action": "binary" + }, + "planner": { + "dual_mode": true, + "base_joint_names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint" + ], + "ik": { + "type": "ridgebacksawyer_umi", + "model_tuning": "ridgeback_sawyer_umi", + "enable": true, + "ik_num_instances": 1, + "ik_batch_size": 1, + "ik_num_seeds": 32, + "ik_position_threshold": 0.005, + "ik_rotation_threshold": 0.05, + "microbatch_wait_ms": 20.0, + "relative_to_world_frame": false + }, + "motiongen": { + "type": "ridgebacksawyer_umi", + "model_tuning": "ridgeback_sawyer_umi", + "enable": true, + "motiongen_num_instances": 1, + "batch_size": 1, + "microbatch_wait_ms": 20.0, + "mode": "position", + "relative_to_world_frame": false, + "start_state_limit_inset": 0.002 + }, + "body": { + "type": "nav", + "dwb_type": "dwb_holonomic", + "dwb_holonomic": { + "device": "cpu", + "dt": 0.02, + "debug": false, + "num_rollout_steps": 60, + "num_speed_samples": 11, + "num_steer_samples": 11, + "num_vx_samples": 7, + "num_vy_samples": 7, + "num_yaw_samples": 7, + "max_accel": 1.5, + "max_steer_rate": 1.5, + "max_accel_vx": 1.5, + "max_accel_vy": 1.5, + "max_yaw_accel": 1.5, + "w_goal": 6.0, + "w_path": 8.0, + "w_vel": 0.2, + "w_vy": 0.0, + "goal_cost_mode": "path", + "dilate_radius": 0.36, + "room_size": 12.0, + "occupancy_update_interval": 25, + "scan_height": 0.35, + "scan_min_z": 0.12, + "scan_max_z": 1.65, + "goal_pos_threshold": 0.05, + "goal_yaw_threshold": 0.05, + "kp_goal_yaw": 1.5, + "heading_reference": "path", + "turn_yaw_threshold": 0.8, + "heading_lookahead": 0.8, + "heading_min_leg": 0.35, + "route_yaw_gain": 2.0, + "goal_yaw_hysteresis": 0.02, + "min_vx": -0.3, + "max_vx": 0.3, + "min_vy": -0.3, + "max_vy": 0.3, + "min_yaw_rate": -0.8, + "max_yaw_rate": 0.8, + "safety_enabled": true, + "safety_deceleration": 0.5, + "safety_reaction_time": 0.5, + "scan_type": "3d" + }, + "p_controller": { + "kp_angular_turning_only": 2.0, + "kd_angular_turning_only": 1.0, + "kp_linear_x": 3.0, + "kp_linear_y": 3.0, + "kp_angular": 2.0, + "kd_linear_x": 1.0, + "kd_linear_y": 1.0, + "min_vel": -0.4, + "max_vel": 0.5, + "linear_dead_zone": 0.01, + "angular_dead_zone": 0.05, + "nav_heading_target": -1, + "nav_upgrade_distance": 0.03 + } + }, + "arm": { + "type": "default" + }, + "eef": { + "type": "default" + } + }, + "physics": { + "robot_radius": 0.66, + "wheel_base": 0.01 + }, + "reset": "default" + } + }, + "camera": { + "enable_tiled": false, + "colorize_depth": false, + "head": { + "camera": { + "type": "camera", + "mesh": "pinhole", + "resolution": [ + 640, + 480 + ], + "frequency": 25, + "focal_length": 2.0, + "horizontal_aperture": 3.6, + "vertical_aperture": 2.7, + "clipping_range": [ + 0.05, + 30.0 + ], + "focus_distance": 3.0, + "mode": "RGB", + "mount_link": "Robot_0/head", + "pos": [ + 0.2166, + 0.0, + -0.045 + ], + "ori": [ + -0.0, + 35.0, + -90.0 + ] + }, + "annotator": { + "enabled": true, + "rgb_capture": { + "type": "rgb", + "device": "cpu" + } + } + }, + "wrist": { + "camera": { + "type": "camera", + "mesh": "pinhole", + "resolution": [ + 640, + 480 + ], + "frequency": 25, + "focal_length": 1.8, + "horizontal_aperture": 3.6, + "vertical_aperture": 2.7, + "clipping_range": [ + 0.05, + 30.0 + ], + "focus_distance": 3.0, + "mode": "RGB", + "mount_link": "Robot_0/right_electric_gripper_base", + "pos": [ + 0.0598, + 0.0, + 0.03 + ], + "ori": [ + 180.0, + 0.0, + -90.0 + ] + }, + "annotator": { + "enabled": true, + "rgb_capture": { + "type": "rgb", + "device": "cpu" + } + } + } + } + }, + "task": { + "new_seed_per_episode": true, + "observation": {}, + "reward": {}, + "termination": { + "timeout_steps": 30000, + "success_hold_frames": 10, + "fall_height": 0.02, + "fall_tilt": 1.0, + "lift_height": 0.12, + "grasp_distance": 0.25 + }, + "stance": { + "heights": [ + 0.3, + 0.34, + 0.26 + ], + "radii": [ + 0.5, + 0.46, + 0.54 + ] + }, + "station": { + "robot": { + "key": "RidgebackSawyerUmi", + "embodiment": "sawyer_umi", + "base_link": "torso", + "tcp_in_wrist": [ + 0.17174, + 0.00789, + 0.0, + 0.5, + 0.5, + 0.5, + 0.5 + ], + "wrist_ref_back": 0.0, + "spawn_dz": 0.02, + "finger_joints": [ + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ], + "dwb": { + "key": "dwb_holonomic", + "add_floor": false + } + }, + "task_id": "N033", + "task_version": "EXT60-MobileAvatar-v3", + "family_id": "ring_on_bent_rod", + "primary_category": "C2", + "stage": "full", + "layout": { + "floor_z": 0.03, + "start": { + "x": -3.4, + "y": -2.2, + "yaw_deg": 40.0, + "radius": 0.3, + "yaw_spread_deg": 20.0 + }, + "stations": { + "A": { + "center": [ + -0.3456236314222738, + 0.19075829820448897 + ], + "facing_deg": 89.26996445251552, + "standoff": 0.7, + "table": { + "width": 0.9, + "depth": 0.5, + "height": 0.3 + } + }, + "B": { + "center": [ + 1.7353778432795572, + 2.977148284075784 + ], + "facing_deg": 94.9096143753513, + "standoff": 0.7, + "table": { + "width": 0.9, + "depth": 0.5, + "height": 0.3 + } + } + } + }, + "route": [ + "A", + "B" + ], + "fixtures": { + "rod": { + "pivot": [ + 0.0, + -0.2 + ], + "yaw_deg": 0.0 + } + }, + "instruction": "pick up the large ring (not the small one)", + "ring": { + "target": "ring", + "others": [ + "ring_small" + ], + "swap": "random", + "rod": { + "open": -0.2, + "bend": -0.06, + "slope_deg": 35.0, + "horizontal_len": 0.14, + "slope_len": 0.14, + "z": 0.2, + "fixture": "rod" + }, + "swapped": false + }, + "dr": { + "enabled": true, + "stations": { + "center_m": 0.25, + "facing_deg": 8.0 + }, + "objects": { + "across_m": 0.025, + "along_m": 0.02, + "yaw_deg": 8.0 + } + }, + "place_check": { + "ring": { + "at": { + "station": "B", + "across": 0.0, + "along": -0.06, + "z": 0.2 + }, + "yaw_deg": 0.0, + "clearance": 0.004 + } + }, + "success": { + "thread_tol": 0.03, + "lost_dist": 0.06, + "axis_deg": 55.0, + "entry_s": 0.08, + "end_margin": 0.07, + "back_tol": 0.04, + "release_dist": 0.15, + "rest_speed": 0.05, + "held_lift": 0.04, + "lift": 0.08 + }, + "objects": { + "rack_back": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.7, + 0.03, + 0.2 + ], + "at": { + "station": "A", + "across": -0.05, + "along": -0.01, + "z": 0.1 + }, + "color": [ + 0.45, + 0.35, + 0.25 + ], + "pos": [ + -0.39574698460842367, + 0.1813961688859801, + 0.42999999999999994 + ], + "yaw_deg": -0.7300355474844764 + }, + "peg_1": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.02, + 0.18, + 0.02 + ], + "at": { + "station": "A", + "across": 0.1, + "along": -0.115, + "z": 0.14 + }, + "color": [ + 0.35, + 0.35, + 0.35 + ], + "pos": [ + -0.24709698424280774, + 0.07449351507746889, + 0.47 + ], + "yaw_deg": -0.7300355474844764 + }, + "peg_2": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.02, + 0.18, + 0.02 + ], + "at": { + "station": "A", + "across": -0.2, + "along": -0.115, + "z": 0.14 + }, + "color": [ + 0.35, + 0.35, + 0.35 + ], + "pos": [ + -0.5470726326073363, + 0.07831586883932133, + 0.47 + ], + "yaw_deg": -0.7300355474844764 + }, + "ring": { + "catalog": "ring_wide", + "type": "rigid", + "at": { + "station": "A", + "across": 0.1, + "along": -0.16334667829429428, + "z": 0.11 + }, + "yaw_deg": -0.7300355474844764, + "jitter": { + "across_m": 0.0, + "along_m": 0.012, + "yaw_deg": 0.0 + }, + "friction": { + "static": 1.5, + "dynamic": 1.5 + }, + "asset": "$MAGICSIM_ASSETS/Object/MMB_A07/ring_wide/Object.usda", + "parts": [ + { + "name": "seg0", + "center": [ + 0.051, + 0.0, + 0.0 + ], + "half": [ + 0.011, + 0.0175, + 0.025124891681027845 + ], + "rpy_deg": [ + 0.0, + -0.0, + 0.0 + ] + }, + { + "name": "seg1", + "center": [ + 0.03606244584051392, + 0.0, + 0.03606244584051392 + ], + "half": [ + 0.011, + 0.0175, + 0.025124891681027845 + ], + "rpy_deg": [ + 0.0, + -45.0, + 0.0 + ] + }, + { + "name": "seg2", + "center": [ + 3.1228493378257503e-18, + 0.0, + 0.051 + ], + "half": [ + 0.011, + 0.0175, + 0.025124891681027845 + ], + "rpy_deg": [ + 0.0, + -90.0, + 0.0 + ] + }, + { + "name": "seg3", + "center": [ + -0.03606244584051392, + 0.0, + 0.03606244584051392 + ], + "half": [ + 0.011, + 0.0175, + 0.025124891681027845 + ], + "rpy_deg": [ + 0.0, + -135.0, + 0.0 + ] + }, + { + "name": "seg4", + "center": [ + -0.051, + 0.0, + 6.245698675651501e-18 + ], + "half": [ + 0.011, + 0.0175, + 0.025124891681027845 + ], + "rpy_deg": [ + 0.0, + -180.0, + 0.0 + ] + }, + { + "name": "seg5", + "center": [ + -0.03606244584051393, + 0.0, + -0.03606244584051392 + ], + "half": [ + 0.011, + 0.0175, + 0.025124891681027845 + ], + "rpy_deg": [ + 0.0, + -225.0, + 0.0 + ] + }, + { + "name": "seg6", + "center": [ + -9.368548013477251e-18, + 0.0, + -0.051 + ], + "half": [ + 0.011, + 0.0175, + 0.025124891681027845 + ], + "rpy_deg": [ + 0.0, + -270.0, + 0.0 + ] + }, + { + "name": "seg7", + "center": [ + 0.036062445840513914, + 0.0, + -0.03606244584051393 + ], + "half": [ + 0.011, + 0.0175, + 0.025124891681027845 + ], + "rpy_deg": [ + 0.0, + -315.0, + 0.0 + ] + }, + { + "name": "tab", + "center": [ + 0.0, + 0.0, + 0.09 + ], + "half": [ + 0.015, + 0.0175, + 0.03 + ], + "rpy_deg": [ + 0.0, + 0.0, + 0.0 + ] + } + ], + "mass": 0.05, + "com": [ + 0.0, + 0.0, + 0.0 + ], + "grasp": { + "part": "tab", + "thin_axis": 0, + "min_elevation_deg": 60.0, + "inset": 0.02, + "min_overlap_x": 0.016, + "min_overlap_z": 0.015 + }, + "pos": [ + -0.24771297793497865, + 0.026150761185461557, + 0.43999999999999995 + ] + }, + "ring_small": { + "catalog": "ring_small", + "type": "rigid", + "at": { + "station": "A", + "across": -0.2, + "along": -0.14983682649152744, + "z": 0.135 + }, + "yaw_deg": -0.7300355474844764, + "jitter": { + "across_m": 0.0, + "along_m": 0.012, + "yaw_deg": 0.0 + }, + "friction": { + "static": 1.5, + "dynamic": 1.5 + }, + "asset": "$MAGICSIM_ASSETS/Object/MMB_A07/ring_small/Object.usda", + "parts": [ + { + "name": "seg0", + "center": [ + 0.026, + 0.0, + 0.0 + ], + "half": [ + 0.011, + 0.0175, + 0.01476955262170047 + ], + "rpy_deg": [ + 0.0, + -0.0, + 0.0 + ] + }, + { + "name": "seg1", + "center": [ + 0.018384776310850236, + 0.0, + 0.018384776310850233 + ], + "half": [ + 0.011, + 0.0175, + 0.01476955262170047 + ], + "rpy_deg": [ + 0.0, + -45.0, + 0.0 + ] + }, + { + "name": "seg2", + "center": [ + 1.5920408388915591e-18, + 0.0, + 0.026 + ], + "half": [ + 0.011, + 0.0175, + 0.01476955262170047 + ], + "rpy_deg": [ + 0.0, + -90.0, + 0.0 + ] + }, + { + "name": "seg3", + "center": [ + -0.018384776310850233, + 0.0, + 0.018384776310850236 + ], + "half": [ + 0.011, + 0.0175, + 0.01476955262170047 + ], + "rpy_deg": [ + 0.0, + -135.0, + 0.0 + ] + }, + { + "name": "seg4", + "center": [ + -0.026, + 0.0, + 3.1840816777831182e-18 + ], + "half": [ + 0.011, + 0.0175, + 0.01476955262170047 + ], + "rpy_deg": [ + 0.0, + -180.0, + 0.0 + ] + }, + { + "name": "seg5", + "center": [ + -0.01838477631085024, + 0.0, + -0.018384776310850233 + ], + "half": [ + 0.011, + 0.0175, + 0.01476955262170047 + ], + "rpy_deg": [ + 0.0, + -225.0, + 0.0 + ] + }, + { + "name": "seg6", + "center": [ + -4.776122516674677e-18, + 0.0, + -0.026 + ], + "half": [ + 0.011, + 0.0175, + 0.01476955262170047 + ], + "rpy_deg": [ + 0.0, + -270.0, + 0.0 + ] + }, + { + "name": "seg7", + "center": [ + 0.01838477631085023, + 0.0, + -0.01838477631085024 + ], + "half": [ + 0.011, + 0.0175, + 0.01476955262170047 + ], + "rpy_deg": [ + 0.0, + -315.0, + 0.0 + ] + }, + { + "name": "tab", + "center": [ + 0.0, + 0.0, + 0.065 + ], + "half": [ + 0.015, + 0.0175, + 0.03 + ], + "rpy_deg": [ + 0.0, + 0.0, + 0.0 + ] + } + ], + "mass": 0.05, + "com": [ + 0.0, + 0.0, + 0.0 + ], + "grasp": { + "part": "tab", + "thin_axis": 0, + "min_elevation_deg": 60.0, + "inset": 0.02, + "min_overlap_x": 0.016, + "min_overlap_z": 0.015 + }, + "pos": [ + -0.5475164948566392, + 0.043481870126792915, + 0.46499999999999997 + ] + }, + "rod_h": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.02, + 0.14, + 0.02 + ], + "at": { + "station": "B", + "across": 0.0, + "along": -0.13, + "z": 0.2 + }, + "fixture": "rod", + "color": [ + 0.75, + 0.75, + 0.78 + ], + "friction_static": 0.3, + "friction_dynamic": 0.25, + "pos": [ + 1.7465037777317818, + 2.8476252607070993, + 0.53 + ], + "yaw_deg": 4.909614375351296 + }, + "rod_s": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.02, + 0.14, + 0.02 + ], + "at": { + "station": "B", + "across": 0.0, + "along": -0.0027, + "z": 0.1598 + }, + "roll_deg": -35.0, + "fixture": "rod", + "color": [ + 0.75, + 0.75, + 0.78 + ], + "friction_static": 0.3, + "friction_dynamic": 0.25, + "pos": [ + 1.735608920379719, + 2.974458190513511, + 0.48979999999999996 + ], + "yaw_deg": 4.909614375351296 + }, + "rod_stop": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.1, + 0.012, + 0.12 + ], + "at": { + "station": "B", + "across": 0.0, + "along": 0.07, + "z": 0.06 + }, + "fixture": "rod", + "color": [ + 0.55, + 0.3, + 0.25 + ], + "pos": [ + 1.72938695549759, + 3.0468914505050755, + 0.38999999999999996 + ], + "yaw_deg": 4.909614375351296 + } + }, + "report_jsonl": "/mnt/scratch/xc536_atomic/n033_saw_on_2021/out/report.episodes.jsonl", + "dr_applied": true, + "level": "easy" + }, + "command": { + "StationRing": { + "obj_type": "rigid", + "obj_name": "ring", + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.015, + "withdraw": 0.09, + "settle_ticks": 120 + }, + "StationRingXR": { + "obj_type": "rigid", + "obj_name": "ring", + "grasp_part": "tab", + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.015, + "lift": 0.03, + "withdraw": 0.09, + "over_top": 0.019, + "pre_clear": 0.1, + "carry_ahead": 0.5, + "carry_z": 0.8, + "settle_ticks": 120 + } + } + }, + "collect": { + "global_planner": { + "NavTo": { + "use_navmesh": true, + "use_absolute": true, + "translation_threshold": 0.12, + "rotation_threshold": 0.12, + "num_path_segments": 30, + "start_forward_offset": 0.0, + "visualize_path": false, + "carry_arm": true + }, + "RetractMoveL": { + "translation_threshold": 0.02, + "rotation_threshold": 0.2, + "motiongen_distance_threshold": 0.05, + "timeout_steps": 1800, + "base_pos_threshold": 0.12, + "base_rot_threshold": 0.5, + "eef_pos_threshold": 0.03, + "eef_rot_threshold": 0.3, + "base_waypoint_max_steps": 20, + "arm_waypoint_max_steps": 8, + "move_strategy_distance_threshold": 0.1, + "debug": false, + "debug_viz": false + }, + "MobileMoveL": { + "translation_threshold": 0.006, + "rotation_threshold": 0.08, + "motiongen_distance_threshold": 0.05, + "timeout_steps": 1800, + "stall_release_ticks": 100, + "stall_release_factor": 5.0, + "reactive": false, + "base_pos_threshold": 0.12, + "base_rot_threshold": 0.5, + "eef_pos_threshold": 0.03, + "eef_rot_threshold": 0.3, + "waypoint_max_steps": 20, + "interp_steps": 100, + "interp_validate_target": true, + "retry_mobile_on_locked_plan_failure": true, + "debug": false, + "debug_viz": false + }, + "MobileServoL": { + "base_pos_threshold": 0.12, + "waypoint_max_steps": 20, + "translation_threshold": 0.05, + "timeout_steps": 300 + }, + "ParallelGripper": { + "gripper_threshold": 0.0005, + "timeout_steps": 60 + } + }, + "atomic_skill": { + "NavToPose": { + "robot_id": 0, + "show_marker": false + }, + "Move": { + "arm_planner": "MobileMoveL", + "hand_planner": "ParallelGripper", + "obstacle_avoid_paths": [ + "dynamic/table_A", + "dynamic/table_B" + ], + "obstacle_ignore_paths": [], + "close_value": 1.0, + "open_value": 0.0, + "hold_steps": 10 + }, + "StationNavXR": { + "robot_id": 0, + "show_marker": false + }, + "ReachStance": { + "max_walks": 4 + }, + "Grasp": { + "retrieval_offset": 0.03 + } + }, + "command": { + "StationRing": { + "obj_type": "rigid", + "obj_name": "ring", + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.015, + "withdraw": 0.09, + "settle_ticks": 120 + }, + "StationRingXR": { + "obj_type": "rigid", + "obj_name": "ring", + "grasp_part": "tab", + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.015, + "lift": 0.03, + "withdraw": 0.09, + "over_top": 0.019, + "pre_clear": 0.1, + "carry_ahead": 0.5, + "carry_z": 0.8, + "settle_ticks": 120 + } + }, + "auto_collect": {}, + "record": { + "output_dir": "/mnt/scratch/xc536_atomic/n033_saw_on_2021/out/rec", + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "json_round": null, + "schema": { + "source": "robot_manager", + "nan_policy": "from_raw" + }, + "lerobot": { + "subsample_every": 2 + } + } + }, + "visual_dr": { + "keep": [ + "ring", + "ring_small" + ] + } + }, + "git_sha": null, + "collect_runtime": { + "max_trajectories": 1 + } +} \ No newline at end of file diff --git a/N033/sawyer_umi/dr_on/seed_2021/rec/stationringxr/000/sim_info/0/actions.npz b/N033/sawyer_umi/dr_on/seed_2021/rec/stationringxr/000/sim_info/0/actions.npz new file mode 100644 index 0000000000000000000000000000000000000000..b0b3a6391b907936bce4394876cd6561a55da462 --- /dev/null +++ b/N033/sawyer_umi/dr_on/seed_2021/rec/stationringxr/000/sim_info/0/actions.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cc91cdbfc64b1b55a3dc150874d5827b9276e95a34556938e1002f9290010a47 +size 526095 diff --git a/N033/sawyer_umi/dr_on/seed_2021/rec/stationringxr/000/sim_info/0/device_commands.jsonl b/N033/sawyer_umi/dr_on/seed_2021/rec/stationringxr/000/sim_info/0/device_commands.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N033/sawyer_umi/dr_on/seed_2021/rec/stationringxr/000/sim_info/0/device_events.jsonl b/N033/sawyer_umi/dr_on/seed_2021/rec/stationringxr/000/sim_info/0/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N033/sawyer_umi/dr_on/seed_2021/rec/stationringxr/000/sim_info/0/scene_snapshot.json b/N033/sawyer_umi/dr_on/seed_2021/rec/stationringxr/000/sim_info/0/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..6cbc76f23b01f7b52196abd6735ad91afcae1046 --- /dev/null +++ b/N033/sawyer_umi/dr_on/seed_2021/rec/stationringxr/000/sim_info/0/scene_snapshot.json @@ -0,0 +1,655 @@ +{ + "trajectory_id": 0, + "env_id": 0, + "run_id": "stationringxr/000", + "task_type": "RingXRCommand", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])", + "avatars": "avatar_manager.set_avatars_state(snapshot['avatars'], env_ids=[env_id]) (present when the scene has animated avatars)" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "table_A": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.3456236314222738, + 0.19075829820448897, + 0.18 + ], + "ori": [ + 0.9999797344207764, + 0.0, + 0.0, + -0.00637071905657649 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.45, + 0.35 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + } + }, + "type_specific": {} + } + ], + "table_B": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 1.7353778432795572, + 2.977148284075784, + 0.18 + ], + "ori": [ + 0.9990823268890381, + 0.0, + 0.0, + 0.042831361293792725 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.45, + 0.35 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + } + }, + "type_specific": {} + } + ], + "rack_back": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.39574698460842367, + 0.1813961688859801, + 0.42999999999999994 + ], + "ori": [ + 0.9999797344207764, + 0.0, + 0.0, + -0.00637071905657649 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.45, + 0.35, + 0.25 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.7, + 0.03, + 0.2 + ] + } + }, + "type_specific": {} + } + ], + "peg_1": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.24709698424280774, + 0.07449351507746889, + 0.47 + ], + "ori": [ + 0.9999797344207764, + 0.0, + 0.0, + -0.00637071905657649 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.35, + 0.35, + 0.35 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.02, + 0.18, + 0.02 + ] + } + }, + "type_specific": {} + } + ], + "peg_2": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.5470726326073363, + 0.07831586883932133, + 0.47 + ], + "ori": [ + 0.9999797344207764, + 0.0, + 0.0, + -0.00637071905657649 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.35, + 0.35, + 0.35 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.02, + 0.18, + 0.02 + ] + } + }, + "type_specific": {} + } + ], + "ring": [ + { + "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MMB_A07/ring_wide/Object.usda", + "pose": { + "pos": [ + -0.2477131485939026, + 0.026150468736886978, + 0.43999984860420227 + ], + "ori": [ + 0.9999796748161316, + -3.598928060455364e-06, + 2.0643956304411404e-06, + -0.006366033107042313 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.05, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 0.000798382970970124, + 0.000334453972755, + 0.0004255550156813115 + ], + "angular_velocity": [ + 0.009504057466983795, + -0.028707822784781456, + -0.0006265279371291399 + ] + } + } + ], + "ring_small": [ + { + "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MMB_A07/ring_small/Object.usda", + "pose": { + "pos": [ + -0.5475163459777832, + 0.04351380094885826, + 0.46878674626350403 + ], + "ori": [ + 0.9999796152114868, + 3.0643179798062192e-06, + 0.00023431729641743004, + -0.006367612164467573 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.05, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 8.830052684061229e-05, + -5.145911472936859e-06, + -0.00015432470536325127 + ], + "angular_velocity": [ + 7.202872075140476e-05, + -0.003843870712444186, + -0.0010770985390990973 + ] + } + } + ], + "rod_h": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 1.7465037777317818, + 2.8476252607070993, + 0.53 + ], + "ori": [ + 0.9990823268890381, + 0.0, + 0.0, + 0.042831361293792725 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.75, + 0.75, + 0.78 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 0.3, + "dynamic_friction": 0.25, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.02, + 0.14, + 0.02 + ] + } + }, + "type_specific": {} + } + ], + "rod_s": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 1.735608920379719, + 2.974458190513511, + 0.48979999999999996 + ], + "ori": [ + 0.9528417587280273, + -0.3004298508167267, + -0.012879638932645321, + 0.0408489964902401 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.75, + 0.75, + 0.78 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 0.3, + "dynamic_friction": 0.25, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.02, + 0.14, + 0.02 + ] + } + }, + "type_specific": {} + } + ], + "rod_stop": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 1.72938695549759, + 3.0468914505050755, + 0.38999999999999996 + ], + "ori": [ + 0.9990823268890381, + 0.0, + 0.0, + 0.042831361293792725 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.3, + 0.25 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.1, + 0.012, + 0.12 + ] + } + }, + "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": { + "RidgebackSawyerUmi": { + "root_pose": [ + [ + -3.356022596359253, + -2.0892906188964844, + 0.05000000074505806, + 0.8997000455856323, + 0.0, + 0.0, + 0.4365086555480957 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.600000023841858, + 0.0, + 0.5, + 0.0, + -2.319999933242798, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "head": [ + [ + 0.21660000085830688, + 0.0, + -0.04500000178813934, + -0.6743797063827515, + 0.21263112127780914, + -0.21263112127780914, + 0.6743797659873962 + ] + ], + "wrist": [ + [ + 0.05979999899864197, + 0.0, + 0.029999999329447746, + 6.123234262925839e-17, + 0.7071067690849304, + 0.7071067690849304, + -4.329780301713277e-17 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/N033/sawyer_umi/dr_on/seed_2021/rec/stationringxr/000/sim_info/0/sim_states.npz b/N033/sawyer_umi/dr_on/seed_2021/rec/stationringxr/000/sim_info/0/sim_states.npz new file mode 100644 index 0000000000000000000000000000000000000000..9dfbe4d9576c4fd44862f6a499ed6e3ab6d4ca32 --- /dev/null +++ b/N033/sawyer_umi/dr_on/seed_2021/rec/stationringxr/000/sim_info/0/sim_states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:50f1b7e3b20b5dd00fa7ccf1bf401bf6fdc1964b5c0708a054f1bfb197727dd8 +size 591163 diff --git a/N033/sawyer_umi/dr_on/seed_2021/rec/stationringxr/000/sim_info/magicsim_manifest.json b/N033/sawyer_umi/dr_on/seed_2021/rec/stationringxr/000/sim_info/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..d28e59446749de50fc137e5ee9017fbc179ef66d --- /dev/null +++ b/N033/sawyer_umi/dr_on/seed_2021/rec/stationringxr/000/sim_info/magicsim_manifest.json @@ -0,0 +1,233 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 03:09:35" + }, + "embodiment": { + "robots": [ + { + "name": "RidgebackSawyerUmi", + "cfg": "RidgebackSawyerUmiCfg", + "type": "mobilemanip", + "joint_names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 11, + "nan_policy": "from_raw", + "segments": [ + { + "name": "RidgebackSawyerUmi.base_action", + "start": 0, + "end": 3, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint" + ], + "source": "HolonomicAction", + "names_source": "_joint_names" + }, + { + "name": "RidgebackSawyerUmi.arm_action", + "start": 3, + "end": 10, + "names": [ + "frame0.pos_x", + "frame0.pos_y", + "frame0.pos_z", + "frame0.quat_w", + "frame0.quat_x", + "frame0.quat_y", + "frame0.quat_z" + ], + "source": "PinkInverseKinematicsAction", + "names_source": "pink_layout" + }, + { + "name": "RidgebackSawyerUmi.eef_action", + "start": 10, + "end": 11, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 15, + "segments": [ + { + "name": "RidgebackSawyerUmi.joint_pos", + "start": 0, + "end": 13, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ], + "source": "ObservationManager", + "names_source": "joint_names" + }, + { + "name": "RidgebackSawyerUmi.gripper_pos", + "start": 13, + "end": 15, + "names": [ + "gripper_0", + "gripper_1" + ], + "source": "ObservationManager", + "names_source": "generated" + } + ] + }, + "joint_vel_layout": { + "dim": 13, + "segments": [ + { + "name": "RidgebackSawyerUmi.joint_vel", + "start": 0, + "end": 13, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "action_levels": { + "L0": "task command list (collect.auto_collect_info.current_action)", + "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)", + "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)", + "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy", + "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)" + }, + "cameras": { + "head": { + "intrinsics": { + "K": [ + [ + 355.55555555555554, + 0.0, + 320.0 + ], + [ + 0.0, + 355.55555555555554, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 83.97442499163331, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.21660000085830688, + 0.0, + -0.04500000178813934 + ], + "quat": [ + -0.6743797063827515, + 0.21263112127780914, + -0.21263112127780914, + 0.6743797659873962 + ] + }, + "wrist": { + "intrinsics": { + "K": [ + [ + 320.0, + 0.0, + 320.0 + ], + [ + 0.0, + 320.0, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 90.0, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.05979999899864197, + 0.0, + 0.029999999329447746 + ], + "quat": [ + 6.123234262925839e-17, + 0.7071067690849304, + 0.7071067690849304, + -4.329780301713277e-17 + ] + } + }, + "generated_run": { + "run_id": "stationringxr/000", + "task_type": "RingXRCommand" + } +} \ No newline at end of file diff --git a/N033/sawyer_umi/dr_on/seed_2021/rec/stationringxr/000/visual_dr.json b/N033/sawyer_umi/dr_on/seed_2021/rec/stationringxr/000/visual_dr.json new file mode 100644 index 0000000000000000000000000000000000000000..040b83b2c847db22eb2b8a341a85e9af462642e8 --- /dev/null +++ b/N033/sawyer_umi/dr_on/seed_2021/rec/stationringxr/000/visual_dr.json @@ -0,0 +1,676 @@ +{ + "version": 1, + "settings": { + "enabled": false, + "keep": [ + "ring", + "ring_small" + ], + "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": 2021, + "seeds": { + "0": 2021 + }, + "lights": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/RectLight", + "type": "RectLight", + "intensity": 16169.818742, + "intensity_base": 15000.0, + "enable_color_temperature": true, + "color_temperature_k": 5296.821738, + "rotate_deg": [ + -2.744, + 0.839, + -2.322 + ] + } + ], + "domes": [ + { + "path": "/World/background", + "type": "DomeLight", + "intensity": 1452.327263, + "intensity_base": 1000.0, + "enable_color_temperature": true, + "color_temperature_k": 6371.013957, + "rotate_deg": [ + 0.0, + 0.0, + 135.865 + ], + "dome": { + "path": "/World/background", + "hdr_base": null, + "hdr": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Background/kloofendal_48d_partly_cloudy_4k.hdr", + "color": [ + 0.825775, + 0.71689, + 0.82841 + ] + } + } + ], + "materials": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light", + "shader": "omnipbr", + "color": [ + 0.8338, + 0.8419, + 0.8066 + ], + "color_base": [ + 1.0, + 1.0, + 1.0 + ], + "roughness": 0.445844, + "roughness_base": 0.5, + "bound_prims": 1 + } + ], + "display_colors": [], + "swapped": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/ParquetFloor", + "role": "ground", + "mdl": "Ground/Large_Granite_Paving.mdl", + "material": "/MmbVdrLooks/Ground_Large_Granite_Paving", + "bound_prims": 1, + "pool_size": 42, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic", + "role": "wall", + "mdl": "Source/Paint/Paint_Gun_Metal.mdl", + "material": "/MmbVdrLooks/Source_Paint_Paint_Gun_Metal", + "bound_prims": 17, + "pool_size": 28, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic2", + "role": "wall", + "mdl": "Source/Masonry/Facade_Brick_Grey.mdl", + "material": "/MmbVdrLooks/Source_Masonry_Facade_Brick_Grey", + "bound_prims": 22, + "pool_size": 28, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WoodWall", + "role": "wall", + "mdl": "Source/Paint/Chalk_Paint.mdl", + "material": "/MmbVdrLooks/Source_Paint_Chalk_Paint", + "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": { + "ring": 9, + "ring_small": 9 + }, + "physics_skip": { + "physics_binding": 26, + "rigid_body": 95, + "examples": [ + [ + "/World/envs/env_0/Robot_0/base_link/visuals/base_link_visuals_mesh_0/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/base_link_visuals_mesh_1/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_2/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_3/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_4/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_5/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_6/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_7/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/collisions/base_link_collisions_mesh_0/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/collisions/base_link_collisions_mesh_1/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/front_laser/visuals/front_laser_visuals/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/front_laser/collisions/mesh_0/box", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/rear_laser/visuals/rear_laser_visuals/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/rear_laser/collisions/mesh_0/box", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_arm_base_link/visuals/right_arm_base_link_visuals_mesh_0/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_arm_base_link/visuals/right_arm_base_link_visuals_mesh_0/World/mesh/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_arm_base_link/visuals/right_arm_base_link_visuals_mesh_0/World/mesh/mesh1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_arm_base_link/collisions/mesh_0/cylinder", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh2", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh3", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh4", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh5", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh6", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/collisions/mesh_0/sphere", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh3", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh5", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh2", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh6", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh4", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh7", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh8", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh9", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/collisions/mesh_0/sphere", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/screen/visuals/mesh_0/box", + "rigid_body" + ] + ] + }, + "material_library": { + "root": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Material", + "pool_sizes": { + "ground": 42, + "wall": 28, + "furniture": 38, + "object": 54 + } + }, + "no_swap": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass", + "reason": "glass", + "bound_prims": 1 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light", + "reason": "emissive", + "bound_prims": 1 + } + ], + "unsupported": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass", + "mdl": "OmniGlass.mdl", + "bound_prims": 1 + } + ] + }, + { + "env_ids": [ + 0 + ], + "reset_index": 1, + "episode_seed": 2021, + "seeds": { + "0": 2021 + }, + "lights": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/RectLight", + "type": "RectLight", + "intensity": 16169.818742, + "intensity_base": 15000.0, + "enable_color_temperature": true, + "color_temperature_k": 5296.821738, + "rotate_deg": [ + -2.744, + 0.839, + -2.322 + ] + } + ], + "domes": [ + { + "path": "/World/background", + "type": "DomeLight", + "intensity": 1452.327263, + "intensity_base": 1000.0, + "enable_color_temperature": true, + "color_temperature_k": 6371.013957, + "rotate_deg": [ + 0.0, + 0.0, + 135.865 + ], + "dome": { + "path": "/World/background", + "hdr_base": null, + "hdr": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Background/kloofendal_48d_partly_cloudy_4k.hdr", + "color": [ + 0.825775, + 0.71689, + 0.82841 + ] + } + } + ], + "materials": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light", + "shader": "omnipbr", + "color": [ + 0.8338, + 0.8419, + 0.8066 + ], + "color_base": [ + 1.0, + 1.0, + 1.0 + ], + "roughness": 0.445844, + "roughness_base": 0.5, + "bound_prims": 1 + } + ], + "display_colors": [], + "swapped": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/ParquetFloor", + "role": "ground", + "mdl": "Ground/Large_Granite_Paving.mdl", + "material": "/MmbVdrLooks/Ground_Large_Granite_Paving", + "bound_prims": 1, + "pool_size": 42, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic", + "role": "wall", + "mdl": "Source/Paint/Paint_Gun_Metal.mdl", + "material": "/MmbVdrLooks/Source_Paint_Paint_Gun_Metal", + "bound_prims": 17, + "pool_size": 28, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic2", + "role": "wall", + "mdl": "Source/Masonry/Facade_Brick_Grey.mdl", + "material": "/MmbVdrLooks/Source_Masonry_Facade_Brick_Grey", + "bound_prims": 22, + "pool_size": 28, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WoodWall", + "role": "wall", + "mdl": "Source/Paint/Chalk_Paint.mdl", + "material": "/MmbVdrLooks/Source_Paint_Chalk_Paint", + "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": { + "ring": 9, + "ring_small": 9 + }, + "physics_skip": { + "physics_binding": 26, + "rigid_body": 95, + "examples": [ + [ + "/World/envs/env_0/Robot_0/base_link/visuals/base_link_visuals_mesh_0/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/base_link_visuals_mesh_1/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_2/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_3/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_4/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_5/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_6/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_7/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/collisions/base_link_collisions_mesh_0/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/collisions/base_link_collisions_mesh_1/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/front_laser/visuals/front_laser_visuals/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/front_laser/collisions/mesh_0/box", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/rear_laser/visuals/rear_laser_visuals/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/rear_laser/collisions/mesh_0/box", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_arm_base_link/visuals/right_arm_base_link_visuals_mesh_0/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_arm_base_link/visuals/right_arm_base_link_visuals_mesh_0/World/mesh/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_arm_base_link/visuals/right_arm_base_link_visuals_mesh_0/World/mesh/mesh1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_arm_base_link/collisions/mesh_0/cylinder", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh2", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh3", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh4", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh5", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh6", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/collisions/mesh_0/sphere", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh3", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh5", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh2", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh6", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh4", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh7", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh8", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh9", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/collisions/mesh_0/sphere", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/screen/visuals/mesh_0/box", + "rigid_body" + ] + ] + }, + "material_library": { + "root": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Material", + "pool_sizes": { + "ground": 42, + "wall": 28, + "furniture": 38, + "object": 54 + } + }, + "no_swap": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass", + "reason": "glass", + "bound_prims": 1 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light", + "reason": "emissive", + "bound_prims": 1 + } + ], + "unsupported": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass", + "mdl": "OmniGlass.mdl", + "bound_prims": 1 + } + ] + } + ] +} \ No newline at end of file diff --git a/N033/sawyer_umi/dr_on/seed_2021/report.episodes.jsonl b/N033/sawyer_umi/dr_on/seed_2021/report.episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e73b783dc3b529db5e5b0bb672ab7680ecd3f56d --- /dev/null +++ b/N033/sawyer_umi/dr_on/seed_2021/report.episodes.jsonl @@ -0,0 +1 @@ +{"task_id": "N033", "task_version": "EXT60-MobileAvatar-v3", "instruction": "pick up the large ring (not the small one)", "agent_id": "a07", "family_id": "ring_on_bent_rod", "primary_category": "C2", "level": "easy", "embodiment": "sawyer_umi", "scene_seed": 2021, "execution_mode": "expert_privileged_command", "station_layout": {"A": {"center": [-0.3456236314222738, 0.19075829820448897], "facing": 1.558, "stand": [-0.358, -0.759, 1.558]}, "B": {"center": [1.7353778432795572, 2.977148284075784], "facing": 1.656, "stand": [1.817, 2.031, 1.656]}}, "spawn_pose": [-3.356, -2.089, 0.903], "base_path": [[-3.356, -2.089, 0.903], [-3.356, -2.089, 0.903], [-3.356, -2.089, 0.903], [-3.356, -2.089, 0.903], [-3.356, -2.089, 0.903], [-3.265, -2.023, 0.7], [-3.134, -1.948, 0.515], [-2.994, -1.893, 0.449], [-2.852, -1.843, 0.425], [-2.711, -1.79, 0.416], [-2.571, -1.736, 0.413], [-2.432, -1.679, 0.412], [-2.293, -1.622, 0.412], [-2.156, -1.562, 0.411], [-2.018, -1.502, 0.411], [-1.881, -1.442, 0.411], [-1.743, -1.382, 0.411], [-1.606, -1.321, 0.411], [-1.468, -1.261, 0.411], [-1.331, -1.201, 0.411], [-1.194, -1.141, 0.411], [-1.056, -1.082, 0.411], [-0.919, -1.022, 0.411], [-0.782, -0.962, 0.411], [-0.644, -0.903, 0.411], [-0.513, -0.853, 0.411], [-0.424, -0.818, 0.411], [-0.365, -0.797, 0.411], [-0.327, -0.784, 0.411], [-0.304, -0.773, 0.459], [-0.304, -0.773, 0.859], [-0.304, -0.773, 1.216], [-0.304, -0.773, 1.399], [-0.304, -0.773, 1.44], [-0.304, -0.773, 1.44], [-0.304, -0.773, 1.44], [-0.304, -0.773, 1.44], [-0.304, -0.773, 1.44], [-0.304, -0.773, 1.44], [-0.304, -0.773, 1.44], [-0.304, -0.773, 1.44], [-0.304, -0.773, 1.44], [-0.304, -0.773, 1.44], [-0.304, -0.773, 1.44], [-0.304, -0.773, 1.44], [-0.304, -0.773, 1.44], [-0.304, -0.773, 1.44], [-0.304, -0.773, 1.44], [-0.304, -0.773, 1.44], [-0.304, -0.773, 1.44], [-0.304, -0.773, 1.44], [-0.304, -0.773, 1.44], [-0.304, -0.773, 1.44], [-0.304, -0.773, 1.44], [-0.304, -0.773, 1.44], [-0.304, -0.773, 1.44], [-0.304, -0.773, 1.44], [-0.304, -0.773, 1.44], [-0.304, -0.773, 1.44], [-0.304, -0.773, 1.44], [-0.304, -0.773, 1.44], [-0.304, -0.773, 1.44], [-0.304, -0.773, 1.44], [-0.304, -0.773, 1.44], [-0.304, -0.773, 1.44], [-0.304, -0.773, 1.44], [-0.304, -0.773, 1.44], [-0.304, -0.773, 1.44], [-0.304, -0.773, 1.44], [-0.304, -0.773, 1.44], [-0.304, -0.773, 1.44], [-0.304, -0.773, 1.44], [-0.304, -0.773, 1.44], [-0.304, -0.773, 1.44], [-0.304, -0.773, 1.44], [-0.304, -0.773, 1.44], [-0.304, -0.773, 1.44], [-0.304, -0.773, 1.44], [-0.304, -0.773, 1.44], [-0.304, -0.773, 1.44], [-0.304, -0.773, 1.44], [-0.304, -0.773, 1.44], [-0.304, -0.773, 1.44], [-0.304, -0.773, 1.44], [-0.304, -0.773, 1.44], [-0.304, -0.773, 1.44], [-0.304, -0.773, 1.44], [-0.304, -0.773, 1.44], [-0.303, -0.773, 1.057], [-0.296, -0.767, 0.694], [-0.179, -0.696, 0.501], [-0.049, -0.649, 0.432], [0.049, -0.613, 0.407], [0.149, -0.575, 0.398], [0.24, -0.543, 0.434], [0.327, -0.485, 0.524], [0.415, -0.411, 0.78], [0.488, -0.328, 1.037], [0.535, -0.237, 1.13], [0.586, -0.132, 1.163], [0.621, -0.034, 1.149], [0.665, 0.072, 1.121], [0.709, 0.168, 1.11], [0.76, 0.272, 1.107], [0.806, 0.365, 1.105], [0.867, 0.47, 1.105], [0.911, 0.564, 1.105], [0.969, 0.67, 1.105], [1.011, 0.762, 1.105], [1.06, 0.861, 1.105], [1.106, 0.957, 1.105], [1.152, 1.053, 1.105], [1.202, 1.151, 1.105], [1.25, 1.249, 1.105], [1.301, 1.349, 1.105], [1.35, 1.448, 1.105], [1.4, 1.547, 1.105], [1.45, 1.647, 1.105], [1.5, 1.747, 1.105], [1.55, 1.846, 1.105], [1.602, 1.946, 1.105], [1.66, 2.034, 1.105], [1.711, 2.092, 1.105], [1.744, 2.13, 1.105], [1.765, 2.155, 1.105], [1.77, 2.162, 1.327], [1.77, 2.162, 1.503], [1.77, 2.162, 1.54], [1.77, 2.162, 1.54], [1.77, 2.162, 1.54], [1.77, 2.162, 1.54], [1.77, 2.162, 1.54], [1.77, 2.162, 1.54], [1.77, 2.162, 1.54], [1.77, 2.162, 1.54], [1.77, 2.162, 1.54], [1.77, 2.162, 1.54], [1.77, 2.162, 1.54], [1.77, 2.162, 1.54], [1.77, 2.162, 1.54], [1.77, 2.162, 1.54], [1.77, 2.162, 1.54], [1.77, 2.162, 1.54], [1.77, 2.162, 1.54], [1.77, 2.162, 1.54], [1.77, 2.162, 1.54], [1.77, 2.162, 1.54], [1.77, 2.162, 1.54], [1.77, 2.162, 1.54], [1.77, 2.162, 1.54], [1.77, 2.162, 1.54], [1.77, 2.162, 1.54], [1.77, 2.162, 1.54], [1.77, 2.162, 1.54], [1.77, 2.162, 1.54], [1.77, 2.162, 1.54], [1.77, 2.162, 1.54], [1.77, 2.162, 1.54], [1.77, 2.162, 1.54], [1.77, 2.162, 1.54], [1.77, 2.162, 1.54], [1.77, 2.162, 1.54], [1.77, 2.162, 1.54], [1.77, 2.162, 1.54], [1.77, 2.162, 1.54], [1.77, 2.162, 1.54], [1.77, 2.162, 1.54], [1.77, 2.162, 1.54], [1.77, 2.162, 1.54], [1.77, 2.162, 1.54], [1.77, 2.162, 1.54], [1.77, 2.162, 1.54], [1.77, 2.162, 1.54], [1.77, 2.162, 1.54]], "stage_events": [{"tick": 528, "event": "enter_station", "station": "A", "xy": [-1.045, -1.078]}, {"tick": 2695, "event": "leave_station", "station": "A", "xy": [0.999, 0.737]}, {"tick": 2906, "event": "enter_station", "station": "B", "xy": [1.41, 1.568]}], "transport_state": {"ring": {"entered": true, "entry_s": 0.0, "max_s": 0.2734349180130664, "was_threaded": true, "lost": 0, "held": false, "grasps": 1}}, "manipulation_success": true, "mobile_success": true, "full_success": true, "failure_reason": null, "fail_class_hint": null, "distance_to_first_interaction": 2.529, "interstation_path_lengths": [3.842], "station_transition_order": ["A", "B"], "final_approach_pose": [1.77, 2.162, 1.54], "regrasp_events": 0, "control_ticks": 3677, "wall_s": 833.3, "phase": "done", "state": "success: task sequence complete", "check": {"ring": {"held": false, "dist_wrist": 1.07, "s": 0.273, "rod_dist": 0.028, "axis_deg": 6.0, "threaded": true, "entered_via_open_end": true, "entry_s": 0.0, "max_s": 0.273, "lost_count": 0, "at_rest": true}, "decoy": {"ring_small": {"lift": 0.0, "max_lift_near_wrist": 0.0, "dist_wrist": 3.342}}, "rod_length": 0.28, "released": true, "other_rings_on_rod": [], "manipulation_success": true}, "route": ["A", "B"], "total_path_m": 7.07, "planner_seeds": "default"} diff --git a/N033/sawyer_umi/dr_on/seed_2021/report.json b/N033/sawyer_umi/dr_on/seed_2021/report.json new file mode 100644 index 0000000000000000000000000000000000000000..0cb4a1f80794005e36b1917cd603c9868a78adb3 --- /dev/null +++ b/N033/sawyer_umi/dr_on/seed_2021/report.json @@ -0,0 +1,1108 @@ +{ + "task_id": "N033", + "robot": "sawyer_umi", + "level": "easy", + "seed": 2021, + "episodes_requested": 1, + "episodes": [ + { + "task_id": "N033", + "task_version": "EXT60-MobileAvatar-v3", + "instruction": "pick up the large ring (not the small one)", + "agent_id": "a07", + "family_id": "ring_on_bent_rod", + "primary_category": "C2", + "level": "easy", + "embodiment": "sawyer_umi", + "scene_seed": 2021, + "execution_mode": "expert_privileged_command", + "station_layout": { + "A": { + "center": [ + -0.3456236314222738, + 0.19075829820448897 + ], + "facing": 1.558, + "stand": [ + -0.358, + -0.759, + 1.558 + ] + }, + "B": { + "center": [ + 1.7353778432795572, + 2.977148284075784 + ], + "facing": 1.656, + "stand": [ + 1.817, + 2.031, + 1.656 + ] + } + }, + "spawn_pose": [ + -3.356, + -2.089, + 0.903 + ], + "base_path": [ + [ + -3.356, + -2.089, + 0.903 + ], + [ + -3.356, + -2.089, + 0.903 + ], + [ + -3.356, + -2.089, + 0.903 + ], + [ + -3.356, + -2.089, + 0.903 + ], + [ + -3.356, + -2.089, + 0.903 + ], + [ + -3.265, + -2.023, + 0.7 + ], + [ + -3.134, + -1.948, + 0.515 + ], + [ + -2.994, + -1.893, + 0.449 + ], + [ + -2.852, + -1.843, + 0.425 + ], + [ + -2.711, + -1.79, + 0.416 + ], + [ + -2.571, + -1.736, + 0.413 + ], + [ + -2.432, + -1.679, + 0.412 + ], + [ + -2.293, + -1.622, + 0.412 + ], + [ + -2.156, + -1.562, + 0.411 + ], + [ + -2.018, + -1.502, + 0.411 + ], + [ + -1.881, + -1.442, + 0.411 + ], + [ + -1.743, + -1.382, + 0.411 + ], + [ + -1.606, + -1.321, + 0.411 + ], + [ + -1.468, + -1.261, + 0.411 + ], + [ + -1.331, + -1.201, + 0.411 + ], + [ + -1.194, + -1.141, + 0.411 + ], + [ + -1.056, + -1.082, + 0.411 + ], + [ + -0.919, + -1.022, + 0.411 + ], + [ + -0.782, + -0.962, + 0.411 + ], + [ + -0.644, + -0.903, + 0.411 + ], + [ + -0.513, + -0.853, + 0.411 + ], + [ + -0.424, + -0.818, + 0.411 + ], + [ + -0.365, + -0.797, + 0.411 + ], + [ + -0.327, + -0.784, + 0.411 + ], + [ + -0.304, + -0.773, + 0.459 + ], + [ + -0.304, + -0.773, + 0.859 + ], + [ + -0.304, + -0.773, + 1.216 + ], + [ + -0.304, + -0.773, + 1.399 + ], + [ + -0.304, + -0.773, + 1.44 + ], + [ + -0.304, + -0.773, + 1.44 + ], + [ + -0.304, + -0.773, + 1.44 + ], + [ + -0.304, + -0.773, + 1.44 + ], + [ + -0.304, + -0.773, + 1.44 + ], + [ + -0.304, + -0.773, + 1.44 + ], + [ + -0.304, + -0.773, + 1.44 + ], + [ + -0.304, + -0.773, + 1.44 + ], + [ + -0.304, + -0.773, + 1.44 + ], + [ + -0.304, + -0.773, + 1.44 + ], + [ + -0.304, + -0.773, + 1.44 + ], + [ + -0.304, + -0.773, + 1.44 + ], + [ + -0.304, + -0.773, + 1.44 + ], + [ + -0.304, + -0.773, + 1.44 + ], + [ + -0.304, + -0.773, + 1.44 + ], + [ + -0.304, + -0.773, + 1.44 + ], + [ + -0.304, + -0.773, + 1.44 + ], + [ + -0.304, + -0.773, + 1.44 + ], + [ + -0.304, + -0.773, + 1.44 + ], + [ + -0.304, + -0.773, + 1.44 + ], + [ + -0.304, + -0.773, + 1.44 + ], + [ + -0.304, + -0.773, + 1.44 + ], + [ + -0.304, + -0.773, + 1.44 + ], + [ + -0.304, + -0.773, + 1.44 + ], + [ + -0.304, + -0.773, + 1.44 + ], + [ + -0.304, + -0.773, + 1.44 + ], + [ + -0.304, + -0.773, + 1.44 + ], + [ + -0.304, + -0.773, + 1.44 + ], + [ + -0.304, + -0.773, + 1.44 + ], + [ + -0.304, + -0.773, + 1.44 + ], + [ + -0.304, + -0.773, + 1.44 + ], + [ + -0.304, + -0.773, + 1.44 + ], + [ + -0.304, + -0.773, + 1.44 + ], + [ + -0.304, + -0.773, + 1.44 + ], + [ + -0.304, + -0.773, + 1.44 + ], + [ + -0.304, + -0.773, + 1.44 + ], + [ + -0.304, + -0.773, + 1.44 + ], + [ + -0.304, + -0.773, + 1.44 + ], + [ + -0.304, + -0.773, + 1.44 + ], + [ + -0.304, + -0.773, + 1.44 + ], + [ + -0.304, + -0.773, + 1.44 + ], + [ + -0.304, + -0.773, + 1.44 + ], + [ + -0.304, + -0.773, + 1.44 + ], + [ + -0.304, + -0.773, + 1.44 + ], + [ + -0.304, + -0.773, + 1.44 + ], + [ + -0.304, + -0.773, + 1.44 + ], + [ + -0.304, + -0.773, + 1.44 + ], + [ + -0.304, + -0.773, + 1.44 + ], + [ + -0.304, + -0.773, + 1.44 + ], + [ + -0.304, + -0.773, + 1.44 + ], + [ + -0.304, + -0.773, + 1.44 + ], + [ + -0.304, + -0.773, + 1.44 + ], + [ + -0.304, + -0.773, + 1.44 + ], + [ + -0.304, + -0.773, + 1.44 + ], + [ + -0.304, + -0.773, + 1.44 + ], + [ + -0.303, + -0.773, + 1.057 + ], + [ + -0.296, + -0.767, + 0.694 + ], + [ + -0.179, + -0.696, + 0.501 + ], + [ + -0.049, + -0.649, + 0.432 + ], + [ + 0.049, + -0.613, + 0.407 + ], + [ + 0.149, + -0.575, + 0.398 + ], + [ + 0.24, + -0.543, + 0.434 + ], + [ + 0.327, + -0.485, + 0.524 + ], + [ + 0.415, + -0.411, + 0.78 + ], + [ + 0.488, + -0.328, + 1.037 + ], + [ + 0.535, + -0.237, + 1.13 + ], + [ + 0.586, + -0.132, + 1.163 + ], + [ + 0.621, + -0.034, + 1.149 + ], + [ + 0.665, + 0.072, + 1.121 + ], + [ + 0.709, + 0.168, + 1.11 + ], + [ + 0.76, + 0.272, + 1.107 + ], + [ + 0.806, + 0.365, + 1.105 + ], + [ + 0.867, + 0.47, + 1.105 + ], + [ + 0.911, + 0.564, + 1.105 + ], + [ + 0.969, + 0.67, + 1.105 + ], + [ + 1.011, + 0.762, + 1.105 + ], + [ + 1.06, + 0.861, + 1.105 + ], + [ + 1.106, + 0.957, + 1.105 + ], + [ + 1.152, + 1.053, + 1.105 + ], + [ + 1.202, + 1.151, + 1.105 + ], + [ + 1.25, + 1.249, + 1.105 + ], + [ + 1.301, + 1.349, + 1.105 + ], + [ + 1.35, + 1.448, + 1.105 + ], + [ + 1.4, + 1.547, + 1.105 + ], + [ + 1.45, + 1.647, + 1.105 + ], + [ + 1.5, + 1.747, + 1.105 + ], + [ + 1.55, + 1.846, + 1.105 + ], + [ + 1.602, + 1.946, + 1.105 + ], + [ + 1.66, + 2.034, + 1.105 + ], + [ + 1.711, + 2.092, + 1.105 + ], + [ + 1.744, + 2.13, + 1.105 + ], + [ + 1.765, + 2.155, + 1.105 + ], + [ + 1.77, + 2.162, + 1.327 + ], + [ + 1.77, + 2.162, + 1.503 + ], + [ + 1.77, + 2.162, + 1.54 + ], + [ + 1.77, + 2.162, + 1.54 + ], + [ + 1.77, + 2.162, + 1.54 + ], + [ + 1.77, + 2.162, + 1.54 + ], + [ + 1.77, + 2.162, + 1.54 + ], + [ + 1.77, + 2.162, + 1.54 + ], + [ + 1.77, + 2.162, + 1.54 + ], + [ + 1.77, + 2.162, + 1.54 + ], + [ + 1.77, + 2.162, + 1.54 + ], + [ + 1.77, + 2.162, + 1.54 + ], + [ + 1.77, + 2.162, + 1.54 + ], + [ + 1.77, + 2.162, + 1.54 + ], + [ + 1.77, + 2.162, + 1.54 + ], + [ + 1.77, + 2.162, + 1.54 + ], + [ + 1.77, + 2.162, + 1.54 + ], + [ + 1.77, + 2.162, + 1.54 + ], + [ + 1.77, + 2.162, + 1.54 + ], + [ + 1.77, + 2.162, + 1.54 + ], + [ + 1.77, + 2.162, + 1.54 + ], + [ + 1.77, + 2.162, + 1.54 + ], + [ + 1.77, + 2.162, + 1.54 + ], + [ + 1.77, + 2.162, + 1.54 + ], + [ + 1.77, + 2.162, + 1.54 + ], + [ + 1.77, + 2.162, + 1.54 + ], + [ + 1.77, + 2.162, + 1.54 + ], + [ + 1.77, + 2.162, + 1.54 + ], + [ + 1.77, + 2.162, + 1.54 + ], + [ + 1.77, + 2.162, + 1.54 + ], + [ + 1.77, + 2.162, + 1.54 + ], + [ + 1.77, + 2.162, + 1.54 + ], + [ + 1.77, + 2.162, + 1.54 + ], + [ + 1.77, + 2.162, + 1.54 + ], + [ + 1.77, + 2.162, + 1.54 + ], + [ + 1.77, + 2.162, + 1.54 + ], + [ + 1.77, + 2.162, + 1.54 + ], + [ + 1.77, + 2.162, + 1.54 + ], + [ + 1.77, + 2.162, + 1.54 + ], + [ + 1.77, + 2.162, + 1.54 + ], + [ + 1.77, + 2.162, + 1.54 + ], + [ + 1.77, + 2.162, + 1.54 + ], + [ + 1.77, + 2.162, + 1.54 + ], + [ + 1.77, + 2.162, + 1.54 + ], + [ + 1.77, + 2.162, + 1.54 + ], + [ + 1.77, + 2.162, + 1.54 + ], + [ + 1.77, + 2.162, + 1.54 + ], + [ + 1.77, + 2.162, + 1.54 + ], + [ + 1.77, + 2.162, + 1.54 + ] + ], + "stage_events": [ + { + "tick": 528, + "event": "enter_station", + "station": "A", + "xy": [ + -1.045, + -1.078 + ] + }, + { + "tick": 2695, + "event": "leave_station", + "station": "A", + "xy": [ + 0.999, + 0.737 + ] + }, + { + "tick": 2906, + "event": "enter_station", + "station": "B", + "xy": [ + 1.41, + 1.568 + ] + } + ], + "transport_state": { + "ring": { + "entered": true, + "entry_s": 0.0, + "max_s": 0.2734349180130664, + "was_threaded": true, + "lost": 0, + "held": false, + "grasps": 1 + } + }, + "manipulation_success": true, + "mobile_success": true, + "full_success": true, + "failure_reason": null, + "fail_class_hint": null, + "distance_to_first_interaction": 2.529, + "interstation_path_lengths": [ + 3.842 + ], + "station_transition_order": [ + "A", + "B" + ], + "final_approach_pose": [ + 1.77, + 2.162, + 1.54 + ], + "regrasp_events": 0, + "control_ticks": 3677, + "wall_s": 833.3, + "phase": "done", + "state": "success: task sequence complete", + "check": { + "ring": { + "held": false, + "dist_wrist": 1.07, + "s": 0.273, + "rod_dist": 0.028, + "axis_deg": 6.0, + "threaded": true, + "entered_via_open_end": true, + "entry_s": 0.0, + "max_s": 0.273, + "lost_count": 0, + "at_rest": true + }, + "decoy": { + "ring_small": { + "lift": 0.0, + "max_lift_near_wrist": 0.0, + "dist_wrist": 3.342 + } + }, + "rod_length": 0.28, + "released": true, + "other_rings_on_rod": [], + "manipulation_success": true + }, + "route": [ + "A", + "B" + ], + "total_path_m": 7.07, + "planner_seeds": "default" + } + ], + "error": null, + "collect": { + "task": "N033", + "robot": "sawyer_umi", + "visual_dr": true, + "env": { + "MMB_COLLECT": "1", + "MMB_TASK_ID": "N033", + "MMB_CLEAN_VIEW": "1", + "MMB_REAL_ROBOT_LOOK": "1", + "MMB_VISUAL_DR": "1" + }, + "cameras": { + "head": { + "link": "Robot_0/head", + "pos": [ + 0.2166, + 0.0, + -0.045 + ], + "ori": [ + -0.0, + 35.0, + -90.0 + ], + "focal_length": 2.0, + "horizontal_aperture": 3.6, + "vertical_aperture": 2.7 + }, + "wrist": { + "link": "Robot_0/right_electric_gripper_base", + "pos": [ + 0.0598, + 0.0, + 0.03 + ], + "ori": [ + 180.0, + 0.0, + -90.0 + ], + "focal_length": 1.8, + "horizontal_aperture": 3.6, + "vertical_aperture": 2.7 + } + }, + "resolution": [ + 640, + 480 + ], + "camera_hz": 25, + "record": { + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + } + }, + "review_cameras": [], + "policy_obs_signature": [ + "/camera_info[0]/rgb[0]:(480, 640, 4):uint8", + "/camera_info[1]/rgb[0]:(480, 640, 4):uint8", + "/robot_state[0]/RidgebackSawyerUmi/base_ang_vel:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/base_heading_quat:(1, 4):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/base_lin_vel:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/base_pos:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/base_quat:(1, 4):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/eef_pos:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/eef_quat:(1, 4):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/eef_relative_pos:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/eef_relative_quat:(1, 4):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/eef_relatvie_pos_arm_base:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/gripper_pos:(1, 2):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/joint_effort:(1, 13):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/joint_pos:(1, 13):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/joint_vel:(1, 13):torch.float32" + ], + "n_success": 1, + "elapsed_s": 1098.4, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 36.2 + } +} diff --git a/N033/stretch3/dr_off/seed_1022/check.json b/N033/stretch3/dr_off/seed_1022/check.json new file mode 100644 index 0000000000000000000000000000000000000000..b114ac55d32ef88217116bc0065be1fb1a78d78f --- /dev/null +++ b/N033/stretch3/dr_off/seed_1022/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: 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.'; expected 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "2111 rows vs ceil(4222/2) = 2111" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..4321, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "20.85 MB, 2111 frames at 25 fps, mean luma 111..155, std 12, new picture 2110x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2111 vs 2111" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "41.31 MB, 2111 frames at 25 fps, mean luma 112..156, std 27, new picture 2110x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2111 vs 2111" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationringstretch/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N033/stretch3/dr_off/seed_1022/check.txt b/N033/stretch3/dr_off/seed_1022/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..ef11cdf8d60a97f1e357c79088f90cdc79e37a61 --- /dev/null +++ b/N033/stretch3/dr_off/seed_1022/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n033_str_off_1022/out task=N033 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n033_str_off_1022/out/rec/stationringstretch/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2111 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: 2111 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: 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.'; expected 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.' +rows 2111 at dataset fps 25 = 84.44 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2111 rows vs ceil(4222/2) = 2111 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..4321, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 20.85 MB, 2111 frames at 25 fps, mean luma 111..155, std 12, new picture 2110x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2111 vs 2111 +[PASS] video observation.images.wrist decodes, 640x480, not black: 41.31 MB, 2111 frames at 25 fps, mean luma 112..156, std 27, new picture 2110x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2111 vs 2111 +parquet size 3.19 MB +[PASS] sim_info present: rec/stationringstretch/000/sim_info +dataset size 65.58 MB; whole cell dir 67.0 MB +RESULT: ALL PASS diff --git a/N033/stretch3/dr_off/seed_1022/rec/stationringstretch/000/completed/0.json b/N033/stretch3/dr_off/seed_1022/rec/stationringstretch/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..fd3e4ff594cda366fc3a512d000e9a5e190a83f8 --- /dev/null +++ b/N033/stretch3/dr_off/seed_1022/rec/stationringstretch/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationringstretch/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N033/stretch3/dr_off/seed_1022/rec/stationringstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N033/stretch3/dr_off/seed_1022/rec/stationringstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..0a3e00955726173aed3f47fbe3500b8aa67cd0b6 --- /dev/null +++ b/N033/stretch3/dr_off/seed_1022/rec/stationringstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e7150a365dd5059d4cbd95c319eb0f24492a2425b26eeb09554738dc847f7173 +size 3194200 diff --git a/N033/stretch3/dr_off/seed_1022/rec/stationringstretch/000/lerobot_v21/meta/episodes.jsonl b/N033/stretch3/dr_off/seed_1022/rec/stationringstretch/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6fb2da0d3b1b04f504a7d2b22843d6eb5ab64e0b --- /dev/null +++ b/N033/stretch3/dr_off/seed_1022/rec/stationringstretch/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end."], "length": 2111, "magicsim/control_steps": 4222, "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 brown rod stop. There are a large gray table A, a large gray table B, a medium brown rack back, a small gray peg 1, a small gray peg 2, a small ring, a small ring small, a small white rod h, a small white rod s and a small brown rod stop. The gray table B is behind the brown rod stop. The brown rack back is to the left of the gray peg 1. The white rod h is to the right of the white rod s. The white rod s is on top of the brown rod stop. The white rod s is behind the brown rod stop. The brown rod stop is in front of the white rod s. The scene is viewed from front, slightly above table height."} diff --git a/N033/stretch3/dr_off/seed_1022/rec/stationringstretch/000/lerobot_v21/meta/episodes_stats.jsonl b/N033/stretch3/dr_off/seed_1022/rec/stationringstretch/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2f70febcc6848ede73de7da77aed60a3340b1590 --- /dev/null +++ b/N033/stretch3/dr_off/seed_1022/rec/stationringstretch/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [-0.019759575164890554, 0.0, -0.04740674183662047, 0.3458657780532473, 0.9338596521156312, 0.7494755386741508, -0.2887229745142596, -0.01411688821959728, -0.08661228454804704, 0.03871334254796705, 0.4703931785883467], "std": [0.15708919695662604, 0.0, 0.2047813186210218, 1.2953500573395988, 1.8664610542349798, 0.10196706013360862, 0.5620492288456792, 0.3517832863990141, 0.4498940595802384, 0.5151541288519059, 0.4991226664116773], "min": [-0.30000001192092896, 0.0, -0.800000011920929, -3.0482680797576904, -1.9503426551818848, 0.5400004386901855, -0.999999463558197, -0.6404595375061035, -0.7032397985458374, -0.9982243776321411, 0.0], "max": [0.30000001192092896, 0.0, 0.49128133058547974, 1.7678099870681763, 3.2329699993133545, 0.8799999952316284, 0.6496615409851074, 0.5197412967681885, 0.6488708257675171, 0.9986696839332581, 1.0], "count": [2111]}, "action_is_hold": {"mean": [0.13453339649455234, 0.13453339649455234, 0.13453339649455234, 0.1643770724774988, 0.1643770724774988, 0.1643770724774988, 0.1643770724774988, 0.1643770724774988, 0.1643770724774988, 0.1643770724774988, 0.9758408337280909], "std": [0.34122450340236765, 0.34122450340236765, 0.34122450340236765, 0.3706173910129238, 0.3706173910129238, 0.3706173910129238, 0.3706173910129238, 0.3706173910129238, 0.3706173910129238, 0.3706173910129238, 0.1535431566594727], "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": [2111]}, "observation.state": {"mean": [0.39469551791982704, 0.6663788474464462, -0.2138023481979809, 0.7496758429770332, 2.4031454779757294e-07, 3.742575807996516e-08, 0.05274531707358121, 0.05274610897352199, 0.05274701879438581, 0.05274314028942048, 2.6352354480101, -1.0606120134217958, 0.022060917589255335, 0.10186792639623175, 0.10491750936117118], "std": [1.3638241464053453, 1.7506053663699395, 2.5083601424941193, 0.16543732534253147, 3.6230236032877066e-06, 5.867368886281282e-06, 0.041990044375869416, 0.04199023525374409, 0.04199032318702471, 0.04198137358779226, 0.8361751103434323, 0.7073502345712052, 0.47153850618727466, 0.09798081024197045, 0.09681038897270743], "min": [-3.327573299407959, -2.018972635269165, -3.1405012607574463, 0.5443664789199829, -2.588949428172782e-05, -9.099447925109416e-05, 0.0, 0.0, 0.0, 0.0, 1.5616693496704102, -1.5700005292892456, -0.7425503730773926, -1.1098875152271148e-09, -7.593333080369025e-12], "max": [1.7083027362823486, 2.5881283283233643, 3.1379640102386475, 0.9568284153938293, 6.418883276637644e-05, 9.072769898921251e-05, 0.1215183436870575, 0.12152216583490372, 0.12152635306119919, 0.12149827182292938, 3.989567518234253, 0.00017983076395466924, 0.991386890411377, 0.2500001788139343, 0.2500000596046448], "count": [2111]}, "observation.joint_vel": {"mean": [0.08080619713202236, -0.0022084663232036167, -0.047032984340443576, -0.0007711688123531113, 6.375282988524029e-05, 1.0958864442132087e-05, 0.00015916810091217895, 0.00019514862045441874, 0.0001913011631588471, 0.0002771231691585072, 0.010788149708181954, 0.006750383346642188, -0.0016869626502477506, 0.162562138697607, 0.02954083079537571], "std": [0.12082629935394736, 0.0628142812618567, 0.20417160121467107, 0.043808189424469034, 0.0007226562591811333, 7.826997657921727e-05, 0.015739884691535797, 0.015788075699109665, 0.01583745136753423, 0.01515463392984152, 0.14180888091388552, 0.1152996884447019, 0.10290636041581849, 0.21947015356623792, 0.1645412883132995], "min": [-0.00021792874031234533, -0.17948168516159058, -0.8011910915374756, -0.20359870791435242, -0.002560308203101158, -0.0008491527405567467, -0.07343732565641403, -0.07320848852396011, -0.0731898695230484, -0.0779166892170906, -0.6220064163208008, -0.5657232403755188, -0.3102933168411255, -1.0000003576278687, -1.000000238418579], "max": [0.3000586926937103, 0.1239357590675354, 0.4894457459449768, 0.26011133193969727, 0.0018649846315383911, 0.0009141495684161782, 0.08272483944892883, 0.08303800970315933, 0.08357301354408264, 0.08463943749666214, 0.6241893172264099, 0.4538099467754364, 0.6445737481117249, 1.000038981437683, 1.000000238418579], "count": [2111]}, "observation.eef_pose": {"mean": [0.3463820606028491, 0.9336726455469468, 0.7494290017053902, -0.274441485753251, -0.0014724398856473344, -0.1002695265424728, -0.11930056066397438], "std": [1.2962523719074726, 1.8669450242885852, 0.10179469502965795, 0.5691070795678554, 0.3521850304988466, 0.4469330236632431, 0.502719314861232], "min": [-3.0482680797576904, -1.9503426551818848, 0.539742112159729, -0.999999463558197, -0.639566957950592, -0.7032020688056946, -0.9986644983291626], "max": [1.7677772045135498, 3.232983350753784, 0.8806610107421875, 0.6497146487236023, 0.615509033203125, 0.648827850818634, 0.9236772656440735], "count": [2111]}, "observation.environment_state": {"mean": [-0.3848603665828705, -0.31019020080566406, 0.4699999988079071, 0.9984597563743591, 0.0, 0.0, 0.05548076331615448, -0.6830134987831116, -0.34342747926712036, 0.4699999988079071, 0.9984597563743591, 0.0, 0.0, 0.05548076331615448, -0.5455699563026428, -0.2224552482366562, 0.4300000071525574, 0.9984597563743591, 0.0, 0.0, 0.05548076331615448, 0.4988723991029335, 1.2061346385538427, 0.5598494624396965, 0.9567995252963888, -0.03886541291775543, -0.027826394809915538, 0.13173460747392537, -0.37901091509269685, -0.3627257642447807, 0.4687852603685568, 0.9984555244445801, -0.00018735639472740862, 0.00321653327048319, 0.05546359858492832, 1.7762094736099243, 3.1294336318969727, 0.5299999713897705, 0.9992246627807617, 0.0, 0.0, -0.03937096893787384, 1.786225438117981, 3.2563390731811523, 0.48980000615119934, 0.9529775381088257, -0.30047255754470825, 0.011838993057608604, -0.0375484898686409, 1.7919455766677856, 3.3288135528564453, 0.38999998569488525, 0.9992246627807617, 0.0, 0.0, -0.03937096893787384, -0.49698570370674133, -0.2069772630929947, 0.18000000715255737, 0.9984597563743591, 0.0, 0.0, 0.05548076331615448, 1.7864378690719604, 3.25903058052063, 0.18000000715255737, 0.9992246627807617, 0.0, 0.0, -0.03937096893787384], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1100350331236875, 1.6676155689797756, 0.15544987783456615, 0.06802866019820916, 0.09506235778096005, 0.04271190502246047, 0.22227635116173744, 1.6434549474743765e-08, 2.8146183560219396e-09, 1.0391459897400781e-08, 0.0, 1.1207351477434749e-07, 2.584001666063504e-07, 9.217371728574015e-08, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 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": [-0.3848603665828705, -0.31019020080566406, 0.4699999988079071, 0.9984597563743591, 0.0, 0.0, 0.05548076331615448, -0.6830134987831116, -0.34342747926712036, 0.4699999988079071, 0.9984597563743591, 0.0, 0.0, 0.05548076331615448, -0.5455699563026428, -0.2224552482366562, 0.4300000071525574, 0.9984597563743591, 0.0, 0.0, 0.05548076331615448, -0.6777478456497192, -0.6137586236000061, 0.4305541217327118, 0.76971036195755, -0.364108681678772, -0.12054315954446793, -0.05182880535721779, -0.379010945558548, -0.36272576451301575, 0.46878525614738464, 0.9984555244445801, -0.00018769958114717156, 0.0032155164517462254, 0.055463265627622604, 1.7762094736099243, 3.1294336318969727, 0.5299999713897705, 0.9992246627807617, 0.0, 0.0, -0.03937096893787384, 1.786225438117981, 3.2563390731811523, 0.48980000615119934, 0.9529775381088257, -0.30047255754470825, 0.011838993057608604, -0.0375484898686409, 1.7919455766677856, 3.3288135528564453, 0.38999998569488525, 0.9992246627807617, 0.0, 0.0, -0.03937096893787384, -0.49698570370674133, -0.2069772630929947, 0.18000000715255737, 0.9984597563743591, 0.0, 0.0, 0.05548076331615448, 1.7864378690719604, 3.25903058052063, 0.18000000715255737, 0.9992246627807617, 0.0, 0.0, -0.03937096893787384], "max": [-0.3848603665828705, -0.31019020080566406, 0.4699999988079071, 0.9984597563743591, 0.0, 0.0, 0.05548076331615448, -0.6830134987831116, -0.34342747926712036, 0.4699999988079071, 0.9984597563743591, 0.0, 0.0, 0.05548076331615448, -0.5455699563026428, -0.2224552482366562, 0.4300000071525574, 0.9984597563743591, 0.0, 0.0, 0.05548076331615448, 1.7883721590042114, 3.2967946529388428, 0.7793729901313782, 0.9984598159790039, 0.06800138205289841, 0.03159501776099205, 0.6374197602272034, -0.3790108561515808, -0.36272573471069336, 0.46878528594970703, 0.9984555244445801, -0.0001870253763627261, 0.003217419609427452, 0.05546386167407036, 1.7762094736099243, 3.1294336318969727, 0.5299999713897705, 0.9992246627807617, 0.0, 0.0, -0.03937096893787384, 1.786225438117981, 3.2563390731811523, 0.48980000615119934, 0.9529775381088257, -0.30047255754470825, 0.011838993057608604, -0.0375484898686409, 1.7919455766677856, 3.3288135528564453, 0.38999998569488525, 0.9992246627807617, 0.0, 0.0, -0.03937096893787384, -0.49698570370674133, -0.2069772630929947, 0.18000000715255737, 0.9984597563743591, 0.0, 0.0, 0.05548076331615448, 1.7864378690719604, 3.25903058052063, 0.18000000715255737, 0.9992246627807617, 0.0, 0.0, -0.03937096893787384], "count": [2111]}, "action.command": {"mean": [-1.8766661616633271, -1.4549951875353169, 0.27637885407536916, 0.0, 0.0, 0.0, 0.0, 0.8384353741496599, 0.20116091723598184, 0.6959611627773769, 0.7565926093092852, -0.34039839329155763, -0.007110208907649476, -0.09785952928027093, 0.045050064713556624, 0.5098039215686274, -1.8228046086846845, -1.442171283390211, 0.27638023487954755, 0.0, 0.0, 0.0, 0.0, 2.0, -0.08910932329851207, 0.18061559180712722, 0.8062607281523431, -0.5520389457676942, 0.013988154332599829, -0.18891922734501662, -0.08515191578680381, 0.0, -1.7684745462154703, -1.4271787321203622, 0.2763796116222837, 0.0, 0.0, 0.0, 0.0, 2.0, -0.08910932329851207, 0.18061559180712722, 0.8062607281523431, -0.5520389457676942, 0.013988154332599829, -0.18891922734501662, -0.08515191578680381, 0.0, -1.685178365451555, -1.4034588668877939, 0.27637936275497177, 0.0, 0.0, 0.0, 0.0, 2.0, -0.08910932329851207, 0.18061559180712722, 0.8062607281523431, -0.5520389457676942, 0.013988154332599829, -0.18891922734501662, -0.08515191578680381, 0.0, -1.6206369642633514, -1.3864337720879794, 0.27637989387591605, 0.0, 0.0, 0.0, 0.0, 2.0, -0.08910932329851207, 0.18061559180712722, 0.8062607281523431, -0.5520389457676942, 0.013988154332599829, -0.18891922734501662, -0.08515191578680381, 0.0, -1.545246630438382, -1.3642983073773591, 0.27637956828347626, 0.0, 0.0, 0.0, 0.0, 2.0, -0.08910932329851207, 0.18061559180712722, 0.8062607281523431, -0.5520389457676942, 0.013988154332599829, -0.18891922734501662, -0.08515191578680381, 0.0, -1.4360503638705977, -1.3311645815926056, 0.2763863776041114, 0.0, 0.0, 0.0, 0.0, 2.0, -0.08910932329851207, 0.18061559180712722, 0.8062607281523431, -0.5520389457676942, 0.013988154332599829, -0.18891922734501662, -0.08515191578680381, 0.0, -1.4047982650813298, -1.325039921702333, 0.27637455509725706, 0.0, 0.0, 0.0, 0.0, 2.0, -0.08910932329851207, 0.18061559180712722, 0.8062607281523431, -0.5520389457676942, 0.013988154332599829, -0.18891922734501662, -0.08515191578680381, 0.0, -1.3452023790458305, -1.3134125760040496, 0.2763791813771003, 0.0, 0.0, 0.0, 0.0, 2.0, -0.08910932329851207, 0.18061559180712722, 0.8062607281523431, -0.5520389457676942, 0.013988154332599829, -0.18891922734501662, -0.08515191578680381, 0.0, -1.2647451274269272, -1.285913467848334, 0.276379031676258, 0.0, 0.0, 0.0, 0.0, 2.0, -0.08910932329851207, 0.18061559180712722, 0.8062607281523431, -0.5520389457676942, 0.013988154332599829, -0.18891922734501662, -0.08515191578680381, 0.0, -1.1793535357818463, -1.2623853499309317, 0.2763789931344942, 0.0, 0.0, 0.0, 0.0, 2.0, -0.08910932329851207, 0.18061559180712722, 0.8062607281523431, -0.5520389457676942, 0.013988154332599829, -0.18891922734501662, -0.08515191578680381, 0.0, -1.1333781587757743, -1.2484336012938198, 0.2763795657195392, 0.0, 0.0, 0.0, 0.0, 2.0, -0.08910932329851207, 0.18061559180712722, 0.8062607281523431, -0.5520389457676942, 0.013988154332599829, -0.18891922734501662, -0.08515191578680381, 0.0, -1.050812893063795, -1.2240549112005878, 0.7481132967950678, 0.0, 0.0, 0.0, 0.0, 2.0, -0.08910932329851207, 0.18061559180712722, 0.8062607281523431, -0.5520389457676942, 0.013988154332599829, -0.18891922734501662, -0.08515191578680381, 0.0, -1.0054336809428284, -1.1684091751714418, 0.7481124486557098, 0.0, 0.0, 0.0, 0.0, 2.0, -0.08910932329851207, 0.18061559180712722, 0.8062607281523431, -0.5520389457676942, 0.013988154332599829, -0.18891922734501662, -0.08515191578680381, 0.0, -0.9856020597039716, -1.1483425350789116, 0.7481121965352304, 0.0, 0.0, 0.0, 0.0, 2.0, -0.08910932329851207, 0.18061559180712722, 0.8062607281523431, -0.5520389457676942, 0.013988154332599829, -0.18891922734501662, -0.08515191578680381, 0.0, -0.9150956184306043, -1.0900081613348327, 0.748112407550009, 0.0, 0.0, 0.0, 0.0, 2.0, -0.08910932329851207, 0.18061559180712722, 0.8062607281523431, -0.5520389457676942, 0.013988154332599829, -0.18891922734501662, -0.08515191578680381, 0.0, -0.8624162345325141, -1.0614053695759875, 0.7481128528479841, 0.0, 0.0, 0.0, 0.0, 2.0, -0.08910932329851207, 0.18061559180712722, 0.8062607281523431, -0.5520389457676942, 0.013988154332599829, -0.18891922734501662, -0.08515191578680381, 0.0, -0.8176344815059242, -0.9988855986987739, 0.7481124034146266, 0.0, 0.0, 0.0, 0.0, 2.0, -0.08910932329851207, 0.18061559180712722, 0.8062607281523431, -0.5520389457676942, 0.013988154332599829, -0.18891922734501662, -0.08515191578680381, 0.0, -0.7849257762072596, -0.9693529536391055, 0.748113098131298, 0.0, 0.0, 0.0, 0.0, 2.0, -0.08910932329851207, 0.18061559180712722, 0.8062607281523431, -0.5520389457676942, 0.013988154332599829, -0.18891922734501662, -0.08515191578680381, 0.0, -0.7297424363604748, -0.9246023938569837, 0.7441912724065295, 0.0, 0.0, 0.0, 0.0, 2.0, -0.08910932329851207, 0.18061559180712722, 0.8062607281523431, -0.5520389457676942, 0.013988154332599829, -0.18891922734501662, -0.08515191578680381, 0.0, -0.6858392132310047, -0.8790914599924149, 0.806759665262688, 0.0, 0.0, 0.0, 0.0, 2.0, -0.08910932329851207, 0.18061559180712722, 0.8062607281523431, -0.5520389457676942, 0.013988154332599829, -0.18891922734501662, -0.08515191578680381, 0.0, -0.6259941196794536, -0.8091343689802948, 0.806760179097734, 0.0, 0.0, 0.0, 0.0, 2.0, -0.08910932329851207, 0.18061559180712722, 0.8062607281523431, -0.5520389457676942, 0.013988154332599829, -0.18891922734501662, -0.08515191578680381, 0.0, -0.5585177463033925, -0.765658916421338, 0.8067591048632365, 0.0, 0.0, 0.0, 0.0, 2.0, -0.08910932329851207, 0.18061559180712722, 0.8062607281523431, -0.5520389457676942, 0.013988154332599829, -0.18891922734501662, -0.08515191578680381, 0.0, -0.5280158595835909, -0.6949450356005299, 0.8067614671039317, 0.0, 0.0, 0.0, 0.0, 2.0, -0.08910932329851207, 0.18061559180712722, 0.8062607281523431, -0.5520389457676942, 0.013988154332599829, -0.18891922734501662, -0.08515191578680381, 0.0, -0.5246271387941853, -0.6887273310677637, 0.8067617905184034, 0.0, 0.0, 0.0, 0.0, 2.0, -0.08910932329851207, 0.18061559180712722, 0.8062607281523431, -0.5520389457676942, 0.013988154332599829, -0.18891922734501662, -0.08515191578680381, 0.0, -0.4646734091884885, -0.6627823901496256, 0.8067598858715538, 0.0, 0.0, 0.0, 0.0, 2.0, -0.08910932329851207, 0.18061559180712722, 0.8062607281523431, -0.5520389457676942, 0.013988154332599829, -0.18891922734501662, -0.08515191578680381, 0.0, -0.3971722905664506, -0.5735473861085608, 0.8067592226940653, 0.0, 0.0, 0.0, 0.0, 2.0, -0.08910932329851207, 0.18061559180712722, 0.8062607281523431, -0.5520389457676942, 0.013988154332599829, -0.18891922734501662, -0.08515191578680381, 0.0, -0.35743304196603864, -0.5273544063841602, 0.8067599913789429, 0.0, 0.0, 0.0, 0.0, 2.0, -0.08910932329851207, 0.18061559180712722, 0.8062607281523431, -0.5520389457676942, 0.013988154332599829, -0.18891922734501662, -0.08515191578680381, 0.0, -0.30061660013631136, -0.472706154030192, 0.8067601626389121, 0.0, 0.0, 0.0, 0.0, 2.0, -0.08910932329851207, 0.18061559180712722, 0.8062607281523431, -0.5520389457676942, 0.013988154332599829, -0.18891922734501662, -0.08515191578680381, 0.0, -0.2571375834291231, -0.40835336994838095, 0.8067587321550067, 0.0, 0.0, 0.0, 0.0, 2.0, -0.08910932329851207, 0.18061559180712722, 0.8062607281523431, -0.5520389457676942, 0.013988154332599829, -0.18891922734501662, -0.08515191578680381, 0.0, -0.2378463480452715, -0.3854505548203686, 0.8067595556474857, 0.0, 0.0, 0.0, 0.0, 2.0, -0.08910932329851207, 0.18061559180712722, 0.8062607281523431, -0.5520389457676942, 0.013988154332599829, -0.18891922734501662, -0.08515191578680381, 0.0, -0.15931756986058718, -0.2960017306401044, 0.8067604600004749, 0.0, 0.0, 0.0, 0.0, 2.0, -0.08910932329851207, 0.18061559180712722, 0.8062607281523431, -0.5520389457676942, 0.013988154332599829, -0.18891922734501662, -0.08515191578680381, 0.0, -0.11233222142730345, -0.2728387485710589, 0.8067601558017466, 0.0, 0.0, 0.0, 0.0, 2.0, -0.08910932329851207, 0.18061559180712722, 0.8062607281523431, -0.5520389457676942, 0.013988154332599829, -0.18891922734501662, -0.08515191578680381, 0.0, -0.08095579098817048, -0.2333242097020039, 0.8067599091675411, 0.0, 0.0, 0.0, 0.0, 2.0, -0.08910932329851207, 0.18061559180712722, 0.8062607281523431, -0.5520389457676942, 0.013988154332599829, -0.18891922734501662, -0.08515191578680381, 0.0, -0.01048550387425736, -0.16981625887776391, 0.8067589870048385, 0.0, 0.0, 0.0, 0.0, 2.0, -0.08910932329851207, 0.18061559180712722, 0.8062607281523431, -0.5520389457676942, 0.013988154332599829, -0.18891922734501662, -0.08515191578680381, 0.0, 0.00848288330956811, -0.15653602113115025, 0.8067612190636962, 0.0, 0.0, 0.0, 0.0, 2.0, -0.08910932329851207, 0.18061559180712722, 0.8062607281523431, -0.5520389457676942, 0.013988154332599829, -0.18891922734501662, -0.08515191578680381, 0.0, 0.04309323592719714, -0.08621816597637702, 0.8067592569350314, 0.0, 0.0, 0.0, 0.0, 2.0, -0.08910932329851207, 0.18061559180712722, 0.8062607281523431, -0.5520389457676942, 0.013988154332599829, -0.18891922734501662, -0.08515191578680381, 0.0, 0.11724406111361692, -0.04169449323200716, 0.8067591267807631, 0.0, 0.0, 0.0, 0.0, 2.0, -0.08910932329851207, 0.18061559180712722, 0.8062607281523431, -0.5520389457676942, 0.013988154332599829, -0.18891922734501662, -0.08515191578680381, 0.0, 0.1615389746499216, 0.023362368924214155, 0.8067593857384081, 0.0, 0.0, 0.0, 0.0, 2.0, -0.08910932329851207, 0.18061559180712722, 0.8062607281523431, -0.5520389457676942, 0.013988154332599829, -0.18891922734501662, -0.08515191578680381, 0.0, 0.21412429971677302, 0.06884390804968313, 0.8067594912457974, 0.0, 0.0, 0.0, 0.0, 2.0, -0.08910932329851207, 0.18061559180712722, 0.8062607281523431, -0.5520389457676942, 0.013988154332599829, -0.18891922734501662, -0.08515191578680381, 0.0, 0.2637084726378611, 0.1264191502558755, 0.8067599735692295, 0.0, 0.0, 0.0, 0.0, 2.0, -0.08910932329851207, 0.18061559180712722, 0.8062607281523431, -0.5520389457676942, 0.013988154332599829, -0.18891922734501662, -0.08515191578680381, 0.0, 0.31122641106869314, 0.17928080267645935, 0.013546516010873743, 0.0, 0.0, 0.0, 0.0, 2.0, -0.08910932329851207, 0.18061559180712722, 0.8062607281523431, -0.5520389457676942, 0.013988154332599829, -0.18891922734501662, -0.08515191578680381, 0.0, 0.3292655790987994, 0.19800502811726545, -0.7618394114152907, 0.0, 0.0, 0.0, 0.0, 2.0, -0.08910932329851207, 0.18061559180712722, 0.8062607281523431, -0.5520389457676942, 0.013988154332599829, -0.18891922734501662, -0.08515191578680381, 0.0, 1.192931056022644, 1.2944809198379517, 1.168914794921875, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8431865543203607, 1.4398722895867613, 0.8798820606037362, -0.3501899191369749, 0.0258943864131627, -0.3496981759695974, -0.025800161880173096, 0.0, 1.2109068632125854, 1.3367756605148315, 1.16891610622406, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8431865543203607, 1.4398722895867613, 0.8798820606037362, -0.3501899191369749, 0.0258943864131627, -0.3496981759695974, -0.025800161880173096, 0.0, 1.2610011100769043, 1.454641342163086, 1.1689168214797974, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8431865543203607, 1.4398722895867613, 0.8798820606037362, -0.3501899191369749, 0.0258943864131627, -0.3496981759695974, -0.025800161880173096, 0.0, 1.2697981595993042, 1.4753397703170776, 1.1689157485961914, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8431865543203607, 1.4398722895867613, 0.8798820606037362, -0.3501899191369749, 0.0258943864131627, -0.3496981759695974, -0.025800161880173096, 0.0, 1.3284879922866821, 1.6134296655654907, 1.1688511371612549, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8431865543203607, 1.4398722895867613, 0.8798820606037362, -0.3501899191369749, 0.0258943864131627, -0.3496981759695974, -0.025800161880173096, 0.0, 1.3286895751953125, 1.6139038801193237, 1.1689324378967285, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8431865543203607, 1.4398722895867613, 0.8798820606037362, -0.3501899191369749, 0.0258943864131627, -0.3496981759695974, -0.025800161880173096, 0.0, 1.3299654722213745, 1.6169060468673706, 1.1689156293869019, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8431865543203607, 1.4398722895867613, 0.8798820606037362, -0.3501899191369749, 0.0258943864131627, -0.3496981759695974, -0.025800161880173096, 0.0, 1.3875807523727417, 1.7524676322937012, 1.1689149141311646, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8431865543203607, 1.4398722895867613, 0.8798820606037362, -0.3501899191369749, 0.0258943864131627, -0.3496981759695974, -0.025800161880173096, 0.0, 1.3966821432113647, 1.7738820314407349, 1.1689156293869019, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8431865543203607, 1.4398722895867613, 0.8798820606037362, -0.3501899191369749, 0.0258943864131627, -0.3496981759695974, -0.025800161880173096, 0.0, 1.44647216796875, 1.8910317420959473, 1.1689165830612183, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8431865543203607, 1.4398722895867613, 0.8798820606037362, -0.3501899191369749, 0.0258943864131627, -0.3496981759695974, -0.025800161880173096, 0.0, 1.464351773262024, 1.9331003427505493, 1.168915033340454, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8431865543203607, 1.4398722895867613, 0.8798820606037362, -0.3501899191369749, 0.0258943864131627, -0.3496981759695974, -0.025800161880173096, 0.0, 1.505585789680481, 2.030118703842163, 1.1689152717590332, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8431865543203607, 1.4398722895867613, 0.8798820606037362, -0.3501899191369749, 0.0258943864131627, -0.3496981759695974, -0.025800161880173096, 0.0, 1.533118486404419, 2.0948996543884277, 1.1689167022705078, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8431865543203607, 1.4398722895867613, 0.8798820606037362, -0.3501899191369749, 0.0258943864131627, -0.3496981759695974, -0.025800161880173096, 0.0, 1.5655028820037842, 2.1710963249206543, 1.1689152717590332, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8431865543203607, 1.4398722895867613, 0.8798820606037362, -0.3501899191369749, 0.0258943864131627, -0.3496981759695974, -0.025800161880173096, 0.0, 1.604343295097351, 2.2624828815460205, 1.1689152717590332, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8431865543203607, 1.4398722895867613, 0.8798820606037362, -0.3501899191369749, 0.0258943864131627, -0.3496981759695974, -0.025800161880173096, 0.0, 1.6268653869628906, 2.315474510192871, 1.168914794921875, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8431865543203607, 1.4398722895867613, 0.8798820606037362, -0.3501899191369749, 0.0258943864131627, -0.3496981759695974, -0.025800161880173096, 0.0, 1.6800765991210938, 2.440673589706421, 1.1689168214797974, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8431865543203607, 1.4398722895867613, 0.8798820606037362, -0.3501899191369749, 0.0258943864131627, -0.3496981759695974, -0.025800161880173096, 0.0, 1.6893408298492432, 2.4624712467193604, 1.1689162254333496, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8431865543203607, 1.4398722895867613, 0.8798820606037362, -0.3501899191369749, 0.0258943864131627, -0.3496981759695974, -0.025800161880173096, 0.0, 1.7204519510269165, 2.5356719493865967, 1.7710684537887573, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8431865543203607, 1.4398722895867613, 0.8798820606037362, -0.3501899191369749, 0.0258943864131627, -0.3496981759695974, -0.025800161880173096, 0.0, 1.7087996006011963, 2.5930745601654053, 3.062830924987793, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8431865543203607, 1.4398722895867613, 0.8798820606037362, -0.3501899191369749, 0.0258943864131627, -0.3496981759695974, -0.025800161880173096, 0.0], "std": [1.3384775848862132, 0.5202754398202939, 0.09670499130130317, 0.0, 0.0, 0.0, 0.0, 1.4613218322889028, 1.2811738077880033, 1.817206729590385, 0.09928348492488367, 0.5650062268138373, 0.3200382800232426, 0.44630884692989287, 0.5016215235505515, 0.4999038738816458, 1.3632689382781147, 0.5221267849099624, 0.09670671422887725, 0.0, 0.0, 0.0, 0.0, 0.0, 1.237678171092871, 1.6812999406992728, 0.0798053308769548, 0.5349021188159152, 0.1942155624621824, 0.4428794056092314, 0.3635020007242545, 0.0, 1.3687542940893396, 0.5180672407832624, 0.0967056671047919, 0.0, 0.0, 0.0, 0.0, 0.0, 1.237678171092871, 1.6812999406992728, 0.0798053308769548, 0.5349021188159152, 0.1942155624621824, 0.4428794056092314, 0.3635020007242545, 0.0, 1.3701976766645398, 0.5097283604415818, 0.09670570423685063, 0.0, 0.0, 0.0, 0.0, 0.0, 1.237678171092871, 1.6812999406992728, 0.0798053308769548, 0.5349021188159152, 0.1942155624621824, 0.4428794056092314, 0.3635020007242545, 0.0, 1.3841661485904513, 0.5071684168285946, 0.09670623151209883, 0.0, 0.0, 0.0, 0.0, 0.0, 1.237678171092871, 1.6812999406992728, 0.0798053308769548, 0.5349021188159152, 0.1942155624621824, 0.4428794056092314, 0.3635020007242545, 0.0, 1.3791437255950414, 0.4976994742322005, 0.09670592702920922, 0.0, 0.0, 0.0, 0.0, 0.0, 1.237678171092871, 1.6812999406992728, 0.0798053308769548, 0.5349021188159152, 0.1942155624621824, 0.4428794056092314, 0.3635020007242545, 0.0, 1.3616910336767423, 0.48089442484787437, 0.09671377674664768, 0.0, 0.0, 0.0, 0.0, 0.0, 1.237678171092871, 1.6812999406992728, 0.0798053308769548, 0.5349021188159152, 0.1942155624621824, 0.4428794056092314, 0.3635020007242545, 0.0, 1.3885663719392705, 0.4857608337809174, 0.09670065427672042, 0.0, 0.0, 0.0, 0.0, 0.0, 1.237678171092871, 1.6812999406992728, 0.0798053308769548, 0.5349021188159152, 0.1942155624621824, 0.4428794056092314, 0.3635020007242545, 0.0, 1.4403093254181216, 0.49519062433347544, 0.09670545916525665, 0.0, 0.0, 0.0, 0.0, 0.0, 1.237678171092871, 1.6812999406992728, 0.0798053308769548, 0.5349021188159152, 0.1942155624621824, 0.4428794056092314, 0.3635020007242545, 0.0, 1.3981652581788935, 0.4739174593422317, 0.09670565225196749, 0.0, 0.0, 0.0, 0.0, 0.0, 1.237678171092871, 1.6812999406992728, 0.0798053308769548, 0.5349021188159152, 0.1942155624621824, 0.4428794056092314, 0.3635020007242545, 0.0, 1.4071269359933511, 0.46764038860507023, 0.09670585276508939, 0.0, 0.0, 0.0, 0.0, 0.0, 1.237678171092871, 1.6812999406992728, 0.0798053308769548, 0.5349021188159152, 0.1942155624621824, 0.4428794056092314, 0.3635020007242545, 0.0, 1.399766010136703, 0.46056102773134494, 0.09670568195761504, 0.0, 0.0, 0.0, 0.0, 0.0, 1.237678171092871, 1.6812999406992728, 0.0798053308769548, 0.5349021188159152, 0.1942155624621824, 0.4428794056092314, 0.3635020007242545, 0.0, 1.3929690460040578, 0.4497973347686606, 0.338472359846835, 0.0, 0.0, 0.0, 0.0, 0.0, 1.237678171092871, 1.6812999406992728, 0.0798053308769548, 0.5349021188159152, 0.1942155624621824, 0.4428794056092314, 0.3635020007242545, 0.0, 1.3980394584735656, 0.4863841473893224, 0.3384736668953444, 0.0, 0.0, 0.0, 0.0, 0.0, 1.237678171092871, 1.6812999406992728, 0.0798053308769548, 0.5349021188159152, 0.1942155624621824, 0.4428794056092314, 0.3635020007242545, 0.0, 1.394096271369416, 0.4959825174933075, 0.3384736817481581, 0.0, 0.0, 0.0, 0.0, 0.0, 1.237678171092871, 1.6812999406992728, 0.0798053308769548, 0.5349021188159152, 0.1942155624621824, 0.4428794056092314, 0.3635020007242545, 0.0, 1.3612341162546522, 0.5105549200924264, 0.3384737114538089, 0.0, 0.0, 0.0, 0.0, 0.0, 1.237678171092871, 1.6812999406992728, 0.0798053308769548, 0.5349021188159152, 0.1942155624621824, 0.4428794056092314, 0.3635020007242545, 0.0, 1.3149773577715516, 0.4989224854589651, 0.3384725826392001, 0.0, 0.0, 0.0, 0.0, 0.0, 1.237678171092871, 1.6812999406992728, 0.0798053308769548, 0.5349021188159152, 0.1942155624621824, 0.4428794056092314, 0.3635020007242545, 0.0, 1.3310003317126522, 0.5464615773475512, 0.3384725529335492, 0.0, 0.0, 0.0, 0.0, 0.0, 1.237678171092871, 1.6812999406992728, 0.0798053308769548, 0.5349021188159152, 0.1942155624621824, 0.4428794056092314, 0.3635020007242545, 0.0, 1.3193343445499617, 0.5569356105382569, 0.33847322131062696, 0.0, 0.0, 0.0, 0.0, 0.0, 1.237678171092871, 1.6812999406992728, 0.0798053308769548, 0.5349021188159152, 0.1942155624621824, 0.4428794056092314, 0.3635020007242545, 0.0, 1.2923014178256844, 0.5669788969826132, 0.3348572716229618, 0.0, 0.0, 0.0, 0.0, 0.0, 1.237678171092871, 1.6812999406992728, 0.0798053308769548, 0.5349021188159152, 0.1942155624621824, 0.4428794056092314, 0.3635020007242545, 0.0, 1.2860430170882193, 0.5902213978967156, 0.39257598402661475, 0.0, 0.0, 0.0, 0.0, 0.0, 1.237678171092871, 1.6812999406992728, 0.0798053308769548, 0.5349021188159152, 0.1942155624621824, 0.4428794056092314, 0.3635020007242545, 0.0, 1.2684236467799601, 0.6255674353131915, 0.3925760731435596, 0.0, 0.0, 0.0, 0.0, 0.0, 1.237678171092871, 1.6812999406992728, 0.0798053308769548, 0.5349021188159152, 0.1942155624621824, 0.4428794056092314, 0.3635020007242545, 0.0, 1.2121675959169351, 0.6181759497713221, 0.3925769791658209, 0.0, 0.0, 0.0, 0.0, 0.0, 1.237678171092871, 1.6812999406992728, 0.0798053308769548, 0.5349021188159152, 0.1942155624621824, 0.4428794056092314, 0.3635020007242545, 0.0, 1.239223262314611, 0.682976366081667, 0.39257596917379534, 0.0, 0.0, 0.0, 0.0, 0.0, 1.237678171092871, 1.6812999406992728, 0.0798053308769548, 0.5349021188159152, 0.1942155624621824, 0.4428794056092314, 0.3635020007242545, 0.0, 1.240544866586561, 0.6879889843567083, 0.39257794459937545, 0.0, 0.0, 0.0, 0.0, 0.0, 1.237678171092871, 1.6812999406992728, 0.0798053308769548, 0.5349021188159152, 0.1942155624621824, 0.4428794056092314, 0.3635020007242545, 0.0, 1.1775231761965355, 0.6644952330732803, 0.39257613255485635, 0.0, 0.0, 0.0, 0.0, 0.0, 1.237678171092871, 1.6812999406992728, 0.0798053308769548, 0.5349021188159152, 0.1942155624621824, 0.4428794056092314, 0.3635020007242545, 0.0, 1.1682660051634945, 0.7181461933084207, 0.3925765929923937, 0.0, 0.0, 0.0, 0.0, 0.0, 1.237678171092871, 1.6812999406992728, 0.0798053308769548, 0.5349021188159152, 0.1942155624621824, 0.4428794056092314, 0.3635020007242545, 0.0, 1.1562978670039157, 0.741268980461764, 0.3925761474076744, 0.0, 0.0, 0.0, 0.0, 0.0, 1.237678171092871, 1.6812999406992728, 0.0798053308769548, 0.5349021188159152, 0.1942155624621824, 0.4428794056092314, 0.3635020007242545, 0.0, 1.1274734372175306, 0.7591211390792336, 0.3925753156495346, 0.0, 0.0, 0.0, 0.0, 0.0, 1.237678171092871, 1.6812999406992728, 0.0798053308769548, 0.5349021188159152, 0.1942155624621824, 0.4428794056092314, 0.3635020007242545, 0.0, 1.1285769426230952, 0.8028529397760777, 0.3925766078452179, 0.0, 0.0, 0.0, 0.0, 0.0, 1.237678171092871, 1.6812999406992728, 0.0798053308769548, 0.5349021188159152, 0.1942155624621824, 0.4428794056092314, 0.3635020007242545, 0.0, 1.1232590969599932, 0.8147165734665854, 0.392576102849211, 0.0, 0.0, 0.0, 0.0, 0.0, 1.237678171092871, 1.6812999406992728, 0.0798053308769548, 0.5349021188159152, 0.1942155624621824, 0.4428794056092314, 0.3635020007242545, 0.0, 1.097724508259401, 0.8579630507156112, 0.39257641475850946, 0.0, 0.0, 0.0, 0.0, 0.0, 1.237678171092871, 1.6812999406992728, 0.0798053308769548, 0.5349021188159152, 0.1942155624621824, 0.4428794056092314, 0.3635020007242545, 0.0, 1.0512438434558018, 0.8433278949354431, 0.39257596917379534, 0.0, 0.0, 0.0, 0.0, 0.0, 1.237678171092871, 1.6812999406992728, 0.0798053308769548, 0.5349021188159152, 0.1942155624621824, 0.4428794056092314, 0.3635020007242545, 0.0, 1.0449216201339397, 0.865644827274484, 0.3925762365246197, 0.0, 0.0, 0.0, 0.0, 0.0, 1.237678171092871, 1.6812999406992728, 0.0798053308769548, 0.5349021188159152, 0.1942155624621824, 0.4428794056092314, 0.3635020007242545, 0.0, 1.0047779720648073, 0.8820846754243866, 0.3925760731435596, 0.0, 0.0, 0.0, 0.0, 0.0, 1.237678171092871, 1.6812999406992728, 0.0798053308769548, 0.5349021188159152, 0.1942155624621824, 0.4428794056092314, 0.3635020007242545, 0.0, 0.9900521100890033, 0.8814198630259517, 0.3925745581555154, 0.0, 0.0, 0.0, 0.0, 0.0, 1.237678171092871, 1.6812999406992728, 0.0798053308769548, 0.5349021188159152, 0.1942155624621824, 0.4428794056092314, 0.3635020007242545, 0.0, 1.0105544729303941, 0.94170910910605, 0.39257590976249535, 0.0, 0.0, 0.0, 0.0, 0.0, 1.237678171092871, 1.6812999406992728, 0.0798053308769548, 0.5349021188159152, 0.1942155624621824, 0.4428794056092314, 0.3635020007242545, 0.0, 0.9453910647431714, 0.9292466095552903, 0.39257669696216024, 0.0, 0.0, 0.0, 0.0, 0.0, 1.237678171092871, 1.6812999406992728, 0.0798053308769548, 0.5349021188159152, 0.1942155624621824, 0.4428794056092314, 0.3635020007242545, 0.0, 0.9459977431887916, 0.9731272281213599, 0.3925760285850862, 0.0, 0.0, 0.0, 0.0, 0.0, 1.237678171092871, 1.6812999406992728, 0.0798053308769548, 0.5349021188159152, 0.1942155624621824, 0.4428794056092314, 0.3635020007242545, 0.0, 0.9140807178182084, 0.9828479557887709, 0.3925760434379158, 0.0, 0.0, 0.0, 0.0, 0.0, 1.237678171092871, 1.6812999406992728, 0.0798053308769548, 0.5349021188159152, 0.1942155624621824, 0.4428794056092314, 0.3635020007242545, 0.0, 0.899084415624554, 1.0116170142475907, 0.39257629593591653, 0.0, 0.0, 0.0, 0.0, 0.0, 1.237678171092871, 1.6812999406992728, 0.0798053308769548, 0.5349021188159152, 0.1942155624621824, 0.4428794056092314, 0.3635020007242545, 0.0, 0.8823340246322603, 1.036098656555243, 1.252417857556114, 0.0, 0.0, 0.0, 0.0, 0.0, 1.237678171092871, 1.6812999406992728, 0.0798053308769548, 0.5349021188159152, 0.1942155624621824, 0.4428794056092314, 0.3635020007242545, 0.0, 0.8918586950240032, 1.0842212416313153, 2.0929335188115807, 0.0, 0.0, 0.0, 0.0, 0.0, 1.237678171092871, 1.6812999406992728, 0.0798053308769548, 0.5349021188159152, 0.1942155624621824, 0.4428794056092314, 0.3635020007242545, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.652463430472306, 1.303046262782489, 4.2024948387337245e-08, 0.5545993339301447, 0.2636509780515463, 0.5539311855408627, 0.2642155017683523, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.652463430472306, 1.303046262782489, 4.2024948387337245e-08, 0.5545993339301447, 0.2636509780515463, 0.5539311855408627, 0.2642155017683523, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.652463430472306, 1.303046262782489, 4.2024948387337245e-08, 0.5545993339301447, 0.2636509780515463, 0.5539311855408627, 0.2642155017683523, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.652463430472306, 1.303046262782489, 4.2024948387337245e-08, 0.5545993339301447, 0.2636509780515463, 0.5539311855408627, 0.2642155017683523, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.652463430472306, 1.303046262782489, 4.2024948387337245e-08, 0.5545993339301447, 0.2636509780515463, 0.5539311855408627, 0.2642155017683523, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.652463430472306, 1.303046262782489, 4.2024948387337245e-08, 0.5545993339301447, 0.2636509780515463, 0.5539311855408627, 0.2642155017683523, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.652463430472306, 1.303046262782489, 4.2024948387337245e-08, 0.5545993339301447, 0.2636509780515463, 0.5539311855408627, 0.2642155017683523, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.652463430472306, 1.303046262782489, 4.2024948387337245e-08, 0.5545993339301447, 0.2636509780515463, 0.5539311855408627, 0.2642155017683523, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.652463430472306, 1.303046262782489, 4.2024948387337245e-08, 0.5545993339301447, 0.2636509780515463, 0.5539311855408627, 0.2642155017683523, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.652463430472306, 1.303046262782489, 4.2024948387337245e-08, 0.5545993339301447, 0.2636509780515463, 0.5539311855408627, 0.2642155017683523, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.652463430472306, 1.303046262782489, 4.2024948387337245e-08, 0.5545993339301447, 0.2636509780515463, 0.5539311855408627, 0.2642155017683523, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.652463430472306, 1.303046262782489, 4.2024948387337245e-08, 0.5545993339301447, 0.2636509780515463, 0.5539311855408627, 0.2642155017683523, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.652463430472306, 1.303046262782489, 4.2024948387337245e-08, 0.5545993339301447, 0.2636509780515463, 0.5539311855408627, 0.2642155017683523, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.652463430472306, 1.303046262782489, 4.2024948387337245e-08, 0.5545993339301447, 0.2636509780515463, 0.5539311855408627, 0.2642155017683523, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.652463430472306, 1.303046262782489, 4.2024948387337245e-08, 0.5545993339301447, 0.2636509780515463, 0.5539311855408627, 0.2642155017683523, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.652463430472306, 1.303046262782489, 4.2024948387337245e-08, 0.5545993339301447, 0.2636509780515463, 0.5539311855408627, 0.2642155017683523, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.652463430472306, 1.303046262782489, 4.2024948387337245e-08, 0.5545993339301447, 0.2636509780515463, 0.5539311855408627, 0.2642155017683523, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.652463430472306, 1.303046262782489, 4.2024948387337245e-08, 0.5545993339301447, 0.2636509780515463, 0.5539311855408627, 0.2642155017683523, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.652463430472306, 1.303046262782489, 4.2024948387337245e-08, 0.5545993339301447, 0.2636509780515463, 0.5539311855408627, 0.2642155017683523, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.652463430472306, 1.303046262782489, 4.2024948387337245e-08, 0.5545993339301447, 0.2636509780515463, 0.5539311855408627, 0.2642155017683523, 0.0], "min": [-3.3275723457336426, -2.018972396850586, 0.18716739118099213, 0.0, 0.0, 0.0, 0.0, -1.0, -3.0482680797576904, -1.9503426551818848, 0.5400004386901855, -0.999999463558197, -0.6404595375061035, -0.7032397985458374, -0.9982243776321411, 0.0, -3.300584554672241, -2.008155345916748, 0.1871671825647354, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0482680797576904, -1.9503426551818848, 0.7197518944740295, -0.999999463558197, -0.2785070836544037, -0.7032397985458374, -0.9982243776321411, 0.0, -3.2522006034851074, -1.9887622594833374, 0.18716752529144287, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0482680797576904, -1.9503426551818848, 0.7197518944740295, -0.999999463558197, -0.2785070836544037, -0.7032397985458374, -0.9982243776321411, 0.0, -3.170469045639038, -1.9560030698776245, 0.1871672421693802, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0482680797576904, -1.9503426551818848, 0.7197518944740295, -0.999999463558197, -0.2785070836544037, -0.7032397985458374, -0.9982243776321411, 0.0, -3.1210694313049316, -1.9362030029296875, 0.18716728687286377, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0482680797576904, -1.9503426551818848, 0.7197518944740295, -0.999999463558197, -0.2785070836544037, -0.7032397985458374, -0.9982243776321411, 0.0, -3.0402348041534424, -1.9038032293319702, 0.1871672421693802, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0482680797576904, -1.9503426551818848, 0.7197518944740295, -0.999999463558197, -0.2785070836544037, -0.7032397985458374, -0.9982243776321411, 0.0, -2.9121198654174805, -1.8524528741836548, 0.18716681003570557, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0482680797576904, -1.9503426551818848, 0.7197518944740295, -0.999999463558197, -0.2785070836544037, -0.7032397985458374, -0.9982243776321411, 0.0, -2.9100005626678467, -1.851603388786316, 0.18716709315776825, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0482680797576904, -1.9503426551818848, 0.7197518944740295, -0.999999463558197, -0.2785070836544037, -0.7032397985458374, -0.9982243776321411, 0.0, -2.906493902206421, -1.8501979112625122, 0.18716728687286377, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0482680797576904, -1.9503426551818848, 0.7197518944740295, -0.999999463558197, -0.2785070836544037, -0.7032397985458374, -0.9982243776321411, 0.0, -2.7803525924682617, -1.7996387481689453, 0.1871669590473175, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0482680797576904, -1.9503426551818848, 0.7197518944740295, -0.999999463558197, -0.2785070836544037, -0.7032397985458374, -0.9982243776321411, 0.0, -2.7046754360198975, -1.7693063020706177, 0.1871667355298996, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0482680797576904, -1.9503426551818848, 0.7197518944740295, -0.999999463558197, -0.2785070836544037, -0.7032397985458374, -0.9982243776321411, 0.0, -2.6507208347320557, -1.7476805448532104, 0.1871674656867981, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0482680797576904, -1.9503426551818848, 0.7197518944740295, -0.999999463558197, -0.2785070836544037, -0.7032397985458374, -0.9982243776321411, 0.0, -2.5607876777648926, -1.7116340398788452, 0.3812101483345032, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0482680797576904, -1.9503426551818848, 0.7197518944740295, -0.999999463558197, -0.2785070836544037, -0.7032397985458374, -0.9982243776321411, 0.0, -2.520904779434204, -1.6956483125686646, 0.3812078833580017, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0482680797576904, -1.9503426551818848, 0.7197518944740295, -0.999999463558197, -0.2785070836544037, -0.7032397985458374, -0.9982243776321411, 0.0, -2.4967987537384033, -1.6859862804412842, 0.3812076151371002, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0482680797576904, -1.9503426551818848, 0.7197518944740295, -0.999999463558197, -0.2785070836544037, -0.7032397985458374, -0.9982243776321411, 0.0, -2.390669822692871, -1.6434483528137207, 0.38120779395103455, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0482680797576904, -1.9503426551818848, 0.7197518944740295, -0.999999463558197, -0.2785070836544037, -0.7032397985458374, -0.9982243776321411, 0.0, -2.2878482341766357, -1.602236032485962, 0.38120946288108826, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0482680797576904, -1.9503426551818848, 0.7197518944740295, -0.999999463558197, -0.2785070836544037, -0.7032397985458374, -0.9982243776321411, 0.0, -2.2604353427886963, -1.5912485122680664, 0.38120904564857483, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0482680797576904, -1.9503426551818848, 0.7197518944740295, -0.999999463558197, -0.2785070836544037, -0.7032397985458374, -0.9982243776321411, 0.0, -2.215080738067627, -1.57306969165802, 0.38120901584625244, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0482680797576904, -1.9503426551818848, 0.7197518944740295, -0.999999463558197, -0.2785070836544037, -0.7032397985458374, -0.9982243776321411, 0.0, -2.130593776702881, -1.5392060279846191, 0.3812068700790405, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0482680797576904, -1.9503426551818848, 0.7197518944740295, -0.999999463558197, -0.2785070836544037, -0.7032397985458374, -0.9982243776321411, 0.0, -2.079906463623047, -1.5188899040222168, 0.3812083303928375, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0482680797576904, -1.9503426551818848, 0.7197518944740295, -0.999999463558197, -0.2785070836544037, -0.7032397985458374, -0.9982243776321411, 0.0, -2.000962018966675, -1.4872478246688843, 0.38120874762535095, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0482680797576904, -1.9503426551818848, 0.7197518944740295, -0.999999463558197, -0.2785070836544037, -0.7032397985458374, -0.9982243776321411, 0.0, -1.8725042343139648, -1.4357600212097168, 0.3812066912651062, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0482680797576904, -1.9503426551818848, 0.7197518944740295, -0.999999463558197, -0.2785070836544037, -0.7032397985458374, -0.9982243776321411, 0.0, -1.8713306188583374, -1.4352896213531494, 0.3812101483345032, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0482680797576904, -1.9503426551818848, 0.7197518944740295, -0.999999463558197, -0.2785070836544037, -0.7032397985458374, -0.9982243776321411, 0.0, -1.8693745136260986, -1.434505581855774, 0.3812083303928375, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0482680797576904, -1.9503426551818848, 0.7197518944740295, -0.999999463558197, -0.2785070836544037, -0.7032397985458374, -0.9982243776321411, 0.0, -1.7411054372787476, -1.3830934762954712, 0.3812083899974823, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0482680797576904, -1.9503426551818848, 0.7197518944740295, -0.999999463558197, -0.2785070836544037, -0.7032397985458374, -0.9982243776321411, 0.0, -1.6635695695877075, -1.3520159721374512, 0.3812072277069092, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0482680797576904, -1.9503426551818848, 0.7197518944740295, -0.999999463558197, -0.2785070836544037, -0.7032397985458374, -0.9982243776321411, 0.0, -1.6108568906784058, -1.330888032913208, 0.38120847940444946, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0482680797576904, -1.9503426551818848, 0.7197518944740295, -0.999999463558197, -0.2785070836544037, -0.7032397985458374, -0.9982243776321411, 0.0, -1.5227948427200317, -1.2955914735794067, 0.3812095522880554, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0482680797576904, -1.9503426551818848, 0.7197518944740295, -0.999999463558197, -0.2785070836544037, -0.7032397985458374, -0.9982243776321411, 0.0, -1.480512022972107, -1.2786438465118408, 0.3812067210674286, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0482680797576904, -1.9503426551818848, 0.7197518944740295, -0.999999463558197, -0.2785070836544037, -0.7032397985458374, -0.9982243776321411, 0.0, -1.455456256866455, -1.2686011791229248, 0.3812080919742584, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0482680797576904, -1.9503426551818848, 0.7197518944740295, -0.999999463558197, -0.2785070836544037, -0.7032397985458374, -0.9982243776321411, 0.0, -1.3492480516433716, -1.2260314226150513, 0.3812086582183838, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0482680797576904, -1.9503426551818848, 0.7197518944740295, -0.999999463558197, -0.2785070836544037, -0.7032397985458374, -0.9982243776321411, 0.0, -1.251877784729004, -1.1870039701461792, 0.3812088370323181, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0482680797576904, -1.9503426551818848, 0.7197518944740295, -0.999999463558197, -0.2785070836544037, -0.7032397985458374, -0.9982243776321411, 0.0, -1.2136480808258057, -1.1716809272766113, 0.38120830059051514, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0482680797576904, -1.9503426551818848, 0.7197518944740295, -0.999999463558197, -0.2785070836544037, -0.7032397985458374, -0.9982243776321411, 0.0, -1.099662184715271, -1.1259937286376953, 0.38120755553245544, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0482680797576904, -1.9503426551818848, 0.7197518944740295, -0.999999463558197, -0.2785070836544037, -0.7032397985458374, -0.9982243776321411, 0.0, -1.0647310018539429, -1.1119928359985352, 0.38121142983436584, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0482680797576904, -1.9503426551818848, 0.7197518944740295, -0.999999463558197, -0.2785070836544037, -0.7032397985458374, -0.9982243776321411, 0.0, -1.0523451566696167, -1.1070283651351929, 0.38120800256729126, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0482680797576904, -1.9503426551818848, 0.7197518944740295, -0.999999463558197, -0.2785070836544037, -0.7032397985458374, -0.9982243776321411, 0.0, -0.9075573682785034, -1.0489953756332397, 0.38120701909065247, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0482680797576904, -1.9503426551818848, 0.7197518944740295, -0.999999463558197, -0.2785070836544037, -0.7032397985458374, -0.9982243776321411, 0.0, -0.8639200925827026, -1.0315049886703491, 0.38120800256729126, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0482680797576904, -1.9503426551818848, 0.7197518944740295, -0.999999463558197, -0.2785070836544037, -0.7032397985458374, -0.9982243776321411, 0.0, -0.7767367959022522, -0.9965606927871704, 0.3812080919742584, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0482680797576904, -1.9503426551818848, 0.7197518944740295, -0.999999463558197, -0.2785070836544037, -0.7032397985458374, -0.9982243776321411, 0.0, -0.7108966708183289, -0.9701710343360901, 0.38120830059051514, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0482680797576904, -1.9503426551818848, 0.7197518944740295, -0.999999463558197, -0.2785070836544037, -0.7032397985458374, -0.9982243776321411, 0.0, -0.6452213525772095, -0.9438474178314209, -1.3440711498260498, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0482680797576904, -1.9503426551818848, 0.7197518944740295, -0.999999463558197, -0.2785070836544037, -0.7032397985458374, -0.9982243776321411, 0.0, -0.637506902217865, -0.9772879481315613, -3.030573844909668, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0482680797576904, -1.9503426551818848, 0.7197518944740295, -0.999999463558197, -0.2785070836544037, -0.7032397985458374, -0.9982243776321411, 0.0, 1.192931056022644, 1.2944809198379517, 1.168914794921875, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6572753190994263, -0.6143158674240112, 0.8798819780349731, -0.7041836977005005, -0.2785070836544037, -0.7032397985458374, -0.5198631882667542, 0.0, 1.2109068632125854, 1.3367756605148315, 1.16891610622406, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6572753190994263, -0.6143158674240112, 0.8798819780349731, -0.7041836977005005, -0.2785070836544037, -0.7032397985458374, -0.5198631882667542, 0.0, 1.2610011100769043, 1.454641342163086, 1.1689168214797974, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6572753190994263, -0.6143158674240112, 0.8798819780349731, -0.7041836977005005, -0.2785070836544037, -0.7032397985458374, -0.5198631882667542, 0.0, 1.2697981595993042, 1.4753397703170776, 1.1689157485961914, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6572753190994263, -0.6143158674240112, 0.8798819780349731, -0.7041836977005005, -0.2785070836544037, -0.7032397985458374, -0.5198631882667542, 0.0, 1.3284879922866821, 1.6134296655654907, 1.1688511371612549, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6572753190994263, -0.6143158674240112, 0.8798819780349731, -0.7041836977005005, -0.2785070836544037, -0.7032397985458374, -0.5198631882667542, 0.0, 1.3286895751953125, 1.6139038801193237, 1.1689324378967285, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6572753190994263, -0.6143158674240112, 0.8798819780349731, -0.7041836977005005, -0.2785070836544037, -0.7032397985458374, -0.5198631882667542, 0.0, 1.3299654722213745, 1.6169060468673706, 1.1689156293869019, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6572753190994263, -0.6143158674240112, 0.8798819780349731, -0.7041836977005005, -0.2785070836544037, -0.7032397985458374, -0.5198631882667542, 0.0, 1.3875807523727417, 1.7524676322937012, 1.1689149141311646, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6572753190994263, -0.6143158674240112, 0.8798819780349731, -0.7041836977005005, -0.2785070836544037, -0.7032397985458374, -0.5198631882667542, 0.0, 1.3966821432113647, 1.7738820314407349, 1.1689156293869019, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6572753190994263, -0.6143158674240112, 0.8798819780349731, -0.7041836977005005, -0.2785070836544037, -0.7032397985458374, -0.5198631882667542, 0.0, 1.44647216796875, 1.8910317420959473, 1.1689165830612183, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6572753190994263, -0.6143158674240112, 0.8798819780349731, -0.7041836977005005, -0.2785070836544037, -0.7032397985458374, -0.5198631882667542, 0.0, 1.464351773262024, 1.9331003427505493, 1.168915033340454, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6572753190994263, -0.6143158674240112, 0.8798819780349731, -0.7041836977005005, -0.2785070836544037, -0.7032397985458374, -0.5198631882667542, 0.0, 1.505585789680481, 2.030118703842163, 1.1689152717590332, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6572753190994263, -0.6143158674240112, 0.8798819780349731, -0.7041836977005005, -0.2785070836544037, -0.7032397985458374, -0.5198631882667542, 0.0, 1.533118486404419, 2.0948996543884277, 1.1689167022705078, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6572753190994263, -0.6143158674240112, 0.8798819780349731, -0.7041836977005005, -0.2785070836544037, -0.7032397985458374, -0.5198631882667542, 0.0, 1.5655028820037842, 2.1710963249206543, 1.1689152717590332, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6572753190994263, -0.6143158674240112, 0.8798819780349731, -0.7041836977005005, -0.2785070836544037, -0.7032397985458374, -0.5198631882667542, 0.0, 1.604343295097351, 2.2624828815460205, 1.1689152717590332, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6572753190994263, -0.6143158674240112, 0.8798819780349731, -0.7041836977005005, -0.2785070836544037, -0.7032397985458374, -0.5198631882667542, 0.0, 1.6268653869628906, 2.315474510192871, 1.168914794921875, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6572753190994263, -0.6143158674240112, 0.8798819780349731, -0.7041836977005005, -0.2785070836544037, -0.7032397985458374, -0.5198631882667542, 0.0, 1.6800765991210938, 2.440673589706421, 1.1689168214797974, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6572753190994263, -0.6143158674240112, 0.8798819780349731, -0.7041836977005005, -0.2785070836544037, -0.7032397985458374, -0.5198631882667542, 0.0, 1.6893408298492432, 2.4624712467193604, 1.1689162254333496, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6572753190994263, -0.6143158674240112, 0.8798819780349731, -0.7041836977005005, -0.2785070836544037, -0.7032397985458374, -0.5198631882667542, 0.0, 1.7204519510269165, 2.5356719493865967, 1.7710684537887573, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6572753190994263, -0.6143158674240112, 0.8798819780349731, -0.7041836977005005, -0.2785070836544037, -0.7032397985458374, -0.5198631882667542, 0.0, 1.7087996006011963, 2.5930745601654053, 3.062830924987793, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6572753190994263, -0.6143158674240112, 0.8798819780349731, -0.7041836977005005, -0.2785070836544037, -0.7032397985458374, -0.5198631882667542, 0.0], "max": [-0.6419052481651306, -0.9750351309776306, 0.38120681047439575, 0.0, 0.0, 0.0, 0.0, 2.0, 1.7678099870681763, 3.2329699993133545, 0.8799999952316284, 0.6496615409851074, 0.5197412967681885, 0.6488708257675171, 0.9986696839332581, 1.0, -0.5651733875274658, -0.960503339767456, 0.381210058927536, 0.0, 0.0, 0.0, 0.0, 2.0, 1.761299967765808, 2.9491524696350098, 0.8798820972442627, 0.6496615409851074, 0.5189694166183472, 0.6488708257675171, 0.9236512184143066, 0.0, -0.5057830214500427, -0.9492557644844055, 0.38120830059051514, 0.0, 0.0, 0.0, 0.0, 2.0, 1.761299967765808, 2.9491524696350098, 0.8798820972442627, 0.6496615409851074, 0.5189694166183472, 0.6488708257675171, 0.9236512184143066, 0.0, -0.42115530371665955, -0.933228611946106, 0.3812080919742584, 0.0, 0.0, 0.0, 0.0, 2.0, 1.761299967765808, 2.9491524696350098, 0.8798820972442627, 0.6496615409851074, 0.5189694166183472, 0.6488708257675171, 0.9236512184143066, 0.0, -0.34372782707214355, -0.9185650944709778, 0.38120919466018677, 0.0, 0.0, 0.0, 0.0, 2.0, 1.761299967765808, 2.9491524696350098, 0.8798820972442627, 0.6496615409851074, 0.5189694166183472, 0.6488708257675171, 0.9236512184143066, 0.0, -0.2729707360267639, -0.9051648378372192, 0.38120853900909424, 0.0, 0.0, 0.0, 0.0, 2.0, 1.761299967765808, 2.9491524696350098, 0.8798820972442627, 0.6496615409851074, 0.5189694166183472, 0.6488708257675171, 0.9236512184143066, 0.0, -0.17987477779388428, -0.887533962726593, 0.3812238574028015, 0.0, 0.0, 0.0, 0.0, 2.0, 1.761299967765808, 2.9491524696350098, 0.8798820972442627, 0.6496615409851074, 0.5189694166183472, 0.6488708257675171, 0.9236512184143066, 0.0, -0.12382987141609192, -0.8769199848175049, 0.38119781017303467, 0.0, 0.0, 0.0, 0.0, 2.0, 1.761299967765808, 2.9491524696350098, 0.8798820972442627, 0.6496615409851074, 0.5189694166183472, 0.6488708257675171, 0.9236512184143066, 0.0, -0.01650051772594452, -0.8565935492515564, 0.3812076449394226, 0.0, 0.0, 0.0, 0.0, 2.0, 1.761299967765808, 2.9491524696350098, 0.8798820972442627, 0.6496615409851074, 0.5189694166183472, 0.6488708257675171, 0.9236512184143066, 0.0, 0.02507834881544113, -0.8487191796302795, 0.3812077045440674, 0.0, 0.0, 0.0, 0.0, 2.0, 1.761299967765808, 2.9491524696350098, 0.8798820972442627, 0.6496615409851074, 0.5189694166183472, 0.6488708257675171, 0.9236512184143066, 0.0, 0.11873719096183777, -0.8309817314147949, 0.3812078833580017, 0.0, 0.0, 0.0, 0.0, 2.0, 1.761299967765808, 2.9491524696350098, 0.8798820972442627, 0.6496615409851074, 0.5189694166183472, 0.6488708257675171, 0.9236512184143066, 0.0, 0.15792202949523926, -0.8235607743263245, 0.38120827078819275, 0.0, 0.0, 0.0, 0.0, 2.0, 1.761299967765808, 2.9491524696350098, 0.8798820972442627, 0.6496615409851074, 0.5189694166183472, 0.6488708257675171, 0.9236512184143066, 0.0, 0.23421701788902283, -0.8091117143630981, 1.060357928276062, 0.0, 0.0, 0.0, 0.0, 2.0, 1.761299967765808, 2.9491524696350098, 0.8798820972442627, 0.6496615409851074, 0.5189694166183472, 0.6488708257675171, 0.9236512184143066, 0.0, 0.28427374362945557, -0.7197142243385315, 1.0603582859039307, 0.0, 0.0, 0.0, 0.0, 2.0, 1.761299967765808, 2.9491524696350098, 0.8798820972442627, 0.6496615409851074, 0.5189694166183472, 0.6488708257675171, 0.9236512184143066, 0.0, 0.30046772956848145, -0.690792977809906, 1.0603580474853516, 0.0, 0.0, 0.0, 0.0, 2.0, 1.761299967765808, 2.9491524696350098, 0.8798820972442627, 0.6496615409851074, 0.5189694166183472, 0.6488708257675171, 0.9236512184143066, 0.0, 0.3406584560871124, -0.6190153956413269, 1.0603582859039307, 0.0, 0.0, 0.0, 0.0, 2.0, 1.761299967765808, 2.9491524696350098, 0.8798820972442627, 0.6496615409851074, 0.5189694166183472, 0.6488708257675171, 0.9236512184143066, 0.0, 0.35066545009613037, -0.6011436581611633, 1.060357689857483, 0.0, 0.0, 0.0, 0.0, 2.0, 1.761299967765808, 2.9491524696350098, 0.8798820972442627, 0.6496615409851074, 0.5189694166183472, 0.6488708257675171, 0.9236512184143066, 0.0, 0.41022858023643494, -0.49476853013038635, 1.0603572130203247, 0.0, 0.0, 0.0, 0.0, 2.0, 1.761299967765808, 2.9491524696350098, 0.8798820972442627, 0.6496615409851074, 0.5189694166183472, 0.6488708257675171, 0.9236512184143066, 0.0, 0.43217527866363525, -0.4555734694004059, 1.0603585243225098, 0.0, 0.0, 0.0, 0.0, 2.0, 1.761299967765808, 2.9491524696350098, 0.8798820972442627, 0.6496615409851074, 0.5189694166183472, 0.6488708257675171, 0.9236512184143066, 0.0, 0.46242043375968933, -0.4015578627586365, 1.0531009435653687, 0.0, 0.0, 0.0, 0.0, 2.0, 1.761299967765808, 2.9491524696350098, 0.8798820972442627, 0.6496615409851074, 0.5189694166183472, 0.6488708257675171, 0.9236512184143066, 0.0, 0.5005502104759216, -0.33460545539855957, 1.1689155101776123, 0.0, 0.0, 0.0, 0.0, 2.0, 1.761299967765808, 2.9491524696350098, 0.8798820972442627, 0.6496615409851074, 0.5189694166183472, 0.6488708257675171, 0.9236512184143066, 0.0, 0.5441412329673767, -0.23204123973846436, 1.16891610622406, 0.0, 0.0, 0.0, 0.0, 2.0, 1.761299967765808, 2.9491524696350098, 0.8798820972442627, 0.6496615409851074, 0.5189694166183472, 0.6488708257675171, 0.9236512184143066, 0.0, 0.5597207546234131, -0.19538451731204987, 1.168915867805481, 0.0, 0.0, 0.0, 0.0, 2.0, 1.761299967765808, 2.9491524696350098, 0.8798820972442627, 0.6496615409851074, 0.5189694166183472, 0.6488708257675171, 0.9236512184143066, 0.0, 0.6151818037033081, -0.0648915097117424, 1.1689172983169556, 0.0, 0.0, 0.0, 0.0, 2.0, 1.761299967765808, 2.9491524696350098, 0.8798820972442627, 0.6496615409851074, 0.5189694166183472, 0.6488708257675171, 0.9236512184143066, 0.0, 0.619789719581604, -0.05404960736632347, 1.1689194440841675, 0.0, 0.0, 0.0, 0.0, 2.0, 1.761299967765808, 2.9491524696350098, 0.8798820972442627, 0.6496615409851074, 0.5189694166183472, 0.6488708257675171, 0.9236512184143066, 0.0, 0.6216052174568176, -0.04977792128920555, 1.168915867805481, 0.0, 0.0, 0.0, 0.0, 2.0, 1.761299967765808, 2.9491524696350098, 0.8798820972442627, 0.6496615409851074, 0.5189694166183472, 0.6488708257675171, 0.9236512184143066, 0.0, 0.6805664896965027, 0.08895070850849152, 1.1689156293869019, 0.0, 0.0, 0.0, 0.0, 2.0, 1.761299967765808, 2.9491524696350098, 0.8798820972442627, 0.6496615409851074, 0.5189694166183472, 0.6488708257675171, 0.9236512184143066, 0.0, 0.7092649936676025, 0.15647472441196442, 1.1689159870147705, 0.0, 0.0, 0.0, 0.0, 2.0, 1.761299967765808, 2.9491524696350098, 0.8798820972442627, 0.6496615409851074, 0.5189694166183472, 0.6488708257675171, 0.9236512184143066, 0.0, 0.7394905686378479, 0.22759179770946503, 1.1689153909683228, 0.0, 0.0, 0.0, 0.0, 2.0, 1.761299967765808, 2.9491524696350098, 0.8798820972442627, 0.6496615409851074, 0.5189694166183472, 0.6488708257675171, 0.9236512184143066, 0.0, 0.7839875817298889, 0.33228766918182373, 1.1689151525497437, 0.0, 0.0, 0.0, 0.0, 2.0, 1.761299967765808, 2.9491524696350098, 0.8798820972442627, 0.6496615409851074, 0.5189694166183472, 0.6488708257675171, 0.9236512184143066, 0.0, 0.7983730435371399, 0.3661348223686218, 1.1689155101776123, 0.0, 0.0, 0.0, 0.0, 2.0, 1.761299967765808, 2.9491524696350098, 0.8798820972442627, 0.6496615409851074, 0.5189694166183472, 0.6488708257675171, 0.9236512184143066, 0.0, 0.8533458709716797, 0.495479017496109, 1.1689167022705078, 0.0, 0.0, 0.0, 0.0, 2.0, 1.761299967765808, 2.9491524696350098, 0.8798820972442627, 0.6496615409851074, 0.5189694166183472, 0.6488708257675171, 0.9236512184143066, 0.0, 0.8574522733688354, 0.5051409006118774, 1.1689159870147705, 0.0, 0.0, 0.0, 0.0, 2.0, 1.761299967765808, 2.9491524696350098, 0.8798820972442627, 0.6496615409851074, 0.5189694166183472, 0.6488708257675171, 0.9236512184143066, 0.0, 0.8829963803291321, 0.5652430653572083, 1.1689159870147705, 0.0, 0.0, 0.0, 0.0, 2.0, 1.761299967765808, 2.9491524696350098, 0.8798820972442627, 0.6496615409851074, 0.5189694166183472, 0.6488708257675171, 0.9236512184143066, 0.0, 0.9164336919784546, 0.6439169645309448, 1.1689149141311646, 0.0, 0.0, 0.0, 0.0, 2.0, 1.761299967765808, 2.9491524696350098, 0.8798820972442627, 0.6496615409851074, 0.5189694166183472, 0.6488708257675171, 0.9236512184143066, 0.0, 0.9218173027038574, 0.6565839052200317, 1.1689157485961914, 0.0, 0.0, 0.0, 0.0, 2.0, 1.761299967765808, 2.9491524696350098, 0.8798820972442627, 0.6496615409851074, 0.5189694166183472, 0.6488708257675171, 0.9236512184143066, 0.0, 0.9753413200378418, 0.7825192809104919, 1.168915033340454, 0.0, 0.0, 0.0, 0.0, 2.0, 1.761299967765808, 2.9491524696350098, 0.8798820972442627, 0.6496615409851074, 0.5189694166183472, 0.6488708257675171, 0.9236512184143066, 0.0, 0.9893781542778015, 0.8155461549758911, 1.1689156293869019, 0.0, 0.0, 0.0, 0.0, 2.0, 1.761299967765808, 2.9491524696350098, 0.8798820972442627, 0.6496615409851074, 0.5189694166183472, 0.6488708257675171, 0.9236512184143066, 0.0, 1.03423273563385, 0.921083390712738, 1.1689152717590332, 0.0, 0.0, 0.0, 0.0, 2.0, 1.761299967765808, 2.9491524696350098, 0.8798820972442627, 0.6496615409851074, 0.5189694166183472, 0.6488708257675171, 0.9236512184143066, 0.0, 1.0573742389678955, 0.9755324125289917, 1.1689153909683228, 0.0, 0.0, 0.0, 0.0, 2.0, 1.761299967765808, 2.9491524696350098, 0.8798820972442627, 0.6496615409851074, 0.5189694166183472, 0.6488708257675171, 0.9236512184143066, 0.0, 1.0931241512298584, 1.0596474409103394, 1.16891610622406, 0.0, 0.0, 0.0, 0.0, 2.0, 1.761299967765808, 2.9491524696350098, 0.8798820972442627, 0.6496615409851074, 0.5189694166183472, 0.6488708257675171, 0.9236512184143066, 0.0, 1.1251896619796753, 1.1350936889648438, 1.1689163446426392, 0.0, 0.0, 0.0, 0.0, 2.0, 1.761299967765808, 2.9491524696350098, 0.8798820972442627, 0.6496615409851074, 0.5189694166183472, 0.6488708257675171, 0.9236512184143066, 0.0, 1.1520154476165771, 1.1982115507125854, 1.1689157485961914, 0.0, 0.0, 0.0, 0.0, 2.0, 1.761299967765808, 2.9491524696350098, 0.8798820972442627, 0.6496615409851074, 0.5189694166183472, 0.6488708257675171, 0.9236512184143066, 0.0, 1.192931056022644, 1.2944809198379517, 1.168914794921875, 0.0, 0.0, 0.0, 0.0, 2.0, 1.761299967765808, 2.9491524696350098, 0.8798820972442627, 0.6496615409851074, 0.5189694166183472, 0.6488708257675171, 0.2791324853897095, 0.0, 1.2109068632125854, 1.3367756605148315, 1.16891610622406, 0.0, 0.0, 0.0, 0.0, 2.0, 1.761299967765808, 2.9491524696350098, 0.8798820972442627, 0.6496615409851074, 0.5189694166183472, 0.6488708257675171, 0.2791324853897095, 0.0, 1.2610011100769043, 1.454641342163086, 1.1689168214797974, 0.0, 0.0, 0.0, 0.0, 2.0, 1.761299967765808, 2.9491524696350098, 0.8798820972442627, 0.6496615409851074, 0.5189694166183472, 0.6488708257675171, 0.2791324853897095, 0.0, 1.2697981595993042, 1.4753397703170776, 1.1689157485961914, 0.0, 0.0, 0.0, 0.0, 2.0, 1.761299967765808, 2.9491524696350098, 0.8798820972442627, 0.6496615409851074, 0.5189694166183472, 0.6488708257675171, 0.2791324853897095, 0.0, 1.3284879922866821, 1.6134296655654907, 1.1688511371612549, 0.0, 0.0, 0.0, 0.0, 2.0, 1.761299967765808, 2.9491524696350098, 0.8798820972442627, 0.6496615409851074, 0.5189694166183472, 0.6488708257675171, 0.2791324853897095, 0.0, 1.3286895751953125, 1.6139038801193237, 1.1689324378967285, 0.0, 0.0, 0.0, 0.0, 2.0, 1.761299967765808, 2.9491524696350098, 0.8798820972442627, 0.6496615409851074, 0.5189694166183472, 0.6488708257675171, 0.2791324853897095, 0.0, 1.3299654722213745, 1.6169060468673706, 1.1689156293869019, 0.0, 0.0, 0.0, 0.0, 2.0, 1.761299967765808, 2.9491524696350098, 0.8798820972442627, 0.6496615409851074, 0.5189694166183472, 0.6488708257675171, 0.2791324853897095, 0.0, 1.3875807523727417, 1.7524676322937012, 1.1689149141311646, 0.0, 0.0, 0.0, 0.0, 2.0, 1.761299967765808, 2.9491524696350098, 0.8798820972442627, 0.6496615409851074, 0.5189694166183472, 0.6488708257675171, 0.2791324853897095, 0.0, 1.3966821432113647, 1.7738820314407349, 1.1689156293869019, 0.0, 0.0, 0.0, 0.0, 2.0, 1.761299967765808, 2.9491524696350098, 0.8798820972442627, 0.6496615409851074, 0.5189694166183472, 0.6488708257675171, 0.2791324853897095, 0.0, 1.44647216796875, 1.8910317420959473, 1.1689165830612183, 0.0, 0.0, 0.0, 0.0, 2.0, 1.761299967765808, 2.9491524696350098, 0.8798820972442627, 0.6496615409851074, 0.5189694166183472, 0.6488708257675171, 0.2791324853897095, 0.0, 1.464351773262024, 1.9331003427505493, 1.168915033340454, 0.0, 0.0, 0.0, 0.0, 2.0, 1.761299967765808, 2.9491524696350098, 0.8798820972442627, 0.6496615409851074, 0.5189694166183472, 0.6488708257675171, 0.2791324853897095, 0.0, 1.505585789680481, 2.030118703842163, 1.1689152717590332, 0.0, 0.0, 0.0, 0.0, 2.0, 1.761299967765808, 2.9491524696350098, 0.8798820972442627, 0.6496615409851074, 0.5189694166183472, 0.6488708257675171, 0.2791324853897095, 0.0, 1.533118486404419, 2.0948996543884277, 1.1689167022705078, 0.0, 0.0, 0.0, 0.0, 2.0, 1.761299967765808, 2.9491524696350098, 0.8798820972442627, 0.6496615409851074, 0.5189694166183472, 0.6488708257675171, 0.2791324853897095, 0.0, 1.5655028820037842, 2.1710963249206543, 1.1689152717590332, 0.0, 0.0, 0.0, 0.0, 2.0, 1.761299967765808, 2.9491524696350098, 0.8798820972442627, 0.6496615409851074, 0.5189694166183472, 0.6488708257675171, 0.2791324853897095, 0.0, 1.604343295097351, 2.2624828815460205, 1.1689152717590332, 0.0, 0.0, 0.0, 0.0, 2.0, 1.761299967765808, 2.9491524696350098, 0.8798820972442627, 0.6496615409851074, 0.5189694166183472, 0.6488708257675171, 0.2791324853897095, 0.0, 1.6268653869628906, 2.315474510192871, 1.168914794921875, 0.0, 0.0, 0.0, 0.0, 2.0, 1.761299967765808, 2.9491524696350098, 0.8798820972442627, 0.6496615409851074, 0.5189694166183472, 0.6488708257675171, 0.2791324853897095, 0.0, 1.6800765991210938, 2.440673589706421, 1.1689168214797974, 0.0, 0.0, 0.0, 0.0, 2.0, 1.761299967765808, 2.9491524696350098, 0.8798820972442627, 0.6496615409851074, 0.5189694166183472, 0.6488708257675171, 0.2791324853897095, 0.0, 1.6893408298492432, 2.4624712467193604, 1.1689162254333496, 0.0, 0.0, 0.0, 0.0, 2.0, 1.761299967765808, 2.9491524696350098, 0.8798820972442627, 0.6496615409851074, 0.5189694166183472, 0.6488708257675171, 0.2791324853897095, 0.0, 1.7204519510269165, 2.5356719493865967, 1.7710684537887573, 0.0, 0.0, 0.0, 0.0, 2.0, 1.761299967765808, 2.9491524696350098, 0.8798820972442627, 0.6496615409851074, 0.5189694166183472, 0.6488708257675171, 0.2791324853897095, 0.0, 1.7087996006011963, 2.5930745601654053, 3.062830924987793, 0.0, 0.0, 0.0, 0.0, 2.0, 1.761299967765808, 2.9491524696350098, 0.8798820972442627, 0.6496615409851074, 0.5189694166183472, 0.6488708257675171, 0.2791324853897095, 0.0], "count": [2111]}, "action.applied": {"mean": [0.08081072368213492, -0.002230061806826419, -0.04740674183662047, 0.749725084432433, 0.052755938885207604, 0.052755938885207604, 0.052755938885207604, 0.052755938885207604, 2.6352297803453224, -1.0606633582389917, 0.022147426819687645, 0.07354334438654667, 0.07354334438654667], "std": [0.12078720234218164, 0.06278982719142177, 0.2047813186210218, 0.16548421506959143, 0.0419942001208573, 0.0419942001208573, 0.0419942001208573, 0.0419942001208573, 0.8363542685147651, 0.7074452427426696, 0.47172730271019747, 0.11391756929060039, 0.11391756929060039], "min": [-0.0, -0.1789267212152481, -0.800000011920929, 0.5443775653839111, 0.0, 0.0, 0.0, 0.0, 1.5616517066955566, -1.5699999332427979, -0.7426417469978333, 0.0, 0.0], "max": [0.2999992370605469, 0.12387967109680176, 0.49128133058547974, 0.9561555981636047, 0.12149078398942947, 0.12149078398942947, 0.12149078398942947, 0.12149078398942947, 3.9895715713500977, 8.594429914410284e-07, 0.9944575428962708, 0.25, 0.25], "count": [2111]}, "extra.reward": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [2111]}, "next.truncated": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [2111]}, "sim_step_idx": {"mean": [2211.0], "std": [1218.786281511242], "min": [101.0], "max": [4321.0], "count": [2111]}, "timestamp": {"mean": [42.20000000216141], "std": [24.37572563034948], "min": [0.0], "max": [84.4000015258789], "count": [2111]}, "frame_index": {"mean": [1055.0], "std": [609.393140755621], "min": [0.0], "max": [2110.0], "count": [2111]}, "episode_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [2111]}, "index": {"mean": [1055.0], "std": [609.393140755621], "min": [0.0], "max": [2110.0], "count": [2111]}, "task_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [2111]}, "next.done": {"mean": [0.0004737091425864519], "std": [0.02175970455301914], "min": [0.0], "max": [1.0], "count": [2111]}, "observation.images.head": {"mean": [[[0.5564884248551207]], [[0.5159391576057051]], [[0.4340064305195079]]], "std": [[[0.08017634107954426]], [[0.08174333094532052]], [[0.08609232763094685]]], "min": [[[0.23921568627450981]], [[0.23529411764705882]], [[0.16470588235294117]]], "max": [[[0.8901960784313725]], [[0.8901960784313725]], [[0.8901960784313725]]], "count": [100]}, "observation.images.wrist": {"mean": [[[0.5545567953296872]], [[0.5162138456082688]], [[0.46318243656133473]]], "std": [[[0.12663407108364053]], [[0.12676733064722623]], [[0.1311758348712432]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9372549019607843]], [[0.9372549019607843]], [[0.9333333333333333]]], "count": [100]}}} diff --git a/N033/stretch3/dr_off/seed_1022/rec/stationringstretch/000/lerobot_v21/meta/extra/episode_000000.json b/N033/stretch3/dr_off/seed_1022/rec/stationringstretch/000/lerobot_v21/meta/extra/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..1ac3499ee09481819a62adb5423da66ce0e09b4a --- /dev/null +++ b/N033/stretch3/dr_off/seed_1022/rec/stationringstretch/000/lerobot_v21/meta/extra/episode_000000.json @@ -0,0 +1,495 @@ +{ + "episode_index": 0, + "trajectory_id": 0, + "env_id": 0, + "task_type": "RingStretchCommand", + "subsample_every": 2, + "control_steps": 4222, + "language": { + "scene": { + "objects": [ + { + "id": "table_A_1", + "cat_name": "table_A", + "inst_id": 1, + "noun": "table A", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 3.2941408452475116, + -0.6635402048010091, + 0.11999972770701248 + ], + "bbox": { + "extent": [ + 1.010108538968229, + 0.6981954078077708, + 0.30000001192092896 + ], + "center": [ + 0.0, + 0.0, + 0.0 + ] + } + }, + { + "id": "table_B_1", + "cat_name": "table_B", + "inst_id": 1, + "noun": "table B", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 7.344579788991202, + 0.24264865089962265, + 0.1199993781796404 + ], + "bbox": { + "extent": [ + 0.9784369426159156, + 0.6411865358838269, + 0.30000001192092896 + ], + "center": [ + -1.6653345369377348e-16, + -2.220446049250313e-16, + 0.0 + ] + } + }, + { + "id": "rack_back_1", + "cat_name": "rack_back", + "inst_id": 1, + "noun": "rack back", + "color": "brown", + "size": "medium", + "material": null, + "category": "geometry", + "pos": [ + 3.248445093426353, + -0.6409150758022077, + 0.36999973131358577 + ], + "bbox": { + "extent": [ + 0.7066065017000092, + 0.18415198463837656, + 0.20000000298023224 + ], + "center": [ + -2.7755575615628914e-17, + 0.0, + 0.0 + ] + } + }, + { + "id": "peg_1_1", + "cat_name": "peg_1", + "inst_id": 1, + "noun": "peg 1", + "color": "gray", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.303067454960113, + -0.8156760492609347, + 0.40999972851650246 + ], + "bbox": { + "extent": [ + 0.05963908373971212, + 0.1844043495665162, + 0.019999999552965164 + ], + "center": [ + 1.9081958235744878e-17, + 5.551115123125783e-17, + 0.0 + ] + } + }, + { + "id": "peg_2_1", + "cat_name": "peg_2", + "inst_id": 1, + "noun": "peg 2", + "color": "gray", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.0655439114945655, + -0.6324205819493975, + 0.40999974659033034 + ], + "bbox": { + "extent": [ + 0.0596390837397119, + 0.18440434956651613, + 0.019999999552965164 + ], + "center": [ + -2.0816681711721685e-17, + -2.7755575615628914e-17, + 0.0 + ] + } + }, + { + "id": "ring_1", + "cat_name": "ring", + "inst_id": 1, + "noun": "ring", + "color": null, + "size": "small", + "material": null, + "category": "rigid", + "pos": [ + 3.035336703981279, + -0.6715704072818437, + 0.38000019417967346 + ], + "bbox": { + "extent": [ + 0.13171694189890054, + 0.062308381638181545, + 0.1820070805711514 + ], + "center": [ + -1.1572127398343235e-06, + -9.423653088772022e-08, + 0.02899979763518959 + ] + } + }, + { + "id": "ring_small_1", + "cat_name": "ring_small", + "inst_id": 1, + "noun": "ring small", + "color": null, + "size": "small", + "material": null, + "category": "rigid", + "pos": [ + 3.270772146041456, + -0.8575235678426169, + 0.40878498780563227 + ], + "bbox": { + "extent": [ + 0.08274427731601583, + 0.05133550798885295, + 0.13271529386428793 + ], + "center": [ + -0.00018688546874494338, + -4.976607461716631e-07, + 0.02899953771370628 + ] + } + }, + { + "id": "rod_h_1", + "cat_name": "rod_h", + "inst_id": 1, + "noun": "rod h", + "color": "white", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 7.247178405284229, + 0.15655007886157218, + 0.4699993872438914 + ], + "bbox": { + "extent": [ + 0.041962350254645814, + 0.14313747918422903, + 0.019999999552965164 + ], + "center": [ + 6.938893903907228e-17, + 2.220446049250313e-16, + 0.0 + ] + } + }, + { + "id": "rod_s_1", + "cat_name": "rod_s", + "inst_id": 1, + "noun": "rod s", + "color": "white", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 7.342556862588517, + 0.2408604528888791, + 0.4297993783678968 + ], + "bbox": { + "extent": [ + 0.03978994820843751, + 0.16136390389532068, + 0.15335651925202742 + ], + "center": [ + -5.0306980803327406e-17, + -2.7755575615628914e-17, + 0.0 + ] + } + }, + { + "id": "rod_stop_1", + "cat_name": "rod_stop", + "inst_id": 1, + "noun": "rod stop", + "color": "brown", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 7.3970267213813505, + 0.28900942454263834, + 0.32999937329888845 + ], + "bbox": { + "extent": [ + 0.10188248870146582, + 0.02768739362962247, + 0.11999999731779099 + ], + "center": [ + 2.498001805406602e-16, + 0.0, + 0.0 + ] + } + } + ], + "relations": [ + { + "subject": "table_B_1", + "relation": "behind", + "object": "rod_stop_1" + }, + { + "subject": "rack_back_1", + "relation": "left_of", + "object": "peg_1_1" + }, + { + "subject": "rod_h_1", + "relation": "right_of", + "object": "rod_s_1" + }, + { + "subject": "rod_s_1", + "relation": "on_top_of", + "object": "rod_stop_1" + }, + { + "subject": "rod_s_1", + "relation": "behind", + "object": "rod_stop_1" + }, + { + "subject": "rod_stop_1", + "relation": "in_front_of", + "object": "rod_s_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": [ + 3.829130716704824, + -0.8966907947919607, + 1.2357226465830236 + ], + "viewpoint": "front, 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": [ + 3.845583073917784, + -0.8209815112218798, + -0.0036023164326074958 + ], + "viewpoint": "front, 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": [ + -3.4, + -2.2, + 0.06 + ], + "ori": [ + 0.9396926164627075, + 0.0, + 0.0, + 0.3420201539993286 + ] + }, + "facing_yaw_deg": 40.000001288448495, + "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 brown rod stop. There are a large gray table A, a large gray table B, a medium brown rack back, a small gray peg 1, a small gray peg 2, a small ring, a small ring small, a small white rod h, a small white rod s and a small brown rod stop. The gray table B is behind the brown rod stop. The brown rack back is to the left of the gray peg 1. The white rod h is to the right of the white rod s. The white rod s is on top of the brown rod stop. The white rod s is behind the brown rod stop. The brown rod stop is in front of the white rod s. The scene is viewed from front, slightly above table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n[rod stop]\n\n\n\n [ring small]\n [[ring]\n\n\n [robot]" + }, + "task": { + "task_type": "StationRingStretch", + "instruction": "Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.", + "template_id": -1, + "slots": { + "obj": 3.2526115006988148, + "support": null + }, + "generic_instruction": "Stationringstretch the 3.2526115006988148.", + "task_id": "N033", + "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 +} \ No newline at end of file diff --git a/N033/stretch3/dr_off/seed_1022/rec/stationringstretch/000/lerobot_v21/meta/info.json b/N033/stretch3/dr_off/seed_1022/rec/stationringstretch/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..2a27ba7269d8c2ce1b0597e44a88c49c4ef1c244 --- /dev/null +++ b/N033/stretch3/dr_off/seed_1022/rec/stationringstretch/000/lerobot_v21/meta/info.json @@ -0,0 +1,319 @@ +{ + "codebase_version": "v2.1", + "robot_type": "HelloRobotCfg", + "total_episodes": 1, + "total_frames": 2111, + "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": [ + 70 + ], + "names": [ + "object_pose.peg_1.0", + "object_pose.peg_1.1", + "object_pose.peg_1.2", + "object_pose.peg_1.3", + "object_pose.peg_1.4", + "object_pose.peg_1.5", + "object_pose.peg_1.6", + "object_pose.peg_2.0", + "object_pose.peg_2.1", + "object_pose.peg_2.2", + "object_pose.peg_2.3", + "object_pose.peg_2.4", + "object_pose.peg_2.5", + "object_pose.peg_2.6", + "object_pose.rack_back.0", + "object_pose.rack_back.1", + "object_pose.rack_back.2", + "object_pose.rack_back.3", + "object_pose.rack_back.4", + "object_pose.rack_back.5", + "object_pose.rack_back.6", + "object_pose.ring.0", + "object_pose.ring.1", + "object_pose.ring.2", + "object_pose.ring.3", + "object_pose.ring.4", + "object_pose.ring.5", + "object_pose.ring.6", + "object_pose.ring_small.0", + "object_pose.ring_small.1", + "object_pose.ring_small.2", + "object_pose.ring_small.3", + "object_pose.ring_small.4", + "object_pose.ring_small.5", + "object_pose.ring_small.6", + "object_pose.rod_h.0", + "object_pose.rod_h.1", + "object_pose.rod_h.2", + "object_pose.rod_h.3", + "object_pose.rod_h.4", + "object_pose.rod_h.5", + "object_pose.rod_h.6", + "object_pose.rod_s.0", + "object_pose.rod_s.1", + "object_pose.rod_s.2", + "object_pose.rod_s.3", + "object_pose.rod_s.4", + "object_pose.rod_s.5", + "object_pose.rod_s.6", + "object_pose.rod_stop.0", + "object_pose.rod_stop.1", + "object_pose.rod_stop.2", + "object_pose.rod_stop.3", + "object_pose.rod_stop.4", + "object_pose.rod_stop.5", + "object_pose.rod_stop.6", + "object_pose.table_A.0", + "object_pose.table_A.1", + "object_pose.table_A.2", + "object_pose.table_A.3", + "object_pose.table_A.4", + "object_pose.table_A.5", + "object_pose.table_A.6", + "object_pose.table_B.0", + "object_pose.table_B.1", + "object_pose.table_B.2", + "object_pose.table_B.3", + "object_pose.table_B.4", + "object_pose.table_B.5", + "object_pose.table_B.6" + ] + }, + "action.command": { + "dtype": "float32", + "shape": [ + 1008 + ], + "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 + } + } + } +} \ No newline at end of file diff --git a/N033/stretch3/dr_off/seed_1022/rec/stationringstretch/000/lerobot_v21/meta/magicsim_manifest.json b/N033/stretch3/dr_off/seed_1022/rec/stationringstretch/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..3df5d1d5e1013fd9466aac0b3d8dc7dc02f317cd --- /dev/null +++ b/N033/stretch3/dr_off/seed_1022/rec/stationringstretch/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,259 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 03:07:53" + }, + "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": "stationringstretch/000", + "task_type": "RingStretchCommand" + } +} \ No newline at end of file diff --git a/N033/stretch3/dr_off/seed_1022/rec/stationringstretch/000/lerobot_v21/meta/stats.json b/N033/stretch3/dr_off/seed_1022/rec/stationringstretch/000/lerobot_v21/meta/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..005d8818a37e29a9145d1d601a79fdb2e490c726 --- /dev/null +++ b/N033/stretch3/dr_off/seed_1022/rec/stationringstretch/000/lerobot_v21/meta/stats.json @@ -0,0 +1,5005 @@ +{ + "action": { + "mean": [ + -0.019759575164890554, + 0.0, + -0.04740674183662047, + 0.3458657780532473, + 0.9338596521156312, + 0.7494755386741508, + -0.2887229745142596, + -0.01411688821959728, + -0.08661228454804704, + 0.03871334254796705, + 0.4703931785883467 + ], + "std": [ + 0.15708919695662604, + 0.0, + 0.2047813186210218, + 1.2953500573395988, + 1.8664610542349798, + 0.10196706013360862, + 0.5620492288456792, + 0.3517832863990141, + 0.4498940595802384, + 0.5151541288519059, + 0.49912266641167724 + ], + "min": [ + -0.30000001192092896, + 0.0, + -0.800000011920929, + -3.0482680797576904, + -1.9503426551818848, + 0.5400004386901855, + -0.999999463558197, + -0.6404595375061035, + -0.7032397985458374, + -0.9982243776321411, + 0.0 + ], + "max": [ + 0.30000001192092896, + 0.0, + 0.49128133058547974, + 1.7678099870681763, + 3.2329699993133545, + 0.8799999952316284, + 0.6496615409851074, + 0.5197412967681885, + 0.6488708257675171, + 0.9986696839332581, + 1.0 + ], + "count": [ + 2111 + ] + }, + "action_is_hold": { + "mean": [ + 0.13453339649455234, + 0.13453339649455234, + 0.13453339649455234, + 0.1643770724774988, + 0.1643770724774988, + 0.1643770724774988, + 0.1643770724774988, + 0.1643770724774988, + 0.1643770724774988, + 0.1643770724774988, + 0.9758408337280909 + ], + "std": [ + 0.34122450340236765, + 0.34122450340236765, + 0.34122450340236765, + 0.3706173910129238, + 0.3706173910129238, + 0.3706173910129238, + 0.3706173910129238, + 0.3706173910129238, + 0.3706173910129238, + 0.3706173910129238, + 0.1535431566594727 + ], + "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": [ + 2111 + ] + }, + "observation.state": { + "mean": [ + 0.39469551791982704, + 0.6663788474464462, + -0.2138023481979809, + 0.7496758429770332, + 2.4031454779757294e-07, + 3.742575807996516e-08, + 0.05274531707358121, + 0.05274610897352199, + 0.05274701879438581, + 0.05274314028942048, + 2.6352354480101, + -1.0606120134217958, + 0.022060917589255335, + 0.10186792639623175, + 0.10491750936117118 + ], + "std": [ + 1.3638241464053453, + 1.7506053663699395, + 2.5083601424941193, + 0.16543732534253147, + 3.6230236032877066e-06, + 5.867368886281282e-06, + 0.041990044375869416, + 0.04199023525374409, + 0.04199032318702471, + 0.04198137358779226, + 0.8361751103434323, + 0.7073502345712052, + 0.47153850618727466, + 0.09798081024197045, + 0.09681038897270743 + ], + "min": [ + -3.327573299407959, + -2.018972635269165, + -3.1405012607574463, + 0.5443664789199829, + -2.588949428172782e-05, + -9.099447925109416e-05, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5616693496704102, + -1.5700005292892456, + -0.7425503730773926, + -1.1098875152271148e-09, + -7.593333080369025e-12 + ], + "max": [ + 1.7083027362823486, + 2.5881283283233643, + 3.1379640102386475, + 0.9568284153938293, + 6.418883276637644e-05, + 9.072769898921251e-05, + 0.1215183436870575, + 0.12152216583490372, + 0.12152635306119919, + 0.12149827182292938, + 3.989567518234253, + 0.00017983076395466924, + 0.991386890411377, + 0.2500001788139343, + 0.2500000596046448 + ], + "count": [ + 2111 + ] + }, + "observation.joint_vel": { + "mean": [ + 0.08080619713202236, + -0.0022084663232036167, + -0.047032984340443576, + -0.0007711688123531113, + 6.375282988524029e-05, + 1.0958864442132087e-05, + 0.00015916810091217895, + 0.00019514862045441874, + 0.0001913011631588471, + 0.0002771231691585072, + 0.010788149708181954, + 0.006750383346642188, + -0.0016869626502477506, + 0.162562138697607, + 0.02954083079537571 + ], + "std": [ + 0.12082629935394736, + 0.0628142812618567, + 0.20417160121467107, + 0.043808189424469034, + 0.0007226562591811333, + 7.826997657921727e-05, + 0.015739884691535797, + 0.015788075699109665, + 0.01583745136753423, + 0.01515463392984152, + 0.14180888091388552, + 0.1152996884447019, + 0.10290636041581849, + 0.21947015356623792, + 0.1645412883132995 + ], + "min": [ + -0.00021792874031234533, + -0.17948168516159058, + -0.8011910915374756, + -0.20359870791435242, + -0.002560308203101158, + -0.0008491527405567467, + -0.07343732565641403, + -0.07320848852396011, + -0.0731898695230484, + -0.0779166892170906, + -0.6220064163208008, + -0.5657232403755188, + -0.3102933168411255, + -1.0000003576278687, + -1.000000238418579 + ], + "max": [ + 0.3000586926937103, + 0.1239357590675354, + 0.4894457459449768, + 0.26011133193969727, + 0.0018649846315383911, + 0.0009141495684161782, + 0.08272483944892883, + 0.08303800970315933, + 0.08357301354408264, + 0.08463943749666214, + 0.6241893172264099, + 0.4538099467754364, + 0.6445737481117249, + 1.000038981437683, + 1.000000238418579 + ], + "count": [ + 2111 + ] + }, + "observation.eef_pose": { + "mean": [ + 0.3463820606028491, + 0.9336726455469468, + 0.7494290017053902, + -0.274441485753251, + -0.0014724398856473344, + -0.1002695265424728, + -0.11930056066397438 + ], + "std": [ + 1.2962523719074726, + 1.8669450242885852, + 0.10179469502965795, + 0.5691070795678554, + 0.3521850304988466, + 0.4469330236632431, + 0.502719314861232 + ], + "min": [ + -3.0482680797576904, + -1.9503426551818848, + 0.539742112159729, + -0.999999463558197, + -0.639566957950592, + -0.7032020688056946, + -0.9986644983291626 + ], + "max": [ + 1.7677772045135498, + 3.232983350753784, + 0.8806610107421875, + 0.6497146487236023, + 0.615509033203125, + 0.648827850818634, + 0.9236772656440735 + ], + "count": [ + 2111 + ] + }, + "observation.environment_state": { + "mean": [ + -0.3848603665828705, + -0.31019020080566406, + 0.4699999988079071, + 0.9984597563743591, + 0.0, + 0.0, + 0.05548076331615448, + -0.6830134987831116, + -0.34342747926712036, + 0.4699999988079071, + 0.9984597563743591, + 0.0, + 0.0, + 0.05548076331615448, + -0.5455699563026428, + -0.2224552482366562, + 0.4300000071525574, + 0.9984597563743591, + 0.0, + 0.0, + 0.05548076331615448, + 0.4988723991029335, + 1.2061346385538427, + 0.5598494624396965, + 0.9567995252963888, + -0.03886541291775543, + -0.027826394809915538, + 0.13173460747392537, + -0.37901091509269685, + -0.3627257642447807, + 0.4687852603685568, + 0.9984555244445801, + -0.00018735639472740862, + 0.00321653327048319, + 0.05546359858492832, + 1.7762094736099243, + 3.1294336318969727, + 0.5299999713897705, + 0.9992246627807617, + 0.0, + 0.0, + -0.03937096893787384, + 1.786225438117981, + 3.2563390731811523, + 0.48980000615119934, + 0.9529775381088257, + -0.30047255754470825, + 0.011838993057608604, + -0.0375484898686409, + 1.7919455766677856, + 3.3288135528564453, + 0.38999998569488525, + 0.9992246627807617, + 0.0, + 0.0, + -0.03937096893787384, + -0.49698570370674133, + -0.2069772630929947, + 0.18000000715255737, + 0.9984597563743591, + 0.0, + 0.0, + 0.05548076331615448, + 1.7864378690719604, + 3.25903058052063, + 0.18000000715255737, + 0.9992246627807617, + 0.0, + 0.0, + -0.03937096893787384 + ], + "std": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.1100350331236875, + 1.6676155689797756, + 0.15544987783456615, + 0.06802866019820916, + 0.09506235778096005, + 0.04271190502246047, + 0.22227635116173744, + 1.6434549474743765e-08, + 2.8146183560219396e-09, + 1.0391459897400781e-08, + 0.0, + 1.1207351477434749e-07, + 2.584001666063504e-07, + 9.217371728574015e-08, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 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": [ + -0.3848603665828705, + -0.31019020080566406, + 0.4699999988079071, + 0.9984597563743591, + 0.0, + 0.0, + 0.05548076331615448, + -0.6830134987831116, + -0.34342747926712036, + 0.4699999988079071, + 0.9984597563743591, + 0.0, + 0.0, + 0.05548076331615448, + -0.5455699563026428, + -0.2224552482366562, + 0.4300000071525574, + 0.9984597563743591, + 0.0, + 0.0, + 0.05548076331615448, + -0.6777478456497192, + -0.6137586236000061, + 0.4305541217327118, + 0.76971036195755, + -0.364108681678772, + -0.12054315954446793, + -0.05182880535721779, + -0.379010945558548, + -0.36272576451301575, + 0.46878525614738464, + 0.9984555244445801, + -0.00018769958114717156, + 0.0032155164517462254, + 0.055463265627622604, + 1.7762094736099243, + 3.1294336318969727, + 0.5299999713897705, + 0.9992246627807617, + 0.0, + 0.0, + -0.03937096893787384, + 1.786225438117981, + 3.2563390731811523, + 0.48980000615119934, + 0.9529775381088257, + -0.30047255754470825, + 0.011838993057608604, + -0.0375484898686409, + 1.7919455766677856, + 3.3288135528564453, + 0.38999998569488525, + 0.9992246627807617, + 0.0, + 0.0, + -0.03937096893787384, + -0.49698570370674133, + -0.2069772630929947, + 0.18000000715255737, + 0.9984597563743591, + 0.0, + 0.0, + 0.05548076331615448, + 1.7864378690719604, + 3.25903058052063, + 0.18000000715255737, + 0.9992246627807617, + 0.0, + 0.0, + -0.03937096893787384 + ], + "max": [ + -0.3848603665828705, + -0.31019020080566406, + 0.4699999988079071, + 0.9984597563743591, + 0.0, + 0.0, + 0.05548076331615448, + -0.6830134987831116, + -0.34342747926712036, + 0.4699999988079071, + 0.9984597563743591, + 0.0, + 0.0, + 0.05548076331615448, + -0.5455699563026428, + -0.2224552482366562, + 0.4300000071525574, + 0.9984597563743591, + 0.0, + 0.0, + 0.05548076331615448, + 1.7883721590042114, + 3.2967946529388428, + 0.7793729901313782, + 0.9984598159790039, + 0.06800138205289841, + 0.03159501776099205, + 0.6374197602272034, + -0.3790108561515808, + -0.36272573471069336, + 0.46878528594970703, + 0.9984555244445801, + -0.0001870253763627261, + 0.003217419609427452, + 0.05546386167407036, + 1.7762094736099243, + 3.1294336318969727, + 0.5299999713897705, + 0.9992246627807617, + 0.0, + 0.0, + -0.03937096893787384, + 1.786225438117981, + 3.2563390731811523, + 0.48980000615119934, + 0.9529775381088257, + -0.30047255754470825, + 0.011838993057608604, + -0.0375484898686409, + 1.7919455766677856, + 3.3288135528564453, + 0.38999998569488525, + 0.9992246627807617, + 0.0, + 0.0, + -0.03937096893787384, + -0.49698570370674133, + -0.2069772630929947, + 0.18000000715255737, + 0.9984597563743591, + 0.0, + 0.0, + 0.05548076331615448, + 1.7864378690719604, + 3.25903058052063, + 0.18000000715255737, + 0.9992246627807617, + 0.0, + 0.0, + -0.03937096893787384 + ], + "count": [ + 2111 + ] + }, + "action.command": { + "mean": [ + -1.8766661616633271, + -1.4549951875353169, + 0.27637885407536916, + 0.0, + 0.0, + 0.0, + 0.0, + 0.8384353741496599, + 0.20116091723598184, + 0.6959611627773769, + 0.7565926093092852, + -0.34039839329155763, + -0.007110208907649476, + -0.09785952928027093, + 0.045050064713556624, + 0.5098039215686274, + -1.8228046086846845, + -1.442171283390211, + 0.27638023487954755, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.08910932329851207, + 0.18061559180712722, + 0.8062607281523431, + -0.5520389457676942, + 0.013988154332599829, + -0.18891922734501662, + -0.08515191578680381, + 0.0, + -1.7684745462154703, + -1.4271787321203622, + 0.2763796116222837, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.08910932329851207, + 0.18061559180712722, + 0.8062607281523431, + -0.5520389457676942, + 0.013988154332599829, + -0.18891922734501662, + -0.08515191578680381, + 0.0, + -1.685178365451555, + -1.4034588668877939, + 0.27637936275497177, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.08910932329851207, + 0.18061559180712722, + 0.8062607281523431, + -0.5520389457676942, + 0.013988154332599829, + -0.18891922734501662, + -0.08515191578680381, + 0.0, + -1.6206369642633514, + -1.3864337720879794, + 0.27637989387591605, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.08910932329851207, + 0.18061559180712722, + 0.8062607281523431, + -0.5520389457676942, + 0.013988154332599829, + -0.18891922734501662, + -0.08515191578680381, + 0.0, + -1.545246630438382, + -1.3642983073773591, + 0.27637956828347626, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.08910932329851207, + 0.18061559180712722, + 0.8062607281523431, + -0.5520389457676942, + 0.013988154332599829, + -0.18891922734501662, + -0.08515191578680381, + 0.0, + -1.4360503638705977, + -1.3311645815926056, + 0.2763863776041114, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.08910932329851207, + 0.18061559180712722, + 0.8062607281523431, + -0.5520389457676942, + 0.013988154332599829, + -0.18891922734501662, + -0.08515191578680381, + 0.0, + -1.4047982650813298, + -1.325039921702333, + 0.27637455509725706, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.08910932329851207, + 0.18061559180712722, + 0.8062607281523431, + -0.5520389457676942, + 0.013988154332599829, + -0.18891922734501662, + -0.08515191578680381, + 0.0, + -1.3452023790458305, + -1.3134125760040496, + 0.2763791813771003, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.08910932329851207, + 0.18061559180712722, + 0.8062607281523431, + -0.5520389457676942, + 0.013988154332599829, + -0.18891922734501662, + -0.08515191578680381, + 0.0, + -1.2647451274269272, + -1.285913467848334, + 0.276379031676258, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.08910932329851207, + 0.18061559180712722, + 0.8062607281523431, + -0.5520389457676942, + 0.013988154332599829, + -0.18891922734501662, + -0.08515191578680381, + 0.0, + -1.1793535357818463, + -1.2623853499309317, + 0.2763789931344942, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.08910932329851207, + 0.18061559180712722, + 0.8062607281523431, + -0.5520389457676942, + 0.013988154332599829, + -0.18891922734501662, + -0.08515191578680381, + 0.0, + -1.1333781587757743, + -1.2484336012938198, + 0.2763795657195392, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.08910932329851207, + 0.18061559180712722, + 0.8062607281523431, + -0.5520389457676942, + 0.013988154332599829, + -0.18891922734501662, + -0.08515191578680381, + 0.0, + -1.050812893063795, + -1.2240549112005878, + 0.7481132967950678, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.08910932329851207, + 0.18061559180712722, + 0.8062607281523431, + -0.5520389457676942, + 0.013988154332599829, + -0.18891922734501662, + -0.08515191578680381, + 0.0, + -1.0054336809428284, + -1.1684091751714418, + 0.7481124486557098, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.08910932329851207, + 0.18061559180712722, + 0.8062607281523431, + -0.5520389457676942, + 0.013988154332599829, + -0.18891922734501662, + -0.08515191578680381, + 0.0, + -0.9856020597039716, + -1.1483425350789116, + 0.7481121965352304, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.08910932329851207, + 0.18061559180712722, + 0.8062607281523431, + -0.5520389457676942, + 0.013988154332599829, + -0.18891922734501662, + -0.08515191578680381, + 0.0, + -0.9150956184306043, + -1.0900081613348327, + 0.748112407550009, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.08910932329851207, + 0.18061559180712722, + 0.8062607281523431, + -0.5520389457676942, + 0.013988154332599829, + -0.18891922734501662, + -0.08515191578680381, + 0.0, + -0.8624162345325141, + -1.0614053695759875, + 0.7481128528479841, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.08910932329851207, + 0.18061559180712722, + 0.8062607281523431, + -0.5520389457676942, + 0.013988154332599829, + -0.18891922734501662, + -0.08515191578680381, + 0.0, + -0.8176344815059242, + -0.9988855986987739, + 0.7481124034146266, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.08910932329851207, + 0.18061559180712722, + 0.8062607281523431, + -0.5520389457676942, + 0.013988154332599829, + -0.18891922734501662, + -0.08515191578680381, + 0.0, + -0.7849257762072596, + -0.9693529536391055, + 0.748113098131298, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.08910932329851207, + 0.18061559180712722, + 0.8062607281523431, + -0.5520389457676942, + 0.013988154332599829, + -0.18891922734501662, + -0.08515191578680381, + 0.0, + -0.7297424363604748, + -0.9246023938569837, + 0.7441912724065295, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.08910932329851207, + 0.18061559180712722, + 0.8062607281523431, + -0.5520389457676942, + 0.013988154332599829, + -0.18891922734501662, + -0.08515191578680381, + 0.0, + -0.6858392132310047, + -0.8790914599924149, + 0.806759665262688, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.08910932329851207, + 0.18061559180712722, + 0.8062607281523431, + -0.5520389457676942, + 0.013988154332599829, + -0.18891922734501662, + -0.08515191578680381, + 0.0, + -0.6259941196794536, + -0.8091343689802948, + 0.806760179097734, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.08910932329851207, + 0.18061559180712722, + 0.8062607281523431, + -0.5520389457676942, + 0.013988154332599829, + -0.18891922734501662, + -0.08515191578680381, + 0.0, + -0.5585177463033925, + -0.765658916421338, + 0.8067591048632365, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.08910932329851207, + 0.18061559180712722, + 0.8062607281523431, + -0.5520389457676942, + 0.013988154332599829, + -0.18891922734501662, + -0.08515191578680381, + 0.0, + -0.5280158595835909, + -0.6949450356005299, + 0.8067614671039317, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.08910932329851207, + 0.18061559180712722, + 0.8062607281523431, + -0.5520389457676942, + 0.013988154332599829, + -0.18891922734501662, + -0.08515191578680381, + 0.0, + -0.5246271387941853, + -0.6887273310677637, + 0.8067617905184034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.08910932329851207, + 0.18061559180712722, + 0.8062607281523431, + -0.5520389457676942, + 0.013988154332599829, + -0.18891922734501662, + -0.08515191578680381, + 0.0, + -0.4646734091884885, + -0.6627823901496256, + 0.8067598858715538, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.08910932329851207, + 0.18061559180712722, + 0.8062607281523431, + -0.5520389457676942, + 0.013988154332599829, + -0.18891922734501662, + -0.08515191578680381, + 0.0, + -0.3971722905664506, + -0.5735473861085608, + 0.8067592226940653, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.08910932329851207, + 0.18061559180712722, + 0.8062607281523431, + -0.5520389457676942, + 0.013988154332599829, + -0.18891922734501662, + -0.08515191578680381, + 0.0, + -0.35743304196603864, + -0.5273544063841602, + 0.8067599913789429, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.08910932329851207, + 0.18061559180712722, + 0.8062607281523431, + -0.5520389457676942, + 0.013988154332599829, + -0.18891922734501662, + -0.08515191578680381, + 0.0, + -0.30061660013631136, + -0.472706154030192, + 0.8067601626389121, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.08910932329851207, + 0.18061559180712722, + 0.8062607281523431, + -0.5520389457676942, + 0.013988154332599829, + -0.18891922734501662, + -0.08515191578680381, + 0.0, + -0.2571375834291231, + -0.40835336994838095, + 0.8067587321550067, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.08910932329851207, + 0.18061559180712722, + 0.8062607281523431, + -0.5520389457676942, + 0.013988154332599829, + -0.18891922734501662, + -0.08515191578680381, + 0.0, + -0.2378463480452715, + -0.3854505548203686, + 0.8067595556474857, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.08910932329851207, + 0.18061559180712722, + 0.8062607281523431, + -0.5520389457676942, + 0.013988154332599829, + -0.18891922734501662, + -0.08515191578680381, + 0.0, + -0.15931756986058718, + -0.2960017306401044, + 0.8067604600004749, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.08910932329851207, + 0.18061559180712722, + 0.8062607281523431, + -0.5520389457676942, + 0.013988154332599829, + -0.18891922734501662, + -0.08515191578680381, + 0.0, + -0.11233222142730345, + -0.2728387485710589, + 0.8067601558017466, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.08910932329851207, + 0.18061559180712722, + 0.8062607281523431, + -0.5520389457676942, + 0.013988154332599829, + -0.18891922734501662, + -0.08515191578680381, + 0.0, + -0.08095579098817048, + -0.2333242097020039, + 0.8067599091675411, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.08910932329851207, + 0.18061559180712722, + 0.8062607281523431, + -0.5520389457676942, + 0.013988154332599829, + -0.18891922734501662, + -0.08515191578680381, + 0.0, + -0.01048550387425736, + -0.16981625887776391, + 0.8067589870048385, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.08910932329851207, + 0.18061559180712722, + 0.8062607281523431, + -0.5520389457676942, + 0.013988154332599829, + -0.18891922734501662, + -0.08515191578680381, + 0.0, + 0.00848288330956811, + -0.15653602113115025, + 0.8067612190636962, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.08910932329851207, + 0.18061559180712722, + 0.8062607281523431, + -0.5520389457676942, + 0.013988154332599829, + -0.18891922734501662, + -0.08515191578680381, + 0.0, + 0.04309323592719714, + -0.08621816597637702, + 0.8067592569350314, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.08910932329851207, + 0.18061559180712722, + 0.8062607281523431, + -0.5520389457676942, + 0.013988154332599829, + -0.18891922734501662, + -0.08515191578680381, + 0.0, + 0.11724406111361692, + -0.04169449323200716, + 0.8067591267807631, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.08910932329851207, + 0.18061559180712722, + 0.8062607281523431, + -0.5520389457676942, + 0.013988154332599829, + -0.18891922734501662, + -0.08515191578680381, + 0.0, + 0.1615389746499216, + 0.023362368924214155, + 0.8067593857384081, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.08910932329851207, + 0.18061559180712722, + 0.8062607281523431, + -0.5520389457676942, + 0.013988154332599829, + -0.18891922734501662, + -0.08515191578680381, + 0.0, + 0.21412429971677302, + 0.06884390804968313, + 0.8067594912457974, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.08910932329851207, + 0.18061559180712722, + 0.8062607281523431, + -0.5520389457676942, + 0.013988154332599829, + -0.18891922734501662, + -0.08515191578680381, + 0.0, + 0.2637084726378611, + 0.1264191502558755, + 0.8067599735692295, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.08910932329851207, + 0.18061559180712722, + 0.8062607281523431, + -0.5520389457676942, + 0.013988154332599829, + -0.18891922734501662, + -0.08515191578680381, + 0.0, + 0.31122641106869314, + 0.17928080267645935, + 0.013546516010873743, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.08910932329851207, + 0.18061559180712722, + 0.8062607281523431, + -0.5520389457676942, + 0.013988154332599829, + -0.18891922734501662, + -0.08515191578680381, + 0.0, + 0.3292655790987994, + 0.19800502811726545, + -0.7618394114152907, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.08910932329851207, + 0.18061559180712722, + 0.8062607281523431, + -0.5520389457676942, + 0.013988154332599829, + -0.18891922734501662, + -0.08515191578680381, + 0.0, + 1.192931056022644, + 1.2944809198379517, + 1.168914794921875, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.8431865543203607, + 1.4398722895867613, + 0.8798820606037362, + -0.3501899191369749, + 0.0258943864131627, + -0.3496981759695974, + -0.025800161880173096, + 0.0, + 1.2109068632125854, + 1.3367756605148315, + 1.16891610622406, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.8431865543203607, + 1.4398722895867613, + 0.8798820606037362, + -0.3501899191369749, + 0.0258943864131627, + -0.3496981759695974, + -0.025800161880173096, + 0.0, + 1.2610011100769043, + 1.454641342163086, + 1.1689168214797974, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.8431865543203607, + 1.4398722895867613, + 0.8798820606037362, + -0.3501899191369749, + 0.0258943864131627, + -0.3496981759695974, + -0.025800161880173096, + 0.0, + 1.2697981595993042, + 1.4753397703170776, + 1.1689157485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.8431865543203607, + 1.4398722895867613, + 0.8798820606037362, + -0.3501899191369749, + 0.0258943864131627, + -0.3496981759695974, + -0.025800161880173096, + 0.0, + 1.3284879922866821, + 1.6134296655654907, + 1.1688511371612549, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.8431865543203607, + 1.4398722895867613, + 0.8798820606037362, + -0.3501899191369749, + 0.0258943864131627, + -0.3496981759695974, + -0.025800161880173096, + 0.0, + 1.3286895751953125, + 1.6139038801193237, + 1.1689324378967285, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.8431865543203607, + 1.4398722895867613, + 0.8798820606037362, + -0.3501899191369749, + 0.0258943864131627, + -0.3496981759695974, + -0.025800161880173096, + 0.0, + 1.3299654722213745, + 1.6169060468673706, + 1.1689156293869019, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.8431865543203607, + 1.4398722895867613, + 0.8798820606037362, + -0.3501899191369749, + 0.0258943864131627, + -0.3496981759695974, + -0.025800161880173096, + 0.0, + 1.3875807523727417, + 1.7524676322937012, + 1.1689149141311646, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.8431865543203607, + 1.4398722895867613, + 0.8798820606037362, + -0.3501899191369749, + 0.0258943864131627, + -0.3496981759695974, + -0.025800161880173096, + 0.0, + 1.3966821432113647, + 1.7738820314407349, + 1.1689156293869019, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.8431865543203607, + 1.4398722895867613, + 0.8798820606037362, + -0.3501899191369749, + 0.0258943864131627, + -0.3496981759695974, + -0.025800161880173096, + 0.0, + 1.44647216796875, + 1.8910317420959473, + 1.1689165830612183, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.8431865543203607, + 1.4398722895867613, + 0.8798820606037362, + -0.3501899191369749, + 0.0258943864131627, + -0.3496981759695974, + -0.025800161880173096, + 0.0, + 1.464351773262024, + 1.9331003427505493, + 1.168915033340454, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.8431865543203607, + 1.4398722895867613, + 0.8798820606037362, + -0.3501899191369749, + 0.0258943864131627, + -0.3496981759695974, + -0.025800161880173096, + 0.0, + 1.505585789680481, + 2.030118703842163, + 1.1689152717590332, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.8431865543203607, + 1.4398722895867613, + 0.8798820606037362, + -0.3501899191369749, + 0.0258943864131627, + -0.3496981759695974, + -0.025800161880173096, + 0.0, + 1.533118486404419, + 2.0948996543884277, + 1.1689167022705078, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.8431865543203607, + 1.4398722895867613, + 0.8798820606037362, + -0.3501899191369749, + 0.0258943864131627, + -0.3496981759695974, + -0.025800161880173096, + 0.0, + 1.5655028820037842, + 2.1710963249206543, + 1.1689152717590332, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.8431865543203607, + 1.4398722895867613, + 0.8798820606037362, + -0.3501899191369749, + 0.0258943864131627, + -0.3496981759695974, + -0.025800161880173096, + 0.0, + 1.604343295097351, + 2.2624828815460205, + 1.1689152717590332, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.8431865543203607, + 1.4398722895867613, + 0.8798820606037362, + -0.3501899191369749, + 0.0258943864131627, + -0.3496981759695974, + -0.025800161880173096, + 0.0, + 1.6268653869628906, + 2.315474510192871, + 1.168914794921875, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.8431865543203607, + 1.4398722895867613, + 0.8798820606037362, + -0.3501899191369749, + 0.0258943864131627, + -0.3496981759695974, + -0.025800161880173096, + 0.0, + 1.6800765991210938, + 2.440673589706421, + 1.1689168214797974, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.8431865543203607, + 1.4398722895867613, + 0.8798820606037362, + -0.3501899191369749, + 0.0258943864131627, + -0.3496981759695974, + -0.025800161880173096, + 0.0, + 1.6893408298492432, + 2.4624712467193604, + 1.1689162254333496, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.8431865543203607, + 1.4398722895867613, + 0.8798820606037362, + -0.3501899191369749, + 0.0258943864131627, + -0.3496981759695974, + -0.025800161880173096, + 0.0, + 1.7204519510269165, + 2.5356719493865967, + 1.7710684537887573, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.8431865543203607, + 1.4398722895867613, + 0.8798820606037362, + -0.3501899191369749, + 0.0258943864131627, + -0.3496981759695974, + -0.025800161880173096, + 0.0, + 1.7087996006011963, + 2.5930745601654053, + 3.062830924987793, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.8431865543203607, + 1.4398722895867613, + 0.8798820606037362, + -0.3501899191369749, + 0.0258943864131627, + -0.3496981759695974, + -0.025800161880173096, + 0.0 + ], + "std": [ + 1.3384775848862132, + 0.5202754398202939, + 0.09670499130130317, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4613218322889028, + 1.2811738077880033, + 1.817206729590385, + 0.09928348492488367, + 0.5650062268138373, + 0.3200382800232426, + 0.44630884692989287, + 0.5016215235505515, + 0.4999038738816458, + 1.3632689382781147, + 0.5221267849099624, + 0.09670671422887725, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.237678171092871, + 1.6812999406992728, + 0.0798053308769548, + 0.5349021188159152, + 0.1942155624621824, + 0.4428794056092314, + 0.3635020007242545, + 0.0, + 1.3687542940893396, + 0.5180672407832624, + 0.0967056671047919, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.237678171092871, + 1.6812999406992728, + 0.0798053308769548, + 0.5349021188159152, + 0.1942155624621824, + 0.4428794056092314, + 0.3635020007242545, + 0.0, + 1.3701976766645398, + 0.5097283604415818, + 0.09670570423685063, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.237678171092871, + 1.6812999406992728, + 0.0798053308769548, + 0.5349021188159152, + 0.1942155624621824, + 0.4428794056092314, + 0.3635020007242545, + 0.0, + 1.3841661485904513, + 0.5071684168285946, + 0.09670623151209883, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.237678171092871, + 1.6812999406992728, + 0.0798053308769548, + 0.5349021188159152, + 0.1942155624621824, + 0.4428794056092314, + 0.3635020007242545, + 0.0, + 1.3791437255950414, + 0.4976994742322005, + 0.09670592702920922, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.237678171092871, + 1.6812999406992728, + 0.0798053308769548, + 0.5349021188159152, + 0.1942155624621824, + 0.4428794056092314, + 0.3635020007242545, + 0.0, + 1.3616910336767423, + 0.48089442484787437, + 0.09671377674664768, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.237678171092871, + 1.6812999406992728, + 0.0798053308769548, + 0.5349021188159152, + 0.1942155624621824, + 0.4428794056092314, + 0.3635020007242545, + 0.0, + 1.3885663719392705, + 0.4857608337809174, + 0.09670065427672042, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.237678171092871, + 1.6812999406992728, + 0.0798053308769548, + 0.5349021188159152, + 0.1942155624621824, + 0.4428794056092314, + 0.3635020007242545, + 0.0, + 1.4403093254181216, + 0.4951906243334755, + 0.09670545916525665, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.237678171092871, + 1.6812999406992728, + 0.0798053308769548, + 0.5349021188159152, + 0.1942155624621824, + 0.4428794056092314, + 0.3635020007242545, + 0.0, + 1.3981652581788935, + 0.4739174593422317, + 0.09670565225196749, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.237678171092871, + 1.6812999406992728, + 0.0798053308769548, + 0.5349021188159152, + 0.1942155624621824, + 0.4428794056092314, + 0.3635020007242545, + 0.0, + 1.4071269359933511, + 0.46764038860507023, + 0.09670585276508939, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.237678171092871, + 1.6812999406992728, + 0.0798053308769548, + 0.5349021188159152, + 0.1942155624621824, + 0.4428794056092314, + 0.3635020007242545, + 0.0, + 1.399766010136703, + 0.46056102773134494, + 0.09670568195761504, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.237678171092871, + 1.6812999406992728, + 0.0798053308769548, + 0.5349021188159152, + 0.1942155624621824, + 0.4428794056092314, + 0.3635020007242545, + 0.0, + 1.3929690460040578, + 0.4497973347686606, + 0.338472359846835, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.237678171092871, + 1.6812999406992728, + 0.0798053308769548, + 0.5349021188159152, + 0.1942155624621824, + 0.4428794056092314, + 0.3635020007242545, + 0.0, + 1.3980394584735656, + 0.4863841473893224, + 0.3384736668953444, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.237678171092871, + 1.6812999406992728, + 0.0798053308769548, + 0.5349021188159152, + 0.1942155624621824, + 0.4428794056092314, + 0.3635020007242545, + 0.0, + 1.394096271369416, + 0.4959825174933075, + 0.3384736817481581, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.237678171092871, + 1.6812999406992728, + 0.0798053308769548, + 0.5349021188159152, + 0.1942155624621824, + 0.4428794056092314, + 0.3635020007242545, + 0.0, + 1.3612341162546522, + 0.5105549200924264, + 0.3384737114538089, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.237678171092871, + 1.6812999406992728, + 0.0798053308769548, + 0.5349021188159152, + 0.1942155624621824, + 0.4428794056092314, + 0.3635020007242545, + 0.0, + 1.3149773577715516, + 0.4989224854589651, + 0.3384725826392001, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.237678171092871, + 1.6812999406992728, + 0.0798053308769548, + 0.5349021188159152, + 0.1942155624621824, + 0.4428794056092314, + 0.3635020007242545, + 0.0, + 1.3310003317126522, + 0.5464615773475512, + 0.3384725529335492, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.237678171092871, + 1.6812999406992728, + 0.0798053308769548, + 0.5349021188159152, + 0.1942155624621824, + 0.4428794056092314, + 0.3635020007242545, + 0.0, + 1.3193343445499617, + 0.5569356105382569, + 0.33847322131062696, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.237678171092871, + 1.6812999406992728, + 0.0798053308769548, + 0.5349021188159152, + 0.1942155624621824, + 0.4428794056092314, + 0.3635020007242545, + 0.0, + 1.2923014178256844, + 0.5669788969826132, + 0.3348572716229618, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.237678171092871, + 1.6812999406992728, + 0.0798053308769548, + 0.5349021188159152, + 0.1942155624621824, + 0.4428794056092314, + 0.3635020007242545, + 0.0, + 1.2860430170882193, + 0.5902213978967156, + 0.39257598402661475, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.237678171092871, + 1.6812999406992728, + 0.0798053308769548, + 0.5349021188159152, + 0.1942155624621824, + 0.4428794056092314, + 0.3635020007242545, + 0.0, + 1.2684236467799601, + 0.6255674353131915, + 0.3925760731435596, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.237678171092871, + 1.6812999406992728, + 0.0798053308769548, + 0.5349021188159152, + 0.1942155624621824, + 0.4428794056092314, + 0.3635020007242545, + 0.0, + 1.2121675959169351, + 0.6181759497713221, + 0.3925769791658209, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.237678171092871, + 1.6812999406992728, + 0.0798053308769548, + 0.5349021188159152, + 0.1942155624621824, + 0.4428794056092314, + 0.3635020007242545, + 0.0, + 1.239223262314611, + 0.682976366081667, + 0.39257596917379534, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.237678171092871, + 1.6812999406992728, + 0.0798053308769548, + 0.5349021188159152, + 0.1942155624621824, + 0.4428794056092314, + 0.3635020007242545, + 0.0, + 1.240544866586561, + 0.6879889843567083, + 0.39257794459937545, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.237678171092871, + 1.6812999406992728, + 0.0798053308769548, + 0.5349021188159152, + 0.1942155624621824, + 0.4428794056092314, + 0.3635020007242545, + 0.0, + 1.1775231761965355, + 0.6644952330732803, + 0.39257613255485635, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.237678171092871, + 1.6812999406992728, + 0.0798053308769548, + 0.5349021188159152, + 0.1942155624621824, + 0.4428794056092314, + 0.3635020007242545, + 0.0, + 1.1682660051634945, + 0.7181461933084207, + 0.3925765929923937, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.237678171092871, + 1.6812999406992728, + 0.0798053308769548, + 0.5349021188159152, + 0.1942155624621824, + 0.4428794056092314, + 0.3635020007242545, + 0.0, + 1.1562978670039157, + 0.741268980461764, + 0.3925761474076744, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.237678171092871, + 1.6812999406992728, + 0.0798053308769548, + 0.5349021188159152, + 0.1942155624621824, + 0.4428794056092314, + 0.3635020007242545, + 0.0, + 1.1274734372175306, + 0.7591211390792336, + 0.3925753156495346, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.237678171092871, + 1.6812999406992728, + 0.0798053308769548, + 0.5349021188159152, + 0.1942155624621824, + 0.4428794056092314, + 0.3635020007242545, + 0.0, + 1.1285769426230952, + 0.8028529397760777, + 0.3925766078452179, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.237678171092871, + 1.6812999406992728, + 0.0798053308769548, + 0.5349021188159152, + 0.1942155624621824, + 0.4428794056092314, + 0.3635020007242545, + 0.0, + 1.1232590969599932, + 0.8147165734665854, + 0.392576102849211, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.237678171092871, + 1.6812999406992728, + 0.0798053308769548, + 0.5349021188159152, + 0.1942155624621824, + 0.4428794056092314, + 0.3635020007242545, + 0.0, + 1.097724508259401, + 0.8579630507156112, + 0.39257641475850946, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.237678171092871, + 1.6812999406992728, + 0.0798053308769548, + 0.5349021188159152, + 0.1942155624621824, + 0.4428794056092314, + 0.3635020007242545, + 0.0, + 1.0512438434558018, + 0.8433278949354431, + 0.39257596917379534, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.237678171092871, + 1.6812999406992728, + 0.0798053308769548, + 0.5349021188159152, + 0.1942155624621824, + 0.4428794056092314, + 0.3635020007242545, + 0.0, + 1.0449216201339397, + 0.865644827274484, + 0.3925762365246197, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.237678171092871, + 1.6812999406992728, + 0.0798053308769548, + 0.5349021188159152, + 0.1942155624621824, + 0.4428794056092314, + 0.3635020007242545, + 0.0, + 1.0047779720648073, + 0.8820846754243866, + 0.3925760731435596, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.237678171092871, + 1.6812999406992728, + 0.0798053308769548, + 0.5349021188159152, + 0.1942155624621824, + 0.4428794056092314, + 0.3635020007242545, + 0.0, + 0.9900521100890032, + 0.8814198630259517, + 0.3925745581555154, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.237678171092871, + 1.6812999406992728, + 0.0798053308769548, + 0.5349021188159152, + 0.1942155624621824, + 0.4428794056092314, + 0.3635020007242545, + 0.0, + 1.0105544729303941, + 0.94170910910605, + 0.39257590976249535, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.237678171092871, + 1.6812999406992728, + 0.0798053308769548, + 0.5349021188159152, + 0.1942155624621824, + 0.4428794056092314, + 0.3635020007242545, + 0.0, + 0.9453910647431714, + 0.9292466095552903, + 0.39257669696216024, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.237678171092871, + 1.6812999406992728, + 0.0798053308769548, + 0.5349021188159152, + 0.1942155624621824, + 0.4428794056092314, + 0.3635020007242545, + 0.0, + 0.9459977431887916, + 0.9731272281213599, + 0.3925760285850862, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.237678171092871, + 1.6812999406992728, + 0.0798053308769548, + 0.5349021188159152, + 0.1942155624621824, + 0.4428794056092314, + 0.3635020007242545, + 0.0, + 0.9140807178182084, + 0.9828479557887709, + 0.3925760434379158, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.237678171092871, + 1.6812999406992728, + 0.0798053308769548, + 0.5349021188159152, + 0.1942155624621824, + 0.4428794056092314, + 0.3635020007242545, + 0.0, + 0.899084415624554, + 1.0116170142475907, + 0.39257629593591653, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.237678171092871, + 1.6812999406992728, + 0.0798053308769548, + 0.5349021188159152, + 0.1942155624621824, + 0.4428794056092314, + 0.3635020007242545, + 0.0, + 0.8823340246322603, + 1.036098656555243, + 1.252417857556114, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.237678171092871, + 1.6812999406992728, + 0.0798053308769548, + 0.5349021188159152, + 0.1942155624621824, + 0.4428794056092314, + 0.3635020007242545, + 0.0, + 0.8918586950240032, + 1.0842212416313153, + 2.0929335188115807, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.237678171092871, + 1.6812999406992728, + 0.0798053308769548, + 0.5349021188159152, + 0.1942155624621824, + 0.4428794056092314, + 0.3635020007242545, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.652463430472306, + 1.303046262782489, + 4.2024948387337245e-08, + 0.5545993339301447, + 0.2636509780515463, + 0.5539311855408627, + 0.2642155017683523, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.652463430472306, + 1.303046262782489, + 4.2024948387337245e-08, + 0.5545993339301447, + 0.2636509780515463, + 0.5539311855408627, + 0.2642155017683523, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.652463430472306, + 1.303046262782489, + 4.2024948387337245e-08, + 0.5545993339301447, + 0.2636509780515463, + 0.5539311855408627, + 0.2642155017683523, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.652463430472306, + 1.303046262782489, + 4.2024948387337245e-08, + 0.5545993339301447, + 0.2636509780515463, + 0.5539311855408627, + 0.2642155017683523, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.652463430472306, + 1.303046262782489, + 4.2024948387337245e-08, + 0.5545993339301447, + 0.2636509780515463, + 0.5539311855408627, + 0.2642155017683523, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.652463430472306, + 1.303046262782489, + 4.2024948387337245e-08, + 0.5545993339301447, + 0.2636509780515463, + 0.5539311855408627, + 0.2642155017683523, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.652463430472306, + 1.303046262782489, + 4.2024948387337245e-08, + 0.5545993339301447, + 0.2636509780515463, + 0.5539311855408627, + 0.2642155017683523, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.652463430472306, + 1.303046262782489, + 4.2024948387337245e-08, + 0.5545993339301447, + 0.2636509780515463, + 0.5539311855408627, + 0.2642155017683523, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.652463430472306, + 1.303046262782489, + 4.2024948387337245e-08, + 0.5545993339301447, + 0.2636509780515463, + 0.5539311855408627, + 0.2642155017683523, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.652463430472306, + 1.303046262782489, + 4.2024948387337245e-08, + 0.5545993339301447, + 0.2636509780515463, + 0.5539311855408627, + 0.2642155017683523, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.652463430472306, + 1.303046262782489, + 4.2024948387337245e-08, + 0.5545993339301447, + 0.2636509780515463, + 0.5539311855408627, + 0.2642155017683523, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.652463430472306, + 1.303046262782489, + 4.2024948387337245e-08, + 0.5545993339301447, + 0.2636509780515463, + 0.5539311855408627, + 0.2642155017683523, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.652463430472306, + 1.303046262782489, + 4.2024948387337245e-08, + 0.5545993339301447, + 0.2636509780515463, + 0.5539311855408627, + 0.2642155017683523, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.652463430472306, + 1.303046262782489, + 4.2024948387337245e-08, + 0.5545993339301447, + 0.2636509780515463, + 0.5539311855408627, + 0.2642155017683523, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.652463430472306, + 1.303046262782489, + 4.2024948387337245e-08, + 0.5545993339301447, + 0.2636509780515463, + 0.5539311855408627, + 0.2642155017683523, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.652463430472306, + 1.303046262782489, + 4.2024948387337245e-08, + 0.5545993339301447, + 0.2636509780515463, + 0.5539311855408627, + 0.2642155017683523, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.652463430472306, + 1.303046262782489, + 4.2024948387337245e-08, + 0.5545993339301447, + 0.2636509780515463, + 0.5539311855408627, + 0.2642155017683523, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.652463430472306, + 1.303046262782489, + 4.2024948387337245e-08, + 0.5545993339301447, + 0.2636509780515463, + 0.5539311855408627, + 0.2642155017683523, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.652463430472306, + 1.303046262782489, + 4.2024948387337245e-08, + 0.5545993339301447, + 0.2636509780515463, + 0.5539311855408627, + 0.2642155017683523, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.652463430472306, + 1.303046262782489, + 4.2024948387337245e-08, + 0.5545993339301447, + 0.2636509780515463, + 0.5539311855408627, + 0.2642155017683523, + 0.0 + ], + "min": [ + -3.3275723457336426, + -2.018972396850586, + 0.18716739118099213, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0, + -3.0482680797576904, + -1.9503426551818848, + 0.5400004386901855, + -0.999999463558197, + -0.6404595375061035, + -0.7032397985458374, + -0.9982243776321411, + 0.0, + -3.300584554672241, + -2.008155345916748, + 0.1871671825647354, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0482680797576904, + -1.9503426551818848, + 0.7197518944740295, + -0.999999463558197, + -0.2785070836544037, + -0.7032397985458374, + -0.9982243776321411, + 0.0, + -3.2522006034851074, + -1.9887622594833374, + 0.18716752529144287, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0482680797576904, + -1.9503426551818848, + 0.7197518944740295, + -0.999999463558197, + -0.2785070836544037, + -0.7032397985458374, + -0.9982243776321411, + 0.0, + -3.170469045639038, + -1.9560030698776245, + 0.1871672421693802, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0482680797576904, + -1.9503426551818848, + 0.7197518944740295, + -0.999999463558197, + -0.2785070836544037, + -0.7032397985458374, + -0.9982243776321411, + 0.0, + -3.1210694313049316, + -1.9362030029296875, + 0.18716728687286377, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0482680797576904, + -1.9503426551818848, + 0.7197518944740295, + -0.999999463558197, + -0.2785070836544037, + -0.7032397985458374, + -0.9982243776321411, + 0.0, + -3.0402348041534424, + -1.9038032293319702, + 0.1871672421693802, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0482680797576904, + -1.9503426551818848, + 0.7197518944740295, + -0.999999463558197, + -0.2785070836544037, + -0.7032397985458374, + -0.9982243776321411, + 0.0, + -2.9121198654174805, + -1.8524528741836548, + 0.18716681003570557, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0482680797576904, + -1.9503426551818848, + 0.7197518944740295, + -0.999999463558197, + -0.2785070836544037, + -0.7032397985458374, + -0.9982243776321411, + 0.0, + -2.9100005626678467, + -1.851603388786316, + 0.18716709315776825, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0482680797576904, + -1.9503426551818848, + 0.7197518944740295, + -0.999999463558197, + -0.2785070836544037, + -0.7032397985458374, + -0.9982243776321411, + 0.0, + -2.906493902206421, + -1.8501979112625122, + 0.18716728687286377, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0482680797576904, + -1.9503426551818848, + 0.7197518944740295, + -0.999999463558197, + -0.2785070836544037, + -0.7032397985458374, + -0.9982243776321411, + 0.0, + -2.7803525924682617, + -1.7996387481689453, + 0.1871669590473175, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0482680797576904, + -1.9503426551818848, + 0.7197518944740295, + -0.999999463558197, + -0.2785070836544037, + -0.7032397985458374, + -0.9982243776321411, + 0.0, + -2.7046754360198975, + -1.7693063020706177, + 0.1871667355298996, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0482680797576904, + -1.9503426551818848, + 0.7197518944740295, + -0.999999463558197, + -0.2785070836544037, + -0.7032397985458374, + -0.9982243776321411, + 0.0, + -2.6507208347320557, + -1.7476805448532104, + 0.1871674656867981, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0482680797576904, + -1.9503426551818848, + 0.7197518944740295, + -0.999999463558197, + -0.2785070836544037, + -0.7032397985458374, + -0.9982243776321411, + 0.0, + -2.5607876777648926, + -1.7116340398788452, + 0.3812101483345032, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0482680797576904, + -1.9503426551818848, + 0.7197518944740295, + -0.999999463558197, + -0.2785070836544037, + -0.7032397985458374, + -0.9982243776321411, + 0.0, + -2.520904779434204, + -1.6956483125686646, + 0.3812078833580017, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0482680797576904, + -1.9503426551818848, + 0.7197518944740295, + -0.999999463558197, + -0.2785070836544037, + -0.7032397985458374, + -0.9982243776321411, + 0.0, + -2.4967987537384033, + -1.6859862804412842, + 0.3812076151371002, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0482680797576904, + -1.9503426551818848, + 0.7197518944740295, + -0.999999463558197, + -0.2785070836544037, + -0.7032397985458374, + -0.9982243776321411, + 0.0, + -2.390669822692871, + -1.6434483528137207, + 0.38120779395103455, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0482680797576904, + -1.9503426551818848, + 0.7197518944740295, + -0.999999463558197, + -0.2785070836544037, + -0.7032397985458374, + -0.9982243776321411, + 0.0, + -2.2878482341766357, + -1.602236032485962, + 0.38120946288108826, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0482680797576904, + -1.9503426551818848, + 0.7197518944740295, + -0.999999463558197, + -0.2785070836544037, + -0.7032397985458374, + -0.9982243776321411, + 0.0, + -2.2604353427886963, + -1.5912485122680664, + 0.38120904564857483, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0482680797576904, + -1.9503426551818848, + 0.7197518944740295, + -0.999999463558197, + -0.2785070836544037, + -0.7032397985458374, + -0.9982243776321411, + 0.0, + -2.215080738067627, + -1.57306969165802, + 0.38120901584625244, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0482680797576904, + -1.9503426551818848, + 0.7197518944740295, + -0.999999463558197, + -0.2785070836544037, + -0.7032397985458374, + -0.9982243776321411, + 0.0, + -2.130593776702881, + -1.5392060279846191, + 0.3812068700790405, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0482680797576904, + -1.9503426551818848, + 0.7197518944740295, + -0.999999463558197, + -0.2785070836544037, + -0.7032397985458374, + -0.9982243776321411, + 0.0, + -2.079906463623047, + -1.5188899040222168, + 0.3812083303928375, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0482680797576904, + -1.9503426551818848, + 0.7197518944740295, + -0.999999463558197, + -0.2785070836544037, + -0.7032397985458374, + -0.9982243776321411, + 0.0, + -2.000962018966675, + -1.4872478246688843, + 0.38120874762535095, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0482680797576904, + -1.9503426551818848, + 0.7197518944740295, + -0.999999463558197, + -0.2785070836544037, + -0.7032397985458374, + -0.9982243776321411, + 0.0, + -1.8725042343139648, + -1.4357600212097168, + 0.3812066912651062, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0482680797576904, + -1.9503426551818848, + 0.7197518944740295, + -0.999999463558197, + -0.2785070836544037, + -0.7032397985458374, + -0.9982243776321411, + 0.0, + -1.8713306188583374, + -1.4352896213531494, + 0.3812101483345032, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0482680797576904, + -1.9503426551818848, + 0.7197518944740295, + -0.999999463558197, + -0.2785070836544037, + -0.7032397985458374, + -0.9982243776321411, + 0.0, + -1.8693745136260986, + -1.434505581855774, + 0.3812083303928375, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0482680797576904, + -1.9503426551818848, + 0.7197518944740295, + -0.999999463558197, + -0.2785070836544037, + -0.7032397985458374, + -0.9982243776321411, + 0.0, + -1.7411054372787476, + -1.3830934762954712, + 0.3812083899974823, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0482680797576904, + -1.9503426551818848, + 0.7197518944740295, + -0.999999463558197, + -0.2785070836544037, + -0.7032397985458374, + -0.9982243776321411, + 0.0, + -1.6635695695877075, + -1.3520159721374512, + 0.3812072277069092, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0482680797576904, + -1.9503426551818848, + 0.7197518944740295, + -0.999999463558197, + -0.2785070836544037, + -0.7032397985458374, + -0.9982243776321411, + 0.0, + -1.6108568906784058, + -1.330888032913208, + 0.38120847940444946, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0482680797576904, + -1.9503426551818848, + 0.7197518944740295, + -0.999999463558197, + -0.2785070836544037, + -0.7032397985458374, + -0.9982243776321411, + 0.0, + -1.5227948427200317, + -1.2955914735794067, + 0.3812095522880554, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0482680797576904, + -1.9503426551818848, + 0.7197518944740295, + -0.999999463558197, + -0.2785070836544037, + -0.7032397985458374, + -0.9982243776321411, + 0.0, + -1.480512022972107, + -1.2786438465118408, + 0.3812067210674286, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0482680797576904, + -1.9503426551818848, + 0.7197518944740295, + -0.999999463558197, + -0.2785070836544037, + -0.7032397985458374, + -0.9982243776321411, + 0.0, + -1.455456256866455, + -1.2686011791229248, + 0.3812080919742584, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0482680797576904, + -1.9503426551818848, + 0.7197518944740295, + -0.999999463558197, + -0.2785070836544037, + -0.7032397985458374, + -0.9982243776321411, + 0.0, + -1.3492480516433716, + -1.2260314226150513, + 0.3812086582183838, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0482680797576904, + -1.9503426551818848, + 0.7197518944740295, + -0.999999463558197, + -0.2785070836544037, + -0.7032397985458374, + -0.9982243776321411, + 0.0, + -1.251877784729004, + -1.1870039701461792, + 0.3812088370323181, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0482680797576904, + -1.9503426551818848, + 0.7197518944740295, + -0.999999463558197, + -0.2785070836544037, + -0.7032397985458374, + -0.9982243776321411, + 0.0, + -1.2136480808258057, + -1.1716809272766113, + 0.38120830059051514, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0482680797576904, + -1.9503426551818848, + 0.7197518944740295, + -0.999999463558197, + -0.2785070836544037, + -0.7032397985458374, + -0.9982243776321411, + 0.0, + -1.099662184715271, + -1.1259937286376953, + 0.38120755553245544, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0482680797576904, + -1.9503426551818848, + 0.7197518944740295, + -0.999999463558197, + -0.2785070836544037, + -0.7032397985458374, + -0.9982243776321411, + 0.0, + -1.0647310018539429, + -1.1119928359985352, + 0.38121142983436584, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0482680797576904, + -1.9503426551818848, + 0.7197518944740295, + -0.999999463558197, + -0.2785070836544037, + -0.7032397985458374, + -0.9982243776321411, + 0.0, + -1.0523451566696167, + -1.1070283651351929, + 0.38120800256729126, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0482680797576904, + -1.9503426551818848, + 0.7197518944740295, + -0.999999463558197, + -0.2785070836544037, + -0.7032397985458374, + -0.9982243776321411, + 0.0, + -0.9075573682785034, + -1.0489953756332397, + 0.38120701909065247, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0482680797576904, + -1.9503426551818848, + 0.7197518944740295, + -0.999999463558197, + -0.2785070836544037, + -0.7032397985458374, + -0.9982243776321411, + 0.0, + -0.8639200925827026, + -1.0315049886703491, + 0.38120800256729126, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0482680797576904, + -1.9503426551818848, + 0.7197518944740295, + -0.999999463558197, + -0.2785070836544037, + -0.7032397985458374, + -0.9982243776321411, + 0.0, + -0.7767367959022522, + -0.9965606927871704, + 0.3812080919742584, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0482680797576904, + -1.9503426551818848, + 0.7197518944740295, + -0.999999463558197, + -0.2785070836544037, + -0.7032397985458374, + -0.9982243776321411, + 0.0, + -0.7108966708183289, + -0.9701710343360901, + 0.38120830059051514, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0482680797576904, + -1.9503426551818848, + 0.7197518944740295, + -0.999999463558197, + -0.2785070836544037, + -0.7032397985458374, + -0.9982243776321411, + 0.0, + -0.6452213525772095, + -0.9438474178314209, + -1.3440711498260498, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0482680797576904, + -1.9503426551818848, + 0.7197518944740295, + -0.999999463558197, + -0.2785070836544037, + -0.7032397985458374, + -0.9982243776321411, + 0.0, + -0.637506902217865, + -0.9772879481315613, + -3.030573844909668, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0482680797576904, + -1.9503426551818848, + 0.7197518944740295, + -0.999999463558197, + -0.2785070836544037, + -0.7032397985458374, + -0.9982243776321411, + 0.0, + 1.192931056022644, + 1.2944809198379517, + 1.168914794921875, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.6572753190994263, + -0.6143158674240112, + 0.8798819780349731, + -0.7041836977005005, + -0.2785070836544037, + -0.7032397985458374, + -0.5198631882667542, + 0.0, + 1.2109068632125854, + 1.3367756605148315, + 1.16891610622406, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.6572753190994263, + -0.6143158674240112, + 0.8798819780349731, + -0.7041836977005005, + -0.2785070836544037, + -0.7032397985458374, + -0.5198631882667542, + 0.0, + 1.2610011100769043, + 1.454641342163086, + 1.1689168214797974, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.6572753190994263, + -0.6143158674240112, + 0.8798819780349731, + -0.7041836977005005, + -0.2785070836544037, + -0.7032397985458374, + -0.5198631882667542, + 0.0, + 1.2697981595993042, + 1.4753397703170776, + 1.1689157485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.6572753190994263, + -0.6143158674240112, + 0.8798819780349731, + -0.7041836977005005, + -0.2785070836544037, + -0.7032397985458374, + -0.5198631882667542, + 0.0, + 1.3284879922866821, + 1.6134296655654907, + 1.1688511371612549, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.6572753190994263, + -0.6143158674240112, + 0.8798819780349731, + -0.7041836977005005, + -0.2785070836544037, + -0.7032397985458374, + -0.5198631882667542, + 0.0, + 1.3286895751953125, + 1.6139038801193237, + 1.1689324378967285, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.6572753190994263, + -0.6143158674240112, + 0.8798819780349731, + -0.7041836977005005, + -0.2785070836544037, + -0.7032397985458374, + -0.5198631882667542, + 0.0, + 1.3299654722213745, + 1.6169060468673706, + 1.1689156293869019, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.6572753190994263, + -0.6143158674240112, + 0.8798819780349731, + -0.7041836977005005, + -0.2785070836544037, + -0.7032397985458374, + -0.5198631882667542, + 0.0, + 1.3875807523727417, + 1.7524676322937012, + 1.1689149141311646, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.6572753190994263, + -0.6143158674240112, + 0.8798819780349731, + -0.7041836977005005, + -0.2785070836544037, + -0.7032397985458374, + -0.5198631882667542, + 0.0, + 1.3966821432113647, + 1.7738820314407349, + 1.1689156293869019, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.6572753190994263, + -0.6143158674240112, + 0.8798819780349731, + -0.7041836977005005, + -0.2785070836544037, + -0.7032397985458374, + -0.5198631882667542, + 0.0, + 1.44647216796875, + 1.8910317420959473, + 1.1689165830612183, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.6572753190994263, + -0.6143158674240112, + 0.8798819780349731, + -0.7041836977005005, + -0.2785070836544037, + -0.7032397985458374, + -0.5198631882667542, + 0.0, + 1.464351773262024, + 1.9331003427505493, + 1.168915033340454, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.6572753190994263, + -0.6143158674240112, + 0.8798819780349731, + -0.7041836977005005, + -0.2785070836544037, + -0.7032397985458374, + -0.5198631882667542, + 0.0, + 1.505585789680481, + 2.030118703842163, + 1.1689152717590332, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.6572753190994263, + -0.6143158674240112, + 0.8798819780349731, + -0.7041836977005005, + -0.2785070836544037, + -0.7032397985458374, + -0.5198631882667542, + 0.0, + 1.533118486404419, + 2.0948996543884277, + 1.1689167022705078, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.6572753190994263, + -0.6143158674240112, + 0.8798819780349731, + -0.7041836977005005, + -0.2785070836544037, + -0.7032397985458374, + -0.5198631882667542, + 0.0, + 1.5655028820037842, + 2.1710963249206543, + 1.1689152717590332, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.6572753190994263, + -0.6143158674240112, + 0.8798819780349731, + -0.7041836977005005, + -0.2785070836544037, + -0.7032397985458374, + -0.5198631882667542, + 0.0, + 1.604343295097351, + 2.2624828815460205, + 1.1689152717590332, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.6572753190994263, + -0.6143158674240112, + 0.8798819780349731, + -0.7041836977005005, + -0.2785070836544037, + -0.7032397985458374, + -0.5198631882667542, + 0.0, + 1.6268653869628906, + 2.315474510192871, + 1.168914794921875, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.6572753190994263, + -0.6143158674240112, + 0.8798819780349731, + -0.7041836977005005, + -0.2785070836544037, + -0.7032397985458374, + -0.5198631882667542, + 0.0, + 1.6800765991210938, + 2.440673589706421, + 1.1689168214797974, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.6572753190994263, + -0.6143158674240112, + 0.8798819780349731, + -0.7041836977005005, + -0.2785070836544037, + -0.7032397985458374, + -0.5198631882667542, + 0.0, + 1.6893408298492432, + 2.4624712467193604, + 1.1689162254333496, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.6572753190994263, + -0.6143158674240112, + 0.8798819780349731, + -0.7041836977005005, + -0.2785070836544037, + -0.7032397985458374, + -0.5198631882667542, + 0.0, + 1.7204519510269165, + 2.5356719493865967, + 1.7710684537887573, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.6572753190994263, + -0.6143158674240112, + 0.8798819780349731, + -0.7041836977005005, + -0.2785070836544037, + -0.7032397985458374, + -0.5198631882667542, + 0.0, + 1.7087996006011963, + 2.5930745601654053, + 3.062830924987793, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.6572753190994263, + -0.6143158674240112, + 0.8798819780349731, + -0.7041836977005005, + -0.2785070836544037, + -0.7032397985458374, + -0.5198631882667542, + 0.0 + ], + "max": [ + -0.6419052481651306, + -0.9750351309776306, + 0.38120681047439575, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.7678099870681763, + 3.2329699993133545, + 0.8799999952316284, + 0.6496615409851074, + 0.5197412967681885, + 0.6488708257675171, + 0.9986696839332581, + 1.0, + -0.5651733875274658, + -0.960503339767456, + 0.381210058927536, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.761299967765808, + 2.9491524696350098, + 0.8798820972442627, + 0.6496615409851074, + 0.5189694166183472, + 0.6488708257675171, + 0.9236512184143066, + 0.0, + -0.5057830214500427, + -0.9492557644844055, + 0.38120830059051514, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.761299967765808, + 2.9491524696350098, + 0.8798820972442627, + 0.6496615409851074, + 0.5189694166183472, + 0.6488708257675171, + 0.9236512184143066, + 0.0, + -0.42115530371665955, + -0.933228611946106, + 0.3812080919742584, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.761299967765808, + 2.9491524696350098, + 0.8798820972442627, + 0.6496615409851074, + 0.5189694166183472, + 0.6488708257675171, + 0.9236512184143066, + 0.0, + -0.34372782707214355, + -0.9185650944709778, + 0.38120919466018677, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.761299967765808, + 2.9491524696350098, + 0.8798820972442627, + 0.6496615409851074, + 0.5189694166183472, + 0.6488708257675171, + 0.9236512184143066, + 0.0, + -0.2729707360267639, + -0.9051648378372192, + 0.38120853900909424, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.761299967765808, + 2.9491524696350098, + 0.8798820972442627, + 0.6496615409851074, + 0.5189694166183472, + 0.6488708257675171, + 0.9236512184143066, + 0.0, + -0.17987477779388428, + -0.887533962726593, + 0.3812238574028015, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.761299967765808, + 2.9491524696350098, + 0.8798820972442627, + 0.6496615409851074, + 0.5189694166183472, + 0.6488708257675171, + 0.9236512184143066, + 0.0, + -0.12382987141609192, + -0.8769199848175049, + 0.38119781017303467, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.761299967765808, + 2.9491524696350098, + 0.8798820972442627, + 0.6496615409851074, + 0.5189694166183472, + 0.6488708257675171, + 0.9236512184143066, + 0.0, + -0.01650051772594452, + -0.8565935492515564, + 0.3812076449394226, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.761299967765808, + 2.9491524696350098, + 0.8798820972442627, + 0.6496615409851074, + 0.5189694166183472, + 0.6488708257675171, + 0.9236512184143066, + 0.0, + 0.02507834881544113, + -0.8487191796302795, + 0.3812077045440674, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.761299967765808, + 2.9491524696350098, + 0.8798820972442627, + 0.6496615409851074, + 0.5189694166183472, + 0.6488708257675171, + 0.9236512184143066, + 0.0, + 0.11873719096183777, + -0.8309817314147949, + 0.3812078833580017, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.761299967765808, + 2.9491524696350098, + 0.8798820972442627, + 0.6496615409851074, + 0.5189694166183472, + 0.6488708257675171, + 0.9236512184143066, + 0.0, + 0.15792202949523926, + -0.8235607743263245, + 0.38120827078819275, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.761299967765808, + 2.9491524696350098, + 0.8798820972442627, + 0.6496615409851074, + 0.5189694166183472, + 0.6488708257675171, + 0.9236512184143066, + 0.0, + 0.23421701788902283, + -0.8091117143630981, + 1.060357928276062, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.761299967765808, + 2.9491524696350098, + 0.8798820972442627, + 0.6496615409851074, + 0.5189694166183472, + 0.6488708257675171, + 0.9236512184143066, + 0.0, + 0.28427374362945557, + -0.7197142243385315, + 1.0603582859039307, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.761299967765808, + 2.9491524696350098, + 0.8798820972442627, + 0.6496615409851074, + 0.5189694166183472, + 0.6488708257675171, + 0.9236512184143066, + 0.0, + 0.30046772956848145, + -0.690792977809906, + 1.0603580474853516, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.761299967765808, + 2.9491524696350098, + 0.8798820972442627, + 0.6496615409851074, + 0.5189694166183472, + 0.6488708257675171, + 0.9236512184143066, + 0.0, + 0.3406584560871124, + -0.6190153956413269, + 1.0603582859039307, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.761299967765808, + 2.9491524696350098, + 0.8798820972442627, + 0.6496615409851074, + 0.5189694166183472, + 0.6488708257675171, + 0.9236512184143066, + 0.0, + 0.35066545009613037, + -0.6011436581611633, + 1.060357689857483, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.761299967765808, + 2.9491524696350098, + 0.8798820972442627, + 0.6496615409851074, + 0.5189694166183472, + 0.6488708257675171, + 0.9236512184143066, + 0.0, + 0.41022858023643494, + -0.49476853013038635, + 1.0603572130203247, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.761299967765808, + 2.9491524696350098, + 0.8798820972442627, + 0.6496615409851074, + 0.5189694166183472, + 0.6488708257675171, + 0.9236512184143066, + 0.0, + 0.43217527866363525, + -0.4555734694004059, + 1.0603585243225098, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.761299967765808, + 2.9491524696350098, + 0.8798820972442627, + 0.6496615409851074, + 0.5189694166183472, + 0.6488708257675171, + 0.9236512184143066, + 0.0, + 0.46242043375968933, + -0.4015578627586365, + 1.0531009435653687, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.761299967765808, + 2.9491524696350098, + 0.8798820972442627, + 0.6496615409851074, + 0.5189694166183472, + 0.6488708257675171, + 0.9236512184143066, + 0.0, + 0.5005502104759216, + -0.33460545539855957, + 1.1689155101776123, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.761299967765808, + 2.9491524696350098, + 0.8798820972442627, + 0.6496615409851074, + 0.5189694166183472, + 0.6488708257675171, + 0.9236512184143066, + 0.0, + 0.5441412329673767, + -0.23204123973846436, + 1.16891610622406, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.761299967765808, + 2.9491524696350098, + 0.8798820972442627, + 0.6496615409851074, + 0.5189694166183472, + 0.6488708257675171, + 0.9236512184143066, + 0.0, + 0.5597207546234131, + -0.19538451731204987, + 1.168915867805481, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.761299967765808, + 2.9491524696350098, + 0.8798820972442627, + 0.6496615409851074, + 0.5189694166183472, + 0.6488708257675171, + 0.9236512184143066, + 0.0, + 0.6151818037033081, + -0.0648915097117424, + 1.1689172983169556, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.761299967765808, + 2.9491524696350098, + 0.8798820972442627, + 0.6496615409851074, + 0.5189694166183472, + 0.6488708257675171, + 0.9236512184143066, + 0.0, + 0.619789719581604, + -0.05404960736632347, + 1.1689194440841675, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.761299967765808, + 2.9491524696350098, + 0.8798820972442627, + 0.6496615409851074, + 0.5189694166183472, + 0.6488708257675171, + 0.9236512184143066, + 0.0, + 0.6216052174568176, + -0.04977792128920555, + 1.168915867805481, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.761299967765808, + 2.9491524696350098, + 0.8798820972442627, + 0.6496615409851074, + 0.5189694166183472, + 0.6488708257675171, + 0.9236512184143066, + 0.0, + 0.6805664896965027, + 0.08895070850849152, + 1.1689156293869019, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.761299967765808, + 2.9491524696350098, + 0.8798820972442627, + 0.6496615409851074, + 0.5189694166183472, + 0.6488708257675171, + 0.9236512184143066, + 0.0, + 0.7092649936676025, + 0.15647472441196442, + 1.1689159870147705, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.761299967765808, + 2.9491524696350098, + 0.8798820972442627, + 0.6496615409851074, + 0.5189694166183472, + 0.6488708257675171, + 0.9236512184143066, + 0.0, + 0.7394905686378479, + 0.22759179770946503, + 1.1689153909683228, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.761299967765808, + 2.9491524696350098, + 0.8798820972442627, + 0.6496615409851074, + 0.5189694166183472, + 0.6488708257675171, + 0.9236512184143066, + 0.0, + 0.7839875817298889, + 0.33228766918182373, + 1.1689151525497437, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.761299967765808, + 2.9491524696350098, + 0.8798820972442627, + 0.6496615409851074, + 0.5189694166183472, + 0.6488708257675171, + 0.9236512184143066, + 0.0, + 0.7983730435371399, + 0.3661348223686218, + 1.1689155101776123, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.761299967765808, + 2.9491524696350098, + 0.8798820972442627, + 0.6496615409851074, + 0.5189694166183472, + 0.6488708257675171, + 0.9236512184143066, + 0.0, + 0.8533458709716797, + 0.495479017496109, + 1.1689167022705078, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.761299967765808, + 2.9491524696350098, + 0.8798820972442627, + 0.6496615409851074, + 0.5189694166183472, + 0.6488708257675171, + 0.9236512184143066, + 0.0, + 0.8574522733688354, + 0.5051409006118774, + 1.1689159870147705, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.761299967765808, + 2.9491524696350098, + 0.8798820972442627, + 0.6496615409851074, + 0.5189694166183472, + 0.6488708257675171, + 0.9236512184143066, + 0.0, + 0.8829963803291321, + 0.5652430653572083, + 1.1689159870147705, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.761299967765808, + 2.9491524696350098, + 0.8798820972442627, + 0.6496615409851074, + 0.5189694166183472, + 0.6488708257675171, + 0.9236512184143066, + 0.0, + 0.9164336919784546, + 0.6439169645309448, + 1.1689149141311646, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.761299967765808, + 2.9491524696350098, + 0.8798820972442627, + 0.6496615409851074, + 0.5189694166183472, + 0.6488708257675171, + 0.9236512184143066, + 0.0, + 0.9218173027038574, + 0.6565839052200317, + 1.1689157485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.761299967765808, + 2.9491524696350098, + 0.8798820972442627, + 0.6496615409851074, + 0.5189694166183472, + 0.6488708257675171, + 0.9236512184143066, + 0.0, + 0.9753413200378418, + 0.7825192809104919, + 1.168915033340454, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.761299967765808, + 2.9491524696350098, + 0.8798820972442627, + 0.6496615409851074, + 0.5189694166183472, + 0.6488708257675171, + 0.9236512184143066, + 0.0, + 0.9893781542778015, + 0.8155461549758911, + 1.1689156293869019, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.761299967765808, + 2.9491524696350098, + 0.8798820972442627, + 0.6496615409851074, + 0.5189694166183472, + 0.6488708257675171, + 0.9236512184143066, + 0.0, + 1.03423273563385, + 0.921083390712738, + 1.1689152717590332, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.761299967765808, + 2.9491524696350098, + 0.8798820972442627, + 0.6496615409851074, + 0.5189694166183472, + 0.6488708257675171, + 0.9236512184143066, + 0.0, + 1.0573742389678955, + 0.9755324125289917, + 1.1689153909683228, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.761299967765808, + 2.9491524696350098, + 0.8798820972442627, + 0.6496615409851074, + 0.5189694166183472, + 0.6488708257675171, + 0.9236512184143066, + 0.0, + 1.0931241512298584, + 1.0596474409103394, + 1.16891610622406, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.761299967765808, + 2.9491524696350098, + 0.8798820972442627, + 0.6496615409851074, + 0.5189694166183472, + 0.6488708257675171, + 0.9236512184143066, + 0.0, + 1.1251896619796753, + 1.1350936889648438, + 1.1689163446426392, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.761299967765808, + 2.9491524696350098, + 0.8798820972442627, + 0.6496615409851074, + 0.5189694166183472, + 0.6488708257675171, + 0.9236512184143066, + 0.0, + 1.1520154476165771, + 1.1982115507125854, + 1.1689157485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.761299967765808, + 2.9491524696350098, + 0.8798820972442627, + 0.6496615409851074, + 0.5189694166183472, + 0.6488708257675171, + 0.9236512184143066, + 0.0, + 1.192931056022644, + 1.2944809198379517, + 1.168914794921875, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.761299967765808, + 2.9491524696350098, + 0.8798820972442627, + 0.6496615409851074, + 0.5189694166183472, + 0.6488708257675171, + 0.2791324853897095, + 0.0, + 1.2109068632125854, + 1.3367756605148315, + 1.16891610622406, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.761299967765808, + 2.9491524696350098, + 0.8798820972442627, + 0.6496615409851074, + 0.5189694166183472, + 0.6488708257675171, + 0.2791324853897095, + 0.0, + 1.2610011100769043, + 1.454641342163086, + 1.1689168214797974, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.761299967765808, + 2.9491524696350098, + 0.8798820972442627, + 0.6496615409851074, + 0.5189694166183472, + 0.6488708257675171, + 0.2791324853897095, + 0.0, + 1.2697981595993042, + 1.4753397703170776, + 1.1689157485961914, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.761299967765808, + 2.9491524696350098, + 0.8798820972442627, + 0.6496615409851074, + 0.5189694166183472, + 0.6488708257675171, + 0.2791324853897095, + 0.0, + 1.3284879922866821, + 1.6134296655654907, + 1.1688511371612549, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.761299967765808, + 2.9491524696350098, + 0.8798820972442627, + 0.6496615409851074, + 0.5189694166183472, + 0.6488708257675171, + 0.2791324853897095, + 0.0, + 1.3286895751953125, + 1.6139038801193237, + 1.1689324378967285, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.761299967765808, + 2.9491524696350098, + 0.8798820972442627, + 0.6496615409851074, + 0.5189694166183472, + 0.6488708257675171, + 0.2791324853897095, + 0.0, + 1.3299654722213745, + 1.6169060468673706, + 1.1689156293869019, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.761299967765808, + 2.9491524696350098, + 0.8798820972442627, + 0.6496615409851074, + 0.5189694166183472, + 0.6488708257675171, + 0.2791324853897095, + 0.0, + 1.3875807523727417, + 1.7524676322937012, + 1.1689149141311646, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.761299967765808, + 2.9491524696350098, + 0.8798820972442627, + 0.6496615409851074, + 0.5189694166183472, + 0.6488708257675171, + 0.2791324853897095, + 0.0, + 1.3966821432113647, + 1.7738820314407349, + 1.1689156293869019, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.761299967765808, + 2.9491524696350098, + 0.8798820972442627, + 0.6496615409851074, + 0.5189694166183472, + 0.6488708257675171, + 0.2791324853897095, + 0.0, + 1.44647216796875, + 1.8910317420959473, + 1.1689165830612183, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.761299967765808, + 2.9491524696350098, + 0.8798820972442627, + 0.6496615409851074, + 0.5189694166183472, + 0.6488708257675171, + 0.2791324853897095, + 0.0, + 1.464351773262024, + 1.9331003427505493, + 1.168915033340454, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.761299967765808, + 2.9491524696350098, + 0.8798820972442627, + 0.6496615409851074, + 0.5189694166183472, + 0.6488708257675171, + 0.2791324853897095, + 0.0, + 1.505585789680481, + 2.030118703842163, + 1.1689152717590332, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.761299967765808, + 2.9491524696350098, + 0.8798820972442627, + 0.6496615409851074, + 0.5189694166183472, + 0.6488708257675171, + 0.2791324853897095, + 0.0, + 1.533118486404419, + 2.0948996543884277, + 1.1689167022705078, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.761299967765808, + 2.9491524696350098, + 0.8798820972442627, + 0.6496615409851074, + 0.5189694166183472, + 0.6488708257675171, + 0.2791324853897095, + 0.0, + 1.5655028820037842, + 2.1710963249206543, + 1.1689152717590332, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.761299967765808, + 2.9491524696350098, + 0.8798820972442627, + 0.6496615409851074, + 0.5189694166183472, + 0.6488708257675171, + 0.2791324853897095, + 0.0, + 1.604343295097351, + 2.2624828815460205, + 1.1689152717590332, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.761299967765808, + 2.9491524696350098, + 0.8798820972442627, + 0.6496615409851074, + 0.5189694166183472, + 0.6488708257675171, + 0.2791324853897095, + 0.0, + 1.6268653869628906, + 2.315474510192871, + 1.168914794921875, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.761299967765808, + 2.9491524696350098, + 0.8798820972442627, + 0.6496615409851074, + 0.5189694166183472, + 0.6488708257675171, + 0.2791324853897095, + 0.0, + 1.6800765991210938, + 2.440673589706421, + 1.1689168214797974, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.761299967765808, + 2.9491524696350098, + 0.8798820972442627, + 0.6496615409851074, + 0.5189694166183472, + 0.6488708257675171, + 0.2791324853897095, + 0.0, + 1.6893408298492432, + 2.4624712467193604, + 1.1689162254333496, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.761299967765808, + 2.9491524696350098, + 0.8798820972442627, + 0.6496615409851074, + 0.5189694166183472, + 0.6488708257675171, + 0.2791324853897095, + 0.0, + 1.7204519510269165, + 2.5356719493865967, + 1.7710684537887573, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.761299967765808, + 2.9491524696350098, + 0.8798820972442627, + 0.6496615409851074, + 0.5189694166183472, + 0.6488708257675171, + 0.2791324853897095, + 0.0, + 1.7087996006011963, + 2.5930745601654053, + 3.062830924987793, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.761299967765808, + 2.9491524696350098, + 0.8798820972442627, + 0.6496615409851074, + 0.5189694166183472, + 0.6488708257675171, + 0.2791324853897095, + 0.0 + ], + "count": [ + 2111 + ] + }, + "action.applied": { + "mean": [ + 0.08081072368213492, + -0.002230061806826419, + -0.04740674183662047, + 0.749725084432433, + 0.052755938885207604, + 0.052755938885207604, + 0.052755938885207604, + 0.052755938885207604, + 2.6352297803453224, + -1.0606633582389917, + 0.022147426819687645, + 0.07354334438654667, + 0.07354334438654667 + ], + "std": [ + 0.12078720234218164, + 0.06278982719142177, + 0.2047813186210218, + 0.16548421506959143, + 0.0419942001208573, + 0.0419942001208573, + 0.0419942001208573, + 0.0419942001208573, + 0.8363542685147651, + 0.7074452427426696, + 0.47172730271019747, + 0.11391756929060039, + 0.11391756929060039 + ], + "min": [ + -0.0, + -0.1789267212152481, + -0.800000011920929, + 0.5443775653839111, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5616517066955566, + -1.5699999332427979, + -0.7426417469978333, + 0.0, + 0.0 + ], + "max": [ + 0.2999992370605469, + 0.12387967109680176, + 0.49128133058547974, + 0.9561555981636047, + 0.12149078398942947, + 0.12149078398942947, + 0.12149078398942947, + 0.12149078398942947, + 3.9895715713500977, + 8.594429914410284e-07, + 0.9944575428962708, + 0.25, + 0.25 + ], + "count": [ + 2111 + ] + }, + "extra.reward": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 2111 + ] + }, + "next.truncated": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 2111 + ] + }, + "sim_step_idx": { + "mean": [ + 2211.0 + ], + "std": [ + 1218.786281511242 + ], + "min": [ + 101.0 + ], + "max": [ + 4321.0 + ], + "count": [ + 2111 + ] + }, + "timestamp": { + "mean": [ + 42.20000000216141 + ], + "std": [ + 24.37572563034948 + ], + "min": [ + 0.0 + ], + "max": [ + 84.4000015258789 + ], + "count": [ + 2111 + ] + }, + "frame_index": { + "mean": [ + 1055.0 + ], + "std": [ + 609.393140755621 + ], + "min": [ + 0.0 + ], + "max": [ + 2110.0 + ], + "count": [ + 2111 + ] + }, + "episode_index": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 2111 + ] + }, + "index": { + "mean": [ + 1055.0 + ], + "std": [ + 609.393140755621 + ], + "min": [ + 0.0 + ], + "max": [ + 2110.0 + ], + "count": [ + 2111 + ] + }, + "task_index": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 2111 + ] + }, + "next.done": { + "mean": [ + 0.0004737091425864519 + ], + "std": [ + 0.02175970455301914 + ], + "min": [ + 0.0 + ], + "max": [ + 1.0 + ], + "count": [ + 2111 + ] + }, + "observation.images.head": { + "mean": [ + [ + [ + 0.5564884248551207 + ] + ], + [ + [ + 0.5159391576057051 + ] + ], + [ + [ + 0.4340064305195079 + ] + ] + ], + "std": [ + [ + [ + 0.08017634107954426 + ] + ], + [ + [ + 0.08174333094532052 + ] + ], + [ + [ + 0.08609232763094685 + ] + ] + ], + "min": [ + [ + [ + 0.23921568627450981 + ] + ], + [ + [ + 0.23529411764705882 + ] + ], + [ + [ + 0.16470588235294117 + ] + ] + ], + "max": [ + [ + [ + 0.8901960784313725 + ] + ], + [ + [ + 0.8901960784313725 + ] + ], + [ + [ + 0.8901960784313725 + ] + ] + ], + "count": [ + 100 + ] + }, + "observation.images.wrist": { + "mean": [ + [ + [ + 0.5545567953296872 + ] + ], + [ + [ + 0.5162138456082688 + ] + ], + [ + [ + 0.46318243656133473 + ] + ] + ], + "std": [ + [ + [ + 0.12663407108364053 + ] + ], + [ + [ + 0.12676733064722623 + ] + ], + [ + [ + 0.1311758348712432 + ] + ] + ], + "min": [ + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ] + ], + "max": [ + [ + [ + 0.9372549019607843 + ] + ], + [ + [ + 0.9372549019607843 + ] + ], + [ + [ + 0.9333333333333333 + ] + ] + ], + "count": [ + 100 + ] + } +} \ No newline at end of file diff --git a/N033/stretch3/dr_off/seed_1022/rec/stationringstretch/000/lerobot_v21/meta/tasks.jsonl b/N033/stretch3/dr_off/seed_1022/rec/stationringstretch/000/lerobot_v21/meta/tasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dbadecbe4a732b4588b1a79a8efeb41ca322b43c --- /dev/null +++ b/N033/stretch3/dr_off/seed_1022/rec/stationringstretch/000/lerobot_v21/meta/tasks.jsonl @@ -0,0 +1 @@ +{"task_index": 0, "task": "Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end."} diff --git a/N033/stretch3/dr_off/seed_1022/rec/stationringstretch/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 b/N033/stretch3/dr_off/seed_1022/rec/stationringstretch/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9cbcca119fd48c0886b2b0e6f3b7f199c72ba1da --- /dev/null +++ b/N033/stretch3/dr_off/seed_1022/rec/stationringstretch/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 sha256:0cac6df3466a897c6703613bf6485358f73779a71e1b43ee1b7f1059165469fd +size 20848733 diff --git a/N033/stretch3/dr_off/seed_1022/rec/stationringstretch/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 b/N033/stretch3/dr_off/seed_1022/rec/stationringstretch/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6669e1eeeb2044aae8474774f9c454af29f533cb --- /dev/null +++ b/N033/stretch3/dr_off/seed_1022/rec/stationringstretch/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 sha256:33140f6921d7063fff66b69f8f030c29079946fba778f8d7719b508f914506e4 +size 41312489 diff --git a/N033/stretch3/dr_off/seed_1022/rec/stationringstretch/000/run_meta.json b/N033/stretch3/dr_off/seed_1022/rec/stationringstretch/000/run_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..416330e11f3084ac582213aed42bb829823fbd8b --- /dev/null +++ b/N033/stretch3/dr_off/seed_1022/rec/stationringstretch/000/run_meta.json @@ -0,0 +1,1737 @@ +{ + "run_id": "stationringstretch/000", + "created": "2026-11-08 02:51:43", + "num_envs": 1, + "session_id": null, + "record_config": { + "output_dir": "/mnt/scratch/xc536_atomic/n033_str_off_1022/out/rec", + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "json_round": null, + "schema": { + "source": "robot_manager", + "nan_policy": "from_raw" + }, + "lerobot": { + "subsample_every": 2 + } + }, + "config": { + "env_string": "StationRingXREnv-V0", + "env": { + "sim": { + "device": "cpu", + "use_fabric": false, + "decimation": 4, + "dt": 0.005, + "seed": 1022, + "soft_resets": 2, + "enable_scene_query_support": true, + "scene": { + "num_envs": 1, + "env_spacing": 16 + }, + "render": { + "rendering_mode": "performance", + "enable_reflections": false, + "enable_global_illumination": false, + "enable_translucency": false, + "enable_dl_denoiser": false + } + }, + "nav": { + "navmesh": { + "enabled": true, + "visualize": false, + "bake_timeout_s": 180, + "agent_height_cm": 170, + "min_agent_radius_cm": 40.0, + "max_agent_radius_cm": 40.0, + "max_step_height_cm": 20, + "max_floor_slope_deg": 30, + "agent_island_radius_cm": 5, + "auto_exclude_rigid_bodies": true, + "validate_path_clearance": true, + "validate_path_window": true, + "navmesh_offset_z_m": 0, + "verbose": true, + "validate_path_reroute": true, + "validate_path_reroute_spacing": 0.25 + }, + "occupancymap": { + "cell_size": 0.05 + } + }, + "scene": { + "background": { + "intensity": [ + 1000, + 1000 + ] + }, + "terrain": { + "type": "nav_room", + "collision": true, + "hide_top_walls": true, + "usd": [ + "$MAGICSIM_ASSETS/Room/Collected_SimpleRoom" + ], + "annotation": "Annotation", + "random": false, + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0, + "friction_combine_mode": "multiply", + "restitution_combine_mode": "multiply" + } + }, + "objects": { + "table_A": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "table_A_1": { + "pos": [ + -0.4969856896760837, + -0.20697726134142613, + 0.18 + ], + "ori": [ + 0.0, + 0.0, + 6.360911385755088 + ], + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.45, + 0.35 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "table_B": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "table_B_1": { + "pos": [ + 1.7864379213263641, + 3.2590305995712097, + 0.18 + ], + "ori": [ + 0.0, + 0.0, + -4.512715966729274 + ], + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.45, + 0.35 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "rack_back": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "rack_back_1": { + "pos": [ + -0.545569967085465, + -0.22245524533832595, + 0.42999999999999994 + ], + "ori": [ + 0.0, + 0.0, + 6.360911385755088 + ], + "primitive_params": { + "size": [ + 0.7, + 0.03, + 0.2 + ] + }, + "visual": { + "color": [ + [ + 0.45, + 0.35, + 0.25 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "peg_1": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "peg_1_1": { + "pos": [ + -0.3848603589048562, + -0.3101901975434489, + 0.47 + ], + "ori": [ + 0.0, + 0.0, + 6.360911385755088 + ], + "primitive_params": { + "size": [ + 0.02, + 0.18, + 0.02 + ] + }, + "visual": { + "color": [ + [ + 0.35, + 0.35, + 0.35 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "peg_2": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "peg_2_1": { + "pos": [ + -0.6830134793400171, + -0.34342747743781554, + 0.47 + ], + "ori": [ + 0.0, + 0.0, + 6.360911385755088 + ], + "primitive_params": { + "size": [ + 0.02, + 0.18, + 0.02 + ] + }, + "visual": { + "color": [ + [ + 0.35, + 0.35, + 0.35 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "ring": { + "usd": [ + "$MAGICSIM_ASSETS/Object/MMB_A07/ring_wide/Object.usda" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "ring_1": { + "pos": [ + -0.6775350157062455, + -0.39257172247804833, + 0.43999999999999995 + ], + "ori": [ + 0.0, + 0.0, + 6.360911385755088 + ], + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.05, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + } + } + } + }, + "ring_small": { + "usd": [ + "$MAGICSIM_ASSETS/Object/MMB_A07/ring_small/Object.usda" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "ring_small_1": { + "pos": [ + -0.3790025681134405, + -0.3627371751802364, + 0.46499999999999997 + ], + "ori": [ + 0.0, + 0.0, + 6.360911385755088 + ], + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.05, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + } + } + } + }, + "rod_h": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "rod_h_1": { + "pos": [ + 1.77620947645976, + 3.129433613049104, + 0.53 + ], + "ori": [ + 0.0, + 0.0, + -4.512715966729274 + ], + "primitive_params": { + "size": [ + 0.02, + 0.14, + 0.02 + ] + }, + "visual": { + "color": [ + [ + 0.75, + 0.75, + 0.78 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 0.3, + "dynamic_friction": 0.25, + "restitution": 0.0 + } + } + } + }, + "rod_s": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "rod_s_1": { + "pos": [ + 1.7862254843945193, + 3.2563389698511354, + 0.48979999999999996 + ], + "ori": [ + -35.0, + 0.0, + -4.512715966729274 + ], + "primitive_params": { + "size": [ + 0.02, + 0.14, + 0.02 + ] + }, + "visual": { + "color": [ + [ + 0.75, + 0.75, + 0.78 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 0.3, + "dynamic_friction": 0.25, + "restitution": 0.0 + } + } + } + }, + "rod_stop": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "rod_stop_1": { + "pos": [ + 1.7919455454853048, + 3.3288135923138817, + 0.38999999999999996 + ], + "ori": [ + 0.0, + 0.0, + -4.512715966729274 + ], + "primitive_params": { + "size": [ + 0.1, + 0.012, + 0.12 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.3, + 0.25 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + } + } + }, + "robot": { + "HelloRobot": { + "name": "hellorobot", + "type": "mobilemanip", + "common": { + "pos": [ + [ + -3.4, + -2.2, + 0.06 + ], + [ + -3.4, + -2.2, + 0.06 + ] + ], + "ori": [ + [ + 0, + 0, + 40.0 + ], + [ + 0, + 0, + 40.0 + ] + ], + "initial_joint_pos": { + "joint_lift": 0.55, + "joint_arm_l[0-3]": 0.0, + "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": 32, + "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", + "start_state_limit_inset": 0.002 + }, + "body": { + "type": "nav", + "dwb_type": "dwb_differential", + "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": 0.001, + "angular_dead_zone": 0.005, + "nav_heading_target": 1, + "velocity_frame": "world" + }, + "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": 8.0, + "w_vel": 0.2, + "w_vy": 0.0, + "dilate_radius": 0.33, + "room_size": 12.0, + "occupancy_update_interval": 25, + "scan_height": 0.45, + "scan_min_z": 0.22, + "scan_max_z": 1.75, + "goal_pos_threshold": 0.005, + "goal_yaw_threshold": 0.006, + "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": true, + "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": 0.15 + } + }, + "arm": { + "type": "default" + }, + "eef": { + "type": "default" + } + }, + "physics": { + "wheel_base": 0.33, + "robot_radius": 0.4 + }, + "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" + } + } + } + } + }, + "task": { + "new_seed_per_episode": true, + "observation": {}, + "reward": {}, + "termination": { + "timeout_steps": 30000, + "success_hold_frames": 10, + "fall_height": -0.03, + "fall_tilt": 1.0, + "lift_height": 0.12, + "grasp_distance": 0.25 + }, + "stance": { + "heights": [ + 0.3, + 0.34, + 0.26 + ], + "radii": [ + 0.5, + 0.46, + 0.54 + ] + }, + "station": { + "robot": { + "key": "HelloRobot", + "embodiment": "stretch3", + "base_link": "base_link", + "base_yaw_deg": 90.0, + "wrist_ref_back": 0.0, + "spawn_dz": 0.03, + "finger_joints": [ + "joint_gripper_finger_left", + "joint_gripper_finger_right" + ], + "dwb": { + "key": "dwb_differential", + "add_floor": false + } + }, + "task_id": "N033", + "task_version": "EXT60-MobileAvatar-v3", + "family_id": "ring_on_bent_rod", + "primary_category": "C2", + "stage": "full", + "layout": { + "floor_z": 0.03, + "start": { + "x": -3.4, + "y": -2.2, + "yaw_deg": 40.0, + "radius": 0.3, + "yaw_spread_deg": 20.0 + }, + "stations": { + "A": { + "center": [ + -0.4969856896760837, + -0.20697726134142613 + ], + "facing_deg": 96.36091138575509, + "standoff": 0.5, + "table": { + "width": 0.9, + "depth": 0.5, + "height": 0.3 + } + }, + "B": { + "center": [ + 1.7864379213263641, + 3.2590305995712097 + ], + "facing_deg": 85.48728403327073, + "standoff": 0.5, + "table": { + "width": 0.9, + "depth": 0.5, + "height": 0.3 + } + } + } + }, + "route": [ + "A", + "B" + ], + "fixtures": { + "rod": { + "pivot": [ + 0.0, + -0.2 + ], + "yaw_deg": 0.0 + } + }, + "instruction": "pick up the large ring (not the small one)", + "ring": { + "target": "ring", + "others": [ + "ring_small" + ], + "swap": "random", + "rod": { + "open": -0.2, + "bend": -0.06, + "slope_deg": 35.0, + "horizontal_len": 0.14, + "slope_len": 0.14, + "z": 0.2, + "fixture": "rod" + }, + "swapped": true + }, + "dr": { + "enabled": true, + "stations": { + "center_m": 0.25, + "facing_deg": 8.0 + }, + "objects": { + "across_m": 0.025, + "along_m": 0.02, + "yaw_deg": 8.0 + } + }, + "place_check": { + "ring": { + "at": { + "station": "B", + "across": 0.0, + "along": -0.06, + "z": 0.2 + }, + "yaw_deg": 0.0, + "clearance": 0.004 + } + }, + "success": { + "thread_tol": 0.03, + "lost_dist": 0.06, + "axis_deg": 55.0, + "entry_s": 0.08, + "end_margin": 0.07, + "back_tol": 0.04, + "release_dist": 0.15, + "rest_speed": 0.05, + "held_lift": 0.04, + "lift": 0.08 + }, + "objects": { + "rack_back": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.7, + 0.03, + 0.2 + ], + "at": { + "station": "A", + "across": -0.05, + "along": -0.01, + "z": 0.1 + }, + "color": [ + 0.45, + 0.35, + 0.25 + ], + "pos": [ + -0.545569967085465, + -0.22245524533832595, + 0.42999999999999994 + ], + "yaw_deg": 6.360911385755088 + }, + "peg_1": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.02, + 0.18, + 0.02 + ], + "at": { + "station": "A", + "across": 0.1, + "along": -0.115, + "z": 0.14 + }, + "color": [ + 0.35, + 0.35, + 0.35 + ], + "pos": [ + -0.3848603589048562, + -0.3101901975434489, + 0.47 + ], + "yaw_deg": 6.360911385755088 + }, + "peg_2": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.02, + 0.18, + 0.02 + ], + "at": { + "station": "A", + "across": -0.2, + "along": -0.115, + "z": 0.14 + }, + "color": [ + 0.35, + 0.35, + 0.35 + ], + "pos": [ + -0.6830134793400171, + -0.34342747743781554, + 0.47 + ], + "yaw_deg": 6.360911385755088 + }, + "ring": { + "catalog": "ring_wide", + "type": "rigid", + "at": { + "station": "A", + "across": -0.2, + "along": -0.16444866413120787, + "z": 0.11 + }, + "yaw_deg": 6.360911385755088, + "jitter": { + "across_m": 0.0, + "along_m": 0.012, + "yaw_deg": 0.0 + }, + "friction": { + "static": 1.5, + "dynamic": 1.5 + }, + "asset": "$MAGICSIM_ASSETS/Object/MMB_A07/ring_wide/Object.usda", + "parts": [ + { + "name": "seg0", + "center": [ + 0.051, + 0.0, + 0.0 + ], + "half": [ + 0.011, + 0.0175, + 0.025124891681027845 + ], + "rpy_deg": [ + 0.0, + -0.0, + 0.0 + ] + }, + { + "name": "seg1", + "center": [ + 0.03606244584051392, + 0.0, + 0.03606244584051392 + ], + "half": [ + 0.011, + 0.0175, + 0.025124891681027845 + ], + "rpy_deg": [ + 0.0, + -45.0, + 0.0 + ] + }, + { + "name": "seg2", + "center": [ + 3.1228493378257503e-18, + 0.0, + 0.051 + ], + "half": [ + 0.011, + 0.0175, + 0.025124891681027845 + ], + "rpy_deg": [ + 0.0, + -90.0, + 0.0 + ] + }, + { + "name": "seg3", + "center": [ + -0.03606244584051392, + 0.0, + 0.03606244584051392 + ], + "half": [ + 0.011, + 0.0175, + 0.025124891681027845 + ], + "rpy_deg": [ + 0.0, + -135.0, + 0.0 + ] + }, + { + "name": "seg4", + "center": [ + -0.051, + 0.0, + 6.245698675651501e-18 + ], + "half": [ + 0.011, + 0.0175, + 0.025124891681027845 + ], + "rpy_deg": [ + 0.0, + -180.0, + 0.0 + ] + }, + { + "name": "seg5", + "center": [ + -0.03606244584051393, + 0.0, + -0.03606244584051392 + ], + "half": [ + 0.011, + 0.0175, + 0.025124891681027845 + ], + "rpy_deg": [ + 0.0, + -225.0, + 0.0 + ] + }, + { + "name": "seg6", + "center": [ + -9.368548013477251e-18, + 0.0, + -0.051 + ], + "half": [ + 0.011, + 0.0175, + 0.025124891681027845 + ], + "rpy_deg": [ + 0.0, + -270.0, + 0.0 + ] + }, + { + "name": "seg7", + "center": [ + 0.036062445840513914, + 0.0, + -0.03606244584051393 + ], + "half": [ + 0.011, + 0.0175, + 0.025124891681027845 + ], + "rpy_deg": [ + 0.0, + -315.0, + 0.0 + ] + }, + { + "name": "tab", + "center": [ + 0.0, + 0.0, + 0.09 + ], + "half": [ + 0.015, + 0.0175, + 0.03 + ], + "rpy_deg": [ + 0.0, + 0.0, + 0.0 + ] + } + ], + "mass": 0.05, + "com": [ + 0.0, + 0.0, + 0.0 + ], + "grasp": { + "part": "tab", + "thin_axis": 0, + "min_elevation_deg": 60.0, + "inset": 0.02, + "min_overlap_x": 0.016, + "min_overlap_z": 0.015 + }, + "pos": [ + -0.6775350157062455, + -0.39257172247804833, + 0.43999999999999995 + ] + }, + "ring_small": { + "catalog": "ring_small", + "type": "rigid", + "at": { + "station": "A", + "across": 0.1, + "along": -0.1678724746131391, + "z": 0.135 + }, + "yaw_deg": 6.360911385755088, + "jitter": { + "across_m": 0.0, + "along_m": 0.012, + "yaw_deg": 0.0 + }, + "friction": { + "static": 1.5, + "dynamic": 1.5 + }, + "asset": "$MAGICSIM_ASSETS/Object/MMB_A07/ring_small/Object.usda", + "parts": [ + { + "name": "seg0", + "center": [ + 0.026, + 0.0, + 0.0 + ], + "half": [ + 0.011, + 0.0175, + 0.01476955262170047 + ], + "rpy_deg": [ + 0.0, + -0.0, + 0.0 + ] + }, + { + "name": "seg1", + "center": [ + 0.018384776310850236, + 0.0, + 0.018384776310850233 + ], + "half": [ + 0.011, + 0.0175, + 0.01476955262170047 + ], + "rpy_deg": [ + 0.0, + -45.0, + 0.0 + ] + }, + { + "name": "seg2", + "center": [ + 1.5920408388915591e-18, + 0.0, + 0.026 + ], + "half": [ + 0.011, + 0.0175, + 0.01476955262170047 + ], + "rpy_deg": [ + 0.0, + -90.0, + 0.0 + ] + }, + { + "name": "seg3", + "center": [ + -0.018384776310850233, + 0.0, + 0.018384776310850236 + ], + "half": [ + 0.011, + 0.0175, + 0.01476955262170047 + ], + "rpy_deg": [ + 0.0, + -135.0, + 0.0 + ] + }, + { + "name": "seg4", + "center": [ + -0.026, + 0.0, + 3.1840816777831182e-18 + ], + "half": [ + 0.011, + 0.0175, + 0.01476955262170047 + ], + "rpy_deg": [ + 0.0, + -180.0, + 0.0 + ] + }, + { + "name": "seg5", + "center": [ + -0.01838477631085024, + 0.0, + -0.018384776310850233 + ], + "half": [ + 0.011, + 0.0175, + 0.01476955262170047 + ], + "rpy_deg": [ + 0.0, + -225.0, + 0.0 + ] + }, + { + "name": "seg6", + "center": [ + -4.776122516674677e-18, + 0.0, + -0.026 + ], + "half": [ + 0.011, + 0.0175, + 0.01476955262170047 + ], + "rpy_deg": [ + 0.0, + -270.0, + 0.0 + ] + }, + { + "name": "seg7", + "center": [ + 0.01838477631085023, + 0.0, + -0.01838477631085024 + ], + "half": [ + 0.011, + 0.0175, + 0.01476955262170047 + ], + "rpy_deg": [ + 0.0, + -315.0, + 0.0 + ] + }, + { + "name": "tab", + "center": [ + 0.0, + 0.0, + 0.065 + ], + "half": [ + 0.015, + 0.0175, + 0.03 + ], + "rpy_deg": [ + 0.0, + 0.0, + 0.0 + ] + } + ], + "mass": 0.05, + "com": [ + 0.0, + 0.0, + 0.0 + ], + "grasp": { + "part": "tab", + "thin_axis": 0, + "min_elevation_deg": 60.0, + "inset": 0.02, + "min_overlap_x": 0.016, + "min_overlap_z": 0.015 + }, + "pos": [ + -0.3790025681134405, + -0.3627371751802364, + 0.46499999999999997 + ] + }, + "rod_h": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.02, + 0.14, + 0.02 + ], + "at": { + "station": "B", + "across": 0.0, + "along": -0.13, + "z": 0.2 + }, + "fixture": "rod", + "color": [ + 0.75, + 0.75, + 0.78 + ], + "friction_static": 0.3, + "friction_dynamic": 0.25, + "pos": [ + 1.77620947645976, + 3.129433613049104, + 0.53 + ], + "yaw_deg": -4.512715966729274 + }, + "rod_s": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.02, + 0.14, + 0.02 + ], + "at": { + "station": "B", + "across": 0.0, + "along": -0.0027, + "z": 0.1598 + }, + "roll_deg": -35.0, + "fixture": "rod", + "color": [ + 0.75, + 0.75, + 0.78 + ], + "friction_static": 0.3, + "friction_dynamic": 0.25, + "pos": [ + 1.7862254843945193, + 3.2563389698511354, + 0.48979999999999996 + ], + "yaw_deg": -4.512715966729274 + }, + "rod_stop": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.1, + 0.012, + 0.12 + ], + "at": { + "station": "B", + "across": 0.0, + "along": 0.07, + "z": 0.06 + }, + "fixture": "rod", + "color": [ + 0.55, + 0.3, + 0.25 + ], + "pos": [ + 1.7919455454853048, + 3.3288135923138817, + 0.38999999999999996 + ], + "yaw_deg": -4.512715966729274 + } + }, + "report_jsonl": "/mnt/scratch/xc536_atomic/n033_str_off_1022/out/report.episodes.jsonl", + "dr_applied": true, + "level": "easy" + }, + "command": { + "StationRing": { + "obj_type": "rigid", + "obj_name": "ring", + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.015, + "withdraw": 0.09, + "settle_ticks": 120 + }, + "StationRingStretch": { + "obj_type": "rigid", + "obj_name": "ring", + "grasp_part": "tab", + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.015, + "lift": 0.03, + "withdraw": 0.09, + "over_top": -0.02, + "pre_clear": 0.1, + "carry_ahead": 0.36, + "thread_lateral": 0.39, + "pinch_tilt_deg": 0.0, + "pinch_tip_offset": 0.0, + "stow_unpin_deg": 3.0, + "stow_arm_out": 0.03, + "stow_keep_wrist": true, + "stow_keep_arm": 0.02, + "stow_keep_min_out": 0.4, + "thread_stand_retry": [ + 0.01, + 0.02 + ], + "carry_z": 0.85, + "settle_ticks": 120, + "nav_stall_ticks": 500 + } + } + }, + "collect": { + "global_planner": { + "NavTo": { + "use_navmesh": true, + "use_absolute": true, + "translation_threshold": 0.006, + "rotation_threshold": 0.008, + "num_path_segments": 30, + "start_forward_offset": 0.0, + "visualize_path": false, + "carry_arm": true + }, + "RetractMoveL": { + "translation_threshold": 0.06, + "rotation_threshold": 0.3, + "motiongen_distance_threshold": 0.05, + "timeout_steps": 2000, + "base_pos_threshold": 0.12, + "base_rot_threshold": 0.5, + "eef_pos_threshold": 0.03, + "eef_rot_threshold": 0.3, + "base_waypoint_max_steps": 20, + "arm_waypoint_max_steps": 8 + }, + "MobileMoveL": { + "translation_threshold": 0.003, + "rotation_threshold": 0.05, + "motiongen_distance_threshold": 0.0, + "timeout_steps": 1500, + "stall_release_ticks": 100, + "stall_release_factor": 5.0, + "reactive": false, + "base_pos_threshold": 0.025, + "base_rot_threshold": 0.05, + "eef_pos_threshold": 0.02, + "eef_rot_threshold": 0.25, + "waypoint_max_steps": 60, + "interp_steps": 60, + "interp_validate_target": true, + "retry_mobile_on_locked_plan_failure": true, + "debug": false, + "debug_viz": false, + "debug_sphere": false + }, + "MobileServoL": { + "base_pos_threshold": 0.12, + "waypoint_max_steps": 20, + "translation_threshold": 0.05, + "timeout_steps": 300 + }, + "ParallelGripper": { + "gripper_threshold": 0.0005, + "timeout_steps": 100 + } + }, + "atomic_skill": { + "NavToPose": { + "robot_id": 0, + "show_marker": false + }, + "Move": { + "arm_planner": "MobileMoveL", + "hand_planner": "ParallelGripper", + "obstacle_avoid_paths": [ + "dynamic/table_A", + "dynamic/table_B" + ], + "obstacle_ignore_paths": [], + "close_value": 1.0, + "open_value": 0.0, + "hold_steps": 25, + "robot_id": 0, + "hand_id": 0, + "ramp_steps": 0 + }, + "StationNavXR": { + "robot_id": 0, + "show_marker": false + }, + "ReachStance": { + "max_walks": 4 + }, + "Grasp": { + "retrieval_offset": 0.03 + } + }, + "command": { + "StationRing": { + "obj_type": "rigid", + "obj_name": "ring", + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.015, + "withdraw": 0.09, + "settle_ticks": 120 + }, + "StationRingStretch": { + "obj_type": "rigid", + "obj_name": "ring", + "grasp_part": "tab", + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.015, + "lift": 0.03, + "withdraw": 0.09, + "over_top": -0.02, + "pre_clear": 0.1, + "carry_ahead": 0.36, + "thread_lateral": 0.39, + "pinch_tilt_deg": 0.0, + "pinch_tip_offset": 0.0, + "stow_unpin_deg": 3.0, + "stow_arm_out": 0.03, + "stow_keep_wrist": true, + "stow_keep_arm": 0.02, + "stow_keep_min_out": 0.4, + "thread_stand_retry": [ + 0.01, + 0.02 + ], + "carry_z": 0.85, + "settle_ticks": 120, + "nav_stall_ticks": 500 + } + }, + "auto_collect": {}, + "record": { + "output_dir": "/mnt/scratch/xc536_atomic/n033_str_off_1022/out/rec", + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "json_round": null, + "schema": { + "source": "robot_manager", + "nan_policy": "from_raw" + }, + "lerobot": { + "subsample_every": 2 + } + } + }, + "visual_dr": { + "keep": [ + "ring", + "ring_small" + ] + } + }, + "git_sha": null, + "collect_runtime": { + "max_trajectories": 1 + } +} \ No newline at end of file diff --git a/N033/stretch3/dr_off/seed_1022/rec/stationringstretch/000/sim_info/0/actions.npz b/N033/stretch3/dr_off/seed_1022/rec/stationringstretch/000/sim_info/0/actions.npz new file mode 100644 index 0000000000000000000000000000000000000000..09a0c5db0110980a2d25150c6cc2dc1668449bcc --- /dev/null +++ b/N033/stretch3/dr_off/seed_1022/rec/stationringstretch/000/sim_info/0/actions.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e6db1bf98ea7d035f66eb7eb4fae0f88047ccbedb7625b5614086c2bd7bf134c +size 674480 diff --git a/N033/stretch3/dr_off/seed_1022/rec/stationringstretch/000/sim_info/0/device_commands.jsonl b/N033/stretch3/dr_off/seed_1022/rec/stationringstretch/000/sim_info/0/device_commands.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N033/stretch3/dr_off/seed_1022/rec/stationringstretch/000/sim_info/0/device_events.jsonl b/N033/stretch3/dr_off/seed_1022/rec/stationringstretch/000/sim_info/0/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N033/stretch3/dr_off/seed_1022/rec/stationringstretch/000/sim_info/0/scene_snapshot.json b/N033/stretch3/dr_off/seed_1022/rec/stationringstretch/000/sim_info/0/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..c9922be4764b75a05c73fac4f1dbe424832de0d2 --- /dev/null +++ b/N033/stretch3/dr_off/seed_1022/rec/stationringstretch/000/sim_info/0/scene_snapshot.json @@ -0,0 +1,659 @@ +{ + "trajectory_id": 0, + "env_id": 0, + "run_id": "stationringstretch/000", + "task_type": "RingStretchCommand", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])", + "avatars": "avatar_manager.set_avatars_state(snapshot['avatars'], env_ids=[env_id]) (present when the scene has animated avatars)" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "table_A": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.4969856896760837, + -0.20697726134142613, + 0.18 + ], + "ori": [ + 0.9984597563743591, + 0.0, + 0.0, + 0.055480919778347015 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.45, + 0.35 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + } + }, + "type_specific": {} + } + ], + "table_B": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 1.7864379213263641, + 3.2590305995712097, + 0.18 + ], + "ori": [ + 0.9992246627807617, + 0.0, + 0.0, + -0.03937069699168205 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.45, + 0.35 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + } + }, + "type_specific": {} + } + ], + "rack_back": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.545569967085465, + -0.22245524533832595, + 0.42999999999999994 + ], + "ori": [ + 0.9984597563743591, + 0.0, + 0.0, + 0.055480919778347015 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.45, + 0.35, + 0.25 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.7, + 0.03, + 0.2 + ] + } + }, + "type_specific": {} + } + ], + "peg_1": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.3848603589048562, + -0.3101901975434489, + 0.47 + ], + "ori": [ + 0.9984597563743591, + 0.0, + 0.0, + 0.055480919778347015 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.35, + 0.35, + 0.35 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.02, + 0.18, + 0.02 + ] + } + }, + "type_specific": {} + } + ], + "peg_2": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.6830134793400171, + -0.34342747743781554, + 0.47 + ], + "ori": [ + 0.9984597563743591, + 0.0, + 0.0, + 0.055480919778347015 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.35, + 0.35, + 0.35 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.02, + 0.18, + 0.02 + ] + } + }, + "type_specific": {} + } + ], + "ring": [ + { + "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MMB_A07/ring_wide/Object.usda", + "pose": { + "pos": [ + -0.6775345802307129, + -0.3925716280937195, + 0.44000014662742615 + ], + "ori": [ + 0.9984597563743591, + 1.0687076610338408e-06, + -5.566991603700444e-06, + 0.05548100546002388 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.05, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -0.0012330830795690417, + 2.3702952603343874e-05, + -5.40878863830585e-05 + ], + "angular_velocity": [ + -0.001452661119401455, + 0.04920987784862518, + 0.002655299147590995 + ] + } + } + ], + "ring_small": [ + { + "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MMB_A07/ring_small/Object.usda", + "pose": { + "pos": [ + -0.3790108859539032, + -0.36272576451301575, + 0.46878528594970703 + ], + "ori": [ + 0.9984554648399353, + -0.00018744140106718987, + 0.0032165292650461197, + 0.05546366423368454 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.05, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -0.0006933401455171406, + -5.800726285087876e-05, + 0.0003319992101751268 + ], + "angular_velocity": [ + 0.007458105683326721, + -0.06547311693429947, + -0.00022002568584866822 + ] + } + } + ], + "rod_h": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 1.77620947645976, + 3.129433613049104, + 0.53 + ], + "ori": [ + 0.9992246627807617, + 0.0, + 0.0, + -0.03937069699168205 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.75, + 0.75, + 0.78 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 0.3, + "dynamic_friction": 0.25, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.02, + 0.14, + 0.02 + ] + } + }, + "type_specific": {} + } + ], + "rod_s": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 1.7862254843945193, + 3.2563389698511354, + 0.48979999999999996 + ], + "ori": [ + 0.9529775381088257, + -0.3004726469516754, + 0.011838996782898903, + -0.037548501044511795 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.75, + 0.75, + 0.78 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 0.3, + "dynamic_friction": 0.25, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.02, + 0.14, + 0.02 + ] + } + }, + "type_specific": {} + } + ], + "rod_stop": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 1.7919455454853048, + 3.3288135923138817, + 0.38999999999999996 + ], + "ori": [ + 0.9992246627807617, + 0.0, + 0.0, + -0.03937069699168205 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.3, + 0.25 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.1, + 0.012, + 0.12 + ] + } + }, + "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": [ + [ + -3.327573299407959, + -2.018972635269165, + 0.05999999865889549, + 0.9270325899124146, + 0.0, + 0.0, + 0.37498071789741516 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.0, + 0.0, + 0.0, + 0.550000011920929, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 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 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/N033/stretch3/dr_off/seed_1022/rec/stationringstretch/000/sim_info/0/sim_states.npz b/N033/stretch3/dr_off/seed_1022/rec/stationringstretch/000/sim_info/0/sim_states.npz new file mode 100644 index 0000000000000000000000000000000000000000..570ba5dc3b1a463390df90be399737edd779a080 --- /dev/null +++ b/N033/stretch3/dr_off/seed_1022/rec/stationringstretch/000/sim_info/0/sim_states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4df528079228e659055304b97f9ebce2640da8f518b9032de7ebe083150fbffe +size 648592 diff --git a/N033/stretch3/dr_off/seed_1022/rec/stationringstretch/000/sim_info/magicsim_manifest.json b/N033/stretch3/dr_off/seed_1022/rec/stationringstretch/000/sim_info/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..4ae48ad0771872de717f20817994dd5cec0045f2 --- /dev/null +++ b/N033/stretch3/dr_off/seed_1022/rec/stationringstretch/000/sim_info/magicsim_manifest.json @@ -0,0 +1,228 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 03:08:20" + }, + "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": "stationringstretch/000", + "task_type": "RingStretchCommand" + } +} \ No newline at end of file diff --git a/N033/stretch3/dr_off/seed_1022/report.episodes.jsonl b/N033/stretch3/dr_off/seed_1022/report.episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a9c5275474f97f5d78e43481d3fe29a162a5c265 --- /dev/null +++ b/N033/stretch3/dr_off/seed_1022/report.episodes.jsonl @@ -0,0 +1 @@ +{"task_id": "N033", "task_version": "EXT60-MobileAvatar-v3", "instruction": "pick up the large ring (not the small one)", "agent_id": "a07", "family_id": "ring_on_bent_rod", "primary_category": "C2", "level": "easy", "embodiment": "stretch3", "scene_seed": 1022, "execution_mode": "expert_privileged_command", "station_layout": {"A": {"center": [-0.4969856896760837, -0.20697726134142613], "facing": 1.682, "stand": [-0.414, -0.952, 1.682]}, "B": {"center": [1.7864379213263641, 3.2590305995712097], "facing": 1.492, "stand": [1.727, 2.511, 1.492]}}, "spawn_pose": [-3.328, -2.019, 0.769], "base_path": [[-3.328, -2.019, 0.769], [-3.328, -2.019, 0.769], [-3.328, -2.019, 0.769], [-3.328, -2.019, 0.769], [-3.327, -2.019, 0.768], [-3.228, -1.937, 0.575], [-3.094, -1.87, 0.382], [-2.953, -1.821, 0.301], [-2.809, -1.778, 0.287], [-2.665, -1.734, 0.303], [-2.523, -1.688, 0.328], [-2.381, -1.638, 0.352], [-2.241, -1.585, 0.368], [-2.101, -1.53, 0.378], [-1.962, -1.474, 0.383], [-1.823, -1.418, 0.385], [-1.684, -1.362, 0.385], [-1.545, -1.305, 0.384], [-1.406, -1.249, 0.383], [-1.267, -1.193, 0.382], [-1.128, -1.137, 0.382], [-0.992, -1.083, 0.381], [-0.894, -1.043, 0.381], [-0.826, -1.017, 0.381], [-0.774, -0.995, 0.382], [-0.736, -0.98, 0.382], [-0.706, -0.97, 0.252], [-0.682, -0.966, -0.002], [-0.666, -0.968, -0.166], [-0.656, -0.97, -0.275], [-0.649, -0.972, -0.345], [-0.646, -0.973, -0.358], [-0.643, -0.975, -0.419], [-0.642, -0.975, -0.435], [-0.642, -0.975, -0.835], [-0.642, -0.975, -1.235], [-0.642, -0.975, -1.635], [-0.642, -0.975, -2.035], [-0.642, -0.975, -2.435], [-0.642, -0.975, -2.75], [-0.642, -0.975, -2.9], [-0.642, -0.975, -2.969], [-0.642, -0.975, -3.002], [-0.642, -0.975, -3.017], [-0.642, -0.975, -3.023], [-0.642, -0.975, -3.023], [-0.642, -0.975, -3.023], [-0.642, -0.975, -3.023], [-0.642, -0.975, -3.023], [-0.642, -0.975, -3.023], [-0.642, -0.975, -3.023], [-0.642, -0.975, -3.022], [-0.642, -0.975, -3.022], [-0.642, -0.975, -3.022], [-0.642, -0.975, -3.022], [-0.642, -0.975, -3.022], [-0.642, -0.975, -3.022], [-0.642, -0.975, -3.022], [-0.642, -0.975, -3.022], [-0.642, -0.975, -3.022], [-0.642, -0.975, -3.022], [-0.642, -0.975, -3.022], [-0.642, -0.975, -3.022], [-0.642, -0.975, -3.022], [-0.642, -0.975, -3.022], [-0.642, -0.975, -3.022], [-0.642, -0.975, -3.022], [-0.642, -0.975, -3.022], [-0.642, -0.975, -3.022], [-0.642, -0.975, -3.022], [-0.642, -0.975, -3.022], [-0.642, -0.975, -3.022], [-0.642, -0.975, -3.022], [-0.642, -0.975, -3.022], [-0.642, -0.975, -3.022], [-0.585, -0.968, -3.005], [-0.437, -0.944, -2.964], [-0.29, -0.916, -2.944], [-0.143, -0.886, -2.939], [0.003, -0.852, -2.85], [0.141, -0.794, -2.62], [0.261, -0.705, -2.393], [0.361, -0.593, -2.22], [0.444, -0.468, -2.093], [0.513, -0.335, -2.01], [0.573, -0.198, -1.966], [0.63, -0.059, -1.95], [0.685, 0.081, -1.948], [0.74, 0.22, -1.953], [0.797, 0.359, -1.961], [0.854, 0.497, -1.967], [0.913, 0.636, -1.971], [0.971, 0.774, -1.973], [1.03, 0.912, -1.974], [1.089, 1.05, -1.974], [1.147, 1.187, -1.973], [1.206, 1.325, -1.973], [1.265, 1.463, -1.973], [1.323, 1.601, -1.973], [1.382, 1.739, -1.973], [1.441, 1.877, -1.973], [1.499, 2.015, -1.973], [1.558, 2.153, -1.973], [1.615, 2.29, -1.944], [1.653, 2.394, -1.894], [1.674, 2.462, -1.862], [1.687, 2.507, -1.842], [1.695, 2.536, -1.829], [1.7, 2.556, -1.819], [1.704, 2.568, -1.813], [1.706, 2.577, -1.8], [1.707, 2.582, -1.786], [1.708, 2.585, -1.799], [1.708, 2.588, -1.779], [1.708, 2.588, -2.037], [1.708, 2.588, -2.437], [1.708, 2.588, -2.819], [1.708, 2.588, -3.033], [1.708, 2.588, -3.133], [1.708, 2.588, 3.104], [1.708, 2.588, 3.082], [1.708, 2.588, 3.072], [1.708, 2.588, 3.071], [1.708, 2.588, 3.071], [1.708, 2.588, 3.071], [1.708, 2.588, 3.071], [1.708, 2.588, 3.071], [1.708, 2.588, 3.07], [1.708, 2.588, 3.07], [1.708, 2.588, 3.07], [1.708, 2.588, 3.07], [1.708, 2.588, 3.07], [1.708, 2.588, 3.07], [1.708, 2.588, 3.07], [1.708, 2.588, 3.07], [1.708, 2.588, 3.07], [1.708, 2.588, 3.07], [1.708, 2.588, 3.07], [1.708, 2.588, 3.07], [1.708, 2.588, 3.07], [1.708, 2.588, 3.07], [1.708, 2.588, 3.07], [1.708, 2.588, 3.07], [1.708, 2.588, 3.07], [1.708, 2.588, 3.07], [1.708, 2.588, 3.07], [1.708, 2.588, 3.07], [1.708, 2.588, 3.07], [1.708, 2.588, 3.07], [1.708, 2.588, 3.07], [1.708, 2.588, 3.07], [1.708, 2.588, 3.07], [1.708, 2.588, 3.07], [1.708, 2.588, 3.07], [1.708, 2.588, 3.07], [1.708, 2.588, 3.07], [1.708, 2.588, 3.07], [1.708, 2.588, 3.07], [1.708, 2.588, 3.07], [1.708, 2.588, 3.07], [1.708, 2.588, 3.07], [1.708, 2.588, 3.07], [1.708, 2.588, 3.07], [1.708, 2.588, 3.07], [1.708, 2.588, 3.07], [1.708, 2.588, 3.07], [1.708, 2.588, 3.07], [1.708, 2.588, 3.07], [1.708, 2.588, 3.07], [1.708, 2.588, 3.07], [1.708, 2.588, 3.07], [1.708, 2.588, 3.07], [1.708, 2.588, 3.07]], "stage_events": [{"tick": 439, "event": "enter_station", "station": "A", "xy": [-1.473, -1.276]}, {"tick": 2235, "event": "leave_station", "station": "A", "xy": [0.817, 0.409]}, {"tick": 2497, "event": "enter_station", "station": "B", "xy": [1.431, 1.855]}], "transport_state": {"ring": {"entered": true, "entry_s": 0.0, "max_s": 0.2765211406062372, "was_threaded": true, "lost": 0, "held": false, "grasps": 1}}, "manipulation_success": true, "mobile_success": true, "full_success": true, "failure_reason": null, "fail_class_hint": null, "distance_to_first_interaction": 2.007, "interstation_path_lengths": [4.674], "station_transition_order": ["A", "B"], "final_approach_pose": [1.708, 2.588, 3.07], "regrasp_events": 0, "control_ticks": 3644, "wall_s": 862.3, "phase": "done", "state": "success: task sequence complete", "check": {"ring": {"held": false, "dist_wrist": 0.666, "s": 0.274, "rod_dist": 0.028, "axis_deg": 7.6, "threaded": true, "entered_via_open_end": true, "entry_s": 0.0, "max_s": 0.277, "lost_count": 0, "at_rest": true}, "decoy": {"ring_small": {"lift": 0.0, "max_lift_near_wrist": 0.0, "dist_wrist": 3.657}}, "rod_length": 0.28, "released": true, "other_rings_on_rod": [], "manipulation_success": true}, "route": ["A", "B"], "total_path_m": 7.47, "planner_seeds": "default"} diff --git a/N033/stretch3/dr_off/seed_1022/report.json b/N033/stretch3/dr_off/seed_1022/report.json new file mode 100644 index 0000000000000000000000000000000000000000..2cb1f641280b31c44e430ebc3ee1405f2d4bcf99 --- /dev/null +++ b/N033/stretch3/dr_off/seed_1022/report.json @@ -0,0 +1,1100 @@ +{ + "task_id": "N033", + "robot": "stretch3", + "level": "easy", + "seed": 1022, + "episodes_requested": 1, + "episodes": [ + { + "task_id": "N033", + "task_version": "EXT60-MobileAvatar-v3", + "instruction": "pick up the large ring (not the small one)", + "agent_id": "a07", + "family_id": "ring_on_bent_rod", + "primary_category": "C2", + "level": "easy", + "embodiment": "stretch3", + "scene_seed": 1022, + "execution_mode": "expert_privileged_command", + "station_layout": { + "A": { + "center": [ + -0.4969856896760837, + -0.20697726134142613 + ], + "facing": 1.682, + "stand": [ + -0.414, + -0.952, + 1.682 + ] + }, + "B": { + "center": [ + 1.7864379213263641, + 3.2590305995712097 + ], + "facing": 1.492, + "stand": [ + 1.727, + 2.511, + 1.492 + ] + } + }, + "spawn_pose": [ + -3.328, + -2.019, + 0.769 + ], + "base_path": [ + [ + -3.328, + -2.019, + 0.769 + ], + [ + -3.328, + -2.019, + 0.769 + ], + [ + -3.328, + -2.019, + 0.769 + ], + [ + -3.328, + -2.019, + 0.769 + ], + [ + -3.327, + -2.019, + 0.768 + ], + [ + -3.228, + -1.937, + 0.575 + ], + [ + -3.094, + -1.87, + 0.382 + ], + [ + -2.953, + -1.821, + 0.301 + ], + [ + -2.809, + -1.778, + 0.287 + ], + [ + -2.665, + -1.734, + 0.303 + ], + [ + -2.523, + -1.688, + 0.328 + ], + [ + -2.381, + -1.638, + 0.352 + ], + [ + -2.241, + -1.585, + 0.368 + ], + [ + -2.101, + -1.53, + 0.378 + ], + [ + -1.962, + -1.474, + 0.383 + ], + [ + -1.823, + -1.418, + 0.385 + ], + [ + -1.684, + -1.362, + 0.385 + ], + [ + -1.545, + -1.305, + 0.384 + ], + [ + -1.406, + -1.249, + 0.383 + ], + [ + -1.267, + -1.193, + 0.382 + ], + [ + -1.128, + -1.137, + 0.382 + ], + [ + -0.992, + -1.083, + 0.381 + ], + [ + -0.894, + -1.043, + 0.381 + ], + [ + -0.826, + -1.017, + 0.381 + ], + [ + -0.774, + -0.995, + 0.382 + ], + [ + -0.736, + -0.98, + 0.382 + ], + [ + -0.706, + -0.97, + 0.252 + ], + [ + -0.682, + -0.966, + -0.002 + ], + [ + -0.666, + -0.968, + -0.166 + ], + [ + -0.656, + -0.97, + -0.275 + ], + [ + -0.649, + -0.972, + -0.345 + ], + [ + -0.646, + -0.973, + -0.358 + ], + [ + -0.643, + -0.975, + -0.419 + ], + [ + -0.642, + -0.975, + -0.435 + ], + [ + -0.642, + -0.975, + -0.835 + ], + [ + -0.642, + -0.975, + -1.235 + ], + [ + -0.642, + -0.975, + -1.635 + ], + [ + -0.642, + -0.975, + -2.035 + ], + [ + -0.642, + -0.975, + -2.435 + ], + [ + -0.642, + -0.975, + -2.75 + ], + [ + -0.642, + -0.975, + -2.9 + ], + [ + -0.642, + -0.975, + -2.969 + ], + [ + -0.642, + -0.975, + -3.002 + ], + [ + -0.642, + -0.975, + -3.017 + ], + [ + -0.642, + -0.975, + -3.023 + ], + [ + -0.642, + -0.975, + -3.023 + ], + [ + -0.642, + -0.975, + -3.023 + ], + [ + -0.642, + -0.975, + -3.023 + ], + [ + -0.642, + -0.975, + -3.023 + ], + [ + -0.642, + -0.975, + -3.023 + ], + [ + -0.642, + -0.975, + -3.023 + ], + [ + -0.642, + -0.975, + -3.022 + ], + [ + -0.642, + -0.975, + -3.022 + ], + [ + -0.642, + -0.975, + -3.022 + ], + [ + -0.642, + -0.975, + -3.022 + ], + [ + -0.642, + -0.975, + -3.022 + ], + [ + -0.642, + -0.975, + -3.022 + ], + [ + -0.642, + -0.975, + -3.022 + ], + [ + -0.642, + -0.975, + -3.022 + ], + [ + -0.642, + -0.975, + -3.022 + ], + [ + -0.642, + -0.975, + -3.022 + ], + [ + -0.642, + -0.975, + -3.022 + ], + [ + -0.642, + -0.975, + -3.022 + ], + [ + -0.642, + -0.975, + -3.022 + ], + [ + -0.642, + -0.975, + -3.022 + ], + [ + -0.642, + -0.975, + -3.022 + ], + [ + -0.642, + -0.975, + -3.022 + ], + [ + -0.642, + -0.975, + -3.022 + ], + [ + -0.642, + -0.975, + -3.022 + ], + [ + -0.642, + -0.975, + -3.022 + ], + [ + -0.642, + -0.975, + -3.022 + ], + [ + -0.642, + -0.975, + -3.022 + ], + [ + -0.642, + -0.975, + -3.022 + ], + [ + -0.642, + -0.975, + -3.022 + ], + [ + -0.642, + -0.975, + -3.022 + ], + [ + -0.585, + -0.968, + -3.005 + ], + [ + -0.437, + -0.944, + -2.964 + ], + [ + -0.29, + -0.916, + -2.944 + ], + [ + -0.143, + -0.886, + -2.939 + ], + [ + 0.003, + -0.852, + -2.85 + ], + [ + 0.141, + -0.794, + -2.62 + ], + [ + 0.261, + -0.705, + -2.393 + ], + [ + 0.361, + -0.593, + -2.22 + ], + [ + 0.444, + -0.468, + -2.093 + ], + [ + 0.513, + -0.335, + -2.01 + ], + [ + 0.573, + -0.198, + -1.966 + ], + [ + 0.63, + -0.059, + -1.95 + ], + [ + 0.685, + 0.081, + -1.948 + ], + [ + 0.74, + 0.22, + -1.953 + ], + [ + 0.797, + 0.359, + -1.961 + ], + [ + 0.854, + 0.497, + -1.967 + ], + [ + 0.913, + 0.636, + -1.971 + ], + [ + 0.971, + 0.774, + -1.973 + ], + [ + 1.03, + 0.912, + -1.974 + ], + [ + 1.089, + 1.05, + -1.974 + ], + [ + 1.147, + 1.187, + -1.973 + ], + [ + 1.206, + 1.325, + -1.973 + ], + [ + 1.265, + 1.463, + -1.973 + ], + [ + 1.323, + 1.601, + -1.973 + ], + [ + 1.382, + 1.739, + -1.973 + ], + [ + 1.441, + 1.877, + -1.973 + ], + [ + 1.499, + 2.015, + -1.973 + ], + [ + 1.558, + 2.153, + -1.973 + ], + [ + 1.615, + 2.29, + -1.944 + ], + [ + 1.653, + 2.394, + -1.894 + ], + [ + 1.674, + 2.462, + -1.862 + ], + [ + 1.687, + 2.507, + -1.842 + ], + [ + 1.695, + 2.536, + -1.829 + ], + [ + 1.7, + 2.556, + -1.819 + ], + [ + 1.704, + 2.568, + -1.813 + ], + [ + 1.706, + 2.577, + -1.8 + ], + [ + 1.707, + 2.582, + -1.786 + ], + [ + 1.708, + 2.585, + -1.799 + ], + [ + 1.708, + 2.588, + -1.779 + ], + [ + 1.708, + 2.588, + -2.037 + ], + [ + 1.708, + 2.588, + -2.437 + ], + [ + 1.708, + 2.588, + -2.819 + ], + [ + 1.708, + 2.588, + -3.033 + ], + [ + 1.708, + 2.588, + -3.133 + ], + [ + 1.708, + 2.588, + 3.104 + ], + [ + 1.708, + 2.588, + 3.082 + ], + [ + 1.708, + 2.588, + 3.072 + ], + [ + 1.708, + 2.588, + 3.071 + ], + [ + 1.708, + 2.588, + 3.071 + ], + [ + 1.708, + 2.588, + 3.071 + ], + [ + 1.708, + 2.588, + 3.071 + ], + [ + 1.708, + 2.588, + 3.071 + ], + [ + 1.708, + 2.588, + 3.07 + ], + [ + 1.708, + 2.588, + 3.07 + ], + [ + 1.708, + 2.588, + 3.07 + ], + [ + 1.708, + 2.588, + 3.07 + ], + [ + 1.708, + 2.588, + 3.07 + ], + [ + 1.708, + 2.588, + 3.07 + ], + [ + 1.708, + 2.588, + 3.07 + ], + [ + 1.708, + 2.588, + 3.07 + ], + [ + 1.708, + 2.588, + 3.07 + ], + [ + 1.708, + 2.588, + 3.07 + ], + [ + 1.708, + 2.588, + 3.07 + ], + [ + 1.708, + 2.588, + 3.07 + ], + [ + 1.708, + 2.588, + 3.07 + ], + [ + 1.708, + 2.588, + 3.07 + ], + [ + 1.708, + 2.588, + 3.07 + ], + [ + 1.708, + 2.588, + 3.07 + ], + [ + 1.708, + 2.588, + 3.07 + ], + [ + 1.708, + 2.588, + 3.07 + ], + [ + 1.708, + 2.588, + 3.07 + ], + [ + 1.708, + 2.588, + 3.07 + ], + [ + 1.708, + 2.588, + 3.07 + ], + [ + 1.708, + 2.588, + 3.07 + ], + [ + 1.708, + 2.588, + 3.07 + ], + [ + 1.708, + 2.588, + 3.07 + ], + [ + 1.708, + 2.588, + 3.07 + ], + [ + 1.708, + 2.588, + 3.07 + ], + [ + 1.708, + 2.588, + 3.07 + ], + [ + 1.708, + 2.588, + 3.07 + ], + [ + 1.708, + 2.588, + 3.07 + ], + [ + 1.708, + 2.588, + 3.07 + ], + [ + 1.708, + 2.588, + 3.07 + ], + [ + 1.708, + 2.588, + 3.07 + ], + [ + 1.708, + 2.588, + 3.07 + ], + [ + 1.708, + 2.588, + 3.07 + ], + [ + 1.708, + 2.588, + 3.07 + ], + [ + 1.708, + 2.588, + 3.07 + ], + [ + 1.708, + 2.588, + 3.07 + ], + [ + 1.708, + 2.588, + 3.07 + ], + [ + 1.708, + 2.588, + 3.07 + ], + [ + 1.708, + 2.588, + 3.07 + ], + [ + 1.708, + 2.588, + 3.07 + ], + [ + 1.708, + 2.588, + 3.07 + ], + [ + 1.708, + 2.588, + 3.07 + ], + [ + 1.708, + 2.588, + 3.07 + ], + [ + 1.708, + 2.588, + 3.07 + ], + [ + 1.708, + 2.588, + 3.07 + ] + ], + "stage_events": [ + { + "tick": 439, + "event": "enter_station", + "station": "A", + "xy": [ + -1.473, + -1.276 + ] + }, + { + "tick": 2235, + "event": "leave_station", + "station": "A", + "xy": [ + 0.817, + 0.409 + ] + }, + { + "tick": 2497, + "event": "enter_station", + "station": "B", + "xy": [ + 1.431, + 1.855 + ] + } + ], + "transport_state": { + "ring": { + "entered": true, + "entry_s": 0.0, + "max_s": 0.2765211406062372, + "was_threaded": true, + "lost": 0, + "held": false, + "grasps": 1 + } + }, + "manipulation_success": true, + "mobile_success": true, + "full_success": true, + "failure_reason": null, + "fail_class_hint": null, + "distance_to_first_interaction": 2.007, + "interstation_path_lengths": [ + 4.674 + ], + "station_transition_order": [ + "A", + "B" + ], + "final_approach_pose": [ + 1.708, + 2.588, + 3.07 + ], + "regrasp_events": 0, + "control_ticks": 3644, + "wall_s": 862.3, + "phase": "done", + "state": "success: task sequence complete", + "check": { + "ring": { + "held": false, + "dist_wrist": 0.666, + "s": 0.274, + "rod_dist": 0.028, + "axis_deg": 7.6, + "threaded": true, + "entered_via_open_end": true, + "entry_s": 0.0, + "max_s": 0.277, + "lost_count": 0, + "at_rest": true + }, + "decoy": { + "ring_small": { + "lift": 0.0, + "max_lift_near_wrist": 0.0, + "dist_wrist": 3.657 + } + }, + "rod_length": 0.28, + "released": true, + "other_rings_on_rod": [], + "manipulation_success": true + }, + "route": [ + "A", + "B" + ], + "total_path_m": 7.47, + "planner_seeds": "default" + } + ], + "error": null, + "collect": { + "task": "N033", + "robot": "stretch3", + "visual_dr": false, + "env": { + "MMB_COLLECT": "1", + "MMB_TASK_ID": "N033", + "MMB_CLEAN_VIEW": "1", + "MMB_REAL_ROBOT_LOOK": "1", + "MMB_VISUAL_DR": "0" + }, + "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 + } + } + }, + "review_cameras": [], + "policy_obs_signature": [ + "/camera_info[0]/rgb[0]:(480, 640, 4):uint8", + "/camera_info[1]/rgb[0]:(480, 640, 4):uint8", + "/robot_state[0]/HelloRobot/base_ang_vel:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/base_lin_vel:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/base_pos:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/base_quat:(1, 4):torch.float32", + "/robot_state[0]/HelloRobot/eef_pos:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/eef_quat:(1, 4):torch.float32", + "/robot_state[0]/HelloRobot/eef_relative_pos:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/eef_relative_quat:(1, 4):torch.float32", + "/robot_state[0]/HelloRobot/joint_effort:(1, 15):torch.float32", + "/robot_state[0]/HelloRobot/joint_pos:(1, 15):torch.float32", + "/robot_state[0]/HelloRobot/joint_vel:(1, 15):torch.float32" + ], + "n_success": 1, + "elapsed_s": 1117.2, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 32.7 + } +} diff --git a/N033/stretch3/dr_on/seed_2019/check.json b/N033/stretch3/dr_on/seed_2019/check.json new file mode 100644 index 0000000000000000000000000000000000000000..e8d3002892516f835fa47d3384917bc970cd7624 --- /dev/null +++ b/N033/stretch3/dr_on/seed_2019/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: 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.'; expected 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "2221 rows vs ceil(4442/2) = 2221" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..4541, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "44.14 MB, 2221 frames at 25 fps, mean luma 86..125, std 22, new picture 2220x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2221 vs 2221" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "49.33 MB, 2221 frames at 25 fps, mean luma 89..143, std 33, new picture 2220x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2221 vs 2221" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationringstretch/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N033/stretch3/dr_on/seed_2019/check.txt b/N033/stretch3/dr_on/seed_2019/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..599e0e6b43f6b1019a1f6a6f4e5f2046e30262e6 --- /dev/null +++ b/N033/stretch3/dr_on/seed_2019/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n033_str_on_2019/out task=N033 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n033_str_on_2019/out/rec/stationringstretch/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2221 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: 2221 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: 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.'; expected 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.' +rows 2221 at dataset fps 25 = 88.84 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2221 rows vs ceil(4442/2) = 2221 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..4541, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 44.14 MB, 2221 frames at 25 fps, mean luma 86..125, std 22, new picture 2220x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2221 vs 2221 +[PASS] video observation.images.wrist decodes, 640x480, not black: 49.33 MB, 2221 frames at 25 fps, mean luma 89..143, std 33, new picture 2220x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2221 vs 2221 +parquet size 3.30 MB +[PASS] sim_info present: rec/stationringstretch/000/sim_info +dataset size 97.00 MB; whole cell dir 98.5 MB +RESULT: ALL PASS diff --git a/N033/stretch3/dr_on/seed_2019/rec/stationringstretch/000/completed/0.json b/N033/stretch3/dr_on/seed_2019/rec/stationringstretch/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..fd3e4ff594cda366fc3a512d000e9a5e190a83f8 --- /dev/null +++ b/N033/stretch3/dr_on/seed_2019/rec/stationringstretch/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationringstretch/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N033/stretch3/dr_on/seed_2019/rec/stationringstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N033/stretch3/dr_on/seed_2019/rec/stationringstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..a9dc59f86df4a819d60c170489efdd325b8f3314 --- /dev/null +++ b/N033/stretch3/dr_on/seed_2019/rec/stationringstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4426248fccfc33d0256feed136b8e40e1d885e132b85c309120e87575ca27843 +size 3298999 diff --git a/N033/stretch3/dr_on/seed_2019/rec/stationringstretch/000/lerobot_v21/meta/episodes.jsonl b/N033/stretch3/dr_on/seed_2019/rec/stationringstretch/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..12714f78a43e207422d66eb5ea263e4d70427174 --- /dev/null +++ b/N033/stretch3/dr_on/seed_2019/rec/stationringstretch/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end."], "length": 2221, "magicsim/control_steps": 4442, "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 ring. There are a large gray table A, a large gray table B, a medium brown rack back, a small gray peg 1, a small gray peg 2, a small ring, a small ring small, a small white rod h, a small white rod s and a small brown rod stop. The gray table B is behind the brown rod stop. The brown rack back is to the right of the gray peg 2. The gray peg 2 is on top of the ring. The white rod h is to the right of the white rod s. The white rod s is on top of the brown rod stop. The white rod s is behind the brown rod stop. The brown rod stop is in front of the white rod s. The scene is viewed from front, slightly above table height."} diff --git a/N033/stretch3/dr_on/seed_2019/rec/stationringstretch/000/lerobot_v21/meta/episodes_stats.jsonl b/N033/stretch3/dr_on/seed_2019/rec/stationringstretch/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..abc0cbf736da64c3eb8fc8a0f9e451e34b7ccc10 --- /dev/null +++ b/N033/stretch3/dr_on/seed_2019/rec/stationringstretch/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [-0.015727610800722224, 0.0, 0.025761218126175548, 0.4368499187464947, 0.9105128799068235, 0.7429549916002032, -0.27293967429517263, -0.005494808136945672, -0.07411068387331868, -0.02741801734042565, 0.4376407023863125], "std": [0.15652785020394808, 0.0, 0.19268657629442829, 1.3745471522318662, 1.7392187359993365, 0.10052256483823936, 0.5552041720133398, 0.3641884788596245, 0.4468705063079346, 0.5278743002447157, 0.4960960773893813], "min": [-0.30000001192092896, 0.0, -0.800000011920929, -3.1624906063079834, -2.103910446166992, 0.5399999022483826, -0.9849079251289368, -0.6355999112129211, -0.7044044733047485, -0.9993478655815125, 0.0], "max": [0.30000001192092896, 0.0, 0.800000011920929, 1.9899194240570068, 3.151170015335083, 0.8799999952316284, 0.6630085706710815, 0.5160691142082214, 0.6619518995285034, 0.9994603991508484, 1.0], "count": [2221]}, "action_is_hold": {"mean": [0.1305718144979739, 0.1305718144979739, 0.1305718144979739, 0.15623592976136874, 0.15623592976136874, 0.15623592976136874, 0.15623592976136874, 0.15623592976136874, 0.15623592976136874, 0.15623592976136874, 0.9779378658262045], "std": [0.33693147041598775, 0.33693147041598775, 0.33693147041598775, 0.363078867483317, 0.363078867483317, 0.363078867483317, 0.363078867483317, 0.363078867483317, 0.363078867483317, 0.363078867483317, 0.14688565760309477], "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": [2221]}, "observation.state": {"mean": [0.45834474775475564, 0.5923972518117456, -0.5719813088853313, 0.745085158202091, 2.099579366303462e-07, 1.897240047242086e-08, 0.05621161641974536, 0.0562123671429711, 0.056213193229804045, 0.0562077519646455, 2.669403533203438, -1.0702987397089272, 0.04311396342843961, 0.10164740271210948, 0.10348513180955132], "std": [1.47929028089758, 1.665440841947653, 2.529216626032215, 0.16091935573538002, 3.423417778242248e-06, 5.694986910339165e-06, 0.04403419998730098, 0.04403474210449479, 0.04403530810415877, 0.044024187971482165, 0.8603538501202231, 0.7009502167818182, 0.48119541019846895, 0.10528931959240367, 0.10432772917713584], "min": [-3.435194730758667, -2.1953125, -3.139601230621338, 0.5417675971984863, -5.183255052543245e-05, -9.099449380300939e-05, 0.0, 0.0, 0.0, 0.0, 1.5616626739501953, -1.570001244544983, -1.075252652168274, -1.0686816986904546e-09, -5.1479900203821316e-11], "max": [1.9624080657958984, 2.5039262771606445, 3.139408826828003, 0.9568199515342712, 5.6739405408734456e-05, 8.763741061557084e-05, 0.12671148777008057, 0.1267642378807068, 0.12682364881038666, 0.12599802017211914, 4.00000524520874, 3.533701237756759e-05, 1.0050990581512451, 0.2500001788139343, 0.25000008940696716], "count": [2221]}, "observation.joint_vel": {"mean": [0.07977677943539935, -0.010817285107713273, 0.026166485489856433, -0.0006151001656980619, -0.0003083536608040866, -2.1455294887352415e-05, 3.2121040521407925e-05, 5.358104578086455e-06, -4.7136098115155205e-05, -0.0001525223502784409, 0.009450757349733423, -0.004003162464778529, -0.0036547970465038247, 0.2579164058879805, 0.04478898314613697], "std": [0.12097927016886954, 0.06022547257610831, 0.19193064917405095, 0.04236759563247733, 0.00048751199522010765, 6.600804630656764e-05, 0.015735868215150127, 0.015791164555954647, 0.01585631744861784, 0.015167508019626273, 0.13860845989142015, 0.10851227677779411, 0.1129027320122123, 0.30668958576157, 0.12448230137885244], "min": [-0.00017885905981529504, -0.23663382232189178, -0.8000755906105042, -0.19661983847618103, -0.0019384806510061026, -0.0009319307282567024, -0.07378804683685303, -0.07355614751577377, -0.07355732470750809, -0.07831600308418274, -0.6260161399841309, -0.5408893823623657, -0.3700771629810333, -1.0000004768371582, -1.0000003576278687], "max": [0.2999458312988281, 0.08679445832967758, 0.8000051975250244, 0.25908440351486206, 0.0016740908613428473, 0.0009141532354988158, 0.08258558809757233, 0.08244238048791885, 0.08265209197998047, 0.0846477821469307, 0.6006457805633545, 0.4568535387516022, 0.582372784614563, 1.000059723854065, 1.000006079673767], "count": [2221]}, "observation.eef_pose": {"mean": [0.43759861830816943, 0.9104206738761847, 0.7429108132064369, -0.25419417501419883, 0.03065521205773541, -0.0719613454781061, -0.2073954760471425], "std": [1.3752910656987005, 1.7397091202872723, 0.10034891909382931, 0.5639959059517188, 0.36300135406828776, 0.44713285065335423, 0.486276683374407], "min": [-3.1624906063079834, -2.103910446166992, 0.5397381782531738, -0.9849134683609009, -0.6346650719642639, -0.7043667435646057, -0.9994730353355408], "max": [1.9900732040405273, 3.1512677669525146, 0.8806608319282532, 0.6630687117576599, 0.6146577596664429, 0.66188645362854, 0.6961656808853149], "count": [2221]}, "observation.environment_state": {"mean": [-0.2400505095720291, -0.18817919492721558, 0.4699999988079071, 0.9994863867759705, 0.0, 0.0, -0.03204625844955444, -0.5394343137741089, -0.16896110773086548, 0.4699999988079071, 0.9994863867759705, 0.0, 0.0, -0.03204625844955444, -0.38301607966423035, -0.07378581911325455, 0.4300000071525574, 0.9994863867759705, 0.0, 0.0, -0.03204625844955444, 0.6150836980170354, 1.1832892121680043, 0.5456165322066964, 0.9620284949911977, -0.018405025461156244, -0.05314659836606436, 0.09358435581917329, -0.2432570904493332, -0.23813331127166748, 0.4687838554382324, 0.9994827508926392, -5.257063376730793e-05, 0.001201196610994674, -0.03213773528931647, 1.9903560876846313, 3.048686981201172, 0.5299999713897705, 0.9999974966049194, 0.0, 0.0, -0.0022375844419002533, 1.9909255504608154, 3.17598557472229, 0.48980000615119934, 0.9537145495414734, -0.30070510506629944, 0.0006725222920067608, -0.0021329682786017656, 1.99125075340271, 3.248684883117676, 0.38999998569488525, 0.9999974966049194, 0.0, 0.0, -0.0022375844419002533, -0.33247819542884827, -0.06700937449932098, 0.18000000715255737, 0.9994863867759705, 0.0, 0.0, -0.03204625844955444, 1.99093759059906, 3.1786856651306152, 0.18000000715255737, 0.9999974966049194, 0.0, 0.0, -0.0022375844419002533], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.154046752533987, 1.5426792109503014, 0.14575454091996012, 0.06616162340996928, 0.08524636480955852, 0.05055250645122142, 0.2199544607240561, 0.0, 0.0, 0.0, 0.0, 1.9567073859387356e-09, 2.8728809227905005e-09, 2.0049266999662992e-09, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "min": [-0.2400505095720291, -0.18817919492721558, 0.4699999988079071, 0.9994863867759705, 0.0, 0.0, -0.03204625844955444, -0.5394343137741089, -0.16896110773086548, 0.4699999988079071, 0.9994863867759705, 0.0, 0.0, -0.03204625844955444, -0.38301607966423035, -0.07378581911325455, 0.4300000071525574, 0.9994863867759705, 0.0, 0.0, -0.03204625844955444, -0.5417134761810303, -0.4509897530078888, 0.4317209720611572, 0.7536471486091614, -0.3895711898803711, -0.1236565113067627, -0.051867932081222534, -0.2432570904493332, -0.23813331127166748, 0.4687838554382324, 0.9994827508926392, -5.257302109384909e-05, 0.0012011906364932656, -0.032137736678123474, 1.9903560876846313, 3.048686981201172, 0.5299999713897705, 0.9999974966049194, 0.0, 0.0, -0.0022375844419002533, 1.9909255504608154, 3.17598557472229, 0.48980000615119934, 0.9537145495414734, -0.30070510506629944, 0.0006725222920067608, -0.0021329682786017656, 1.99125075340271, 3.248684883117676, 0.38999998569488525, 0.9999974966049194, 0.0, 0.0, -0.0022375844419002533, -0.33247819542884827, -0.06700937449932098, 0.18000000715255737, 0.9994863867759705, 0.0, 0.0, -0.03204625844955444, 1.99093759059906, 3.1786856651306152, 0.18000000715255737, 0.9999974966049194, 0.0, 0.0, -0.0022375844419002533], "max": [-0.2400505095720291, -0.18817919492721558, 0.4699999988079071, 0.9994863867759705, 0.0, 0.0, -0.03204625844955444, -0.5394343137741089, -0.16896110773086548, 0.4699999988079071, 0.9994863867759705, 0.0, 0.0, -0.03204625844955444, -0.38301607966423035, -0.07378581911325455, 0.4300000071525574, 0.9994863867759705, 0.0, 0.0, -0.03204625844955444, 2.014277219772339, 3.216893196105957, 0.7634104490280151, 0.9996164441108704, 0.08322280645370483, 0.016882505267858505, 0.6463795900344849, -0.2432570904493332, -0.23813331127166748, 0.4687838554382324, 0.9994827508926392, -5.256153963273391e-05, 0.0012012103106826544, -0.03213772922754288, 1.9903560876846313, 3.048686981201172, 0.5299999713897705, 0.9999974966049194, 0.0, 0.0, -0.0022375844419002533, 1.9909255504608154, 3.17598557472229, 0.48980000615119934, 0.9537145495414734, -0.30070510506629944, 0.0006725222920067608, -0.0021329682786017656, 1.99125075340271, 3.248684883117676, 0.38999998569488525, 0.9999974966049194, 0.0, 0.0, -0.0022375844419002533, -0.33247819542884827, -0.06700937449932098, 0.18000000715255737, 0.9994863867759705, 0.0, 0.0, -0.03204625844955444, 1.99093759059906, 3.1786856651306152, 0.18000000715255737, 0.9999974966049194, 0.0, 0.0, -0.0022375844419002533], "count": [2221]}, "action.command": {"mean": [-1.9373945216027113, -1.4583043867881516, 0.22532750560585907, 0.0, 0.0, 0.0, 0.0, 0.740128068303095, 0.28432111581837166, 0.6854721337254681, 0.7477872231090591, -0.3154105667539588, 0.0008375328200935167, -0.08054919949885612, -0.031955486070066534, 0.5102040816326531, -1.9244924063186857, -1.4567473092645051, 0.2253209526317319, 0.0, 0.0, 0.0, 0.0, 2.0, 0.0001548695058425633, 0.20718039998573892, 0.8045893657503593, -0.541369848518796, 0.02285874777787491, -0.15887725981164805, -0.21347734763903034, 0.0, -1.8655341895435968, -1.4424345096317912, 0.2253210906216938, 0.0, 0.0, 0.0, 0.0, 2.0, 0.0001548695058425633, 0.20718039998573892, 0.8045893657503593, -0.541369848518796, 0.02285874777787491, -0.15887725981164805, -0.21347734763903034, 0.0, -1.7785359854641154, -1.423773728496127, 0.2253202188969097, 0.0, 0.0, 0.0, 0.0, 2.0, 0.0001548695058425633, 0.20718039998573892, 0.8045893657503593, -0.541369848518796, 0.02285874777787491, -0.15887725981164805, -0.21347734763903034, 0.0, -1.717691868516208, -1.4116329975707222, 0.22532085697367965, 0.0, 0.0, 0.0, 0.0, 2.0, 0.0001548695058425633, 0.20718039998573892, 0.8045893657503593, -0.541369848518796, 0.02285874777787491, -0.15887725981164805, -0.21347734763903034, 0.0, -1.6558263192181206, -1.4019216499749738, 0.22532141471852266, 0.0, 0.0, 0.0, 0.0, 2.0, 0.0001548695058425633, 0.20718039998573892, 0.8045893657503593, -0.541369848518796, 0.02285874777787491, -0.15887725981164805, -0.21347734763903034, 0.0, -1.5697965788643844, -1.3809285082724956, 0.22532129337070397, 0.0, 0.0, 0.0, 0.0, 2.0, 0.0001548695058425633, 0.20718039998573892, 0.8045893657503593, -0.541369848518796, 0.02285874777787491, -0.15887725981164805, -0.21347734763903034, 0.0, -1.4791258072348614, -1.3540672327031098, 0.22531743656086506, 0.0, 0.0, 0.0, 0.0, 2.0, 0.0001548695058425633, 0.20718039998573892, 0.8045893657503593, -0.541369848518796, 0.02285874777787491, -0.15887725981164805, -0.21347734763903034, 0.0, -1.4217311364308123, -1.3502115171330724, 0.22532177623961097, 0.0, 0.0, 0.0, 0.0, 2.0, 0.0001548695058425633, 0.20718039998573892, 0.8045893657503593, -0.541369848518796, 0.02285874777787491, -0.15887725981164805, -0.21347734763903034, 0.0, -1.3885364093798065, -1.3475458070347917, 0.22532100006321099, 0.0, 0.0, 0.0, 0.0, 2.0, 0.0001548695058425633, 0.20718039998573892, 0.8045893657503593, -0.541369848518796, 0.02285874777787491, -0.15887725981164805, -0.21347734763903034, 0.0, -1.2766596509868549, -1.3194471263183623, 0.2253212435813595, 0.0, 0.0, 0.0, 0.0, 2.0, 0.0001548695058425633, 0.20718039998573892, 0.8045893657503593, -0.541369848518796, 0.02285874777787491, -0.15887725981164805, -0.21347734763903034, 0.0, -1.2008385046315828, -1.2949789899582147, 0.22532202981981314, 0.0, 0.0, 0.0, 0.0, 2.0, 0.0001548695058425633, 0.20718039998573892, 0.8045893657503593, -0.541369848518796, 0.02285874777787491, -0.15887725981164805, -0.21347734763903034, 0.0, -1.151544418045437, -1.2892387793934883, 0.658179737935948, 0.0, 0.0, 0.0, 0.0, 2.0, 0.0001548695058425633, 0.20718039998573892, 0.8045893657503593, -0.541369848518796, 0.02285874777787491, -0.15887725981164805, -0.21347734763903034, 0.0, -1.1117813997347639, -1.2525307962185983, 0.6581793000584034, 0.0, 0.0, 0.0, 0.0, 2.0, 0.0001548695058425633, 0.20718039998573892, 0.8045893657503593, -0.541369848518796, 0.02285874777787491, -0.15887725981164805, -0.21347734763903034, 0.0, -1.0566113065335327, -1.2202850943217063, 0.6581789327249027, 0.0, 0.0, 0.0, 0.0, 2.0, 0.0001548695058425633, 0.20718039998573892, 0.8045893657503593, -0.541369848518796, 0.02285874777787491, -0.15887725981164805, -0.21347734763903034, 0.0, -0.9652037078783725, -1.1401760293018302, 0.6581784826741924, 0.0, 0.0, 0.0, 0.0, 2.0, 0.0001548695058425633, 0.20718039998573892, 0.8045893657503593, -0.541369848518796, 0.02285874777787491, -0.15887725981164805, -0.21347734763903034, 0.0, -0.9379335612250559, -1.1245447102224706, 0.6581794159502312, 0.0, 0.0, 0.0, 0.0, 2.0, 0.0001548695058425633, 0.20718039998573892, 0.8045893657503593, -0.541369848518796, 0.02285874777787491, -0.15887725981164805, -0.21347734763903034, 0.0, -0.9039919937874269, -1.1060541091759268, 0.6581794021868772, 0.0, 0.0, 0.0, 0.0, 2.0, 0.0001548695058425633, 0.20718039998573892, 0.8045893657503593, -0.541369848518796, 0.02285874777787491, -0.15887725981164805, -0.21347734763903034, 0.0, -0.8611011026973777, -1.0760322282812194, 0.6581786665328622, 0.0, 0.0, 0.0, 0.0, 2.0, 0.0001548695058425633, 0.20718039998573892, 0.8045893657503593, -0.541369848518796, 0.02285874777787491, -0.15887725981164805, -0.21347734763903034, 0.0, -0.8097398899625833, -1.0322910365207325, 0.6581798863992191, 0.0, 0.0, 0.0, 0.0, 2.0, 0.0001548695058425633, 0.20718039998573892, 0.8045893657503593, -0.541369848518796, 0.02285874777787491, -0.15887725981164805, -0.21347734763903034, 0.0, -0.7631949529586413, -1.0038906778890053, 0.658179353274878, 0.0, 0.0, 0.0, 0.0, 2.0, 0.0001548695058425633, 0.20718039998573892, 0.8045893657503593, -0.541369848518796, 0.02285874777787491, -0.15887725981164805, -0.21347734763903034, 0.0, -0.6845339651818437, -0.9464354851756934, 0.8039298202592293, 0.0, 0.0, 0.0, 0.0, 2.0, 0.0001548695058425633, 0.20718039998573892, 0.8045893657503593, -0.541369848518796, 0.02285874777787491, -0.15887725981164805, -0.21347734763903034, 0.0, -0.655618965680597, -0.9037863523892119, 0.8039306254702746, 0.0, 0.0, 0.0, 0.0, 2.0, 0.0001548695058425633, 0.20718039998573892, 0.8045893657503593, -0.541369848518796, 0.02285874777787491, -0.15887725981164805, -0.21347734763903034, 0.0, -0.6197352104485309, -0.84272619772089, 0.8039306820042109, 0.0, 0.0, 0.0, 0.0, 2.0, 0.0001548695058425633, 0.20718039998573892, 0.8045893657503593, -0.541369848518796, 0.02285874777787491, -0.15887725981164805, -0.21347734763903034, 0.0, -0.5616758229432023, -0.8028519711805904, 0.8039307309162101, 0.0, 0.0, 0.0, 0.0, 2.0, 0.0001548695058425633, 0.20718039998573892, 0.8045893657503593, -0.541369848518796, 0.02285874777787491, -0.15887725981164805, -0.21347734763903034, 0.0, -0.4767799356604456, -0.7116890259587447, 0.8039339048224189, 0.0, 0.0, 0.0, 0.0, 2.0, 0.0001548695058425633, 0.20718039998573892, 0.8045893657503593, -0.541369848518796, 0.02285874777787491, -0.15887725981164805, -0.21347734763903034, 0.0, -0.46798496237564435, -0.7024382138976069, 0.8039343391631651, 0.0, 0.0, 0.0, 0.0, 2.0, 0.0001548695058425633, 0.20718039998573892, 0.8045893657503593, -0.541369848518796, 0.02285874777787491, -0.15887725981164805, -0.21347734763903034, 0.0, -0.4598351983488867, -0.6972690875528049, 0.8039306957675649, 0.0, 0.0, 0.0, 0.0, 2.0, 0.0001548695058425633, 0.20718039998573892, 0.8045893657503593, -0.541369848518796, 0.02285874777787491, -0.15887725981164805, -0.21347734763903034, 0.0, -0.3741682764577997, -0.6022022404359257, 0.8039302749708364, 0.0, 0.0, 0.0, 0.0, 2.0, 0.0001548695058425633, 0.20718039998573892, 0.8045893657503593, -0.541369848518796, 0.02285874777787491, -0.15887725981164805, -0.21347734763903034, 0.0, -0.32330100341137114, -0.5602899529896642, 0.803930758936425, 0.0, 0.0, 0.0, 0.0, 2.0, 0.0001548695058425633, 0.20718039998573892, 0.8045893657503593, -0.541369848518796, 0.02285874777787491, -0.15887725981164805, -0.21347734763903034, 0.0, -0.27994681523278314, -0.5011932087690324, 0.8039300859577632, 0.0, 0.0, 0.0, 0.0, 2.0, 0.0001548695058425633, 0.20718039998573892, 0.8045893657503593, -0.541369848518796, 0.02285874777787491, -0.15887725981164805, -0.21347734763903034, 0.0, -0.2341635638458968, -0.44609360269372794, 0.8039308501254997, 0.0, 0.0, 0.0, 0.0, 2.0, 0.0001548695058425633, 0.20718039998573892, 0.8045893657503593, -0.541369848518796, 0.02285874777787491, -0.15887725981164805, -0.21347734763903034, 0.0, -0.18518723307559548, -0.3987837412429711, 0.8039306603721664, 0.0, 0.0, 0.0, 0.0, 2.0, 0.0001548695058425633, 0.20718039998573892, 0.8045893657503593, -0.541369848518796, 0.02285874777787491, -0.15887725981164805, -0.21347734763903034, 0.0, -0.13234611948148417, -0.3307829246459582, 0.8039303029910512, 0.0, 0.0, 0.0, 0.0, 2.0, 0.0001548695058425633, 0.20718039998573892, 0.8045893657503593, -0.541369848518796, 0.02285874777787491, -0.15887725981164805, -0.21347734763903034, 0.0, -0.09072933716848561, -0.2968968048815126, 0.8039305414096303, 0.0, 0.0, 0.0, 0.0, 2.0, 0.0001548695058425633, 0.20718039998573892, 0.8045893657503593, -0.541369848518796, 0.02285874777787491, -0.15887725981164805, -0.21347734763903034, 0.0, -0.0160056109152042, -0.2119566912813371, 0.8039302398221911, 0.0, 0.0, 0.0, 0.0, 2.0, 0.0001548695058425633, 0.20718039998573892, 0.8045893657503593, -0.541369848518796, 0.02285874777787491, -0.15887725981164805, -0.21347734763903034, 0.0, 0.004161996477332374, -0.19494646672491864, 0.8039310600303573, 0.0, 0.0, 0.0, 0.0, 2.0, 0.0001548695058425633, 0.20718039998573892, 0.8045893657503593, -0.541369848518796, 0.02285874777787491, -0.15887725981164805, -0.21347734763903034, 0.0, 0.04994323369879841, -0.11914162199323947, 0.8039287930798289, 0.0, 0.0, 0.0, 0.0, 2.0, 0.0001548695058425633, 0.20718039998573892, 0.8045893657503593, -0.541369848518796, 0.02285874777787491, -0.15887725981164805, -0.21347734763903034, 0.0, 0.10049917419349369, -0.09230054565384066, 0.8039303310112659, 0.0, 0.0, 0.0, 0.0, 2.0, 0.0001548695058425633, 0.20718039998573892, 0.8045893657503593, -0.541369848518796, 0.02285874777787491, -0.15887725981164805, -0.21347734763903034, 0.0, 0.17424058058772926, -0.029659088642748542, 0.8039295046616829, 0.0, 0.0, 0.0, 0.0, 2.0, 0.0001548695058425633, 0.20718039998573892, 0.8045893657503593, -0.541369848518796, 0.02285874777787491, -0.15887725981164805, -0.21347734763903034, 0.0, 0.19818040188453345, 0.010971823414203325, 0.8039262198809647, 0.0, 0.0, 0.0, 0.0, 2.0, 0.0001548695058425633, 0.20718039998573892, 0.8045893657503593, -0.541369848518796, 0.02285874777787491, -0.15887725981164805, -0.21347734763903034, 0.0, 0.20757282295683271, 0.018214533936571613, 0.803930849631993, 0.0, 0.0, 0.0, 0.0, 2.0, 0.0001548695058425633, 0.20718039998573892, 0.8045893657503593, -0.541369848518796, 0.02285874777787491, -0.15887725981164805, -0.21347734763903034, 0.0, 0.29706036238464173, 0.11482017245332145, 0.8039310322568959, 0.0, 0.0, 0.0, 0.0, 2.0, 0.0001548695058425633, 0.20718039998573892, 0.8045893657503593, -0.541369848518796, 0.02285874777787491, -0.15887725981164805, -0.21347734763903034, 0.0, 0.3395410232184234, 0.14258782876777124, 0.8039309833448967, 0.0, 0.0, 0.0, 0.0, 2.0, 0.0001548695058425633, 0.20718039998573892, 0.8045893657503593, -0.541369848518796, 0.02285874777787491, -0.15887725981164805, -0.21347734763903034, 0.0, 0.3940298694915034, 0.2177506668806734, 0.8039309481962514, 0.0, 0.0, 0.0, 0.0, 2.0, 0.0001548695058425633, 0.20718039998573892, 0.8045893657503593, -0.541369848518796, 0.02285874777787491, -0.15887725981164805, -0.21347734763903034, 0.0, 0.4325265808728384, 0.24878615278000116, 1.0203349829926442, 0.0, 0.0, 0.0, 0.0, 2.0, 0.0001548695058425633, 0.20718039998573892, 0.8045893657503593, -0.541369848518796, 0.02285874777787491, -0.15887725981164805, -0.21347734763903034, 0.0, 0.48038714054865694, 0.3317787635183817, 2.040100599059076, 0.0, 0.0, 0.0, 0.0, 2.0, 0.0001548695058425633, 0.20718039998573892, 0.8045893657503593, -0.541369848518796, 0.02285874777787491, -0.15887725981164805, -0.21347734763903034, 0.0, 1.4639509916305542, 1.3793201446533203, 1.1197789907455444, 0.0, 0.0, 0.0, 0.0, 2.0, 1.0330892063923076, 1.3953764964826405, 0.8798531288695004, -0.30035127606242895, 0.04314120962387986, -0.299829018354002, -0.04313011309649381, 0.0, 1.5104542970657349, 1.4753397703170776, 1.119779109954834, 0.0, 0.0, 0.0, 0.0, 2.0, 1.0330892063923076, 1.3953764964826405, 0.8798531288695004, -0.30035127606242895, 0.04314120962387986, -0.299829018354002, -0.04313011309649381, 0.0, 1.5370736122131348, 1.5303031206130981, 1.1197789907455444, 0.0, 0.0, 0.0, 0.0, 2.0, 1.0330892063923076, 1.3953764964826405, 0.8798531288695004, -0.30035127606242895, 0.04314120962387986, -0.299829018354002, -0.04313011309649381, 0.0, 1.5775623321533203, 1.6139038801193237, 1.1197797060012817, 0.0, 0.0, 0.0, 0.0, 2.0, 1.0330892063923076, 1.3953764964826405, 0.8798531288695004, -0.30035127606242895, 0.04314120962387986, -0.299829018354002, -0.04313011309649381, 0.0, 1.610008716583252, 1.6808990240097046, 1.119779109954834, 0.0, 0.0, 0.0, 0.0, 2.0, 1.0330892063923076, 1.3953764964826405, 0.8798531288695004, -0.30035127606242895, 0.04314120962387986, -0.299829018354002, -0.04313011309649381, 0.0, 1.6446701288223267, 1.7524676322937012, 1.119779348373413, 0.0, 0.0, 0.0, 0.0, 2.0, 1.0330892063923076, 1.3953764964826405, 0.8798531288695004, -0.30035127606242895, 0.04314120962387986, -0.299829018354002, -0.04313011309649381, 0.0, 1.6831392049789429, 1.8318983316421509, 1.1197795867919922, 0.0, 0.0, 0.0, 0.0, 2.0, 1.0330892063923076, 1.3953764964826405, 0.8798531288695004, -0.30035127606242895, 0.04314120962387986, -0.299829018354002, -0.04313011309649381, 0.0, 1.7122725248336792, 1.8920526504516602, 1.1197792291641235, 0.0, 0.0, 0.0, 0.0, 2.0, 1.0330892063923076, 1.3953764964826405, 0.8798531288695004, -0.30035127606242895, 0.04314120962387986, -0.299829018354002, -0.04313011309649381, 0.0, 1.7566829919815063, 1.9837510585784912, 1.11978018283844, 0.0, 0.0, 0.0, 0.0, 2.0, 1.0330892063923076, 1.3953764964826405, 0.8798531288695004, -0.30035127606242895, 0.04314120962387986, -0.299829018354002, -0.04313011309649381, 0.0, 1.7818796634674072, 2.0357770919799805, 1.1197795867919922, 0.0, 0.0, 0.0, 0.0, 2.0, 1.0330892063923076, 1.3953764964826405, 0.8798531288695004, -0.30035127606242895, 0.04314120962387986, -0.299829018354002, -0.04313011309649381, 0.0, 1.8305022716522217, 2.1361727714538574, 1.1197787523269653, 0.0, 0.0, 0.0, 0.0, 2.0, 1.0330892063923076, 1.3953764964826405, 0.8798531288695004, -0.30035127606242895, 0.04314120962387986, -0.299829018354002, -0.04313011309649381, 0.0, 1.8560256958007812, 2.188873291015625, 1.119779348373413, 0.0, 0.0, 0.0, 0.0, 2.0, 1.0330892063923076, 1.3953764964826405, 0.8798531288695004, -0.30035127606242895, 0.04314120962387986, -0.299829018354002, -0.04313011309649381, 0.0, 1.9044684171676636, 2.2888975143432617, 1.1197785139083862, 0.0, 0.0, 0.0, 0.0, 2.0, 1.0330892063923076, 1.3953764964826405, 0.8798531288695004, -0.30035127606242895, 0.04314120962387986, -0.299829018354002, -0.04313011309649381, 0.0, 1.936126947402954, 2.3542656898498535, 1.119780421257019, 0.0, 0.0, 0.0, 0.0, 2.0, 1.0330892063923076, 1.3953764964826405, 0.8798531288695004, -0.30035127606242895, 0.04314120962387986, -0.299829018354002, -0.04313011309649381, 0.0, 1.978377103805542, 2.4415037631988525, 1.7962591648101807, 0.0, 0.0, 0.0, 0.0, 2.0, 1.0330892063923076, 1.3953764964826405, 0.8798531288695004, -0.30035127606242895, 0.04314120962387986, -0.299829018354002, -0.04313011309649381, 0.0, 1.9629409313201904, 2.5088040828704834, 3.137119770050049, 0.0, 0.0, 0.0, 0.0, 2.0, 1.0330892063923076, 1.3953764964826405, 0.8798531288695004, -0.30035127606242895, 0.04314120962387986, -0.299829018354002, -0.04313011309649381, 0.0], "std": [1.4107542490092086, 0.694179009016902, 0.20965778502126178, 0.0, 0.0, 0.0, 0.0, 1.4806547574681455, 1.3582199946349374, 1.6844316556367445, 0.09857135857916648, 0.5596647263375862, 0.33898034551256956, 0.4426902568629253, 0.5185547543121429, 0.4998958658741179, 1.4176053228213323, 0.6930983768903186, 0.20964877107674765, 0.0, 0.0, 0.0, 0.0, 0.0, 1.350729095801402, 1.5910390294961028, 0.0799073485788956, 0.5361282093626147, 0.19870067303967853, 0.4463770507449868, 0.3307771333800258, 0.0, 1.41705035537958, 0.6796311273052297, 0.2096496235712962, 0.0, 0.0, 0.0, 0.0, 0.0, 1.350729095801402, 1.5910390294961028, 0.0799073485788956, 0.5361282093626147, 0.19870067303967853, 0.4463770507449868, 0.3307771333800258, 0.0, 1.4271170720861828, 0.6626729822791302, 0.2096483954957312, 0.0, 0.0, 0.0, 0.0, 0.0, 1.350729095801402, 1.5910390294961028, 0.0799073485788956, 0.5361282093626147, 0.19870067303967853, 0.4463770507449868, 0.3307771333800258, 0.0, 1.4381859728280608, 0.6518914419234091, 0.20964945065528096, 0.0, 0.0, 0.0, 0.0, 0.0, 1.350729095801402, 1.5910390294961028, 0.0799073485788956, 0.5361282093626147, 0.19870067303967853, 0.4463770507449868, 0.3307771333800258, 0.0, 1.4610972778472242, 0.6440493101989777, 0.20964951480154362, 0.0, 0.0, 0.0, 0.0, 0.0, 1.350729095801402, 1.5910390294961028, 0.0799073485788956, 0.5361282093626147, 0.19870067303967853, 0.4463770507449868, 0.3307771333800258, 0.0, 1.4598078077983323, 0.6242698897879699, 0.20964934839312147, 0.0, 0.0, 0.0, 0.0, 0.0, 1.350729095801402, 1.5910390294961028, 0.0799073485788956, 0.5361282093626147, 0.19870067303967853, 0.4463770507449868, 0.3307771333800258, 0.0, 1.4374854658812506, 0.5978115529802956, 0.2096456827595438, 0.0, 0.0, 0.0, 0.0, 0.0, 1.350729095801402, 1.5910390294961028, 0.0799073485788956, 0.5361282093626147, 0.19870067303967853, 0.4463770507449868, 0.3307771333800258, 0.0, 1.4815553248215854, 0.5966436075628285, 0.2096497918390295, 0.0, 0.0, 0.0, 0.0, 0.0, 1.350729095801402, 1.5910390294961028, 0.0799073485788956, 0.5361282093626147, 0.19870067303967853, 0.4463770507449868, 0.3307771333800258, 0.0, 1.5051149124324938, 0.5954518034539339, 0.2096494562332156, 0.0, 0.0, 0.0, 0.0, 0.0, 1.350729095801402, 1.5910390294961028, 0.0799073485788956, 0.5361282093626147, 0.19870067303967853, 0.4463770507449868, 0.3307771333800258, 0.0, 1.499903945160972, 0.5687837362541954, 0.2096496198526714, 0.0, 0.0, 0.0, 0.0, 0.0, 1.350729095801402, 1.5910390294961028, 0.0799073485788956, 0.5361282093626147, 0.19870067303967853, 0.4463770507449868, 0.3307771333800258, 0.0, 1.472357167116368, 0.5442813361584076, 0.2096509845876687, 0.0, 0.0, 0.0, 0.0, 0.0, 1.350729095801402, 1.5910390294961028, 0.0799073485788956, 0.5361282093626147, 0.19870067303967853, 0.4463770507449868, 0.3307771333800258, 0.0, 1.4994562377091012, 0.5404001339451815, 0.19805325833057688, 0.0, 0.0, 0.0, 0.0, 0.0, 1.350729095801402, 1.5910390294961028, 0.0799073485788956, 0.5361282093626147, 0.19870067303967853, 0.4463770507449868, 0.3307771333800258, 0.0, 1.5118510658893274, 0.5629354117081777, 0.19805365994196372, 0.0, 0.0, 0.0, 0.0, 0.0, 1.350729095801402, 1.5910390294961028, 0.0799073485788956, 0.5361282093626147, 0.19870067303967853, 0.4463770507449868, 0.3307771333800258, 0.0, 1.4710782133360418, 0.5487494562305568, 0.19805449291373273, 0.0, 0.0, 0.0, 0.0, 0.0, 1.350729095801402, 1.5910390294961028, 0.0799073485788956, 0.5361282093626147, 0.19870067303967853, 0.4463770507449868, 0.3307771333800258, 0.0, 1.4863070494696653, 0.5901535377660212, 0.19805319883259362, 0.0, 0.0, 0.0, 0.0, 0.0, 1.350729095801402, 1.5910390294961028, 0.0799073485788956, 0.5361282093626147, 0.19870067303967853, 0.4463770507449868, 0.3307771333800258, 0.0, 1.4651994853204247, 0.5823936322548806, 0.19805385331041075, 0.0, 0.0, 0.0, 0.0, 0.0, 1.350729095801402, 1.5910390294961028, 0.0799073485788956, 0.5361282093626147, 0.19870067303967853, 0.4463770507449868, 0.3307771333800258, 0.0, 1.4359348666197076, 0.5703883968710721, 0.19805412105133757, 0.0, 0.0, 0.0, 0.0, 0.0, 1.350729095801402, 1.5910390294961028, 0.0799073485788956, 0.5361282093626147, 0.19870067303967853, 0.4463770507449868, 0.3307771333800258, 0.0, 1.4196033543565745, 0.5714083410544205, 0.19805477552915876, 0.0, 0.0, 0.0, 0.0, 0.0, 1.350729095801402, 1.5910390294961028, 0.0799073485788956, 0.5361282093626147, 0.19870067303967853, 0.4463770507449868, 0.3307771333800258, 0.0, 1.4242157867878737, 0.5915801804160592, 0.19805449291373273, 0.0, 0.0, 0.0, 0.0, 0.0, 1.350729095801402, 1.5910390294961028, 0.0799073485788956, 0.5361282093626147, 0.19870067303967853, 0.4463770507449868, 0.3307771333800258, 0.0, 1.3935272920933544, 0.5825210025632199, 0.19805429954528883, 0.0, 0.0, 0.0, 0.0, 0.0, 1.350729095801402, 1.5910390294961028, 0.0799073485788956, 0.5361282093626147, 0.19870067303967853, 0.4463770507449868, 0.3307771333800258, 0.0, 1.3710080787858927, 0.5902191640419084, 0.33533677856691096, 0.0, 0.0, 0.0, 0.0, 0.0, 1.350729095801402, 1.5910390294961028, 0.0799073485788956, 0.5361282093626147, 0.19870067303967853, 0.4463770507449868, 0.3307771333800258, 0.0, 1.3766752319719608, 0.6200272670735506, 0.33533554398374915, 0.0, 0.0, 0.0, 0.0, 0.0, 1.350729095801402, 1.5910390294961028, 0.0799073485788956, 0.5361282093626147, 0.19870067303967853, 0.4463770507449868, 0.3307771333800258, 0.0, 1.3939925365758716, 0.6696203015169221, 0.33533599021863186, 0.0, 0.0, 0.0, 0.0, 0.0, 1.350729095801402, 1.5910390294961028, 0.0799073485788956, 0.5361282093626147, 0.19870067303967853, 0.4463770507449868, 0.3307771333800258, 0.0, 1.347499057023827, 0.6585634937402004, 0.33533581172467913, 0.0, 0.0, 0.0, 0.0, 0.0, 1.350729095801402, 1.5910390294961028, 0.0799073485788956, 0.5361282093626147, 0.19870067303967853, 0.4463770507449868, 0.3307771333800258, 0.0, 1.3210682975315275, 0.6933095649829957, 0.33533307481743824, 0.0, 0.0, 0.0, 0.0, 0.0, 1.350729095801402, 1.5910390294961028, 0.0799073485788956, 0.5361282093626147, 0.19870067303967853, 0.4463770507449868, 0.3307771333800258, 0.0, 1.3180854851212187, 0.6966093510414696, 0.33533982783856314, 0.0, 0.0, 0.0, 0.0, 0.0, 1.350729095801402, 1.5910390294961028, 0.0799073485788956, 0.5361282093626147, 0.19870067303967853, 0.4463770507449868, 0.3307771333800258, 0.0, 1.3110179278959102, 0.6943941183985709, 0.3353357224777022, 0.0, 0.0, 0.0, 0.0, 0.0, 1.350729095801402, 1.5910390294961028, 0.0799073485788956, 0.5361282093626147, 0.19870067303967853, 0.4463770507449868, 0.3307771333800258, 0.0, 1.2882371019547212, 0.7342219849312359, 0.33533566297971584, 0.0, 0.0, 0.0, 0.0, 0.0, 1.350729095801402, 1.5910390294961028, 0.0799073485788956, 0.5361282093626147, 0.19870067303967853, 0.4463770507449868, 0.3307771333800258, 0.0, 1.2563270244105433, 0.7353465711931894, 0.33533578197568326, 0.0, 0.0, 0.0, 0.0, 0.0, 1.350729095801402, 1.5910390294961028, 0.0799073485788956, 0.5361282093626147, 0.19870067303967853, 0.4463770507449868, 0.3307771333800258, 0.0, 1.258690700803791, 0.7725246894496403, 0.33533599021863186, 0.0, 0.0, 0.0, 0.0, 0.0, 1.350729095801402, 1.5910390294961028, 0.0799073485788956, 0.5361282093626147, 0.19870067303967853, 0.4463770507449868, 0.3307771333800258, 0.0, 1.2519446706816966, 0.8004617445174534, 0.33533581172467913, 0.0, 0.0, 0.0, 0.0, 0.0, 1.350729095801402, 1.5910390294961028, 0.0799073485788956, 0.5361282093626147, 0.19870067303967853, 0.4463770507449868, 0.3307771333800258, 0.0, 1.2300170755738982, 0.8123222808052425, 0.33533538036429283, 0.0, 0.0, 0.0, 0.0, 0.0, 1.350729095801402, 1.5910390294961028, 0.0799073485788956, 0.5361282093626147, 0.19870067303967853, 0.4463770507449868, 0.3307771333800258, 0.0, 1.2278044943098765, 0.8513949041055192, 0.3353356332307265, 0.0, 0.0, 0.0, 0.0, 0.0, 1.350729095801402, 1.5910390294961028, 0.0799073485788956, 0.5361282093626147, 0.19870067303967853, 0.4463770507449868, 0.3307771333800258, 0.0, 1.2011862864203722, 0.8516886753993854, 0.3353356332307265, 0.0, 0.0, 0.0, 0.0, 0.0, 1.350729095801402, 1.5910390294961028, 0.0799073485788956, 0.5361282093626147, 0.19870067303967853, 0.4463770507449868, 0.3307771333800258, 0.0, 1.1838666018971, 0.8895546200949039, 0.3353355737327421, 0.0, 0.0, 0.0, 0.0, 0.0, 1.350729095801402, 1.5910390294961028, 0.0799073485788956, 0.5361282093626147, 0.19870067303967853, 0.4463770507449868, 0.3307771333800258, 0.0, 1.1717121158214956, 0.8906095193436031, 0.3353353357408062, 0.0, 0.0, 0.0, 0.0, 0.0, 1.350729095801402, 1.5910390294961028, 0.0799073485788956, 0.5361282093626147, 0.19870067303967853, 0.4463770507449868, 0.3307771333800258, 0.0, 1.1911539149247368, 0.9506320073876778, 0.3353333128093664, 0.0, 0.0, 0.0, 0.0, 0.0, 1.350729095801402, 1.5910390294961028, 0.0799073485788956, 0.5361282093626147, 0.19870067303967853, 0.4463770507449868, 0.3307771333800258, 0.0, 1.1407039087122697, 0.9287940162431252, 0.3353356034817352, 0.0, 0.0, 0.0, 0.0, 0.0, 1.350729095801402, 1.5910390294961028, 0.0799073485788956, 0.5361282093626147, 0.19870067303967853, 0.4463770507449868, 0.3307771333800258, 0.0, 1.0968243838213978, 0.9333403761636916, 0.33533673394342417, 0.0, 0.0, 0.0, 0.0, 0.0, 1.350729095801402, 1.5910390294961028, 0.0799073485788956, 0.5361282093626147, 0.19870067303967853, 0.4463770507449868, 0.3307771333800258, 0.0, 1.1082444267877876, 0.9662631688862328, 0.3353336400482804, 0.0, 0.0, 0.0, 0.0, 0.0, 1.350729095801402, 1.5910390294961028, 0.0799073485788956, 0.5361282093626147, 0.19870067303967853, 0.4463770507449868, 0.3307771333800258, 0.0, 1.1017249352381169, 0.9657020136541622, 0.3353353059918143, 0.0, 0.0, 0.0, 0.0, 0.0, 1.350729095801402, 1.5910390294961028, 0.0799073485788956, 0.5361282093626147, 0.19870067303967853, 0.4463770507449868, 0.3307771333800258, 0.0, 1.0745122532457574, 1.003120741756167, 0.33533561835623554, 0.0, 0.0, 0.0, 0.0, 0.0, 1.350729095801402, 1.5910390294961028, 0.0799073485788956, 0.5361282093626147, 0.19870067303967853, 0.4463770507449868, 0.3307771333800258, 0.0, 1.0387142502162099, 0.9928499320914244, 0.3353357968501805, 0.0, 0.0, 0.0, 0.0, 0.0, 1.350729095801402, 1.5910390294961028, 0.0799073485788956, 0.5361282093626147, 0.19870067303967853, 0.4463770507449868, 0.3307771333800258, 0.0, 1.0428082767166593, 1.0409528618480346, 0.33533570760320275, 0.0, 0.0, 0.0, 0.0, 0.0, 1.350729095801402, 1.5910390294961028, 0.0799073485788956, 0.5361282093626147, 0.19870067303967853, 0.4463770507449868, 0.3307771333800258, 0.0, 1.0177933907393952, 1.0407439644277094, 0.10558021305954805, 0.0, 0.0, 0.0, 0.0, 0.0, 1.350729095801402, 1.5910390294961028, 0.0799073485788956, 0.5361282093626147, 0.19870067303967853, 0.4463770507449868, 0.3307771333800258, 0.0, 1.0223712845912483, 1.0670026855004937, 0.9771030172658579, 0.0, 0.0, 0.0, 0.0, 0.0, 1.350729095801402, 1.5910390294961028, 0.0799073485788956, 0.5361282093626147, 0.19870067303967853, 0.4463770507449868, 0.3307771333800258, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7060804557455341, 1.242627635105175, 3.80682299754656e-08, 0.5786266487225118, 0.2713547516226421, 0.5777178327744447, 0.2719743696570838, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7060804557455341, 1.242627635105175, 3.80682299754656e-08, 0.5786266487225118, 0.2713547516226421, 0.5777178327744447, 0.2719743696570838, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7060804557455341, 1.242627635105175, 3.80682299754656e-08, 0.5786266487225118, 0.2713547516226421, 0.5777178327744447, 0.2719743696570838, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7060804557455341, 1.242627635105175, 3.80682299754656e-08, 0.5786266487225118, 0.2713547516226421, 0.5777178327744447, 0.2719743696570838, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7060804557455341, 1.242627635105175, 3.80682299754656e-08, 0.5786266487225118, 0.2713547516226421, 0.5777178327744447, 0.2719743696570838, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7060804557455341, 1.242627635105175, 3.80682299754656e-08, 0.5786266487225118, 0.2713547516226421, 0.5777178327744447, 0.2719743696570838, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7060804557455341, 1.242627635105175, 3.80682299754656e-08, 0.5786266487225118, 0.2713547516226421, 0.5777178327744447, 0.2719743696570838, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7060804557455341, 1.242627635105175, 3.80682299754656e-08, 0.5786266487225118, 0.2713547516226421, 0.5777178327744447, 0.2719743696570838, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7060804557455341, 1.242627635105175, 3.80682299754656e-08, 0.5786266487225118, 0.2713547516226421, 0.5777178327744447, 0.2719743696570838, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7060804557455341, 1.242627635105175, 3.80682299754656e-08, 0.5786266487225118, 0.2713547516226421, 0.5777178327744447, 0.2719743696570838, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7060804557455341, 1.242627635105175, 3.80682299754656e-08, 0.5786266487225118, 0.2713547516226421, 0.5777178327744447, 0.2719743696570838, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7060804557455341, 1.242627635105175, 3.80682299754656e-08, 0.5786266487225118, 0.2713547516226421, 0.5777178327744447, 0.2719743696570838, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7060804557455341, 1.242627635105175, 3.80682299754656e-08, 0.5786266487225118, 0.2713547516226421, 0.5777178327744447, 0.2719743696570838, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7060804557455341, 1.242627635105175, 3.80682299754656e-08, 0.5786266487225118, 0.2713547516226421, 0.5777178327744447, 0.2719743696570838, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7060804557455341, 1.242627635105175, 3.80682299754656e-08, 0.5786266487225118, 0.2713547516226421, 0.5777178327744447, 0.2719743696570838, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7060804557455341, 1.242627635105175, 3.80682299754656e-08, 0.5786266487225118, 0.2713547516226421, 0.5777178327744447, 0.2719743696570838, 0.0], "min": [-3.4351887702941895, -2.1953125, 0.027853379026055336, 0.0, 0.0, 0.0, 0.0, -1.0, -3.1624906063079834, -2.103910446166992, 0.5399999022483826, -0.9849079251289368, -0.6355999112129211, -0.7044044733047485, -0.9993478655815125, 0.0, -3.429560422897339, -2.192608118057251, 0.027855316177010536, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1624906063079834, -2.103910446166992, 0.7197518944740295, -0.9849079251289368, -0.24287045001983643, -0.7044044733047485, -0.9993478655815125, 0.0, -3.3700129985809326, -2.163997173309326, 0.02785465121269226, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1624906063079834, -2.103910446166992, 0.7197518944740295, -0.9849079251289368, -0.24287045001983643, -0.7044044733047485, -0.9993478655815125, 0.0, -3.2937026023864746, -2.1273319721221924, 0.027854936197400093, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1624906063079834, -2.103910446166992, 0.7197518944740295, -0.9849079251289368, -0.24287045001983643, -0.7044044733047485, -0.9993478655815125, 0.0, -3.24461030960083, -2.1037445068359375, 0.02785458043217659, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1624906063079834, -2.103910446166992, 0.7197518944740295, -0.9849079251289368, -0.24287045001983643, -0.7044044733047485, -0.9993478655815125, 0.0, -3.2070696353912354, -2.085707187652588, 0.027855077758431435, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1624906063079834, -2.103910446166992, 0.7197518944740295, -0.9849079251289368, -0.24287045001983643, -0.7044044733047485, -0.9993478655815125, 0.0, -3.119670867919922, -2.0437142848968506, 0.02785511314868927, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1624906063079834, -2.103910446166992, 0.7197518944740295, -0.9849079251289368, -0.24287045001983643, -0.7044044733047485, -0.9993478655815125, 0.0, -3.005300521850586, -1.9887622594833374, 0.027854708954691887, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1624906063079834, -2.103910446166992, 0.7197518944740295, -0.9849079251289368, -0.24287045001983643, -0.7044044733047485, -0.9993478655815125, 0.0, -2.994694709777832, -1.9836665391921997, 0.027855178341269493, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1624906063079834, -2.103910446166992, 0.7197518944740295, -0.9849079251289368, -0.24287045001983643, -0.7044044733047485, -0.9993478655815125, 0.0, -2.986513137817383, -1.9797354936599731, 0.027854718267917633, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1624906063079834, -2.103910446166992, 0.7197518944740295, -0.9849079251289368, -0.24287045001983643, -0.7044044733047485, -0.9993478655815125, 0.0, -2.8691039085388184, -1.923323392868042, 0.027854807674884796, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1624906063079834, -2.103910446166992, 0.7197518944740295, -0.9849079251289368, -0.24287045001983643, -0.7044044733047485, -0.9993478655815125, 0.0, -2.7640364170074463, -1.8728411197662354, 0.027854308485984802, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1624906063079834, -2.103910446166992, 0.7197518944740295, -0.9849079251289368, -0.24287045001983643, -0.7044044733047485, -0.9993478655815125, 0.0, -2.743513345718384, -1.8629802465438843, 0.44790709018707275, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1624906063079834, -2.103910446166992, 0.7197518944740295, -0.9849079251289368, -0.24287045001983643, -0.7044044733047485, -0.9993478655815125, 0.0, -2.716909885406494, -1.8501979112625122, 0.4479062259197235, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1624906063079834, -2.103910446166992, 0.7197518944740295, -0.9849079251289368, -0.24287045001983643, -0.7044044733047485, -0.9993478655815125, 0.0, -2.6184513568878174, -1.8028910160064697, 0.4479049742221832, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1624906063079834, -2.103910446166992, 0.7197518944740295, -0.9849079251289368, -0.24287045001983643, -0.7044044733047485, -0.9993478655815125, 0.0, -2.5432121753692627, -1.7667405605316162, 0.44790589809417725, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1624906063079834, -2.103910446166992, 0.7197518944740295, -0.9849079251289368, -0.24287045001983643, -0.7044044733047485, -0.9993478655815125, 0.0, -2.493532180786133, -1.742870569229126, 0.44790613651275635, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1624906063079834, -2.103910446166992, 0.7197518944740295, -0.9849079251289368, -0.24287045001983643, -0.7044044733047485, -0.9993478655815125, 0.0, -2.428520441055298, -1.7116340398788452, 0.44790583848953247, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1624906063079834, -2.103910446166992, 0.7197518944740295, -0.9849079251289368, -0.24287045001983643, -0.7044044733047485, -0.9993478655815125, 0.0, -2.368290424346924, -1.6826950311660767, 0.44790440797805786, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1624906063079834, -2.103910446166992, 0.7197518944740295, -0.9849079251289368, -0.24287045001983643, -0.7044044733047485, -0.9993478655815125, 0.0, -2.321826219558716, -1.6603702306747437, 0.44790592789649963, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1624906063079834, -2.103910446166992, 0.7197518944740295, -0.9849079251289368, -0.24287045001983643, -0.7044044733047485, -0.9993478655815125, 0.0, -2.242699384689331, -1.6223517656326294, 0.44790560007095337, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1624906063079834, -2.103910446166992, 0.7197518944740295, -0.9849079251289368, -0.24287045001983643, -0.7044044733047485, -0.9993478655815125, 0.0, -2.140129804611206, -1.57306969165802, 0.4479036033153534, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1624906063079834, -2.103910446166992, 0.7197518944740295, -0.9849079251289368, -0.24287045001983643, -0.7044044733047485, -0.9993478655815125, 0.0, -2.117231607437134, -1.5620677471160889, 0.4479057192802429, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1624906063079834, -2.103910446166992, 0.7197518944740295, -0.9849079251289368, -0.24287045001983643, -0.7044044733047485, -0.9993478655815125, 0.0, -2.099733591079712, -1.5536603927612305, 0.4479053020477295, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1624906063079834, -2.103910446166992, 0.7197518944740295, -0.9849079251289368, -0.24287045001983643, -0.7044044733047485, -0.9993478655815125, 0.0, -1.9923121929168701, -1.5020471811294556, 0.4479055404663086, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1624906063079834, -2.103910446166992, 0.7197518944740295, -0.9849079251289368, -0.24287045001983643, -0.7044044733047485, -0.9993478655815125, 0.0, -1.8793548345565796, -1.447774052619934, 0.4479116201400757, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1624906063079834, -2.103910446166992, 0.7197518944740295, -0.9849079251289368, -0.24287045001983643, -0.7044044733047485, -0.9993478655815125, 0.0, -1.8673930168151855, -1.4420266151428223, 0.44790488481521606, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1624906063079834, -2.103910446166992, 0.7197518944740295, -0.9849079251289368, -0.24287045001983643, -0.7044044733047485, -0.9993478655815125, 0.0, -1.8517396450042725, -1.434505581855774, 0.44790560007095337, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1624906063079834, -2.103910446166992, 0.7197518944740295, -0.9849079251289368, -0.24287045001983643, -0.7044044733047485, -0.9993478655815125, 0.0, -1.7418863773345947, -1.3817238807678223, 0.4479052424430847, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1624906063079834, -2.103910446166992, 0.7197518944740295, -0.9849079251289368, -0.24287045001983643, -0.7044044733047485, -0.9993478655815125, 0.0, -1.6571402549743652, -1.341005563735962, 0.44790560007095337, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1624906063079834, -2.103910446166992, 0.7197518944740295, -0.9849079251289368, -0.24287045001983643, -0.7044044733047485, -0.9993478655815125, 0.0, -1.616295576095581, -1.3213807344436646, 0.44790470600128174, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1624906063079834, -2.103910446166992, 0.7197518944740295, -0.9849079251289368, -0.24287045001983643, -0.7044044733047485, -0.9993478655815125, 0.0, -1.5633500814437866, -1.2959418296813965, 0.44790565967559814, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1624906063079834, -2.103910446166992, 0.7197518944740295, -0.9849079251289368, -0.24287045001983643, -0.7044044733047485, -0.9993478655815125, 0.0, -1.4910932779312134, -1.2612242698669434, 0.44790592789649963, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1624906063079834, -2.103910446166992, 0.7197518944740295, -0.9849079251289368, -0.24287045001983643, -0.7044044733047485, -0.9993478655815125, 0.0, -1.4359030723571777, -1.2347067594528198, 0.4479053020477295, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1624906063079834, -2.103910446166992, 0.7197518944740295, -0.9849079251289368, -0.24287045001983643, -0.7044044733047485, -0.9993478655815125, 0.0, -1.3660258054733276, -1.2011325359344482, 0.4479055404663086, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1624906063079834, -2.103910446166992, 0.7197518944740295, -0.9849079251289368, -0.24287045001983643, -0.7044044733047485, -0.9993478655815125, 0.0, -1.2729138135910034, -1.156394600868225, 0.4479053020477295, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1624906063079834, -2.103910446166992, 0.7197518944740295, -0.9849079251289368, -0.24287045001983643, -0.7044044733047485, -0.9993478655815125, 0.0, -1.2398418188095093, -1.1405043601989746, 0.44790637493133545, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1624906063079834, -2.103910446166992, 0.7197518944740295, -0.9849079251289368, -0.24287045001983643, -0.7044044733047485, -0.9993478655815125, 0.0, -1.2147018909454346, -1.1284252405166626, 0.4479062557220459, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1624906063079834, -2.103910446166992, 0.7197518944740295, -0.9849079251289368, -0.24287045001983643, -0.7044044733047485, -0.9993478655815125, 0.0, -1.1105833053588867, -1.0783988237380981, 0.44790536165237427, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1624906063079834, -2.103910446166992, 0.7197518944740295, -0.9849079251289368, -0.24287045001983643, -0.7044044733047485, -0.9993478655815125, 0.0, -0.9902551174163818, -1.020584225654602, 0.4479033350944519, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1624906063079834, -2.103910446166992, 0.7197518944740295, -0.9849079251289368, -0.24287045001983643, -0.7044044733047485, -0.9993478655815125, 0.0, -0.9784399271011353, -1.0149073600769043, 0.4479033350944519, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1624906063079834, -2.103910446166992, 0.7197518944740295, -0.9849079251289368, -0.24287045001983643, -0.7044044733047485, -0.9993478655815125, 0.0, -0.9621257781982422, -1.0070688724517822, 0.4479061961174011, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1624906063079834, -2.103910446166992, 0.7197518944740295, -0.9849079251289368, -0.24287045001983643, -0.7044044733047485, -0.9993478655815125, 0.0, -0.8437466025352478, -0.9501906037330627, 0.4479060471057892, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1624906063079834, -2.103910446166992, 0.7197518944740295, -0.9849079251289368, -0.24287045001983643, -0.7044044733047485, -0.9993478655815125, 0.0, -0.7632592916488647, -0.9115184545516968, 0.4479058086872101, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1624906063079834, -2.103910446166992, 0.7197518944740295, -0.9849079251289368, -0.24287045001983643, -0.7044044733047485, -0.9993478655815125, 0.0, -0.7131170630455017, -0.8874263763427734, 0.44790586829185486, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1624906063079834, -2.103910446166992, 0.7197518944740295, -0.9849079251289368, -0.24287045001983643, -0.7044044733047485, -0.9993478655815125, 0.0, -0.6480621099472046, -0.8561691045761108, 0.9082407355308533, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1624906063079834, -2.103910446166992, 0.7197518944740295, -0.9849079251289368, -0.24287045001983643, -0.7044044733047485, -0.9993478655815125, 0.0, -0.6050618886947632, -0.8010553121566772, 1.119779109954834, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1624906063079834, -2.103910446166992, 0.7197518944740295, -0.9849079251289368, -0.24287045001983643, -0.7044044733047485, -0.9993478655815125, 0.0, 1.4639509916305542, 1.3793201446533203, 1.1197789907455444, 0.0, 0.0, 0.0, 0.0, 2.0, -0.5571651458740234, -0.45097535848617554, 0.8798530101776123, -0.7055875062942505, -0.24287045001983643, -0.7044044733047485, -0.5170831680297852, 0.0, 1.5104542970657349, 1.4753397703170776, 1.119779109954834, 0.0, 0.0, 0.0, 0.0, 2.0, -0.5571651458740234, -0.45097535848617554, 0.8798530101776123, -0.7055875062942505, -0.24287045001983643, -0.7044044733047485, -0.5170831680297852, 0.0, 1.5370736122131348, 1.5303031206130981, 1.1197789907455444, 0.0, 0.0, 0.0, 0.0, 2.0, -0.5571651458740234, -0.45097535848617554, 0.8798530101776123, -0.7055875062942505, -0.24287045001983643, -0.7044044733047485, -0.5170831680297852, 0.0, 1.5775623321533203, 1.6139038801193237, 1.1197797060012817, 0.0, 0.0, 0.0, 0.0, 2.0, -0.5571651458740234, -0.45097535848617554, 0.8798530101776123, -0.7055875062942505, -0.24287045001983643, -0.7044044733047485, -0.5170831680297852, 0.0, 1.610008716583252, 1.6808990240097046, 1.119779109954834, 0.0, 0.0, 0.0, 0.0, 2.0, -0.5571651458740234, -0.45097535848617554, 0.8798530101776123, -0.7055875062942505, -0.24287045001983643, -0.7044044733047485, -0.5170831680297852, 0.0, 1.6446701288223267, 1.7524676322937012, 1.119779348373413, 0.0, 0.0, 0.0, 0.0, 2.0, -0.5571651458740234, -0.45097535848617554, 0.8798530101776123, -0.7055875062942505, -0.24287045001983643, -0.7044044733047485, -0.5170831680297852, 0.0, 1.6831392049789429, 1.8318983316421509, 1.1197795867919922, 0.0, 0.0, 0.0, 0.0, 2.0, -0.5571651458740234, -0.45097535848617554, 0.8798530101776123, -0.7055875062942505, -0.24287045001983643, -0.7044044733047485, -0.5170831680297852, 0.0, 1.7122725248336792, 1.8920526504516602, 1.1197792291641235, 0.0, 0.0, 0.0, 0.0, 2.0, -0.5571651458740234, -0.45097535848617554, 0.8798530101776123, -0.7055875062942505, -0.24287045001983643, -0.7044044733047485, -0.5170831680297852, 0.0, 1.7566829919815063, 1.9837510585784912, 1.11978018283844, 0.0, 0.0, 0.0, 0.0, 2.0, -0.5571651458740234, -0.45097535848617554, 0.8798530101776123, -0.7055875062942505, -0.24287045001983643, -0.7044044733047485, -0.5170831680297852, 0.0, 1.7818796634674072, 2.0357770919799805, 1.1197795867919922, 0.0, 0.0, 0.0, 0.0, 2.0, -0.5571651458740234, -0.45097535848617554, 0.8798530101776123, -0.7055875062942505, -0.24287045001983643, -0.7044044733047485, -0.5170831680297852, 0.0, 1.8305022716522217, 2.1361727714538574, 1.1197787523269653, 0.0, 0.0, 0.0, 0.0, 2.0, -0.5571651458740234, -0.45097535848617554, 0.8798530101776123, -0.7055875062942505, -0.24287045001983643, -0.7044044733047485, -0.5170831680297852, 0.0, 1.8560256958007812, 2.188873291015625, 1.119779348373413, 0.0, 0.0, 0.0, 0.0, 2.0, -0.5571651458740234, -0.45097535848617554, 0.8798530101776123, -0.7055875062942505, -0.24287045001983643, -0.7044044733047485, -0.5170831680297852, 0.0, 1.9044684171676636, 2.2888975143432617, 1.1197785139083862, 0.0, 0.0, 0.0, 0.0, 2.0, -0.5571651458740234, -0.45097535848617554, 0.8798530101776123, -0.7055875062942505, -0.24287045001983643, -0.7044044733047485, -0.5170831680297852, 0.0, 1.936126947402954, 2.3542656898498535, 1.119780421257019, 0.0, 0.0, 0.0, 0.0, 2.0, -0.5571651458740234, -0.45097535848617554, 0.8798530101776123, -0.7055875062942505, -0.24287045001983643, -0.7044044733047485, -0.5170831680297852, 0.0, 1.978377103805542, 2.4415037631988525, 1.7962591648101807, 0.0, 0.0, 0.0, 0.0, 2.0, -0.5571651458740234, -0.45097535848617554, 0.8798530101776123, -0.7055875062942505, -0.24287045001983643, -0.7044044733047485, -0.5170831680297852, 0.0, 1.9629409313201904, 2.5088040828704834, 3.137119770050049, 0.0, 0.0, 0.0, 0.0, 2.0, -0.5571651458740234, -0.45097535848617554, 0.8798530101776123, -0.7055875062942505, -0.24287045001983643, -0.7044044733047485, -0.5170831680297852, 0.0], "max": [-0.6086221933364868, -0.8044655919075012, 0.44792065024375916, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9899194240570068, 3.151170015335083, 0.8799999952316284, 0.6630085706710815, 0.5160691142082214, 0.6619518995285034, 0.9994603991508484, 1.0, -0.5892671346664429, -0.8039263486862183, 0.4479045271873474, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9861805438995361, 2.864394187927246, 0.8798531889915466, 0.6630085706710815, 0.5160691142082214, 0.6619518995285034, 0.24347062408924103, 0.0, -0.5308316349983215, -0.8022981882095337, 0.447905570268631, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9861805438995361, 2.864394187927246, 0.8798531889915466, 0.6630085706710815, 0.5160691142082214, 0.6619518995285034, 0.24347062408924103, 0.0, -0.43435171246528625, -0.7996100783348083, 0.4479033946990967, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9861805438995361, 2.864394187927246, 0.8798531889915466, 0.6630085706710815, 0.5160691142082214, 0.6619518995285034, 0.24347062408924103, 0.0, -0.3630819320678711, -0.7976243495941162, 0.44790515303611755, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9861805438995361, 2.864394187927246, 0.8798531889915466, 0.6630085706710815, 0.5160691142082214, 0.6619518995285034, 0.24347062408924103, 0.0, -0.2796365022659302, -0.7952994108200073, 0.4479057788848877, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9861805438995361, 2.864394187927246, 0.8798531889915466, 0.6630085706710815, 0.5160691142082214, 0.6619518995285034, 0.24347062408924103, 0.0, -0.194821298122406, -0.7929362654685974, 0.4479054808616638, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9861805438995361, 2.864394187927246, 0.8798531889915466, 0.6630085706710815, 0.5160691142082214, 0.6619518995285034, 0.24347062408924103, 0.0, -0.12517566978931427, -0.7909957766532898, 0.447897732257843, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9861805438995361, 2.864394187927246, 0.8798531889915466, 0.6630085706710815, 0.5160691142082214, 0.6619518995285034, 0.24347062408924103, 0.0, -0.026272132992744446, -0.7882401347160339, 0.4479064345359802, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9861805438995361, 2.864394187927246, 0.8798531889915466, 0.6630085706710815, 0.5160691142082214, 0.6619518995285034, 0.24347062408924103, 0.0, 0.029113084077835083, -0.7866969704627991, 0.4479053020477295, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9861805438995361, 2.864394187927246, 0.8798531889915466, 0.6630085706710815, 0.5160691142082214, 0.6619518995285034, 0.24347062408924103, 0.0, 0.13608169555664062, -0.78371661901474, 0.4479057192802429, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9861805438995361, 2.864394187927246, 0.8798531889915466, 0.6630085706710815, 0.5160691142082214, 0.6619518995285034, 0.24347062408924103, 0.0, 0.18595686554908752, -0.7823269963264465, 0.447907954454422, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9861805438995361, 2.864394187927246, 0.8798531889915466, 0.6630085706710815, 0.5160691142082214, 0.6619518995285034, 0.24347062408924103, 0.0, 0.26077523827552795, -0.7802424430847168, 0.8447237014770508, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9861805438995361, 2.864394187927246, 0.8798531889915466, 0.6630085706710815, 0.5160691142082214, 0.6619518995285034, 0.24347062408924103, 0.0, 0.3122127950191498, -0.7223087549209595, 0.844723641872406, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9861805438995361, 2.864394187927246, 0.8798531889915466, 0.6630085706710815, 0.5160691142082214, 0.6619518995285034, 0.24347062408924103, 0.0, 0.3289794325828552, -0.7034246325492859, 0.8447240591049194, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9861805438995361, 2.864394187927246, 0.8798531889915466, 0.6630085706710815, 0.5160691142082214, 0.6619518995285034, 0.24347062408924103, 0.0, 0.4347308874130249, -0.5843175649642944, 0.8447223901748657, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9861805438995361, 2.864394187927246, 0.8798531889915466, 0.6630085706710815, 0.5160691142082214, 0.6619518995285034, 0.24347062408924103, 0.0, 0.4421200752258301, -0.5759952068328857, 0.8447239398956299, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9861805438995361, 2.864394187927246, 0.8798531889915466, 0.6630085706710815, 0.5160691142082214, 0.6619518995285034, 0.24347062408924103, 0.0, 0.4484976530075073, -0.5688121914863586, 0.844724178314209, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9861805438995361, 2.864394187927246, 0.8798531889915466, 0.6630085706710815, 0.5160691142082214, 0.6619518995285034, 0.24347062408924103, 0.0, 0.47600609064102173, -0.5378296375274658, 0.8447240591049194, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9861805438995361, 2.864394187927246, 0.8798531889915466, 0.6630085706710815, 0.5160691142082214, 0.6619518995285034, 0.24347062408924103, 0.0, 0.5317116975784302, -0.47508883476257324, 0.8447250127792358, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9861805438995361, 2.864394187927246, 0.8798531889915466, 0.6630085706710815, 0.5160691142082214, 0.6619518995285034, 0.24347062408924103, 0.0, 0.5493515133857727, -0.4552212059497833, 0.8447242975234985, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9861805438995361, 2.864394187927246, 0.8798531889915466, 0.6630085706710815, 0.5160691142082214, 0.6619518995285034, 0.24347062408924103, 0.0, 0.6068019270896912, -0.39051520824432373, 1.1197794675827026, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9861805438995361, 2.864394187927246, 0.8798531889915466, 0.6630085706710815, 0.5160691142082214, 0.6619518995285034, 0.24347062408924103, 0.0, 0.6410547494888306, -0.31979018449783325, 1.119779109954834, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9861805438995361, 2.864394187927246, 0.8798531889915466, 0.6630085706710815, 0.5160691142082214, 0.6619518995285034, 0.24347062408924103, 0.0, 0.6932494640350342, -0.2120189517736435, 1.1197795867919922, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9861805438995361, 2.864394187927246, 0.8798531889915466, 0.6630085706710815, 0.5160691142082214, 0.6619518995285034, 0.24347062408924103, 0.0, 0.7075172066688538, -0.18255899846553802, 1.1197794675827026, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9861805438995361, 2.864394187927246, 0.8798531889915466, 0.6630085706710815, 0.5160691142082214, 0.6619518995285034, 0.24347062408924103, 0.0, 0.7675182819366455, -0.05866914987564087, 1.1197800636291504, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9861805438995361, 2.864394187927246, 0.8798531889915466, 0.6630085706710815, 0.5160691142082214, 0.6619518995285034, 0.24347062408924103, 0.0, 0.7735037803649902, -0.04631030932068825, 1.1197868585586548, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9861805438995361, 2.864394187927246, 0.8798531889915466, 0.6630085706710815, 0.5160691142082214, 0.6619518995285034, 0.24347062408924103, 0.0, 0.7749966979026794, -0.04322768375277519, 1.119779348373413, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9861805438995361, 2.864394187927246, 0.8798531889915466, 0.6630085706710815, 0.5160691142082214, 0.6619518995285034, 0.24347062408924103, 0.0, 0.8392066359519958, 0.089352548122406, 1.1197788715362549, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9861805438995361, 2.864394187927246, 0.8798531889915466, 0.6630085706710815, 0.5160691142082214, 0.6619518995285034, 0.24347062408924103, 0.0, 0.8600181937217712, 0.13232406973838806, 1.1197794675827026, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9861805438995361, 2.864394187927246, 0.8798531889915466, 0.6630085706710815, 0.5160691142082214, 0.6619518995285034, 0.24347062408924103, 0.0, 0.9055987000465393, 0.22643843293190002, 1.1197789907455444, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9861805438995361, 2.864394187927246, 0.8798531889915466, 0.6630085706710815, 0.5160691142082214, 0.6619518995285034, 0.24347062408924103, 0.0, 0.9450279474258423, 0.3078516125679016, 1.1197795867919922, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9861805438995361, 2.864394187927246, 0.8798531889915466, 0.6630085706710815, 0.5160691142082214, 0.6619518995285034, 0.24347062408924103, 0.0, 0.9733509421348572, 0.3663327693939209, 1.1197789907455444, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9861805438995361, 2.864394187927246, 0.8798531889915466, 0.6630085706710815, 0.5160691142082214, 0.6619518995285034, 0.24347062408924103, 0.0, 1.0241080522537231, 0.47113561630249023, 1.1197788715362549, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9861805438995361, 2.864394187927246, 0.8798531889915466, 0.6630085706710815, 0.5160691142082214, 0.6619518995285034, 0.24347062408924103, 0.0, 1.0406534671783447, 0.5052984356880188, 1.119779109954834, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9861805438995361, 2.864394187927246, 0.8798531889915466, 0.6630085706710815, 0.5160691142082214, 0.6619518995285034, 0.24347062408924103, 0.0, 1.0990639925003052, 0.6259040236473083, 1.1197787523269653, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9861805438995361, 2.864394187927246, 0.8798531889915466, 0.6630085706710815, 0.5160691142082214, 0.6619518995285034, 0.24347062408924103, 0.0, 1.1077834367752075, 0.6439078450202942, 1.119779348373413, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9861805438995361, 2.864394187927246, 0.8798531889915466, 0.6630085706710815, 0.5160691142082214, 0.6619518995285034, 0.24347062408924103, 0.0, 1.1718766689300537, 0.7762471437454224, 1.1197751760482788, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9861805438995361, 2.864394187927246, 0.8798531889915466, 0.6630085706710815, 0.5160691142082214, 0.6619518995285034, 0.24347062408924103, 0.0, 1.1749143600463867, 0.7825192809104919, 1.1197788715362549, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9861805438995361, 2.864394187927246, 0.8798531889915466, 0.6630085706710815, 0.5160691142082214, 0.6619518995285034, 0.24347062408924103, 0.0, 1.2073261737823486, 0.8494428992271423, 1.119779109954834, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9861805438995361, 2.864394187927246, 0.8798531889915466, 0.6630085706710815, 0.5160691142082214, 0.6619518995285034, 0.24347062408924103, 0.0, 1.2420223951339722, 0.921083390712738, 1.1197729110717773, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9861805438995361, 2.864394187927246, 0.8798531889915466, 0.6630085706710815, 0.5160691142082214, 0.6619518995285034, 0.24347062408924103, 0.0, 1.2452741861343384, 0.9277975559234619, 1.119779109954834, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9861805438995361, 2.864394187927246, 0.8798531889915466, 0.6630085706710815, 0.5160691142082214, 0.6619518995285034, 0.24347062408924103, 0.0, 1.3091304302215576, 1.0596474409103394, 1.1197795867919922, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9861805438995361, 2.864394187927246, 0.8798531889915466, 0.6630085706710815, 0.5160691142082214, 0.6619518995285034, 0.24347062408924103, 0.0, 1.317893385887146, 1.0777411460876465, 1.1197797060012817, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9861805438995361, 2.864394187927246, 0.8798531889915466, 0.6630085706710815, 0.5160691142082214, 0.6619518995285034, 0.24347062408924103, 0.0, 1.3762383460998535, 1.1982115507125854, 1.1197795867919922, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9861805438995361, 2.864394187927246, 0.8798531889915466, 0.6630085706710815, 0.5160691142082214, 0.6619518995285034, 0.24347062408924103, 0.0, 1.3911738395690918, 1.2290502786636353, 1.1197797060012817, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9861805438995361, 2.864394187927246, 0.8798531889915466, 0.6630085706710815, 0.5160691142082214, 0.6619518995285034, 0.24347062408924103, 0.0, 1.4433462619781494, 1.3367756605148315, 3.077488422393799, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9861805438995361, 2.864394187927246, 0.8798531889915466, 0.6630085706710815, 0.5160691142082214, 0.6619518995285034, 0.24347062408924103, 0.0, 1.4639509916305542, 1.3793201446533203, 1.1197789907455444, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9861805438995361, 2.864394187927246, 0.8798531889915466, 0.6630085706710815, 0.5160691142082214, 0.6619518995285034, 0.24347062408924103, 0.0, 1.5104542970657349, 1.4753397703170776, 1.119779109954834, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9861805438995361, 2.864394187927246, 0.8798531889915466, 0.6630085706710815, 0.5160691142082214, 0.6619518995285034, 0.24347062408924103, 0.0, 1.5370736122131348, 1.5303031206130981, 1.1197789907455444, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9861805438995361, 2.864394187927246, 0.8798531889915466, 0.6630085706710815, 0.5160691142082214, 0.6619518995285034, 0.24347062408924103, 0.0, 1.5775623321533203, 1.6139038801193237, 1.1197797060012817, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9861805438995361, 2.864394187927246, 0.8798531889915466, 0.6630085706710815, 0.5160691142082214, 0.6619518995285034, 0.24347062408924103, 0.0, 1.610008716583252, 1.6808990240097046, 1.119779109954834, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9861805438995361, 2.864394187927246, 0.8798531889915466, 0.6630085706710815, 0.5160691142082214, 0.6619518995285034, 0.24347062408924103, 0.0, 1.6446701288223267, 1.7524676322937012, 1.119779348373413, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9861805438995361, 2.864394187927246, 0.8798531889915466, 0.6630085706710815, 0.5160691142082214, 0.6619518995285034, 0.24347062408924103, 0.0, 1.6831392049789429, 1.8318983316421509, 1.1197795867919922, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9861805438995361, 2.864394187927246, 0.8798531889915466, 0.6630085706710815, 0.5160691142082214, 0.6619518995285034, 0.24347062408924103, 0.0, 1.7122725248336792, 1.8920526504516602, 1.1197792291641235, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9861805438995361, 2.864394187927246, 0.8798531889915466, 0.6630085706710815, 0.5160691142082214, 0.6619518995285034, 0.24347062408924103, 0.0, 1.7566829919815063, 1.9837510585784912, 1.11978018283844, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9861805438995361, 2.864394187927246, 0.8798531889915466, 0.6630085706710815, 0.5160691142082214, 0.6619518995285034, 0.24347062408924103, 0.0, 1.7818796634674072, 2.0357770919799805, 1.1197795867919922, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9861805438995361, 2.864394187927246, 0.8798531889915466, 0.6630085706710815, 0.5160691142082214, 0.6619518995285034, 0.24347062408924103, 0.0, 1.8305022716522217, 2.1361727714538574, 1.1197787523269653, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9861805438995361, 2.864394187927246, 0.8798531889915466, 0.6630085706710815, 0.5160691142082214, 0.6619518995285034, 0.24347062408924103, 0.0, 1.8560256958007812, 2.188873291015625, 1.119779348373413, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9861805438995361, 2.864394187927246, 0.8798531889915466, 0.6630085706710815, 0.5160691142082214, 0.6619518995285034, 0.24347062408924103, 0.0, 1.9044684171676636, 2.2888975143432617, 1.1197785139083862, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9861805438995361, 2.864394187927246, 0.8798531889915466, 0.6630085706710815, 0.5160691142082214, 0.6619518995285034, 0.24347062408924103, 0.0, 1.936126947402954, 2.3542656898498535, 1.119780421257019, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9861805438995361, 2.864394187927246, 0.8798531889915466, 0.6630085706710815, 0.5160691142082214, 0.6619518995285034, 0.24347062408924103, 0.0, 1.978377103805542, 2.4415037631988525, 1.7962591648101807, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9861805438995361, 2.864394187927246, 0.8798531889915466, 0.6630085706710815, 0.5160691142082214, 0.6619518995285034, 0.24347062408924103, 0.0, 1.9629409313201904, 2.5088040828704834, 3.137119770050049, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9861805438995361, 2.864394187927246, 0.8798531889915466, 0.6630085706710815, 0.5160691142082214, 0.6619518995285034, 0.24347062408924103, 0.0], "count": [2221]}, "action.applied": {"mean": [0.07978867432665505, -0.010806536110162922, 0.025761218126175548, 0.7451311253256113, 0.05621835803410676, 0.05621835803410676, 0.05621835803410676, 0.05621835803410676, 2.66958109444726, -1.0703587550058349, 0.04335594109305363, 0.08307068887888339, 0.08307068887888339], "std": [0.12097867790936866, 0.06024509649255086, 0.19268657629442829, 0.1609686760450856, 0.04403184869586949, 0.04403184869586949, 0.04403184869586949, 0.04403184869586949, 0.8605866340072841, 0.701045871424677, 0.48132326476612486, 0.11775794185068034, 0.11775794185068034], "min": [-0.0, -0.23683315515518188, -0.800000011920929, 0.5417888760566711, 0.0, 0.0, 0.0, 0.0, 1.5616447925567627, -1.5699999332427979, -1.075813889503479, 0.0, 0.0], "max": [0.29999780654907227, 0.08685760200023651, 0.800000011920929, 0.956145167350769, 0.12748964130878448, 0.12748964130878448, 0.12748964130878448, 0.12748964130878448, 3.999999761581421, 7.043527148198336e-07, 1.0082417726516724, 0.25, 0.25], "count": [2221]}, "extra.reward": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [2221]}, "next.truncated": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [2221]}, "sim_step_idx": {"mean": [2321.0], "std": [1282.2948178948552], "min": [101.0], "max": [4541.0], "count": [2221]}, "timestamp": {"mean": [44.400000004115434], "std": [25.6458963614189], "min": [0.0], "max": [88.80000305175781], "count": [2221]}, "frame_index": {"mean": [1110.0], "std": [641.1474089474276], "min": [0.0], "max": [2220.0], "count": [2221]}, "episode_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [2221]}, "index": {"mean": [1110.0], "std": [641.1474089474276], "min": [0.0], "max": [2220.0], "count": [2221]}, "task_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [2221]}, "next.done": {"mean": [0.00045024763619990995], "std": [0.0212142620250153], "min": [0.0], "max": [1.0], "count": [2221]}, "observation.images.head": {"mean": [[[0.5143384950738507]], [[0.3615384705882428]], [[0.23711433112714322]]], "std": [[[0.13296831822199595]], [[0.11134754394399111]], [[0.08311320471664098]]], "min": [[[0.011764705882352941]], [[0.00392156862745098]], [[0.0]]], "max": [[[0.9725490196078431]], [[0.9764705882352941]], [[0.9921568627450981]]], "count": [100]}, "observation.images.wrist": {"mean": [[[0.5261864573023766]], [[0.41728850363459075]], [[0.3282280834081064]]], "std": [[[0.1611103220979966]], [[0.14577540940872358]], [[0.13412015543525907]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[0.9921568627450981]], [[0.9921568627450981]]], "count": [100]}}} diff --git a/N033/stretch3/dr_on/seed_2019/rec/stationringstretch/000/lerobot_v21/meta/extra/episode_000000.json b/N033/stretch3/dr_on/seed_2019/rec/stationringstretch/000/lerobot_v21/meta/extra/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..8227ac461b235c5b495ab8a08e2c2159d7326e12 --- /dev/null +++ b/N033/stretch3/dr_on/seed_2019/rec/stationringstretch/000/lerobot_v21/meta/extra/episode_000000.json @@ -0,0 +1,500 @@ +{ + "episode_index": 0, + "trajectory_id": 0, + "env_id": 0, + "task_type": "RingStretchCommand", + "subsample_every": 2, + "control_steps": 4442, + "language": { + "scene": { + "objects": [ + { + "id": "table_A_1", + "cat_name": "table_A", + "inst_id": 1, + "noun": "table A", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 3.645531331948923, + -0.9286040304741112, + 0.11999970058067516 + ], + "bbox": { + "extent": [ + 0.9639279996957596, + 0.615070439319386, + 0.30000001192092896 + ], + "center": [ + 5.551115123125783e-17, + 0.0, + 0.0 + ] + } + }, + { + "id": "table_B_1", + "cat_name": "table_B", + "inst_id": 1, + "noun": "table B", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 7.61761647225155, + -0.5344765074066831, + 0.11999937190888305 + ], + "bbox": { + "extent": [ + 0.9044750889190571, + 0.5080552027562559, + 0.30000001192092896 + ], + "center": [ + 2.220446049250313e-16, + 4.440892098500626e-16, + 0.0 + ] + } + }, + { + "id": "rack_back_1", + "cat_name": "rack_back", + "inst_id": 1, + "noun": "rack back", + "color": "brown", + "size": "medium", + "material": null, + "category": "geometry", + "pos": [ + 3.6071067580117058, + -0.8950846242325406, + 0.3699997036265869 + ], + "bbox": { + "extent": [ + 0.703835669405594, + 0.11949923075794958, + 0.20000000298023224 + ], + "center": [ + -5.551115123125783e-17, + -1.0408340855860843e-17, + 0.0 + ] + } + }, + { + "id": "peg_1_1", + "cat_name": "peg_1", + "inst_id": 1, + "noun": "peg 1", + "color": "gray", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.615407780021041, + -1.0779946923971153, + 0.4099997035969764 + ], + "bbox": { + "extent": [ + 0.043014088941005224, + 0.182557128036906, + 0.019999999552965164 + ], + "center": [ + 1.3877787807814457e-17, + 2.0816681711721685e-17, + 0.0 + ] + } + }, + { + "id": "peg_2_1", + "cat_name": "peg_2", + "inst_id": 1, + "noun": "peg 2", + "color": "gray", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.4324036638746227, + -0.84027743708428, + 0.4099997178243957 + ], + "bbox": { + "extent": [ + 0.043014088941005335, + 0.18255712803690605, + 0.019999999552965164 + ], + "center": [ + 2.6020852139652106e-17, + -6.938893903907228e-18, + 0.0 + ] + } + }, + { + "id": "ring_1", + "cat_name": "ring", + "inst_id": 1, + "noun": "ring", + "color": null, + "size": "small", + "material": null, + "category": "rigid", + "pos": [ + 3.4054498753017364, + -0.8610267076036824, + 0.379999568723558 + ], + "bbox": { + "extent": [ + 0.12847864614172183, + 0.050853869333682085, + 0.18200275431171142 + ], + "center": [ + -4.7388341874177176e-07, + -1.3207919653812628e-09, + 0.02899991696202131 + ] + } + }, + { + "id": "ring_small_1", + "cat_name": "ring_small", + "inst_id": 1, + "noun": "ring small", + "color": null, + "size": "small", + "material": null, + "category": "rigid", + "pos": [ + 3.5757431819388485, + -1.108530169416499, + 0.408783562412426 + ], + "bbox": { + "extent": [ + 0.07887485885005718, + 0.04451765541040696, + 0.13226124762076813 + ], + "center": [ + -6.953579324060072e-05, + -5.286669408560013e-06, + 0.02900010822323154 + ] + } + }, + { + "id": "rod_h_1", + "cat_name": "rod_h", + "inst_id": 1, + "noun": "rod h", + "color": "white", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 7.51951484394018, + -0.6197763588204668, + 0.46999938029666055 + ], + "bbox": { + "extent": [ + 0.021253031131356043, + 0.14017900510248227, + 0.019999999552965164 + ], + "center": [ + 7.025630077706069e-17, + -2.220446049250313e-16, + 0.0 + ] + } + }, + { + "id": "rod_s_1", + "cat_name": "rod_s", + "inst_id": 1, + "noun": "rod s", + "color": "white", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 7.615579001819961, + -0.5362481186230507, + 0.42979937208308966 + ], + "bbox": { + "extent": [ + 0.021128538039859625, + 0.1589404135341928, + 0.1516595993107323 + ], + "center": [ + 1.8127860323957634e-16, + -8.326672684688674e-17, + -2.498001805406602e-16 + ] + } + }, + { + "id": "rod_stop_1", + "cat_name": "rod_stop", + "inst_id": 1, + "noun": "rod stop", + "color": "brown", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 7.6704404587871, + -0.4885458167584826, + 0.3299993673923861 + ], + "bbox": { + "extent": [ + 0.10010740419731162, + 0.012895022669827227, + 0.11999999731779099 + ], + "center": [ + 4.5102810375396984e-17, + 0.0, + 0.0 + ] + } + } + ], + "relations": [ + { + "subject": "table_B_1", + "relation": "behind", + "object": "rod_stop_1" + }, + { + "subject": "rack_back_1", + "relation": "right_of", + "object": "peg_2_1" + }, + { + "subject": "peg_2_1", + "relation": "on_top_of", + "object": "ring_1" + }, + { + "subject": "rod_h_1", + "relation": "right_of", + "object": "rod_s_1" + }, + { + "subject": "rod_s_1", + "relation": "on_top_of", + "object": "rod_stop_1" + }, + { + "subject": "rod_s_1", + "relation": "behind", + "object": "rod_stop_1" + }, + { + "subject": "rod_stop_1", + "relation": "in_front_of", + "object": "rod_s_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": [ + 3.9457915261716305, + -1.1736814354048732, + 1.2357226381445883 + ], + "viewpoint": "front, 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": [ + 3.9684238749458283, + -1.0995845222739653, + -0.0036023248427979743 + ], + "viewpoint": "front, 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": [ + -3.4, + -2.2, + 0.06 + ], + "ori": [ + 0.9396926164627075, + 0.0, + 0.0, + 0.3420201539993286 + ] + }, + "facing_yaw_deg": 40.000001288448495, + "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 ring. There are a large gray table A, a large gray table B, a medium brown rack back, a small gray peg 1, a small gray peg 2, a small ring, a small ring small, a small white rod h, a small white rod s and a small brown rod stop. The gray table B is behind the brown rod stop. The brown rack back is to the right of the gray peg 2. The gray peg 2 is on top of the ring. The white rod h is to the right of the white rod s. The white rod s is on top of the brown rod stop. The white rod s is behind the brown rod stop. The brown rod stop is in front of the white rod s. The scene is viewed from front, slightly above table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n [rod stop]]\n\n\n\n [ring small]\n\n\n\n[robot]" + }, + "task": { + "task_type": "StationRingStretch", + "instruction": "Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.", + "template_id": -1, + "slots": { + "obj": 3.077488465875276, + "support": null + }, + "generic_instruction": "Stationringstretch the 3.077488465875276.", + "task_id": "N033", + "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 +} \ No newline at end of file diff --git a/N033/stretch3/dr_on/seed_2019/rec/stationringstretch/000/lerobot_v21/meta/info.json b/N033/stretch3/dr_on/seed_2019/rec/stationringstretch/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..c7c6c104171a691c448a38f3d5253b8fc9a1a036 --- /dev/null +++ b/N033/stretch3/dr_on/seed_2019/rec/stationringstretch/000/lerobot_v21/meta/info.json @@ -0,0 +1,319 @@ +{ + "codebase_version": "v2.1", + "robot_type": "HelloRobotCfg", + "total_episodes": 1, + "total_frames": 2221, + "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": [ + 70 + ], + "names": [ + "object_pose.peg_1.0", + "object_pose.peg_1.1", + "object_pose.peg_1.2", + "object_pose.peg_1.3", + "object_pose.peg_1.4", + "object_pose.peg_1.5", + "object_pose.peg_1.6", + "object_pose.peg_2.0", + "object_pose.peg_2.1", + "object_pose.peg_2.2", + "object_pose.peg_2.3", + "object_pose.peg_2.4", + "object_pose.peg_2.5", + "object_pose.peg_2.6", + "object_pose.rack_back.0", + "object_pose.rack_back.1", + "object_pose.rack_back.2", + "object_pose.rack_back.3", + "object_pose.rack_back.4", + "object_pose.rack_back.5", + "object_pose.rack_back.6", + "object_pose.ring.0", + "object_pose.ring.1", + "object_pose.ring.2", + "object_pose.ring.3", + "object_pose.ring.4", + "object_pose.ring.5", + "object_pose.ring.6", + "object_pose.ring_small.0", + "object_pose.ring_small.1", + "object_pose.ring_small.2", + "object_pose.ring_small.3", + "object_pose.ring_small.4", + "object_pose.ring_small.5", + "object_pose.ring_small.6", + "object_pose.rod_h.0", + "object_pose.rod_h.1", + "object_pose.rod_h.2", + "object_pose.rod_h.3", + "object_pose.rod_h.4", + "object_pose.rod_h.5", + "object_pose.rod_h.6", + "object_pose.rod_s.0", + "object_pose.rod_s.1", + "object_pose.rod_s.2", + "object_pose.rod_s.3", + "object_pose.rod_s.4", + "object_pose.rod_s.5", + "object_pose.rod_s.6", + "object_pose.rod_stop.0", + "object_pose.rod_stop.1", + "object_pose.rod_stop.2", + "object_pose.rod_stop.3", + "object_pose.rod_stop.4", + "object_pose.rod_stop.5", + "object_pose.rod_stop.6", + "object_pose.table_A.0", + "object_pose.table_A.1", + "object_pose.table_A.2", + "object_pose.table_A.3", + "object_pose.table_A.4", + "object_pose.table_A.5", + "object_pose.table_A.6", + "object_pose.table_B.0", + "object_pose.table_B.1", + "object_pose.table_B.2", + "object_pose.table_B.3", + "object_pose.table_B.4", + "object_pose.table_B.5", + "object_pose.table_B.6" + ] + }, + "action.command": { + "dtype": "float32", + "shape": [ + 1008 + ], + "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 + } + } + } +} \ No newline at end of file diff --git a/N033/stretch3/dr_on/seed_2019/rec/stationringstretch/000/lerobot_v21/meta/magicsim_manifest.json b/N033/stretch3/dr_on/seed_2019/rec/stationringstretch/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..0599aa9c3c22afee68cdf35ecc67d5273023bf92 --- /dev/null +++ b/N033/stretch3/dr_on/seed_2019/rec/stationringstretch/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,259 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 03:07:17" + }, + "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": "stationringstretch/000", + "task_type": "RingStretchCommand" + } +} \ No newline at end of file diff --git a/N033/stretch3/dr_on/seed_2019/rec/stationringstretch/000/lerobot_v21/meta/stats.json b/N033/stretch3/dr_on/seed_2019/rec/stationringstretch/000/lerobot_v21/meta/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..ef4870bdc93ca8f9dd69448bcadbf57953367e07 --- /dev/null +++ b/N033/stretch3/dr_on/seed_2019/rec/stationringstretch/000/lerobot_v21/meta/stats.json @@ -0,0 +1,5005 @@ +{ + "action": { + "mean": [ + -0.015727610800722224, + 0.0, + 0.025761218126175548, + 0.4368499187464947, + 0.9105128799068235, + 0.7429549916002032, + -0.27293967429517263, + -0.005494808136945672, + -0.07411068387331868, + -0.02741801734042565, + 0.4376407023863125 + ], + "std": [ + 0.15652785020394808, + 0.0, + 0.19268657629442829, + 1.3745471522318662, + 1.7392187359993365, + 0.10052256483823936, + 0.5552041720133398, + 0.3641884788596245, + 0.4468705063079346, + 0.5278743002447157, + 0.49609607738938133 + ], + "min": [ + -0.30000001192092896, + 0.0, + -0.800000011920929, + -3.1624906063079834, + -2.103910446166992, + 0.5399999022483826, + -0.9849079251289368, + -0.6355999112129211, + -0.7044044733047485, + -0.9993478655815125, + 0.0 + ], + "max": [ + 0.30000001192092896, + 0.0, + 0.800000011920929, + 1.9899194240570068, + 3.151170015335083, + 0.8799999952316284, + 0.6630085706710815, + 0.5160691142082214, + 0.6619518995285034, + 0.9994603991508484, + 1.0 + ], + "count": [ + 2221 + ] + }, + "action_is_hold": { + "mean": [ + 0.1305718144979739, + 0.1305718144979739, + 0.1305718144979739, + 0.15623592976136874, + 0.15623592976136874, + 0.15623592976136874, + 0.15623592976136874, + 0.15623592976136874, + 0.15623592976136874, + 0.15623592976136874, + 0.9779378658262045 + ], + "std": [ + 0.33693147041598775, + 0.33693147041598775, + 0.33693147041598775, + 0.363078867483317, + 0.363078867483317, + 0.363078867483317, + 0.363078867483317, + 0.363078867483317, + 0.363078867483317, + 0.363078867483317, + 0.14688565760309477 + ], + "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": [ + 2221 + ] + }, + "observation.state": { + "mean": [ + 0.45834474775475564, + 0.5923972518117456, + -0.5719813088853313, + 0.745085158202091, + 2.099579366303462e-07, + 1.897240047242086e-08, + 0.05621161641974536, + 0.0562123671429711, + 0.056213193229804045, + 0.0562077519646455, + 2.669403533203438, + -1.0702987397089272, + 0.04311396342843961, + 0.10164740271210948, + 0.10348513180955132 + ], + "std": [ + 1.47929028089758, + 1.665440841947653, + 2.529216626032215, + 0.16091935573538002, + 3.423417778242248e-06, + 5.694986910339165e-06, + 0.04403419998730098, + 0.04403474210449479, + 0.04403530810415877, + 0.044024187971482165, + 0.8603538501202231, + 0.7009502167818182, + 0.48119541019846895, + 0.10528931959240367, + 0.10432772917713584 + ], + "min": [ + -3.435194730758667, + -2.1953125, + -3.139601230621338, + 0.5417675971984863, + -5.183255052543245e-05, + -9.099449380300939e-05, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5616626739501953, + -1.570001244544983, + -1.075252652168274, + -1.0686816986904546e-09, + -5.1479900203821316e-11 + ], + "max": [ + 1.9624080657958984, + 2.5039262771606445, + 3.139408826828003, + 0.9568199515342712, + 5.6739405408734456e-05, + 8.763741061557084e-05, + 0.12671148777008057, + 0.1267642378807068, + 0.12682364881038666, + 0.12599802017211914, + 4.00000524520874, + 3.533701237756759e-05, + 1.0050990581512451, + 0.2500001788139343, + 0.25000008940696716 + ], + "count": [ + 2221 + ] + }, + "observation.joint_vel": { + "mean": [ + 0.07977677943539935, + -0.010817285107713273, + 0.026166485489856433, + -0.0006151001656980619, + -0.0003083536608040866, + -2.1455294887352415e-05, + 3.2121040521407925e-05, + 5.358104578086455e-06, + -4.7136098115155205e-05, + -0.0001525223502784409, + 0.009450757349733423, + -0.004003162464778529, + -0.0036547970465038247, + 0.2579164058879805, + 0.04478898314613697 + ], + "std": [ + 0.12097927016886954, + 0.06022547257610831, + 0.19193064917405095, + 0.04236759563247733, + 0.00048751199522010765, + 6.600804630656764e-05, + 0.015735868215150127, + 0.015791164555954647, + 0.01585631744861784, + 0.015167508019626273, + 0.13860845989142015, + 0.10851227677779411, + 0.1129027320122123, + 0.30668958576157, + 0.12448230137885244 + ], + "min": [ + -0.00017885905981529504, + -0.23663382232189178, + -0.8000755906105042, + -0.19661983847618103, + -0.0019384806510061026, + -0.0009319307282567024, + -0.07378804683685303, + -0.07355614751577377, + -0.07355732470750809, + -0.07831600308418274, + -0.6260161399841309, + -0.5408893823623657, + -0.3700771629810333, + -1.0000004768371582, + -1.0000003576278687 + ], + "max": [ + 0.2999458312988281, + 0.08679445832967758, + 0.8000051975250244, + 0.25908440351486206, + 0.0016740908613428473, + 0.0009141532354988158, + 0.08258558809757233, + 0.08244238048791885, + 0.08265209197998047, + 0.0846477821469307, + 0.6006457805633545, + 0.4568535387516022, + 0.582372784614563, + 1.000059723854065, + 1.000006079673767 + ], + "count": [ + 2221 + ] + }, + "observation.eef_pose": { + "mean": [ + 0.43759861830816943, + 0.9104206738761847, + 0.7429108132064369, + -0.25419417501419883, + 0.03065521205773541, + -0.0719613454781061, + -0.2073954760471425 + ], + "std": [ + 1.3752910656987005, + 1.7397091202872723, + 0.10034891909382931, + 0.5639959059517188, + 0.36300135406828776, + 0.44713285065335423, + 0.48627668337440694 + ], + "min": [ + -3.1624906063079834, + -2.103910446166992, + 0.5397381782531738, + -0.9849134683609009, + -0.6346650719642639, + -0.7043667435646057, + -0.9994730353355408 + ], + "max": [ + 1.9900732040405273, + 3.1512677669525146, + 0.8806608319282532, + 0.6630687117576599, + 0.6146577596664429, + 0.66188645362854, + 0.6961656808853149 + ], + "count": [ + 2221 + ] + }, + "observation.environment_state": { + "mean": [ + -0.2400505095720291, + -0.18817919492721558, + 0.4699999988079071, + 0.9994863867759705, + 0.0, + 0.0, + -0.03204625844955444, + -0.5394343137741089, + -0.16896110773086548, + 0.4699999988079071, + 0.9994863867759705, + 0.0, + 0.0, + -0.03204625844955444, + -0.38301607966423035, + -0.07378581911325455, + 0.4300000071525574, + 0.9994863867759705, + 0.0, + 0.0, + -0.03204625844955444, + 0.6150836980170354, + 1.1832892121680043, + 0.5456165322066964, + 0.9620284949911977, + -0.018405025461156244, + -0.05314659836606436, + 0.09358435581917329, + -0.2432570904493332, + -0.23813331127166748, + 0.4687838554382324, + 0.9994827508926392, + -5.257063376730793e-05, + 0.001201196610994674, + -0.03213773528931647, + 1.9903560876846313, + 3.048686981201172, + 0.5299999713897705, + 0.9999974966049194, + 0.0, + 0.0, + -0.0022375844419002533, + 1.9909255504608154, + 3.17598557472229, + 0.48980000615119934, + 0.9537145495414734, + -0.30070510506629944, + 0.0006725222920067608, + -0.0021329682786017656, + 1.99125075340271, + 3.248684883117676, + 0.38999998569488525, + 0.9999974966049194, + 0.0, + 0.0, + -0.0022375844419002533, + -0.33247819542884827, + -0.06700937449932098, + 0.18000000715255737, + 0.9994863867759705, + 0.0, + 0.0, + -0.03204625844955444, + 1.99093759059906, + 3.1786856651306152, + 0.18000000715255737, + 0.9999974966049194, + 0.0, + 0.0, + -0.0022375844419002533 + ], + "std": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.154046752533987, + 1.5426792109503014, + 0.14575454091996012, + 0.06616162340996928, + 0.08524636480955852, + 0.05055250645122142, + 0.2199544607240561, + 0.0, + 0.0, + 0.0, + 0.0, + 1.9567073859387356e-09, + 2.8728809227905005e-09, + 2.0049266999662992e-09, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "min": [ + -0.2400505095720291, + -0.18817919492721558, + 0.4699999988079071, + 0.9994863867759705, + 0.0, + 0.0, + -0.03204625844955444, + -0.5394343137741089, + -0.16896110773086548, + 0.4699999988079071, + 0.9994863867759705, + 0.0, + 0.0, + -0.03204625844955444, + -0.38301607966423035, + -0.07378581911325455, + 0.4300000071525574, + 0.9994863867759705, + 0.0, + 0.0, + -0.03204625844955444, + -0.5417134761810303, + -0.4509897530078888, + 0.4317209720611572, + 0.7536471486091614, + -0.3895711898803711, + -0.1236565113067627, + -0.051867932081222534, + -0.2432570904493332, + -0.23813331127166748, + 0.4687838554382324, + 0.9994827508926392, + -5.257302109384909e-05, + 0.0012011906364932656, + -0.032137736678123474, + 1.9903560876846313, + 3.048686981201172, + 0.5299999713897705, + 0.9999974966049194, + 0.0, + 0.0, + -0.0022375844419002533, + 1.9909255504608154, + 3.17598557472229, + 0.48980000615119934, + 0.9537145495414734, + -0.30070510506629944, + 0.0006725222920067608, + -0.0021329682786017656, + 1.99125075340271, + 3.248684883117676, + 0.38999998569488525, + 0.9999974966049194, + 0.0, + 0.0, + -0.0022375844419002533, + -0.33247819542884827, + -0.06700937449932098, + 0.18000000715255737, + 0.9994863867759705, + 0.0, + 0.0, + -0.03204625844955444, + 1.99093759059906, + 3.1786856651306152, + 0.18000000715255737, + 0.9999974966049194, + 0.0, + 0.0, + -0.0022375844419002533 + ], + "max": [ + -0.2400505095720291, + -0.18817919492721558, + 0.4699999988079071, + 0.9994863867759705, + 0.0, + 0.0, + -0.03204625844955444, + -0.5394343137741089, + -0.16896110773086548, + 0.4699999988079071, + 0.9994863867759705, + 0.0, + 0.0, + -0.03204625844955444, + -0.38301607966423035, + -0.07378581911325455, + 0.4300000071525574, + 0.9994863867759705, + 0.0, + 0.0, + -0.03204625844955444, + 2.014277219772339, + 3.216893196105957, + 0.7634104490280151, + 0.9996164441108704, + 0.08322280645370483, + 0.016882505267858505, + 0.6463795900344849, + -0.2432570904493332, + -0.23813331127166748, + 0.4687838554382324, + 0.9994827508926392, + -5.256153963273391e-05, + 0.0012012103106826544, + -0.03213772922754288, + 1.9903560876846313, + 3.048686981201172, + 0.5299999713897705, + 0.9999974966049194, + 0.0, + 0.0, + -0.0022375844419002533, + 1.9909255504608154, + 3.17598557472229, + 0.48980000615119934, + 0.9537145495414734, + -0.30070510506629944, + 0.0006725222920067608, + -0.0021329682786017656, + 1.99125075340271, + 3.248684883117676, + 0.38999998569488525, + 0.9999974966049194, + 0.0, + 0.0, + -0.0022375844419002533, + -0.33247819542884827, + -0.06700937449932098, + 0.18000000715255737, + 0.9994863867759705, + 0.0, + 0.0, + -0.03204625844955444, + 1.99093759059906, + 3.1786856651306152, + 0.18000000715255737, + 0.9999974966049194, + 0.0, + 0.0, + -0.0022375844419002533 + ], + "count": [ + 2221 + ] + }, + "action.command": { + "mean": [ + -1.9373945216027113, + -1.4583043867881516, + 0.22532750560585907, + 0.0, + 0.0, + 0.0, + 0.0, + 0.740128068303095, + 0.28432111581837166, + 0.6854721337254681, + 0.7477872231090591, + -0.3154105667539588, + 0.0008375328200935167, + -0.08054919949885612, + -0.031955486070066534, + 0.5102040816326531, + -1.9244924063186857, + -1.4567473092645051, + 0.2253209526317319, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.0001548695058425633, + 0.20718039998573892, + 0.8045893657503593, + -0.541369848518796, + 0.02285874777787491, + -0.15887725981164805, + -0.21347734763903034, + 0.0, + -1.8655341895435968, + -1.4424345096317912, + 0.2253210906216938, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.0001548695058425633, + 0.20718039998573892, + 0.8045893657503593, + -0.541369848518796, + 0.02285874777787491, + -0.15887725981164805, + -0.21347734763903034, + 0.0, + -1.7785359854641154, + -1.423773728496127, + 0.2253202188969097, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.0001548695058425633, + 0.20718039998573892, + 0.8045893657503593, + -0.541369848518796, + 0.02285874777787491, + -0.15887725981164805, + -0.21347734763903034, + 0.0, + -1.717691868516208, + -1.4116329975707222, + 0.22532085697367965, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.0001548695058425633, + 0.20718039998573892, + 0.8045893657503593, + -0.541369848518796, + 0.02285874777787491, + -0.15887725981164805, + -0.21347734763903034, + 0.0, + -1.6558263192181206, + -1.4019216499749738, + 0.22532141471852266, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.0001548695058425633, + 0.20718039998573892, + 0.8045893657503593, + -0.541369848518796, + 0.02285874777787491, + -0.15887725981164805, + -0.21347734763903034, + 0.0, + -1.5697965788643844, + -1.3809285082724956, + 0.22532129337070397, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.0001548695058425633, + 0.20718039998573892, + 0.8045893657503593, + -0.541369848518796, + 0.02285874777787491, + -0.15887725981164805, + -0.21347734763903034, + 0.0, + -1.4791258072348614, + -1.3540672327031098, + 0.22531743656086506, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.0001548695058425633, + 0.20718039998573892, + 0.8045893657503593, + -0.541369848518796, + 0.02285874777787491, + -0.15887725981164805, + -0.21347734763903034, + 0.0, + -1.4217311364308123, + -1.3502115171330724, + 0.22532177623961097, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.0001548695058425633, + 0.20718039998573892, + 0.8045893657503593, + -0.541369848518796, + 0.02285874777787491, + -0.15887725981164805, + -0.21347734763903034, + 0.0, + -1.3885364093798065, + -1.3475458070347917, + 0.22532100006321099, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.0001548695058425633, + 0.20718039998573892, + 0.8045893657503593, + -0.541369848518796, + 0.02285874777787491, + -0.15887725981164805, + -0.21347734763903034, + 0.0, + -1.2766596509868549, + -1.3194471263183623, + 0.2253212435813595, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.0001548695058425633, + 0.20718039998573892, + 0.8045893657503593, + -0.541369848518796, + 0.02285874777787491, + -0.15887725981164805, + -0.21347734763903034, + 0.0, + -1.2008385046315828, + -1.2949789899582147, + 0.22532202981981314, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.0001548695058425633, + 0.20718039998573892, + 0.8045893657503593, + -0.541369848518796, + 0.02285874777787491, + -0.15887725981164805, + -0.21347734763903034, + 0.0, + -1.151544418045437, + -1.2892387793934883, + 0.658179737935948, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.0001548695058425633, + 0.20718039998573892, + 0.8045893657503593, + -0.541369848518796, + 0.02285874777787491, + -0.15887725981164805, + -0.21347734763903034, + 0.0, + -1.1117813997347639, + -1.2525307962185983, + 0.6581793000584034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.0001548695058425633, + 0.20718039998573892, + 0.8045893657503593, + -0.541369848518796, + 0.02285874777787491, + -0.15887725981164805, + -0.21347734763903034, + 0.0, + -1.0566113065335327, + -1.2202850943217063, + 0.6581789327249027, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.0001548695058425633, + 0.20718039998573892, + 0.8045893657503593, + -0.541369848518796, + 0.02285874777787491, + -0.15887725981164805, + -0.21347734763903034, + 0.0, + -0.9652037078783725, + -1.1401760293018302, + 0.6581784826741924, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.0001548695058425633, + 0.20718039998573892, + 0.8045893657503593, + -0.541369848518796, + 0.02285874777787491, + -0.15887725981164805, + -0.21347734763903034, + 0.0, + -0.9379335612250559, + -1.1245447102224706, + 0.6581794159502312, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.0001548695058425633, + 0.20718039998573892, + 0.8045893657503593, + -0.541369848518796, + 0.02285874777787491, + -0.15887725981164805, + -0.21347734763903034, + 0.0, + -0.9039919937874269, + -1.1060541091759268, + 0.6581794021868772, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.0001548695058425633, + 0.20718039998573892, + 0.8045893657503593, + -0.541369848518796, + 0.02285874777787491, + -0.15887725981164805, + -0.21347734763903034, + 0.0, + -0.8611011026973777, + -1.0760322282812194, + 0.6581786665328622, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.0001548695058425633, + 0.20718039998573892, + 0.8045893657503593, + -0.541369848518796, + 0.02285874777787491, + -0.15887725981164805, + -0.21347734763903034, + 0.0, + -0.8097398899625833, + -1.0322910365207325, + 0.6581798863992191, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.0001548695058425633, + 0.20718039998573892, + 0.8045893657503593, + -0.541369848518796, + 0.02285874777787491, + -0.15887725981164805, + -0.21347734763903034, + 0.0, + -0.7631949529586413, + -1.0038906778890053, + 0.658179353274878, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.0001548695058425633, + 0.20718039998573892, + 0.8045893657503593, + -0.541369848518796, + 0.02285874777787491, + -0.15887725981164805, + -0.21347734763903034, + 0.0, + -0.6845339651818437, + -0.9464354851756934, + 0.8039298202592293, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.0001548695058425633, + 0.20718039998573892, + 0.8045893657503593, + -0.541369848518796, + 0.02285874777787491, + -0.15887725981164805, + -0.21347734763903034, + 0.0, + -0.655618965680597, + -0.9037863523892119, + 0.8039306254702746, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.0001548695058425633, + 0.20718039998573892, + 0.8045893657503593, + -0.541369848518796, + 0.02285874777787491, + -0.15887725981164805, + -0.21347734763903034, + 0.0, + -0.6197352104485309, + -0.84272619772089, + 0.8039306820042109, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.0001548695058425633, + 0.20718039998573892, + 0.8045893657503593, + -0.541369848518796, + 0.02285874777787491, + -0.15887725981164805, + -0.21347734763903034, + 0.0, + -0.5616758229432023, + -0.8028519711805904, + 0.8039307309162101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.0001548695058425633, + 0.20718039998573892, + 0.8045893657503593, + -0.541369848518796, + 0.02285874777787491, + -0.15887725981164805, + -0.21347734763903034, + 0.0, + -0.4767799356604456, + -0.7116890259587447, + 0.8039339048224189, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.0001548695058425633, + 0.20718039998573892, + 0.8045893657503593, + -0.541369848518796, + 0.02285874777787491, + -0.15887725981164805, + -0.21347734763903034, + 0.0, + -0.46798496237564435, + -0.7024382138976069, + 0.8039343391631651, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.0001548695058425633, + 0.20718039998573892, + 0.8045893657503593, + -0.541369848518796, + 0.02285874777787491, + -0.15887725981164805, + -0.21347734763903034, + 0.0, + -0.4598351983488867, + -0.6972690875528049, + 0.8039306957675649, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.0001548695058425633, + 0.20718039998573892, + 0.8045893657503593, + -0.541369848518796, + 0.02285874777787491, + -0.15887725981164805, + -0.21347734763903034, + 0.0, + -0.3741682764577997, + -0.6022022404359257, + 0.8039302749708364, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.0001548695058425633, + 0.20718039998573892, + 0.8045893657503593, + -0.541369848518796, + 0.02285874777787491, + -0.15887725981164805, + -0.21347734763903034, + 0.0, + -0.32330100341137114, + -0.5602899529896642, + 0.803930758936425, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.0001548695058425633, + 0.20718039998573892, + 0.8045893657503593, + -0.541369848518796, + 0.02285874777787491, + -0.15887725981164805, + -0.21347734763903034, + 0.0, + -0.27994681523278314, + -0.5011932087690324, + 0.8039300859577632, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.0001548695058425633, + 0.20718039998573892, + 0.8045893657503593, + -0.541369848518796, + 0.02285874777787491, + -0.15887725981164805, + -0.21347734763903034, + 0.0, + -0.2341635638458968, + -0.44609360269372794, + 0.8039308501254997, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.0001548695058425633, + 0.20718039998573892, + 0.8045893657503593, + -0.541369848518796, + 0.02285874777787491, + -0.15887725981164805, + -0.21347734763903034, + 0.0, + -0.18518723307559548, + -0.3987837412429711, + 0.8039306603721664, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.0001548695058425633, + 0.20718039998573892, + 0.8045893657503593, + -0.541369848518796, + 0.02285874777787491, + -0.15887725981164805, + -0.21347734763903034, + 0.0, + -0.13234611948148417, + -0.3307829246459582, + 0.8039303029910512, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.0001548695058425633, + 0.20718039998573892, + 0.8045893657503593, + -0.541369848518796, + 0.02285874777787491, + -0.15887725981164805, + -0.21347734763903034, + 0.0, + -0.09072933716848561, + -0.2968968048815126, + 0.8039305414096303, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.0001548695058425633, + 0.20718039998573892, + 0.8045893657503593, + -0.541369848518796, + 0.02285874777787491, + -0.15887725981164805, + -0.21347734763903034, + 0.0, + -0.0160056109152042, + -0.2119566912813371, + 0.8039302398221911, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.0001548695058425633, + 0.20718039998573892, + 0.8045893657503593, + -0.541369848518796, + 0.02285874777787491, + -0.15887725981164805, + -0.21347734763903034, + 0.0, + 0.004161996477332374, + -0.19494646672491864, + 0.8039310600303573, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.0001548695058425633, + 0.20718039998573892, + 0.8045893657503593, + -0.541369848518796, + 0.02285874777787491, + -0.15887725981164805, + -0.21347734763903034, + 0.0, + 0.04994323369879841, + -0.11914162199323947, + 0.8039287930798289, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.0001548695058425633, + 0.20718039998573892, + 0.8045893657503593, + -0.541369848518796, + 0.02285874777787491, + -0.15887725981164805, + -0.21347734763903034, + 0.0, + 0.10049917419349369, + -0.09230054565384066, + 0.8039303310112659, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.0001548695058425633, + 0.20718039998573892, + 0.8045893657503593, + -0.541369848518796, + 0.02285874777787491, + -0.15887725981164805, + -0.21347734763903034, + 0.0, + 0.17424058058772926, + -0.029659088642748542, + 0.8039295046616829, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.0001548695058425633, + 0.20718039998573892, + 0.8045893657503593, + -0.541369848518796, + 0.02285874777787491, + -0.15887725981164805, + -0.21347734763903034, + 0.0, + 0.19818040188453345, + 0.010971823414203325, + 0.8039262198809647, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.0001548695058425633, + 0.20718039998573892, + 0.8045893657503593, + -0.541369848518796, + 0.02285874777787491, + -0.15887725981164805, + -0.21347734763903034, + 0.0, + 0.20757282295683271, + 0.018214533936571613, + 0.803930849631993, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.0001548695058425633, + 0.20718039998573892, + 0.8045893657503593, + -0.541369848518796, + 0.02285874777787491, + -0.15887725981164805, + -0.21347734763903034, + 0.0, + 0.29706036238464173, + 0.11482017245332145, + 0.8039310322568959, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.0001548695058425633, + 0.20718039998573892, + 0.8045893657503593, + -0.541369848518796, + 0.02285874777787491, + -0.15887725981164805, + -0.21347734763903034, + 0.0, + 0.3395410232184234, + 0.14258782876777124, + 0.8039309833448967, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.0001548695058425633, + 0.20718039998573892, + 0.8045893657503593, + -0.541369848518796, + 0.02285874777787491, + -0.15887725981164805, + -0.21347734763903034, + 0.0, + 0.3940298694915034, + 0.2177506668806734, + 0.8039309481962514, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.0001548695058425633, + 0.20718039998573892, + 0.8045893657503593, + -0.541369848518796, + 0.02285874777787491, + -0.15887725981164805, + -0.21347734763903034, + 0.0, + 0.4325265808728384, + 0.24878615278000116, + 1.0203349829926442, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.0001548695058425633, + 0.20718039998573892, + 0.8045893657503593, + -0.541369848518796, + 0.02285874777787491, + -0.15887725981164805, + -0.21347734763903034, + 0.0, + 0.48038714054865694, + 0.3317787635183817, + 2.040100599059076, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.0001548695058425633, + 0.20718039998573892, + 0.8045893657503593, + -0.541369848518796, + 0.02285874777787491, + -0.15887725981164805, + -0.21347734763903034, + 0.0, + 1.4639509916305542, + 1.3793201446533203, + 1.1197789907455444, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.0330892063923076, + 1.3953764964826405, + 0.8798531288695004, + -0.30035127606242895, + 0.04314120962387986, + -0.299829018354002, + -0.04313011309649381, + 0.0, + 1.5104542970657349, + 1.4753397703170776, + 1.119779109954834, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.0330892063923076, + 1.3953764964826405, + 0.8798531288695004, + -0.30035127606242895, + 0.04314120962387986, + -0.299829018354002, + -0.04313011309649381, + 0.0, + 1.5370736122131348, + 1.5303031206130981, + 1.1197789907455444, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.0330892063923076, + 1.3953764964826405, + 0.8798531288695004, + -0.30035127606242895, + 0.04314120962387986, + -0.299829018354002, + -0.04313011309649381, + 0.0, + 1.5775623321533203, + 1.6139038801193237, + 1.1197797060012817, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.0330892063923076, + 1.3953764964826405, + 0.8798531288695004, + -0.30035127606242895, + 0.04314120962387986, + -0.299829018354002, + -0.04313011309649381, + 0.0, + 1.610008716583252, + 1.6808990240097046, + 1.119779109954834, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.0330892063923076, + 1.3953764964826405, + 0.8798531288695004, + -0.30035127606242895, + 0.04314120962387986, + -0.299829018354002, + -0.04313011309649381, + 0.0, + 1.6446701288223267, + 1.7524676322937012, + 1.119779348373413, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.0330892063923076, + 1.3953764964826405, + 0.8798531288695004, + -0.30035127606242895, + 0.04314120962387986, + -0.299829018354002, + -0.04313011309649381, + 0.0, + 1.6831392049789429, + 1.8318983316421509, + 1.1197795867919922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.0330892063923076, + 1.3953764964826405, + 0.8798531288695004, + -0.30035127606242895, + 0.04314120962387986, + -0.299829018354002, + -0.04313011309649381, + 0.0, + 1.7122725248336792, + 1.8920526504516602, + 1.1197792291641235, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.0330892063923076, + 1.3953764964826405, + 0.8798531288695004, + -0.30035127606242895, + 0.04314120962387986, + -0.299829018354002, + -0.04313011309649381, + 0.0, + 1.7566829919815063, + 1.9837510585784912, + 1.11978018283844, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.0330892063923076, + 1.3953764964826405, + 0.8798531288695004, + -0.30035127606242895, + 0.04314120962387986, + -0.299829018354002, + -0.04313011309649381, + 0.0, + 1.7818796634674072, + 2.0357770919799805, + 1.1197795867919922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.0330892063923076, + 1.3953764964826405, + 0.8798531288695004, + -0.30035127606242895, + 0.04314120962387986, + -0.299829018354002, + -0.04313011309649381, + 0.0, + 1.8305022716522217, + 2.1361727714538574, + 1.1197787523269653, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.0330892063923076, + 1.3953764964826405, + 0.8798531288695004, + -0.30035127606242895, + 0.04314120962387986, + -0.299829018354002, + -0.04313011309649381, + 0.0, + 1.8560256958007812, + 2.188873291015625, + 1.119779348373413, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.0330892063923076, + 1.3953764964826405, + 0.8798531288695004, + -0.30035127606242895, + 0.04314120962387986, + -0.299829018354002, + -0.04313011309649381, + 0.0, + 1.9044684171676636, + 2.2888975143432617, + 1.1197785139083862, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.0330892063923076, + 1.3953764964826405, + 0.8798531288695004, + -0.30035127606242895, + 0.04314120962387986, + -0.299829018354002, + -0.04313011309649381, + 0.0, + 1.936126947402954, + 2.3542656898498535, + 1.119780421257019, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.0330892063923076, + 1.3953764964826405, + 0.8798531288695004, + -0.30035127606242895, + 0.04314120962387986, + -0.299829018354002, + -0.04313011309649381, + 0.0, + 1.978377103805542, + 2.4415037631988525, + 1.7962591648101807, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.0330892063923076, + 1.3953764964826405, + 0.8798531288695004, + -0.30035127606242895, + 0.04314120962387986, + -0.299829018354002, + -0.04313011309649381, + 0.0, + 1.9629409313201904, + 2.5088040828704834, + 3.137119770050049, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.0330892063923076, + 1.3953764964826405, + 0.8798531288695004, + -0.30035127606242895, + 0.04314120962387986, + -0.299829018354002, + -0.04313011309649381, + 0.0 + ], + "std": [ + 1.4107542490092086, + 0.694179009016902, + 0.20965778502126178, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4806547574681455, + 1.3582199946349374, + 1.6844316556367445, + 0.09857135857916648, + 0.5596647263375862, + 0.33898034551256956, + 0.4426902568629253, + 0.5185547543121429, + 0.4998958658741179, + 1.4176053228213323, + 0.6930983768903186, + 0.20964877107674765, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.350729095801402, + 1.5910390294961028, + 0.0799073485788956, + 0.5361282093626147, + 0.19870067303967853, + 0.4463770507449868, + 0.3307771333800258, + 0.0, + 1.41705035537958, + 0.6796311273052297, + 0.2096496235712962, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.350729095801402, + 1.5910390294961028, + 0.0799073485788956, + 0.5361282093626147, + 0.19870067303967853, + 0.4463770507449868, + 0.3307771333800258, + 0.0, + 1.4271170720861828, + 0.6626729822791302, + 0.2096483954957312, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.350729095801402, + 1.5910390294961028, + 0.0799073485788956, + 0.5361282093626147, + 0.19870067303967853, + 0.4463770507449868, + 0.3307771333800258, + 0.0, + 1.4381859728280608, + 0.6518914419234091, + 0.20964945065528096, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.350729095801402, + 1.5910390294961028, + 0.0799073485788956, + 0.5361282093626147, + 0.19870067303967853, + 0.4463770507449868, + 0.3307771333800258, + 0.0, + 1.4610972778472242, + 0.6440493101989777, + 0.20964951480154362, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.350729095801402, + 1.5910390294961028, + 0.0799073485788956, + 0.5361282093626147, + 0.19870067303967853, + 0.4463770507449868, + 0.3307771333800258, + 0.0, + 1.4598078077983323, + 0.6242698897879699, + 0.20964934839312147, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.350729095801402, + 1.5910390294961028, + 0.0799073485788956, + 0.5361282093626147, + 0.19870067303967853, + 0.4463770507449868, + 0.3307771333800258, + 0.0, + 1.4374854658812506, + 0.5978115529802956, + 0.2096456827595438, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.350729095801402, + 1.5910390294961028, + 0.0799073485788956, + 0.5361282093626147, + 0.19870067303967853, + 0.4463770507449868, + 0.3307771333800258, + 0.0, + 1.4815553248215854, + 0.5966436075628285, + 0.2096497918390295, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.350729095801402, + 1.5910390294961028, + 0.0799073485788956, + 0.5361282093626147, + 0.19870067303967853, + 0.4463770507449868, + 0.3307771333800258, + 0.0, + 1.5051149124324938, + 0.5954518034539339, + 0.2096494562332156, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.350729095801402, + 1.5910390294961028, + 0.0799073485788956, + 0.5361282093626147, + 0.19870067303967853, + 0.4463770507449868, + 0.3307771333800258, + 0.0, + 1.499903945160972, + 0.5687837362541954, + 0.2096496198526714, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.350729095801402, + 1.5910390294961028, + 0.0799073485788956, + 0.5361282093626147, + 0.19870067303967853, + 0.4463770507449868, + 0.3307771333800258, + 0.0, + 1.472357167116368, + 0.5442813361584076, + 0.2096509845876687, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.350729095801402, + 1.5910390294961028, + 0.0799073485788956, + 0.5361282093626147, + 0.19870067303967853, + 0.4463770507449868, + 0.3307771333800258, + 0.0, + 1.4994562377091012, + 0.5404001339451815, + 0.19805325833057688, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.350729095801402, + 1.5910390294961028, + 0.0799073485788956, + 0.5361282093626147, + 0.19870067303967853, + 0.4463770507449868, + 0.3307771333800258, + 0.0, + 1.5118510658893274, + 0.5629354117081777, + 0.19805365994196372, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.350729095801402, + 1.5910390294961028, + 0.0799073485788956, + 0.5361282093626147, + 0.19870067303967853, + 0.4463770507449868, + 0.3307771333800258, + 0.0, + 1.4710782133360418, + 0.5487494562305568, + 0.19805449291373273, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.350729095801402, + 1.5910390294961028, + 0.0799073485788956, + 0.5361282093626147, + 0.19870067303967853, + 0.4463770507449868, + 0.3307771333800258, + 0.0, + 1.4863070494696653, + 0.5901535377660212, + 0.19805319883259362, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.350729095801402, + 1.5910390294961028, + 0.0799073485788956, + 0.5361282093626147, + 0.19870067303967853, + 0.4463770507449868, + 0.3307771333800258, + 0.0, + 1.4651994853204247, + 0.5823936322548806, + 0.19805385331041075, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.350729095801402, + 1.5910390294961028, + 0.0799073485788956, + 0.5361282093626147, + 0.19870067303967853, + 0.4463770507449868, + 0.3307771333800258, + 0.0, + 1.4359348666197076, + 0.5703883968710721, + 0.19805412105133757, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.350729095801402, + 1.5910390294961028, + 0.0799073485788956, + 0.5361282093626147, + 0.19870067303967853, + 0.4463770507449868, + 0.3307771333800258, + 0.0, + 1.4196033543565745, + 0.5714083410544205, + 0.19805477552915876, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.350729095801402, + 1.5910390294961028, + 0.0799073485788956, + 0.5361282093626147, + 0.19870067303967853, + 0.4463770507449868, + 0.3307771333800258, + 0.0, + 1.4242157867878737, + 0.5915801804160592, + 0.19805449291373273, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.350729095801402, + 1.5910390294961028, + 0.0799073485788956, + 0.5361282093626147, + 0.19870067303967853, + 0.4463770507449868, + 0.3307771333800258, + 0.0, + 1.3935272920933544, + 0.5825210025632199, + 0.19805429954528883, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.350729095801402, + 1.5910390294961028, + 0.0799073485788956, + 0.5361282093626147, + 0.19870067303967853, + 0.4463770507449868, + 0.3307771333800258, + 0.0, + 1.3710080787858927, + 0.5902191640419084, + 0.33533677856691096, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.350729095801402, + 1.5910390294961028, + 0.0799073485788956, + 0.5361282093626147, + 0.19870067303967853, + 0.4463770507449868, + 0.3307771333800258, + 0.0, + 1.3766752319719608, + 0.6200272670735506, + 0.33533554398374915, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.350729095801402, + 1.5910390294961028, + 0.0799073485788956, + 0.5361282093626147, + 0.19870067303967853, + 0.4463770507449868, + 0.3307771333800258, + 0.0, + 1.3939925365758716, + 0.6696203015169221, + 0.33533599021863186, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.350729095801402, + 1.5910390294961028, + 0.0799073485788956, + 0.5361282093626147, + 0.19870067303967853, + 0.4463770507449868, + 0.3307771333800258, + 0.0, + 1.347499057023827, + 0.6585634937402004, + 0.33533581172467913, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.350729095801402, + 1.5910390294961028, + 0.0799073485788956, + 0.5361282093626147, + 0.19870067303967853, + 0.4463770507449868, + 0.3307771333800258, + 0.0, + 1.3210682975315275, + 0.6933095649829957, + 0.33533307481743824, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.350729095801402, + 1.5910390294961028, + 0.0799073485788956, + 0.5361282093626147, + 0.19870067303967853, + 0.4463770507449868, + 0.3307771333800258, + 0.0, + 1.3180854851212187, + 0.6966093510414696, + 0.33533982783856314, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.350729095801402, + 1.5910390294961028, + 0.0799073485788956, + 0.5361282093626147, + 0.19870067303967853, + 0.4463770507449868, + 0.3307771333800258, + 0.0, + 1.3110179278959102, + 0.6943941183985709, + 0.3353357224777022, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.350729095801402, + 1.5910390294961028, + 0.0799073485788956, + 0.5361282093626147, + 0.19870067303967853, + 0.4463770507449868, + 0.3307771333800258, + 0.0, + 1.2882371019547212, + 0.7342219849312359, + 0.33533566297971584, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.350729095801402, + 1.5910390294961028, + 0.0799073485788956, + 0.5361282093626147, + 0.19870067303967853, + 0.4463770507449868, + 0.3307771333800258, + 0.0, + 1.2563270244105433, + 0.7353465711931894, + 0.33533578197568326, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.350729095801402, + 1.5910390294961028, + 0.0799073485788956, + 0.5361282093626147, + 0.19870067303967853, + 0.4463770507449868, + 0.3307771333800258, + 0.0, + 1.258690700803791, + 0.7725246894496403, + 0.33533599021863186, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.350729095801402, + 1.5910390294961028, + 0.0799073485788956, + 0.5361282093626147, + 0.19870067303967853, + 0.4463770507449868, + 0.3307771333800258, + 0.0, + 1.2519446706816966, + 0.8004617445174534, + 0.33533581172467913, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.350729095801402, + 1.5910390294961028, + 0.0799073485788956, + 0.5361282093626147, + 0.19870067303967853, + 0.4463770507449868, + 0.3307771333800258, + 0.0, + 1.2300170755738982, + 0.8123222808052425, + 0.33533538036429283, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.350729095801402, + 1.5910390294961028, + 0.0799073485788956, + 0.5361282093626147, + 0.19870067303967853, + 0.4463770507449868, + 0.3307771333800258, + 0.0, + 1.2278044943098765, + 0.8513949041055192, + 0.3353356332307265, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.350729095801402, + 1.5910390294961028, + 0.0799073485788956, + 0.5361282093626147, + 0.19870067303967853, + 0.4463770507449868, + 0.3307771333800258, + 0.0, + 1.2011862864203722, + 0.8516886753993854, + 0.3353356332307265, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.350729095801402, + 1.5910390294961028, + 0.0799073485788956, + 0.5361282093626147, + 0.19870067303967853, + 0.4463770507449868, + 0.3307771333800258, + 0.0, + 1.1838666018971, + 0.8895546200949039, + 0.3353355737327421, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.350729095801402, + 1.5910390294961028, + 0.0799073485788956, + 0.5361282093626147, + 0.19870067303967853, + 0.4463770507449868, + 0.3307771333800258, + 0.0, + 1.1717121158214956, + 0.8906095193436031, + 0.3353353357408062, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.350729095801402, + 1.5910390294961028, + 0.0799073485788956, + 0.5361282093626147, + 0.19870067303967853, + 0.4463770507449868, + 0.3307771333800258, + 0.0, + 1.1911539149247368, + 0.9506320073876778, + 0.3353333128093664, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.350729095801402, + 1.5910390294961028, + 0.0799073485788956, + 0.5361282093626147, + 0.19870067303967853, + 0.4463770507449868, + 0.3307771333800258, + 0.0, + 1.1407039087122697, + 0.9287940162431252, + 0.3353356034817352, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.350729095801402, + 1.5910390294961028, + 0.0799073485788956, + 0.5361282093626147, + 0.19870067303967853, + 0.4463770507449868, + 0.3307771333800258, + 0.0, + 1.0968243838213978, + 0.9333403761636916, + 0.33533673394342417, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.350729095801402, + 1.5910390294961028, + 0.0799073485788956, + 0.5361282093626147, + 0.19870067303967853, + 0.4463770507449868, + 0.3307771333800258, + 0.0, + 1.1082444267877876, + 0.9662631688862328, + 0.3353336400482804, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.350729095801402, + 1.5910390294961028, + 0.0799073485788956, + 0.5361282093626147, + 0.19870067303967853, + 0.4463770507449868, + 0.3307771333800258, + 0.0, + 1.1017249352381169, + 0.9657020136541622, + 0.3353353059918143, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.350729095801402, + 1.5910390294961028, + 0.0799073485788956, + 0.5361282093626147, + 0.19870067303967853, + 0.4463770507449868, + 0.3307771333800258, + 0.0, + 1.0745122532457574, + 1.003120741756167, + 0.33533561835623554, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.350729095801402, + 1.5910390294961028, + 0.0799073485788956, + 0.5361282093626147, + 0.19870067303967853, + 0.4463770507449868, + 0.3307771333800258, + 0.0, + 1.0387142502162099, + 0.9928499320914244, + 0.3353357968501805, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.350729095801402, + 1.5910390294961028, + 0.0799073485788956, + 0.5361282093626147, + 0.19870067303967853, + 0.4463770507449868, + 0.3307771333800258, + 0.0, + 1.0428082767166593, + 1.0409528618480346, + 0.33533570760320275, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.350729095801402, + 1.5910390294961028, + 0.0799073485788956, + 0.5361282093626147, + 0.19870067303967853, + 0.4463770507449868, + 0.3307771333800258, + 0.0, + 1.0177933907393952, + 1.0407439644277094, + 0.10558021305954805, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.350729095801402, + 1.5910390294961028, + 0.0799073485788956, + 0.5361282093626147, + 0.19870067303967853, + 0.4463770507449868, + 0.3307771333800258, + 0.0, + 1.0223712845912483, + 1.0670026855004937, + 0.9771030172658578, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.350729095801402, + 1.5910390294961028, + 0.0799073485788956, + 0.5361282093626147, + 0.19870067303967853, + 0.4463770507449868, + 0.3307771333800258, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.7060804557455341, + 1.242627635105175, + 3.80682299754656e-08, + 0.5786266487225118, + 0.2713547516226421, + 0.5777178327744447, + 0.2719743696570838, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.7060804557455341, + 1.242627635105175, + 3.80682299754656e-08, + 0.5786266487225118, + 0.2713547516226421, + 0.5777178327744447, + 0.2719743696570838, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.7060804557455341, + 1.242627635105175, + 3.80682299754656e-08, + 0.5786266487225118, + 0.2713547516226421, + 0.5777178327744447, + 0.2719743696570838, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.7060804557455341, + 1.242627635105175, + 3.80682299754656e-08, + 0.5786266487225118, + 0.2713547516226421, + 0.5777178327744447, + 0.2719743696570838, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.7060804557455341, + 1.242627635105175, + 3.80682299754656e-08, + 0.5786266487225118, + 0.2713547516226421, + 0.5777178327744447, + 0.2719743696570838, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.7060804557455341, + 1.242627635105175, + 3.80682299754656e-08, + 0.5786266487225118, + 0.2713547516226421, + 0.5777178327744447, + 0.2719743696570838, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.7060804557455341, + 1.242627635105175, + 3.80682299754656e-08, + 0.5786266487225118, + 0.2713547516226421, + 0.5777178327744447, + 0.2719743696570838, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.7060804557455341, + 1.242627635105175, + 3.80682299754656e-08, + 0.5786266487225118, + 0.2713547516226421, + 0.5777178327744447, + 0.2719743696570838, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.7060804557455341, + 1.242627635105175, + 3.80682299754656e-08, + 0.5786266487225118, + 0.2713547516226421, + 0.5777178327744447, + 0.2719743696570838, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.7060804557455341, + 1.242627635105175, + 3.80682299754656e-08, + 0.5786266487225118, + 0.2713547516226421, + 0.5777178327744447, + 0.2719743696570838, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.7060804557455341, + 1.242627635105175, + 3.80682299754656e-08, + 0.5786266487225118, + 0.2713547516226421, + 0.5777178327744447, + 0.2719743696570838, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.7060804557455341, + 1.242627635105175, + 3.80682299754656e-08, + 0.5786266487225118, + 0.2713547516226421, + 0.5777178327744447, + 0.2719743696570838, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.7060804557455341, + 1.242627635105175, + 3.80682299754656e-08, + 0.5786266487225118, + 0.2713547516226421, + 0.5777178327744447, + 0.2719743696570838, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.7060804557455341, + 1.242627635105175, + 3.80682299754656e-08, + 0.5786266487225118, + 0.2713547516226421, + 0.5777178327744447, + 0.2719743696570838, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.7060804557455341, + 1.242627635105175, + 3.80682299754656e-08, + 0.5786266487225118, + 0.2713547516226421, + 0.5777178327744447, + 0.2719743696570838, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.7060804557455341, + 1.242627635105175, + 3.80682299754656e-08, + 0.5786266487225118, + 0.2713547516226421, + 0.5777178327744447, + 0.2719743696570838, + 0.0 + ], + "min": [ + -3.4351887702941895, + -2.1953125, + 0.027853379026055336, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0, + -3.1624906063079834, + -2.103910446166992, + 0.5399999022483826, + -0.9849079251289368, + -0.6355999112129211, + -0.7044044733047485, + -0.9993478655815125, + 0.0, + -3.429560422897339, + -2.192608118057251, + 0.027855316177010536, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1624906063079834, + -2.103910446166992, + 0.7197518944740295, + -0.9849079251289368, + -0.24287045001983643, + -0.7044044733047485, + -0.9993478655815125, + 0.0, + -3.3700129985809326, + -2.163997173309326, + 0.02785465121269226, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1624906063079834, + -2.103910446166992, + 0.7197518944740295, + -0.9849079251289368, + -0.24287045001983643, + -0.7044044733047485, + -0.9993478655815125, + 0.0, + -3.2937026023864746, + -2.1273319721221924, + 0.027854936197400093, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1624906063079834, + -2.103910446166992, + 0.7197518944740295, + -0.9849079251289368, + -0.24287045001983643, + -0.7044044733047485, + -0.9993478655815125, + 0.0, + -3.24461030960083, + -2.1037445068359375, + 0.02785458043217659, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1624906063079834, + -2.103910446166992, + 0.7197518944740295, + -0.9849079251289368, + -0.24287045001983643, + -0.7044044733047485, + -0.9993478655815125, + 0.0, + -3.2070696353912354, + -2.085707187652588, + 0.027855077758431435, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1624906063079834, + -2.103910446166992, + 0.7197518944740295, + -0.9849079251289368, + -0.24287045001983643, + -0.7044044733047485, + -0.9993478655815125, + 0.0, + -3.119670867919922, + -2.0437142848968506, + 0.02785511314868927, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1624906063079834, + -2.103910446166992, + 0.7197518944740295, + -0.9849079251289368, + -0.24287045001983643, + -0.7044044733047485, + -0.9993478655815125, + 0.0, + -3.005300521850586, + -1.9887622594833374, + 0.027854708954691887, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1624906063079834, + -2.103910446166992, + 0.7197518944740295, + -0.9849079251289368, + -0.24287045001983643, + -0.7044044733047485, + -0.9993478655815125, + 0.0, + -2.994694709777832, + -1.9836665391921997, + 0.027855178341269493, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1624906063079834, + -2.103910446166992, + 0.7197518944740295, + -0.9849079251289368, + -0.24287045001983643, + -0.7044044733047485, + -0.9993478655815125, + 0.0, + -2.986513137817383, + -1.9797354936599731, + 0.027854718267917633, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1624906063079834, + -2.103910446166992, + 0.7197518944740295, + -0.9849079251289368, + -0.24287045001983643, + -0.7044044733047485, + -0.9993478655815125, + 0.0, + -2.8691039085388184, + -1.923323392868042, + 0.027854807674884796, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1624906063079834, + -2.103910446166992, + 0.7197518944740295, + -0.9849079251289368, + -0.24287045001983643, + -0.7044044733047485, + -0.9993478655815125, + 0.0, + -2.7640364170074463, + -1.8728411197662354, + 0.027854308485984802, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1624906063079834, + -2.103910446166992, + 0.7197518944740295, + -0.9849079251289368, + -0.24287045001983643, + -0.7044044733047485, + -0.9993478655815125, + 0.0, + -2.743513345718384, + -1.8629802465438843, + 0.44790709018707275, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1624906063079834, + -2.103910446166992, + 0.7197518944740295, + -0.9849079251289368, + -0.24287045001983643, + -0.7044044733047485, + -0.9993478655815125, + 0.0, + -2.716909885406494, + -1.8501979112625122, + 0.4479062259197235, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1624906063079834, + -2.103910446166992, + 0.7197518944740295, + -0.9849079251289368, + -0.24287045001983643, + -0.7044044733047485, + -0.9993478655815125, + 0.0, + -2.6184513568878174, + -1.8028910160064697, + 0.4479049742221832, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1624906063079834, + -2.103910446166992, + 0.7197518944740295, + -0.9849079251289368, + -0.24287045001983643, + -0.7044044733047485, + -0.9993478655815125, + 0.0, + -2.5432121753692627, + -1.7667405605316162, + 0.44790589809417725, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1624906063079834, + -2.103910446166992, + 0.7197518944740295, + -0.9849079251289368, + -0.24287045001983643, + -0.7044044733047485, + -0.9993478655815125, + 0.0, + -2.493532180786133, + -1.742870569229126, + 0.44790613651275635, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1624906063079834, + -2.103910446166992, + 0.7197518944740295, + -0.9849079251289368, + -0.24287045001983643, + -0.7044044733047485, + -0.9993478655815125, + 0.0, + -2.428520441055298, + -1.7116340398788452, + 0.44790583848953247, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1624906063079834, + -2.103910446166992, + 0.7197518944740295, + -0.9849079251289368, + -0.24287045001983643, + -0.7044044733047485, + -0.9993478655815125, + 0.0, + -2.368290424346924, + -1.6826950311660767, + 0.44790440797805786, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1624906063079834, + -2.103910446166992, + 0.7197518944740295, + -0.9849079251289368, + -0.24287045001983643, + -0.7044044733047485, + -0.9993478655815125, + 0.0, + -2.321826219558716, + -1.6603702306747437, + 0.44790592789649963, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1624906063079834, + -2.103910446166992, + 0.7197518944740295, + -0.9849079251289368, + -0.24287045001983643, + -0.7044044733047485, + -0.9993478655815125, + 0.0, + -2.242699384689331, + -1.6223517656326294, + 0.44790560007095337, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1624906063079834, + -2.103910446166992, + 0.7197518944740295, + -0.9849079251289368, + -0.24287045001983643, + -0.7044044733047485, + -0.9993478655815125, + 0.0, + -2.140129804611206, + -1.57306969165802, + 0.4479036033153534, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1624906063079834, + -2.103910446166992, + 0.7197518944740295, + -0.9849079251289368, + -0.24287045001983643, + -0.7044044733047485, + -0.9993478655815125, + 0.0, + -2.117231607437134, + -1.5620677471160889, + 0.4479057192802429, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1624906063079834, + -2.103910446166992, + 0.7197518944740295, + -0.9849079251289368, + -0.24287045001983643, + -0.7044044733047485, + -0.9993478655815125, + 0.0, + -2.099733591079712, + -1.5536603927612305, + 0.4479053020477295, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1624906063079834, + -2.103910446166992, + 0.7197518944740295, + -0.9849079251289368, + -0.24287045001983643, + -0.7044044733047485, + -0.9993478655815125, + 0.0, + -1.9923121929168701, + -1.5020471811294556, + 0.4479055404663086, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1624906063079834, + -2.103910446166992, + 0.7197518944740295, + -0.9849079251289368, + -0.24287045001983643, + -0.7044044733047485, + -0.9993478655815125, + 0.0, + -1.8793548345565796, + -1.447774052619934, + 0.4479116201400757, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1624906063079834, + -2.103910446166992, + 0.7197518944740295, + -0.9849079251289368, + -0.24287045001983643, + -0.7044044733047485, + -0.9993478655815125, + 0.0, + -1.8673930168151855, + -1.4420266151428223, + 0.44790488481521606, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1624906063079834, + -2.103910446166992, + 0.7197518944740295, + -0.9849079251289368, + -0.24287045001983643, + -0.7044044733047485, + -0.9993478655815125, + 0.0, + -1.8517396450042725, + -1.434505581855774, + 0.44790560007095337, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1624906063079834, + -2.103910446166992, + 0.7197518944740295, + -0.9849079251289368, + -0.24287045001983643, + -0.7044044733047485, + -0.9993478655815125, + 0.0, + -1.7418863773345947, + -1.3817238807678223, + 0.4479052424430847, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1624906063079834, + -2.103910446166992, + 0.7197518944740295, + -0.9849079251289368, + -0.24287045001983643, + -0.7044044733047485, + -0.9993478655815125, + 0.0, + -1.6571402549743652, + -1.341005563735962, + 0.44790560007095337, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1624906063079834, + -2.103910446166992, + 0.7197518944740295, + -0.9849079251289368, + -0.24287045001983643, + -0.7044044733047485, + -0.9993478655815125, + 0.0, + -1.616295576095581, + -1.3213807344436646, + 0.44790470600128174, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1624906063079834, + -2.103910446166992, + 0.7197518944740295, + -0.9849079251289368, + -0.24287045001983643, + -0.7044044733047485, + -0.9993478655815125, + 0.0, + -1.5633500814437866, + -1.2959418296813965, + 0.44790565967559814, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1624906063079834, + -2.103910446166992, + 0.7197518944740295, + -0.9849079251289368, + -0.24287045001983643, + -0.7044044733047485, + -0.9993478655815125, + 0.0, + -1.4910932779312134, + -1.2612242698669434, + 0.44790592789649963, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1624906063079834, + -2.103910446166992, + 0.7197518944740295, + -0.9849079251289368, + -0.24287045001983643, + -0.7044044733047485, + -0.9993478655815125, + 0.0, + -1.4359030723571777, + -1.2347067594528198, + 0.4479053020477295, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1624906063079834, + -2.103910446166992, + 0.7197518944740295, + -0.9849079251289368, + -0.24287045001983643, + -0.7044044733047485, + -0.9993478655815125, + 0.0, + -1.3660258054733276, + -1.2011325359344482, + 0.4479055404663086, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1624906063079834, + -2.103910446166992, + 0.7197518944740295, + -0.9849079251289368, + -0.24287045001983643, + -0.7044044733047485, + -0.9993478655815125, + 0.0, + -1.2729138135910034, + -1.156394600868225, + 0.4479053020477295, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1624906063079834, + -2.103910446166992, + 0.7197518944740295, + -0.9849079251289368, + -0.24287045001983643, + -0.7044044733047485, + -0.9993478655815125, + 0.0, + -1.2398418188095093, + -1.1405043601989746, + 0.44790637493133545, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1624906063079834, + -2.103910446166992, + 0.7197518944740295, + -0.9849079251289368, + -0.24287045001983643, + -0.7044044733047485, + -0.9993478655815125, + 0.0, + -1.2147018909454346, + -1.1284252405166626, + 0.4479062557220459, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1624906063079834, + -2.103910446166992, + 0.7197518944740295, + -0.9849079251289368, + -0.24287045001983643, + -0.7044044733047485, + -0.9993478655815125, + 0.0, + -1.1105833053588867, + -1.0783988237380981, + 0.44790536165237427, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1624906063079834, + -2.103910446166992, + 0.7197518944740295, + -0.9849079251289368, + -0.24287045001983643, + -0.7044044733047485, + -0.9993478655815125, + 0.0, + -0.9902551174163818, + -1.020584225654602, + 0.4479033350944519, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1624906063079834, + -2.103910446166992, + 0.7197518944740295, + -0.9849079251289368, + -0.24287045001983643, + -0.7044044733047485, + -0.9993478655815125, + 0.0, + -0.9784399271011353, + -1.0149073600769043, + 0.4479033350944519, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1624906063079834, + -2.103910446166992, + 0.7197518944740295, + -0.9849079251289368, + -0.24287045001983643, + -0.7044044733047485, + -0.9993478655815125, + 0.0, + -0.9621257781982422, + -1.0070688724517822, + 0.4479061961174011, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1624906063079834, + -2.103910446166992, + 0.7197518944740295, + -0.9849079251289368, + -0.24287045001983643, + -0.7044044733047485, + -0.9993478655815125, + 0.0, + -0.8437466025352478, + -0.9501906037330627, + 0.4479060471057892, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1624906063079834, + -2.103910446166992, + 0.7197518944740295, + -0.9849079251289368, + -0.24287045001983643, + -0.7044044733047485, + -0.9993478655815125, + 0.0, + -0.7632592916488647, + -0.9115184545516968, + 0.4479058086872101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1624906063079834, + -2.103910446166992, + 0.7197518944740295, + -0.9849079251289368, + -0.24287045001983643, + -0.7044044733047485, + -0.9993478655815125, + 0.0, + -0.7131170630455017, + -0.8874263763427734, + 0.44790586829185486, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1624906063079834, + -2.103910446166992, + 0.7197518944740295, + -0.9849079251289368, + -0.24287045001983643, + -0.7044044733047485, + -0.9993478655815125, + 0.0, + -0.6480621099472046, + -0.8561691045761108, + 0.9082407355308533, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1624906063079834, + -2.103910446166992, + 0.7197518944740295, + -0.9849079251289368, + -0.24287045001983643, + -0.7044044733047485, + -0.9993478655815125, + 0.0, + -0.6050618886947632, + -0.8010553121566772, + 1.119779109954834, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1624906063079834, + -2.103910446166992, + 0.7197518944740295, + -0.9849079251289368, + -0.24287045001983643, + -0.7044044733047485, + -0.9993478655815125, + 0.0, + 1.4639509916305542, + 1.3793201446533203, + 1.1197789907455444, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.5571651458740234, + -0.45097535848617554, + 0.8798530101776123, + -0.7055875062942505, + -0.24287045001983643, + -0.7044044733047485, + -0.5170831680297852, + 0.0, + 1.5104542970657349, + 1.4753397703170776, + 1.119779109954834, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.5571651458740234, + -0.45097535848617554, + 0.8798530101776123, + -0.7055875062942505, + -0.24287045001983643, + -0.7044044733047485, + -0.5170831680297852, + 0.0, + 1.5370736122131348, + 1.5303031206130981, + 1.1197789907455444, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.5571651458740234, + -0.45097535848617554, + 0.8798530101776123, + -0.7055875062942505, + -0.24287045001983643, + -0.7044044733047485, + -0.5170831680297852, + 0.0, + 1.5775623321533203, + 1.6139038801193237, + 1.1197797060012817, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.5571651458740234, + -0.45097535848617554, + 0.8798530101776123, + -0.7055875062942505, + -0.24287045001983643, + -0.7044044733047485, + -0.5170831680297852, + 0.0, + 1.610008716583252, + 1.6808990240097046, + 1.119779109954834, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.5571651458740234, + -0.45097535848617554, + 0.8798530101776123, + -0.7055875062942505, + -0.24287045001983643, + -0.7044044733047485, + -0.5170831680297852, + 0.0, + 1.6446701288223267, + 1.7524676322937012, + 1.119779348373413, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.5571651458740234, + -0.45097535848617554, + 0.8798530101776123, + -0.7055875062942505, + -0.24287045001983643, + -0.7044044733047485, + -0.5170831680297852, + 0.0, + 1.6831392049789429, + 1.8318983316421509, + 1.1197795867919922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.5571651458740234, + -0.45097535848617554, + 0.8798530101776123, + -0.7055875062942505, + -0.24287045001983643, + -0.7044044733047485, + -0.5170831680297852, + 0.0, + 1.7122725248336792, + 1.8920526504516602, + 1.1197792291641235, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.5571651458740234, + -0.45097535848617554, + 0.8798530101776123, + -0.7055875062942505, + -0.24287045001983643, + -0.7044044733047485, + -0.5170831680297852, + 0.0, + 1.7566829919815063, + 1.9837510585784912, + 1.11978018283844, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.5571651458740234, + -0.45097535848617554, + 0.8798530101776123, + -0.7055875062942505, + -0.24287045001983643, + -0.7044044733047485, + -0.5170831680297852, + 0.0, + 1.7818796634674072, + 2.0357770919799805, + 1.1197795867919922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.5571651458740234, + -0.45097535848617554, + 0.8798530101776123, + -0.7055875062942505, + -0.24287045001983643, + -0.7044044733047485, + -0.5170831680297852, + 0.0, + 1.8305022716522217, + 2.1361727714538574, + 1.1197787523269653, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.5571651458740234, + -0.45097535848617554, + 0.8798530101776123, + -0.7055875062942505, + -0.24287045001983643, + -0.7044044733047485, + -0.5170831680297852, + 0.0, + 1.8560256958007812, + 2.188873291015625, + 1.119779348373413, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.5571651458740234, + -0.45097535848617554, + 0.8798530101776123, + -0.7055875062942505, + -0.24287045001983643, + -0.7044044733047485, + -0.5170831680297852, + 0.0, + 1.9044684171676636, + 2.2888975143432617, + 1.1197785139083862, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.5571651458740234, + -0.45097535848617554, + 0.8798530101776123, + -0.7055875062942505, + -0.24287045001983643, + -0.7044044733047485, + -0.5170831680297852, + 0.0, + 1.936126947402954, + 2.3542656898498535, + 1.119780421257019, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.5571651458740234, + -0.45097535848617554, + 0.8798530101776123, + -0.7055875062942505, + -0.24287045001983643, + -0.7044044733047485, + -0.5170831680297852, + 0.0, + 1.978377103805542, + 2.4415037631988525, + 1.7962591648101807, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.5571651458740234, + -0.45097535848617554, + 0.8798530101776123, + -0.7055875062942505, + -0.24287045001983643, + -0.7044044733047485, + -0.5170831680297852, + 0.0, + 1.9629409313201904, + 2.5088040828704834, + 3.137119770050049, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.5571651458740234, + -0.45097535848617554, + 0.8798530101776123, + -0.7055875062942505, + -0.24287045001983643, + -0.7044044733047485, + -0.5170831680297852, + 0.0 + ], + "max": [ + -0.6086221933364868, + -0.8044655919075012, + 0.44792065024375916, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9899194240570068, + 3.151170015335083, + 0.8799999952316284, + 0.6630085706710815, + 0.5160691142082214, + 0.6619518995285034, + 0.9994603991508484, + 1.0, + -0.5892671346664429, + -0.8039263486862183, + 0.4479045271873474, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9861805438995361, + 2.864394187927246, + 0.8798531889915466, + 0.6630085706710815, + 0.5160691142082214, + 0.6619518995285034, + 0.24347062408924103, + 0.0, + -0.5308316349983215, + -0.8022981882095337, + 0.447905570268631, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9861805438995361, + 2.864394187927246, + 0.8798531889915466, + 0.6630085706710815, + 0.5160691142082214, + 0.6619518995285034, + 0.24347062408924103, + 0.0, + -0.43435171246528625, + -0.7996100783348083, + 0.4479033946990967, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9861805438995361, + 2.864394187927246, + 0.8798531889915466, + 0.6630085706710815, + 0.5160691142082214, + 0.6619518995285034, + 0.24347062408924103, + 0.0, + -0.3630819320678711, + -0.7976243495941162, + 0.44790515303611755, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9861805438995361, + 2.864394187927246, + 0.8798531889915466, + 0.6630085706710815, + 0.5160691142082214, + 0.6619518995285034, + 0.24347062408924103, + 0.0, + -0.2796365022659302, + -0.7952994108200073, + 0.4479057788848877, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9861805438995361, + 2.864394187927246, + 0.8798531889915466, + 0.6630085706710815, + 0.5160691142082214, + 0.6619518995285034, + 0.24347062408924103, + 0.0, + -0.194821298122406, + -0.7929362654685974, + 0.4479054808616638, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9861805438995361, + 2.864394187927246, + 0.8798531889915466, + 0.6630085706710815, + 0.5160691142082214, + 0.6619518995285034, + 0.24347062408924103, + 0.0, + -0.12517566978931427, + -0.7909957766532898, + 0.447897732257843, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9861805438995361, + 2.864394187927246, + 0.8798531889915466, + 0.6630085706710815, + 0.5160691142082214, + 0.6619518995285034, + 0.24347062408924103, + 0.0, + -0.026272132992744446, + -0.7882401347160339, + 0.4479064345359802, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9861805438995361, + 2.864394187927246, + 0.8798531889915466, + 0.6630085706710815, + 0.5160691142082214, + 0.6619518995285034, + 0.24347062408924103, + 0.0, + 0.029113084077835083, + -0.7866969704627991, + 0.4479053020477295, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9861805438995361, + 2.864394187927246, + 0.8798531889915466, + 0.6630085706710815, + 0.5160691142082214, + 0.6619518995285034, + 0.24347062408924103, + 0.0, + 0.13608169555664062, + -0.78371661901474, + 0.4479057192802429, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9861805438995361, + 2.864394187927246, + 0.8798531889915466, + 0.6630085706710815, + 0.5160691142082214, + 0.6619518995285034, + 0.24347062408924103, + 0.0, + 0.18595686554908752, + -0.7823269963264465, + 0.447907954454422, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9861805438995361, + 2.864394187927246, + 0.8798531889915466, + 0.6630085706710815, + 0.5160691142082214, + 0.6619518995285034, + 0.24347062408924103, + 0.0, + 0.26077523827552795, + -0.7802424430847168, + 0.8447237014770508, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9861805438995361, + 2.864394187927246, + 0.8798531889915466, + 0.6630085706710815, + 0.5160691142082214, + 0.6619518995285034, + 0.24347062408924103, + 0.0, + 0.3122127950191498, + -0.7223087549209595, + 0.844723641872406, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9861805438995361, + 2.864394187927246, + 0.8798531889915466, + 0.6630085706710815, + 0.5160691142082214, + 0.6619518995285034, + 0.24347062408924103, + 0.0, + 0.3289794325828552, + -0.7034246325492859, + 0.8447240591049194, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9861805438995361, + 2.864394187927246, + 0.8798531889915466, + 0.6630085706710815, + 0.5160691142082214, + 0.6619518995285034, + 0.24347062408924103, + 0.0, + 0.4347308874130249, + -0.5843175649642944, + 0.8447223901748657, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9861805438995361, + 2.864394187927246, + 0.8798531889915466, + 0.6630085706710815, + 0.5160691142082214, + 0.6619518995285034, + 0.24347062408924103, + 0.0, + 0.4421200752258301, + -0.5759952068328857, + 0.8447239398956299, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9861805438995361, + 2.864394187927246, + 0.8798531889915466, + 0.6630085706710815, + 0.5160691142082214, + 0.6619518995285034, + 0.24347062408924103, + 0.0, + 0.4484976530075073, + -0.5688121914863586, + 0.844724178314209, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9861805438995361, + 2.864394187927246, + 0.8798531889915466, + 0.6630085706710815, + 0.5160691142082214, + 0.6619518995285034, + 0.24347062408924103, + 0.0, + 0.47600609064102173, + -0.5378296375274658, + 0.8447240591049194, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9861805438995361, + 2.864394187927246, + 0.8798531889915466, + 0.6630085706710815, + 0.5160691142082214, + 0.6619518995285034, + 0.24347062408924103, + 0.0, + 0.5317116975784302, + -0.47508883476257324, + 0.8447250127792358, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9861805438995361, + 2.864394187927246, + 0.8798531889915466, + 0.6630085706710815, + 0.5160691142082214, + 0.6619518995285034, + 0.24347062408924103, + 0.0, + 0.5493515133857727, + -0.4552212059497833, + 0.8447242975234985, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9861805438995361, + 2.864394187927246, + 0.8798531889915466, + 0.6630085706710815, + 0.5160691142082214, + 0.6619518995285034, + 0.24347062408924103, + 0.0, + 0.6068019270896912, + -0.39051520824432373, + 1.1197794675827026, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9861805438995361, + 2.864394187927246, + 0.8798531889915466, + 0.6630085706710815, + 0.5160691142082214, + 0.6619518995285034, + 0.24347062408924103, + 0.0, + 0.6410547494888306, + -0.31979018449783325, + 1.119779109954834, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9861805438995361, + 2.864394187927246, + 0.8798531889915466, + 0.6630085706710815, + 0.5160691142082214, + 0.6619518995285034, + 0.24347062408924103, + 0.0, + 0.6932494640350342, + -0.2120189517736435, + 1.1197795867919922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9861805438995361, + 2.864394187927246, + 0.8798531889915466, + 0.6630085706710815, + 0.5160691142082214, + 0.6619518995285034, + 0.24347062408924103, + 0.0, + 0.7075172066688538, + -0.18255899846553802, + 1.1197794675827026, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9861805438995361, + 2.864394187927246, + 0.8798531889915466, + 0.6630085706710815, + 0.5160691142082214, + 0.6619518995285034, + 0.24347062408924103, + 0.0, + 0.7675182819366455, + -0.05866914987564087, + 1.1197800636291504, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9861805438995361, + 2.864394187927246, + 0.8798531889915466, + 0.6630085706710815, + 0.5160691142082214, + 0.6619518995285034, + 0.24347062408924103, + 0.0, + 0.7735037803649902, + -0.04631030932068825, + 1.1197868585586548, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9861805438995361, + 2.864394187927246, + 0.8798531889915466, + 0.6630085706710815, + 0.5160691142082214, + 0.6619518995285034, + 0.24347062408924103, + 0.0, + 0.7749966979026794, + -0.04322768375277519, + 1.119779348373413, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9861805438995361, + 2.864394187927246, + 0.8798531889915466, + 0.6630085706710815, + 0.5160691142082214, + 0.6619518995285034, + 0.24347062408924103, + 0.0, + 0.8392066359519958, + 0.089352548122406, + 1.1197788715362549, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9861805438995361, + 2.864394187927246, + 0.8798531889915466, + 0.6630085706710815, + 0.5160691142082214, + 0.6619518995285034, + 0.24347062408924103, + 0.0, + 0.8600181937217712, + 0.13232406973838806, + 1.1197794675827026, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9861805438995361, + 2.864394187927246, + 0.8798531889915466, + 0.6630085706710815, + 0.5160691142082214, + 0.6619518995285034, + 0.24347062408924103, + 0.0, + 0.9055987000465393, + 0.22643843293190002, + 1.1197789907455444, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9861805438995361, + 2.864394187927246, + 0.8798531889915466, + 0.6630085706710815, + 0.5160691142082214, + 0.6619518995285034, + 0.24347062408924103, + 0.0, + 0.9450279474258423, + 0.3078516125679016, + 1.1197795867919922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9861805438995361, + 2.864394187927246, + 0.8798531889915466, + 0.6630085706710815, + 0.5160691142082214, + 0.6619518995285034, + 0.24347062408924103, + 0.0, + 0.9733509421348572, + 0.3663327693939209, + 1.1197789907455444, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9861805438995361, + 2.864394187927246, + 0.8798531889915466, + 0.6630085706710815, + 0.5160691142082214, + 0.6619518995285034, + 0.24347062408924103, + 0.0, + 1.0241080522537231, + 0.47113561630249023, + 1.1197788715362549, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9861805438995361, + 2.864394187927246, + 0.8798531889915466, + 0.6630085706710815, + 0.5160691142082214, + 0.6619518995285034, + 0.24347062408924103, + 0.0, + 1.0406534671783447, + 0.5052984356880188, + 1.119779109954834, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9861805438995361, + 2.864394187927246, + 0.8798531889915466, + 0.6630085706710815, + 0.5160691142082214, + 0.6619518995285034, + 0.24347062408924103, + 0.0, + 1.0990639925003052, + 0.6259040236473083, + 1.1197787523269653, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9861805438995361, + 2.864394187927246, + 0.8798531889915466, + 0.6630085706710815, + 0.5160691142082214, + 0.6619518995285034, + 0.24347062408924103, + 0.0, + 1.1077834367752075, + 0.6439078450202942, + 1.119779348373413, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9861805438995361, + 2.864394187927246, + 0.8798531889915466, + 0.6630085706710815, + 0.5160691142082214, + 0.6619518995285034, + 0.24347062408924103, + 0.0, + 1.1718766689300537, + 0.7762471437454224, + 1.1197751760482788, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9861805438995361, + 2.864394187927246, + 0.8798531889915466, + 0.6630085706710815, + 0.5160691142082214, + 0.6619518995285034, + 0.24347062408924103, + 0.0, + 1.1749143600463867, + 0.7825192809104919, + 1.1197788715362549, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9861805438995361, + 2.864394187927246, + 0.8798531889915466, + 0.6630085706710815, + 0.5160691142082214, + 0.6619518995285034, + 0.24347062408924103, + 0.0, + 1.2073261737823486, + 0.8494428992271423, + 1.119779109954834, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9861805438995361, + 2.864394187927246, + 0.8798531889915466, + 0.6630085706710815, + 0.5160691142082214, + 0.6619518995285034, + 0.24347062408924103, + 0.0, + 1.2420223951339722, + 0.921083390712738, + 1.1197729110717773, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9861805438995361, + 2.864394187927246, + 0.8798531889915466, + 0.6630085706710815, + 0.5160691142082214, + 0.6619518995285034, + 0.24347062408924103, + 0.0, + 1.2452741861343384, + 0.9277975559234619, + 1.119779109954834, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9861805438995361, + 2.864394187927246, + 0.8798531889915466, + 0.6630085706710815, + 0.5160691142082214, + 0.6619518995285034, + 0.24347062408924103, + 0.0, + 1.3091304302215576, + 1.0596474409103394, + 1.1197795867919922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9861805438995361, + 2.864394187927246, + 0.8798531889915466, + 0.6630085706710815, + 0.5160691142082214, + 0.6619518995285034, + 0.24347062408924103, + 0.0, + 1.317893385887146, + 1.0777411460876465, + 1.1197797060012817, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9861805438995361, + 2.864394187927246, + 0.8798531889915466, + 0.6630085706710815, + 0.5160691142082214, + 0.6619518995285034, + 0.24347062408924103, + 0.0, + 1.3762383460998535, + 1.1982115507125854, + 1.1197795867919922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9861805438995361, + 2.864394187927246, + 0.8798531889915466, + 0.6630085706710815, + 0.5160691142082214, + 0.6619518995285034, + 0.24347062408924103, + 0.0, + 1.3911738395690918, + 1.2290502786636353, + 1.1197797060012817, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9861805438995361, + 2.864394187927246, + 0.8798531889915466, + 0.6630085706710815, + 0.5160691142082214, + 0.6619518995285034, + 0.24347062408924103, + 0.0, + 1.4433462619781494, + 1.3367756605148315, + 3.077488422393799, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9861805438995361, + 2.864394187927246, + 0.8798531889915466, + 0.6630085706710815, + 0.5160691142082214, + 0.6619518995285034, + 0.24347062408924103, + 0.0, + 1.4639509916305542, + 1.3793201446533203, + 1.1197789907455444, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9861805438995361, + 2.864394187927246, + 0.8798531889915466, + 0.6630085706710815, + 0.5160691142082214, + 0.6619518995285034, + 0.24347062408924103, + 0.0, + 1.5104542970657349, + 1.4753397703170776, + 1.119779109954834, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9861805438995361, + 2.864394187927246, + 0.8798531889915466, + 0.6630085706710815, + 0.5160691142082214, + 0.6619518995285034, + 0.24347062408924103, + 0.0, + 1.5370736122131348, + 1.5303031206130981, + 1.1197789907455444, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9861805438995361, + 2.864394187927246, + 0.8798531889915466, + 0.6630085706710815, + 0.5160691142082214, + 0.6619518995285034, + 0.24347062408924103, + 0.0, + 1.5775623321533203, + 1.6139038801193237, + 1.1197797060012817, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9861805438995361, + 2.864394187927246, + 0.8798531889915466, + 0.6630085706710815, + 0.5160691142082214, + 0.6619518995285034, + 0.24347062408924103, + 0.0, + 1.610008716583252, + 1.6808990240097046, + 1.119779109954834, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9861805438995361, + 2.864394187927246, + 0.8798531889915466, + 0.6630085706710815, + 0.5160691142082214, + 0.6619518995285034, + 0.24347062408924103, + 0.0, + 1.6446701288223267, + 1.7524676322937012, + 1.119779348373413, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9861805438995361, + 2.864394187927246, + 0.8798531889915466, + 0.6630085706710815, + 0.5160691142082214, + 0.6619518995285034, + 0.24347062408924103, + 0.0, + 1.6831392049789429, + 1.8318983316421509, + 1.1197795867919922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9861805438995361, + 2.864394187927246, + 0.8798531889915466, + 0.6630085706710815, + 0.5160691142082214, + 0.6619518995285034, + 0.24347062408924103, + 0.0, + 1.7122725248336792, + 1.8920526504516602, + 1.1197792291641235, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9861805438995361, + 2.864394187927246, + 0.8798531889915466, + 0.6630085706710815, + 0.5160691142082214, + 0.6619518995285034, + 0.24347062408924103, + 0.0, + 1.7566829919815063, + 1.9837510585784912, + 1.11978018283844, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9861805438995361, + 2.864394187927246, + 0.8798531889915466, + 0.6630085706710815, + 0.5160691142082214, + 0.6619518995285034, + 0.24347062408924103, + 0.0, + 1.7818796634674072, + 2.0357770919799805, + 1.1197795867919922, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9861805438995361, + 2.864394187927246, + 0.8798531889915466, + 0.6630085706710815, + 0.5160691142082214, + 0.6619518995285034, + 0.24347062408924103, + 0.0, + 1.8305022716522217, + 2.1361727714538574, + 1.1197787523269653, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9861805438995361, + 2.864394187927246, + 0.8798531889915466, + 0.6630085706710815, + 0.5160691142082214, + 0.6619518995285034, + 0.24347062408924103, + 0.0, + 1.8560256958007812, + 2.188873291015625, + 1.119779348373413, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9861805438995361, + 2.864394187927246, + 0.8798531889915466, + 0.6630085706710815, + 0.5160691142082214, + 0.6619518995285034, + 0.24347062408924103, + 0.0, + 1.9044684171676636, + 2.2888975143432617, + 1.1197785139083862, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9861805438995361, + 2.864394187927246, + 0.8798531889915466, + 0.6630085706710815, + 0.5160691142082214, + 0.6619518995285034, + 0.24347062408924103, + 0.0, + 1.936126947402954, + 2.3542656898498535, + 1.119780421257019, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9861805438995361, + 2.864394187927246, + 0.8798531889915466, + 0.6630085706710815, + 0.5160691142082214, + 0.6619518995285034, + 0.24347062408924103, + 0.0, + 1.978377103805542, + 2.4415037631988525, + 1.7962591648101807, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9861805438995361, + 2.864394187927246, + 0.8798531889915466, + 0.6630085706710815, + 0.5160691142082214, + 0.6619518995285034, + 0.24347062408924103, + 0.0, + 1.9629409313201904, + 2.5088040828704834, + 3.137119770050049, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9861805438995361, + 2.864394187927246, + 0.8798531889915466, + 0.6630085706710815, + 0.5160691142082214, + 0.6619518995285034, + 0.24347062408924103, + 0.0 + ], + "count": [ + 2221 + ] + }, + "action.applied": { + "mean": [ + 0.07978867432665505, + -0.010806536110162922, + 0.025761218126175548, + 0.7451311253256113, + 0.05621835803410676, + 0.05621835803410676, + 0.05621835803410676, + 0.05621835803410676, + 2.66958109444726, + -1.0703587550058349, + 0.04335594109305363, + 0.08307068887888339, + 0.08307068887888339 + ], + "std": [ + 0.12097867790936866, + 0.06024509649255086, + 0.19268657629442829, + 0.1609686760450856, + 0.04403184869586949, + 0.04403184869586949, + 0.04403184869586949, + 0.04403184869586949, + 0.8605866340072841, + 0.701045871424677, + 0.48132326476612486, + 0.11775794185068034, + 0.11775794185068034 + ], + "min": [ + -0.0, + -0.23683315515518188, + -0.800000011920929, + 0.5417888760566711, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5616447925567627, + -1.5699999332427979, + -1.075813889503479, + 0.0, + 0.0 + ], + "max": [ + 0.29999780654907227, + 0.08685760200023651, + 0.800000011920929, + 0.956145167350769, + 0.12748964130878448, + 0.12748964130878448, + 0.12748964130878448, + 0.12748964130878448, + 3.999999761581421, + 7.043527148198336e-07, + 1.0082417726516724, + 0.25, + 0.25 + ], + "count": [ + 2221 + ] + }, + "extra.reward": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 2221 + ] + }, + "next.truncated": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 2221 + ] + }, + "sim_step_idx": { + "mean": [ + 2321.0 + ], + "std": [ + 1282.2948178948552 + ], + "min": [ + 101.0 + ], + "max": [ + 4541.0 + ], + "count": [ + 2221 + ] + }, + "timestamp": { + "mean": [ + 44.400000004115434 + ], + "std": [ + 25.6458963614189 + ], + "min": [ + 0.0 + ], + "max": [ + 88.80000305175781 + ], + "count": [ + 2221 + ] + }, + "frame_index": { + "mean": [ + 1110.0 + ], + "std": [ + 641.1474089474276 + ], + "min": [ + 0.0 + ], + "max": [ + 2220.0 + ], + "count": [ + 2221 + ] + }, + "episode_index": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 2221 + ] + }, + "index": { + "mean": [ + 1110.0 + ], + "std": [ + 641.1474089474276 + ], + "min": [ + 0.0 + ], + "max": [ + 2220.0 + ], + "count": [ + 2221 + ] + }, + "task_index": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 2221 + ] + }, + "next.done": { + "mean": [ + 0.00045024763619990995 + ], + "std": [ + 0.0212142620250153 + ], + "min": [ + 0.0 + ], + "max": [ + 1.0 + ], + "count": [ + 2221 + ] + }, + "observation.images.head": { + "mean": [ + [ + [ + 0.5143384950738507 + ] + ], + [ + [ + 0.3615384705882428 + ] + ], + [ + [ + 0.23711433112714322 + ] + ] + ], + "std": [ + [ + [ + 0.13296831822199595 + ] + ], + [ + [ + 0.11134754394399113 + ] + ], + [ + [ + 0.08311320471664098 + ] + ] + ], + "min": [ + [ + [ + 0.011764705882352941 + ] + ], + [ + [ + 0.00392156862745098 + ] + ], + [ + [ + 0.0 + ] + ] + ], + "max": [ + [ + [ + 0.9725490196078431 + ] + ], + [ + [ + 0.9764705882352941 + ] + ], + [ + [ + 0.9921568627450981 + ] + ] + ], + "count": [ + 100 + ] + }, + "observation.images.wrist": { + "mean": [ + [ + [ + 0.5261864573023766 + ] + ], + [ + [ + 0.41728850363459075 + ] + ], + [ + [ + 0.3282280834081064 + ] + ] + ], + "std": [ + [ + [ + 0.1611103220979966 + ] + ], + [ + [ + 0.14577540940872358 + ] + ], + [ + [ + 0.13412015543525907 + ] + ] + ], + "min": [ + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ] + ], + "max": [ + [ + [ + 1.0 + ] + ], + [ + [ + 0.9921568627450981 + ] + ], + [ + [ + 0.9921568627450981 + ] + ] + ], + "count": [ + 100 + ] + } +} \ No newline at end of file diff --git a/N033/stretch3/dr_on/seed_2019/rec/stationringstretch/000/lerobot_v21/meta/tasks.jsonl b/N033/stretch3/dr_on/seed_2019/rec/stationringstretch/000/lerobot_v21/meta/tasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dbadecbe4a732b4588b1a79a8efeb41ca322b43c --- /dev/null +++ b/N033/stretch3/dr_on/seed_2019/rec/stationringstretch/000/lerobot_v21/meta/tasks.jsonl @@ -0,0 +1 @@ +{"task_index": 0, "task": "Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end."} diff --git a/N033/stretch3/dr_on/seed_2019/rec/stationringstretch/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 b/N033/stretch3/dr_on/seed_2019/rec/stationringstretch/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..66dd6822a831deba75736d69e056b5e3d78ceea1 --- /dev/null +++ b/N033/stretch3/dr_on/seed_2019/rec/stationringstretch/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:ca81466ed9c26d5e64815b563aefe09d6df6fac11239910f9de8daadcfdaaba6 +size 44137964 diff --git a/N033/stretch3/dr_on/seed_2019/rec/stationringstretch/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 b/N033/stretch3/dr_on/seed_2019/rec/stationringstretch/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f8a6e054612da3d04ef813468888477ad1bd43f5 --- /dev/null +++ b/N033/stretch3/dr_on/seed_2019/rec/stationringstretch/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 sha256:0ee2acc5ab183b213417f49aac13cf8dddbc25b6bef66811a2a13fb223ac5ea4 +size 49329524 diff --git a/N033/stretch3/dr_on/seed_2019/rec/stationringstretch/000/run_meta.json b/N033/stretch3/dr_on/seed_2019/rec/stationringstretch/000/run_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8d12448d4666d06c9205ee38ea277aba82243a48 --- /dev/null +++ b/N033/stretch3/dr_on/seed_2019/rec/stationringstretch/000/run_meta.json @@ -0,0 +1,1737 @@ +{ + "run_id": "stationringstretch/000", + "created": "2026-11-08 02:51:45", + "num_envs": 1, + "session_id": null, + "record_config": { + "output_dir": "/mnt/scratch/xc536_atomic/n033_str_on_2019/out/rec", + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "json_round": null, + "schema": { + "source": "robot_manager", + "nan_policy": "from_raw" + }, + "lerobot": { + "subsample_every": 2 + } + }, + "config": { + "env_string": "StationRingXREnv-V0", + "env": { + "sim": { + "device": "cpu", + "use_fabric": false, + "decimation": 4, + "dt": 0.005, + "seed": 2019, + "soft_resets": 2, + "enable_scene_query_support": true, + "scene": { + "num_envs": 1, + "env_spacing": 16 + }, + "render": { + "rendering_mode": "performance", + "enable_reflections": false, + "enable_global_illumination": false, + "enable_translucency": false, + "enable_dl_denoiser": false + } + }, + "nav": { + "navmesh": { + "enabled": true, + "visualize": false, + "bake_timeout_s": 180, + "agent_height_cm": 170, + "min_agent_radius_cm": 40.0, + "max_agent_radius_cm": 40.0, + "max_step_height_cm": 20, + "max_floor_slope_deg": 30, + "agent_island_radius_cm": 5, + "auto_exclude_rigid_bodies": true, + "validate_path_clearance": true, + "validate_path_window": true, + "navmesh_offset_z_m": 0, + "verbose": true, + "validate_path_reroute": true, + "validate_path_reroute_spacing": 0.25 + }, + "occupancymap": { + "cell_size": 0.05 + } + }, + "scene": { + "background": { + "intensity": [ + 1000, + 1000 + ] + }, + "terrain": { + "type": "nav_room", + "collision": true, + "hide_top_walls": true, + "usd": [ + "$MAGICSIM_ASSETS/Room/Collected_SimpleRoom" + ], + "annotation": "Annotation", + "random": false, + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0, + "friction_combine_mode": "multiply", + "restitution_combine_mode": "multiply" + } + }, + "objects": { + "table_A": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "table_A_1": { + "pos": [ + -0.33247818208110835, + -0.0670093741463534, + 0.18 + ], + "ori": [ + 0.0, + 0.0, + -3.6728994051562296 + ], + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.45, + 0.35 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "table_B": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "table_B_1": { + "pos": [ + 1.9909376048858463, + 3.1786856126207397, + 0.18 + ], + "ori": [ + 0.0, + 0.0, + -0.25628181748317047 + ], + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.45, + 0.35 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "rack_back": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "rack_back_1": { + "pos": [ + -0.3830160865083565, + -0.0737858198299204, + 0.42999999999999994 + ], + "ori": [ + 0.0, + 0.0, + -3.6728994051562296 + ], + "primitive_params": { + "size": [ + 0.7, + 0.03, + 0.2 + ] + }, + "visual": { + "color": [ + [ + 0.45, + 0.35, + 0.25 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "peg_1": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "peg_1_1": { + "pos": [ + -0.24005051269303812, + -0.18817919683950413, + 0.47 + ], + "ori": [ + 0.0, + 0.0, + -3.6728994051562296 + ], + "primitive_params": { + "size": [ + 0.02, + 0.18, + 0.02 + ] + }, + "visual": { + "color": [ + [ + 0.35, + 0.35, + 0.35 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "peg_2": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "peg_2_1": { + "pos": [ + -0.5394343217158931, + -0.16896110913633522, + 0.47 + ], + "ori": [ + 0.0, + 0.0, + -3.6728994051562296 + ], + "primitive_params": { + "size": [ + 0.02, + 0.18, + 0.02 + ] + }, + "visual": { + "color": [ + [ + 0.35, + 0.35, + 0.35 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "ring": { + "usd": [ + "$MAGICSIM_ASSETS/Object/MMB_A07/ring_wide/Object.usda" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "ring_1": { + "pos": [ + -0.5416133493496965, + -0.20290650490360335, + 0.43999999999999995 + ], + "ori": [ + 0.0, + 0.0, + -3.6728994051562296 + ], + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.05, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + } + } + } + }, + "ring_small": { + "usd": [ + "$MAGICSIM_ASSETS/Object/MMB_A07/ring_small/Object.usda" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "ring_small_1": { + "pos": [ + -0.24324827842303628, + -0.23799472996623344, + 0.46499999999999997 + ], + "ori": [ + 0.0, + 0.0, + -3.6728994051562296 + ], + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.05, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + } + } + } + }, + "rod_h": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "rod_h_1": { + "pos": [ + 1.9903561218261934, + 3.0486869130985856, + 0.53 + ], + "ori": [ + 0.0, + 0.0, + -0.25628181748317047 + ], + "primitive_params": { + "size": [ + 0.02, + 0.14, + 0.02 + ] + }, + "visual": { + "color": [ + [ + 0.75, + 0.75, + 0.78 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 0.3, + "dynamic_friction": 0.25, + "restitution": 0.0 + } + } + } + }, + "rod_s": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "rod_s_1": { + "pos": [ + 1.990925527929992, + 3.1759856396306643, + 0.48979999999999996 + ], + "ori": [ + -35.0, + 0.0, + -0.25628181748317047 + ], + "primitive_params": { + "size": [ + 0.02, + 0.14, + 0.02 + ] + }, + "visual": { + "color": [ + [ + 0.75, + 0.75, + 0.78 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 0.3, + "dynamic_friction": 0.25, + "restitution": 0.0 + } + } + } + }, + "rod_stop": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "rod_stop_1": { + "pos": [ + 1.9912507111487363, + 3.248684912363438, + 0.38999999999999996 + ], + "ori": [ + 0.0, + 0.0, + -0.25628181748317047 + ], + "primitive_params": { + "size": [ + 0.1, + 0.012, + 0.12 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.3, + 0.25 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + } + } + }, + "robot": { + "HelloRobot": { + "name": "hellorobot", + "type": "mobilemanip", + "common": { + "pos": [ + [ + -3.4, + -2.2, + 0.06 + ], + [ + -3.4, + -2.2, + 0.06 + ] + ], + "ori": [ + [ + 0, + 0, + 40.0 + ], + [ + 0, + 0, + 40.0 + ] + ], + "initial_joint_pos": { + "joint_lift": 0.55, + "joint_arm_l[0-3]": 0.0, + "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": 32, + "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", + "start_state_limit_inset": 0.002 + }, + "body": { + "type": "nav", + "dwb_type": "dwb_differential", + "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": 0.001, + "angular_dead_zone": 0.005, + "nav_heading_target": 1, + "velocity_frame": "world" + }, + "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": 8.0, + "w_vel": 0.2, + "w_vy": 0.0, + "dilate_radius": 0.33, + "room_size": 12.0, + "occupancy_update_interval": 25, + "scan_height": 0.45, + "scan_min_z": 0.22, + "scan_max_z": 1.75, + "goal_pos_threshold": 0.005, + "goal_yaw_threshold": 0.006, + "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": true, + "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": 0.15 + } + }, + "arm": { + "type": "default" + }, + "eef": { + "type": "default" + } + }, + "physics": { + "wheel_base": 0.33, + "robot_radius": 0.4 + }, + "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" + } + } + } + } + }, + "task": { + "new_seed_per_episode": true, + "observation": {}, + "reward": {}, + "termination": { + "timeout_steps": 30000, + "success_hold_frames": 10, + "fall_height": -0.03, + "fall_tilt": 1.0, + "lift_height": 0.12, + "grasp_distance": 0.25 + }, + "stance": { + "heights": [ + 0.3, + 0.34, + 0.26 + ], + "radii": [ + 0.5, + 0.46, + 0.54 + ] + }, + "station": { + "robot": { + "key": "HelloRobot", + "embodiment": "stretch3", + "base_link": "base_link", + "base_yaw_deg": 90.0, + "wrist_ref_back": 0.0, + "spawn_dz": 0.03, + "finger_joints": [ + "joint_gripper_finger_left", + "joint_gripper_finger_right" + ], + "dwb": { + "key": "dwb_differential", + "add_floor": false + } + }, + "task_id": "N033", + "task_version": "EXT60-MobileAvatar-v3", + "family_id": "ring_on_bent_rod", + "primary_category": "C2", + "stage": "full", + "layout": { + "floor_z": 0.03, + "start": { + "x": -3.4, + "y": -2.2, + "yaw_deg": 40.0, + "radius": 0.3, + "yaw_spread_deg": 20.0 + }, + "stations": { + "A": { + "center": [ + -0.33247818208110835, + -0.0670093741463534 + ], + "facing_deg": 86.32710059484377, + "standoff": 0.5, + "table": { + "width": 0.9, + "depth": 0.5, + "height": 0.3 + } + }, + "B": { + "center": [ + 1.9909376048858463, + 3.1786856126207397 + ], + "facing_deg": 89.74371818251683, + "standoff": 0.5, + "table": { + "width": 0.9, + "depth": 0.5, + "height": 0.3 + } + } + } + }, + "route": [ + "A", + "B" + ], + "fixtures": { + "rod": { + "pivot": [ + 0.0, + -0.2 + ], + "yaw_deg": 0.0 + } + }, + "instruction": "pick up the large ring (not the small one)", + "ring": { + "target": "ring", + "others": [ + "ring_small" + ], + "swap": "random", + "rod": { + "open": -0.2, + "bend": -0.06, + "slope_deg": 35.0, + "horizontal_len": 0.14, + "slope_len": 0.14, + "z": 0.2, + "fixture": "rod" + }, + "swapped": true + }, + "dr": { + "enabled": true, + "stations": { + "center_m": 0.25, + "facing_deg": 8.0 + }, + "objects": { + "across_m": 0.025, + "along_m": 0.02, + "yaw_deg": 8.0 + } + }, + "place_check": { + "ring": { + "at": { + "station": "B", + "across": 0.0, + "along": -0.06, + "z": 0.2 + }, + "yaw_deg": 0.0, + "clearance": 0.004 + } + }, + "success": { + "thread_tol": 0.03, + "lost_dist": 0.06, + "axis_deg": 55.0, + "entry_s": 0.08, + "end_margin": 0.07, + "back_tol": 0.04, + "release_dist": 0.15, + "rest_speed": 0.05, + "held_lift": 0.04, + "lift": 0.08 + }, + "objects": { + "rack_back": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.7, + 0.03, + 0.2 + ], + "at": { + "station": "A", + "across": -0.05, + "along": -0.01, + "z": 0.1 + }, + "color": [ + 0.45, + 0.35, + 0.25 + ], + "pos": [ + -0.3830160865083565, + -0.0737858198299204, + 0.42999999999999994 + ], + "yaw_deg": -3.6728994051562296 + }, + "peg_1": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.02, + 0.18, + 0.02 + ], + "at": { + "station": "A", + "across": 0.1, + "along": -0.115, + "z": 0.14 + }, + "color": [ + 0.35, + 0.35, + 0.35 + ], + "pos": [ + -0.24005051269303812, + -0.18817919683950413, + 0.47 + ], + "yaw_deg": -3.6728994051562296 + }, + "peg_2": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.02, + 0.18, + 0.02 + ], + "at": { + "station": "A", + "across": -0.2, + "along": -0.115, + "z": 0.14 + }, + "color": [ + 0.35, + 0.35, + 0.35 + ], + "pos": [ + -0.5394343217158931, + -0.16896110913633522, + 0.47 + ], + "yaw_deg": -3.6728994051562296 + }, + "ring": { + "catalog": "ring_wide", + "type": "rigid", + "at": { + "station": "A", + "across": -0.2, + "along": -0.14901526209255703, + "z": 0.11 + }, + "yaw_deg": -3.6728994051562296, + "jitter": { + "across_m": 0.0, + "along_m": 0.012, + "yaw_deg": 0.0 + }, + "friction": { + "static": 1.5, + "dynamic": 1.5 + }, + "asset": "$MAGICSIM_ASSETS/Object/MMB_A07/ring_wide/Object.usda", + "parts": [ + { + "name": "seg0", + "center": [ + 0.051, + 0.0, + 0.0 + ], + "half": [ + 0.011, + 0.0175, + 0.025124891681027845 + ], + "rpy_deg": [ + 0.0, + -0.0, + 0.0 + ] + }, + { + "name": "seg1", + "center": [ + 0.03606244584051392, + 0.0, + 0.03606244584051392 + ], + "half": [ + 0.011, + 0.0175, + 0.025124891681027845 + ], + "rpy_deg": [ + 0.0, + -45.0, + 0.0 + ] + }, + { + "name": "seg2", + "center": [ + 3.1228493378257503e-18, + 0.0, + 0.051 + ], + "half": [ + 0.011, + 0.0175, + 0.025124891681027845 + ], + "rpy_deg": [ + 0.0, + -90.0, + 0.0 + ] + }, + { + "name": "seg3", + "center": [ + -0.03606244584051392, + 0.0, + 0.03606244584051392 + ], + "half": [ + 0.011, + 0.0175, + 0.025124891681027845 + ], + "rpy_deg": [ + 0.0, + -135.0, + 0.0 + ] + }, + { + "name": "seg4", + "center": [ + -0.051, + 0.0, + 6.245698675651501e-18 + ], + "half": [ + 0.011, + 0.0175, + 0.025124891681027845 + ], + "rpy_deg": [ + 0.0, + -180.0, + 0.0 + ] + }, + { + "name": "seg5", + "center": [ + -0.03606244584051393, + 0.0, + -0.03606244584051392 + ], + "half": [ + 0.011, + 0.0175, + 0.025124891681027845 + ], + "rpy_deg": [ + 0.0, + -225.0, + 0.0 + ] + }, + { + "name": "seg6", + "center": [ + -9.368548013477251e-18, + 0.0, + -0.051 + ], + "half": [ + 0.011, + 0.0175, + 0.025124891681027845 + ], + "rpy_deg": [ + 0.0, + -270.0, + 0.0 + ] + }, + { + "name": "seg7", + "center": [ + 0.036062445840513914, + 0.0, + -0.03606244584051393 + ], + "half": [ + 0.011, + 0.0175, + 0.025124891681027845 + ], + "rpy_deg": [ + 0.0, + -315.0, + 0.0 + ] + }, + { + "name": "tab", + "center": [ + 0.0, + 0.0, + 0.09 + ], + "half": [ + 0.015, + 0.0175, + 0.03 + ], + "rpy_deg": [ + 0.0, + 0.0, + 0.0 + ] + } + ], + "mass": 0.05, + "com": [ + 0.0, + 0.0, + 0.0 + ], + "grasp": { + "part": "tab", + "thin_axis": 0, + "min_elevation_deg": 60.0, + "inset": 0.02, + "min_overlap_x": 0.016, + "min_overlap_z": 0.015 + }, + "pos": [ + -0.5416133493496965, + -0.20290650490360335, + 0.43999999999999995 + ] + }, + "ring_small": { + "catalog": "ring_small", + "type": "rigid", + "at": { + "station": "A", + "across": 0.1, + "along": -0.1649180633274591, + "z": 0.135 + }, + "yaw_deg": -3.6728994051562296, + "jitter": { + "across_m": 0.0, + "along_m": 0.012, + "yaw_deg": 0.0 + }, + "friction": { + "static": 1.5, + "dynamic": 1.5 + }, + "asset": "$MAGICSIM_ASSETS/Object/MMB_A07/ring_small/Object.usda", + "parts": [ + { + "name": "seg0", + "center": [ + 0.026, + 0.0, + 0.0 + ], + "half": [ + 0.011, + 0.0175, + 0.01476955262170047 + ], + "rpy_deg": [ + 0.0, + -0.0, + 0.0 + ] + }, + { + "name": "seg1", + "center": [ + 0.018384776310850236, + 0.0, + 0.018384776310850233 + ], + "half": [ + 0.011, + 0.0175, + 0.01476955262170047 + ], + "rpy_deg": [ + 0.0, + -45.0, + 0.0 + ] + }, + { + "name": "seg2", + "center": [ + 1.5920408388915591e-18, + 0.0, + 0.026 + ], + "half": [ + 0.011, + 0.0175, + 0.01476955262170047 + ], + "rpy_deg": [ + 0.0, + -90.0, + 0.0 + ] + }, + { + "name": "seg3", + "center": [ + -0.018384776310850233, + 0.0, + 0.018384776310850236 + ], + "half": [ + 0.011, + 0.0175, + 0.01476955262170047 + ], + "rpy_deg": [ + 0.0, + -135.0, + 0.0 + ] + }, + { + "name": "seg4", + "center": [ + -0.026, + 0.0, + 3.1840816777831182e-18 + ], + "half": [ + 0.011, + 0.0175, + 0.01476955262170047 + ], + "rpy_deg": [ + 0.0, + -180.0, + 0.0 + ] + }, + { + "name": "seg5", + "center": [ + -0.01838477631085024, + 0.0, + -0.018384776310850233 + ], + "half": [ + 0.011, + 0.0175, + 0.01476955262170047 + ], + "rpy_deg": [ + 0.0, + -225.0, + 0.0 + ] + }, + { + "name": "seg6", + "center": [ + -4.776122516674677e-18, + 0.0, + -0.026 + ], + "half": [ + 0.011, + 0.0175, + 0.01476955262170047 + ], + "rpy_deg": [ + 0.0, + -270.0, + 0.0 + ] + }, + { + "name": "seg7", + "center": [ + 0.01838477631085023, + 0.0, + -0.01838477631085024 + ], + "half": [ + 0.011, + 0.0175, + 0.01476955262170047 + ], + "rpy_deg": [ + 0.0, + -315.0, + 0.0 + ] + }, + { + "name": "tab", + "center": [ + 0.0, + 0.0, + 0.065 + ], + "half": [ + 0.015, + 0.0175, + 0.03 + ], + "rpy_deg": [ + 0.0, + 0.0, + 0.0 + ] + } + ], + "mass": 0.05, + "com": [ + 0.0, + 0.0, + 0.0 + ], + "grasp": { + "part": "tab", + "thin_axis": 0, + "min_elevation_deg": 60.0, + "inset": 0.02, + "min_overlap_x": 0.016, + "min_overlap_z": 0.015 + }, + "pos": [ + -0.24324827842303628, + -0.23799472996623344, + 0.46499999999999997 + ] + }, + "rod_h": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.02, + 0.14, + 0.02 + ], + "at": { + "station": "B", + "across": 0.0, + "along": -0.13, + "z": 0.2 + }, + "fixture": "rod", + "color": [ + 0.75, + 0.75, + 0.78 + ], + "friction_static": 0.3, + "friction_dynamic": 0.25, + "pos": [ + 1.9903561218261934, + 3.0486869130985856, + 0.53 + ], + "yaw_deg": -0.25628181748317047 + }, + "rod_s": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.02, + 0.14, + 0.02 + ], + "at": { + "station": "B", + "across": 0.0, + "along": -0.0027, + "z": 0.1598 + }, + "roll_deg": -35.0, + "fixture": "rod", + "color": [ + 0.75, + 0.75, + 0.78 + ], + "friction_static": 0.3, + "friction_dynamic": 0.25, + "pos": [ + 1.990925527929992, + 3.1759856396306643, + 0.48979999999999996 + ], + "yaw_deg": -0.25628181748317047 + }, + "rod_stop": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.1, + 0.012, + 0.12 + ], + "at": { + "station": "B", + "across": 0.0, + "along": 0.07, + "z": 0.06 + }, + "fixture": "rod", + "color": [ + 0.55, + 0.3, + 0.25 + ], + "pos": [ + 1.9912507111487363, + 3.248684912363438, + 0.38999999999999996 + ], + "yaw_deg": -0.25628181748317047 + } + }, + "report_jsonl": "/mnt/scratch/xc536_atomic/n033_str_on_2019/out/report.episodes.jsonl", + "dr_applied": true, + "level": "easy" + }, + "command": { + "StationRing": { + "obj_type": "rigid", + "obj_name": "ring", + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.015, + "withdraw": 0.09, + "settle_ticks": 120 + }, + "StationRingStretch": { + "obj_type": "rigid", + "obj_name": "ring", + "grasp_part": "tab", + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.015, + "lift": 0.03, + "withdraw": 0.09, + "over_top": -0.02, + "pre_clear": 0.1, + "carry_ahead": 0.36, + "thread_lateral": 0.39, + "pinch_tilt_deg": 0.0, + "pinch_tip_offset": 0.0, + "stow_unpin_deg": 3.0, + "stow_arm_out": 0.03, + "stow_keep_wrist": true, + "stow_keep_arm": 0.02, + "stow_keep_min_out": 0.4, + "thread_stand_retry": [ + 0.01, + 0.02 + ], + "carry_z": 0.85, + "settle_ticks": 120, + "nav_stall_ticks": 500 + } + } + }, + "collect": { + "global_planner": { + "NavTo": { + "use_navmesh": true, + "use_absolute": true, + "translation_threshold": 0.006, + "rotation_threshold": 0.008, + "num_path_segments": 30, + "start_forward_offset": 0.0, + "visualize_path": false, + "carry_arm": true + }, + "RetractMoveL": { + "translation_threshold": 0.06, + "rotation_threshold": 0.3, + "motiongen_distance_threshold": 0.05, + "timeout_steps": 2000, + "base_pos_threshold": 0.12, + "base_rot_threshold": 0.5, + "eef_pos_threshold": 0.03, + "eef_rot_threshold": 0.3, + "base_waypoint_max_steps": 20, + "arm_waypoint_max_steps": 8 + }, + "MobileMoveL": { + "translation_threshold": 0.003, + "rotation_threshold": 0.05, + "motiongen_distance_threshold": 0.0, + "timeout_steps": 1500, + "stall_release_ticks": 100, + "stall_release_factor": 5.0, + "reactive": false, + "base_pos_threshold": 0.025, + "base_rot_threshold": 0.05, + "eef_pos_threshold": 0.02, + "eef_rot_threshold": 0.25, + "waypoint_max_steps": 60, + "interp_steps": 60, + "interp_validate_target": true, + "retry_mobile_on_locked_plan_failure": true, + "debug": false, + "debug_viz": false, + "debug_sphere": false + }, + "MobileServoL": { + "base_pos_threshold": 0.12, + "waypoint_max_steps": 20, + "translation_threshold": 0.05, + "timeout_steps": 300 + }, + "ParallelGripper": { + "gripper_threshold": 0.0005, + "timeout_steps": 100 + } + }, + "atomic_skill": { + "NavToPose": { + "robot_id": 0, + "show_marker": false + }, + "Move": { + "arm_planner": "MobileMoveL", + "hand_planner": "ParallelGripper", + "obstacle_avoid_paths": [ + "dynamic/table_A", + "dynamic/table_B" + ], + "obstacle_ignore_paths": [], + "close_value": 1.0, + "open_value": 0.0, + "hold_steps": 25, + "robot_id": 0, + "hand_id": 0, + "ramp_steps": 0 + }, + "StationNavXR": { + "robot_id": 0, + "show_marker": false + }, + "ReachStance": { + "max_walks": 4 + }, + "Grasp": { + "retrieval_offset": 0.03 + } + }, + "command": { + "StationRing": { + "obj_type": "rigid", + "obj_name": "ring", + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.015, + "withdraw": 0.09, + "settle_ticks": 120 + }, + "StationRingStretch": { + "obj_type": "rigid", + "obj_name": "ring", + "grasp_part": "tab", + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.015, + "lift": 0.03, + "withdraw": 0.09, + "over_top": -0.02, + "pre_clear": 0.1, + "carry_ahead": 0.36, + "thread_lateral": 0.39, + "pinch_tilt_deg": 0.0, + "pinch_tip_offset": 0.0, + "stow_unpin_deg": 3.0, + "stow_arm_out": 0.03, + "stow_keep_wrist": true, + "stow_keep_arm": 0.02, + "stow_keep_min_out": 0.4, + "thread_stand_retry": [ + 0.01, + 0.02 + ], + "carry_z": 0.85, + "settle_ticks": 120, + "nav_stall_ticks": 500 + } + }, + "auto_collect": {}, + "record": { + "output_dir": "/mnt/scratch/xc536_atomic/n033_str_on_2019/out/rec", + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "json_round": null, + "schema": { + "source": "robot_manager", + "nan_policy": "from_raw" + }, + "lerobot": { + "subsample_every": 2 + } + } + }, + "visual_dr": { + "keep": [ + "ring", + "ring_small" + ] + } + }, + "git_sha": null, + "collect_runtime": { + "max_trajectories": 1 + } +} \ No newline at end of file diff --git a/N033/stretch3/dr_on/seed_2019/rec/stationringstretch/000/sim_info/0/actions.npz b/N033/stretch3/dr_on/seed_2019/rec/stationringstretch/000/sim_info/0/actions.npz new file mode 100644 index 0000000000000000000000000000000000000000..7de57eb22360c9fb102cf422d46e15a07730991e --- /dev/null +++ b/N033/stretch3/dr_on/seed_2019/rec/stationringstretch/000/sim_info/0/actions.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e34aca8ea7e6318c2833dfe05b3ed920a87c5a7365a4eeb08106c40607899b0c +size 697845 diff --git a/N033/stretch3/dr_on/seed_2019/rec/stationringstretch/000/sim_info/0/device_commands.jsonl b/N033/stretch3/dr_on/seed_2019/rec/stationringstretch/000/sim_info/0/device_commands.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N033/stretch3/dr_on/seed_2019/rec/stationringstretch/000/sim_info/0/device_events.jsonl b/N033/stretch3/dr_on/seed_2019/rec/stationringstretch/000/sim_info/0/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N033/stretch3/dr_on/seed_2019/rec/stationringstretch/000/sim_info/0/scene_snapshot.json b/N033/stretch3/dr_on/seed_2019/rec/stationringstretch/000/sim_info/0/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..93aac34e9e91f308288601c60a63ab9106ab247d --- /dev/null +++ b/N033/stretch3/dr_on/seed_2019/rec/stationringstretch/000/sim_info/0/scene_snapshot.json @@ -0,0 +1,659 @@ +{ + "trajectory_id": 0, + "env_id": 0, + "run_id": "stationringstretch/000", + "task_type": "RingStretchCommand", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])", + "avatars": "avatar_manager.set_avatars_state(snapshot['avatars'], env_ids=[env_id]) (present when the scene has animated avatars)" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "table_A": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.33247818208110835, + -0.0670093741463534, + 0.18 + ], + "ori": [ + 0.9994863867759705, + 0.0, + 0.0, + -0.0320466049015522 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.45, + 0.35 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + } + }, + "type_specific": {} + } + ], + "table_B": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 1.9909376048858463, + 3.1786856126207397, + 0.18 + ], + "ori": [ + 0.9999974966049194, + 0.0, + 0.0, + -0.0022364789620041847 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.45, + 0.35 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + } + }, + "type_specific": {} + } + ], + "rack_back": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.3830160865083565, + -0.0737858198299204, + 0.42999999999999994 + ], + "ori": [ + 0.9994863867759705, + 0.0, + 0.0, + -0.0320466049015522 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.45, + 0.35, + 0.25 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.7, + 0.03, + 0.2 + ] + } + }, + "type_specific": {} + } + ], + "peg_1": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.24005051269303812, + -0.18817919683950413, + 0.47 + ], + "ori": [ + 0.9994863867759705, + 0.0, + 0.0, + -0.0320466049015522 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.35, + 0.35, + 0.35 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.02, + 0.18, + 0.02 + ] + } + }, + "type_specific": {} + } + ], + "peg_2": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.5394343217158931, + -0.16896110913633522, + 0.47 + ], + "ori": [ + 0.9994863867759705, + 0.0, + 0.0, + -0.0320466049015522 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.35, + 0.35, + 0.35 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.02, + 0.18, + 0.02 + ] + } + }, + "type_specific": {} + } + ], + "ring": [ + { + "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MMB_A07/ring_wide/Object.usda", + "pose": { + "pos": [ + -0.5416139960289001, + -0.20290647447109222, + 0.43999984860420227 + ], + "ori": [ + 0.9994863271713257, + 2.754870251919783e-07, + 8.184763828467112e-06, + -0.03204553201794624 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.05, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -0.0004410946276038885, + 0.00012928637443110347, + -0.00018924733740277588 + ], + "angular_velocity": [ + 0.003024781821295619, + 0.018998466432094574, + -0.0012548966333270073 + ] + } + } + ], + "ring_small": [ + { + "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MMB_A07/ring_small/Object.usda", + "pose": { + "pos": [ + -0.2432570904493332, + -0.23813331127166748, + 0.4687838554382324 + ], + "ori": [ + 0.9994826912879944, + -5.257288648863323e-05, + 0.0012011921498924494, + -0.03213772922754288 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.05, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -8.286221418529749e-05, + 1.163595811703999e-06, + 5.673827399732545e-05 + ], + "angular_velocity": [ + 0.00022675711079500616, + -0.0073377653025090694, + 0.0005665092612616718 + ] + } + } + ], + "rod_h": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 1.9903561218261934, + 3.0486869130985856, + 0.53 + ], + "ori": [ + 0.9999974966049194, + 0.0, + 0.0, + -0.0022364789620041847 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.75, + 0.75, + 0.78 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 0.3, + "dynamic_friction": 0.25, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.02, + 0.14, + 0.02 + ] + } + }, + "type_specific": {} + } + ], + "rod_s": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 1.990925527929992, + 3.1759856396306643, + 0.48979999999999996 + ], + "ori": [ + 0.9537145495414734, + -0.30070504546165466, + 0.000672522175591439, + -0.0021329678129404783 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.75, + 0.75, + 0.78 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 0.3, + "dynamic_friction": 0.25, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.02, + 0.14, + 0.02 + ] + } + }, + "type_specific": {} + } + ], + "rod_stop": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 1.9912507111487363, + 3.248684912363438, + 0.38999999999999996 + ], + "ori": [ + 0.9999974966049194, + 0.0, + 0.0, + -0.0022364789620041847 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.3, + 0.25 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.1, + 0.012, + 0.12 + ] + } + }, + "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": [ + [ + -3.435194730758667, + -2.1953125, + 0.05999999865889549, + 0.9107887744903564, + 0.0, + 0.0, + 0.41287264227867126 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.0, + 0.0, + 0.0, + 0.550000011920929, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 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 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/N033/stretch3/dr_on/seed_2019/rec/stationringstretch/000/sim_info/0/sim_states.npz b/N033/stretch3/dr_on/seed_2019/rec/stationringstretch/000/sim_info/0/sim_states.npz new file mode 100644 index 0000000000000000000000000000000000000000..70375ae981db1d86abe363c4d0b0386063a6c5c2 --- /dev/null +++ b/N033/stretch3/dr_on/seed_2019/rec/stationringstretch/000/sim_info/0/sim_states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:48ed5107a556c899d1204bc5a0e3a2abb6366a014d47c033e67b03928714c137 +size 643400 diff --git a/N033/stretch3/dr_on/seed_2019/rec/stationringstretch/000/sim_info/magicsim_manifest.json b/N033/stretch3/dr_on/seed_2019/rec/stationringstretch/000/sim_info/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..e269bf9017076ddb1e9a9afc846120aea984fa9c --- /dev/null +++ b/N033/stretch3/dr_on/seed_2019/rec/stationringstretch/000/sim_info/magicsim_manifest.json @@ -0,0 +1,228 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 03:07:54" + }, + "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": "stationringstretch/000", + "task_type": "RingStretchCommand" + } +} \ No newline at end of file diff --git a/N033/stretch3/dr_on/seed_2019/rec/stationringstretch/000/visual_dr.json b/N033/stretch3/dr_on/seed_2019/rec/stationringstretch/000/visual_dr.json new file mode 100644 index 0000000000000000000000000000000000000000..9f5d6b60895984dc7cb1be7fc54eb4044329dc4d --- /dev/null +++ b/N033/stretch3/dr_on/seed_2019/rec/stationringstretch/000/visual_dr.json @@ -0,0 +1,676 @@ +{ + "version": 1, + "settings": { + "enabled": false, + "keep": [ + "ring", + "ring_small" + ], + "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": 2019, + "seeds": { + "0": 2019 + }, + "lights": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/RectLight", + "type": "RectLight", + "intensity": 14748.784183, + "intensity_base": 15000.0, + "enable_color_temperature": true, + "color_temperature_k": 3866.643425, + "rotate_deg": [ + -2.787, + 0.439, + -4.694 + ] + } + ], + "domes": [ + { + "path": "/World/background", + "type": "DomeLight", + "intensity": 842.811294, + "intensity_base": 1000.0, + "enable_color_temperature": true, + "color_temperature_k": 5320.844168, + "rotate_deg": [ + 0.0, + 0.0, + 13.238 + ], + "dome": { + "path": "/World/background", + "hdr_base": null, + "hdr": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Background/champagne_castle_1_4k.hdr", + "color": [ + 0.83232, + 0.732615, + 0.788205 + ] + } + } + ], + "materials": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light", + "shader": "omnipbr", + "color": [ + 0.7559, + 0.9461, + 0.8032 + ], + "color_base": [ + 1.0, + 1.0, + 1.0 + ], + "roughness": 0.431598, + "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/Wood/Wood_Tiles_Pine.mdl", + "material": "/MmbVdrLooks/Source_Wood_Wood_Tiles_Pine", + "bound_prims": 1, + "pool_size": 42, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic", + "role": "wall", + "mdl": "Source/Paint/Chalk_Paint.mdl", + "material": "/MmbVdrLooks/Source_Paint_Chalk_Paint", + "bound_prims": 17, + "pool_size": 28, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic2", + "role": "wall", + "mdl": "Source/Paint/Paint_Gun_Metal.mdl", + "material": "/MmbVdrLooks/Source_Paint_Paint_Gun_Metal", + "bound_prims": 22, + "pool_size": 28, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WoodWall", + "role": "wall", + "mdl": "Source/Stone/Ardesia_Grigia.mdl", + "material": "/MmbVdrLooks/Source_Stone_Ardesia_Grigia", + "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": { + "ring": 9, + "ring_small": 9 + }, + "physics_skip": { + "physics_binding": 26, + "rigid_body": 113, + "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/xc536_atomic_local/repo_eb439a44f/Assets/Material", + "pool_sizes": { + "ground": 42, + "wall": 28, + "furniture": 38, + "object": 54 + } + }, + "no_swap": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass", + "reason": "glass", + "bound_prims": 1 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light", + "reason": "emissive", + "bound_prims": 1 + } + ], + "unsupported": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass", + "mdl": "OmniGlass.mdl", + "bound_prims": 1 + } + ] + }, + { + "env_ids": [ + 0 + ], + "reset_index": 1, + "episode_seed": 2019, + "seeds": { + "0": 2019 + }, + "lights": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/RectLight", + "type": "RectLight", + "intensity": 14748.784183, + "intensity_base": 15000.0, + "enable_color_temperature": true, + "color_temperature_k": 3866.643425, + "rotate_deg": [ + -2.787, + 0.439, + -4.694 + ] + } + ], + "domes": [ + { + "path": "/World/background", + "type": "DomeLight", + "intensity": 842.811294, + "intensity_base": 1000.0, + "enable_color_temperature": true, + "color_temperature_k": 5320.844168, + "rotate_deg": [ + 0.0, + 0.0, + 13.238 + ], + "dome": { + "path": "/World/background", + "hdr_base": null, + "hdr": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Background/champagne_castle_1_4k.hdr", + "color": [ + 0.83232, + 0.732615, + 0.788205 + ] + } + } + ], + "materials": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light", + "shader": "omnipbr", + "color": [ + 0.7559, + 0.9461, + 0.8032 + ], + "color_base": [ + 1.0, + 1.0, + 1.0 + ], + "roughness": 0.431598, + "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/Wood/Wood_Tiles_Pine.mdl", + "material": "/MmbVdrLooks/Source_Wood_Wood_Tiles_Pine", + "bound_prims": 1, + "pool_size": 42, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic", + "role": "wall", + "mdl": "Source/Paint/Chalk_Paint.mdl", + "material": "/MmbVdrLooks/Source_Paint_Chalk_Paint", + "bound_prims": 17, + "pool_size": 28, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic2", + "role": "wall", + "mdl": "Source/Paint/Paint_Gun_Metal.mdl", + "material": "/MmbVdrLooks/Source_Paint_Paint_Gun_Metal", + "bound_prims": 22, + "pool_size": 28, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WoodWall", + "role": "wall", + "mdl": "Source/Stone/Ardesia_Grigia.mdl", + "material": "/MmbVdrLooks/Source_Stone_Ardesia_Grigia", + "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": { + "ring": 9, + "ring_small": 9 + }, + "physics_skip": { + "physics_binding": 26, + "rigid_body": 113, + "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/xc536_atomic_local/repo_eb439a44f/Assets/Material", + "pool_sizes": { + "ground": 42, + "wall": 28, + "furniture": 38, + "object": 54 + } + }, + "no_swap": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass", + "reason": "glass", + "bound_prims": 1 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light", + "reason": "emissive", + "bound_prims": 1 + } + ], + "unsupported": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass", + "mdl": "OmniGlass.mdl", + "bound_prims": 1 + } + ] + } + ] +} \ No newline at end of file diff --git a/N033/stretch3/dr_on/seed_2019/report.episodes.jsonl b/N033/stretch3/dr_on/seed_2019/report.episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..37392e71c6827565d2af9bd7dfe3ac650d9f00c9 --- /dev/null +++ b/N033/stretch3/dr_on/seed_2019/report.episodes.jsonl @@ -0,0 +1 @@ +{"task_id": "N033", "task_version": "EXT60-MobileAvatar-v3", "instruction": "pick up the large ring (not the small one)", "agent_id": "a07", "family_id": "ring_on_bent_rod", "primary_category": "C2", "level": "easy", "embodiment": "stretch3", "scene_seed": 2019, "execution_mode": "expert_privileged_command", "station_layout": {"A": {"center": [-0.33247818208110835, -0.0670093741463534], "facing": 1.507, "stand": [-0.381, -0.815, 1.507]}, "B": {"center": [1.9909376048858463, 3.1786856126207397], "facing": 1.566, "stand": [1.988, 2.429, 1.566]}}, "spawn_pose": [-3.435, -2.195, 0.851], "base_path": [[-3.435, -2.195, 0.851], [-3.435, -2.195, 0.851], [-3.435, -2.195, 0.851], [-3.435, -2.195, 0.851], [-3.435, -2.195, 0.851], [-3.343, -2.106, 0.653], [-3.214, -2.029, 0.449], [-3.076, -1.971, 0.364], [-2.935, -1.919, 0.348], [-2.795, -1.867, 0.366], [-2.655, -1.811, 0.393], [-2.517, -1.752, 0.417], [-2.381, -1.69, 0.434], [-2.245, -1.626, 0.445], [-2.11, -1.561, 0.45], [-1.975, -1.496, 0.452], [-1.84, -1.43, 0.451], [-1.705, -1.365, 0.45], [-1.57, -1.3, 0.45], [-1.435, -1.234, 0.449], [-1.3, -1.169, 0.449], [-1.164, -1.104, 0.448], [-1.029, -1.039, 0.448], [-0.901, -0.977, 0.448], [-0.813, -0.935, 0.45], [-0.742, -0.898, 0.519], [-0.693, -0.868, 0.586], [-0.662, -0.846, 0.629], [-0.642, -0.832, 0.658], [-0.629, -0.822, 0.677], [-0.621, -0.815, 0.693], [-0.615, -0.81, 0.705], [-0.613, -0.808, 0.697], [-0.61, -0.806, 0.724], [-0.609, -0.805, 0.624], [-0.609, -0.804, 0.839], [-0.609, -0.804, 1.239], [-0.609, -0.804, 1.639], [-0.609, -0.804, 2.039], [-0.609, -0.804, 2.439], [-0.609, -0.804, 2.773], [-0.609, -0.804, 2.935], [-0.609, -0.804, 3.011], [-0.609, -0.804, 3.047], [-0.609, -0.804, 3.063], [-0.609, -0.804, 3.07], [-0.609, -0.804, 3.07], [-0.609, -0.804, 3.07], [-0.609, -0.804, 3.07], [-0.609, -0.804, 3.07], [-0.609, -0.804, 3.07], [-0.609, -0.804, 3.07], [-0.609, -0.804, 3.07], [-0.609, -0.804, 3.07], [-0.609, -0.804, 3.07], [-0.609, -0.804, 3.07], [-0.609, -0.804, 3.07], [-0.609, -0.804, 3.07], [-0.609, -0.804, 3.07], [-0.609, -0.804, 3.07], [-0.609, -0.804, 3.07], [-0.609, -0.804, 3.07], [-0.609, -0.804, 3.07], [-0.609, -0.804, 3.07], [-0.609, -0.804, 3.07], [-0.609, -0.804, 3.07], [-0.609, -0.804, 3.07], [-0.609, -0.804, 3.07], [-0.609, -0.804, 3.07], [-0.609, -0.804, 3.07], [-0.609, -0.804, 3.07], [-0.609, -0.804, 3.07], [-0.609, -0.804, 3.07], [-0.609, -0.804, 3.07], [-0.609, -0.804, 3.07], [-0.609, -0.804, 3.07], [-0.609, -0.804, 3.07], [-0.609, -0.804, 3.07], [-0.609, -0.804, 3.07], [-0.609, -0.804, 3.07], [-0.609, -0.804, 3.071], [-0.609, -0.804, 3.071], [-0.609, -0.804, 3.07], [-0.609, -0.804, 3.07], [-0.552, -0.808, 3.095], [-0.402, -0.81, -3.128], [-0.252, -0.806, -3.1], [-0.102, -0.799, -3.091], [0.047, -0.786, -2.983], [0.192, -0.747, -2.766], [0.325, -0.678, -2.562], [0.443, -0.586, -2.395], [0.544, -0.475, -2.238], [0.63, -0.352, -2.12], [0.703, -0.221, -2.047], [0.769, -0.086, -2.01], [0.831, 0.05, -1.997], [0.893, 0.186, -1.998], [0.956, 0.323, -2.004], [1.019, 0.459, -2.012], [1.084, 0.594, -2.017], [1.148, 0.729, -2.021], [1.214, 0.864, -2.023], [1.28, 0.999, -2.023], [1.345, 1.134, -2.022], [1.411, 1.27, -2.022], [1.477, 1.405, -2.021], [1.542, 1.54, -2.021], [1.608, 1.676, -2.021], [1.673, 1.811, -2.021], [1.739, 1.946, -2.021], [1.804, 2.081, -2.021], [1.867, 2.215, -1.978], [1.906, 2.315, -1.915], [1.929, 2.381, -1.875], [1.942, 2.425, -1.849], [1.95, 2.454, -1.832], [1.955, 2.472, -1.822], [1.958, 2.485, -1.81], [1.96, 2.493, -1.799], [1.961, 2.497, -1.825], [1.962, 2.501, -1.773], [1.962, 2.504, -1.811], [1.962, 2.504, -2.211], [1.962, 2.504, -2.611], [1.962, 2.504, -2.896], [1.962, 2.504, -3.029], [1.962, 2.504, -3.092], [1.962, 2.504, -3.121], [1.962, 2.504, -3.134], [1.962, 2.504, -3.138], [1.962, 2.504, -3.138], [1.962, 2.504, -3.138], [1.962, 2.504, -3.138], [1.962, 2.504, -3.138], [1.962, 2.504, -3.139], [1.962, 2.504, -3.139], [1.962, 2.504, -3.139], [1.962, 2.504, -3.139], [1.962, 2.504, -3.139], [1.962, 2.504, -3.139], [1.962, 2.504, -3.139], [1.962, 2.504, -3.139], [1.962, 2.504, -3.139], [1.962, 2.504, -3.139], [1.962, 2.504, -3.139], [1.962, 2.504, -3.139], [1.962, 2.504, -3.139], [1.962, 2.504, -3.139], [1.962, 2.504, -3.139], [1.962, 2.504, -3.139], [1.962, 2.504, -3.139], [1.962, 2.504, -3.139], [1.962, 2.504, -3.139], [1.962, 2.504, -3.139], [1.962, 2.504, -3.139], [1.962, 2.504, -3.139], [1.962, 2.504, -3.139], [1.962, 2.504, -3.139], [1.962, 2.504, -3.139], [1.962, 2.504, -3.139], [1.962, 2.504, -3.139], [1.962, 2.504, -3.139], [1.962, 2.504, -3.139], [1.962, 2.504, -3.139], [1.962, 2.504, -3.139], [1.962, 2.504, -3.139], [1.962, 2.504, -3.139], [1.962, 2.504, -3.139], [1.962, 2.504, -3.139], [1.962, 2.504, -3.139], [1.962, 2.504, -3.139], [1.962, 2.504, -3.139], [1.962, 2.504, -3.139], [1.962, 2.504, -3.139], [1.962, 2.504, -3.139], [1.962, 2.504, -3.139], [1.962, 2.504, -3.139], [1.962, 2.504, -3.139], [1.962, 2.504, -3.139], [1.962, 2.504, -3.139], [1.962, 2.504, -3.139]], "stage_events": [{"tick": 504, "event": "enter_station", "station": "A", "xy": [-1.283, -1.161]}, {"tick": 2476, "event": "leave_station", "station": "A", "xy": [1.019, 0.459]}, {"tick": 2719, "event": "enter_station", "station": "B", "xy": [1.655, 1.773]}], "transport_state": {"ring": {"entered": true, "entry_s": 0.0, "max_s": 0.27681782591775855, "was_threaded": true, "lost": 0, "held": false, "grasps": 1}}, "manipulation_success": true, "mobile_success": true, "full_success": true, "failure_reason": null, "fail_class_hint": null, "distance_to_first_interaction": 2.397, "interstation_path_lengths": [4.532], "station_transition_order": ["A", "B"], "final_approach_pose": [1.962, 2.504, -3.139], "regrasp_events": 0, "control_ticks": 3864, "wall_s": 799.7, "phase": "done", "state": "success: task sequence complete", "check": {"ring": {"held": false, "dist_wrist": 0.67, "s": 0.276, "rod_dist": 0.024, "axis_deg": 13.0, "threaded": true, "entered_via_open_end": true, "entry_s": 0.0, "max_s": 0.277, "lost_count": 0, "at_rest": true}, "decoy": {"ring_small": {"lift": 0.0, "max_lift_near_wrist": 0.0, "dist_wrist": 3.521}}, "rod_length": 0.28, "released": true, "other_rings_on_rod": [], "manipulation_success": true}, "route": ["A", "B"], "total_path_m": 7.72, "planner_seeds": "default"} diff --git a/N033/stretch3/dr_on/seed_2019/report.json b/N033/stretch3/dr_on/seed_2019/report.json new file mode 100644 index 0000000000000000000000000000000000000000..f92bc5f57adcab2e44a044baa4a96022103bfd19 --- /dev/null +++ b/N033/stretch3/dr_on/seed_2019/report.json @@ -0,0 +1,1145 @@ +{ + "task_id": "N033", + "robot": "stretch3", + "level": "easy", + "seed": 2019, + "episodes_requested": 1, + "episodes": [ + { + "task_id": "N033", + "task_version": "EXT60-MobileAvatar-v3", + "instruction": "pick up the large ring (not the small one)", + "agent_id": "a07", + "family_id": "ring_on_bent_rod", + "primary_category": "C2", + "level": "easy", + "embodiment": "stretch3", + "scene_seed": 2019, + "execution_mode": "expert_privileged_command", + "station_layout": { + "A": { + "center": [ + -0.33247818208110835, + -0.0670093741463534 + ], + "facing": 1.507, + "stand": [ + -0.381, + -0.815, + 1.507 + ] + }, + "B": { + "center": [ + 1.9909376048858463, + 3.1786856126207397 + ], + "facing": 1.566, + "stand": [ + 1.988, + 2.429, + 1.566 + ] + } + }, + "spawn_pose": [ + -3.435, + -2.195, + 0.851 + ], + "base_path": [ + [ + -3.435, + -2.195, + 0.851 + ], + [ + -3.435, + -2.195, + 0.851 + ], + [ + -3.435, + -2.195, + 0.851 + ], + [ + -3.435, + -2.195, + 0.851 + ], + [ + -3.435, + -2.195, + 0.851 + ], + [ + -3.343, + -2.106, + 0.653 + ], + [ + -3.214, + -2.029, + 0.449 + ], + [ + -3.076, + -1.971, + 0.364 + ], + [ + -2.935, + -1.919, + 0.348 + ], + [ + -2.795, + -1.867, + 0.366 + ], + [ + -2.655, + -1.811, + 0.393 + ], + [ + -2.517, + -1.752, + 0.417 + ], + [ + -2.381, + -1.69, + 0.434 + ], + [ + -2.245, + -1.626, + 0.445 + ], + [ + -2.11, + -1.561, + 0.45 + ], + [ + -1.975, + -1.496, + 0.452 + ], + [ + -1.84, + -1.43, + 0.451 + ], + [ + -1.705, + -1.365, + 0.45 + ], + [ + -1.57, + -1.3, + 0.45 + ], + [ + -1.435, + -1.234, + 0.449 + ], + [ + -1.3, + -1.169, + 0.449 + ], + [ + -1.164, + -1.104, + 0.448 + ], + [ + -1.029, + -1.039, + 0.448 + ], + [ + -0.901, + -0.977, + 0.448 + ], + [ + -0.813, + -0.935, + 0.45 + ], + [ + -0.742, + -0.898, + 0.519 + ], + [ + -0.693, + -0.868, + 0.586 + ], + [ + -0.662, + -0.846, + 0.629 + ], + [ + -0.642, + -0.832, + 0.658 + ], + [ + -0.629, + -0.822, + 0.677 + ], + [ + -0.621, + -0.815, + 0.693 + ], + [ + -0.615, + -0.81, + 0.705 + ], + [ + -0.613, + -0.808, + 0.697 + ], + [ + -0.61, + -0.806, + 0.724 + ], + [ + -0.609, + -0.805, + 0.624 + ], + [ + -0.609, + -0.804, + 0.839 + ], + [ + -0.609, + -0.804, + 1.239 + ], + [ + -0.609, + -0.804, + 1.639 + ], + [ + -0.609, + -0.804, + 2.039 + ], + [ + -0.609, + -0.804, + 2.439 + ], + [ + -0.609, + -0.804, + 2.773 + ], + [ + -0.609, + -0.804, + 2.935 + ], + [ + -0.609, + -0.804, + 3.011 + ], + [ + -0.609, + -0.804, + 3.047 + ], + [ + -0.609, + -0.804, + 3.063 + ], + [ + -0.609, + -0.804, + 3.07 + ], + [ + -0.609, + -0.804, + 3.07 + ], + [ + -0.609, + -0.804, + 3.07 + ], + [ + -0.609, + -0.804, + 3.07 + ], + [ + -0.609, + -0.804, + 3.07 + ], + [ + -0.609, + -0.804, + 3.07 + ], + [ + -0.609, + -0.804, + 3.07 + ], + [ + -0.609, + -0.804, + 3.07 + ], + [ + -0.609, + -0.804, + 3.07 + ], + [ + -0.609, + -0.804, + 3.07 + ], + [ + -0.609, + -0.804, + 3.07 + ], + [ + -0.609, + -0.804, + 3.07 + ], + [ + -0.609, + -0.804, + 3.07 + ], + [ + -0.609, + -0.804, + 3.07 + ], + [ + -0.609, + -0.804, + 3.07 + ], + [ + -0.609, + -0.804, + 3.07 + ], + [ + -0.609, + -0.804, + 3.07 + ], + [ + -0.609, + -0.804, + 3.07 + ], + [ + -0.609, + -0.804, + 3.07 + ], + [ + -0.609, + -0.804, + 3.07 + ], + [ + -0.609, + -0.804, + 3.07 + ], + [ + -0.609, + -0.804, + 3.07 + ], + [ + -0.609, + -0.804, + 3.07 + ], + [ + -0.609, + -0.804, + 3.07 + ], + [ + -0.609, + -0.804, + 3.07 + ], + [ + -0.609, + -0.804, + 3.07 + ], + [ + -0.609, + -0.804, + 3.07 + ], + [ + -0.609, + -0.804, + 3.07 + ], + [ + -0.609, + -0.804, + 3.07 + ], + [ + -0.609, + -0.804, + 3.07 + ], + [ + -0.609, + -0.804, + 3.07 + ], + [ + -0.609, + -0.804, + 3.07 + ], + [ + -0.609, + -0.804, + 3.07 + ], + [ + -0.609, + -0.804, + 3.07 + ], + [ + -0.609, + -0.804, + 3.07 + ], + [ + -0.609, + -0.804, + 3.071 + ], + [ + -0.609, + -0.804, + 3.071 + ], + [ + -0.609, + -0.804, + 3.07 + ], + [ + -0.609, + -0.804, + 3.07 + ], + [ + -0.552, + -0.808, + 3.095 + ], + [ + -0.402, + -0.81, + -3.128 + ], + [ + -0.252, + -0.806, + -3.1 + ], + [ + -0.102, + -0.799, + -3.091 + ], + [ + 0.047, + -0.786, + -2.983 + ], + [ + 0.192, + -0.747, + -2.766 + ], + [ + 0.325, + -0.678, + -2.562 + ], + [ + 0.443, + -0.586, + -2.395 + ], + [ + 0.544, + -0.475, + -2.238 + ], + [ + 0.63, + -0.352, + -2.12 + ], + [ + 0.703, + -0.221, + -2.047 + ], + [ + 0.769, + -0.086, + -2.01 + ], + [ + 0.831, + 0.05, + -1.997 + ], + [ + 0.893, + 0.186, + -1.998 + ], + [ + 0.956, + 0.323, + -2.004 + ], + [ + 1.019, + 0.459, + -2.012 + ], + [ + 1.084, + 0.594, + -2.017 + ], + [ + 1.148, + 0.729, + -2.021 + ], + [ + 1.214, + 0.864, + -2.023 + ], + [ + 1.28, + 0.999, + -2.023 + ], + [ + 1.345, + 1.134, + -2.022 + ], + [ + 1.411, + 1.27, + -2.022 + ], + [ + 1.477, + 1.405, + -2.021 + ], + [ + 1.542, + 1.54, + -2.021 + ], + [ + 1.608, + 1.676, + -2.021 + ], + [ + 1.673, + 1.811, + -2.021 + ], + [ + 1.739, + 1.946, + -2.021 + ], + [ + 1.804, + 2.081, + -2.021 + ], + [ + 1.867, + 2.215, + -1.978 + ], + [ + 1.906, + 2.315, + -1.915 + ], + [ + 1.929, + 2.381, + -1.875 + ], + [ + 1.942, + 2.425, + -1.849 + ], + [ + 1.95, + 2.454, + -1.832 + ], + [ + 1.955, + 2.472, + -1.822 + ], + [ + 1.958, + 2.485, + -1.81 + ], + [ + 1.96, + 2.493, + -1.799 + ], + [ + 1.961, + 2.497, + -1.825 + ], + [ + 1.962, + 2.501, + -1.773 + ], + [ + 1.962, + 2.504, + -1.811 + ], + [ + 1.962, + 2.504, + -2.211 + ], + [ + 1.962, + 2.504, + -2.611 + ], + [ + 1.962, + 2.504, + -2.896 + ], + [ + 1.962, + 2.504, + -3.029 + ], + [ + 1.962, + 2.504, + -3.092 + ], + [ + 1.962, + 2.504, + -3.121 + ], + [ + 1.962, + 2.504, + -3.134 + ], + [ + 1.962, + 2.504, + -3.138 + ], + [ + 1.962, + 2.504, + -3.138 + ], + [ + 1.962, + 2.504, + -3.138 + ], + [ + 1.962, + 2.504, + -3.138 + ], + [ + 1.962, + 2.504, + -3.138 + ], + [ + 1.962, + 2.504, + -3.139 + ], + [ + 1.962, + 2.504, + -3.139 + ], + [ + 1.962, + 2.504, + -3.139 + ], + [ + 1.962, + 2.504, + -3.139 + ], + [ + 1.962, + 2.504, + -3.139 + ], + [ + 1.962, + 2.504, + -3.139 + ], + [ + 1.962, + 2.504, + -3.139 + ], + [ + 1.962, + 2.504, + -3.139 + ], + [ + 1.962, + 2.504, + -3.139 + ], + [ + 1.962, + 2.504, + -3.139 + ], + [ + 1.962, + 2.504, + -3.139 + ], + [ + 1.962, + 2.504, + -3.139 + ], + [ + 1.962, + 2.504, + -3.139 + ], + [ + 1.962, + 2.504, + -3.139 + ], + [ + 1.962, + 2.504, + -3.139 + ], + [ + 1.962, + 2.504, + -3.139 + ], + [ + 1.962, + 2.504, + -3.139 + ], + [ + 1.962, + 2.504, + -3.139 + ], + [ + 1.962, + 2.504, + -3.139 + ], + [ + 1.962, + 2.504, + -3.139 + ], + [ + 1.962, + 2.504, + -3.139 + ], + [ + 1.962, + 2.504, + -3.139 + ], + [ + 1.962, + 2.504, + -3.139 + ], + [ + 1.962, + 2.504, + -3.139 + ], + [ + 1.962, + 2.504, + -3.139 + ], + [ + 1.962, + 2.504, + -3.139 + ], + [ + 1.962, + 2.504, + -3.139 + ], + [ + 1.962, + 2.504, + -3.139 + ], + [ + 1.962, + 2.504, + -3.139 + ], + [ + 1.962, + 2.504, + -3.139 + ], + [ + 1.962, + 2.504, + -3.139 + ], + [ + 1.962, + 2.504, + -3.139 + ], + [ + 1.962, + 2.504, + -3.139 + ], + [ + 1.962, + 2.504, + -3.139 + ], + [ + 1.962, + 2.504, + -3.139 + ], + [ + 1.962, + 2.504, + -3.139 + ], + [ + 1.962, + 2.504, + -3.139 + ], + [ + 1.962, + 2.504, + -3.139 + ], + [ + 1.962, + 2.504, + -3.139 + ], + [ + 1.962, + 2.504, + -3.139 + ], + [ + 1.962, + 2.504, + -3.139 + ], + [ + 1.962, + 2.504, + -3.139 + ], + [ + 1.962, + 2.504, + -3.139 + ], + [ + 1.962, + 2.504, + -3.139 + ], + [ + 1.962, + 2.504, + -3.139 + ], + [ + 1.962, + 2.504, + -3.139 + ], + [ + 1.962, + 2.504, + -3.139 + ] + ], + "stage_events": [ + { + "tick": 504, + "event": "enter_station", + "station": "A", + "xy": [ + -1.283, + -1.161 + ] + }, + { + "tick": 2476, + "event": "leave_station", + "station": "A", + "xy": [ + 1.019, + 0.459 + ] + }, + { + "tick": 2719, + "event": "enter_station", + "station": "B", + "xy": [ + 1.655, + 1.773 + ] + } + ], + "transport_state": { + "ring": { + "entered": true, + "entry_s": 0.0, + "max_s": 0.27681782591775855, + "was_threaded": true, + "lost": 0, + "held": false, + "grasps": 1 + } + }, + "manipulation_success": true, + "mobile_success": true, + "full_success": true, + "failure_reason": null, + "fail_class_hint": null, + "distance_to_first_interaction": 2.397, + "interstation_path_lengths": [ + 4.532 + ], + "station_transition_order": [ + "A", + "B" + ], + "final_approach_pose": [ + 1.962, + 2.504, + -3.139 + ], + "regrasp_events": 0, + "control_ticks": 3864, + "wall_s": 799.7, + "phase": "done", + "state": "success: task sequence complete", + "check": { + "ring": { + "held": false, + "dist_wrist": 0.67, + "s": 0.276, + "rod_dist": 0.024, + "axis_deg": 13.0, + "threaded": true, + "entered_via_open_end": true, + "entry_s": 0.0, + "max_s": 0.277, + "lost_count": 0, + "at_rest": true + }, + "decoy": { + "ring_small": { + "lift": 0.0, + "max_lift_near_wrist": 0.0, + "dist_wrist": 3.521 + } + }, + "rod_length": 0.28, + "released": true, + "other_rings_on_rod": [], + "manipulation_success": true + }, + "route": [ + "A", + "B" + ], + "total_path_m": 7.72, + "planner_seeds": "default" + } + ], + "error": null, + "collect": { + "task": "N033", + "robot": "stretch3", + "visual_dr": true, + "env": { + "MMB_COLLECT": "1", + "MMB_TASK_ID": "N033", + "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 + } + } + }, + "review_cameras": [], + "policy_obs_signature": [ + "/camera_info[0]/rgb[0]:(480, 640, 4):uint8", + "/camera_info[1]/rgb[0]:(480, 640, 4):uint8", + "/robot_state[0]/HelloRobot/base_ang_vel:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/base_lin_vel:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/base_pos:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/base_quat:(1, 4):torch.float32", + "/robot_state[0]/HelloRobot/eef_pos:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/eef_quat:(1, 4):torch.float32", + "/robot_state[0]/HelloRobot/eef_relative_pos:(1, 3):torch.float32", + "/robot_state[0]/HelloRobot/eef_relative_quat:(1, 4):torch.float32", + "/robot_state[0]/HelloRobot/joint_effort:(1, 15):torch.float32", + "/robot_state[0]/HelloRobot/joint_pos:(1, 15):torch.float32", + "/robot_state[0]/HelloRobot/joint_vel:(1, 15):torch.float32" + ], + "n_success": 1, + "elapsed_s": 1081.8, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 42.3 + } +} diff --git a/N034/go2_arm/dr_off/seed_1018/check.json b/N034/go2_arm/dr_off/seed_1018/check.json new file mode 100644 index 0000000000000000000000000000000000000000..51659b1fd9d83ba1c6e5ba6904ad883fa308812b --- /dev/null +++ b/N034/go2_arm/dr_off/seed_1018/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'; expected 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "1824 rows vs ceil(3647/2) = 1824" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..3747, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "19.79 MB, 1824 frames at 25 fps, mean luma 106..142, std 22, new picture 1823x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1824 vs 1824" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "30.57 MB, 1824 frames at 25 fps, mean luma 86..167, std 25, new picture 1823x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1824 vs 1824" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationbookend/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N034/go2_arm/dr_off/seed_1018/check.txt b/N034/go2_arm/dr_off/seed_1018/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..3eb778785b688c3bd3abc2971ca872fc063fa4ad --- /dev/null +++ b/N034/go2_arm/dr_off/seed_1018/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n034_go2_off_1018/out task=N034 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n034_go2_off_1018/out/rec/stationbookend/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1824 videos 2 robot_type Go2PlusCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 1824 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5'] +[PASS] action shape: parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y'] +[PASS] task text = MobileBench instruction: task_index 0: 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'; expected 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.' +rows 1824 at dataset fps 25 = 72.96 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1824 rows vs ceil(3647/2) = 1824 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..3747, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 19.79 MB, 1824 frames at 25 fps, mean luma 106..142, std 22, new picture 1823x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1824 vs 1824 +[PASS] video observation.images.wrist decodes, 640x480, not black: 30.57 MB, 1824 frames at 25 fps, mean luma 86..167, std 25, new picture 1823x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1824 vs 1824 +parquet size 6.30 MB +[PASS] sim_info present: rec/stationbookend/000/sim_info +dataset size 56.93 MB; whole cell dir 58.6 MB +RESULT: ALL PASS diff --git a/N034/go2_arm/dr_off/seed_1018/rec/stationbookend/000/completed/0.json b/N034/go2_arm/dr_off/seed_1018/rec/stationbookend/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..92774b53003e83bf90b8dbc14d938d81cff5769c --- /dev/null +++ b/N034/go2_arm/dr_off/seed_1018/rec/stationbookend/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationbookend/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N034/go2_arm/dr_off/seed_1018/rec/stationbookend/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N034/go2_arm/dr_off/seed_1018/rec/stationbookend/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..8286eac9501cb7d9a5d2b7c0eef429ee8e8287ed --- /dev/null +++ b/N034/go2_arm/dr_off/seed_1018/rec/stationbookend/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9ff9dad2a5ea1505e9eee05b67f7a177654c20a43eddfd8f33122f3b3ffbb291 +size 6301057 diff --git a/N034/go2_arm/dr_off/seed_1018/rec/stationbookend/000/lerobot_v21/meta/episodes.jsonl b/N034/go2_arm/dr_off/seed_1018/rec/stationbookend/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..de0089d91027780d9ae5ab53c13151997b38dd06 --- /dev/null +++ b/N034/go2_arm/dr_off/seed_1018/rec/stationbookend/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it."], "length": 1824, "magicsim/control_steps": 3647, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the brown slot right. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is to the left of the brown slot left. The gray table B is to the left of the bookend. The red book is on top of the brown slot right. The gray plate is to the left of the bookend. The bookend is to the right of the gray plate. The scene is viewed from front, at table height."} diff --git a/N034/go2_arm/dr_off/seed_1018/rec/stationbookend/000/lerobot_v21/meta/episodes_stats.jsonl b/N034/go2_arm/dr_off/seed_1018/rec/stationbookend/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d1f7821db42fdb651b19b69deef409e0c919c12c --- /dev/null +++ b/N034/go2_arm/dr_off/seed_1018/rec/stationbookend/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.10690216242801398, -0.0014335466170961265, 0.0192100548039506, 0.3248579111603791, 0.7665755402198747, 1.081442288351817, 0.6481876807418048, 0.09053658984456042, -0.4609620525673228, 0.8324524881481602, 0.05970840420444514, 0.6918859649122807], "std": [0.13500021941988063, 0.019966363208952773, 0.22071416362226326, 0.03198407086582556, 1.2990073355760472, 1.716413129841327, 0.05863143600861363, 0.040969828411221015, 0.2596801646679822, 0.11228343494893248, 0.032478853221567155, 0.46171395524683345], "min": [0.0, -0.05573631450533867, -0.800000011920929, 0.28999999165534973, -2.9841105937957764, -1.946036696434021, 0.49003058671951294, -0.0175554770976305, -0.7668699622154236, 0.6296946406364441, 0.00036000035470351577, 0.0], "max": [0.3499999940395355, 0.25, 0.800000011920929, 0.3700000047683716, 2.041412353515625, 2.876476287841797, 0.7240663766860962, 0.13710671663284302, 0.021789444610476494, 0.999691903591156, 0.10777164250612259, 1.0], "count": [1824]}, "action_is_hold": {"mean": [0.125, 0.125, 0.125, 0.125, 0.15515350877192982, 0.15515350877192982, 0.15515350877192982, 0.15515350877192982, 0.15515350877192982, 0.15515350877192982, 0.15515350877192982, 0.9616228070175439], "std": [0.33071891388307384, 0.33071891388307384, 0.33071891388307384, 0.33071891388307384, 0.3620509597939094, 0.3620509597939094, 0.3620509597939094, 0.3620509597939094, 0.3620509597939094, 0.3620509597939094, 0.3620509597939094, 0.19210513798762832], "min": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], "count": [1824]}, "observation.state": {"mean": [0.005125299626321453, -0.01593475895633776, -0.04114815824408125, 0.06879237680981246, -0.11750414800887181, 0.7329521149952423, 0.768792137356573, 0.9607744310704762, 0.9252247578676855, 2.1658513327701048, -1.542481123355397, -1.5444576033113295, -1.5485395034938527, -1.5973773734611378, -1.7186051857445324, 0.03619989545174226, 0.9807800576417592, 0.0075850851327578525, 0.018078120659206755, -0.01852431239726555, 0.5487583684053358, 0.6647962177141157, 1.1514635146411725, 0.35450916531446736, -0.01852431239726555, -0.018078120659206755], "std": [0.05629102345484784, 0.05725585983241395, 0.0409352862444827, 0.04510234816018862, 0.12627490337076439, 0.11750369648672393, 0.13892915649290602, 0.17443885631853304, 0.15401871375235507, 0.29144399842529994, 0.17953871780018354, 0.1830134814526376, 0.18742669133253695, 0.19587995818228154, 0.4603659940916007, 0.024160237293200593, 0.20420356447877683, 0.4857874611454866, 0.01318387382078929, 0.013172618033458513, 1.3321195403832262, 1.58882342942727, 0.4593797028101801, 0.030500016041312198, 0.013172618033458513, 0.01318387382078929], "min": [-0.16308215260505676, -0.1948876678943634, -0.16831955313682556, -0.07942201942205429, -0.480459988117218, 0.4774772822856903, 0.4670349657535553, 0.59644615650177, 0.6109150648117065, 1.7043280601501465, -1.8111493587493896, -1.8088817596435547, -1.8301372528076172, -1.8461321592330933, -2.5551602840423584, -0.0017618703423067927, 0.4822476804256439, -0.42167454957962036, 0.0, -0.03500000014901161, -3.319344997406006, -2.1139252185821533, 0.050671640783548355, 0.31786641478538513, -0.03500000014901161, -0.03500000014901161], "max": [0.1854618638753891, 0.21217945218086243, 0.15182629227638245, 0.19115011394023895, 0.0008604371105320752, 0.9292232394218445, 0.9850127696990967, 1.4094412326812744, 1.413698673248291, 2.7962160110473633, -1.1266051530838013, -1.1996963024139404, -1.1046221256256104, -1.1915220022201538, -0.9757206439971924, 0.10018935054540634, 1.2193220853805542, 1.3686140775680542, 0.03500000014901161, 0.0, 1.7302111387252808, 2.3287885189056396, 1.9085801839828491, 0.40173330903053284, 0.0, -0.0], "count": [1824]}, "observation.joint_vel": {"mean": [0.0017542636764171235, -2.5634642736947983e-05, 0.0045990990812430155, 0.0005828970244030579, -0.0004586950612309094, 0.01727243654123381, 0.004392980764742716, 0.01138363284562011, 0.009395497564714549, 0.007807157469443382, -0.0172402616910619, 0.0009522056835449851, -0.006378488431848159, -0.005730086999316579, -0.012437851298901785, -0.0015377352595649292, 0.014497979269515526, 0.005620758247583549, -0.0010246195577996013, -1.2470164538098352e-05], "std": [0.34575692156460364, 0.3195038101649961, 0.39285297059973334, 0.4562061749522538, 0.11048171290848635, 0.9198605973728221, 0.9092924155080282, 0.7151981722383471, 0.6182535077505571, 0.15064143367727037, 0.52064884106564, 0.8123459583764752, 0.798111486015545, 0.8841047759247932, 0.19461568216375771, 0.0300509348470697, 0.09929489343969969, 0.15995431731816465, 0.013770965299848585, 0.01494260337646544], "min": [-2.668765068054199, -3.6460788249969482, -1.883971929550171, -2.642134666442871, -1.0865554809570312, -4.916371822357178, -4.957383155822754, -3.845930337905884, -3.7837374210357666, -2.00759220123291, -3.046041488647461, -7.362349987030029, -3.5602400302886963, -4.619984149932861, -2.3455586433410645, -0.282887727022171, -0.6868162751197815, -0.41953951120376587, -0.20009416341781616, -0.20006510615348816], "max": [3.461191177368164, 2.4251933097839355, 5.089822769165039, 2.6061997413635254, 0.4528951048851013, 1.453986406326294, 2.364868640899658, 3.268280029296875, 4.411120891571045, 1.7730268239974976, 2.7566869258880615, 4.496042728424072, 3.2593588829040527, 3.365583658218384, 1.8846019506454468, 0.22145524621009827, 0.7112261652946472, 1.3517829179763794, 0.2000173032283783, 0.20034661889076233], "count": [1824]}, "observation.eef_pose": {"mean": [0.7643325731373727, 1.079130619366065, 0.6466515499510264, 0.09393751350019061, -0.463007118026246, 0.8303192401010739, 0.063538517182072], "std": [1.2982483923958579, 1.7144182969569457, 0.05783518348072143, 0.04142826057999441, 0.25997301264547495, 0.11393498725052043, 0.03239671515623541], "min": [-2.984128475189209, -1.9460450410842896, 0.48976683616638184, -0.017879784107208252, -0.7822833061218262, 0.6105788350105286, -0.0002619624137878418], "max": [2.0485854148864746, 2.871648073196411, 0.7238426208496094, 0.16592800617218018, 0.024851743131875992, 0.999690592288971, 0.1209145188331604], "count": [1824]}, "observation.environment_state": {"mean": [0.8976955663674744, 1.3028213980572203, 0.45241946292420226, 0.7574904571826521, -0.001556412809645519, 0.0028176985591155737, 0.6344186482101417, 1.8884972217574454, 2.8577332547620724, 0.33000003961486774, 0.7219061200556002, 3.2751514027134176e-08, 2.0286493791546603e-07, 0.6919901593539276, 1.7858948707580566, 2.874054431915283, 0.37049999833106995, 0.9997830986976624, 0.0, 0.0, -0.020826799795031548, -0.44096964597702026, -0.27669572830200195, 0.3474999964237213, 0.9998579025268555, 0.0, 0.0, -0.016857484355568886, -0.3879997730255127, -0.2784825265407562, 0.3474999964237213, 0.9998579025268555, 0.0, 0.0, -0.016857484355568886, -0.41043907403945923, -0.15765735507011414, 0.18000000715255737, 0.9998579025268555, 0.0, 0.0, -0.016857484355568886, 1.8185346126556396, 2.972780704498291, 0.18000000715255737, 0.9997830986976624, 0.0, 0.0, -0.020826799795031548], "std": [0.9837781144434341, 1.4688381658846215, 0.06646645213135706, 0.07210933147264374, 0.005169049847326464, 0.005644797688877257, 0.13583994781802042, 0.015754909944251883, 0.003307997648394746, 9.431456964900881e-08, 0.0007541732493347563, 5.1121190708673e-06, 4.756830080695739e-06, 0.0007895625124010919, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 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": [-0.4158080518245697, -0.7923662066459656, 0.39999905228614807, 0.7026448249816895, -0.020895855501294136, -0.023899268358945847, 0.08793449401855469, 1.8332312107086182, 2.8567636013031006, 0.3299998641014099, 0.7216798663139343, -0.00020976364612579346, -0.00019490718841552734, 0.6868868470191956, 1.7858948707580566, 2.874054431915283, 0.37049999833106995, 0.9997830986976624, 0.0, 0.0, -0.020826799795031548, -0.44096964597702026, -0.27669572830200195, 0.3474999964237213, 0.9998579025268555, 0.0, 0.0, -0.016857484355568886, -0.3879997730255127, -0.2784825265407562, 0.3474999964237213, 0.9998579025268555, 0.0, 0.0, -0.016857484355568886, -0.41043907403945923, -0.15765735507011414, 0.18000000715255737, 0.9998579025268555, 0.0, 0.0, -0.016857484355568886, 1.8185346126556396, 2.972780704498291, 0.18000000715255737, 0.9997830986976624, 0.0, 0.0, -0.020826799795031548], "max": [1.9485183954238892, 2.8537402153015137, 0.5709564089775085, 0.9960486888885498, 0.06977518647909164, 0.06325401365756989, 0.7115311622619629, 1.8931349515914917, 2.8693747520446777, 0.33000385761260986, 0.7267643213272095, 1.846254053816665e-05, 1.655519190535415e-05, 0.6922269463539124, 1.7858948707580566, 2.874054431915283, 0.37049999833106995, 0.9997830986976624, 0.0, 0.0, -0.020826799795031548, -0.44096964597702026, -0.27669572830200195, 0.3474999964237213, 0.9998579025268555, 0.0, 0.0, -0.016857484355568886, -0.3879997730255127, -0.2784825265407562, 0.3474999964237213, 0.9998579025268555, 0.0, 0.0, -0.016857484355568886, -0.41043907403945923, -0.15765735507011414, 0.18000000715255737, 0.9998579025268555, 0.0, 0.0, -0.016857484355568886, 1.8185346126556396, 2.972780704498291, 0.18000000715255737, 0.9997830986976624, 0.0, 0.0, -0.020826799795031548], "count": [1824]}, "action.command": {"mean": [-1.01739672290212, -0.8677451596069893, 1.251189084165523, 0.7699731194243139, 0.0, 0.0, 0.6365386765830371, 0.6833225178455549, 0.6579221224220134, 0.8940734969455649, 0.6538102550409121, 0.09310170442307786, -0.44356421654406963, 0.843480725167712, 0.05753193000041578, 0.5714285714285714, -1.451544354473494, -1.2623228955999646, 1.531815501008454, 0.0, 0.0, 0.0, 0.0, 2.0, 0.15379702268432383, 0.003980161890977492, 0.6918804455229758, 0.1104656438299218, -0.382189206198562, 0.8888408497527793, 0.045894928239666566, 0.0, -1.4127453870471867, -1.2521935747044297, 1.531815501008454, 0.0, 0.0, 0.0, 0.0, 2.0, 0.15379702268432383, 0.003980161890977492, 0.6918804455229758, 0.1104656438299218, -0.382189206198562, 0.8888408497527793, 0.045894928239666566, 0.0, -1.3400809553619546, -1.2413599212507636, 1.531815501008454, 0.0, 0.0, 0.0, 0.0, 2.0, 0.15379702268432383, 0.003980161890977492, 0.6918804455229758, 0.1104656438299218, -0.382189206198562, 0.8888408497527793, 0.045894928239666566, 0.0, -1.298498669917556, -1.2319916742514834, 1.531815501008454, 0.0, 0.0, 0.0, 0.0, 2.0, 0.15379702268432383, 0.003980161890977492, 0.6918804455229758, 0.1104656438299218, -0.382189206198562, 0.8888408497527793, 0.045894928239666566, 0.0, -1.2300361064887138, -1.220578013023654, 1.531815501008454, 0.0, 0.0, 0.0, 0.0, 2.0, 0.15379702268432383, 0.003980161890977492, 0.6918804455229758, 0.1104656438299218, -0.382189206198562, 0.8888408497527793, 0.045894928239666566, 0.0, -1.1910936146746194, -1.2143005093852222, 1.531815501008454, 0.0, 0.0, 0.0, 0.0, 2.0, 0.15379702268432383, 0.003980161890977492, 0.6918804455229758, 0.1104656438299218, -0.382189206198562, 0.8888408497527793, 0.045894928239666566, 0.0, -1.1205195358658202, -1.1998769410268557, 1.531815501008454, 0.0, 0.0, 0.0, 0.0, 2.0, 0.15379702268432383, 0.003980161890977492, 0.6918804455229758, 0.1104656438299218, -0.382189206198562, 0.8888408497527793, 0.045894928239666566, 0.0, -1.0546306131329117, -1.186491533029125, 1.531815501008454, 0.0, 0.0, 0.0, 0.0, 2.0, 0.15379702268432383, 0.003980161890977492, 0.6918804455229758, 0.1104656438299218, -0.382189206198562, 0.8888408497527793, 0.045894928239666566, 0.0, -1.0117024096207143, -1.179258241964026, 1.531815501008454, 0.0, 0.0, 0.0, 0.0, 2.0, 0.15379702268432383, 0.003980161890977492, 0.6918804455229758, 0.1104656438299218, -0.382189206198562, 0.8888408497527793, 0.045894928239666566, 0.0, -0.9447054902655412, -1.1670544761807526, 1.531815501008454, 0.0, 0.0, 0.0, 0.0, 2.0, 0.15379702268432383, 0.003980161890977492, 0.6918804455229758, 0.1104656438299218, -0.382189206198562, 0.8888408497527793, 0.045894928239666566, 0.0, -0.9069957755563132, -1.159109632859285, 1.531815501008454, 0.0, 0.0, 0.0, 0.0, 2.0, 0.15379702268432383, 0.003980161890977492, 0.6918804455229758, 0.1104656438299218, -0.382189206198562, 0.8888408497527793, 0.045894928239666566, 0.0, -0.8736812155765136, -1.1534055270454435, 1.531815501008454, 0.0, 0.0, 0.0, 0.0, 2.0, 0.15379702268432383, 0.003980161890977492, 0.6918804455229758, 0.1104656438299218, -0.382189206198562, 0.8888408497527793, 0.045894928239666566, 0.0, -0.8070436976421839, -1.13950352193752, 1.531815501008454, 0.0, 0.0, 0.0, 0.0, 2.0, 0.15379702268432383, 0.003980161890977492, 0.6918804455229758, 0.1104656438299218, -0.382189206198562, 0.8888408497527793, 0.045894928239666566, 0.0, -0.7473997929315458, -1.1267232476979836, 1.531815501008454, 0.0, 0.0, 0.0, 0.0, 2.0, 0.15379702268432383, 0.003980161890977492, 0.6918804455229758, 0.1104656438299218, -0.382189206198562, 0.8888408497527793, 0.045894928239666566, 0.0, -0.7200633231479089, -1.0899753111532364, 1.531815501008454, 0.0, 0.0, 0.0, 0.0, 2.0, 0.15379702268432383, 0.003980161890977492, 0.6918804455229758, 0.1104656438299218, -0.382189206198562, 0.8888408497527793, 0.045894928239666566, 0.0, -0.6715904762004984, -1.0274082056864011, 1.531815501008454, 0.0, 0.0, 0.0, 0.0, 2.0, 0.15379702268432383, 0.003980161890977492, 0.6918804455229758, 0.1104656438299218, -0.382189206198562, 0.8888408497527793, 0.045894928239666566, 0.0, -0.6496368975474917, -1.0110057375440196, 1.531815501008454, 0.0, 0.0, 0.0, 0.0, 2.0, 0.15379702268432383, 0.003980161890977492, 0.6918804455229758, 0.1104656438299218, -0.382189206198562, 0.8888408497527793, 0.045894928239666566, 0.0, -0.6135317265302286, -0.9569840581937769, 1.531815501008454, 0.0, 0.0, 0.0, 0.0, 2.0, 0.15379702268432383, 0.003980161890977492, 0.6918804455229758, 0.1104656438299218, -0.382189206198562, 0.8888408497527793, 0.045894928239666566, 0.0, -0.5807315107734724, -0.9347084881702146, 1.531815501008454, 0.0, 0.0, 0.0, 0.0, 2.0, 0.15379702268432383, 0.003980161890977492, 0.6918804455229758, 0.1104656438299218, -0.382189206198562, 0.8888408497527793, 0.045894928239666566, 0.0, -0.5496540763825749, -0.9149281193013392, 1.531815501008454, 0.0, 0.0, 0.0, 0.0, 2.0, 0.15379702268432383, 0.003980161890977492, 0.6918804455229758, 0.1104656438299218, -0.382189206198562, 0.8888408497527793, 0.045894928239666566, 0.0, -0.5236710339670437, -0.8800613196188463, 1.531815501008454, 0.0, 0.0, 0.0, 0.0, 2.0, 0.15379702268432383, 0.003980161890977492, 0.6918804455229758, 0.1104656438299218, -0.382189206198562, 0.8888408497527793, 0.045894928239666566, 0.0, -0.49180606018994505, -0.8440313339233398, 1.531815501008454, 0.0, 0.0, 0.0, 0.0, 2.0, 0.15379702268432383, 0.003980161890977492, 0.6918804455229758, 0.1104656438299218, -0.382189206198562, 0.8888408497527793, 0.045894928239666566, 0.0, -0.4673299253900389, -0.8225687830155837, 1.531815501008454, 0.0, 0.0, 0.0, 0.0, 2.0, 0.15379702268432383, 0.003980161890977492, 0.6918804455229758, 0.1104656438299218, -0.382189206198562, 0.8888408497527793, 0.045894928239666566, 0.0, -0.4330660860657235, -0.767655630906423, 1.531815501008454, 0.0, 0.0, 0.0, 0.0, 2.0, 0.15379702268432383, 0.003980161890977492, 0.6918804455229758, 0.1104656438299218, -0.382189206198562, 0.8888408497527793, 0.045894928239666566, 0.0, -0.39100313620549054, -0.724907853879691, 1.531815501008454, 0.0, 0.0, 0.0, 0.0, 2.0, 0.15379702268432383, 0.003980161890977492, 0.6918804455229758, 0.1104656438299218, -0.382189206198562, 0.8888408497527793, 0.045894928239666566, 0.0, -0.3483163406108988, -0.6815486681644031, 1.531815501008454, 0.0, 0.0, 0.0, 0.0, 2.0, 0.15379702268432383, 0.003980161890977492, 0.6918804455229758, 0.1104656438299218, -0.382189206198562, 0.8888408497527793, 0.045894928239666566, 0.0, -0.31638532876968384, -0.6306916479577963, 1.531815501008454, 0.0, 0.0, 0.0, 0.0, 2.0, 0.15379702268432383, 0.003980161890977492, 0.6918804455229758, 0.1104656438299218, -0.382189206198562, 0.8888408497527793, 0.045894928239666566, 0.0, -0.2903775495130897, -0.604869043918405, 1.531815501008454, 0.0, 0.0, 0.0, 0.0, 2.0, 0.15379702268432383, 0.003980161890977492, 0.6918804455229758, 0.1104656438299218, -0.382189206198562, 0.8888408497527793, 0.045894928239666566, 0.0, -0.24151919993404228, -0.535852679690182, 1.531815501008454, 0.0, 0.0, 0.0, 0.0, 2.0, 0.15379702268432383, 0.003980161890977492, 0.6918804455229758, 0.1104656438299218, -0.382189206198562, 0.8888408497527793, 0.045894928239666566, 0.0, -0.22998901071219607, -0.5274805564262058, 1.531815501008454, 0.0, 0.0, 0.0, 0.0, 2.0, 0.15379702268432383, 0.003980161890977492, 0.6918804455229758, 0.1104656438299218, -0.382189206198562, 0.8888408497527793, 0.045894928239666566, 0.0, -0.18930057479047227, -0.486554576462256, 1.531815501008454, 0.0, 0.0, 0.0, 0.0, 2.0, 0.15379702268432383, 0.003980161890977492, 0.6918804455229758, 0.1104656438299218, -0.382189206198562, 0.8888408497527793, 0.045894928239666566, 0.0, -0.14548799749535163, -0.4413469910507458, 1.531815501008454, 0.0, 0.0, 0.0, 0.0, 2.0, 0.15379702268432383, 0.003980161890977492, 0.6918804455229758, 0.1104656438299218, -0.382189206198562, 0.8888408497527793, 0.045894928239666566, 0.0, -0.13468637914036424, -0.4324276309703045, 1.531815501008454, 0.0, 0.0, 0.0, 0.0, 2.0, 0.15379702268432383, 0.003980161890977492, 0.6918804455229758, 0.1104656438299218, -0.382189206198562, 0.8888408497527793, 0.045894928239666566, 0.0, -0.08826005367483672, -0.364318428768052, 1.531815501008454, 0.0, 0.0, 0.0, 0.0, 2.0, 0.15379702268432383, 0.003980161890977492, 0.6918804455229758, 0.1104656438299218, -0.382189206198562, 0.8888408497527793, 0.045894928239666566, 0.0, -0.06174135801892628, -0.34147762338777155, 1.531815501008454, 0.0, 0.0, 0.0, 0.0, 2.0, 0.15379702268432383, 0.003980161890977492, 0.6918804455229758, 0.1104656438299218, -0.382189206198562, 0.8888408497527793, 0.045894928239666566, 0.0, -0.026124933670307028, -0.2852288032400197, 1.531815501008454, 0.0, 0.0, 0.0, 0.0, 2.0, 0.15379702268432383, 0.003980161890977492, 0.6918804455229758, 0.1104656438299218, -0.382189206198562, 0.8888408497527793, 0.045894928239666566, 0.0, 0.009734650681302009, -0.2535944952133515, 1.531815501008454, 0.0, 0.0, 0.0, 0.0, 2.0, 0.15379702268432383, 0.003980161890977492, 0.6918804455229758, 0.1104656438299218, -0.382189206198562, 0.8888408497527793, 0.045894928239666566, 0.0, 0.05906382328705769, -0.19823672237067386, 1.531815501008454, 0.0, 0.0, 0.0, 0.0, 2.0, 0.15379702268432383, 0.003980161890977492, 0.6918804455229758, 0.1104656438299218, -0.382189206198562, 0.8888408497527793, 0.045894928239666566, 0.0, 0.08052760453973237, -0.16708830193084775, 1.531815501008454, 0.0, 0.0, 0.0, 0.0, 2.0, 0.15379702268432383, 0.003980161890977492, 0.6918804455229758, 0.1104656438299218, -0.382189206198562, 0.8888408497527793, 0.045894928239666566, 0.0, 0.11487690744728878, -0.12171278351568171, 1.531815501008454, 0.0, 0.0, 0.0, 0.0, 2.0, 0.15379702268432383, 0.003980161890977492, 0.6918804455229758, 0.1104656438299218, -0.382189206198562, 0.8888408497527793, 0.045894928239666566, 0.0, 0.1509163660564642, -0.08126309342768001, 1.531815501008454, 0.0, 0.0, 0.0, 0.0, 2.0, 0.15379702268432383, 0.003980161890977492, 0.6918804455229758, 0.1104656438299218, -0.382189206198562, 0.8888408497527793, 0.045894928239666566, 0.0, 0.1781284265591267, -0.042656812402937144, 1.531815501008454, 0.0, 0.0, 0.0, 0.0, 2.0, 0.15379702268432383, 0.003980161890977492, 0.6918804455229758, 0.1104656438299218, -0.382189206198562, 0.8888408497527793, 0.045894928239666566, 0.0, 0.22125559908220138, 0.00456124726839906, 1.531815501008454, 0.0, 0.0, 0.0, 0.0, 2.0, 0.15379702268432383, 0.003980161890977492, 0.6918804455229758, 0.1104656438299218, -0.382189206198562, 0.8888408497527793, 0.045894928239666566, 0.0, 0.2628432192564924, 0.04390756312001254, 1.531815501008454, 0.0, 0.0, 0.0, 0.0, 2.0, 0.15379702268432383, 0.003980161890977492, 0.6918804455229758, 0.1104656438299218, -0.382189206198562, 0.8888408497527793, 0.045894928239666566, 0.0, 0.29165373999496985, 0.09050427086051853, 1.531815501008454, 0.0, 0.0, 0.0, 0.0, 2.0, 0.15379702268432383, 0.003980161890977492, 0.6918804455229758, 0.1104656438299218, -0.382189206198562, 0.8888408497527793, 0.045894928239666566, 0.0, 0.3175599195948049, 0.11997806317961536, 1.531815501008454, 0.0, 0.0, 0.0, 0.0, 2.0, 0.15379702268432383, 0.003980161890977492, 0.6918804455229758, 0.1104656438299218, -0.382189206198562, 0.8888408497527793, 0.045894928239666566, 0.0, 0.3620071877008197, 0.17621915527687218, 1.531815501008454, 0.0, 0.0, 0.0, 0.0, 2.0, 0.15379702268432383, 0.003980161890977492, 0.6918804455229758, 0.1104656438299218, -0.382189206198562, 0.8888408497527793, 0.045894928239666566, 0.0, 0.3819192643366554, 0.19942161703475134, 1.531815501008454, 0.0, 0.0, 0.0, 0.0, 2.0, 0.15379702268432383, 0.003980161890977492, 0.6918804455229758, 0.1104656438299218, -0.382189206198562, 0.8888408497527793, 0.045894928239666566, 0.0, 0.43261366420321995, 0.2623496078440056, 1.531815501008454, 0.0, 0.0, 0.0, 0.0, 2.0, 0.15379702268432383, 0.003980161890977492, 0.6918804455229758, 0.1104656438299218, -0.382189206198562, 0.8888408497527793, 0.045894928239666566, 0.0, 0.46693576706780326, 0.28609153913812163, 1.531815501008454, 0.0, 0.0, 0.0, 0.0, 2.0, 0.15379702268432383, 0.003980161890977492, 0.6918804455229758, 0.1104656438299218, -0.382189206198562, 0.8888408497527793, 0.045894928239666566, 0.0, 0.5029669963537048, 0.34794997164116054, 1.531815501008454, 0.0, 0.0, 0.0, 0.0, 2.0, 0.15379702268432383, 0.003980161890977492, 0.6918804455229758, 0.1104656438299218, -0.382189206198562, 0.8888408497527793, 0.045894928239666566, 0.0, 0.5204358603305743, 0.3617362756838744, 1.531815501008454, 0.0, 0.0, 0.0, 0.0, 2.0, 0.15379702268432383, 0.003980161890977492, 0.6918804455229758, 0.1104656438299218, -0.382189206198562, 0.8888408497527793, 0.045894928239666566, 0.0, 0.5736725426268303, 0.4342293529218184, 1.531815501008454, 0.0, 0.0, 0.0, 0.0, 2.0, 0.15379702268432383, 0.003980161890977492, 0.6918804455229758, 0.1104656438299218, -0.382189206198562, 0.8888408497527793, 0.045894928239666566, 0.0, 0.5857153258561174, 0.4415016562545893, 1.531815501008454, 0.0, 0.0, 0.0, 0.0, 2.0, 0.15379702268432383, 0.003980161890977492, 0.6918804455229758, 0.1104656438299218, -0.382189206198562, 0.8888408497527793, 0.045894928239666566, 0.0, 0.6359397346489274, 0.5030848322243526, 1.531815501008454, 0.0, 0.0, 0.0, 0.0, 2.0, 0.15379702268432383, 0.003980161890977492, 0.6918804455229758, 0.1104656438299218, -0.382189206198562, 0.8888408497527793, 0.045894928239666566, 0.0, 0.6699892597636957, 0.5279118494055737, 1.531815501008454, 0.0, 0.0, 0.0, 0.0, 2.0, 0.15379702268432383, 0.003980161890977492, 0.6918804455229758, 0.1104656438299218, -0.382189206198562, 0.8888408497527793, 0.045894928239666566, 0.0, 0.6785000416510863, 0.5317869245777642, 1.531815501008454, 0.0, 0.0, 0.0, 0.0, 2.0, 0.15379702268432383, 0.003980161890977492, 0.6918804455229758, 0.1104656438299218, -0.382189206198562, 0.8888408497527793, 0.045894928239666566, 0.0, 0.729224838059524, 0.6055629888256847, 1.531815501008454, 0.0, 0.0, 0.0, 0.0, 2.0, 0.15379702268432383, 0.003980161890977492, 0.6918804455229758, 0.1104656438299218, -0.382189206198562, 0.8888408497527793, 0.045894928239666566, 0.0, 0.7371336550548159, 0.6139832077355221, 1.531815501008454, 0.0, 0.0, 0.0, 0.0, 2.0, 0.15379702268432383, 0.003980161890977492, 0.6918804455229758, 0.1104656438299218, -0.382189206198562, 0.8888408497527793, 0.045894928239666566, 0.0, 1.38369882106781, 1.5832624435424805, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, 0.963851562182568, 0.7332517301416122, 0.7014237981081468, 0.1056573192565657, -0.4767760477371528, 0.8487268689739911, 0.057149626232095074, 0.0, 1.3923687934875488, 1.600738763809204, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, 0.963851562182568, 0.7332517301416122, 0.7014237981081468, 0.1056573192565657, -0.4767760477371528, 0.8487268689739911, 0.057149626232095074, 0.0, 1.4352548122406006, 1.6871854066848755, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, 0.963851562182568, 0.7332517301416122, 0.7014237981081468, 0.1056573192565657, -0.4767760477371528, 0.8487268689739911, 0.057149626232095074, 0.0, 1.4480271339416504, 1.7129309177398682, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, 0.963851562182568, 0.7332517301416122, 0.7014237981081468, 0.1056573192565657, -0.4767760477371528, 0.8487268689739911, 0.057149626232095074, 0.0, 1.4868109226226807, 1.79110848903656, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, 0.963851562182568, 0.7332517301416122, 0.7014237981081468, 0.1056573192565657, -0.4767760477371528, 0.8487268689739911, 0.057149626232095074, 0.0, 1.5033378601074219, 1.8244222402572632, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, 0.963851562182568, 0.7332517301416122, 0.7014237981081468, 0.1056573192565657, -0.4767760477371528, 0.8487268689739911, 0.057149626232095074, 0.0, 1.5383670330047607, 1.8950315713882446, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, 0.963851562182568, 0.7332517301416122, 0.7014237981081468, 0.1056573192565657, -0.4767760477371528, 0.8487268689739911, 0.057149626232095074, 0.0, 1.5589250326156616, 1.9364709854125977, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, 0.963851562182568, 0.7332517301416122, 0.7014237981081468, 0.1056573192565657, -0.4767760477371528, 0.8487268689739911, 0.057149626232095074, 0.0, 1.5900375843048096, 1.99918532371521, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, 0.963851562182568, 0.7332517301416122, 0.7014237981081468, 0.1056573192565657, -0.4767760477371528, 0.8487268689739911, 0.057149626232095074, 0.0, 1.614209771156311, 2.04790997505188, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, 0.963851562182568, 0.7332517301416122, 0.7014237981081468, 0.1056573192565657, -0.4767760477371528, 0.8487268689739911, 0.057149626232095074, 0.0, 1.642195701599121, 2.1043219566345215, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, 0.963851562182568, 0.7332517301416122, 0.7014237981081468, 0.1056573192565657, -0.4767760477371528, 0.8487268689739911, 0.057149626232095074, 0.0, 1.66889488697052, 2.158140182495117, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, 0.963851562182568, 0.7332517301416122, 0.7014237981081468, 0.1056573192565657, -0.4767760477371528, 0.8487268689739911, 0.057149626232095074, 0.0, 1.6953859329223633, 2.211538791656494, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, 0.963851562182568, 0.7332517301416122, 0.7014237981081468, 0.1056573192565657, -0.4767760477371528, 0.8487268689739911, 0.057149626232095074, 0.0, 1.7222574949264526, 2.26570463180542, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, 0.963851562182568, 0.7332517301416122, 0.7014237981081468, 0.1056573192565657, -0.4767760477371528, 0.8487268689739911, 0.057149626232095074, 0.0, 1.7796720266342163, 2.3018078804016113, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, 0.963851562182568, 0.7332517301416122, 0.7014237981081468, 0.1056573192565657, -0.4767760477371528, 0.8487268689739911, 0.057149626232095074, 0.0], "std": [1.5016740316367276, 1.1778175001794162, 0.5018832328445381, 0.029047407316548104, 0.0, 0.0, 0.03340907804433619, 1.3778307275434607, 1.327138128971338, 1.71356761019084, 0.05494015495352107, 0.04014691724591265, 0.25505971023636115, 0.11005471452219658, 0.03215280283661962, 0.49487165930539406, 1.3223164217545547, 0.6038748850266822, 0.0037521854384264435, 0.0, 0.0, 0.0, 0.0, 0.0, 1.343498521240955, 1.3867139175466263, 0.014785577078724575, 0.010536329030100487, 0.2045907384589845, 0.0836698354271919, 0.024801539398575836, 0.0, 1.29931942930513, 0.5933743055150568, 0.0037521854384264435, 0.0, 0.0, 0.0, 0.0, 0.0, 1.343498521240955, 1.3867139175466263, 0.014785577078724575, 0.010536329030100487, 0.2045907384589845, 0.0836698354271919, 0.024801539398575836, 0.0, 1.3304611990127675, 0.5938654974208794, 0.0037521854384264435, 0.0, 0.0, 0.0, 0.0, 0.0, 1.343498521240955, 1.3867139175466263, 0.014785577078724575, 0.010536329030100487, 0.2045907384589845, 0.0836698354271919, 0.024801539398575836, 0.0, 1.3193832041423328, 0.5862971070390901, 0.0037521854384264435, 0.0, 0.0, 0.0, 0.0, 0.0, 1.343498521240955, 1.3867139175466263, 0.014785577078724575, 0.010536329030100487, 0.2045907384589845, 0.0836698354271919, 0.024801539398575836, 0.0, 1.3377209319750714, 0.5837711825316676, 0.0037521854384264435, 0.0, 0.0, 0.0, 0.0, 0.0, 1.343498521240955, 1.3867139175466263, 0.014785577078724575, 0.010536329030100487, 0.2045907384589845, 0.0836698354271919, 0.024801539398575836, 0.0, 1.3501098544170589, 0.5828663434724876, 0.0037521854384264435, 0.0, 0.0, 0.0, 0.0, 0.0, 1.343498521240955, 1.3867139175466263, 0.014785577078724575, 0.010536329030100487, 0.2045907384589845, 0.0836698354271919, 0.024801539398575836, 0.0, 1.344772573368714, 0.5736783892328071, 0.0037521854384264435, 0.0, 0.0, 0.0, 0.0, 0.0, 1.343498521240955, 1.3867139175466263, 0.014785577078724575, 0.010536329030100487, 0.2045907384589845, 0.0836698354271919, 0.024801539398575836, 0.0, 1.3405252722938203, 0.5653002028332741, 0.0037521854384264435, 0.0, 0.0, 0.0, 0.0, 0.0, 1.343498521240955, 1.3867139175466263, 0.014785577078724575, 0.010536329030100487, 0.2045907384589845, 0.0836698354271919, 0.024801539398575836, 0.0, 1.3513251930062513, 0.5635266765744439, 0.0037521854384264435, 0.0, 0.0, 0.0, 0.0, 0.0, 1.343498521240955, 1.3867139175466263, 0.014785577078724575, 0.010536329030100487, 0.2045907384589845, 0.0836698354271919, 0.024801539398575836, 0.0, 1.3598357436771025, 0.5584922694933835, 0.0037521854384264435, 0.0, 0.0, 0.0, 0.0, 0.0, 1.343498521240955, 1.3867139175466263, 0.014785577078724575, 0.010536329030100487, 0.2045907384589845, 0.0836698354271919, 0.024801539398575836, 0.0, 1.354814039409918, 0.5529935237583541, 0.0037521854384264435, 0.0, 0.0, 0.0, 0.0, 0.0, 1.343498521240955, 1.3867139175466263, 0.014785577078724575, 0.010536329030100487, 0.2045907384589845, 0.0836698354271919, 0.024801539398575836, 0.0, 1.362368599873891, 0.5513926134710141, 0.0037521854384264435, 0.0, 0.0, 0.0, 0.0, 0.0, 1.343498521240955, 1.3867139175466263, 0.014785577078724575, 0.010536329030100487, 0.2045907384589845, 0.0836698354271919, 0.024801539398575836, 0.0, 1.3547486409637324, 0.5420162356268025, 0.0037521854384264435, 0.0, 0.0, 0.0, 0.0, 0.0, 1.343498521240955, 1.3867139175466263, 0.014785577078724575, 0.010536329030100487, 0.2045907384589845, 0.0836698354271919, 0.024801539398575836, 0.0, 1.3448520905531214, 0.5327883255517422, 0.0037521854384264435, 0.0, 0.0, 0.0, 0.0, 0.0, 1.343498521240955, 1.3867139175466263, 0.014785577078724575, 0.010536329030100487, 0.2045907384589845, 0.0836698354271919, 0.024801539398575836, 0.0, 1.345431675587029, 0.5523798156520785, 0.0037521854384264435, 0.0, 0.0, 0.0, 0.0, 0.0, 1.343498521240955, 1.3867139175466263, 0.014785577078724575, 0.010536329030100487, 0.2045907384589845, 0.0836698354271919, 0.024801539398575836, 0.0, 1.3427466744444088, 0.5839703699790242, 0.0037521854384264435, 0.0, 0.0, 0.0, 0.0, 0.0, 1.343498521240955, 1.3867139175466263, 0.014785577078724575, 0.010536329030100487, 0.2045907384589845, 0.0836698354271919, 0.024801539398575836, 0.0, 1.324449550531888, 0.5837907941405692, 0.0037521854384264435, 0.0, 0.0, 0.0, 0.0, 0.0, 1.343498521240955, 1.3867139175466263, 0.014785577078724575, 0.010536329030100487, 0.2045907384589845, 0.0836698354271919, 0.024801539398575836, 0.0, 1.3330669929245416, 0.6163260870068952, 0.0037521854384264435, 0.0, 0.0, 0.0, 0.0, 0.0, 1.343498521240955, 1.3867139175466263, 0.014785577078724575, 0.010536329030100487, 0.2045907384589845, 0.0836698354271919, 0.024801539398575836, 0.0, 1.3025368320920612, 0.6133496590466174, 0.0037521854384264435, 0.0, 0.0, 0.0, 0.0, 0.0, 1.343498521240955, 1.3867139175466263, 0.014785577078724575, 0.010536329030100487, 0.2045907384589845, 0.0836698354271919, 0.024801539398575836, 0.0, 1.2717135396971626, 0.6089209576337314, 0.0037521854384264435, 0.0, 0.0, 0.0, 0.0, 0.0, 1.343498521240955, 1.3867139175466263, 0.014785577078724575, 0.010536329030100487, 0.2045907384589845, 0.0836698354271919, 0.024801539398575836, 0.0, 1.2721760186296283, 0.6274674392086464, 0.0037521854384264435, 0.0, 0.0, 0.0, 0.0, 0.0, 1.343498521240955, 1.3867139175466263, 0.014785577078724575, 0.010536329030100487, 0.2045907384589845, 0.0836698354271919, 0.024801539398575836, 0.0, 1.2590934975437462, 0.6406377194266092, 0.0037521854384264435, 0.0, 0.0, 0.0, 0.0, 0.0, 1.343498521240955, 1.3867139175466263, 0.014785577078724575, 0.010536329030100487, 0.2045907384589845, 0.0836698354271919, 0.024801539398575836, 0.0, 1.2411557366400858, 0.6435633854422893, 0.0037521854384264435, 0.0, 0.0, 0.0, 0.0, 0.0, 1.343498521240955, 1.3867139175466263, 0.014785577078724575, 0.010536329030100487, 0.2045907384589845, 0.0836698354271919, 0.024801539398575836, 0.0, 1.247621438951286, 0.6764411629356718, 0.0037521854384264435, 0.0, 0.0, 0.0, 0.0, 0.0, 1.343498521240955, 1.3867139175466263, 0.014785577078724575, 0.010536329030100487, 0.2045907384589845, 0.0836698354271919, 0.024801539398575836, 0.0, 1.2242405126266507, 0.6882557695548056, 0.0037521854384264435, 0.0, 0.0, 0.0, 0.0, 0.0, 1.343498521240955, 1.3867139175466263, 0.014785577078724575, 0.010536329030100487, 0.2045907384589845, 0.0836698354271919, 0.024801539398575836, 0.0, 1.2004840634400746, 0.7002194074950602, 0.0037521854384264435, 0.0, 0.0, 0.0, 0.0, 0.0, 1.343498521240955, 1.3867139175466263, 0.014785577078724575, 0.010536329030100487, 0.2045907384589845, 0.0836698354271919, 0.024801539398575836, 0.0, 1.2061065933675201, 0.7304914227764846, 0.0037521854384264435, 0.0, 0.0, 0.0, 0.0, 0.0, 1.343498521240955, 1.3867139175466263, 0.014785577078724575, 0.010536329030100487, 0.2045907384589845, 0.0836698354271919, 0.024801539398575836, 0.0, 1.1908772210136283, 0.7370920359094995, 0.0037521854384264435, 0.0, 0.0, 0.0, 0.0, 0.0, 1.343498521240955, 1.3867139175466263, 0.014785577078724575, 0.010536329030100487, 0.2045907384589845, 0.0836698354271919, 0.024801539398575836, 0.0, 1.188305028888647, 0.7732255659020946, 0.0037521854384264435, 0.0, 0.0, 0.0, 0.0, 0.0, 1.343498521240955, 1.3867139175466263, 0.014785577078724575, 0.010536329030100487, 0.2045907384589845, 0.0836698354271919, 0.024801539398575836, 0.0, 1.1776475283281562, 0.772591685276594, 0.0037521854384264435, 0.0, 0.0, 0.0, 0.0, 0.0, 1.343498521240955, 1.3867139175466263, 0.014785577078724575, 0.010536329030100487, 0.2045907384589845, 0.0836698354271919, 0.024801539398575836, 0.0, 1.1544910365795735, 0.7835283316243354, 0.0037521854384264435, 0.0, 0.0, 0.0, 0.0, 0.0, 1.343498521240955, 1.3867139175466263, 0.014785577078724575, 0.010536329030100487, 0.2045907384589845, 0.0836698354271919, 0.024801539398575836, 0.0, 1.131003148089098, 0.7966233072089517, 0.0037521854384264435, 0.0, 0.0, 0.0, 0.0, 0.0, 1.343498521240955, 1.3867139175466263, 0.014785577078724575, 0.010536329030100487, 0.2045907384589845, 0.0836698354271919, 0.024801539398575836, 0.0, 1.1223856775188428, 0.7972751677842836, 0.0037521854384264435, 0.0, 0.0, 0.0, 0.0, 0.0, 1.343498521240955, 1.3867139175466263, 0.014785577078724575, 0.010536329030100487, 0.2045907384589845, 0.0836698354271919, 0.024801539398575836, 0.0, 1.123151826435742, 0.8345362666673861, 0.0037521854384264435, 0.0, 0.0, 0.0, 0.0, 0.0, 1.343498521240955, 1.3867139175466263, 0.014785577078724575, 0.010536329030100487, 0.2045907384589845, 0.0836698354271919, 0.024801539398575836, 0.0, 1.1031929567995882, 0.837228262898928, 0.0037521854384264435, 0.0, 0.0, 0.0, 0.0, 0.0, 1.343498521240955, 1.3867139175466263, 0.014785577078724575, 0.010536329030100487, 0.2045907384589845, 0.0836698354271919, 0.024801539398575836, 0.0, 1.1088574431719356, 0.8704409734228686, 0.0037521854384264435, 0.0, 0.0, 0.0, 0.0, 0.0, 1.343498521240955, 1.3867139175466263, 0.014785577078724575, 0.010536329030100487, 0.2045907384589845, 0.0836698354271919, 0.024801539398575836, 0.0, 1.0828181858021775, 0.8749470927890116, 0.0037521854384264435, 0.0, 0.0, 0.0, 0.0, 0.0, 1.343498521240955, 1.3867139175466263, 0.014785577078724575, 0.010536329030100487, 0.2045907384589845, 0.0836698354271919, 0.024801539398575836, 0.0, 1.062033430739253, 0.8948505793543244, 0.0037521854384264435, 0.0, 0.0, 0.0, 0.0, 0.0, 1.343498521240955, 1.3867139175466263, 0.014785577078724575, 0.010536329030100487, 0.2045907384589845, 0.0836698354271919, 0.024801539398575836, 0.0, 1.0619562522955759, 0.911683876998656, 0.0037521854384264435, 0.0, 0.0, 0.0, 0.0, 0.0, 1.343498521240955, 1.3867139175466263, 0.014785577078724575, 0.010536329030100487, 0.2045907384589845, 0.0836698354271919, 0.024801539398575836, 0.0, 1.056153611155325, 0.9334463383917729, 0.0037521854384264435, 0.0, 0.0, 0.0, 0.0, 0.0, 1.343498521240955, 1.3867139175466263, 0.014785577078724575, 0.010536329030100487, 0.2045907384589845, 0.0836698354271919, 0.024801539398575836, 0.0, 1.0409758319851794, 0.9479943200466014, 0.0037521854384264435, 0.0, 0.0, 0.0, 0.0, 0.0, 1.343498521240955, 1.3867139175466263, 0.014785577078724575, 0.010536329030100487, 0.2045907384589845, 0.0836698354271919, 0.024801539398575836, 0.0, 1.03975537563958, 0.9683125667804143, 0.0037521854384264435, 0.0, 0.0, 0.0, 0.0, 0.0, 1.343498521240955, 1.3867139175466263, 0.014785577078724575, 0.010536329030100487, 0.2045907384589845, 0.0836698354271919, 0.024801539398575836, 0.0, 1.020085749057207, 0.9843481002417933, 0.0037521854384264435, 0.0, 0.0, 0.0, 0.0, 0.0, 1.343498521240955, 1.3867139175466263, 0.014785577078724575, 0.010536329030100487, 0.2045907384589845, 0.0836698354271919, 0.024801539398575836, 0.0, 0.9932632953231166, 0.9926513624055613, 0.0037521854384264435, 0.0, 0.0, 0.0, 0.0, 0.0, 1.343498521240955, 1.3867139175466263, 0.014785577078724575, 0.010536329030100487, 0.2045907384589845, 0.0836698354271919, 0.024801539398575836, 0.0, 0.9992375098637167, 1.0207864414115906, 0.0037521854384264435, 0.0, 0.0, 0.0, 0.0, 0.0, 1.343498521240955, 1.3867139175466263, 0.014785577078724575, 0.010536329030100487, 0.2045907384589845, 0.0836698354271919, 0.024801539398575836, 0.0, 0.9888318043279274, 1.0317038803228837, 0.0037521854384264435, 0.0, 0.0, 0.0, 0.0, 0.0, 1.343498521240955, 1.3867139175466263, 0.014785577078724575, 0.010536329030100487, 0.2045907384589845, 0.0836698354271919, 0.024801539398575836, 0.0, 0.9781820807847698, 1.0570007706693174, 0.0037521854384264435, 0.0, 0.0, 0.0, 0.0, 0.0, 1.343498521240955, 1.3867139175466263, 0.014785577078724575, 0.010536329030100487, 0.2045907384589845, 0.0836698354271919, 0.024801539398575836, 0.0, 0.9708801096015662, 1.066026675537126, 0.0037521854384264435, 0.0, 0.0, 0.0, 0.0, 0.0, 1.343498521240955, 1.3867139175466263, 0.014785577078724575, 0.010536329030100487, 0.2045907384589845, 0.0836698354271919, 0.024801539398575836, 0.0, 0.9571870644780963, 1.0934694872908446, 0.0037521854384264435, 0.0, 0.0, 0.0, 0.0, 0.0, 1.343498521240955, 1.3867139175466263, 0.014785577078724575, 0.010536329030100487, 0.2045907384589845, 0.0836698354271919, 0.024801539398575836, 0.0, 0.9239649989912853, 1.0902175669451326, 0.0037521854384264435, 0.0, 0.0, 0.0, 0.0, 0.0, 1.343498521240955, 1.3867139175466263, 0.014785577078724575, 0.010536329030100487, 0.2045907384589845, 0.0836698354271919, 0.024801539398575836, 0.0, 0.9359865489419011, 1.1295514663660706, 0.0037521854384264435, 0.0, 0.0, 0.0, 0.0, 0.0, 1.343498521240955, 1.3867139175466263, 0.014785577078724575, 0.010536329030100487, 0.2045907384589845, 0.0836698354271919, 0.024801539398575836, 0.0, 0.9212393234845264, 1.1298667173437351, 0.0037521854384264435, 0.0, 0.0, 0.0, 0.0, 0.0, 1.343498521240955, 1.3867139175466263, 0.014785577078724575, 0.010536329030100487, 0.2045907384589845, 0.0836698354271919, 0.024801539398575836, 0.0, 0.9149980416605923, 1.1661039549894474, 0.0037521854384264435, 0.0, 0.0, 0.0, 0.0, 0.0, 1.343498521240955, 1.3867139175466263, 0.014785577078724575, 0.010536329030100487, 0.2045907384589845, 0.0836698354271919, 0.024801539398575836, 0.0, 0.9019976864534165, 1.1637382764875486, 0.0037521854384264435, 0.0, 0.0, 0.0, 0.0, 0.0, 1.343498521240955, 1.3867139175466263, 0.014785577078724575, 0.010536329030100487, 0.2045907384589845, 0.0836698354271919, 0.024801539398575836, 0.0, 0.8874648361692675, 1.1900454464686496, 0.0037521854384264435, 0.0, 0.0, 0.0, 0.0, 0.0, 1.343498521240955, 1.3867139175466263, 0.014785577078724575, 0.010536329030100487, 0.2045907384589845, 0.0836698354271919, 0.024801539398575836, 0.0, 0.8561237381262892, 1.1882934197178392, 0.0037521854384264435, 0.0, 0.0, 0.0, 0.0, 0.0, 1.343498521240955, 1.3867139175466263, 0.014785577078724575, 0.010536329030100487, 0.2045907384589845, 0.0836698354271919, 0.024801539398575836, 0.0, 0.8453307878474201, 1.1851582109871879, 0.0037521854384264435, 0.0, 0.0, 0.0, 0.0, 0.0, 1.343498521240955, 1.3867139175466263, 0.014785577078724575, 0.010536329030100487, 0.2045907384589845, 0.0836698354271919, 0.024801539398575836, 0.0, 0.8453562885745097, 1.2251293749871845, 0.0037521854384264435, 0.0, 0.0, 0.0, 0.0, 0.0, 1.343498521240955, 1.3867139175466263, 0.014785577078724575, 0.010536329030100487, 0.2045907384589845, 0.0836698354271919, 0.024801539398575836, 0.0, 0.8413045470810832, 1.227508522381411, 0.0037521854384264435, 0.0, 0.0, 0.0, 0.0, 0.0, 1.343498521240955, 1.3867139175466263, 0.014785577078724575, 0.010536329030100487, 0.2045907384589845, 0.0836698354271919, 0.024801539398575836, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6017064414438211, 1.1236167934132895, 0.007107482347224768, 0.009256801215065176, 0.17943744741739953, 0.07170402070773765, 0.02219391232739612, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6017064414438211, 1.1236167934132895, 0.007107482347224768, 0.009256801215065176, 0.17943744741739953, 0.07170402070773765, 0.02219391232739612, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6017064414438211, 1.1236167934132895, 0.007107482347224768, 0.009256801215065176, 0.17943744741739953, 0.07170402070773765, 0.02219391232739612, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6017064414438211, 1.1236167934132895, 0.007107482347224768, 0.009256801215065176, 0.17943744741739953, 0.07170402070773765, 0.02219391232739612, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6017064414438211, 1.1236167934132895, 0.007107482347224768, 0.009256801215065176, 0.17943744741739953, 0.07170402070773765, 0.02219391232739612, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6017064414438211, 1.1236167934132895, 0.007107482347224768, 0.009256801215065176, 0.17943744741739953, 0.07170402070773765, 0.02219391232739612, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6017064414438211, 1.1236167934132895, 0.007107482347224768, 0.009256801215065176, 0.17943744741739953, 0.07170402070773765, 0.02219391232739612, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6017064414438211, 1.1236167934132895, 0.007107482347224768, 0.009256801215065176, 0.17943744741739953, 0.07170402070773765, 0.02219391232739612, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6017064414438211, 1.1236167934132895, 0.007107482347224768, 0.009256801215065176, 0.17943744741739953, 0.07170402070773765, 0.02219391232739612, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6017064414438211, 1.1236167934132895, 0.007107482347224768, 0.009256801215065176, 0.17943744741739953, 0.07170402070773765, 0.02219391232739612, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6017064414438211, 1.1236167934132895, 0.007107482347224768, 0.009256801215065176, 0.17943744741739953, 0.07170402070773765, 0.02219391232739612, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6017064414438211, 1.1236167934132895, 0.007107482347224768, 0.009256801215065176, 0.17943744741739953, 0.07170402070773765, 0.02219391232739612, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6017064414438211, 1.1236167934132895, 0.007107482347224768, 0.009256801215065176, 0.17943744741739953, 0.07170402070773765, 0.02219391232739612, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6017064414438211, 1.1236167934132895, 0.007107482347224768, 0.009256801215065176, 0.17943744741739953, 0.07170402070773765, 0.02219391232739612, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6017064414438211, 1.1236167934132895, 0.007107482347224768, 0.009256801215065176, 0.17943744741739953, 0.07170402070773765, 0.02219391232739612, 0.0], "min": [-3.319148063659668, -2.113769054412842, 0.28999999165534973, 0.6345686316490173, 0.0, 0.0, 0.5976077318191528, -1.0, -2.9841105937957764, -1.946036696434021, 0.49003058671951294, -0.0175554770976305, -0.7668699622154236, 0.6296946406364441, 0.00036000035470351577, 0.0, -3.3055758476257324, -2.1090211868286133, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9841105937957764, -1.946036696434021, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, -3.234532594680786, -2.0841689109802246, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9841105937957764, -1.946036696434021, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, -3.2055323123931885, -2.074023962020874, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9841105937957764, -1.946036696434021, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, -3.1484174728393555, -2.054044008255005, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9841105937957764, -1.946036696434021, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, -3.105666399002075, -2.039088726043701, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9841105937957764, -1.946036696434021, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, -3.084094524383545, -2.0315425395965576, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9841105937957764, -1.946036696434021, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, -3.0060369968414307, -2.0042364597320557, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9841105937957764, -1.946036696434021, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, -2.9341928958892822, -1.979103922843933, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9841105937957764, -1.946036696434021, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, -2.906407356262207, -1.969383955001831, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9841105937957764, -1.946036696434021, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, -2.8513431549072266, -1.9501214027404785, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9841105937957764, -1.946036696434021, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, -2.8065924644470215, -1.9344667196273804, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9841105937957764, -1.946036696434021, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, -2.783870220184326, -1.9265179634094238, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9841105937957764, -1.946036696434021, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, -2.7065486907958984, -1.899469256401062, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9841105937957764, -1.946036696434021, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, -2.633028745651245, -1.8737504482269287, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9841105937957764, -1.946036696434021, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, -2.6065049171447754, -1.8644719123840332, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9841105937957764, -1.946036696434021, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, -2.554267406463623, -1.8461982011795044, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9841105937957764, -1.946036696434021, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, -2.5066592693328857, -1.829543948173523, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9841105937957764, -1.946036696434021, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, -2.4826366901397705, -1.8211402893066406, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9841105937957764, -1.946036696434021, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, -2.407029867172241, -1.7946914434432983, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9841105937957764, -1.946036696434021, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, -2.3327348232269287, -1.7687015533447266, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9841105937957764, -1.946036696434021, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, -2.3074002265930176, -1.7598389387130737, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9841105937957764, -1.946036696434021, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, -2.2571921348571777, -1.7422751188278198, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9841105937957764, -1.946036696434021, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, -2.2075653076171875, -1.7249146699905396, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9841105937957764, -1.946036696434021, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, -2.1823670864105225, -1.716099739074707, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9841105937957764, -1.946036696434021, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, -2.1075215339660645, -1.6899173259735107, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9841105937957764, -1.946036696434021, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, -2.0315256118774414, -1.663332462310791, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9841105937957764, -1.946036696434021, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, -2.0074779987335205, -1.6549201011657715, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9841105937957764, -1.946036696434021, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, -1.960116982460022, -1.6383522748947144, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9841105937957764, -1.946036696434021, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, -1.9076521396636963, -1.6199990510940552, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9841105937957764, -1.946036696434021, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, -1.8811789751052856, -1.6107381582260132, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9841105937957764, -1.946036696434021, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, -1.8080226182937622, -1.5851465463638306, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9841105937957764, -1.946036696434021, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, -1.7312774658203125, -1.5582995414733887, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9841105937957764, -1.946036696434021, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, -1.7083932161331177, -1.5502941608428955, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9841105937957764, -1.946036696434021, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, -1.663041114807129, -1.5344290733337402, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9841105937957764, -1.946036696434021, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, -1.6085379123687744, -1.5153627395629883, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9841105937957764, -1.946036696434021, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, -1.5808637142181396, -1.5056817531585693, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9841105937957764, -1.946036696434021, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, -1.508494257926941, -1.480365514755249, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9841105937957764, -1.946036696434021, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, -1.4300225973129272, -1.4529145956039429, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9841105937957764, -1.946036696434021, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, -1.4084506034851074, -1.4453682899475098, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9841105937957764, -1.946036696434021, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, -1.3659653663635254, -1.4305061101913452, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9841105937957764, -1.946036696434021, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, -1.3086450099945068, -1.410454273223877, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9841105937957764, -1.946036696434021, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, -1.279721736907959, -1.4003363847732544, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9841105937957764, -1.946036696434021, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, -1.2090156078338623, -1.375601887702942, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9841105937957764, -1.946036696434021, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, -1.1298199892044067, -1.3478976488113403, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9841105937957764, -1.946036696434021, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, -1.1093859672546387, -1.3407493829727173, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9841105937957764, -1.946036696434021, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, -1.068889856338501, -1.3265830278396606, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9841105937957764, -1.946036696434021, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, -1.0095105171203613, -1.3058109283447266, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9841105937957764, -1.946036696434021, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, -0.9793602824211121, -1.2952637672424316, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9841105937957764, -1.946036696434021, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, -0.9094667434692383, -1.2708135843276978, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9841105937957764, -1.946036696434021, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, -0.8285636901855469, -1.2425121068954468, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9841105937957764, -1.946036696434021, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, -0.8093879818916321, -1.2358040809631348, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9841105937957764, -1.946036696434021, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, -0.7712419033050537, -1.2224597930908203, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9841105937957764, -1.946036696434021, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, -0.709254264831543, -1.2007752656936646, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9841105937957764, -1.946036696434021, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, -0.6789835691452026, -1.1901860237121582, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9841105937957764, -1.946036696434021, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, -0.608382523059845, -1.165488362312317, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9841105937957764, -1.946036696434021, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, -0.5303893685340881, -1.13820481300354, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9841105937957764, -1.946036696434021, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, -0.5067456960678101, -1.1299338340759277, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9841105937957764, -1.946036696434021, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, -0.4560566544532776, -1.1122016906738281, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9841105937957764, -1.946036696434021, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, -0.4424668550491333, -1.1071172952651978, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9841105937957764, -1.946036696434021, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, 1.38369882106781, 1.5832624435424805, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -0.41641104221343994, -0.8046320080757141, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, 1.3923687934875488, 1.600738763809204, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -0.41641104221343994, -0.8046320080757141, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, 1.4352548122406006, 1.6871854066848755, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -0.41641104221343994, -0.8046320080757141, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, 1.4480271339416504, 1.7129309177398682, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -0.41641104221343994, -0.8046320080757141, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, 1.4868109226226807, 1.79110848903656, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -0.41641104221343994, -0.8046320080757141, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, 1.5033378601074219, 1.8244222402572632, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -0.41641104221343994, -0.8046320080757141, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, 1.5383670330047607, 1.8950315713882446, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -0.41641104221343994, -0.8046320080757141, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, 1.5589250326156616, 1.9364709854125977, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -0.41641104221343994, -0.8046320080757141, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, 1.5900375843048096, 1.99918532371521, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -0.41641104221343994, -0.8046320080757141, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, 1.614209771156311, 2.04790997505188, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -0.41641104221343994, -0.8046320080757141, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, 1.642195701599121, 2.1043219566345215, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -0.41641104221343994, -0.8046320080757141, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, 1.66889488697052, 2.158140182495117, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -0.41641104221343994, -0.8046320080757141, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, 1.6953859329223633, 2.211538791656494, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -0.41641104221343994, -0.8046320080757141, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, 1.7222574949264526, 2.26570463180542, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -0.41641104221343994, -0.8046320080757141, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0, 1.7796720266342163, 2.3018078804016113, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, -0.41641104221343994, -0.8046320080757141, 0.6509378552436829, 0.09000789374113083, -0.6897016763687134, 0.7122628092765808, 0.004125196021050215, 0.0], "max": [1.7388405799865723, 2.339276075363159, 1.537076473236084, 0.8017886281013489, 0.0, 0.0, 0.7728664875030518, 2.0, 2.041412353515625, 2.876476287841797, 0.7240663766860962, 0.13710671663284302, 0.021789444610476494, 0.999691903591156, 0.10777164250612259, 1.0, -0.5084531903266907, -0.8316324353218079, 1.537076473236084, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, -0.4860559403896332, -0.8289922475814819, 1.537076473236084, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, -0.3911808431148529, -0.8178082704544067, 1.537076473236084, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, -0.35749951004981995, -0.8138378858566284, 1.537076473236084, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, -0.27595826983451843, -0.804225742816925, 1.537076473236084, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, -0.22817985713481903, -0.7985935807228088, 1.537076473236084, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, -0.16141238808631897, -0.7907229661941528, 1.537076473236084, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, -0.09855268895626068, -0.783312976360321, 1.537076473236084, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, -0.047921858727931976, -0.7773445844650269, 1.537076473236084, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, 0.02514488250017166, -0.768731415271759, 1.537076473236084, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, 0.05927306041121483, -0.7647083401679993, 1.537076473236084, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, 0.09797561913728714, -0.7601460218429565, 1.537076473236084, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, 0.1591784954071045, -0.7529313564300537, 1.537076473236084, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, 0.21176406741142273, -0.7467325329780579, 1.537076473236084, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, 0.23951390385627747, -0.6960117220878601, 1.537076473236084, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, 0.28607177734375, -0.610913872718811, 1.537076473236084, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, 0.2949756383895874, -0.5946394801139832, 1.537076473236084, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, 0.33722686767578125, -0.5174132585525513, 1.537076473236084, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, 0.34825262427330017, -0.49726051092147827, 1.537076473236084, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, 0.3573465347290039, -0.4806387424468994, 1.537076473236084, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, 0.3836594223976135, -0.43254438042640686, 1.537076473236084, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, 0.4061937928199768, -0.38712120056152344, 1.537076473236084, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, 0.4178765118122101, -0.36357203125953674, 1.537076473236084, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, 0.4567517638206482, -0.2852100729942322, 1.537076473236084, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, 0.4821391701698303, -0.23403598368167877, 1.537076473236084, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, 0.5078825950622559, -0.1821441948413849, 1.537076473236084, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, 0.5438236594200134, -0.10969682782888412, 1.537076473236084, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, 0.5589696764945984, -0.07916659116744995, 1.537076473236084, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, 0.6059935092926025, 0.015620619058609009, 1.537076473236084, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, 0.6099226474761963, 0.02354065142571926, 1.537076473236084, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, 0.6340956091880798, 0.07226677238941193, 1.537076473236084, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, 0.6611563563346863, 0.1268138438463211, 1.537076473236084, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, 0.6658118963241577, 0.13619811832904816, 1.537076473236084, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, 0.7127846479415894, 0.23088236153125763, 1.537076473236084, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, 0.7250684499740601, 0.2556431293487549, 1.537076473236084, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, 0.764724850654602, 0.33557963371276855, 1.537076473236084, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, 0.782012939453125, 0.3704277575016022, 1.537076473236084, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, 0.8165181875228882, 0.4399809241294861, 1.537076473236084, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, 0.8379269242286682, 0.48313504457473755, 1.537076473236084, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, 0.8681377172470093, 0.5440317988395691, 1.537076473236084, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, 0.893352210521698, 0.5948572754859924, 1.537076473236084, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, 0.9196938276290894, 0.6479547619819641, 1.537076473236084, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, 0.9487923979759216, 0.7066095471382141, 1.537076473236084, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, 0.9712499380111694, 0.7518778443336487, 1.537076473236084, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, 1.0043213367462158, 0.8185408115386963, 1.537076473236084, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, 1.0228060483932495, 0.8558010458946228, 1.537076473236084, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, 1.0596578121185303, 0.9300841689109802, 1.537076473236084, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, 1.07436203956604, 0.9597240090370178, 1.537076473236084, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, 1.1152904033660889, 1.0422245264053345, 1.537076473236084, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, 1.1259181499481201, 1.0636471509933472, 1.537076473236084, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, 1.1705232858657837, 1.1535589694976807, 1.537076473236084, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, 1.1774742603302002, 1.1675701141357422, 1.537076473236084, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, 1.2262595891952515, 1.2659080028533936, 1.537076473236084, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, 1.2290303707122803, 1.2714930772781372, 1.537076473236084, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, 1.2688897848129272, 1.3518388271331787, 1.537076473236084, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, 1.2805864810943604, 1.3754162788391113, 1.537076473236084, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, 1.2813996076583862, 1.377055287361145, 1.537076473236084, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, 1.3321425914764404, 1.4793392419815063, 1.537076473236084, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, 1.337161660194397, 1.489456295967102, 1.537076473236084, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, 1.38369882106781, 1.5832624435424805, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, 1.3923687934875488, 1.600738763809204, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, 1.4352548122406006, 1.6871854066848755, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, 1.4480271339416504, 1.7129309177398682, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, 1.4868109226226807, 1.79110848903656, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, 1.5033378601074219, 1.8244222402572632, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, 1.5383670330047607, 1.8950315713882446, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, 1.5589250326156616, 1.9364709854125977, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, 1.5900375843048096, 1.99918532371521, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, 1.614209771156311, 2.04790997505188, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, 1.642195701599121, 2.1043219566345215, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, 1.66889488697052, 2.158140182495117, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, 1.6953859329223633, 2.211538791656494, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, 1.7222574949264526, 2.26570463180542, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0, 1.7796720266342163, 2.3018078804016113, 1.5291393995285034, 0.0, 0.0, 0.0, 0.0, 2.0, 1.9255132675170898, 2.7105817794799805, 0.7240663766860962, 0.13605262339115143, -0.08505293726921082, 0.9892886877059937, 0.0904463529586792, 0.0], "count": [1824]}, "action.applied": {"mean": [0.3096598890781599, 0.7735951314271804, -1.2741884346724601, -0.2362904199889224, 0.7387690685133923, -1.299593481512969, 0.13052775191649663, 0.948297690044631, -1.4331175066334636, -0.15751737454832582, 0.848933845954506, -1.4388393422817451, -0.11759237129318303, 2.167669564681618, -1.7200791737424177, 0.035932267846589594, 0.9818355113986814, 0.010481647241522259, 0.0024561403613341483, -0.0024561403613341483], "std": [0.14720718557698514, 0.12960878738331807, 0.19767329845620113, 0.13031344737804765, 0.11655582715947968, 0.19854297448176197, 0.1416881057308522, 0.20516481248163296, 0.20437178928369978, 0.10940938962240013, 0.11558244797603595, 0.22649150280887737, 0.12682278085474205, 0.2939507414575472, 0.45957601688036126, 0.024206054898431473, 0.20375077610636352, 0.4886914186369573, 0.008940485867005013, 0.008940485867005013], "min": [-0.250448614358902, 0.3867686092853546, -1.7675806283950806, -0.49899932742118835, 0.2651236057281494, -1.6554808616638184, -0.18367698788642883, 0.46650630235671997, -1.7537758350372314, -0.5202024579048157, 0.518287181854248, -1.7182738780975342, -0.5130564570426941, 1.7056211233139038, -2.6094961166381836, -0.010637755505740643, 0.47720715403556824, -0.42300787568092346, 0.0, -0.03500000014901161], "max": [0.7162050008773804, 1.0387799739837646, -0.8149964809417725, 0.2550370395183563, 0.9819666147232056, -0.8282652497291565, 0.4833824336528778, 1.3027821779251099, -0.956804096698761, 0.2840706408023834, 1.4849846363067627, -0.8916799426078796, -1.6927393517107703e-05, 2.84496808052063, -0.9692417979240417, 0.10123609006404877, 1.2199217081069946, 1.371214509010315, 0.03500000014901161, 0.0], "count": [1824]}, "extra.reward": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1824]}, "next.truncated": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1824]}, "sim_step_idx": {"mean": [1924.0], "std": [1053.086732736989], "min": [101.0], "max": [3747.0], "count": [1824]}, "timestamp": {"mean": [36.460000000493764], "std": [21.061734652007367], "min": [0.0], "max": [72.91999816894531], "count": [1824]}, "frame_index": {"mean": [911.5], "std": [526.5433663684945], "min": [0.0], "max": [1823.0], "count": [1824]}, "episode_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1824]}, "index": {"mean": [911.5], "std": [526.5433663684945], "min": [0.0], "max": [1823.0], "count": [1824]}, "task_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1824]}, "next.done": {"mean": [0.0005482456140350877], "std": [0.02340822592128201], "min": [0.0], "max": [1.0], "count": [1824]}, "observation.images.head": {"mean": [[[0.5339922546635458]], [[0.45903512690470155]], [[0.4235140708183244]]], "std": [[[0.10093490067124031]], [[0.13253612467561204]], [[0.12928759408970314]]], "min": [[[0.00784313725490196]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[0.9019607843137255]], [[0.9019607843137255]], [[0.9019607843137255]]], "count": [100]}, "observation.images.wrist": {"mean": [[[0.6078488453327796]], [[0.4646497499072956]], [[0.4012416736877168]]], "std": [[[0.12992027508914333]], [[0.16851439046071154]], [[0.15905810373755627]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9176470588235294]], [[0.9019607843137255]], [[0.8901960784313725]]], "count": [100]}}} diff --git a/N034/go2_arm/dr_off/seed_1018/rec/stationbookend/000/lerobot_v21/meta/extra/episode_000000.json b/N034/go2_arm/dr_off/seed_1018/rec/stationbookend/000/lerobot_v21/meta/extra/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..fd29549566591b8b51ab9929210b34765681fe9d --- /dev/null +++ b/N034/go2_arm/dr_off/seed_1018/rec/stationbookend/000/lerobot_v21/meta/extra/episode_000000.json @@ -0,0 +1,642 @@ +{ + "episode_index": 0, + "trajectory_id": 0, + "env_id": 0, + "task_type": "BookendCommand", + "subsample_every": 2, + "control_steps": 3647, + "language": { + "scene": { + "objects": [ + { + "id": "table_A_1", + "cat_name": "table_A", + "inst_id": 1, + "noun": "table A", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 3.4760010984636973, + 0.44039115911136467, + -0.20298424427366135 + ], + "bbox": { + "extent": [ + 0.9336909934597476, + 0.5606438295363771, + 0.30000001192092896 + ], + "center": [ + 5.551115123125783e-17, + 0.0, + 0.0 + ] + } + }, + { + "id": "table_B_1", + "cat_name": "table_B", + "inst_id": 1, + "noun": "table B", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 6.8736203045173285, + 2.23568818620141, + -0.23552234992333604 + ], + "bbox": { + "extent": [ + 0.9416084124086788, + 0.5748951832669214, + 0.30000001192092896 + ], + "center": [ + 1.3877787807814457e-16, + 0.0, + 0.0 + ] + } + }, + { + "id": "slot_left_1", + "cat_name": "slot_left", + "inst_id": 1, + "noun": "slot left", + "color": "brown", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.3966524896376415, + 0.34813960871401506, + -0.03460387211985354 + ], + "bbox": { + "extent": [ + 0.018085843748135266, + 0.12067381764876206, + 0.03500000014901161 + ], + "center": [ + 8.673617379884035e-19, + 5.551115123125783e-17, + 0.0 + ] + } + }, + { + "id": "slot_right_1", + "cat_name": "slot_right", + "inst_id": 1, + "noun": "slot right", + "color": "brown", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.4431715887770844, + 0.3227454537926101, + -0.034936003242136686 + ], + "bbox": { + "extent": [ + 0.018085843748135322, + 0.12067381764876212, + 0.03500000014901161 + ], + "center": [ + 7.806255641895632e-18, + 2.7755575615628914e-17, + 0.0 + ] + } + }, + { + "id": "book_1", + "cat_name": "book", + "inst_id": 1, + "noun": "book", + "color": "red", + "size": "small", + "material": null, + "category": "rigid", + "pos": [ + 3.4244679746680324, + 0.3431023911793168, + 0.017676737735000635 + ], + "bbox": { + "extent": [ + 0.10235868355328939, + 0.04173911724866246, + 0.14000004744666017 + ], + "center": [ + 3.469446951953614e-17, + -5.551115123125783e-17, + -1.1102230246251565e-16 + ] + } + }, + { + "id": "plate_1", + "cat_name": "plate", + "inst_id": 1, + "noun": "plate", + "color": "gray", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 6.801705030650614, + 2.1625830151250196, + -0.0442468226163458 + ], + "bbox": { + "extent": [ + 0.023650362304059563, + 0.14099860307473966, + 0.07999999821186066 + ], + "center": [ + -1.3877787807814457e-17, + -2.220446049250313e-16, + 0.0 + ] + } + }, + { + "id": "bookend_1", + "cat_name": "bookend", + "inst_id": 1, + "noun": "bookend", + "color": null, + "size": "small", + "material": null, + "category": "rigid", + "pos": [ + 6.889403371223643, + 2.098864042660199, + -0.08533849616493804 + ], + "bbox": { + "extent": [ + 0.12599171268409742, + 0.0819861925189492, + 0.06000018840323046 + ], + "center": [ + -8.95874617545811e-10, + -0.029999978145146086, + 0.02999999956971125 + ] + } + } + ], + "relations": [ + { + "subject": "table_A_1", + "relation": "left_of", + "object": "slot_left_1" + }, + { + "subject": "table_B_1", + "relation": "left_of", + "object": "bookend_1" + }, + { + "subject": "book_1", + "relation": "on_top_of", + "object": "slot_right_1" + }, + { + "subject": "plate_1", + "relation": "left_of", + "object": "bookend_1" + }, + { + "subject": "bookend_1", + "relation": "right_of", + "object": "plate_1" + } + ], + "cameras": [ + { + "name": "head", + "intrinsics": { + "K": [ + [ + 607.7061061683956, + 0.0, + 320.0 + ], + [ + 0.0, + 607.3754374751866, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 55.53991912549515, + "resolution": [ + 640, + 480 + ] + }, + "pos_robot": [ + 4.226505990948368, + 0.28143872841461237, + -0.2953556733321995 + ], + "viewpoint": "front, at table height", + "extrinsics": { + "R": [ + [ + 0.0034545225363202814, + -0.9995776319673901, + 0.028855223868669955 + ], + [ + -0.02338972540530354, + 0.0287667346071393, + 0.9993124615081647 + ], + [ + -0.9997204544368945, + -0.0041270631819024794, + -0.023280471000004077 + ] + ], + "t": [ + 0.03416419479862187, + -0.08682200219228882, + 0.33429322289826396 + ] + } + }, + { + "name": "wrist", + "intrinsics": { + "K": [ + [ + 617.2500342478374, + 0.0, + 320.0 + ], + [ + 0.0, + 617.548655622722, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 54.807019583348044, + "resolution": [ + 640, + 480 + ] + }, + "pos_robot": [ + 3.847762447140841, + 0.4349529396889644, + -0.34027059361501344 + ], + "viewpoint": "front, at table height", + "extrinsics": { + "R": [ + [ + 0.017356943317221596, + -0.9998337334638687, + 0.005589449560045617 + ], + [ + -0.9382601518788614, + -0.014355819960515381, + 0.34563246061317376 + ], + [ + -0.3454947523696107, + -0.011243480820582297, + -0.9383533237667454 + ] + ], + "t": [ + 0.006333551580298355, + -0.08611861262827436, + 0.017148138726427706 + ] + } + } + ], + "robots": [ + { + "name": "Go2Plus", + "model": "go2plus", + "type": "mobilemanip", + "noun": "Unitree Go2 EDU quadruped with a Piper arm", + "arms": 1, + "arm_layout": null, + "mobile": true, + "dexterous": false, + "base_pose": { + "pos": [ + -3.4, + -2.2, + 0.44999999999999996 + ], + "ori": [ + 0.9396926164627075, + 0.0, + 0.0, + 0.3420201539993286 + ] + }, + "facing_yaw_deg": 40.000001288448495, + "gripper": "parallel gripper" + } + ], + "lighting": [], + "background": { + "name": null, + "kind": "background", + "type": "dome", + "pose": null, + "setting": null, + "time_of_day": null, + "indoor": false, + "intensity": 1000.0, + "ambient": "dim" + }, + "effects": [], + "caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the brown slot right. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is to the left of the brown slot left. The gray table B is to the left of the bookend. The red book is on top of the brown slot right. The gray plate is to the left of the bookend. The bookend is to the right of the gray plate. The scene is viewed from front, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n[[[bookend]\n\n\n\n [slot [book]\n\n\n\n [robot]" + }, + "task": { + "task_type": "StationBookend", + "instruction": "Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.", + "template_id": -1, + "slots": { + "obj": 1.5370764837223407, + "support": null + }, + "generic_instruction": "Stationbookend the 1.5370764837223407.", + "task_id": "N034", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_0528": { + "frame_idx": 528, + "caption": "Computing a grasp pose for the small red book; the right gripper is below and to the left of and in front of the red book.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "NavTo", + "planner_state": "finished", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0555": { + "frame_idx": 555, + "caption": "Working on the small red book; the right gripper is below and to the left of and in front of the red book.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0846": { + "frame_idx": 846, + "caption": "Computing a grasp pose for the small red book; the right gripper is below and to the left of and in front of the red book.", + "skill": "ReachStance", + "phase": "verify", + "skill_state": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0861": { + "frame_idx": 861, + "caption": "Pre-grasping the small red book, servoing the arm toward it; the right gripper is below and to the left of and in front of the red book.", + "skill": "Grasp", + "phase": "pre_grasp", + "skill_state": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0862": { + "frame_idx": 862, + "caption": "Pre-grasping the small red book, moving the arm toward it; the right gripper is below and to the left of and in front of the red book.", + "skill": "Grasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0900": { + "frame_idx": 900, + "caption": "Pre-grasping the small red book, moving the arm toward it; the right gripper is below and to the left of the red book.", + "skill": "Grasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_0916": { + "frame_idx": 916, + "caption": "Grasping the small red book, moving the arm in to make contact; the right gripper is below and to the left of the red book.", + "skill": "Grasp", + "phase": "grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_0978": { + "frame_idx": 978, + "caption": "Closing the right gripper on the red book; the right gripper is below and to the left of the red book.", + "skill": "Grasp", + "phase": "close_gripper", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_1038": { + "frame_idx": 1038, + "caption": "Lifting the red book away with the gripper; the right gripper is below and to the left of the red book.", + "skill": "Grasp", + "phase": "retrieval", + "skill_state": "running", + "planner": "ParallelGripper", + "planner_state": "finished", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_1039": { + "frame_idx": 1039, + "caption": "Lifting the red book away with the arm; the right gripper is below and to the left of the red book.", + "skill": "Grasp", + "phase": "retrieval", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_1101": { + "frame_idx": 1101, + "caption": "Done — the small red book is grasped; the right gripper is below and to the left of the red book.", + "skill": "Grasp", + "phase": "completed", + "skill_state": "finished", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_2917": { + "frame_idx": 2917, + "caption": "Computing a grasp pose for the small bookend; the right gripper is below and to the left of the bookend.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "bookend_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_2947": { + "frame_idx": 2947, + "caption": "Working on the small bookend; the right gripper is below and to the left of the bookend.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "bookend_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_2983": { + "frame_idx": 2983, + "caption": "Working on the small bookend; the right gripper is below and to the left of and behind the bookend.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "bookend_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "behind" + ] + }, + "frame_3144": { + "frame_idx": 3144, + "caption": "Computing a grasp pose for the small bookend; the right gripper is below and to the left of and behind the bookend.", + "skill": "ReachStance", + "phase": "verify", + "skill_state": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "bookend_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "behind" + ] + } + } + }, + "depth_range": [ + 0.1, + 20.0 + ], + "annotation_sidecar": null, + "annotation_sidecar_keys": [], + "terminated": true, + "truncated": false +} \ No newline at end of file diff --git a/N034/go2_arm/dr_off/seed_1018/rec/stationbookend/000/lerobot_v21/meta/info.json b/N034/go2_arm/dr_off/seed_1018/rec/stationbookend/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..0fa7d3c6b42475dc3e1dd2488c3bf7c08158f9bd --- /dev/null +++ b/N034/go2_arm/dr_off/seed_1018/rec/stationbookend/000/lerobot_v21/meta/info.json @@ -0,0 +1,315 @@ +{ + "codebase_version": "v2.1", + "robot_type": "Go2PlusCfg", + "total_episodes": 1, + "total_frames": 1824, + "total_tasks": 1, + "total_videos": 2, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 25, + "splits": { + "train": "0:1" + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", + "features": { + "action": { + "dtype": "float32", + "shape": [ + 12 + ], + "names": [ + "base_action_0", + "base_action_1", + "base_action_2", + "base_action_3", + "eef0.pos_x", + "eef0.pos_y", + "eef0.pos_z", + "eef0.quat_w", + "eef0.quat_x", + "eef0.quat_y", + "eef0.quat_z", + "gripper" + ] + }, + "action_is_hold": { + "dtype": "bool", + "shape": [ + 12 + ], + "names": null + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 26 + ], + "names": [ + "joint_0", + "joint_1", + "joint_2", + "joint_3", + "joint_4", + "joint_5", + "joint_6", + "joint_7", + "joint_8", + "joint_9", + "joint_10", + "joint_11", + "joint_12", + "joint_13", + "joint_14", + "joint_15", + "joint_16", + "joint_17", + "joint_18", + "joint_19", + "joint_20", + "joint_21", + "joint_22", + "joint_23", + "gripper_0", + "gripper_1" + ] + }, + "observation.joint_vel": { + "dtype": "float32", + "shape": [ + 20 + ], + "names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ] + }, + "observation.eef_pose": { + "dtype": "float32", + "shape": [ + 7 + ], + "names": null + }, + "observation.environment_state": { + "dtype": "float32", + "shape": [ + 49 + ], + "names": [ + "object_pose.book.0", + "object_pose.book.1", + "object_pose.book.2", + "object_pose.book.3", + "object_pose.book.4", + "object_pose.book.5", + "object_pose.book.6", + "object_pose.bookend.0", + "object_pose.bookend.1", + "object_pose.bookend.2", + "object_pose.bookend.3", + "object_pose.bookend.4", + "object_pose.bookend.5", + "object_pose.bookend.6", + "object_pose.plate.0", + "object_pose.plate.1", + "object_pose.plate.2", + "object_pose.plate.3", + "object_pose.plate.4", + "object_pose.plate.5", + "object_pose.plate.6", + "object_pose.slot_left.0", + "object_pose.slot_left.1", + "object_pose.slot_left.2", + "object_pose.slot_left.3", + "object_pose.slot_left.4", + "object_pose.slot_left.5", + "object_pose.slot_left.6", + "object_pose.slot_right.0", + "object_pose.slot_right.1", + "object_pose.slot_right.2", + "object_pose.slot_right.3", + "object_pose.slot_right.4", + "object_pose.slot_right.5", + "object_pose.slot_right.6", + "object_pose.table_A.0", + "object_pose.table_A.1", + "object_pose.table_A.2", + "object_pose.table_A.3", + "object_pose.table_A.4", + "object_pose.table_A.5", + "object_pose.table_A.6", + "object_pose.table_B.0", + "object_pose.table_B.1", + "object_pose.table_B.2", + "object_pose.table_B.3", + "object_pose.table_B.4", + "object_pose.table_B.5", + "object_pose.table_B.6" + ] + }, + "action.command": { + "dtype": "float32", + "shape": [ + 1200 + ], + "names": null + }, + "action.applied": { + "dtype": "float32", + "shape": [ + 20 + ], + "names": null + }, + "narration": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "collect_info": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "extra.reward": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "extra.action_info": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "next.truncated": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "sim_step_idx": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "next.done": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "observation.images.head": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25, + "video.codec": "libsvtav1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.wrist": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25, + "video.codec": "libsvtav1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + } + } +} \ No newline at end of file diff --git a/N034/go2_arm/dr_off/seed_1018/rec/stationbookend/000/lerobot_v21/meta/magicsim_manifest.json b/N034/go2_arm/dr_off/seed_1018/rec/stationbookend/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..848448e80aeee0c83c2339946d8686bee3270af5 --- /dev/null +++ b/N034/go2_arm/dr_off/seed_1018/rec/stationbookend/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,290 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 03:02:20" + }, + "embodiment": { + "robots": [ + { + "name": "Go2Plus", + "cfg": "Go2PlusCfg", + "type": "mobilemanip", + "joint_names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 12, + "nan_policy": "from_raw", + "segments": [ + { + "name": "Go2Plus.base_action", + "start": 0, + "end": 4, + "names": [ + "base_action_0", + "base_action_1", + "base_action_2", + "base_action_3" + ], + "source": "Go2UnifiedLocomotionAction", + "names_source": "fallback" + }, + { + "name": "Go2Plus.arm_action", + "start": 4, + "end": 11, + "names": [ + "eef0.pos_x", + "eef0.pos_y", + "eef0.pos_z", + "eef0.quat_w", + "eef0.quat_x", + "eef0.quat_y", + "eef0.quat_z" + ], + "source": "Go2PlusCuroboIKAction", + "names_source": "pose_layout" + }, + { + "name": "Go2Plus.eef_action", + "start": 11, + "end": 12, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 26, + "segments": [ + { + "name": "Go2Plus.joint_pos", + "start": 0, + "end": 24, + "names": [ + "joint_0", + "joint_1", + "joint_2", + "joint_3", + "joint_4", + "joint_5", + "joint_6", + "joint_7", + "joint_8", + "joint_9", + "joint_10", + "joint_11", + "joint_12", + "joint_13", + "joint_14", + "joint_15", + "joint_16", + "joint_17", + "joint_18", + "joint_19", + "joint_20", + "joint_21", + "joint_22", + "joint_23" + ], + "source": "ObservationManager", + "names_source": "fallback_dim_mismatch(joint_names=20,obs=24)" + }, + { + "name": "Go2Plus.gripper_pos", + "start": 24, + "end": 26, + "names": [ + "gripper_0", + "gripper_1" + ], + "source": "ObservationManager", + "names_source": "generated" + } + ] + }, + "joint_vel_layout": { + "dim": 20, + "segments": [ + { + "name": "Go2Plus.joint_vel", + "start": 0, + "end": 20, + "names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "action_levels": { + "L0": "task command list (collect.auto_collect_info.current_action)", + "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)", + "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)", + "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy", + "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)" + }, + "cameras": { + "head": { + "intrinsics": { + "K": [ + [ + 607.7061061683956, + 0.0, + 320.0 + ], + [ + 0.0, + 607.3754374751866, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 55.53991912549515, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.33205100893974304, + 0.038026999682188034, + 0.09355899691581726 + ], + "quat": [ + -0.5022302269935608, + -0.499491810798645, + 0.5120040774345398, + 0.4859265089035034 + ] + }, + "wrist": { + "intrinsics": { + "K": [ + [ + 617.2500342478374, + 0.0, + 320.0 + ], + [ + 0.0, + 617.548655622722, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 54.807019583348044, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + -0.0749870017170906, + 0.005288999993354082, + 0.04582099989056587 + ], + "quat": [ + 0.1271296590566635, + 0.701795220375061, + -0.6904057860374451, + -0.12108422070741653 + ] + } + }, + "lerobot": { + "codebase_version": "v2.1", + "video_keys": [ + "observation.images.head", + "observation.images.wrist" + ], + "columns": [ + "action", + "action.applied", + "action.command", + "action_is_hold", + "collect_info", + "episode_index", + "extra.action_info", + "extra.reward", + "frame_index", + "index", + "narration", + "next.done", + "next.truncated", + "observation.eef_pose", + "observation.environment_state", + "observation.images.head", + "observation.images.wrist", + "observation.joint_vel", + "observation.state", + "sim_step_idx", + "task_index", + "timestamp" + ] + }, + "generated_run": { + "run_id": "stationbookend/000", + "task_type": "BookendCommand" + } +} \ No newline at end of file diff --git a/N034/go2_arm/dr_off/seed_1018/rec/stationbookend/000/lerobot_v21/meta/stats.json b/N034/go2_arm/dr_off/seed_1018/rec/stationbookend/000/lerobot_v21/meta/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..32dd427cb62ba922c42ed6d215a64d4d5defe228 --- /dev/null +++ b/N034/go2_arm/dr_off/seed_1018/rec/stationbookend/000/lerobot_v21/meta/stats.json @@ -0,0 +1,5789 @@ +{ + "action": { + "mean": [ + 0.10690216242801398, + -0.0014335466170961265, + 0.0192100548039506, + 0.3248579111603791, + 0.7665755402198747, + 1.081442288351817, + 0.6481876807418048, + 0.09053658984456042, + -0.4609620525673228, + 0.8324524881481602, + 0.05970840420444514, + 0.6918859649122807 + ], + "std": [ + 0.13500021941988063, + 0.019966363208952773, + 0.22071416362226326, + 0.03198407086582556, + 1.2990073355760472, + 1.716413129841327, + 0.05863143600861363, + 0.040969828411221015, + 0.2596801646679822, + 0.11228343494893248, + 0.032478853221567155, + 0.46171395524683345 + ], + "min": [ + 0.0, + -0.05573631450533867, + -0.800000011920929, + 0.28999999165534973, + -2.9841105937957764, + -1.946036696434021, + 0.49003058671951294, + -0.0175554770976305, + -0.7668699622154236, + 0.6296946406364441, + 0.00036000035470351577, + 0.0 + ], + "max": [ + 0.3499999940395355, + 0.25, + 0.800000011920929, + 0.3700000047683716, + 2.041412353515625, + 2.876476287841797, + 0.7240663766860962, + 0.13710671663284302, + 0.021789444610476494, + 0.999691903591156, + 0.10777164250612259, + 1.0 + ], + "count": [ + 1824 + ] + }, + "action_is_hold": { + "mean": [ + 0.125, + 0.125, + 0.125, + 0.125, + 0.15515350877192982, + 0.15515350877192982, + 0.15515350877192982, + 0.15515350877192982, + 0.15515350877192982, + 0.15515350877192982, + 0.15515350877192982, + 0.9616228070175439 + ], + "std": [ + 0.33071891388307384, + 0.33071891388307384, + 0.33071891388307384, + 0.33071891388307384, + 0.3620509597939094, + 0.3620509597939094, + 0.3620509597939094, + 0.3620509597939094, + 0.3620509597939094, + 0.3620509597939094, + 0.3620509597939094, + 0.19210513798762832 + ], + "min": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "max": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "count": [ + 1824 + ] + }, + "observation.state": { + "mean": [ + 0.005125299626321453, + -0.01593475895633776, + -0.04114815824408125, + 0.06879237680981246, + -0.11750414800887181, + 0.7329521149952423, + 0.768792137356573, + 0.9607744310704762, + 0.9252247578676855, + 2.1658513327701048, + -1.542481123355397, + -1.5444576033113295, + -1.5485395034938527, + -1.5973773734611378, + -1.7186051857445324, + 0.03619989545174226, + 0.9807800576417592, + 0.0075850851327578525, + 0.018078120659206755, + -0.01852431239726555, + 0.5487583684053358, + 0.6647962177141157, + 1.1514635146411725, + 0.35450916531446736, + -0.01852431239726555, + -0.018078120659206755 + ], + "std": [ + 0.05629102345484784, + 0.05725585983241395, + 0.0409352862444827, + 0.04510234816018862, + 0.12627490337076439, + 0.11750369648672393, + 0.13892915649290602, + 0.17443885631853304, + 0.15401871375235507, + 0.29144399842529994, + 0.17953871780018354, + 0.1830134814526376, + 0.18742669133253695, + 0.19587995818228154, + 0.4603659940916007, + 0.024160237293200593, + 0.20420356447877683, + 0.4857874611454866, + 0.01318387382078929, + 0.013172618033458513, + 1.3321195403832262, + 1.58882342942727, + 0.4593797028101801, + 0.030500016041312198, + 0.013172618033458513, + 0.01318387382078929 + ], + "min": [ + -0.16308215260505676, + -0.1948876678943634, + -0.16831955313682556, + -0.07942201942205429, + -0.480459988117218, + 0.4774772822856903, + 0.4670349657535553, + 0.59644615650177, + 0.6109150648117065, + 1.7043280601501465, + -1.8111493587493896, + -1.8088817596435547, + -1.8301372528076172, + -1.8461321592330933, + -2.5551602840423584, + -0.0017618703423067927, + 0.4822476804256439, + -0.42167454957962036, + 0.0, + -0.03500000014901161, + -3.319344997406006, + -2.1139252185821533, + 0.050671640783548355, + 0.31786641478538513, + -0.03500000014901161, + -0.03500000014901161 + ], + "max": [ + 0.1854618638753891, + 0.21217945218086243, + 0.15182629227638245, + 0.19115011394023895, + 0.0008604371105320752, + 0.9292232394218445, + 0.9850127696990967, + 1.4094412326812744, + 1.413698673248291, + 2.7962160110473633, + -1.1266051530838013, + -1.1996963024139404, + -1.1046221256256104, + -1.1915220022201538, + -0.9757206439971924, + 0.10018935054540634, + 1.2193220853805542, + 1.3686140775680542, + 0.03500000014901161, + 0.0, + 1.7302111387252808, + 2.3287885189056396, + 1.9085801839828491, + 0.40173330903053284, + 0.0, + -0.0 + ], + "count": [ + 1824 + ] + }, + "observation.joint_vel": { + "mean": [ + 0.0017542636764171235, + -2.5634642736947983e-05, + 0.0045990990812430155, + 0.0005828970244030579, + -0.0004586950612309094, + 0.01727243654123381, + 0.004392980764742716, + 0.01138363284562011, + 0.009395497564714549, + 0.007807157469443382, + -0.0172402616910619, + 0.0009522056835449851, + -0.006378488431848159, + -0.005730086999316579, + -0.012437851298901785, + -0.0015377352595649292, + 0.014497979269515526, + 0.005620758247583549, + -0.0010246195577996013, + -1.2470164538098352e-05 + ], + "std": [ + 0.34575692156460364, + 0.3195038101649961, + 0.39285297059973334, + 0.4562061749522538, + 0.11048171290848635, + 0.9198605973728221, + 0.9092924155080282, + 0.7151981722383471, + 0.6182535077505571, + 0.15064143367727037, + 0.52064884106564, + 0.8123459583764752, + 0.798111486015545, + 0.8841047759247932, + 0.19461568216375771, + 0.0300509348470697, + 0.09929489343969969, + 0.15995431731816465, + 0.013770965299848585, + 0.01494260337646544 + ], + "min": [ + -2.668765068054199, + -3.6460788249969482, + -1.883971929550171, + -2.642134666442871, + -1.0865554809570312, + -4.916371822357178, + -4.957383155822754, + -3.845930337905884, + -3.7837374210357666, + -2.00759220123291, + -3.046041488647461, + -7.362349987030029, + -3.5602400302886963, + -4.619984149932861, + -2.3455586433410645, + -0.282887727022171, + -0.6868162751197815, + -0.41953951120376587, + -0.20009416341781616, + -0.20006510615348816 + ], + "max": [ + 3.461191177368164, + 2.4251933097839355, + 5.089822769165039, + 2.6061997413635254, + 0.4528951048851013, + 1.453986406326294, + 2.364868640899658, + 3.268280029296875, + 4.411120891571045, + 1.7730268239974976, + 2.7566869258880615, + 4.496042728424072, + 3.2593588829040527, + 3.365583658218384, + 1.8846019506454468, + 0.22145524621009827, + 0.7112261652946472, + 1.3517829179763794, + 0.2000173032283783, + 0.20034661889076233 + ], + "count": [ + 1824 + ] + }, + "observation.eef_pose": { + "mean": [ + 0.7643325731373727, + 1.079130619366065, + 0.6466515499510264, + 0.09393751350019061, + -0.463007118026246, + 0.8303192401010739, + 0.063538517182072 + ], + "std": [ + 1.2982483923958579, + 1.7144182969569457, + 0.05783518348072144, + 0.04142826057999441, + 0.25997301264547495, + 0.11393498725052043, + 0.03239671515623541 + ], + "min": [ + -2.984128475189209, + -1.9460450410842896, + 0.48976683616638184, + -0.017879784107208252, + -0.7822833061218262, + 0.6105788350105286, + -0.0002619624137878418 + ], + "max": [ + 2.0485854148864746, + 2.871648073196411, + 0.7238426208496094, + 0.16592800617218018, + 0.024851743131875992, + 0.999690592288971, + 0.1209145188331604 + ], + "count": [ + 1824 + ] + }, + "observation.environment_state": { + "mean": [ + 0.8976955663674744, + 1.3028213980572203, + 0.45241946292420226, + 0.7574904571826521, + -0.001556412809645519, + 0.0028176985591155737, + 0.6344186482101417, + 1.8884972217574454, + 2.8577332547620724, + 0.33000003961486774, + 0.7219061200556002, + 3.2751514027134176e-08, + 2.0286493791546603e-07, + 0.6919901593539276, + 1.7858948707580566, + 2.874054431915283, + 0.37049999833106995, + 0.9997830986976624, + 0.0, + 0.0, + -0.020826799795031548, + -0.44096964597702026, + -0.27669572830200195, + 0.3474999964237213, + 0.9998579025268555, + 0.0, + 0.0, + -0.016857484355568886, + -0.3879997730255127, + -0.2784825265407562, + 0.3474999964237213, + 0.9998579025268555, + 0.0, + 0.0, + -0.016857484355568886, + -0.41043907403945923, + -0.15765735507011414, + 0.18000000715255737, + 0.9998579025268555, + 0.0, + 0.0, + -0.016857484355568886, + 1.8185346126556396, + 2.972780704498291, + 0.18000000715255737, + 0.9997830986976624, + 0.0, + 0.0, + -0.020826799795031548 + ], + "std": [ + 0.9837781144434341, + 1.4688381658846215, + 0.06646645213135706, + 0.07210933147264374, + 0.005169049847326464, + 0.005644797688877257, + 0.13583994781802042, + 0.015754909944251883, + 0.003307997648394746, + 9.431456964900881e-08, + 0.0007541732493347563, + 5.1121190708673e-06, + 4.756830080695739e-06, + 0.0007895625124010919, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 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": [ + -0.4158080518245697, + -0.7923662066459656, + 0.39999905228614807, + 0.7026448249816895, + -0.020895855501294136, + -0.023899268358945847, + 0.08793449401855469, + 1.8332312107086182, + 2.8567636013031006, + 0.3299998641014099, + 0.7216798663139343, + -0.00020976364612579346, + -0.00019490718841552734, + 0.6868868470191956, + 1.7858948707580566, + 2.874054431915283, + 0.37049999833106995, + 0.9997830986976624, + 0.0, + 0.0, + -0.020826799795031548, + -0.44096964597702026, + -0.27669572830200195, + 0.3474999964237213, + 0.9998579025268555, + 0.0, + 0.0, + -0.016857484355568886, + -0.3879997730255127, + -0.2784825265407562, + 0.3474999964237213, + 0.9998579025268555, + 0.0, + 0.0, + -0.016857484355568886, + -0.41043907403945923, + -0.15765735507011414, + 0.18000000715255737, + 0.9998579025268555, + 0.0, + 0.0, + -0.016857484355568886, + 1.8185346126556396, + 2.972780704498291, + 0.18000000715255737, + 0.9997830986976624, + 0.0, + 0.0, + -0.020826799795031548 + ], + "max": [ + 1.9485183954238892, + 2.8537402153015137, + 0.5709564089775085, + 0.9960486888885498, + 0.06977518647909164, + 0.06325401365756989, + 0.7115311622619629, + 1.8931349515914917, + 2.8693747520446777, + 0.33000385761260986, + 0.7267643213272095, + 1.846254053816665e-05, + 1.655519190535415e-05, + 0.6922269463539124, + 1.7858948707580566, + 2.874054431915283, + 0.37049999833106995, + 0.9997830986976624, + 0.0, + 0.0, + -0.020826799795031548, + -0.44096964597702026, + -0.27669572830200195, + 0.3474999964237213, + 0.9998579025268555, + 0.0, + 0.0, + -0.016857484355568886, + -0.3879997730255127, + -0.2784825265407562, + 0.3474999964237213, + 0.9998579025268555, + 0.0, + 0.0, + -0.016857484355568886, + -0.41043907403945923, + -0.15765735507011414, + 0.18000000715255737, + 0.9998579025268555, + 0.0, + 0.0, + -0.016857484355568886, + 1.8185346126556396, + 2.972780704498291, + 0.18000000715255737, + 0.9997830986976624, + 0.0, + 0.0, + -0.020826799795031548 + ], + "count": [ + 1824 + ] + }, + "action.command": { + "mean": [ + -1.01739672290212, + -0.8677451596069893, + 1.251189084165523, + 0.7699731194243139, + 0.0, + 0.0, + 0.6365386765830371, + 0.6833225178455549, + 0.6579221224220134, + 0.8940734969455649, + 0.6538102550409121, + 0.09310170442307786, + -0.44356421654406963, + 0.843480725167712, + 0.05753193000041578, + 0.5714285714285714, + -1.451544354473494, + -1.2623228955999646, + 1.531815501008454, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.15379702268432383, + 0.003980161890977492, + 0.6918804455229758, + 0.1104656438299218, + -0.382189206198562, + 0.8888408497527793, + 0.045894928239666566, + 0.0, + -1.4127453870471867, + -1.2521935747044297, + 1.531815501008454, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.15379702268432383, + 0.003980161890977492, + 0.6918804455229758, + 0.1104656438299218, + -0.382189206198562, + 0.8888408497527793, + 0.045894928239666566, + 0.0, + -1.3400809553619546, + -1.2413599212507636, + 1.531815501008454, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.15379702268432383, + 0.003980161890977492, + 0.6918804455229758, + 0.1104656438299218, + -0.382189206198562, + 0.8888408497527793, + 0.045894928239666566, + 0.0, + -1.298498669917556, + -1.2319916742514834, + 1.531815501008454, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.15379702268432383, + 0.003980161890977492, + 0.6918804455229758, + 0.1104656438299218, + -0.382189206198562, + 0.8888408497527793, + 0.045894928239666566, + 0.0, + -1.2300361064887138, + -1.220578013023654, + 1.531815501008454, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.15379702268432383, + 0.003980161890977492, + 0.6918804455229758, + 0.1104656438299218, + -0.382189206198562, + 0.8888408497527793, + 0.045894928239666566, + 0.0, + -1.1910936146746194, + -1.2143005093852222, + 1.531815501008454, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.15379702268432383, + 0.003980161890977492, + 0.6918804455229758, + 0.1104656438299218, + -0.382189206198562, + 0.8888408497527793, + 0.045894928239666566, + 0.0, + -1.1205195358658202, + -1.1998769410268557, + 1.531815501008454, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.15379702268432383, + 0.003980161890977492, + 0.6918804455229758, + 0.1104656438299218, + -0.382189206198562, + 0.8888408497527793, + 0.045894928239666566, + 0.0, + -1.0546306131329117, + -1.186491533029125, + 1.531815501008454, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.15379702268432383, + 0.003980161890977492, + 0.6918804455229758, + 0.1104656438299218, + -0.382189206198562, + 0.8888408497527793, + 0.045894928239666566, + 0.0, + -1.0117024096207143, + -1.179258241964026, + 1.531815501008454, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.15379702268432383, + 0.003980161890977492, + 0.6918804455229758, + 0.1104656438299218, + -0.382189206198562, + 0.8888408497527793, + 0.045894928239666566, + 0.0, + -0.9447054902655412, + -1.1670544761807526, + 1.531815501008454, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.15379702268432383, + 0.003980161890977492, + 0.6918804455229758, + 0.1104656438299218, + -0.382189206198562, + 0.8888408497527793, + 0.045894928239666566, + 0.0, + -0.9069957755563132, + -1.159109632859285, + 1.531815501008454, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.15379702268432383, + 0.003980161890977492, + 0.6918804455229758, + 0.1104656438299218, + -0.382189206198562, + 0.8888408497527793, + 0.045894928239666566, + 0.0, + -0.8736812155765136, + -1.1534055270454435, + 1.531815501008454, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.15379702268432383, + 0.003980161890977492, + 0.6918804455229758, + 0.1104656438299218, + -0.382189206198562, + 0.8888408497527793, + 0.045894928239666566, + 0.0, + -0.8070436976421839, + -1.13950352193752, + 1.531815501008454, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.15379702268432383, + 0.003980161890977492, + 0.6918804455229758, + 0.1104656438299218, + -0.382189206198562, + 0.8888408497527793, + 0.045894928239666566, + 0.0, + -0.7473997929315458, + -1.1267232476979836, + 1.531815501008454, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.15379702268432383, + 0.003980161890977492, + 0.6918804455229758, + 0.1104656438299218, + -0.382189206198562, + 0.8888408497527793, + 0.045894928239666566, + 0.0, + -0.7200633231479089, + -1.0899753111532364, + 1.531815501008454, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.15379702268432383, + 0.003980161890977492, + 0.6918804455229758, + 0.1104656438299218, + -0.382189206198562, + 0.8888408497527793, + 0.045894928239666566, + 0.0, + -0.6715904762004984, + -1.0274082056864011, + 1.531815501008454, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.15379702268432383, + 0.003980161890977492, + 0.6918804455229758, + 0.1104656438299218, + -0.382189206198562, + 0.8888408497527793, + 0.045894928239666566, + 0.0, + -0.6496368975474917, + -1.0110057375440196, + 1.531815501008454, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.15379702268432383, + 0.003980161890977492, + 0.6918804455229758, + 0.1104656438299218, + -0.382189206198562, + 0.8888408497527793, + 0.045894928239666566, + 0.0, + -0.6135317265302286, + -0.9569840581937769, + 1.531815501008454, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.15379702268432383, + 0.003980161890977492, + 0.6918804455229758, + 0.1104656438299218, + -0.382189206198562, + 0.8888408497527793, + 0.045894928239666566, + 0.0, + -0.5807315107734724, + -0.9347084881702146, + 1.531815501008454, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.15379702268432383, + 0.003980161890977492, + 0.6918804455229758, + 0.1104656438299218, + -0.382189206198562, + 0.8888408497527793, + 0.045894928239666566, + 0.0, + -0.5496540763825749, + -0.9149281193013392, + 1.531815501008454, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.15379702268432383, + 0.003980161890977492, + 0.6918804455229758, + 0.1104656438299218, + -0.382189206198562, + 0.8888408497527793, + 0.045894928239666566, + 0.0, + -0.5236710339670437, + -0.8800613196188463, + 1.531815501008454, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.15379702268432383, + 0.003980161890977492, + 0.6918804455229758, + 0.1104656438299218, + -0.382189206198562, + 0.8888408497527793, + 0.045894928239666566, + 0.0, + -0.49180606018994505, + -0.8440313339233398, + 1.531815501008454, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.15379702268432383, + 0.003980161890977492, + 0.6918804455229758, + 0.1104656438299218, + -0.382189206198562, + 0.8888408497527793, + 0.045894928239666566, + 0.0, + -0.4673299253900389, + -0.8225687830155837, + 1.531815501008454, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.15379702268432383, + 0.003980161890977492, + 0.6918804455229758, + 0.1104656438299218, + -0.382189206198562, + 0.8888408497527793, + 0.045894928239666566, + 0.0, + -0.4330660860657235, + -0.767655630906423, + 1.531815501008454, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.15379702268432383, + 0.003980161890977492, + 0.6918804455229758, + 0.1104656438299218, + -0.382189206198562, + 0.8888408497527793, + 0.045894928239666566, + 0.0, + -0.39100313620549054, + -0.724907853879691, + 1.531815501008454, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.15379702268432383, + 0.003980161890977492, + 0.6918804455229758, + 0.1104656438299218, + -0.382189206198562, + 0.8888408497527793, + 0.045894928239666566, + 0.0, + -0.3483163406108988, + -0.6815486681644031, + 1.531815501008454, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.15379702268432383, + 0.003980161890977492, + 0.6918804455229758, + 0.1104656438299218, + -0.382189206198562, + 0.8888408497527793, + 0.045894928239666566, + 0.0, + -0.31638532876968384, + -0.6306916479577963, + 1.531815501008454, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.15379702268432383, + 0.003980161890977492, + 0.6918804455229758, + 0.1104656438299218, + -0.382189206198562, + 0.8888408497527793, + 0.045894928239666566, + 0.0, + -0.2903775495130897, + -0.604869043918405, + 1.531815501008454, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.15379702268432383, + 0.003980161890977492, + 0.6918804455229758, + 0.1104656438299218, + -0.382189206198562, + 0.8888408497527793, + 0.045894928239666566, + 0.0, + -0.24151919993404228, + -0.535852679690182, + 1.531815501008454, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.15379702268432383, + 0.003980161890977492, + 0.6918804455229758, + 0.1104656438299218, + -0.382189206198562, + 0.8888408497527793, + 0.045894928239666566, + 0.0, + -0.22998901071219607, + -0.5274805564262058, + 1.531815501008454, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.15379702268432383, + 0.003980161890977492, + 0.6918804455229758, + 0.1104656438299218, + -0.382189206198562, + 0.8888408497527793, + 0.045894928239666566, + 0.0, + -0.18930057479047227, + -0.486554576462256, + 1.531815501008454, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.15379702268432383, + 0.003980161890977492, + 0.6918804455229758, + 0.1104656438299218, + -0.382189206198562, + 0.8888408497527793, + 0.045894928239666566, + 0.0, + -0.14548799749535163, + -0.4413469910507458, + 1.531815501008454, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.15379702268432383, + 0.003980161890977492, + 0.6918804455229758, + 0.1104656438299218, + -0.382189206198562, + 0.8888408497527793, + 0.045894928239666566, + 0.0, + -0.13468637914036424, + -0.4324276309703045, + 1.531815501008454, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.15379702268432383, + 0.003980161890977492, + 0.6918804455229758, + 0.1104656438299218, + -0.382189206198562, + 0.8888408497527793, + 0.045894928239666566, + 0.0, + -0.08826005367483672, + -0.364318428768052, + 1.531815501008454, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.15379702268432383, + 0.003980161890977492, + 0.6918804455229758, + 0.1104656438299218, + -0.382189206198562, + 0.8888408497527793, + 0.045894928239666566, + 0.0, + -0.06174135801892628, + -0.34147762338777155, + 1.531815501008454, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.15379702268432383, + 0.003980161890977492, + 0.6918804455229758, + 0.1104656438299218, + -0.382189206198562, + 0.8888408497527793, + 0.045894928239666566, + 0.0, + -0.026124933670307028, + -0.2852288032400197, + 1.531815501008454, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.15379702268432383, + 0.003980161890977492, + 0.6918804455229758, + 0.1104656438299218, + -0.382189206198562, + 0.8888408497527793, + 0.045894928239666566, + 0.0, + 0.009734650681302009, + -0.2535944952133515, + 1.531815501008454, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.15379702268432383, + 0.003980161890977492, + 0.6918804455229758, + 0.1104656438299218, + -0.382189206198562, + 0.8888408497527793, + 0.045894928239666566, + 0.0, + 0.05906382328705769, + -0.19823672237067386, + 1.531815501008454, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.15379702268432383, + 0.003980161890977492, + 0.6918804455229758, + 0.1104656438299218, + -0.382189206198562, + 0.8888408497527793, + 0.045894928239666566, + 0.0, + 0.08052760453973237, + -0.16708830193084775, + 1.531815501008454, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.15379702268432383, + 0.003980161890977492, + 0.6918804455229758, + 0.1104656438299218, + -0.382189206198562, + 0.8888408497527793, + 0.045894928239666566, + 0.0, + 0.11487690744728878, + -0.12171278351568171, + 1.531815501008454, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.15379702268432383, + 0.003980161890977492, + 0.6918804455229758, + 0.1104656438299218, + -0.382189206198562, + 0.8888408497527793, + 0.045894928239666566, + 0.0, + 0.1509163660564642, + -0.08126309342768001, + 1.531815501008454, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.15379702268432383, + 0.003980161890977492, + 0.6918804455229758, + 0.1104656438299218, + -0.382189206198562, + 0.8888408497527793, + 0.045894928239666566, + 0.0, + 0.1781284265591267, + -0.042656812402937144, + 1.531815501008454, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.15379702268432383, + 0.003980161890977492, + 0.6918804455229758, + 0.1104656438299218, + -0.382189206198562, + 0.8888408497527793, + 0.045894928239666566, + 0.0, + 0.22125559908220138, + 0.00456124726839906, + 1.531815501008454, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.15379702268432383, + 0.003980161890977492, + 0.6918804455229758, + 0.1104656438299218, + -0.382189206198562, + 0.8888408497527793, + 0.045894928239666566, + 0.0, + 0.2628432192564924, + 0.04390756312001254, + 1.531815501008454, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.15379702268432383, + 0.003980161890977492, + 0.6918804455229758, + 0.1104656438299218, + -0.382189206198562, + 0.8888408497527793, + 0.045894928239666566, + 0.0, + 0.29165373999496985, + 0.09050427086051853, + 1.531815501008454, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.15379702268432383, + 0.003980161890977492, + 0.6918804455229758, + 0.1104656438299218, + -0.382189206198562, + 0.8888408497527793, + 0.045894928239666566, + 0.0, + 0.3175599195948049, + 0.11997806317961536, + 1.531815501008454, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.15379702268432383, + 0.003980161890977492, + 0.6918804455229758, + 0.1104656438299218, + -0.382189206198562, + 0.8888408497527793, + 0.045894928239666566, + 0.0, + 0.3620071877008197, + 0.17621915527687218, + 1.531815501008454, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.15379702268432383, + 0.003980161890977492, + 0.6918804455229758, + 0.1104656438299218, + -0.382189206198562, + 0.8888408497527793, + 0.045894928239666566, + 0.0, + 0.3819192643366554, + 0.19942161703475134, + 1.531815501008454, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.15379702268432383, + 0.003980161890977492, + 0.6918804455229758, + 0.1104656438299218, + -0.382189206198562, + 0.8888408497527793, + 0.045894928239666566, + 0.0, + 0.43261366420321995, + 0.2623496078440056, + 1.531815501008454, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.15379702268432383, + 0.003980161890977492, + 0.6918804455229758, + 0.1104656438299218, + -0.382189206198562, + 0.8888408497527793, + 0.045894928239666566, + 0.0, + 0.46693576706780326, + 0.28609153913812163, + 1.531815501008454, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.15379702268432383, + 0.003980161890977492, + 0.6918804455229758, + 0.1104656438299218, + -0.382189206198562, + 0.8888408497527793, + 0.045894928239666566, + 0.0, + 0.5029669963537048, + 0.34794997164116054, + 1.531815501008454, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.15379702268432383, + 0.003980161890977492, + 0.6918804455229758, + 0.1104656438299218, + -0.382189206198562, + 0.8888408497527793, + 0.045894928239666566, + 0.0, + 0.5204358603305743, + 0.3617362756838744, + 1.531815501008454, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.15379702268432383, + 0.003980161890977492, + 0.6918804455229758, + 0.1104656438299218, + -0.382189206198562, + 0.8888408497527793, + 0.045894928239666566, + 0.0, + 0.5736725426268303, + 0.4342293529218184, + 1.531815501008454, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.15379702268432383, + 0.003980161890977492, + 0.6918804455229758, + 0.1104656438299218, + -0.382189206198562, + 0.8888408497527793, + 0.045894928239666566, + 0.0, + 0.5857153258561174, + 0.4415016562545893, + 1.531815501008454, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.15379702268432383, + 0.003980161890977492, + 0.6918804455229758, + 0.1104656438299218, + -0.382189206198562, + 0.8888408497527793, + 0.045894928239666566, + 0.0, + 0.6359397346489274, + 0.5030848322243526, + 1.531815501008454, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.15379702268432383, + 0.003980161890977492, + 0.6918804455229758, + 0.1104656438299218, + -0.382189206198562, + 0.8888408497527793, + 0.045894928239666566, + 0.0, + 0.6699892597636957, + 0.5279118494055737, + 1.531815501008454, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.15379702268432383, + 0.003980161890977492, + 0.6918804455229758, + 0.1104656438299218, + -0.382189206198562, + 0.8888408497527793, + 0.045894928239666566, + 0.0, + 0.6785000416510863, + 0.5317869245777642, + 1.531815501008454, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.15379702268432383, + 0.003980161890977492, + 0.6918804455229758, + 0.1104656438299218, + -0.382189206198562, + 0.8888408497527793, + 0.045894928239666566, + 0.0, + 0.729224838059524, + 0.6055629888256847, + 1.531815501008454, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.15379702268432383, + 0.003980161890977492, + 0.6918804455229758, + 0.1104656438299218, + -0.382189206198562, + 0.8888408497527793, + 0.045894928239666566, + 0.0, + 0.7371336550548159, + 0.6139832077355221, + 1.531815501008454, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.15379702268432383, + 0.003980161890977492, + 0.6918804455229758, + 0.1104656438299218, + -0.382189206198562, + 0.8888408497527793, + 0.045894928239666566, + 0.0, + 1.38369882106781, + 1.5832624435424805, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.963851562182568, + 0.7332517301416122, + 0.7014237981081468, + 0.1056573192565657, + -0.4767760477371528, + 0.8487268689739911, + 0.057149626232095074, + 0.0, + 1.3923687934875488, + 1.600738763809204, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.963851562182568, + 0.7332517301416122, + 0.7014237981081468, + 0.1056573192565657, + -0.4767760477371528, + 0.8487268689739911, + 0.057149626232095074, + 0.0, + 1.4352548122406006, + 1.6871854066848755, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.963851562182568, + 0.7332517301416122, + 0.7014237981081468, + 0.1056573192565657, + -0.4767760477371528, + 0.8487268689739911, + 0.057149626232095074, + 0.0, + 1.4480271339416504, + 1.7129309177398682, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.963851562182568, + 0.7332517301416122, + 0.7014237981081468, + 0.1056573192565657, + -0.4767760477371528, + 0.8487268689739911, + 0.057149626232095074, + 0.0, + 1.4868109226226807, + 1.79110848903656, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.963851562182568, + 0.7332517301416122, + 0.7014237981081468, + 0.1056573192565657, + -0.4767760477371528, + 0.8487268689739911, + 0.057149626232095074, + 0.0, + 1.5033378601074219, + 1.8244222402572632, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.963851562182568, + 0.7332517301416122, + 0.7014237981081468, + 0.1056573192565657, + -0.4767760477371528, + 0.8487268689739911, + 0.057149626232095074, + 0.0, + 1.5383670330047607, + 1.8950315713882446, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.963851562182568, + 0.7332517301416122, + 0.7014237981081468, + 0.1056573192565657, + -0.4767760477371528, + 0.8487268689739911, + 0.057149626232095074, + 0.0, + 1.5589250326156616, + 1.9364709854125977, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.963851562182568, + 0.7332517301416122, + 0.7014237981081468, + 0.1056573192565657, + -0.4767760477371528, + 0.8487268689739911, + 0.057149626232095074, + 0.0, + 1.5900375843048096, + 1.99918532371521, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.963851562182568, + 0.7332517301416122, + 0.7014237981081468, + 0.1056573192565657, + -0.4767760477371528, + 0.8487268689739911, + 0.057149626232095074, + 0.0, + 1.614209771156311, + 2.04790997505188, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.963851562182568, + 0.7332517301416122, + 0.7014237981081468, + 0.1056573192565657, + -0.4767760477371528, + 0.8487268689739911, + 0.057149626232095074, + 0.0, + 1.642195701599121, + 2.1043219566345215, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.963851562182568, + 0.7332517301416122, + 0.7014237981081468, + 0.1056573192565657, + -0.4767760477371528, + 0.8487268689739911, + 0.057149626232095074, + 0.0, + 1.66889488697052, + 2.158140182495117, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.963851562182568, + 0.7332517301416122, + 0.7014237981081468, + 0.1056573192565657, + -0.4767760477371528, + 0.8487268689739911, + 0.057149626232095074, + 0.0, + 1.6953859329223633, + 2.211538791656494, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.963851562182568, + 0.7332517301416122, + 0.7014237981081468, + 0.1056573192565657, + -0.4767760477371528, + 0.8487268689739911, + 0.057149626232095074, + 0.0, + 1.7222574949264526, + 2.26570463180542, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.963851562182568, + 0.7332517301416122, + 0.7014237981081468, + 0.1056573192565657, + -0.4767760477371528, + 0.8487268689739911, + 0.057149626232095074, + 0.0, + 1.7796720266342163, + 2.3018078804016113, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.963851562182568, + 0.7332517301416122, + 0.7014237981081468, + 0.1056573192565657, + -0.4767760477371528, + 0.8487268689739911, + 0.057149626232095074, + 0.0 + ], + "std": [ + 1.5016740316367276, + 1.1778175001794162, + 0.5018832328445381, + 0.029047407316548104, + 0.0, + 0.0, + 0.03340907804433619, + 1.3778307275434607, + 1.3271381289713378, + 1.71356761019084, + 0.05494015495352107, + 0.04014691724591265, + 0.25505971023636115, + 0.11005471452219658, + 0.03215280283661962, + 0.49487165930539406, + 1.3223164217545547, + 0.6038748850266822, + 0.0037521854384264435, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.343498521240955, + 1.3867139175466263, + 0.014785577078724575, + 0.010536329030100487, + 0.2045907384589845, + 0.0836698354271919, + 0.024801539398575836, + 0.0, + 1.29931942930513, + 0.5933743055150568, + 0.0037521854384264435, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.343498521240955, + 1.3867139175466263, + 0.014785577078724575, + 0.010536329030100487, + 0.2045907384589845, + 0.0836698354271919, + 0.024801539398575836, + 0.0, + 1.3304611990127675, + 0.5938654974208794, + 0.0037521854384264435, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.343498521240955, + 1.3867139175466263, + 0.014785577078724575, + 0.010536329030100487, + 0.2045907384589845, + 0.0836698354271919, + 0.024801539398575836, + 0.0, + 1.3193832041423328, + 0.5862971070390901, + 0.0037521854384264435, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.343498521240955, + 1.3867139175466263, + 0.014785577078724575, + 0.010536329030100487, + 0.2045907384589845, + 0.0836698354271919, + 0.024801539398575836, + 0.0, + 1.3377209319750714, + 0.5837711825316675, + 0.0037521854384264435, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.343498521240955, + 1.3867139175466263, + 0.014785577078724575, + 0.010536329030100487, + 0.2045907384589845, + 0.0836698354271919, + 0.024801539398575836, + 0.0, + 1.3501098544170589, + 0.5828663434724876, + 0.0037521854384264435, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.343498521240955, + 1.3867139175466263, + 0.014785577078724575, + 0.010536329030100487, + 0.2045907384589845, + 0.0836698354271919, + 0.024801539398575836, + 0.0, + 1.344772573368714, + 0.5736783892328071, + 0.0037521854384264435, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.343498521240955, + 1.3867139175466263, + 0.014785577078724575, + 0.010536329030100487, + 0.2045907384589845, + 0.0836698354271919, + 0.024801539398575836, + 0.0, + 1.3405252722938203, + 0.5653002028332741, + 0.0037521854384264435, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.343498521240955, + 1.3867139175466263, + 0.014785577078724575, + 0.010536329030100487, + 0.2045907384589845, + 0.0836698354271919, + 0.024801539398575836, + 0.0, + 1.3513251930062513, + 0.5635266765744439, + 0.0037521854384264435, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.343498521240955, + 1.3867139175466263, + 0.014785577078724575, + 0.010536329030100487, + 0.2045907384589845, + 0.0836698354271919, + 0.024801539398575836, + 0.0, + 1.3598357436771025, + 0.5584922694933835, + 0.0037521854384264435, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.343498521240955, + 1.3867139175466263, + 0.014785577078724575, + 0.010536329030100487, + 0.2045907384589845, + 0.0836698354271919, + 0.024801539398575836, + 0.0, + 1.354814039409918, + 0.5529935237583541, + 0.0037521854384264435, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.343498521240955, + 1.3867139175466263, + 0.014785577078724575, + 0.010536329030100487, + 0.2045907384589845, + 0.0836698354271919, + 0.024801539398575836, + 0.0, + 1.362368599873891, + 0.5513926134710141, + 0.0037521854384264435, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.343498521240955, + 1.3867139175466263, + 0.014785577078724575, + 0.010536329030100487, + 0.2045907384589845, + 0.0836698354271919, + 0.024801539398575836, + 0.0, + 1.3547486409637324, + 0.5420162356268025, + 0.0037521854384264435, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.343498521240955, + 1.3867139175466263, + 0.014785577078724575, + 0.010536329030100487, + 0.2045907384589845, + 0.0836698354271919, + 0.024801539398575836, + 0.0, + 1.3448520905531214, + 0.5327883255517422, + 0.0037521854384264435, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.343498521240955, + 1.3867139175466263, + 0.014785577078724575, + 0.010536329030100487, + 0.2045907384589845, + 0.0836698354271919, + 0.024801539398575836, + 0.0, + 1.345431675587029, + 0.5523798156520785, + 0.0037521854384264435, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.343498521240955, + 1.3867139175466263, + 0.014785577078724575, + 0.010536329030100487, + 0.2045907384589845, + 0.0836698354271919, + 0.024801539398575836, + 0.0, + 1.3427466744444088, + 0.5839703699790242, + 0.0037521854384264435, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.343498521240955, + 1.3867139175466263, + 0.014785577078724575, + 0.010536329030100487, + 0.2045907384589845, + 0.0836698354271919, + 0.024801539398575836, + 0.0, + 1.324449550531888, + 0.5837907941405692, + 0.0037521854384264435, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.343498521240955, + 1.3867139175466263, + 0.014785577078724575, + 0.010536329030100487, + 0.2045907384589845, + 0.0836698354271919, + 0.024801539398575836, + 0.0, + 1.3330669929245416, + 0.6163260870068952, + 0.0037521854384264435, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.343498521240955, + 1.3867139175466263, + 0.014785577078724575, + 0.010536329030100487, + 0.2045907384589845, + 0.0836698354271919, + 0.024801539398575836, + 0.0, + 1.3025368320920612, + 0.6133496590466174, + 0.0037521854384264435, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.343498521240955, + 1.3867139175466263, + 0.014785577078724575, + 0.010536329030100487, + 0.2045907384589845, + 0.0836698354271919, + 0.024801539398575836, + 0.0, + 1.2717135396971626, + 0.6089209576337314, + 0.0037521854384264435, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.343498521240955, + 1.3867139175466263, + 0.014785577078724575, + 0.010536329030100487, + 0.2045907384589845, + 0.0836698354271919, + 0.024801539398575836, + 0.0, + 1.2721760186296283, + 0.6274674392086464, + 0.0037521854384264435, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.343498521240955, + 1.3867139175466263, + 0.014785577078724575, + 0.010536329030100487, + 0.2045907384589845, + 0.0836698354271919, + 0.024801539398575836, + 0.0, + 1.2590934975437462, + 0.6406377194266092, + 0.0037521854384264435, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.343498521240955, + 1.3867139175466263, + 0.014785577078724575, + 0.010536329030100487, + 0.2045907384589845, + 0.0836698354271919, + 0.024801539398575836, + 0.0, + 1.2411557366400858, + 0.6435633854422893, + 0.0037521854384264435, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.343498521240955, + 1.3867139175466263, + 0.014785577078724575, + 0.010536329030100487, + 0.2045907384589845, + 0.0836698354271919, + 0.024801539398575836, + 0.0, + 1.247621438951286, + 0.6764411629356718, + 0.0037521854384264435, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.343498521240955, + 1.3867139175466263, + 0.014785577078724575, + 0.010536329030100487, + 0.2045907384589845, + 0.0836698354271919, + 0.024801539398575836, + 0.0, + 1.2242405126266507, + 0.6882557695548057, + 0.0037521854384264435, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.343498521240955, + 1.3867139175466263, + 0.014785577078724575, + 0.010536329030100487, + 0.2045907384589845, + 0.0836698354271919, + 0.024801539398575836, + 0.0, + 1.2004840634400746, + 0.7002194074950602, + 0.0037521854384264435, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.343498521240955, + 1.3867139175466263, + 0.014785577078724575, + 0.010536329030100487, + 0.2045907384589845, + 0.0836698354271919, + 0.024801539398575836, + 0.0, + 1.2061065933675201, + 0.7304914227764846, + 0.0037521854384264435, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.343498521240955, + 1.3867139175466263, + 0.014785577078724575, + 0.010536329030100487, + 0.2045907384589845, + 0.0836698354271919, + 0.024801539398575836, + 0.0, + 1.1908772210136283, + 0.7370920359094995, + 0.0037521854384264435, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.343498521240955, + 1.3867139175466263, + 0.014785577078724575, + 0.010536329030100487, + 0.2045907384589845, + 0.0836698354271919, + 0.024801539398575836, + 0.0, + 1.188305028888647, + 0.7732255659020946, + 0.0037521854384264435, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.343498521240955, + 1.3867139175466263, + 0.014785577078724575, + 0.010536329030100487, + 0.2045907384589845, + 0.0836698354271919, + 0.024801539398575836, + 0.0, + 1.1776475283281562, + 0.772591685276594, + 0.0037521854384264435, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.343498521240955, + 1.3867139175466263, + 0.014785577078724575, + 0.010536329030100487, + 0.2045907384589845, + 0.0836698354271919, + 0.024801539398575836, + 0.0, + 1.1544910365795735, + 0.7835283316243354, + 0.0037521854384264435, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.343498521240955, + 1.3867139175466263, + 0.014785577078724575, + 0.010536329030100487, + 0.2045907384589845, + 0.0836698354271919, + 0.024801539398575836, + 0.0, + 1.131003148089098, + 0.7966233072089517, + 0.0037521854384264435, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.343498521240955, + 1.3867139175466263, + 0.014785577078724575, + 0.010536329030100487, + 0.2045907384589845, + 0.0836698354271919, + 0.024801539398575836, + 0.0, + 1.1223856775188428, + 0.7972751677842836, + 0.0037521854384264435, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.343498521240955, + 1.3867139175466263, + 0.014785577078724575, + 0.010536329030100487, + 0.2045907384589845, + 0.0836698354271919, + 0.024801539398575836, + 0.0, + 1.123151826435742, + 0.8345362666673861, + 0.0037521854384264435, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.343498521240955, + 1.3867139175466263, + 0.014785577078724575, + 0.010536329030100487, + 0.2045907384589845, + 0.0836698354271919, + 0.024801539398575836, + 0.0, + 1.1031929567995882, + 0.8372282628989282, + 0.0037521854384264435, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.343498521240955, + 1.3867139175466263, + 0.014785577078724575, + 0.010536329030100487, + 0.2045907384589845, + 0.0836698354271919, + 0.024801539398575836, + 0.0, + 1.1088574431719356, + 0.8704409734228686, + 0.0037521854384264435, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.343498521240955, + 1.3867139175466263, + 0.014785577078724575, + 0.010536329030100487, + 0.2045907384589845, + 0.0836698354271919, + 0.024801539398575836, + 0.0, + 1.0828181858021775, + 0.8749470927890116, + 0.0037521854384264435, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.343498521240955, + 1.3867139175466263, + 0.014785577078724575, + 0.010536329030100487, + 0.2045907384589845, + 0.0836698354271919, + 0.024801539398575836, + 0.0, + 1.062033430739253, + 0.8948505793543244, + 0.0037521854384264435, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.343498521240955, + 1.3867139175466263, + 0.014785577078724575, + 0.010536329030100487, + 0.2045907384589845, + 0.0836698354271919, + 0.024801539398575836, + 0.0, + 1.0619562522955759, + 0.911683876998656, + 0.0037521854384264435, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.343498521240955, + 1.3867139175466263, + 0.014785577078724575, + 0.010536329030100487, + 0.2045907384589845, + 0.0836698354271919, + 0.024801539398575836, + 0.0, + 1.056153611155325, + 0.9334463383917729, + 0.0037521854384264435, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.343498521240955, + 1.3867139175466263, + 0.014785577078724575, + 0.010536329030100487, + 0.2045907384589845, + 0.0836698354271919, + 0.024801539398575836, + 0.0, + 1.0409758319851794, + 0.9479943200466014, + 0.0037521854384264435, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.343498521240955, + 1.3867139175466263, + 0.014785577078724575, + 0.010536329030100487, + 0.2045907384589845, + 0.0836698354271919, + 0.024801539398575836, + 0.0, + 1.03975537563958, + 0.9683125667804143, + 0.0037521854384264435, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.343498521240955, + 1.3867139175466263, + 0.014785577078724575, + 0.010536329030100487, + 0.2045907384589845, + 0.0836698354271919, + 0.024801539398575836, + 0.0, + 1.020085749057207, + 0.9843481002417933, + 0.0037521854384264435, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.343498521240955, + 1.3867139175466263, + 0.014785577078724575, + 0.010536329030100487, + 0.2045907384589845, + 0.0836698354271919, + 0.024801539398575836, + 0.0, + 0.9932632953231166, + 0.9926513624055613, + 0.0037521854384264435, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.343498521240955, + 1.3867139175466263, + 0.014785577078724575, + 0.010536329030100487, + 0.2045907384589845, + 0.0836698354271919, + 0.024801539398575836, + 0.0, + 0.9992375098637168, + 1.0207864414115906, + 0.0037521854384264435, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.343498521240955, + 1.3867139175466263, + 0.014785577078724575, + 0.010536329030100487, + 0.2045907384589845, + 0.0836698354271919, + 0.024801539398575836, + 0.0, + 0.9888318043279274, + 1.0317038803228837, + 0.0037521854384264435, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.343498521240955, + 1.3867139175466263, + 0.014785577078724575, + 0.010536329030100487, + 0.2045907384589845, + 0.0836698354271919, + 0.024801539398575836, + 0.0, + 0.9781820807847698, + 1.0570007706693174, + 0.0037521854384264435, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.343498521240955, + 1.3867139175466263, + 0.014785577078724575, + 0.010536329030100487, + 0.2045907384589845, + 0.0836698354271919, + 0.024801539398575836, + 0.0, + 0.9708801096015662, + 1.066026675537126, + 0.0037521854384264435, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.343498521240955, + 1.3867139175466263, + 0.014785577078724575, + 0.010536329030100487, + 0.2045907384589845, + 0.0836698354271919, + 0.024801539398575836, + 0.0, + 0.9571870644780963, + 1.0934694872908446, + 0.0037521854384264435, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.343498521240955, + 1.3867139175466263, + 0.014785577078724575, + 0.010536329030100487, + 0.2045907384589845, + 0.0836698354271919, + 0.024801539398575836, + 0.0, + 0.9239649989912853, + 1.0902175669451326, + 0.0037521854384264435, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.343498521240955, + 1.3867139175466263, + 0.014785577078724575, + 0.010536329030100487, + 0.2045907384589845, + 0.0836698354271919, + 0.024801539398575836, + 0.0, + 0.9359865489419011, + 1.1295514663660706, + 0.0037521854384264435, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.343498521240955, + 1.3867139175466263, + 0.014785577078724575, + 0.010536329030100487, + 0.2045907384589845, + 0.0836698354271919, + 0.024801539398575836, + 0.0, + 0.9212393234845264, + 1.1298667173437351, + 0.0037521854384264435, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.343498521240955, + 1.3867139175466263, + 0.014785577078724575, + 0.010536329030100487, + 0.2045907384589845, + 0.0836698354271919, + 0.024801539398575836, + 0.0, + 0.9149980416605923, + 1.1661039549894474, + 0.0037521854384264435, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.343498521240955, + 1.3867139175466263, + 0.014785577078724575, + 0.010536329030100487, + 0.2045907384589845, + 0.0836698354271919, + 0.024801539398575836, + 0.0, + 0.9019976864534165, + 1.1637382764875486, + 0.0037521854384264435, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.343498521240955, + 1.3867139175466263, + 0.014785577078724575, + 0.010536329030100487, + 0.2045907384589845, + 0.0836698354271919, + 0.024801539398575836, + 0.0, + 0.8874648361692675, + 1.1900454464686496, + 0.0037521854384264435, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.343498521240955, + 1.3867139175466263, + 0.014785577078724575, + 0.010536329030100487, + 0.2045907384589845, + 0.0836698354271919, + 0.024801539398575836, + 0.0, + 0.8561237381262892, + 1.1882934197178392, + 0.0037521854384264435, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.343498521240955, + 1.3867139175466263, + 0.014785577078724575, + 0.010536329030100487, + 0.2045907384589845, + 0.0836698354271919, + 0.024801539398575836, + 0.0, + 0.8453307878474201, + 1.1851582109871879, + 0.0037521854384264435, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.343498521240955, + 1.3867139175466263, + 0.014785577078724575, + 0.010536329030100487, + 0.2045907384589845, + 0.0836698354271919, + 0.024801539398575836, + 0.0, + 0.8453562885745097, + 1.2251293749871845, + 0.0037521854384264435, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.343498521240955, + 1.3867139175466263, + 0.014785577078724575, + 0.010536329030100487, + 0.2045907384589845, + 0.0836698354271919, + 0.024801539398575836, + 0.0, + 0.8413045470810832, + 1.227508522381411, + 0.0037521854384264435, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.343498521240955, + 1.3867139175466263, + 0.014785577078724575, + 0.010536329030100487, + 0.2045907384589845, + 0.0836698354271919, + 0.024801539398575836, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.6017064414438211, + 1.1236167934132895, + 0.007107482347224768, + 0.009256801215065176, + 0.17943744741739953, + 0.07170402070773765, + 0.02219391232739612, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.6017064414438211, + 1.1236167934132895, + 0.007107482347224768, + 0.009256801215065176, + 0.17943744741739953, + 0.07170402070773765, + 0.02219391232739612, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.6017064414438211, + 1.1236167934132895, + 0.007107482347224768, + 0.009256801215065176, + 0.17943744741739953, + 0.07170402070773765, + 0.02219391232739612, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.6017064414438211, + 1.1236167934132895, + 0.007107482347224768, + 0.009256801215065176, + 0.17943744741739953, + 0.07170402070773765, + 0.02219391232739612, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.6017064414438211, + 1.1236167934132895, + 0.007107482347224768, + 0.009256801215065176, + 0.17943744741739953, + 0.07170402070773765, + 0.02219391232739612, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.6017064414438211, + 1.1236167934132895, + 0.007107482347224768, + 0.009256801215065176, + 0.17943744741739953, + 0.07170402070773765, + 0.02219391232739612, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.6017064414438211, + 1.1236167934132895, + 0.007107482347224768, + 0.009256801215065176, + 0.17943744741739953, + 0.07170402070773765, + 0.02219391232739612, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.6017064414438211, + 1.1236167934132895, + 0.007107482347224768, + 0.009256801215065176, + 0.17943744741739953, + 0.07170402070773765, + 0.02219391232739612, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.6017064414438211, + 1.1236167934132895, + 0.007107482347224768, + 0.009256801215065176, + 0.17943744741739953, + 0.07170402070773765, + 0.02219391232739612, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.6017064414438211, + 1.1236167934132895, + 0.007107482347224768, + 0.009256801215065176, + 0.17943744741739953, + 0.07170402070773765, + 0.02219391232739612, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.6017064414438211, + 1.1236167934132895, + 0.007107482347224768, + 0.009256801215065176, + 0.17943744741739953, + 0.07170402070773765, + 0.02219391232739612, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.6017064414438211, + 1.1236167934132895, + 0.007107482347224768, + 0.009256801215065176, + 0.17943744741739953, + 0.07170402070773765, + 0.02219391232739612, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.6017064414438211, + 1.1236167934132895, + 0.007107482347224768, + 0.009256801215065176, + 0.17943744741739953, + 0.07170402070773765, + 0.02219391232739612, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.6017064414438211, + 1.1236167934132895, + 0.007107482347224768, + 0.009256801215065176, + 0.17943744741739953, + 0.07170402070773765, + 0.02219391232739612, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.6017064414438211, + 1.1236167934132895, + 0.007107482347224768, + 0.009256801215065176, + 0.17943744741739953, + 0.07170402070773765, + 0.02219391232739612, + 0.0 + ], + "min": [ + -3.319148063659668, + -2.113769054412842, + 0.28999999165534973, + 0.6345686316490173, + 0.0, + 0.0, + 0.5976077318191528, + -1.0, + -2.9841105937957764, + -1.946036696434021, + 0.49003058671951294, + -0.0175554770976305, + -0.7668699622154236, + 0.6296946406364441, + 0.00036000035470351577, + 0.0, + -3.3055758476257324, + -2.1090211868286133, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9841105937957764, + -1.946036696434021, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + -3.234532594680786, + -2.0841689109802246, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9841105937957764, + -1.946036696434021, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + -3.2055323123931885, + -2.074023962020874, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9841105937957764, + -1.946036696434021, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + -3.1484174728393555, + -2.054044008255005, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9841105937957764, + -1.946036696434021, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + -3.105666399002075, + -2.039088726043701, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9841105937957764, + -1.946036696434021, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + -3.084094524383545, + -2.0315425395965576, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9841105937957764, + -1.946036696434021, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + -3.0060369968414307, + -2.0042364597320557, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9841105937957764, + -1.946036696434021, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + -2.9341928958892822, + -1.979103922843933, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9841105937957764, + -1.946036696434021, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + -2.906407356262207, + -1.969383955001831, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9841105937957764, + -1.946036696434021, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + -2.8513431549072266, + -1.9501214027404785, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9841105937957764, + -1.946036696434021, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + -2.8065924644470215, + -1.9344667196273804, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9841105937957764, + -1.946036696434021, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + -2.783870220184326, + -1.9265179634094238, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9841105937957764, + -1.946036696434021, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + -2.7065486907958984, + -1.899469256401062, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9841105937957764, + -1.946036696434021, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + -2.633028745651245, + -1.8737504482269287, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9841105937957764, + -1.946036696434021, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + -2.6065049171447754, + -1.8644719123840332, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9841105937957764, + -1.946036696434021, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + -2.554267406463623, + -1.8461982011795044, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9841105937957764, + -1.946036696434021, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + -2.5066592693328857, + -1.829543948173523, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9841105937957764, + -1.946036696434021, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + -2.4826366901397705, + -1.8211402893066406, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9841105937957764, + -1.946036696434021, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + -2.407029867172241, + -1.7946914434432983, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9841105937957764, + -1.946036696434021, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + -2.3327348232269287, + -1.7687015533447266, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9841105937957764, + -1.946036696434021, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + -2.3074002265930176, + -1.7598389387130737, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9841105937957764, + -1.946036696434021, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + -2.2571921348571777, + -1.7422751188278198, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9841105937957764, + -1.946036696434021, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + -2.2075653076171875, + -1.7249146699905396, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9841105937957764, + -1.946036696434021, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + -2.1823670864105225, + -1.716099739074707, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9841105937957764, + -1.946036696434021, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + -2.1075215339660645, + -1.6899173259735107, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9841105937957764, + -1.946036696434021, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + -2.0315256118774414, + -1.663332462310791, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9841105937957764, + -1.946036696434021, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + -2.0074779987335205, + -1.6549201011657715, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9841105937957764, + -1.946036696434021, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + -1.960116982460022, + -1.6383522748947144, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9841105937957764, + -1.946036696434021, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + -1.9076521396636963, + -1.6199990510940552, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9841105937957764, + -1.946036696434021, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + -1.8811789751052856, + -1.6107381582260132, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9841105937957764, + -1.946036696434021, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + -1.8080226182937622, + -1.5851465463638306, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9841105937957764, + -1.946036696434021, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + -1.7312774658203125, + -1.5582995414733887, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9841105937957764, + -1.946036696434021, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + -1.7083932161331177, + -1.5502941608428955, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9841105937957764, + -1.946036696434021, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + -1.663041114807129, + -1.5344290733337402, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9841105937957764, + -1.946036696434021, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + -1.6085379123687744, + -1.5153627395629883, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9841105937957764, + -1.946036696434021, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + -1.5808637142181396, + -1.5056817531585693, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9841105937957764, + -1.946036696434021, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + -1.508494257926941, + -1.480365514755249, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9841105937957764, + -1.946036696434021, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + -1.4300225973129272, + -1.4529145956039429, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9841105937957764, + -1.946036696434021, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + -1.4084506034851074, + -1.4453682899475098, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9841105937957764, + -1.946036696434021, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + -1.3659653663635254, + -1.4305061101913452, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9841105937957764, + -1.946036696434021, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + -1.3086450099945068, + -1.410454273223877, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9841105937957764, + -1.946036696434021, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + -1.279721736907959, + -1.4003363847732544, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9841105937957764, + -1.946036696434021, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + -1.2090156078338623, + -1.375601887702942, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9841105937957764, + -1.946036696434021, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + -1.1298199892044067, + -1.3478976488113403, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9841105937957764, + -1.946036696434021, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + -1.1093859672546387, + -1.3407493829727173, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9841105937957764, + -1.946036696434021, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + -1.068889856338501, + -1.3265830278396606, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9841105937957764, + -1.946036696434021, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + -1.0095105171203613, + -1.3058109283447266, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9841105937957764, + -1.946036696434021, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + -0.9793602824211121, + -1.2952637672424316, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9841105937957764, + -1.946036696434021, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + -0.9094667434692383, + -1.2708135843276978, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9841105937957764, + -1.946036696434021, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + -0.8285636901855469, + -1.2425121068954468, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9841105937957764, + -1.946036696434021, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + -0.8093879818916321, + -1.2358040809631348, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9841105937957764, + -1.946036696434021, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + -0.7712419033050537, + -1.2224597930908203, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9841105937957764, + -1.946036696434021, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + -0.709254264831543, + -1.2007752656936646, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9841105937957764, + -1.946036696434021, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + -0.6789835691452026, + -1.1901860237121582, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9841105937957764, + -1.946036696434021, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + -0.608382523059845, + -1.165488362312317, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9841105937957764, + -1.946036696434021, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + -0.5303893685340881, + -1.13820481300354, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9841105937957764, + -1.946036696434021, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + -0.5067456960678101, + -1.1299338340759277, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9841105937957764, + -1.946036696434021, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + -0.4560566544532776, + -1.1122016906738281, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9841105937957764, + -1.946036696434021, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + -0.4424668550491333, + -1.1071172952651978, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9841105937957764, + -1.946036696434021, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + 1.38369882106781, + 1.5832624435424805, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.41641104221343994, + -0.8046320080757141, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + 1.3923687934875488, + 1.600738763809204, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.41641104221343994, + -0.8046320080757141, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + 1.4352548122406006, + 1.6871854066848755, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.41641104221343994, + -0.8046320080757141, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + 1.4480271339416504, + 1.7129309177398682, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.41641104221343994, + -0.8046320080757141, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + 1.4868109226226807, + 1.79110848903656, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.41641104221343994, + -0.8046320080757141, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + 1.5033378601074219, + 1.8244222402572632, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.41641104221343994, + -0.8046320080757141, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + 1.5383670330047607, + 1.8950315713882446, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.41641104221343994, + -0.8046320080757141, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + 1.5589250326156616, + 1.9364709854125977, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.41641104221343994, + -0.8046320080757141, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + 1.5900375843048096, + 1.99918532371521, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.41641104221343994, + -0.8046320080757141, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + 1.614209771156311, + 2.04790997505188, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.41641104221343994, + -0.8046320080757141, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + 1.642195701599121, + 2.1043219566345215, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.41641104221343994, + -0.8046320080757141, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + 1.66889488697052, + 2.158140182495117, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.41641104221343994, + -0.8046320080757141, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + 1.6953859329223633, + 2.211538791656494, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.41641104221343994, + -0.8046320080757141, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + 1.7222574949264526, + 2.26570463180542, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.41641104221343994, + -0.8046320080757141, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0, + 1.7796720266342163, + 2.3018078804016113, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.41641104221343994, + -0.8046320080757141, + 0.6509378552436829, + 0.09000789374113083, + -0.6897016763687134, + 0.7122628092765808, + 0.004125196021050215, + 0.0 + ], + "max": [ + 1.7388405799865723, + 2.339276075363159, + 1.537076473236084, + 0.8017886281013489, + 0.0, + 0.0, + 0.7728664875030518, + 2.0, + 2.041412353515625, + 2.876476287841797, + 0.7240663766860962, + 0.13710671663284302, + 0.021789444610476494, + 0.999691903591156, + 0.10777164250612259, + 1.0, + -0.5084531903266907, + -0.8316324353218079, + 1.537076473236084, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + -0.4860559403896332, + -0.8289922475814819, + 1.537076473236084, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + -0.3911808431148529, + -0.8178082704544067, + 1.537076473236084, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + -0.35749951004981995, + -0.8138378858566284, + 1.537076473236084, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + -0.27595826983451843, + -0.804225742816925, + 1.537076473236084, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + -0.22817985713481903, + -0.7985935807228088, + 1.537076473236084, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + -0.16141238808631897, + -0.7907229661941528, + 1.537076473236084, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + -0.09855268895626068, + -0.783312976360321, + 1.537076473236084, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + -0.047921858727931976, + -0.7773445844650269, + 1.537076473236084, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + 0.02514488250017166, + -0.768731415271759, + 1.537076473236084, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + 0.05927306041121483, + -0.7647083401679993, + 1.537076473236084, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + 0.09797561913728714, + -0.7601460218429565, + 1.537076473236084, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + 0.1591784954071045, + -0.7529313564300537, + 1.537076473236084, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + 0.21176406741142273, + -0.7467325329780579, + 1.537076473236084, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + 0.23951390385627747, + -0.6960117220878601, + 1.537076473236084, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + 0.28607177734375, + -0.610913872718811, + 1.537076473236084, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + 0.2949756383895874, + -0.5946394801139832, + 1.537076473236084, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + 0.33722686767578125, + -0.5174132585525513, + 1.537076473236084, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + 0.34825262427330017, + -0.49726051092147827, + 1.537076473236084, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + 0.3573465347290039, + -0.4806387424468994, + 1.537076473236084, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + 0.3836594223976135, + -0.43254438042640686, + 1.537076473236084, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + 0.4061937928199768, + -0.38712120056152344, + 1.537076473236084, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + 0.4178765118122101, + -0.36357203125953674, + 1.537076473236084, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + 0.4567517638206482, + -0.2852100729942322, + 1.537076473236084, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + 0.4821391701698303, + -0.23403598368167877, + 1.537076473236084, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + 0.5078825950622559, + -0.1821441948413849, + 1.537076473236084, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + 0.5438236594200134, + -0.10969682782888412, + 1.537076473236084, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + 0.5589696764945984, + -0.07916659116744995, + 1.537076473236084, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + 0.6059935092926025, + 0.015620619058609009, + 1.537076473236084, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + 0.6099226474761963, + 0.02354065142571926, + 1.537076473236084, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + 0.6340956091880798, + 0.07226677238941193, + 1.537076473236084, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + 0.6611563563346863, + 0.1268138438463211, + 1.537076473236084, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + 0.6658118963241577, + 0.13619811832904816, + 1.537076473236084, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + 0.7127846479415894, + 0.23088236153125763, + 1.537076473236084, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + 0.7250684499740601, + 0.2556431293487549, + 1.537076473236084, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + 0.764724850654602, + 0.33557963371276855, + 1.537076473236084, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + 0.782012939453125, + 0.3704277575016022, + 1.537076473236084, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + 0.8165181875228882, + 0.4399809241294861, + 1.537076473236084, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + 0.8379269242286682, + 0.48313504457473755, + 1.537076473236084, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + 0.8681377172470093, + 0.5440317988395691, + 1.537076473236084, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + 0.893352210521698, + 0.5948572754859924, + 1.537076473236084, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + 0.9196938276290894, + 0.6479547619819641, + 1.537076473236084, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + 0.9487923979759216, + 0.7066095471382141, + 1.537076473236084, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + 0.9712499380111694, + 0.7518778443336487, + 1.537076473236084, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + 1.0043213367462158, + 0.8185408115386963, + 1.537076473236084, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + 1.0228060483932495, + 0.8558010458946228, + 1.537076473236084, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + 1.0596578121185303, + 0.9300841689109802, + 1.537076473236084, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + 1.07436203956604, + 0.9597240090370178, + 1.537076473236084, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + 1.1152904033660889, + 1.0422245264053345, + 1.537076473236084, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + 1.1259181499481201, + 1.0636471509933472, + 1.537076473236084, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + 1.1705232858657837, + 1.1535589694976807, + 1.537076473236084, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + 1.1774742603302002, + 1.1675701141357422, + 1.537076473236084, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + 1.2262595891952515, + 1.2659080028533936, + 1.537076473236084, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + 1.2290303707122803, + 1.2714930772781372, + 1.537076473236084, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + 1.2688897848129272, + 1.3518388271331787, + 1.537076473236084, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + 1.2805864810943604, + 1.3754162788391113, + 1.537076473236084, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + 1.2813996076583862, + 1.377055287361145, + 1.537076473236084, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + 1.3321425914764404, + 1.4793392419815063, + 1.537076473236084, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + 1.337161660194397, + 1.489456295967102, + 1.537076473236084, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + 1.38369882106781, + 1.5832624435424805, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + 1.3923687934875488, + 1.600738763809204, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + 1.4352548122406006, + 1.6871854066848755, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + 1.4480271339416504, + 1.7129309177398682, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + 1.4868109226226807, + 1.79110848903656, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + 1.5033378601074219, + 1.8244222402572632, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + 1.5383670330047607, + 1.8950315713882446, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + 1.5589250326156616, + 1.9364709854125977, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + 1.5900375843048096, + 1.99918532371521, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + 1.614209771156311, + 2.04790997505188, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + 1.642195701599121, + 2.1043219566345215, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + 1.66889488697052, + 2.158140182495117, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + 1.6953859329223633, + 2.211538791656494, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + 1.7222574949264526, + 2.26570463180542, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0, + 1.7796720266342163, + 2.3018078804016113, + 1.5291393995285034, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.9255132675170898, + 2.7105817794799805, + 0.7240663766860962, + 0.13605262339115143, + -0.08505293726921082, + 0.9892886877059937, + 0.0904463529586792, + 0.0 + ], + "count": [ + 1824 + ] + }, + "action.applied": { + "mean": [ + 0.3096598890781599, + 0.7735951314271804, + -1.2741884346724601, + -0.2362904199889224, + 0.7387690685133923, + -1.299593481512969, + 0.13052775191649663, + 0.948297690044631, + -1.4331175066334636, + -0.15751737454832582, + 0.848933845954506, + -1.4388393422817451, + -0.11759237129318303, + 2.167669564681618, + -1.7200791737424177, + 0.035932267846589594, + 0.9818355113986814, + 0.010481647241522259, + 0.0024561403613341483, + -0.0024561403613341483 + ], + "std": [ + 0.14720718557698514, + 0.12960878738331807, + 0.19767329845620113, + 0.13031344737804765, + 0.11655582715947968, + 0.19854297448176197, + 0.1416881057308522, + 0.20516481248163296, + 0.20437178928369978, + 0.10940938962240013, + 0.11558244797603595, + 0.22649150280887737, + 0.12682278085474205, + 0.2939507414575472, + 0.45957601688036126, + 0.024206054898431473, + 0.20375077610636352, + 0.4886914186369573, + 0.008940485867005013, + 0.008940485867005013 + ], + "min": [ + -0.250448614358902, + 0.3867686092853546, + -1.7675806283950806, + -0.49899932742118835, + 0.2651236057281494, + -1.6554808616638184, + -0.18367698788642883, + 0.46650630235671997, + -1.7537758350372314, + -0.5202024579048157, + 0.518287181854248, + -1.7182738780975342, + -0.5130564570426941, + 1.7056211233139038, + -2.6094961166381836, + -0.010637755505740643, + 0.47720715403556824, + -0.42300787568092346, + 0.0, + -0.03500000014901161 + ], + "max": [ + 0.7162050008773804, + 1.0387799739837646, + -0.8149964809417725, + 0.2550370395183563, + 0.9819666147232056, + -0.8282652497291565, + 0.4833824336528778, + 1.3027821779251099, + -0.956804096698761, + 0.2840706408023834, + 1.4849846363067627, + -0.8916799426078796, + -1.6927393517107703e-05, + 2.84496808052063, + -0.9692417979240417, + 0.10123609006404877, + 1.2199217081069946, + 1.371214509010315, + 0.03500000014901161, + 0.0 + ], + "count": [ + 1824 + ] + }, + "extra.reward": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 1824 + ] + }, + "next.truncated": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 1824 + ] + }, + "sim_step_idx": { + "mean": [ + 1924.0 + ], + "std": [ + 1053.086732736989 + ], + "min": [ + 101.0 + ], + "max": [ + 3747.0 + ], + "count": [ + 1824 + ] + }, + "timestamp": { + "mean": [ + 36.460000000493764 + ], + "std": [ + 21.061734652007367 + ], + "min": [ + 0.0 + ], + "max": [ + 72.91999816894531 + ], + "count": [ + 1824 + ] + }, + "frame_index": { + "mean": [ + 911.5 + ], + "std": [ + 526.5433663684945 + ], + "min": [ + 0.0 + ], + "max": [ + 1823.0 + ], + "count": [ + 1824 + ] + }, + "episode_index": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 1824 + ] + }, + "index": { + "mean": [ + 911.5 + ], + "std": [ + 526.5433663684945 + ], + "min": [ + 0.0 + ], + "max": [ + 1823.0 + ], + "count": [ + 1824 + ] + }, + "task_index": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 1824 + ] + }, + "next.done": { + "mean": [ + 0.0005482456140350877 + ], + "std": [ + 0.02340822592128201 + ], + "min": [ + 0.0 + ], + "max": [ + 1.0 + ], + "count": [ + 1824 + ] + }, + "observation.images.head": { + "mean": [ + [ + [ + 0.5339922546635458 + ] + ], + [ + [ + 0.45903512690470155 + ] + ], + [ + [ + 0.4235140708183244 + ] + ] + ], + "std": [ + [ + [ + 0.10093490067124031 + ] + ], + [ + [ + 0.13253612467561204 + ] + ], + [ + [ + 0.12928759408970314 + ] + ] + ], + "min": [ + [ + [ + 0.00784313725490196 + ] + ], + [ + [ + 0.00392156862745098 + ] + ], + [ + [ + 0.00392156862745098 + ] + ] + ], + "max": [ + [ + [ + 0.9019607843137255 + ] + ], + [ + [ + 0.9019607843137255 + ] + ], + [ + [ + 0.9019607843137255 + ] + ] + ], + "count": [ + 100 + ] + }, + "observation.images.wrist": { + "mean": [ + [ + [ + 0.6078488453327796 + ] + ], + [ + [ + 0.4646497499072956 + ] + ], + [ + [ + 0.4012416736877168 + ] + ] + ], + "std": [ + [ + [ + 0.12992027508914333 + ] + ], + [ + [ + 0.16851439046071154 + ] + ], + [ + [ + 0.15905810373755627 + ] + ] + ], + "min": [ + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ] + ], + "max": [ + [ + [ + 0.9176470588235294 + ] + ], + [ + [ + 0.9019607843137255 + ] + ], + [ + [ + 0.8901960784313725 + ] + ] + ], + "count": [ + 100 + ] + } +} \ No newline at end of file diff --git a/N034/go2_arm/dr_off/seed_1018/rec/stationbookend/000/lerobot_v21/meta/tasks.jsonl b/N034/go2_arm/dr_off/seed_1018/rec/stationbookend/000/lerobot_v21/meta/tasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e639892eae0aca859cb3ed9b82a48465787b6b4a --- /dev/null +++ b/N034/go2_arm/dr_off/seed_1018/rec/stationbookend/000/lerobot_v21/meta/tasks.jsonl @@ -0,0 +1 @@ +{"task_index": 0, "task": "Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it."} diff --git a/N034/go2_arm/dr_off/seed_1018/rec/stationbookend/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 b/N034/go2_arm/dr_off/seed_1018/rec/stationbookend/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..83d24513ba8523c533ba1e357e4dcfbf6070521b --- /dev/null +++ b/N034/go2_arm/dr_off/seed_1018/rec/stationbookend/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 sha256:69dc440232dd75e9a13cac11eb7ce9b4a399746a11dea9d0fe80af2c904130ec +size 19791848 diff --git a/N034/go2_arm/dr_off/seed_1018/rec/stationbookend/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 b/N034/go2_arm/dr_off/seed_1018/rec/stationbookend/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..662bee1dd984b46acf849231374e353ad962ced3 --- /dev/null +++ b/N034/go2_arm/dr_off/seed_1018/rec/stationbookend/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:bf097cd63812bfc7fe7751a8889749e2dd7d9ccb8e78592fc61f6fa83edcd7a6 +size 30565729 diff --git a/N034/go2_arm/dr_off/seed_1018/rec/stationbookend/000/run_meta.json b/N034/go2_arm/dr_off/seed_1018/rec/stationbookend/000/run_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3a8f955cf1f9e17fdf7b395acaf87e91cad50fd8 --- /dev/null +++ b/N034/go2_arm/dr_off/seed_1018/rec/stationbookend/000/run_meta.json @@ -0,0 +1,1195 @@ +{ + "run_id": "stationbookend/000", + "created": "2026-11-08 02:43:04", + "num_envs": 1, + "session_id": null, + "record_config": { + "output_dir": "/mnt/scratch/xc536_atomic/n034_go2_off_1018/out/rec", + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "json_round": null, + "schema": { + "source": "robot_manager", + "nan_policy": "from_raw" + }, + "lerobot": { + "subsample_every": 2 + } + }, + "config": { + "env_string": "StationBookendEnv-V0", + "env": { + "sim": { + "device": "cpu", + "use_fabric": false, + "decimation": 4, + "dt": 0.005, + "seed": 1018, + "soft_resets": 2, + "enable_scene_query_support": true, + "scene": { + "num_envs": 1, + "env_spacing": 16 + }, + "render": { + "rendering_mode": "performance", + "enable_reflections": false, + "enable_global_illumination": false, + "enable_translucency": false, + "enable_dl_denoiser": false + } + }, + "robot": { + "Go2Plus": { + "name": "go2plus", + "type": "mobilemanip", + "common": { + "pos": [ + [ + -3.4, + -2.2, + 0.44999999999999996 + ], + [ + -3.4, + -2.2, + 0.44999999999999996 + ] + ], + "ori": [ + [ + 0, + 0, + 40.0 + ], + [ + 0, + 0, + 40.0 + ] + ], + "initial_joint_pos": null + }, + "action": { + "base_action": "unified", + "arm_action": "ik_curobo", + "eef_action": "binary" + }, + "reset": "default", + "planner": { + "dual_mode": true, + "base_joint_names": [ + "base_x", + "base_y", + "base_yaw", + "base_height" + ], + "ik": { + "type": "go2plus", + "enable": true, + "ik_num_instances": 1, + "ik_batch_size": 1, + "ik_max_goalset": 128, + "ik_num_seeds": 64, + "ik_position_threshold": 0.005, + "ik_rotation_threshold": 0.05, + "microbatch_wait_ms": 20.0, + "relative_to_world_frame": false, + "eef_num": 1, + "debug": false, + "seed_use_live_joint_pos": true + }, + "motiongen": { + "type": "go2plus", + "enable": true, + "batch_size": 1, + "debug": false, + "motiongen_num_instances": 1, + "microbatch_wait_ms": 400.0, + "mode": "position", + "relative_to_world_frame": false, + "eef_num": 1, + "seed_use_live_joint_pos": true, + "anchor_ik_seeds_to_current_state": false, + "num_trajopt_seeds": 1, + "num_ik_seeds": 4, + "max_attempts": 4, + "joint_limit_retry_weight": 100000000.0, + "start_state_limit_inset": 0.002 + }, + "body": { + "type": "nav", + "dwb_type": "dwb_quadruped", + "dwb_quadruped": { + "device": "cpu", + "dt": 0.02, + "debug": false, + "num_rollout_steps": 60, + "num_speed_samples": 11, + "num_steer_samples": 11, + "num_vx_samples": 7, + "num_vy_samples": 7, + "num_yaw_samples": 7, + "max_accel": 1.5, + "max_steer_rate": 1.5, + "max_accel_vx": 1.5, + "max_accel_vy": 1.5, + "max_yaw_accel": 1.5, + "w_goal": 6.0, + "w_path": 24.0, + "w_vel": 0.2, + "w_vy": 0.0, + "dilate_radius": 0.2, + "goal_cost_mode": "path", + "room_size": 12.0, + "occupancy_update_interval": 25, + "scan_height": 0.38, + "scan_min_z": 0.15, + "scan_max_z": 0.63, + "goal_pos_threshold": 0.16, + "goal_yaw_threshold": 0.08, + "goal_yaw_hysteresis": 0.02, + "kp_goal_yaw": 4.0, + "heading_reference": "path", + "turn_yaw_threshold": 0.8, + "heading_lookahead": 0.8, + "heading_min_leg": 0.35, + "route_yaw_gain": 2.0, + "min_vx": -0.35, + "max_vx": 0.35, + "min_vy": -0.25, + "max_vy": 0.25, + "min_yaw_rate": -0.8, + "max_yaw_rate": 0.8, + "dynamic_window_source": "command", + "default_height": 0.35, + "safety_min_progress_speed": 0.1, + "safety_stop_distance": 0.2, + "safety_enabled": true, + "safety_deceleration": 0.5, + "safety_reaction_time": 0.5, + "safety_release_distance": 0.35, + "scan_type": "3d", + "robot_type": "quadruped", + "velocity_frame": "body" + }, + "p_controller": { + "velocity_frame": "body", + "nav_upgrade_distance": 0.03, + "nav_heading_target": -1, + "kp_linear_x": 3.0, + "kd_linear_x": 0.4, + "kp_linear_y": 3.0, + "kd_linear_y": 0.4, + "kp_angular": 1.5, + "kd_angular": 0.2, + "kp_angular_turning_only": 1.5, + "kd_angular_turning_only": 0.2, + "min_vel": -0.4, + "max_vel": 0.5, + "linear_dead_zone": 0.01, + "angular_dead_zone": 0.05 + } + }, + "arm": { + "type": "default" + }, + "eef": { + "type": "default" + } + }, + "physics": { + "robot_radius": 0.5 + } + } + }, + "camera": { + "enable_tiled": false, + "colorize_depth": false, + "head": { + "camera": { + "type": "camera", + "mesh": "pinhole", + "resolution": [ + 640, + 480 + ], + "frequency": 25, + "focal_length": 1.8231182098388672, + "horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.4407838582992554, + "clipping_range": [ + 0.05, + 30.0 + ], + "focus_distance": 3.0, + "mode": "RGB", + "mount_link": "Robot_0/Bodies/go2_base", + "pos": [ + 0.332051, + 0.038027, + 0.093559 + ], + "ori": [ + 169.9473, + -88.6452, + 81.5985 + ] + }, + "annotator": { + "enabled": true, + "rgb_capture": { + "type": "rgb", + "device": "cpu" + } + } + }, + "wrist": { + "camera": { + "type": "camera", + "mesh": "pinhole", + "resolution": [ + 640, + 480 + ], + "frequency": 25, + "focal_length": 1.8517500162124634, + "horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.4393036365509033, + "clipping_range": [ + 0.05, + 30.0 + ], + "focus_distance": 3.0, + "mode": "RGB", + "mount_link": "Robot_0/Bodies/piper_link6", + "pos": [ + -0.074987, + 0.005289, + 0.045821 + ], + "ori": [ + 179.3135, + -20.212, + 88.9402 + ] + }, + "annotator": { + "enabled": true, + "rgb_capture": { + "type": "rgb", + "device": "cpu" + } + } + } + }, + "nav": { + "navmesh": { + "enabled": true, + "visualize": false, + "bake_timeout_s": 180, + "agent_height_cm": 65, + "min_agent_radius_cm": 30.0, + "max_agent_radius_cm": 30.0, + "max_step_height_cm": 20, + "max_floor_slope_deg": 30, + "agent_island_radius_cm": 5, + "auto_exclude_rigid_bodies": true, + "validate_path_clearance": true, + "validate_path_window": true, + "navmesh_offset_z_m": 0, + "verbose": false + }, + "occupancymap": { + "cell_size": 0.05 + } + }, + "scene": { + "background": { + "intensity": [ + 1000, + 1000 + ] + }, + "terrain": { + "type": "nav_room", + "collision": true, + "hide_top_walls": true, + "usd": [ + "$MAGICSIM_ASSETS/Room/Collected_SimpleRoom" + ], + "annotation": "Annotation", + "random": false, + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0, + "friction_combine_mode": "multiply", + "restitution_combine_mode": "multiply" + } + }, + "objects": { + "table_A": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "table_A_1": { + "pos": [ + -0.410439084326611, + -0.15765734859653854, + 0.18 + ], + "ori": [ + 0.0, + 0.0, + -1.9320046939008932 + ], + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.45, + 0.35 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "table_B": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "table_B_1": { + "pos": [ + 1.8185345715858743, + 2.972780776393359, + 0.18 + ], + "ori": [ + 0.0, + 0.0, + -2.3867633486172224 + ], + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.45, + 0.35 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "slot_left": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "slot_left_1": { + "pos": [ + -0.44096963453979465, + -0.2766957268771597, + 0.3475 + ], + "ori": [ + 0.0, + 0.0, + -1.9320046939008932 + ], + "primitive_params": { + "size": [ + 0.01, + 0.12, + 0.035 + ] + }, + "visual": { + "color": [ + [ + 0.4, + 0.3, + 0.2 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "slot_right": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "slot_right_1": { + "pos": [ + -0.3879997629220445, + -0.27848253990572935, + 0.3475 + ], + "ori": [ + 0.0, + 0.0, + -1.9320046939008932 + ], + "primitive_params": { + "size": [ + 0.01, + 0.12, + 0.035 + ] + }, + "visual": { + "color": [ + [ + 0.4, + 0.3, + 0.2 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "book": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "book_1": { + "pos": [ + -0.41419506334188644, + -0.2690029248023316, + 0.40149999999999997 + ], + "ori": [ + 0.0, + 0.0, + 88.0679953060991 + ], + "primitive_params": { + "size": [ + 0.1, + 0.035, + 0.14 + ] + }, + "visual": { + "color": [ + [ + 0.78, + 0.12, + 0.12 + ] + ] + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.05, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + } + } + } + }, + "plate": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "plate_1": { + "pos": [ + 1.7858948127607708, + 2.874054406340373, + 0.37049999999999994 + ], + "ori": [ + 0.0, + 0.0, + -2.3867633486172224 + ], + "primitive_params": { + "size": [ + 0.012, + 0.14, + 0.08 + ] + }, + "visual": { + "color": [ + [ + 0.35, + 0.35, + 0.4 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "bookend": { + "usd": [ + "$MAGICSIM_ASSETS/Object/MMB_A07/bookend_l/Object.usda" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "bookend_1": { + "pos": [ + 1.8931348063363949, + 2.8567638823092043, + 0.33099999999999996 + ], + "ori": [ + 0.0, + 0.0, + 87.61323665138278 + ], + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.6, + "physics_material": { + "static_friction": 0.2, + "dynamic_friction": 0.15, + "restitution": 0.0 + } + } + } + } + } + } + }, + "task": { + "new_seed_per_episode": true, + "observation": {}, + "reward": {}, + "termination": { + "timeout_steps": 30000, + "success_hold_frames": 10, + "fall_height": 0.08, + "fall_tilt": 1.0, + "lift_height": 0.12, + "grasp_distance": 0.25 + }, + "grasp": { + "mode": "generated", + "debug": false, + "floor_z": 0.03 + }, + "stance": { + "radii": [ + 0.54, + 0.58, + 0.5, + 0.46 + ], + "heights": [ + 0.26, + 0.22, + 0.3 + ], + "bearings_deg": [ + 0, + -25, + 25 + ], + "yaw_offsets_deg": [ + 0.0 + ], + "include_current": true + }, + "station": { + "task_id": "N034", + "task_version": "EXT60-MobileAvatar-v3", + "family_id": "bookend_support", + "primary_category": "C2", + "stage": "full", + "layout": { + "floor_z": 0.03, + "start": { + "x": -3.4, + "y": -2.2, + "yaw_deg": 40.0, + "radius": 0.3, + "yaw_spread_deg": 20.0 + }, + "stations": { + "A": { + "center": [ + -0.410439084326611, + -0.15765734859653854 + ], + "facing_deg": 88.0679953060991, + "standoff": 0.7, + "table": { + "width": 0.9, + "depth": 0.5, + "height": 0.3 + } + }, + "B": { + "center": [ + 1.8185345715858743, + 2.972780776393359 + ], + "facing_deg": 87.61323665138278, + "standoff": 0.7, + "table": { + "width": 0.9, + "depth": 0.5, + "height": 0.3 + } + } + } + }, + "route": [ + "A", + "B" + ], + "book": "book", + "bookend": "bookend", + "plate": "plate", + "dr": { + "enabled": true, + "stations": { + "center_m": 0.25, + "facing_deg": 8.0 + }, + "objects": { + "across_m": 0.025, + "along_m": 0.02, + "yaw_deg": 8.0 + } + }, + "book_slot": { + "across": -0.001 + }, + "push": { + "height": 0.025, + "overshoot": -0.002 + }, + "place_check": { + "book": { + "at": { + "station": "B", + "across": -0.001, + "along": -0.1, + "z": 0.0725 + }, + "yaw_deg": 90.0, + "clearance": 0.004 + } + }, + "success": { + "upright_deg": 15.0, + "rest_z_tol": 0.02, + "contact_gap": 0.006, + "max_penetration": 0.01, + "min_push": 0.04, + "release_dist": 0.15, + "rest_speed": 0.03, + "lift": 0.08 + }, + "objects": { + "slot_left": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.01, + 0.12, + 0.035 + ], + "at": { + "station": "A", + "across": -0.0265, + "along": -0.12, + "z": 0.0175 + }, + "color": [ + 0.4, + 0.3, + 0.2 + ], + "pos": [ + -0.44096963453979465, + -0.2766957268771597, + 0.3475 + ], + "yaw_deg": -1.9320046939008932 + }, + "slot_right": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.01, + 0.12, + 0.035 + ], + "at": { + "station": "A", + "across": 0.0265, + "along": -0.12, + "z": 0.0175 + }, + "color": [ + 0.4, + 0.3, + 0.2 + ], + "pos": [ + -0.3879997629220445, + -0.27848253990572935, + 0.3475 + ], + "yaw_deg": -1.9320046939008932 + }, + "book": { + "jitter": { + "across_m": 0.0, + "yaw_deg": 0.0 + }, + "asset": "Cube", + "type": "rigid", + "size": [ + 0.1, + 0.035, + 0.14 + ], + "yaw_deg": 88.0679953060991, + "at": { + "station": "A", + "across": 0.0, + "along": -0.11140890771820385, + "z": 0.0715 + }, + "mass": 0.05, + "color": [ + 0.78, + 0.12, + 0.12 + ], + "friction": { + "static": 1.5, + "dynamic": 1.5 + }, + "grasp": { + "part": "body", + "thin_axis": 1, + "min_elevation_deg": 60.0, + "approach_deg": [ + 0, + 15, + 30, + 45, + 60, + 75, + 90, + 105, + 120, + 135, + 150, + 165, + 180, + 195, + 210, + 225, + 240, + 255, + 270, + 285, + 300, + 315, + 330, + 345 + ], + "inset": 0.012 + }, + "pos": [ + -0.41419506334188644, + -0.2690029248023316, + 0.40149999999999997 + ] + }, + "plate": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.012, + 0.14, + 0.08 + ], + "at": { + "station": "B", + "across": -0.0285, + "along": -0.1, + "z": 0.0405 + }, + "color": [ + 0.35, + 0.35, + 0.4 + ], + "pos": [ + 1.7858948127607708, + 2.874054406340373, + 0.37049999999999994 + ], + "yaw_deg": -2.3867633486172224 + }, + "bookend": { + "jitter": { + "across_m": 0.01, + "yaw_deg": 0.0 + }, + "catalog": "bookend_l", + "type": "rigid", + "yaw_deg": 87.61323665138278, + "at": { + "station": "B", + "across": 0.07936702145818582, + "along": -0.11280953258755505, + "z": 0.001 + }, + "friction": { + "static": 0.2, + "dynamic": 0.15 + }, + "asset": "$MAGICSIM_ASSETS/Object/MMB_A07/bookend_l/Object.usda", + "parts": [ + { + "name": "wall", + "center": [ + 0.0, + 0.0, + 0.03 + ], + "half": [ + 0.06, + 0.006, + 0.03 + ], + "rpy_deg": [ + 0.0, + 0.0, + 0.0 + ] + }, + { + "name": "foot", + "center": [ + 0.0, + -0.036, + 0.004 + ], + "half": [ + 0.06, + 0.03, + 0.004 + ], + "rpy_deg": [ + 0.0, + 0.0, + 0.0 + ] + } + ], + "mass": 0.6, + "com": [ + 0.0, + -0.01, + 0.03 + ], + "pos": [ + 1.8931348063363949, + 2.8567638823092043, + 0.33099999999999996 + ] + } + }, + "planner_seeds": "lean", + "report_jsonl": "/mnt/scratch/xc536_atomic/n034_go2_off_1018/out/report.episodes.jsonl", + "dr_applied": true, + "level": "easy" + }, + "command": { + "StationBookend": { + "obj_type": "rigid", + "obj_name": "book", + "obj_id": 0, + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.05, + "settle_ticks": 120 + } + } + }, + "collect": { + "global_planner": { + "NavTo": { + "use_navmesh": true, + "use_absolute": true, + "translation_threshold": 0.2, + "rotation_threshold": 0.15, + "num_path_segments": 30, + "start_forward_offset": 0.0, + "visualize_path": false, + "carry_arm": true + }, + "RetractMoveL": { + "translation_threshold": 0.06, + "rotation_threshold": 0.3, + "motiongen_distance_threshold": 0.05, + "timeout_steps": 2000, + "base_pos_threshold": 0.12, + "base_rot_threshold": 0.5, + "eef_pos_threshold": 0.03, + "eef_rot_threshold": 0.3, + "base_waypoint_max_steps": 20, + "arm_waypoint_max_steps": 8 + }, + "MobileMoveL": { + "translation_threshold": 0.006, + "rotation_threshold": 0.2, + "motiongen_distance_threshold": 0.05, + "timeout_steps": 1500, + "stall_release_ticks": 100, + "stall_release_factor": 5.0, + "reactive": false, + "base_pos_threshold": 0.12, + "base_rot_threshold": 0.5, + "eef_pos_threshold": 0.03, + "eef_rot_threshold": 0.3, + "waypoint_max_steps": 8, + "interp_steps": 60, + "interp_validate_target": true, + "retry_mobile_on_locked_plan_failure": true + }, + "MobileServoL": { + "base_pos_threshold": 0.12, + "waypoint_max_steps": 20, + "translation_threshold": 0.05, + "timeout_steps": 300 + }, + "ParallelGripper": { + "gripper_threshold": 0.0005, + "timeout_steps": 60 + } + }, + "atomic_skill": { + "NavToPose": { + "robot_id": 0, + "show_marker": false + }, + "Move": { + "arm_planner": "MobileMoveL", + "hand_planner": "ParallelGripper", + "obstacle_avoid_paths": [], + "obstacle_ignore_paths": [], + "close_value": 1.0, + "open_value": 0.0, + "hold_steps": 10 + }, + "ReachStance": { + "check_current_first": true, + "stance_margin": 0.03, + "max_reach": 0.85, + "max_walks": 4, + "reject_radius": 0.05, + "obstacle_avoidance": [ + "dynamic" + ], + "walk_planner": "MobileServoL", + "strategy_kwargs": { + "reach_steps": 2 + }, + "debug": false + }, + "Grasp": { + "pre_grasp_offset": 0.1, + "retrieval_offset": 0.1, + "mobile": true, + "pre_grasp_planner": "MobileMoveL", + "pre_grasp_mode": -1, + "grasp_mode": 4, + "retrieval_mode": 4, + "goalset_lock_base": true, + "reactive": false, + "viz_grasp": false + } + }, + "command": { + "StationBookend": { + "obj_type": "rigid", + "obj_name": "book", + "obj_id": 0, + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.05, + "settle_ticks": 120 + } + }, + "auto_collect": {}, + "record": { + "output_dir": "/mnt/scratch/xc536_atomic/n034_go2_off_1018/out/rec", + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "json_round": null, + "schema": { + "source": "robot_manager", + "nan_policy": "from_raw" + }, + "lerobot": { + "subsample_every": 2 + } + } + }, + "visual_dr": { + "keep": [ + "book", + "book_other", + "bookend" + ] + } + }, + "git_sha": null, + "collect_runtime": { + "max_trajectories": 1 + } +} \ No newline at end of file diff --git a/N034/go2_arm/dr_off/seed_1018/rec/stationbookend/000/sim_info/0/actions.npz b/N034/go2_arm/dr_off/seed_1018/rec/stationbookend/000/sim_info/0/actions.npz new file mode 100644 index 0000000000000000000000000000000000000000..143e50bc1cafbb81a6b01bfab2290f20ab3f6541 --- /dev/null +++ b/N034/go2_arm/dr_off/seed_1018/rec/stationbookend/000/sim_info/0/actions.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e735b92c5f2a238944efac2f9085c36c3f45f93816c03cf77273b8e4fc7f8da7 +size 775751 diff --git a/N034/go2_arm/dr_off/seed_1018/rec/stationbookend/000/sim_info/0/device_commands.jsonl b/N034/go2_arm/dr_off/seed_1018/rec/stationbookend/000/sim_info/0/device_commands.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N034/go2_arm/dr_off/seed_1018/rec/stationbookend/000/sim_info/0/device_events.jsonl b/N034/go2_arm/dr_off/seed_1018/rec/stationbookend/000/sim_info/0/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N034/go2_arm/dr_off/seed_1018/rec/stationbookend/000/sim_info/0/scene_snapshot.json b/N034/go2_arm/dr_off/seed_1018/rec/stationbookend/000/sim_info/0/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..c11ed4aed4f7ac0a19774f19434d0ecbb5adb350 --- /dev/null +++ b/N034/go2_arm/dr_off/seed_1018/rec/stationbookend/000/sim_info/0/scene_snapshot.json @@ -0,0 +1,523 @@ +{ + "trajectory_id": 0, + "env_id": 0, + "run_id": "stationbookend/000", + "task_type": "BookendCommand", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])", + "avatars": "avatar_manager.set_avatars_state(snapshot['avatars'], env_ids=[env_id]) (present when the scene has animated avatars)" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "table_A": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.410439084326611, + -0.15765734859653854, + 0.18 + ], + "ori": [ + 0.9998579025268555, + 0.0, + 0.0, + -0.01685912348330021 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.45, + 0.35 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + } + }, + "type_specific": {} + } + ], + "table_B": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 1.8185345715858743, + 2.972780776393359, + 0.18 + ], + "ori": [ + 0.9997830986976624, + 0.0, + 0.0, + -0.020826933905482292 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.45, + 0.35 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + } + }, + "type_specific": {} + } + ], + "slot_left": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.44096963453979465, + -0.2766957268771597, + 0.3475 + ], + "ori": [ + 0.9998579025268555, + 0.0, + 0.0, + -0.01685912348330021 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.4, + 0.3, + 0.2 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.01, + 0.12, + 0.035 + ] + } + }, + "type_specific": {} + } + ], + "slot_right": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.3879997629220445, + -0.27848253990572935, + 0.3475 + ], + "ori": [ + 0.9998579025268555, + 0.0, + 0.0, + -0.01685912348330021 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.4, + 0.3, + 0.2 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.01, + 0.12, + 0.035 + ] + } + }, + "type_specific": {} + } + ], + "book": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.4141964316368103, + -0.2690027356147766, + 0.3999997675418854 + ], + "ori": [ + 0.7189275026321411, + -6.373139058268862e-06, + -4.998195890948409e-06, + 0.6950849890708923 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.78, + 0.12, + 0.12 + ], + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.05, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.1, + 0.035, + 0.14 + ] + } + }, + "type_specific": { + "linear_velocity": [ + 0.00010354694677516818, + -0.00012095518468413502, + -4.602577246259898e-05 + ], + "angular_velocity": [ + 0.0011577679542824626, + 0.0004722542071249336, + 0.00035474603646434844 + ] + } + } + ], + "plate": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 1.7858948127607708, + 2.874054406340373, + 0.37049999999999994 + ], + "ori": [ + 0.9997830986976624, + 0.0, + 0.0, + -0.020826933905482292 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.35, + 0.35, + 0.4 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.012, + 0.14, + 0.08 + ] + } + }, + "type_specific": {} + } + ], + "bookend": [ + { + "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MMB_A07/bookend_l/Object.usda", + "pose": { + "pos": [ + 1.8931348323822021, + 2.8567636013031006, + 0.33000004291534424 + ], + "ori": [ + 0.7216799855232239, + 1.4901161193847656e-07, + 3.8743019104003906e-07, + 0.6922268271446228 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.6, + "physics_material": { + "static_friction": 0.2, + "dynamic_friction": 0.15, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.6132622679142514e-06, + 5.655175527863321e-07, + -3.624458486228832e-06 + ], + "angular_velocity": [ + -0.00012158293975517154, + -7.196184014901519e-05, + -3.0579005397157744e-05 + ] + } + } + ] + } + ], + "artifacts": [ + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1000.0, + "texture": null, + "color": [ + 0.85, + 0.85, + 0.85 + ] + } + } + }, + "robots": { + "Go2Plus": { + "root_pose": [ + [ + -3.319148063659668, + -2.113769054412842, + 0.35280513763427734, + 0.9729829430580139, + 0.002084136940538883, + -0.0038177259266376495, + 0.23083597421646118 + ] + ], + "root_vel": [ + [ + -0.00584416976198554, + -0.003129374235868454, + -0.0009128074161708355, + -0.005514324177056551, + 0.00902069266885519, + 0.003900829702615738 + ] + ], + "joint_pos": [ + [ + 0.0320793017745018, + -0.025206472724676132, + -0.09734928607940674, + 0.08419575542211533, + -1.811750917113386e-05, + 0.6708922982215881, + 0.7331123352050781, + 0.9678267240524292, + 0.9712810516357422, + 1.705622673034668, + -1.53879714012146, + -1.5556738376617432, + -1.6194205284118652, + -1.6150422096252441, + -0.9955923557281494, + 1.5396215530927293e-05, + 0.6994310617446899, + -2.2935751076147426e-06, + 0.03500000014901161, + -0.03499937430024147 + ] + ], + "joint_vel": [ + [ + -0.0012215058086439967, + -0.0008155795512720942, + 0.005971801932901144, + 0.0039031144697219133, + 0.00027267966652289033, + -0.02505379542708397, + -0.021392477676272392, + -0.036550167948007584, + -0.03191255405545235, + -0.03635118901729584, + -0.017361601814627647, + -0.016971532255411148, + 0.0027744497638195753, + 0.0002824674011208117, + -0.027152100577950478, + -7.559962250525132e-05, + 0.011960433796048164, + 5.0220342018292286e-06, + -1.87270643436932e-09, + -2.063811189145781e-05 + ] + ] + } + }, + "cameras": { + "cameras": { + "head": [ + [ + 0.33205100893974304, + 0.038026999682188034, + 0.09355899691581726, + -0.5022302269935608, + -0.499491810798645, + 0.5120040774345398, + 0.4859265089035034 + ] + ], + "wrist": [ + [ + -0.0749870017170906, + 0.005288999993354082, + 0.04582099989056587, + 0.1271296590566635, + 0.701795220375061, + -0.6904057860374451, + -0.12108422070741653 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/N034/go2_arm/dr_off/seed_1018/rec/stationbookend/000/sim_info/0/sim_states.npz b/N034/go2_arm/dr_off/seed_1018/rec/stationbookend/000/sim_info/0/sim_states.npz new file mode 100644 index 0000000000000000000000000000000000000000..1a1aa75f74a4de373a91cd798c0b37c9c97b7760 --- /dev/null +++ b/N034/go2_arm/dr_off/seed_1018/rec/stationbookend/000/sim_info/0/sim_states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cc8ec6d9c75b91cd72576fb8d0403a3124ccb7cce78fe950a4b196cc88c9f497 +size 836807 diff --git a/N034/go2_arm/dr_off/seed_1018/rec/stationbookend/000/sim_info/magicsim_manifest.json b/N034/go2_arm/dr_off/seed_1018/rec/stationbookend/000/sim_info/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..b30d9e98cfdddc2347c17c540aec38650415ea0e --- /dev/null +++ b/N034/go2_arm/dr_off/seed_1018/rec/stationbookend/000/sim_info/magicsim_manifest.json @@ -0,0 +1,259 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 03:02:36" + }, + "embodiment": { + "robots": [ + { + "name": "Go2Plus", + "cfg": "Go2PlusCfg", + "type": "mobilemanip", + "joint_names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 12, + "nan_policy": "from_raw", + "segments": [ + { + "name": "Go2Plus.base_action", + "start": 0, + "end": 4, + "names": [ + "base_action_0", + "base_action_1", + "base_action_2", + "base_action_3" + ], + "source": "Go2UnifiedLocomotionAction", + "names_source": "fallback" + }, + { + "name": "Go2Plus.arm_action", + "start": 4, + "end": 11, + "names": [ + "eef0.pos_x", + "eef0.pos_y", + "eef0.pos_z", + "eef0.quat_w", + "eef0.quat_x", + "eef0.quat_y", + "eef0.quat_z" + ], + "source": "Go2PlusCuroboIKAction", + "names_source": "pose_layout" + }, + { + "name": "Go2Plus.eef_action", + "start": 11, + "end": 12, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 26, + "segments": [ + { + "name": "Go2Plus.joint_pos", + "start": 0, + "end": 24, + "names": [ + "joint_0", + "joint_1", + "joint_2", + "joint_3", + "joint_4", + "joint_5", + "joint_6", + "joint_7", + "joint_8", + "joint_9", + "joint_10", + "joint_11", + "joint_12", + "joint_13", + "joint_14", + "joint_15", + "joint_16", + "joint_17", + "joint_18", + "joint_19", + "joint_20", + "joint_21", + "joint_22", + "joint_23" + ], + "source": "ObservationManager", + "names_source": "fallback_dim_mismatch(joint_names=20,obs=24)" + }, + { + "name": "Go2Plus.gripper_pos", + "start": 24, + "end": 26, + "names": [ + "gripper_0", + "gripper_1" + ], + "source": "ObservationManager", + "names_source": "generated" + } + ] + }, + "joint_vel_layout": { + "dim": 20, + "segments": [ + { + "name": "Go2Plus.joint_vel", + "start": 0, + "end": 20, + "names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "action_levels": { + "L0": "task command list (collect.auto_collect_info.current_action)", + "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)", + "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)", + "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy", + "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)" + }, + "cameras": { + "head": { + "intrinsics": { + "K": [ + [ + 607.7061061683956, + 0.0, + 320.0 + ], + [ + 0.0, + 607.3754374751866, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 55.53991912549515, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.33205100893974304, + 0.038026999682188034, + 0.09355899691581726 + ], + "quat": [ + -0.5022302269935608, + -0.499491810798645, + 0.5120040774345398, + 0.4859265089035034 + ] + }, + "wrist": { + "intrinsics": { + "K": [ + [ + 617.2500342478374, + 0.0, + 320.0 + ], + [ + 0.0, + 617.548655622722, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 54.807019583348044, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + -0.0749870017170906, + 0.005288999993354082, + 0.04582099989056587 + ], + "quat": [ + 0.1271296590566635, + 0.701795220375061, + -0.6904057860374451, + -0.12108422070741653 + ] + } + }, + "generated_run": { + "run_id": "stationbookend/000", + "task_type": "BookendCommand" + } +} \ No newline at end of file diff --git a/N034/go2_arm/dr_off/seed_1018/report.episodes.jsonl b/N034/go2_arm/dr_off/seed_1018/report.episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dc59581ad0ff4a3fbd6d06fc53467370c1d179d1 --- /dev/null +++ b/N034/go2_arm/dr_off/seed_1018/report.episodes.jsonl @@ -0,0 +1 @@ +{"task_id": "N034", "task_version": "EXT60-MobileAvatar-v3", "instruction": null, "agent_id": "a07", "family_id": "bookend_support", "primary_category": "C2", "level": "easy", "embodiment": "go2_arm", "scene_seed": 1018, "execution_mode": "expert_privileged_command", "station_layout": {"A": {"center": [-0.410439084326611, -0.15765734859653854], "facing": 1.537, "stand": [-0.442, -1.107, 1.537]}, "B": {"center": [1.8185345715858743, 2.972780776393359], "facing": 1.529, "stand": [1.779, 2.024, 1.529]}}, "spawn_pose": [-3.299, -2.106, 0.454], "base_path": [[-3.3, -2.106, 0.454], [-3.304, -2.106, 0.463], [-3.311, -2.11, 0.464], [-3.316, -2.112, 0.464], [-3.319, -2.114, 0.466], [-3.255, -2.086, 0.424], [-3.115, -2.034, 0.342], [-2.954, -1.982, 0.322], [-2.79, -1.928, 0.322], [-2.628, -1.872, 0.326], [-2.466, -1.815, 0.326], [-2.304, -1.759, 0.323], [-2.142, -1.702, 0.326], [-1.981, -1.645, 0.326], [-1.818, -1.588, 0.33], [-1.656, -1.532, 0.328], [-1.494, -1.475, 0.324], [-1.333, -1.418, 0.325], [-1.172, -1.362, 0.328], [-1.009, -1.305, 0.328], [-0.847, -1.248, 0.329], [-0.695, -1.194, 0.325], [-0.587, -1.155, 0.327], [-0.565, -1.14, 0.554], [-0.561, -1.141, 0.953], [-0.56, -1.143, 1.363], [-0.558, -1.145, 1.732], [-0.556, -1.149, 1.883], [-0.549, -1.155, 1.729], [-0.542, -1.151, 1.585], [-0.543, -1.065, 1.472], [-0.529, -0.955, 1.433], [-0.513, -0.845, 1.425], [-0.51, -0.811, 1.422], [-0.513, -0.826, 1.415], [-0.512, -0.828, 1.414], [-0.512, -0.829, 1.414], [-0.515, -0.825, 1.41], [-0.512, -0.823, 1.413], [-0.511, -0.825, 1.414], [-0.512, -0.826, 1.414], [-0.512, -0.826, 1.414], [-0.512, -0.827, 1.414], [-0.512, -0.828, 1.415], [-0.511, -0.83, 1.414], [-0.511, -0.834, 1.414], [-0.512, -0.836, 1.415], [-0.512, -0.834, 1.417], [-0.512, -0.832, 1.418], [-0.511, -0.834, 1.35], [-0.51, -0.837, 1.001], [-0.516, -0.837, 0.581], [-0.486, -0.819, 0.192], [-0.362, -0.811, 0.053], [-0.238, -0.807, 0.071], [-0.131, -0.791, 0.098], [-0.021, -0.773, 0.11], [0.072, -0.758, 0.11], [0.163, -0.698, 0.095], [0.215, -0.646, 0.318], [0.221, -0.639, 0.712], [0.262, -0.594, 1.044], [0.324, -0.503, 1.116], [0.383, -0.399, 1.094], [0.443, -0.293, 1.095], [0.497, -0.189, 1.1], [0.55, -0.087, 1.104], [0.602, 0.013, 1.106], [0.651, 0.113, 1.106], [0.698, 0.211, 1.104], [0.747, 0.311, 1.103], [0.8, 0.415, 1.102], [0.85, 0.515, 1.102], [0.899, 0.613, 1.102], [0.948, 0.711, 1.102], [0.996, 0.811, 1.103], [1.045, 0.912, 1.102], [1.096, 1.014, 1.103], [1.146, 1.113, 1.103], [1.195, 1.211, 1.104], [1.244, 1.311, 1.105], [1.294, 1.412, 1.105], [1.344, 1.512, 1.104], [1.393, 1.612, 1.102], [1.444, 1.713, 1.102], [1.495, 1.814, 1.102], [1.544, 1.912, 1.104], [1.593, 2.012, 1.103], [1.64, 2.11, 1.104], [1.687, 2.19, 1.113], [1.686, 2.213, 1.369], [1.683, 2.218, 1.595], [1.684, 2.216, 1.599], [1.687, 2.219, 1.576], [1.685, 2.222, 1.552], [1.684, 2.226, 1.549], [1.683, 2.227, 1.548], [1.682, 2.218, 1.55], [1.678, 2.21, 1.561], [1.68, 2.207, 1.578], [1.679, 2.208, 1.587], [1.678, 2.209, 1.594], [1.678, 2.209, 1.594], [1.677, 2.206, 1.594], [1.684, 2.251, 1.569], [1.715, 2.264, 1.45], [1.712, 2.257, 1.465], [1.712, 2.253, 1.465], [1.712, 2.252, 1.465], [1.712, 2.25, 1.464], [1.712, 2.25, 1.465], [1.712, 2.25, 1.465], [1.712, 2.25, 1.465], [1.712, 2.25, 1.465], [1.712, 2.25, 1.467], [1.711, 2.25, 1.466], [1.711, 2.248, 1.466], [1.711, 2.247, 1.464], [1.711, 2.247, 1.464], [1.711, 2.246, 1.464], [1.711, 2.246, 1.464], [1.711, 2.246, 1.464], [1.711, 2.246, 1.462], [1.714, 2.256, 1.467], [1.728, 2.303, 1.4], [1.728, 2.323, 1.351], [1.724, 2.321, 1.356], [1.723, 2.315, 1.375], [1.725, 2.313, 1.377], [1.723, 2.317, 1.398], [1.724, 2.324, 1.418], [1.724, 2.326, 1.421], [1.725, 2.326, 1.421], [1.725, 2.327, 1.421], [1.725, 2.328, 1.423], [1.725, 2.328, 1.423], [1.725, 2.328, 1.423], [1.725, 2.328, 1.423], [1.728, 2.327, 1.405], [1.729, 2.323, 1.403], [1.73, 2.322, 1.401], [1.73, 2.322, 1.405], [1.727, 2.325, 1.419], [1.727, 2.327, 1.419], [1.727, 2.328, 1.419], [1.727, 2.328, 1.419], [1.727, 2.328, 1.42], [1.727, 2.329, 1.42], [1.727, 2.329, 1.42], [1.727, 2.329, 1.421]], "stage_events": [{"tick": 447, "event": "enter_station", "station": "A", "xy": [-1.197, -1.371]}, {"tick": 1808, "event": "leave_station", "station": "A", "xy": [0.863, 0.542]}, {"tick": 2071, "event": "enter_station", "station": "B", "xy": [1.384, 1.592]}], "transport_state": {"book": {"held": false, "grasps": 1}}, "manipulation_success": true, "mobile_success": true, "full_success": true, "failure_reason": null, "fail_class_hint": null, "distance_to_first_interaction": 2.274, "interstation_path_lengths": [4.473], "station_transition_order": ["A", "B"], "final_approach_pose": [1.727, 2.329, 1.421], "regrasp_events": 0, "control_ticks": 3190, "wall_s": 1033.7, "phase": "done", "state": "success: task sequence complete", "check": {"book": [1.808, 2.837, 0.4], "dist_wrist": 0.19, "held": false, "upright_deg": 0.0, "rest_z": true, "gaps": {"plate": 0.0, "bookend": -0.0}, "pushed": true, "released": true, "at_rest": true, "manipulation_success": true}, "route": ["A", "B"], "total_path_m": 7.75, "planner_seeds": "lean"} diff --git a/N034/go2_arm/dr_off/seed_1018/report.json b/N034/go2_arm/dr_off/seed_1018/report.json new file mode 100644 index 0000000000000000000000000000000000000000..36b6941ee7af449b6812df0b141610dc46244e0b --- /dev/null +++ b/N034/go2_arm/dr_off/seed_1018/report.json @@ -0,0 +1,974 @@ +{ + "task_id": "N034", + "level": "easy", + "seed": 1018, + "episodes_requested": 1, + "episodes": [ + { + "task_id": "N034", + "task_version": "EXT60-MobileAvatar-v3", + "instruction": null, + "agent_id": "a07", + "family_id": "bookend_support", + "primary_category": "C2", + "level": "easy", + "embodiment": "go2_arm", + "scene_seed": 1018, + "execution_mode": "expert_privileged_command", + "station_layout": { + "A": { + "center": [ + -0.410439084326611, + -0.15765734859653854 + ], + "facing": 1.537, + "stand": [ + -0.442, + -1.107, + 1.537 + ] + }, + "B": { + "center": [ + 1.8185345715858743, + 2.972780776393359 + ], + "facing": 1.529, + "stand": [ + 1.779, + 2.024, + 1.529 + ] + } + }, + "spawn_pose": [ + -3.299, + -2.106, + 0.454 + ], + "base_path": [ + [ + -3.3, + -2.106, + 0.454 + ], + [ + -3.304, + -2.106, + 0.463 + ], + [ + -3.311, + -2.11, + 0.464 + ], + [ + -3.316, + -2.112, + 0.464 + ], + [ + -3.319, + -2.114, + 0.466 + ], + [ + -3.255, + -2.086, + 0.424 + ], + [ + -3.115, + -2.034, + 0.342 + ], + [ + -2.954, + -1.982, + 0.322 + ], + [ + -2.79, + -1.928, + 0.322 + ], + [ + -2.628, + -1.872, + 0.326 + ], + [ + -2.466, + -1.815, + 0.326 + ], + [ + -2.304, + -1.759, + 0.323 + ], + [ + -2.142, + -1.702, + 0.326 + ], + [ + -1.981, + -1.645, + 0.326 + ], + [ + -1.818, + -1.588, + 0.33 + ], + [ + -1.656, + -1.532, + 0.328 + ], + [ + -1.494, + -1.475, + 0.324 + ], + [ + -1.333, + -1.418, + 0.325 + ], + [ + -1.172, + -1.362, + 0.328 + ], + [ + -1.009, + -1.305, + 0.328 + ], + [ + -0.847, + -1.248, + 0.329 + ], + [ + -0.695, + -1.194, + 0.325 + ], + [ + -0.587, + -1.155, + 0.327 + ], + [ + -0.565, + -1.14, + 0.554 + ], + [ + -0.561, + -1.141, + 0.953 + ], + [ + -0.56, + -1.143, + 1.363 + ], + [ + -0.558, + -1.145, + 1.732 + ], + [ + -0.556, + -1.149, + 1.883 + ], + [ + -0.549, + -1.155, + 1.729 + ], + [ + -0.542, + -1.151, + 1.585 + ], + [ + -0.543, + -1.065, + 1.472 + ], + [ + -0.529, + -0.955, + 1.433 + ], + [ + -0.513, + -0.845, + 1.425 + ], + [ + -0.51, + -0.811, + 1.422 + ], + [ + -0.513, + -0.826, + 1.415 + ], + [ + -0.512, + -0.828, + 1.414 + ], + [ + -0.512, + -0.829, + 1.414 + ], + [ + -0.515, + -0.825, + 1.41 + ], + [ + -0.512, + -0.823, + 1.413 + ], + [ + -0.511, + -0.825, + 1.414 + ], + [ + -0.512, + -0.826, + 1.414 + ], + [ + -0.512, + -0.826, + 1.414 + ], + [ + -0.512, + -0.827, + 1.414 + ], + [ + -0.512, + -0.828, + 1.415 + ], + [ + -0.511, + -0.83, + 1.414 + ], + [ + -0.511, + -0.834, + 1.414 + ], + [ + -0.512, + -0.836, + 1.415 + ], + [ + -0.512, + -0.834, + 1.417 + ], + [ + -0.512, + -0.832, + 1.418 + ], + [ + -0.511, + -0.834, + 1.35 + ], + [ + -0.51, + -0.837, + 1.001 + ], + [ + -0.516, + -0.837, + 0.581 + ], + [ + -0.486, + -0.819, + 0.192 + ], + [ + -0.362, + -0.811, + 0.053 + ], + [ + -0.238, + -0.807, + 0.071 + ], + [ + -0.131, + -0.791, + 0.098 + ], + [ + -0.021, + -0.773, + 0.11 + ], + [ + 0.072, + -0.758, + 0.11 + ], + [ + 0.163, + -0.698, + 0.095 + ], + [ + 0.215, + -0.646, + 0.318 + ], + [ + 0.221, + -0.639, + 0.712 + ], + [ + 0.262, + -0.594, + 1.044 + ], + [ + 0.324, + -0.503, + 1.116 + ], + [ + 0.383, + -0.399, + 1.094 + ], + [ + 0.443, + -0.293, + 1.095 + ], + [ + 0.497, + -0.189, + 1.1 + ], + [ + 0.55, + -0.087, + 1.104 + ], + [ + 0.602, + 0.013, + 1.106 + ], + [ + 0.651, + 0.113, + 1.106 + ], + [ + 0.698, + 0.211, + 1.104 + ], + [ + 0.747, + 0.311, + 1.103 + ], + [ + 0.8, + 0.415, + 1.102 + ], + [ + 0.85, + 0.515, + 1.102 + ], + [ + 0.899, + 0.613, + 1.102 + ], + [ + 0.948, + 0.711, + 1.102 + ], + [ + 0.996, + 0.811, + 1.103 + ], + [ + 1.045, + 0.912, + 1.102 + ], + [ + 1.096, + 1.014, + 1.103 + ], + [ + 1.146, + 1.113, + 1.103 + ], + [ + 1.195, + 1.211, + 1.104 + ], + [ + 1.244, + 1.311, + 1.105 + ], + [ + 1.294, + 1.412, + 1.105 + ], + [ + 1.344, + 1.512, + 1.104 + ], + [ + 1.393, + 1.612, + 1.102 + ], + [ + 1.444, + 1.713, + 1.102 + ], + [ + 1.495, + 1.814, + 1.102 + ], + [ + 1.544, + 1.912, + 1.104 + ], + [ + 1.593, + 2.012, + 1.103 + ], + [ + 1.64, + 2.11, + 1.104 + ], + [ + 1.687, + 2.19, + 1.113 + ], + [ + 1.686, + 2.213, + 1.369 + ], + [ + 1.683, + 2.218, + 1.595 + ], + [ + 1.684, + 2.216, + 1.599 + ], + [ + 1.687, + 2.219, + 1.576 + ], + [ + 1.685, + 2.222, + 1.552 + ], + [ + 1.684, + 2.226, + 1.549 + ], + [ + 1.683, + 2.227, + 1.548 + ], + [ + 1.682, + 2.218, + 1.55 + ], + [ + 1.678, + 2.21, + 1.561 + ], + [ + 1.68, + 2.207, + 1.578 + ], + [ + 1.679, + 2.208, + 1.587 + ], + [ + 1.678, + 2.209, + 1.594 + ], + [ + 1.678, + 2.209, + 1.594 + ], + [ + 1.677, + 2.206, + 1.594 + ], + [ + 1.684, + 2.251, + 1.569 + ], + [ + 1.715, + 2.264, + 1.45 + ], + [ + 1.712, + 2.257, + 1.465 + ], + [ + 1.712, + 2.253, + 1.465 + ], + [ + 1.712, + 2.252, + 1.465 + ], + [ + 1.712, + 2.25, + 1.464 + ], + [ + 1.712, + 2.25, + 1.465 + ], + [ + 1.712, + 2.25, + 1.465 + ], + [ + 1.712, + 2.25, + 1.465 + ], + [ + 1.712, + 2.25, + 1.465 + ], + [ + 1.712, + 2.25, + 1.467 + ], + [ + 1.711, + 2.25, + 1.466 + ], + [ + 1.711, + 2.248, + 1.466 + ], + [ + 1.711, + 2.247, + 1.464 + ], + [ + 1.711, + 2.247, + 1.464 + ], + [ + 1.711, + 2.246, + 1.464 + ], + [ + 1.711, + 2.246, + 1.464 + ], + [ + 1.711, + 2.246, + 1.464 + ], + [ + 1.711, + 2.246, + 1.462 + ], + [ + 1.714, + 2.256, + 1.467 + ], + [ + 1.728, + 2.303, + 1.4 + ], + [ + 1.728, + 2.323, + 1.351 + ], + [ + 1.724, + 2.321, + 1.356 + ], + [ + 1.723, + 2.315, + 1.375 + ], + [ + 1.725, + 2.313, + 1.377 + ], + [ + 1.723, + 2.317, + 1.398 + ], + [ + 1.724, + 2.324, + 1.418 + ], + [ + 1.724, + 2.326, + 1.421 + ], + [ + 1.725, + 2.326, + 1.421 + ], + [ + 1.725, + 2.327, + 1.421 + ], + [ + 1.725, + 2.328, + 1.423 + ], + [ + 1.725, + 2.328, + 1.423 + ], + [ + 1.725, + 2.328, + 1.423 + ], + [ + 1.725, + 2.328, + 1.423 + ], + [ + 1.728, + 2.327, + 1.405 + ], + [ + 1.729, + 2.323, + 1.403 + ], + [ + 1.73, + 2.322, + 1.401 + ], + [ + 1.73, + 2.322, + 1.405 + ], + [ + 1.727, + 2.325, + 1.419 + ], + [ + 1.727, + 2.327, + 1.419 + ], + [ + 1.727, + 2.328, + 1.419 + ], + [ + 1.727, + 2.328, + 1.419 + ], + [ + 1.727, + 2.328, + 1.42 + ], + [ + 1.727, + 2.329, + 1.42 + ], + [ + 1.727, + 2.329, + 1.42 + ], + [ + 1.727, + 2.329, + 1.421 + ] + ], + "stage_events": [ + { + "tick": 447, + "event": "enter_station", + "station": "A", + "xy": [ + -1.197, + -1.371 + ] + }, + { + "tick": 1808, + "event": "leave_station", + "station": "A", + "xy": [ + 0.863, + 0.542 + ] + }, + { + "tick": 2071, + "event": "enter_station", + "station": "B", + "xy": [ + 1.384, + 1.592 + ] + } + ], + "transport_state": { + "book": { + "held": false, + "grasps": 1 + } + }, + "manipulation_success": true, + "mobile_success": true, + "full_success": true, + "failure_reason": null, + "fail_class_hint": null, + "distance_to_first_interaction": 2.274, + "interstation_path_lengths": [ + 4.473 + ], + "station_transition_order": [ + "A", + "B" + ], + "final_approach_pose": [ + 1.727, + 2.329, + 1.421 + ], + "regrasp_events": 0, + "control_ticks": 3190, + "wall_s": 1033.7, + "phase": "done", + "state": "success: task sequence complete", + "check": { + "book": [ + 1.808, + 2.837, + 0.4 + ], + "dist_wrist": 0.19, + "held": false, + "upright_deg": 0.0, + "rest_z": true, + "gaps": { + "plate": 0.0, + "bookend": -0.0 + }, + "pushed": true, + "released": true, + "at_rest": true, + "manipulation_success": true + }, + "route": [ + "A", + "B" + ], + "total_path_m": 7.75, + "planner_seeds": "lean" + } + ], + "error": null, + "collect": { + "task": "N034", + "robot": "go2_arm", + "visual_dr": false, + "env": { + "MMB_COLLECT": "1", + "MMB_TASK_ID": "N034", + "MMB_CLEAN_VIEW": "1", + "MMB_REAL_ROBOT_LOOK": "1", + "MMB_VISUAL_DR": "0" + }, + "cameras": { + "head": { + "link": "Robot_0/Bodies/go2_base", + "pos": [ + 0.332051, + 0.038027, + 0.093559 + ], + "ori": [ + 169.9473, + -88.6452, + 81.5985 + ], + "focal_length": 1.8231182098388672, + "horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.4407838582992554 + }, + "wrist": { + "link": "Robot_0/Bodies/piper_link6", + "pos": [ + -0.074987, + 0.005289, + 0.045821 + ], + "ori": [ + 179.3135, + -20.212, + 88.9402 + ], + "focal_length": 1.8517500162124634, + "horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.4393036365509033 + } + }, + "resolution": [ + 640, + 480 + ], + "camera_hz": 25, + "record": { + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + } + }, + "review_cameras": [], + "policy_obs_signature": [ + "/camera_info[0]/rgb[0]:(480, 640, 4):uint8", + "/camera_info[1]/rgb[0]:(480, 640, 4):uint8", + "/robot_state[0]/Go2Plus/base_ang_vel:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/base_lin_vel:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/base_pos:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/base_quat:(1, 4):torch.float32", + "/robot_state[0]/Go2Plus/eef_pos:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/eef_quat:(1, 4):torch.float32", + "/robot_state[0]/Go2Plus/eef_relative_pos:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/eef_relative_quat:(1, 4):torch.float32", + "/robot_state[0]/Go2Plus/finger_joint_pos:(1, 2):torch.float32", + "/robot_state[0]/Go2Plus/gripper_pos:(1, 2):torch.float32", + "/robot_state[0]/Go2Plus/joint_effort:(1, 20):torch.float32", + "/robot_state[0]/Go2Plus/joint_pos:(1, 24):torch.float32", + "/robot_state[0]/Go2Plus/joint_vel:(1, 20):torch.float32" + ], + "n_success": 1, + "elapsed_s": 1238.9, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 24.2 + } +} diff --git a/N034/go2_arm/dr_off/seed_1019/check.json b/N034/go2_arm/dr_off/seed_1019/check.json new file mode 100644 index 0000000000000000000000000000000000000000..b35d331e493e4744fbfc260f387f21f14c9e4f1e --- /dev/null +++ b/N034/go2_arm/dr_off/seed_1019/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'; expected 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "1872 rows vs ceil(3743/2) = 1872" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..3843, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "20.31 MB, 1872 frames at 25 fps, mean luma 101..140, std 22, new picture 1871x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1872 vs 1872" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "31.90 MB, 1872 frames at 25 fps, mean luma 95..161, std 24, new picture 1871x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1872 vs 1872" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationbookend/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N034/go2_arm/dr_off/seed_1019/check.txt b/N034/go2_arm/dr_off/seed_1019/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..c9f3e4123f796383e6e1b9ef9ec7538010a6875d --- /dev/null +++ b/N034/go2_arm/dr_off/seed_1019/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n034_go2_off_1019/out task=N034 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n034_go2_off_1019/out/rec/stationbookend/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1872 videos 2 robot_type Go2PlusCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 1872 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5'] +[PASS] action shape: parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y'] +[PASS] task text = MobileBench instruction: task_index 0: 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'; expected 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.' +rows 1872 at dataset fps 25 = 74.88 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1872 rows vs ceil(3743/2) = 1872 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..3843, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 20.31 MB, 1872 frames at 25 fps, mean luma 101..140, std 22, new picture 1871x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1872 vs 1872 +[PASS] video observation.images.wrist decodes, 640x480, not black: 31.90 MB, 1872 frames at 25 fps, mean luma 95..161, std 24, new picture 1871x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1872 vs 1872 +parquet size 6.64 MB +[PASS] sim_info present: rec/stationbookend/000/sim_info +dataset size 59.09 MB; whole cell dir 60.8 MB +RESULT: ALL PASS diff --git a/N034/go2_arm/dr_off/seed_1019/rec/stationbookend/000/completed/0.json b/N034/go2_arm/dr_off/seed_1019/rec/stationbookend/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..92774b53003e83bf90b8dbc14d938d81cff5769c --- /dev/null +++ b/N034/go2_arm/dr_off/seed_1019/rec/stationbookend/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationbookend/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N034/go2_arm/dr_off/seed_1019/rec/stationbookend/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N034/go2_arm/dr_off/seed_1019/rec/stationbookend/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..4a62d3b9a6b1553c0116a88bb010ce986afcb9e9 --- /dev/null +++ b/N034/go2_arm/dr_off/seed_1019/rec/stationbookend/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:08c2ee206560b5852cb842bcdca81b579e391405f0b5e705c6ac0d6747fb7267 +size 6635794 diff --git a/N034/go2_arm/dr_off/seed_1019/rec/stationbookend/000/lerobot_v21/meta/episodes.jsonl b/N034/go2_arm/dr_off/seed_1019/rec/stationbookend/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..54be2cefb872c578b33c4476f47eaec0603350c6 --- /dev/null +++ b/N034/go2_arm/dr_off/seed_1019/rec/stationbookend/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it."], "length": 1872, "magicsim/control_steps": 3743, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the brown slot right. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is to the left of the brown slot right. The gray table B is to the left of the bookend. The red book is on top of the brown slot right. The gray plate is on top of the bookend. The gray plate is to the left of the bookend. The bookend is to the right of the gray plate. The scene is viewed from front, at table height."} diff --git a/N034/go2_arm/dr_off/seed_1019/rec/stationbookend/000/lerobot_v21/meta/episodes_stats.jsonl b/N034/go2_arm/dr_off/seed_1019/rec/stationbookend/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c66ddcb04ddceef7f754f65b44836d20121a3a63 --- /dev/null +++ b/N034/go2_arm/dr_off/seed_1019/rec/stationbookend/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.10140935979528815, -0.0014676845967809423, 0.0125796333437688, 0.32402712770570546, 0.8557659135096602, 1.1990686055416098, 0.6454265084849973, 0.09637270915376357, -0.42801306552938223, 0.8516579517123536, 0.06192552304173271, 0.6746794871794872], "std": [0.13572761697600666, 0.01886371268891117, 0.22198442512225394, 0.03234801727837406, 1.3386319674834193, 1.6443076100041374, 0.06289186787037732, 0.04591091940877138, 0.25472108177269265, 0.10037084105835113, 0.03600038955416298, 0.46849447889885487], "min": [0.0, -0.07999998331069946, -0.800000011920929, 0.28999999165534973, -3.0114896297454834, -1.9162098169326782, 0.4879685044288635, -0.017439953982830048, -0.7472398281097412, 0.6528578996658325, -0.0064080990850925446, 0.0], "max": [0.3499999940395355, 0.25, 0.800000011920929, 0.3700000047683716, 2.101583480834961, 2.8395228385925293, 0.7210119366645813, 0.16507500410079956, 0.043140195310115814, 0.9990512132644653, 0.11499176919460297, 1.0], "count": [1872]}, "action_is_hold": {"mean": [0.13514957264957264, 0.13514957264957264, 0.13514957264957264, 0.13514957264957264, 0.1639957264957265, 0.1639957264957265, 0.1639957264957265, 0.1639957264957265, 0.1639957264957265, 0.1639957264957265, 0.1639957264957265, 0.9626068376068376], "std": [0.34188326320867, 0.34188326320867, 0.34188326320867, 0.34188326320867, 0.3702716950927641, 0.3702716950927641, 0.3702716950927641, 0.3702716950927641, 0.3702716950927641, 0.3702716950927641, 0.3702716950927641, 0.18972325582120708], "min": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], "count": [1872]}, "observation.state": {"mean": [-0.008832174099540843, -0.006818120418063925, -0.03761027486698573, 0.05294472543024841, -0.1104851687365561, 0.7753938230502809, 0.7730668656464316, 0.897143251557126, 0.9180748263994852, 2.2005462352918763, -1.5601903826125667, -1.563874392810031, -1.5692544562312274, -1.59188411766902, -1.782576620610606, 0.024265999359892876, 0.9890512286916248, 0.09473962598526124, 0.01773934831244469, -0.018021320844611752, 0.6357011234063882, 0.7722771208204476, 1.1470727746623157, 0.3537860835910353, -0.018021320844611752, -0.01773934831244469], "std": [0.04557911954090298, 0.03762449180726127, 0.0658406786353018, 0.06279696576894771, 0.11793424616833283, 0.13658220383354783, 0.1316235374634346, 0.12553955129909133, 0.14344138385219796, 0.34990647331251107, 0.18755988392670336, 0.1967283865368644, 0.20457536013300595, 0.1906471681788869, 0.5479832409694988, 0.027306337399509096, 0.21113318606134066, 0.5142110830331957, 0.013834195474583911, 0.013826345460945745, 1.3699032050628963, 1.5071578299810746, 0.4324487668904756, 0.030772473106477696, 0.013826345460945745, 0.013834195474583911], "min": [-0.15732549130916595, -0.10672853887081146, -0.1741328090429306, -0.06987550854682922, -0.4887844920158386, 0.4857245683670044, 0.48751285672187805, 0.597061276435852, 0.5976895689964294, 1.704373836517334, -1.8092864751815796, -1.8075467348098755, -1.831852674484253, -1.8492465019226074, -2.732652187347412, -0.024989083409309387, 0.4727647006511688, -0.3030072748661041, 0.0, -0.03500000014901161, -3.2669074535369873, -2.1906704902648926, -0.043494898825883865, 0.3131336569786072, -0.03500000014901161, -0.03500000014901161], "max": [0.13793444633483887, 0.1626463681459427, 0.1602793037891388, 0.19420820474624634, 0.016660191118717194, 0.998702883720398, 0.9464517831802368, 1.091968059539795, 1.093217372894287, 2.7588090896606445, -1.1371465921401978, -1.2077312469482422, -1.1387938261032104, -1.2079437971115112, -0.9797386527061462, 0.10015591979026794, 1.2172913551330566, 1.4415864944458008, 0.03500000014901161, 0.0, 1.8019195795059204, 2.2737157344818115, 1.8380955457687378, 0.4016351103782654, 0.0, -0.0], "count": [1872]}, "observation.joint_vel": {"mean": [5.658717436434126e-05, -0.00016269483045014055, -0.003131358342752486, -0.0011021332811991607, 0.00031031674499062376, 0.014918789178741813, 0.0023487369099327157, -0.002442914786999811, 0.003060892237354721, 0.004053531825363287, -0.017783681274502274, -0.012663773629153892, 0.004101192419220285, -0.003768157028340812, -0.012372948512676368, 0.0004844753396730199, 0.011613372662972883, -0.0010487127111403903, -0.0005749369743214272, 0.00048150080831753193], "std": [0.3475744567247443, 0.305516884615371, 0.38820988907411663, 0.46312273221460964, 0.10462406107991296, 0.9006979363785158, 0.8998542579306033, 0.6920299373749452, 0.6098147605820221, 0.12504394551706752, 0.519947936945233, 0.7537227805146813, 0.7932765299565853, 0.8722789761288164, 0.17869431345252262, 0.031786596810297864, 0.08997458897624891, 0.15757873988737392, 0.012155363665931198, 0.012030322126698686], "min": [-2.6919047832489014, -3.9249582290649414, -3.0232958793640137, -4.058384418487549, -1.040321946144104, -4.148984432220459, -4.251581192016602, -3.8354456424713135, -3.3741226196289062, -0.73247891664505, -3.054687261581421, -5.965991020202637, -3.737506151199341, -4.363677501678467, -1.502197027206421, -0.23465396463871002, -0.8379309773445129, -0.35616621375083923, -0.20009158551692963, -0.18673476576805115], "max": [3.519874095916748, 2.6237998008728027, 4.992315292358398, 3.2069613933563232, 0.43806377053260803, 2.2009119987487793, 2.4935574531555176, 3.0721447467803955, 4.089498996734619, 1.0488511323928833, 3.3878424167633057, 4.483425617218018, 3.272062063217163, 4.42346715927124, 0.9258668422698975, 0.21712136268615723, 0.8982918858528137, 1.3132436275482178, 0.19988736510276794, 0.20035140216350555], "count": [1872]}, "observation.eef_pose": {"mean": [0.8536915201186321, 1.1952117141764054, 0.6422788069352635, 0.10022790583535138, -0.42971512272110224, 0.8497235213653145, 0.06777520611500129], "std": [1.338134082962231, 1.6408085688346183, 0.0628207425683308, 0.04615969257792927, 0.2549070390802848, 0.10178025882905485, 0.034759528616306545], "min": [-3.011502265930176, -1.9162250757217407, 0.4858432710170746, -0.016474366188049316, -0.7584421634674072, 0.6394243240356445, -0.0065291523933410645], "max": [2.107058048248291, 2.8397367000579834, 0.7211058139801025, 0.19857513904571533, 0.046573422849178314, 0.9990140199661255, 0.12380838394165039], "count": [1872]}, "observation.environment_state": {"mean": [0.9893123280079379, 1.4379371153959373, 0.44646153920608705, 0.7854741624532602, -0.0015101889111090794, 0.00126159866710742, 0.5983259185559602, 1.9522682716831183, 2.8425058719948826, 0.3300000437272665, 0.7367163490917947, 8.111259857986136e-09, 1.870843883932551e-07, 0.6761862154190357, 1.85211181640625, 2.8373796939849854, 0.37049999833106995, 0.999139666557312, 0.0, 0.0, -0.041471999138593674, -0.42595377564430237, -0.06667723506689072, 0.3474999964237213, 0.9979561567306519, 0.0, 0.0, -0.0639023408293724, -0.3733866214752197, -0.07343699783086777, 0.3474999964237213, 0.9979561567306519, 0.0, 0.0, -0.0639023408293724, -0.3843650817871094, 0.048962850123643875, 0.18000000715255737, 0.9979561567306519, 0.0, 0.0, -0.0639023408293724, 1.8888012170791626, 2.93467378616333, 0.18000000715255737, 0.999139666557312, 0.0, 0.0, -0.041471999138593674], "std": [1.0167796623155043, 1.3908491584453189, 0.06643077895152255, 0.06665939339587296, 0.004403776682730839, 0.005485552638720673, 0.14331644791437623, 0.012928027456085903, 0.0009318888409756144, 5.445323233497571e-08, 0.0030882896442173203, 1.0392376219663828e-06, 9.095748482266936e-07, 0.00341555301042065, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 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": [-0.40268540382385254, -0.6666067242622375, 0.39999982714653015, 0.7450120449066162, -0.017099654302001, -0.03383307158946991, 0.009017993696033955, 1.9043458700180054, 2.8422462940216064, 0.3299998939037323, 0.7358241081237793, -1.5988945960998535e-05, -1.3887882232666016e-05, 0.6575465202331543, 1.85211181640625, 2.8373796939849854, 0.37049999833106995, 0.999139666557312, 0.0, 0.0, -0.041471999138593674, -0.42595377564430237, -0.06667723506689072, 0.3474999964237213, 0.9979561567306519, 0.0, 0.0, -0.0639023408293724, -0.3733866214752197, -0.07343699783086777, 0.3474999964237213, 0.9979561567306519, 0.0, 0.0, -0.0639023408293724, -0.3843650817871094, 0.048962850123643875, 0.18000000715255737, 0.9979561567306519, 0.0, 0.0, -0.0639023408293724, 1.8888012170791626, 2.93467378616333, 0.18000000715255737, 0.999139666557312, 0.0, 0.0, -0.041471999138593674], "max": [2.0642666816711426, 2.846712827682495, 0.5680146217346191, 0.9999197125434875, 0.02100456692278385, 0.016988104209303856, 0.667021632194519, 1.955877423286438, 2.8459818363189697, 0.3300004005432129, 0.7534139156341553, 2.57790111390932e-06, 3.8743023651477415e-06, 0.6771726608276367, 1.85211181640625, 2.8373796939849854, 0.37049999833106995, 0.999139666557312, 0.0, 0.0, -0.041471999138593674, -0.42595377564430237, -0.06667723506689072, 0.3474999964237213, 0.9979561567306519, 0.0, 0.0, -0.0639023408293724, -0.3733866214752197, -0.07343699783086777, 0.3474999964237213, 0.9979561567306519, 0.0, 0.0, -0.0639023408293724, -0.3843650817871094, 0.048962850123643875, 0.18000000715255737, 0.9979561567306519, 0.0, 0.0, -0.0639023408293724, 1.8888012170791626, 2.93467378616333, 0.18000000715255737, 0.999139666557312, 0.0, 0.0, -0.041471999138593674], "count": [1872]}, "action.command": {"mean": [-0.9395345685066776, -0.6866675488752861, 1.1784617084346405, 0.7767024605247611, 0.0, 0.0, 0.6290785380012484, 0.615335463258786, 0.7344755223003059, 1.0108268250958226, 0.650235224151002, 0.09809620026547385, -0.4076678530024454, 0.8630246846058879, 0.05905079477462551, 0.5714285714285714, -1.4376937629850421, -1.1620679243627297, 1.472375924843716, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14463954495085504, 0.039506903029533025, 0.6926794279302417, 0.1137307808792607, -0.35807604951954697, 0.9050533834048318, 0.0424795204653806, 0.0, -1.3521067382171652, -1.1504023773261751, 1.472375924843716, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14463954495085504, 0.039506903029533025, 0.6926794279302417, 0.1137307808792607, -0.35807604951954697, 0.9050533834048318, 0.0424795204653806, 0.0, -1.3226810677909597, -1.1452060595926536, 1.472375924843716, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14463954495085504, 0.039506903029533025, 0.6926794279302417, 0.1137307808792607, -0.35807604951954697, 0.9050533834048318, 0.0424795204653806, 0.0, -1.2571867872202698, -1.140414543044203, 1.472375924843716, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14463954495085504, 0.039506903029533025, 0.6926794279302417, 0.1137307808792607, -0.35807604951954697, 0.9050533834048318, 0.0424795204653806, 0.0, -1.2073012277741197, -1.1282857282861454, 1.472375924843716, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14463954495085504, 0.039506903029533025, 0.6926794279302417, 0.1137307808792607, -0.35807604951954697, 0.9050533834048318, 0.0424795204653806, 0.0, -1.1255665712385063, -1.1129035224635921, 1.472375924843716, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14463954495085504, 0.039506903029533025, 0.6926794279302417, 0.1137307808792607, -0.35807604951954697, 0.9050533834048318, 0.0424795204653806, 0.0, -1.0914686082368827, -1.1113546007024655, 1.472375924843716, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14463954495085504, 0.039506903029533025, 0.6926794279302417, 0.1137307808792607, -0.35807604951954697, 0.9050533834048318, 0.0424795204653806, 0.0, -1.0472230821016775, -1.1092767302258557, 1.472375924843716, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14463954495085504, 0.039506903029533025, 0.6926794279302417, 0.1137307808792607, -0.35807604951954697, 0.9050533834048318, 0.0424795204653806, 0.0, -0.9804608432073912, -1.094605636628342, 1.472375924843716, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14463954495085504, 0.039506903029533025, 0.6926794279302417, 0.1137307808792607, -0.35807604951954697, 0.9050533834048318, 0.0424795204653806, 0.0, -0.92398956784135, -1.083930736835576, 1.472375924843716, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14463954495085504, 0.039506903029533025, 0.6926794279302417, 0.1137307808792607, -0.35807604951954697, 0.9050533834048318, 0.0424795204653806, 0.0, -0.882293364342307, -1.0781668236214486, 1.472375924843716, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14463954495085504, 0.039506903029533025, 0.6926794279302417, 0.1137307808792607, -0.35807604951954697, 0.9050533834048318, 0.0424795204653806, 0.0, -0.8285136681945517, -1.0701971684160778, 1.472375924843716, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14463954495085504, 0.039506903029533025, 0.6926794279302417, 0.1137307808792607, -0.35807604951954697, 0.9050533834048318, 0.0424795204653806, 0.0, -0.789922102118235, -1.034316372428124, 1.472375924843716, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14463954495085504, 0.039506903029533025, 0.6926794279302417, 0.1137307808792607, -0.35807604951954697, 0.9050533834048318, 0.0424795204653806, 0.0, -0.7466729029241311, -0.9882125943147171, 1.472375924843716, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14463954495085504, 0.039506903029533025, 0.6926794279302417, 0.1137307808792607, -0.35807604951954697, 0.9050533834048318, 0.0424795204653806, 0.0, -0.7146300954489435, -0.963601579466664, 1.472375924843716, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14463954495085504, 0.039506903029533025, 0.6926794279302417, 0.1137307808792607, -0.35807604951954697, 0.9050533834048318, 0.0424795204653806, 0.0, -0.6770321623895906, -0.9384821833050742, 1.472375924843716, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14463954495085504, 0.039506903029533025, 0.6926794279302417, 0.1137307808792607, -0.35807604951954697, 0.9050533834048318, 0.0424795204653806, 0.0, -0.6370985561791328, -0.8899324000435838, 1.472375924843716, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14463954495085504, 0.039506903029533025, 0.6926794279302417, 0.1137307808792607, -0.35807604951954697, 0.9050533834048318, 0.0424795204653806, 0.0, -0.6199675627438671, -0.8701803510090903, 1.472375924843716, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14463954495085504, 0.039506903029533025, 0.6926794279302417, 0.1137307808792607, -0.35807604951954697, 0.9050533834048318, 0.0424795204653806, 0.0, -0.571362290645184, -0.8315963889973097, 1.472375924843716, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14463954495085504, 0.039506903029533025, 0.6926794279302417, 0.1137307808792607, -0.35807604951954697, 0.9050533834048318, 0.0424795204653806, 0.0, -0.5218368946001982, -0.7892285949522122, 1.472375924843716, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14463954495085504, 0.039506903029533025, 0.6926794279302417, 0.1137307808792607, -0.35807604951954697, 0.9050533834048318, 0.0424795204653806, 0.0, -0.48801029290494374, -0.7370645096340027, 1.472375924843716, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14463954495085504, 0.039506903029533025, 0.6926794279302417, 0.1137307808792607, -0.35807604951954697, 0.9050533834048318, 0.0424795204653806, 0.0, -0.46982302957005395, -0.7161108568845043, 1.472375924843716, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14463954495085504, 0.039506903029533025, 0.6926794279302417, 0.1137307808792607, -0.35807604951954697, 0.9050533834048318, 0.0424795204653806, 0.0, -0.4117828229192402, -0.644443262581173, 1.472375924843716, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14463954495085504, 0.039506903029533025, 0.6926794279302417, 0.1137307808792607, -0.35807604951954697, 0.9050533834048318, 0.0424795204653806, 0.0, -0.39107390260633085, -0.6304526822381761, 1.472375924843716, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14463954495085504, 0.039506903029533025, 0.6926794279302417, 0.1137307808792607, -0.35807604951954697, 0.9050533834048318, 0.0424795204653806, 0.0, -0.3555345927893245, -0.5875386765516136, 1.472375924843716, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14463954495085504, 0.039506903029533025, 0.6926794279302417, 0.1137307808792607, -0.35807604951954697, 0.9050533834048318, 0.0424795204653806, 0.0, -0.3165420301723607, -0.5464536965754165, 1.472375924843716, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14463954495085504, 0.039506903029533025, 0.6926794279302417, 0.1137307808792607, -0.35807604951954697, 0.9050533834048318, 0.0424795204653806, 0.0, -0.3022543212490411, -0.5358539157377613, 1.472375924843716, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14463954495085504, 0.039506903029533025, 0.6926794279302417, 0.1137307808792607, -0.35807604951954697, 0.9050533834048318, 0.0424795204653806, 0.0, -0.2595505590932778, -0.47026782851928417, 1.472375924843716, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14463954495085504, 0.039506903029533025, 0.6926794279302417, 0.1137307808792607, -0.35807604951954697, 0.9050533834048318, 0.0424795204653806, 0.0, -0.22857140402394938, -0.44761004576961677, 1.472375924843716, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14463954495085504, 0.039506903029533025, 0.6926794279302417, 0.1137307808792607, -0.35807604951954697, 0.9050533834048318, 0.0424795204653806, 0.0, -0.16581508647873108, -0.377091829955657, 1.472375924843716, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14463954495085504, 0.039506903029533025, 0.6926794279302417, 0.1137307808792607, -0.35807604951954697, 0.9050533834048318, 0.0424795204653806, 0.0, -0.1557437572504578, -0.36089240903081804, 1.472375924843716, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14463954495085504, 0.039506903029533025, 0.6926794279302417, 0.1137307808792607, -0.35807604951954697, 0.9050533834048318, 0.0424795204653806, 0.0, -0.12446205454518595, -0.30755223577241025, 1.472375924843716, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14463954495085504, 0.039506903029533025, 0.6926794279302417, 0.1137307808792607, -0.35807604951954697, 0.9050533834048318, 0.0424795204653806, 0.0, -0.08352224633671532, -0.27546733989816896, 1.472375924843716, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14463954495085504, 0.039506903029533025, 0.6926794279302417, 0.1137307808792607, -0.35807604951954697, 0.9050533834048318, 0.0424795204653806, 0.0, -0.03311005737360413, -0.21498714001530195, 1.472375924843716, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14463954495085504, 0.039506903029533025, 0.6926794279302417, 0.1137307808792607, -0.35807604951954697, 0.9050533834048318, 0.0424795204653806, 0.0, -0.011504409481013122, -0.19041845515113112, 1.472375924843716, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14463954495085504, 0.039506903029533025, 0.6926794279302417, 0.1137307808792607, -0.35807604951954697, 0.9050533834048318, 0.0424795204653806, 0.0, 0.030347879189419082, -0.1351663516970428, 1.472375924843716, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14463954495085504, 0.039506903029533025, 0.6926794279302417, 0.1137307808792607, -0.35807604951954697, 0.9050533834048318, 0.0424795204653806, 0.0, 0.059911192017564105, -0.10632096565418826, 1.472375924843716, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14463954495085504, 0.039506903029533025, 0.6926794279302417, 0.1137307808792607, -0.35807604951954697, 0.9050533834048318, 0.0424795204653806, 0.0, 0.09942976032120299, -0.05285117619857687, 1.472375924843716, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14463954495085504, 0.039506903029533025, 0.6926794279302417, 0.1137307808792607, -0.35807604951954697, 0.9050533834048318, 0.0424795204653806, 0.0, 0.13135197010648203, -0.02207864818978278, 1.472375924843716, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14463954495085504, 0.039506903029533025, 0.6926794279302417, 0.1137307808792607, -0.35807604951954697, 0.9050533834048318, 0.0424795204653806, 0.0, 0.18502160024199668, 0.036975631992497135, 1.472375924843716, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14463954495085504, 0.039506903029533025, 0.6926794279302417, 0.1137307808792607, -0.35807604951954697, 0.9050533834048318, 0.0424795204653806, 0.0, 0.20264392434205034, 0.06186436561949225, 1.472375924843716, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14463954495085504, 0.039506903029533025, 0.6926794279302417, 0.1137307808792607, -0.35807604951954697, 0.9050533834048318, 0.0424795204653806, 0.0, 0.23172060142000359, 0.10903557996509243, 1.472375924843716, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14463954495085504, 0.039506903029533025, 0.6926794279302417, 0.1137307808792607, -0.35807604951954697, 0.9050533834048318, 0.0424795204653806, 0.0, 0.2742386666902033, 0.14615807020331759, 1.472375924843716, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14463954495085504, 0.039506903029533025, 0.6926794279302417, 0.1137307808792607, -0.35807604951954697, 0.9050533834048318, 0.0424795204653806, 0.0, 0.32623131848268144, 0.20293664805601, 1.472375924843716, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14463954495085504, 0.039506903029533025, 0.6926794279302417, 0.1137307808792607, -0.35807604951954697, 0.9050533834048318, 0.0424795204653806, 0.0, 0.34568782979906953, 0.2301918950530479, 1.472375924843716, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14463954495085504, 0.039506903029533025, 0.6926794279302417, 0.1137307808792607, -0.35807604951954697, 0.9050533834048318, 0.0424795204653806, 0.0, 0.377873267627174, 0.2772546292617818, 1.472375924843716, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14463954495085504, 0.039506903029533025, 0.6926794279302417, 0.1137307808792607, -0.35807604951954697, 0.9050533834048318, 0.0424795204653806, 0.0, 0.4171401262283325, 0.314401554079803, 1.472375924843716, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14463954495085504, 0.039506903029533025, 0.6926794279302417, 0.1137307808792607, -0.35807604951954697, 0.9050533834048318, 0.0424795204653806, 0.0, 0.45856562838611375, 0.36484325533685774, 1.472375924843716, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14463954495085504, 0.039506903029533025, 0.6926794279302417, 0.1137307808792607, -0.35807604951954697, 0.9050533834048318, 0.0424795204653806, 0.0, 0.48843530077699965, 0.398384111019403, 1.472375924843716, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14463954495085504, 0.039506903029533025, 0.6926794279302417, 0.1137307808792607, -0.35807604951954697, 0.9050533834048318, 0.0424795204653806, 0.0, 0.5325235859806319, 0.4493554726064918, 1.472375924843716, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14463954495085504, 0.039506903029533025, 0.6926794279302417, 0.1137307808792607, -0.35807604951954697, 0.9050533834048318, 0.0424795204653806, 0.0, 0.5598935446891177, 0.48257738502218744, 1.472375924843716, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14463954495085504, 0.039506903029533025, 0.6926794279302417, 0.1137307808792607, -0.35807604951954697, 0.9050533834048318, 0.0424795204653806, 0.0, 0.590959921776061, 0.526777250674933, 1.472375924843716, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14463954495085504, 0.039506903029533025, 0.6926794279302417, 0.1137307808792607, -0.35807604951954697, 0.9050533834048318, 0.0424795204653806, 0.0, 0.631371426234049, 0.5666625523472212, 1.472375924843716, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14463954495085504, 0.039506903029533025, 0.6926794279302417, 0.1137307808792607, -0.35807604951954697, 0.9050533834048318, 0.0424795204653806, 0.0, 0.6854547335015508, 0.6206710240438799, 1.472375924843716, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14463954495085504, 0.039506903029533025, 0.6926794279302417, 0.1137307808792607, -0.35807604951954697, 0.9050533834048318, 0.0424795204653806, 0.0, 0.7029373215964116, 0.650885897645279, 1.472375924843716, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14463954495085504, 0.039506903029533025, 0.6926794279302417, 0.1137307808792607, -0.35807604951954697, 0.9050533834048318, 0.0424795204653806, 0.0, 0.7254389681189184, 0.6896636210589769, 1.472375924843716, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14463954495085504, 0.039506903029533025, 0.6926794279302417, 0.1137307808792607, -0.35807604951954697, 0.9050533834048318, 0.0424795204653806, 0.0, 0.7744572943900211, 0.7350092301489031, 1.472375924843716, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14463954495085504, 0.039506903029533025, 0.6926794279302417, 0.1137307808792607, -0.35807604951954697, 0.9050533834048318, 0.0424795204653806, 0.0, 0.8173976423414263, 0.7823989105572897, 1.472375924843716, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14463954495085504, 0.039506903029533025, 0.6926794279302417, 0.1137307808792607, -0.35807604951954697, 0.9050533834048318, 0.0424795204653806, 0.0, 0.8463878923678303, 0.8193802355453471, 1.472375924843716, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14463954495085504, 0.039506903029533025, 0.6926794279302417, 0.1137307808792607, -0.35807604951954697, 0.9050533834048318, 0.0424795204653806, 0.0, 0.8833706522209552, 0.8632634867076696, 1.472375924843716, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14463954495085504, 0.039506903029533025, 0.6926794279302417, 0.1137307808792607, -0.35807604951954697, 0.9050533834048318, 0.0424795204653806, 0.0, 0.8848742721565216, 0.9008353031172379, 1.472375924843716, 0.0, 0.0, 0.0, 0.0, 2.0, 0.14463954495085504, 0.039506903029533025, 0.6926794279302417, 0.1137307808792607, -0.35807604951954697, 0.9050533834048318, 0.0424795204653806, 0.0, 1.6443431377410889, 1.8958921432495117, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 1.0016398565609927, 0.7662854111086019, 0.7028815836800255, 0.11102232677854507, -0.4188503188756012, 0.8770546630809182, 0.04929125810041788, 0.0, 1.6741539239883423, 1.9490957260131836, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 1.0016398565609927, 0.7662854111086019, 0.7028815836800255, 0.11102232677854507, -0.4188503188756012, 0.8770546630809182, 0.04929125810041788, 0.0, 1.7051408290863037, 2.0043981075286865, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 1.0016398565609927, 0.7662854111086019, 0.7028815836800255, 0.11102232677854507, -0.4188503188756012, 0.8770546630809182, 0.04929125810041788, 0.0, 1.7376586198806763, 2.0624330043792725, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 1.0016398565609927, 0.7662854111086019, 0.7028815836800255, 0.11102232677854507, -0.4188503188756012, 0.8770546630809182, 0.04929125810041788, 0.0, 1.7707700729370117, 2.1215274333953857, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 1.0016398565609927, 0.7662854111086019, 0.7028815836800255, 0.11102232677854507, -0.4188503188756012, 0.8770546630809182, 0.04929125810041788, 0.0, 1.806570053100586, 2.185420036315918, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 1.0016398565609927, 0.7662854111086019, 0.7028815836800255, 0.11102232677854507, -0.4188503188756012, 0.8770546630809182, 0.04929125810041788, 0.0, 1.8420194387435913, 2.2486865520477295, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 1.0016398565609927, 0.7662854111086019, 0.7028815836800255, 0.11102232677854507, -0.4188503188756012, 0.8770546630809182, 0.04929125810041788, 0.0, 1.8102530241012573, 2.283644437789917, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 1.0016398565609927, 0.7662854111086019, 0.7028815836800255, 0.11102232677854507, -0.4188503188756012, 0.8770546630809182, 0.04929125810041788, 0.0], "std": [1.5456062748952473, 1.2732583788461755, 0.4922903285716288, 0.020864097007169007, 0.0, 0.0, 0.02362555656694354, 1.375837113492659, 1.3725620258475089, 1.6556857513911925, 0.06080399465885637, 0.045777969093492764, 0.25067941037284325, 0.09831193404750943, 0.03583733141694378, 0.49487165930539406, 1.3197833536417956, 0.7425025517776604, 0.02133916432789823, 0.0, 0.0, 0.0, 0.0, 0.0, 1.396679630919602, 1.3415673963966124, 0.015331062402569718, 0.008030751712028732, 0.18174272081601045, 0.06584516534411038, 0.022135279253410686, 0.0, 1.3349269867248736, 0.7295573878082007, 0.02133916432789823, 0.0, 0.0, 0.0, 0.0, 0.0, 1.396679630919602, 1.3415673963966124, 0.015331062402569718, 0.008030751712028732, 0.18174272081601045, 0.06584516534411038, 0.022135279253410686, 0.0, 1.334370450256444, 0.7233325376015943, 0.02133916432789823, 0.0, 0.0, 0.0, 0.0, 0.0, 1.396679630919602, 1.3415673963966124, 0.015331062402569718, 0.008030751712028732, 0.18174272081601045, 0.06584516534411038, 0.022135279253410686, 0.0, 1.3660603548083485, 0.7196148762574627, 0.02133916432789823, 0.0, 0.0, 0.0, 0.0, 0.0, 1.396679630919602, 1.3415673963966124, 0.015331062402569718, 0.008030751712028732, 0.18174272081601045, 0.06584516534411038, 0.022135279253410686, 0.0, 1.348981528677565, 0.704094372058021, 0.02133916432789823, 0.0, 0.0, 0.0, 0.0, 0.0, 1.396679630919602, 1.3415673963966124, 0.015331062402569718, 0.008030751712028732, 0.18174272081601045, 0.06584516534411038, 0.022135279253410686, 0.0, 1.3428248793876663, 0.6853842309649991, 0.02133916432789823, 0.0, 0.0, 0.0, 0.0, 0.0, 1.396679630919602, 1.3415673963966124, 0.015331062402569718, 0.008030751712028732, 0.18174272081601045, 0.06584516534411038, 0.022135279253410686, 0.0, 1.3639202829508397, 0.6848638512461535, 0.02133916432789823, 0.0, 0.0, 0.0, 0.0, 0.0, 1.396679630919602, 1.3415673963966124, 0.015331062402569718, 0.008030751712028732, 0.18174272081601045, 0.06584516534411038, 0.022135279253410686, 0.0, 1.3909630966657254, 0.6840868633662506, 0.02133916432789823, 0.0, 0.0, 0.0, 0.0, 0.0, 1.396679630919602, 1.3415673963966124, 0.015331062402569718, 0.008030751712028732, 0.18174272081601045, 0.06584516534411038, 0.022135279253410686, 0.0, 1.3756938077291632, 0.6656516211627476, 0.02133916432789823, 0.0, 0.0, 0.0, 0.0, 0.0, 1.396679630919602, 1.3415673963966124, 0.015331062402569718, 0.008030751712028732, 0.18174272081601045, 0.06584516534411038, 0.022135279253410686, 0.0, 1.371210621178696, 0.652653963368878, 0.02133916432789823, 0.0, 0.0, 0.0, 0.0, 0.0, 1.396679630919602, 1.3415673963966124, 0.015331062402569718, 0.008030751712028732, 0.18174272081601045, 0.06584516534411038, 0.022135279253410686, 0.0, 1.3781960089351057, 0.646226556085795, 0.02133916432789823, 0.0, 0.0, 0.0, 0.0, 0.0, 1.396679630919602, 1.3415673963966124, 0.015331062402569718, 0.008030751712028732, 0.18174272081601045, 0.06584516534411038, 0.022135279253410686, 0.0, 1.3846032178460566, 0.6371353278816264, 0.02133916432789823, 0.0, 0.0, 0.0, 0.0, 0.0, 1.396679630919602, 1.3415673963966124, 0.015331062402569718, 0.008030751712028732, 0.18174272081601045, 0.06584516534411038, 0.022135279253410686, 0.0, 1.376314842197408, 0.6465645947964571, 0.02133916432789823, 0.0, 0.0, 0.0, 0.0, 0.0, 1.396679630919602, 1.3415673963966124, 0.015331062402569718, 0.008030751712028732, 0.18174272081601045, 0.06584516534411038, 0.022135279253410686, 0.0, 1.381557443477698, 0.6680366925146338, 0.02133916432789823, 0.0, 0.0, 0.0, 0.0, 0.0, 1.396679630919602, 1.3415673963966124, 0.015331062402569718, 0.008030751712028732, 0.18174272081601045, 0.06584516534411038, 0.022135279253410686, 0.0, 1.361898959259237, 0.6662778237881216, 0.02133916432789823, 0.0, 0.0, 0.0, 0.0, 0.0, 1.396679630919602, 1.3415673963966124, 0.015331062402569718, 0.008030751712028732, 0.18174272081601045, 0.06584516534411038, 0.022135279253410686, 0.0, 1.329564108332334, 0.6572587958278957, 0.02133916432789823, 0.0, 0.0, 0.0, 0.0, 0.0, 1.396679630919602, 1.3415673963966124, 0.015331062402569718, 0.008030751712028732, 0.18174272081601045, 0.06584516534411038, 0.022135279253410686, 0.0, 1.3491528414524145, 0.6881522750617108, 0.02133916432789823, 0.0, 0.0, 0.0, 0.0, 0.0, 1.396679630919602, 1.3415673963966124, 0.015331062402569718, 0.008030751712028732, 0.18174272081601045, 0.06584516534411038, 0.022135279253410686, 0.0, 1.3549047659044426, 0.699415456485984, 0.02133916432789823, 0.0, 0.0, 0.0, 0.0, 0.0, 1.396679630919602, 1.3415673963966124, 0.015331062402569718, 0.008030751712028732, 0.18174272081601045, 0.06584516534411038, 0.022135279253410686, 0.0, 1.3281722575124322, 0.6990642093777537, 0.02133916432789823, 0.0, 0.0, 0.0, 0.0, 0.0, 1.396679630919602, 1.3415673963966124, 0.015331062402569718, 0.008030751712028732, 0.18174272081601045, 0.06584516534411038, 0.022135279253410686, 0.0, 1.3084635870459782, 0.7043570676906025, 0.02133916432789823, 0.0, 0.0, 0.0, 0.0, 0.0, 1.396679630919602, 1.3415673963966124, 0.015331062402569718, 0.008030751712028732, 0.18174272081601045, 0.06584516534411038, 0.022135279253410686, 0.0, 1.31994669607598, 0.7361848393161402, 0.02133916432789823, 0.0, 0.0, 0.0, 0.0, 0.0, 1.396679630919602, 1.3415673963966124, 0.015331062402569718, 0.008030751712028732, 0.18174272081601045, 0.06584516534411038, 0.022135279253410686, 0.0, 1.3148760729453073, 0.7430247718948789, 0.02133916432789823, 0.0, 0.0, 0.0, 0.0, 0.0, 1.396679630919602, 1.3415673963966124, 0.015331062402569718, 0.008030751712028732, 0.18174272081601045, 0.06584516534411038, 0.022135279253410686, 0.0, 1.3063024213917134, 0.7718030741984419, 0.02133916432789823, 0.0, 0.0, 0.0, 0.0, 0.0, 1.396679630919602, 1.3415673963966124, 0.015331062402569718, 0.008030751712028732, 0.18174272081601045, 0.06584516534411038, 0.022135279253410686, 0.0, 1.2848843181304557, 0.7652993010004758, 0.02133916432789823, 0.0, 0.0, 0.0, 0.0, 0.0, 1.396679630919602, 1.3415673963966124, 0.015331062402569718, 0.008030751712028732, 0.18174272081601045, 0.06584516534411038, 0.022135279253410686, 0.0, 1.2780973253187928, 0.7815166118775533, 0.02133916432789823, 0.0, 0.0, 0.0, 0.0, 0.0, 1.396679630919602, 1.3415673963966124, 0.015331062402569718, 0.008030751712028732, 0.18174272081601045, 0.06584516534411038, 0.022135279253410686, 0.0, 1.2611406308555424, 0.7906216598808571, 0.02133916432789823, 0.0, 0.0, 0.0, 0.0, 0.0, 1.396679630919602, 1.3415673963966124, 0.015331062402569718, 0.008030751712028732, 0.18174272081601045, 0.06584516534411038, 0.022135279253410686, 0.0, 1.247865242790054, 0.7875063405741544, 0.02133916432789823, 0.0, 0.0, 0.0, 0.0, 0.0, 1.396679630919602, 1.3415673963966124, 0.015331062402569718, 0.008030751712028732, 0.18174272081601045, 0.06584516534411038, 0.022135279253410686, 0.0, 1.2619377781760808, 0.8272992678838178, 0.02133916432789823, 0.0, 0.0, 0.0, 0.0, 0.0, 1.396679630919602, 1.3415673963966124, 0.015331062402569718, 0.008030751712028732, 0.18174272081601045, 0.06584516534411038, 0.022135279253410686, 0.0, 1.2326384095435285, 0.8200738638655334, 0.02133916432789823, 0.0, 0.0, 0.0, 0.0, 0.0, 1.396679630919602, 1.3415673963966124, 0.015331062402569718, 0.008030751712028732, 0.18174272081601045, 0.06584516534411038, 0.022135279253410686, 0.0, 1.2123140408793318, 0.8410921193445738, 0.02133916432789823, 0.0, 0.0, 0.0, 0.0, 0.0, 1.396679630919602, 1.3415673963966124, 0.015331062402569718, 0.008030751712028732, 0.18174272081601045, 0.06584516534411038, 0.022135279253410686, 0.0, 1.2167925512253, 0.8515363588844753, 0.02133916432789823, 0.0, 0.0, 0.0, 0.0, 0.0, 1.396679630919602, 1.3415673963966124, 0.015331062402569718, 0.008030751712028732, 0.18174272081601045, 0.06584516534411038, 0.022135279253410686, 0.0, 1.235497878968719, 0.8883566853573386, 0.02133916432789823, 0.0, 0.0, 0.0, 0.0, 0.0, 1.396679630919602, 1.3415673963966124, 0.015331062402569718, 0.008030751712028732, 0.18174272081601045, 0.06584516534411038, 0.022135279253410686, 0.0, 1.200173668962132, 0.881910237029521, 0.02133916432789823, 0.0, 0.0, 0.0, 0.0, 0.0, 1.396679630919602, 1.3415673963966124, 0.015331062402569718, 0.008030751712028732, 0.18174272081601045, 0.06584516534411038, 0.022135279253410686, 0.0, 1.1899234428031769, 0.9043453019617925, 0.02133916432789823, 0.0, 0.0, 0.0, 0.0, 0.0, 1.396679630919602, 1.3415673963966124, 0.015331062402569718, 0.008030751712028732, 0.18174272081601045, 0.06584516534411038, 0.022135279253410686, 0.0, 1.1833871122501187, 0.9120024917525439, 0.02133916432789823, 0.0, 0.0, 0.0, 0.0, 0.0, 1.396679630919602, 1.3415673963966124, 0.015331062402569718, 0.008030751712028732, 0.18174272081601045, 0.06584516534411038, 0.022135279253410686, 0.0, 1.182869507285766, 0.937929386991466, 0.02133916432789823, 0.0, 0.0, 0.0, 0.0, 0.0, 1.396679630919602, 1.3415673963966124, 0.015331062402569718, 0.008030751712028732, 0.18174272081601045, 0.06584516534411038, 0.022135279253410686, 0.0, 1.1663602561380733, 0.9414953711957151, 0.02133916432789823, 0.0, 0.0, 0.0, 0.0, 0.0, 1.396679630919602, 1.3415673963966124, 0.015331062402569718, 0.008030751712028732, 0.18174272081601045, 0.06584516534411038, 0.022135279253410686, 0.0, 1.1679302575206325, 0.9678573790811241, 0.02133916432789823, 0.0, 0.0, 0.0, 0.0, 0.0, 1.396679630919602, 1.3415673963966124, 0.015331062402569718, 0.008030751712028732, 0.18174272081601045, 0.06584516534411038, 0.022135279253410686, 0.0, 1.149510021642315, 0.9711655376299999, 0.02133916432789823, 0.0, 0.0, 0.0, 0.0, 0.0, 1.396679630919602, 1.3415673963966124, 0.015331062402569718, 0.008030751712028732, 0.18174272081601045, 0.06584516534411038, 0.022135279253410686, 0.0, 1.130141470952376, 0.9873252263418344, 0.02133916432789823, 0.0, 0.0, 0.0, 0.0, 0.0, 1.396679630919602, 1.3415673963966124, 0.015331062402569718, 0.008030751712028732, 0.18174272081601045, 0.06584516534411038, 0.022135279253410686, 0.0, 1.132498596562761, 1.0005944703081209, 0.02133916432789823, 0.0, 0.0, 0.0, 0.0, 0.0, 1.396679630919602, 1.3415673963966124, 0.015331062402569718, 0.008030751712028732, 0.18174272081601045, 0.06584516534411038, 0.022135279253410686, 0.0, 1.146066239890139, 1.0313303972841714, 0.02133916432789823, 0.0, 0.0, 0.0, 0.0, 0.0, 1.396679630919602, 1.3415673963966124, 0.015331062402569718, 0.008030751712028732, 0.18174272081601045, 0.06584516534411038, 0.022135279253410686, 0.0, 1.115405599364533, 1.0301399143602494, 0.02133916432789823, 0.0, 0.0, 0.0, 0.0, 0.0, 1.396679630919602, 1.3415673963966124, 0.015331062402569718, 0.008030751712028732, 0.18174272081601045, 0.06584516534411038, 0.022135279253410686, 0.0, 1.0959598368842993, 1.0451712689856076, 0.02133916432789823, 0.0, 0.0, 0.0, 0.0, 0.0, 1.396679630919602, 1.3415673963966124, 0.015331062402569718, 0.008030751712028732, 0.18174272081601045, 0.06584516534411038, 0.022135279253410686, 0.0, 1.0982071048686595, 1.0594971847570713, 0.02133916432789823, 0.0, 0.0, 0.0, 0.0, 0.0, 1.396679630919602, 1.3415673963966124, 0.015331062402569718, 0.008030751712028732, 0.18174272081601045, 0.06584516534411038, 0.022135279253410686, 0.0, 1.105057917033171, 1.0860578707254405, 0.02133916432789823, 0.0, 0.0, 0.0, 0.0, 0.0, 1.396679630919602, 1.3415673963966124, 0.015331062402569718, 0.008030751712028732, 0.18174272081601045, 0.06584516534411038, 0.022135279253410686, 0.0, 1.0812807061940137, 1.0891049475295285, 0.02133916432789823, 0.0, 0.0, 0.0, 0.0, 0.0, 1.396679630919602, 1.3415673963966124, 0.015331062402569718, 0.008030751712028732, 0.18174272081601045, 0.06584516534411038, 0.022135279253410686, 0.0, 1.0740355391286054, 1.1086166245854003, 0.02133916432789823, 0.0, 0.0, 0.0, 0.0, 0.0, 1.396679630919602, 1.3415673963966124, 0.015331062402569718, 0.008030751712028732, 0.18174272081601045, 0.06584516534411038, 0.022135279253410686, 0.0, 1.0643251725974405, 1.1185869403085087, 0.02133916432789823, 0.0, 0.0, 0.0, 0.0, 0.0, 1.396679630919602, 1.3415673963966124, 0.015331062402569718, 0.008030751712028732, 0.18174272081601045, 0.06584516534411038, 0.022135279253410686, 0.0, 1.0523137984493685, 1.1354240938188775, 0.02133916432789823, 0.0, 0.0, 0.0, 0.0, 0.0, 1.396679630919602, 1.3415673963966124, 0.015331062402569718, 0.008030751712028732, 0.18174272081601045, 0.06584516534411038, 0.022135279253410686, 0.0, 1.04736026712605, 1.1481633313671518, 0.02133916432789823, 0.0, 0.0, 0.0, 0.0, 0.0, 1.396679630919602, 1.3415673963966124, 0.015331062402569718, 0.008030751712028732, 0.18174272081601045, 0.06584516534411038, 0.022135279253410686, 0.0, 1.0520285650151393, 1.172024237861585, 0.02133916432789823, 0.0, 0.0, 0.0, 0.0, 0.0, 1.396679630919602, 1.3415673963966124, 0.015331062402569718, 0.008030751712028732, 0.18174272081601045, 0.06584516534411038, 0.022135279253410686, 0.0, 1.0301826965440102, 1.1775577778111064, 0.02133916432789823, 0.0, 0.0, 0.0, 0.0, 0.0, 1.396679630919602, 1.3415673963966124, 0.015331062402569718, 0.008030751712028732, 0.18174272081601045, 0.06584516534411038, 0.022135279253410686, 0.0, 1.0019439636516012, 1.185875019400416, 0.02133916432789823, 0.0, 0.0, 0.0, 0.0, 0.0, 1.396679630919602, 1.3415673963966124, 0.015331062402569718, 0.008030751712028732, 0.18174272081601045, 0.06584516534411038, 0.022135279253410686, 0.0, 1.0130389892920915, 1.207038638037211, 0.02133916432789823, 0.0, 0.0, 0.0, 0.0, 0.0, 1.396679630919602, 1.3415673963966124, 0.015331062402569718, 0.008030751712028732, 0.18174272081601045, 0.06584516534411038, 0.022135279253410686, 0.0, 1.0271424150569846, 1.2341165608902844, 0.02133916432789823, 0.0, 0.0, 0.0, 0.0, 0.0, 1.396679630919602, 1.3415673963966124, 0.015331062402569718, 0.008030751712028732, 0.18174272081601045, 0.06584516534411038, 0.022135279253410686, 0.0, 0.9958334163409379, 1.2364340471510882, 0.02133916432789823, 0.0, 0.0, 0.0, 0.0, 0.0, 1.396679630919602, 1.3415673963966124, 0.015331062402569718, 0.008030751712028732, 0.18174272081601045, 0.06584516534411038, 0.022135279253410686, 0.0, 0.9805605448212378, 1.2495676112864704, 0.02133916432789823, 0.0, 0.0, 0.0, 0.0, 0.0, 1.396679630919602, 1.3415673963966124, 0.015331062402569718, 0.008030751712028732, 0.18174272081601045, 0.06584516534411038, 0.022135279253410686, 0.0, 0.9781557387360381, 1.2656573082324096, 0.02133916432789823, 0.0, 0.0, 0.0, 0.0, 0.0, 1.396679630919602, 1.3415673963966124, 0.015331062402569718, 0.008030751712028732, 0.18174272081601045, 0.06584516534411038, 0.022135279253410686, 0.0, 0.969866357946732, 1.281412703892078, 0.02133916432789823, 0.0, 0.0, 0.0, 0.0, 0.0, 1.396679630919602, 1.3415673963966124, 0.015331062402569718, 0.008030751712028732, 0.18174272081601045, 0.06584516534411038, 0.022135279253410686, 0.0, 1.0067641085635177, 1.2990815192710026, 0.02133916432789823, 0.0, 0.0, 0.0, 0.0, 0.0, 1.396679630919602, 1.3415673963966124, 0.015331062402569718, 0.008030751712028732, 0.18174272081601045, 0.06584516534411038, 0.022135279253410686, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6575012180623806, 1.05776399931959, 0.0067855512299080534, 0.008143659422392601, 0.19004759961132378, 0.06193166178224199, 0.02374350407824634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6575012180623806, 1.05776399931959, 0.0067855512299080534, 0.008143659422392601, 0.19004759961132378, 0.06193166178224199, 0.02374350407824634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6575012180623806, 1.05776399931959, 0.0067855512299080534, 0.008143659422392601, 0.19004759961132378, 0.06193166178224199, 0.02374350407824634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6575012180623806, 1.05776399931959, 0.0067855512299080534, 0.008143659422392601, 0.19004759961132378, 0.06193166178224199, 0.02374350407824634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6575012180623806, 1.05776399931959, 0.0067855512299080534, 0.008143659422392601, 0.19004759961132378, 0.06193166178224199, 0.02374350407824634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6575012180623806, 1.05776399931959, 0.0067855512299080534, 0.008143659422392601, 0.19004759961132378, 0.06193166178224199, 0.02374350407824634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6575012180623806, 1.05776399931959, 0.0067855512299080534, 0.008143659422392601, 0.19004759961132378, 0.06193166178224199, 0.02374350407824634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6575012180623806, 1.05776399931959, 0.0067855512299080534, 0.008143659422392601, 0.19004759961132378, 0.06193166178224199, 0.02374350407824634, 0.0], "min": [-3.266780376434326, -2.1904263496398926, 0.28999999165534973, 0.6580126285552979, 0.0, 0.0, 0.6108466982841492, -1.0, -3.0114896297454834, -1.9162098169326782, 0.4879685044288635, -0.017439953982830048, -0.7472398281097412, 0.6528578996658325, -0.0064080990850925446, 0.0, -3.2603981494903564, -2.1875109672546387, 1.4429051876068115, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0114896297454834, -1.9162098169326782, 0.6515977382659912, 0.09778662770986557, -0.6557327508926392, 0.7436467409133911, -0.0064080990850925446, 0.0, -3.195725440979004, -2.1579673290252686, 1.4429051876068115, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0114896297454834, -1.9162098169326782, 0.6515977382659912, 0.09778662770986557, -0.6557327508926392, 0.7436467409133911, -0.0064080990850925446, 0.0, -3.1655311584472656, -2.144174098968506, 1.4429051876068115, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0114896297454834, -1.9162098169326782, 0.6515977382659912, 0.09778662770986557, -0.6557327508926392, 0.7436467409133911, -0.0064080990850925446, 0.0, -3.1438026428222656, -2.1342482566833496, 1.4429051876068115, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0114896297454834, -1.9162098169326782, 0.6515977382659912, 0.09778662770986557, -0.6557327508926392, 0.7436467409133911, -0.0064080990850925446, 0.0, -3.0703301429748535, -2.100684642791748, 1.4429051876068115, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0114896297454834, -1.9162098169326782, 0.6515977382659912, 0.09778662770986557, -0.6557327508926392, 0.7436467409133911, -0.0064080990850925446, 0.0, -2.980092763900757, -2.059462547302246, 1.4429051876068115, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0114896297454834, -1.9162098169326782, 0.6515977382659912, 0.09778662770986557, -0.6557327508926392, 0.7436467409133911, -0.0064080990850925446, 0.0, -2.9751288890838623, -2.057194948196411, 1.4429051876068115, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0114896297454834, -1.9162098169326782, 0.6515977382659912, 0.09778662770986557, -0.6557327508926392, 0.7436467409133911, -0.0064080990850925446, 0.0, -2.968231201171875, -2.054044008255005, 1.4429051876068115, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0114896297454834, -1.9162098169326782, 0.6515977382659912, 0.09778662770986557, -0.6557327508926392, 0.7436467409133911, -0.0064080990850925446, 0.0, -2.8803811073303223, -2.0139126777648926, 1.4429051876068115, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0114896297454834, -1.9162098169326782, 0.6515977382659912, 0.09778662770986557, -0.6557327508926392, 0.7436467409133911, -0.0064080990850925446, 0.0, -2.817718267440796, -1.9852871894836426, 1.4429051876068115, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0114896297454834, -1.9162098169326782, 0.6515977382659912, 0.09778662770986557, -0.6557327508926392, 0.7436467409133911, -0.0064080990850925446, 0.0, -2.7856693267822266, -1.970646619796753, 1.4429051876068115, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0114896297454834, -1.9162098169326782, 0.6515977382659912, 0.09778662770986557, -0.6557327508926392, 0.7436467409133911, -0.0064080990850925446, 0.0, -2.7407383918762207, -1.9501214027404785, 1.4429051876068115, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0114896297454834, -1.9162098169326782, 0.6515977382659912, 0.09778662770986557, -0.6557327508926392, 0.7436467409133911, -0.0064080990850925446, 0.0, -2.690700054168701, -1.9272630214691162, 1.4429051876068115, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0114896297454834, -1.9162098169326782, 0.6515977382659912, 0.09778662770986557, -0.6557327508926392, 0.7436467409133911, -0.0064080990850925446, 0.0, -2.654691219329834, -1.910813570022583, 1.4429051876068115, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0114896297454834, -1.9162098169326782, 0.6515977382659912, 0.09778662770986557, -0.6557327508926392, 0.7436467409133911, -0.0064080990850925446, 0.0, -2.59549880027771, -1.8837734460830688, 1.4429051876068115, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0114896297454834, -1.9162098169326782, 0.6515977382659912, 0.09778662770986557, -0.6557327508926392, 0.7436467409133911, -0.0064080990850925446, 0.0, -2.513244390487671, -1.8461982011795044, 1.4429051876068115, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0114896297454834, -1.9162098169326782, 0.6515977382659912, 0.09778662770986557, -0.6557327508926392, 0.7436467409133911, -0.0064080990850925446, 0.0, -2.500364065170288, -1.840314269065857, 1.4429051876068115, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0114896297454834, -1.9162098169326782, 0.6515977382659912, 0.09778662770986557, -0.6557327508926392, 0.7436467409133911, -0.0064080990850925446, 0.0, -2.4911768436431885, -1.8361173868179321, 1.4429051876068115, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0114896297454834, -1.9162098169326782, 0.6515977382659912, 0.09778662770986557, -0.6557327508926392, 0.7436467409133911, -0.0064080990850925446, 0.0, -2.4056522846221924, -1.7970483303070068, 1.4429051876068115, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0114896297454834, -1.9162098169326782, 0.6515977382659912, 0.09778662770986557, -0.6557327508926392, 0.7436467409133911, -0.0064080990850925446, 0.0, -2.3289079666137695, -1.7619903087615967, 1.4429051876068115, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0114896297454834, -1.9162098169326782, 0.6515977382659912, 0.09778662770986557, -0.6557327508926392, 0.7436467409133911, -0.0064080990850925446, 0.0, -2.3109402656555176, -1.7537823915481567, 1.4429051876068115, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0114896297454834, -1.9162098169326782, 0.6515977382659912, 0.09778662770986557, -0.6557327508926392, 0.7436467409133911, -0.0064080990850925446, 0.0, -2.285750150680542, -1.7422751188278198, 1.4429051876068115, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0114896297454834, -1.9162098169326782, 0.6515977382659912, 0.09778662770986557, -0.6557327508926392, 0.7436467409133911, -0.0064080990850925446, 0.0, -2.215869188308716, -1.7103521823883057, 1.4429051876068115, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0114896297454834, -1.9162098169326782, 0.6515977382659912, 0.09778662770986557, -0.6557327508926392, 0.7436467409133911, -0.0064080990850925446, 0.0, -2.1655805110931396, -1.6873794794082642, 1.4429051876068115, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0114896297454834, -1.9162098169326782, 0.6515977382659912, 0.09778662770986557, -0.6557327508926392, 0.7436467409133911, -0.0064080990850925446, 0.0, -2.1206679344177246, -1.6668626070022583, 1.4429051876068115, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0114896297454834, -1.9162098169326782, 0.6515977382659912, 0.09778662770986557, -0.6557327508926392, 0.7436467409133911, -0.0064080990850925446, 0.0, -2.0582571029663086, -1.6383522748947144, 1.4429051876068115, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0114896297454834, -1.9162098169326782, 0.6515977382659912, 0.09778662770986557, -0.6557327508926392, 0.7436467409133911, -0.0064080990850925446, 0.0, -2.025635242462158, -1.6234500408172607, 1.4429051876068115, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0114896297454834, -1.9162098169326782, 0.6515977382659912, 0.09778662770986557, -0.6557327508926392, 0.7436467409133911, -0.0064080990850925446, 0.0, -2.002366542816162, -1.6128205060958862, 1.4429051876068115, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0114896297454834, -1.9162098169326782, 0.6515977382659912, 0.09778662770986557, -0.6557327508926392, 0.7436467409133911, -0.0064080990850925446, 0.0, -1.9309231042861938, -1.580183982849121, 1.4429051876068115, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0114896297454834, -1.9162098169326782, 0.6515977382659912, 0.09778662770986557, -0.6557327508926392, 0.7436467409133911, -0.0064080990850925446, 0.0, -1.8400975465774536, -1.5386933088302612, 1.4429051876068115, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0114896297454834, -1.9162098169326782, 0.6515977382659912, 0.09778662770986557, -0.6557327508926392, 0.7436467409133911, -0.0064080990850925446, 0.0, -1.8362113237380981, -1.536918044090271, 1.4429051876068115, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0114896297454834, -1.9162098169326782, 0.6515977382659912, 0.09778662770986557, -0.6557327508926392, 0.7436467409133911, -0.0064080990850925446, 0.0, -1.8307628631591797, -1.5344290733337402, 1.4429051876068115, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0114896297454834, -1.9162098169326782, 0.6515977382659912, 0.09778662770986557, -0.6557327508926392, 0.7436467409133911, -0.0064080990850925446, 0.0, -1.7410380840301514, -1.4934412240982056, 1.4429051876068115, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0114896297454834, -1.9162098169326782, 0.6515977382659912, 0.09778662770986557, -0.6557327508926392, 0.7436467409133911, -0.0064080990850925446, 0.0, -1.6764696836471558, -1.4639452695846558, 1.4429051876068115, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0114896297454834, -1.9162098169326782, 0.6515977382659912, 0.09778662770986557, -0.6557327508926392, 0.7436467409133911, -0.0064080990850925446, 0.0, -1.6458369493484497, -1.4499516487121582, 1.4429051876068115, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0114896297454834, -1.9162098169326782, 0.6515977382659912, 0.09778662770986557, -0.6557327508926392, 0.7436467409133911, -0.0064080990850925446, 0.0, -1.6032698154449463, -1.4305062294006348, 1.4429051876068115, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0114896297454834, -1.9162098169326782, 0.6515977382659912, 0.09778662770986557, -0.6557327508926392, 0.7436467409133911, -0.0064080990850925446, 0.0, -1.5509061813354492, -1.406585693359375, 1.4429051876068115, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0114896297454834, -1.9162098169326782, 0.6515977382659912, 0.09778662770986557, -0.6557327508926392, 0.7436467409133911, -0.0064080990850925446, 0.0, -1.513555884361267, -1.3895235061645508, 1.4429051876068115, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0114896297454834, -1.9162098169326782, 0.6515977382659912, 0.09778662770986557, -0.6557327508926392, 0.7436467409133911, -0.0064080990850925446, 0.0, -1.4561941623687744, -1.363319754600525, 1.4429051876068115, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0114896297454834, -1.9162098169326782, 0.6515977382659912, 0.09778662770986557, -0.6557327508926392, 0.7436467409133911, -0.0064080990850925446, 0.0, -1.3757753372192383, -1.3265830278396606, 1.4429051876068115, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0114896297454834, -1.9162098169326782, 0.6515977382659912, 0.09778662770986557, -0.6557327508926392, 0.7436467409133911, -0.0064080990850925446, 0.0, -1.3614083528518677, -1.3200199604034424, 1.4429051876068115, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0114896297454834, -1.9162098169326782, 0.6515977382659912, 0.09778662770986557, -0.6557327508926392, 0.7436467409133911, -0.0064080990850925446, 0.0, -1.351069450378418, -1.31529700756073, 1.4429051876068115, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0114896297454834, -1.9162098169326782, 0.6515977382659912, 0.09778662770986557, -0.6557327508926392, 0.7436467409133911, -0.0064080990850925446, 0.0, -1.2662070989608765, -1.276530385017395, 1.4429051876068115, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0114896297454834, -1.9162098169326782, 0.6515977382659912, 0.09778662770986557, -0.6557327508926392, 0.7436467409133911, -0.0064080990850925446, 0.0, -1.1873586177825928, -1.2405110597610474, 1.4429051876068115, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0114896297454834, -1.9162098169326782, 0.6515977382659912, 0.09778662770986557, -0.6557327508926392, 0.7436467409133911, -0.0064080990850925446, 0.0, -1.1710057258605957, -1.2330408096313477, 1.4429051876068115, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0114896297454834, -1.9162098169326782, 0.6515977382659912, 0.09778662770986557, -0.6557327508926392, 0.7436467409133911, -0.0064080990850925446, 0.0, -1.1482816934585571, -1.2226600646972656, 1.4429051876068115, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0114896297454834, -1.9162098169326782, 0.6515977382659912, 0.09778662770986557, -0.6557327508926392, 0.7436467409133911, -0.0064080990850925446, 0.0, -1.0761770009994507, -1.1897213459014893, 1.4429051876068115, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0114896297454834, -1.9162098169326782, 0.6515977382659912, 0.09778662770986557, -0.6557327508926392, 0.7436467409133911, -0.0064080990850925446, 0.0, -1.0247454643249512, -1.1662265062332153, 1.4429051876068115, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0114896297454834, -1.9162098169326782, 0.6515977382659912, 0.09778662770986557, -0.6557327508926392, 0.7436467409133911, -0.0064080990850925446, 0.0, -0.9814651608467102, -1.1464552879333496, 1.4429051876068115, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0114896297454834, -1.9162098169326782, 0.6515977382659912, 0.09778662770986557, -0.6557327508926392, 0.7436467409133911, -0.0064080990850925446, 0.0, -0.9207884073257446, -1.1187371015548706, 1.4429051876068115, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0114896297454834, -1.9162098169326782, 0.6515977382659912, 0.09778662770986557, -0.6557327508926392, 0.7436467409133911, -0.0064080990850925446, 0.0, -0.886577308177948, -1.1031088829040527, 1.4429051876068115, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0114896297454834, -1.9162098169326782, 0.6515977382659912, 0.09778662770986557, -0.6557327508926392, 0.7436467409133911, -0.0064080990850925446, 0.0, -0.8619581460952759, -1.091862440109253, 1.4429051876068115, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0114896297454834, -1.9162098169326782, 0.6515977382659912, 0.09778662770986557, -0.6557327508926392, 0.7436467409133911, -0.0064080990850925446, 0.0, -0.7913761138916016, -1.0596193075180054, 1.4429051876068115, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0114896297454834, -1.9162098169326782, 0.6515977382659912, 0.09778662770986557, -0.6557327508926392, 0.7436467409133911, -0.0064080990850925446, 0.0, -0.6982933282852173, -1.0170974731445312, 1.4429051876068115, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0114896297454834, -1.9162098169326782, 0.6515977382659912, 0.09778662770986557, -0.6557327508926392, 0.7436467409133911, -0.0064080990850925446, 0.0, -0.6961336731910706, -1.016110897064209, 1.4429051876068115, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0114896297454834, -1.9162098169326782, 0.6515977382659912, 0.09778662770986557, -0.6557327508926392, 0.7436467409133911, -0.0064080990850925446, 0.0, -0.6931097507476807, -1.0147294998168945, 1.4429051876068115, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0114896297454834, -1.9162098169326782, 0.6515977382659912, 0.09778662770986557, -0.6557327508926392, 0.7436467409133911, -0.0064080990850925446, 0.0, -0.6008517146110535, -0.9725844860076904, 1.4429051876068115, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0114896297454834, -1.9162098169326782, 0.6515977382659912, 0.09778662770986557, -0.6557327508926392, 0.7436467409133911, -0.0064080990850925446, 0.0, -0.5368185639381409, -0.943333089351654, 1.4429051876068115, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0114896297454834, -1.9162098169326782, 0.6515977382659912, 0.09778662770986557, -0.6557327508926392, 0.7436467409133911, -0.0064080990850925446, 0.0, -0.5045071244239807, -0.9285726547241211, 1.4429051876068115, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0114896297454834, -1.9162098169326782, 0.6515977382659912, 0.09778662770986557, -0.6557327508926392, 0.7436467409133911, -0.0064080990850925446, 0.0, -0.4560762047767639, -0.9064486026763916, 1.4429051876068115, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0114896297454834, -1.9162098169326782, 0.6515977382659912, 0.09778662770986557, -0.6557327508926392, 0.7436467409133911, -0.0064080990850925446, 0.0, -0.5055307149887085, -0.8932785391807556, 1.4429051876068115, 0.0, 0.0, 0.0, 0.0, 2.0, -3.0114896297454834, -1.9162098169326782, 0.6515977382659912, 0.09778662770986557, -0.6557327508926392, 0.7436467409133911, -0.0064080990850925446, 0.0, 1.6443431377410889, 1.8958921432495117, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, -0.4101322591304779, -0.6673240661621094, 0.6518163084983826, 0.09778662770986557, -0.6557327508926392, 0.7436467409133911, -0.0064080990850925446, 0.0, 1.6741539239883423, 1.9490957260131836, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, -0.4101322591304779, -0.6673240661621094, 0.6518163084983826, 0.09778662770986557, -0.6557327508926392, 0.7436467409133911, -0.0064080990850925446, 0.0, 1.7051408290863037, 2.0043981075286865, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, -0.4101322591304779, -0.6673240661621094, 0.6518163084983826, 0.09778662770986557, -0.6557327508926392, 0.7436467409133911, -0.0064080990850925446, 0.0, 1.7376586198806763, 2.0624330043792725, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, -0.4101322591304779, -0.6673240661621094, 0.6518163084983826, 0.09778662770986557, -0.6557327508926392, 0.7436467409133911, -0.0064080990850925446, 0.0, 1.7707700729370117, 2.1215274333953857, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, -0.4101322591304779, -0.6673240661621094, 0.6518163084983826, 0.09778662770986557, -0.6557327508926392, 0.7436467409133911, -0.0064080990850925446, 0.0, 1.806570053100586, 2.185420036315918, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, -0.4101322591304779, -0.6673240661621094, 0.6518163084983826, 0.09778662770986557, -0.6557327508926392, 0.7436467409133911, -0.0064080990850925446, 0.0, 1.8420194387435913, 2.2486865520477295, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, -0.4101322591304779, -0.6673240661621094, 0.6518163084983826, 0.09778662770986557, -0.6557327508926392, 0.7436467409133911, -0.0064080990850925446, 0.0, 1.8102530241012573, 2.283644437789917, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, -0.4101322591304779, -0.6673240661621094, 0.6518163084983826, 0.09778662770986557, -0.6557327508926392, 0.7436467409133911, -0.0064080990850925446, 0.0], "max": [1.808712363243103, 2.2812271118164062, 1.487827181816101, 0.7917488813400269, 0.0, 0.0, 0.7530068755149841, 2.0, 2.101583480834961, 2.8395228385925293, 0.7210119366645813, 0.16507500410079956, 0.043140195310115814, 0.9990512132644653, 0.11499176919460297, 1.0, -0.482065349817276, -0.6244368553161621, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0346755981445312, 2.622199773788452, 0.7210119366645813, 0.1347496658563614, -0.006821414455771446, 0.9930466413497925, 0.08626453578472137, 0.0, -0.3855131268501282, -0.6221446394920349, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0346755981445312, 2.622199773788452, 0.7210119366645813, 0.1347496658563614, -0.006821414455771446, 0.9930466413497925, 0.08626453578472137, 0.0, -0.35649043321609497, -0.6214556097984314, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0346755981445312, 2.622199773788452, 0.7210119366645813, 0.1347496658563614, -0.006821414455771446, 0.9930466413497925, 0.08626453578472137, 0.0, -0.2680501341819763, -0.6193559765815735, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0346755981445312, 2.622199773788452, 0.7210119366645813, 0.1347496658563614, -0.006821414455771446, 0.9930466413497925, 0.08626453578472137, 0.0, -0.2305310070514679, -0.61846524477005, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0346755981445312, 2.622199773788452, 0.7210119366645813, 0.1347496658563614, -0.006821414455771446, 0.9930466413497925, 0.08626453578472137, 0.0, -0.15325425565242767, -0.6166306734085083, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0346755981445312, 2.622199773788452, 0.7210119366645813, 0.1347496658563614, -0.006821414455771446, 0.9930466413497925, 0.08626453578472137, 0.0, -0.10388153791427612, -0.6154585480690002, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0346755981445312, 2.622199773788452, 0.7210119366645813, 0.1347496658563614, -0.006821414455771446, 0.9930466413497925, 0.08626453578472137, 0.0, -0.04005485773086548, -0.6139432787895203, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0346755981445312, 2.622199773788452, 0.7210119366645813, 0.1347496658563614, -0.006821414455771446, 0.9930466413497925, 0.08626453578472137, 0.0, 0.015651198104023933, -0.6126207709312439, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0346755981445312, 2.622199773788452, 0.7210119366645813, 0.1347496658563614, -0.006821414455771446, 0.9930466413497925, 0.08626453578472137, 0.0, 0.06887628883123398, -0.6113572120666504, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0346755981445312, 2.622199773788452, 0.7210119366645813, 0.1347496658563614, -0.006821414455771446, 0.9930466413497925, 0.08626453578472137, 0.0, 0.11563047021627426, -0.6102472543716431, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0346755981445312, 2.622199773788452, 0.7210119366645813, 0.1347496658563614, -0.006821414455771446, 0.9930466413497925, 0.08626453578472137, 0.0, 0.1740494966506958, -0.6088603734970093, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0346755981445312, 2.622199773788452, 0.7210119366645813, 0.1347496658563614, -0.006821414455771446, 0.9930466413497925, 0.08626453578472137, 0.0, 0.2066396176815033, -0.566152036190033, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0346755981445312, 2.622199773788452, 0.7210119366645813, 0.1347496658563614, -0.006821414455771446, 0.9930466413497925, 0.08626453578472137, 0.0, 0.2536848783493042, -0.5045007467269897, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0346755981445312, 2.622199773788452, 0.7210119366645813, 0.1347496658563614, -0.006821414455771446, 0.9930466413497925, 0.08626453578472137, 0.0, 0.2714933753013611, -0.48116329312324524, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0346755981445312, 2.622199773788452, 0.7210119366645813, 0.1347496658563614, -0.006821414455771446, 0.9930466413497925, 0.08626453578472137, 0.0, 0.28567829728126526, -0.46257439255714417, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0346755981445312, 2.622199773788452, 0.7210119366645813, 0.1347496658563614, -0.006821414455771446, 0.9930466413497925, 0.08626453578472137, 0.0, 0.33979570865631104, -0.3916552662849426, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0346755981445312, 2.622199773788452, 0.7210119366645813, 0.1347496658563614, -0.006821414455771446, 0.9930466413497925, 0.08626453578472137, 0.0, 0.3610915541648865, -0.363747775554657, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0346755981445312, 2.622199773788452, 0.7210119366645813, 0.1347496658563614, -0.006821414455771446, 0.9930466413497925, 0.08626453578472137, 0.0, 0.3903403580188751, -0.3254181444644928, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0346755981445312, 2.622199773788452, 0.7210119366645813, 0.1347496658563614, -0.006821414455771446, 0.9930466413497925, 0.08626453578472137, 0.0, 0.42559510469436646, -0.2792178988456726, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0346755981445312, 2.622199773788452, 0.7210119366645813, 0.1347496658563614, -0.006821414455771446, 0.9930466413497925, 0.08626453578472137, 0.0, 0.4677363932132721, -0.20400796830654144, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0346755981445312, 2.622199773788452, 0.7210119366645813, 0.1347496658563614, -0.006821414455771446, 0.9930466413497925, 0.08626453578472137, 0.0, 0.4822521209716797, -0.17810165882110596, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0346755981445312, 2.622199773788452, 0.7210119366645813, 0.1347496658563614, -0.006821414455771446, 0.9930466413497925, 0.08626453578472137, 0.0, 0.5340843200683594, -0.08559627830982208, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0346755981445312, 2.622199773788452, 0.7210119366645813, 0.1347496658563614, -0.006821414455771446, 0.9930466413497925, 0.08626453578472137, 0.0, 0.5392848253250122, -0.07631494849920273, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0346755981445312, 2.622199773788452, 0.7210119366645813, 0.1347496658563614, -0.006821414455771446, 0.9930466413497925, 0.08626453578472137, 0.0, 0.5699098110198975, -0.021658316254615784, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0346755981445312, 2.622199773788452, 0.7210119366645813, 0.1347496658563614, -0.006821414455771446, 0.9930466413497925, 0.08626453578472137, 0.0, 0.5966243743896484, 0.026019444689154625, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0346755981445312, 2.622199773788452, 0.7210119366645813, 0.1347496658563614, -0.006821414455771446, 0.9930466413497925, 0.08626453578472137, 0.0, 0.6012996435165405, 0.034363485872745514, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0346755981445312, 2.622199773788452, 0.7210119366645813, 0.1347496658563614, -0.006821414455771446, 0.9930466413497925, 0.08626453578472137, 0.0, 0.6541930437088013, 0.12876282632350922, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0346755981445312, 2.622199773788452, 0.7210119366645813, 0.1347496658563614, -0.006821414455771446, 0.9930466413497925, 0.08626453578472137, 0.0, 0.6639571189880371, 0.14618884027004242, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0346755981445312, 2.622199773788452, 0.7210119366645813, 0.1347496658563614, -0.006821414455771446, 0.9930466413497925, 0.08626453578472137, 0.0, 0.7119969725608826, 0.23192594945430756, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0346755981445312, 2.622199773788452, 0.7210119366645813, 0.1347496658563614, -0.006821414455771446, 0.9930466413497925, 0.08626453578472137, 0.0, 0.7253111004829407, 0.2556878328323364, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0346755981445312, 2.622199773788452, 0.7210119366645813, 0.1347496658563614, -0.006821414455771446, 0.9930466413497925, 0.08626453578472137, 0.0, 0.7701369524002075, 0.33568885922431946, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0346755981445312, 2.622199773788452, 0.7210119366645813, 0.1347496658563614, -0.006821414455771446, 0.9930466413497925, 0.08626453578472137, 0.0, 0.7854992151260376, 0.36310601234436035, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0346755981445312, 2.622199773788452, 0.7210119366645813, 0.1347496658563614, -0.006821414455771446, 0.9930466413497925, 0.08626453578472137, 0.0, 0.8284894227981567, 0.4398309886455536, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0346755981445312, 2.622199773788452, 0.7210119366645813, 0.1347496658563614, -0.006821414455771446, 0.9930466413497925, 0.08626453578472137, 0.0, 0.8453622460365295, 0.4699440896511078, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0346755981445312, 2.622199773788452, 0.7210119366645813, 0.1347496658563614, -0.006821414455771446, 0.9930466413497925, 0.08626453578472137, 0.0, 0.886839747428894, 0.5439693331718445, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0346755981445312, 2.622199773788452, 0.7210119366645813, 0.1347496658563614, -0.006821414455771446, 0.9930466413497925, 0.08626453578472137, 0.0, 0.9044490456581116, 0.5753967761993408, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0346755981445312, 2.622199773788452, 0.7210119366645813, 0.1347496658563614, -0.006821414455771446, 0.9930466413497925, 0.08626453578472137, 0.0, 0.9451044201850891, 0.6479547619819641, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0346755981445312, 2.622199773788452, 0.7210119366645813, 0.1347496658563614, -0.006821414455771446, 0.9930466413497925, 0.08626453578472137, 0.0, 0.9636889100074768, 0.6811226606369019, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0346755981445312, 2.622199773788452, 0.7210119366645813, 0.1347496658563614, -0.006821414455771446, 0.9930466413497925, 0.08626453578472137, 0.0, 1.0033341646194458, 0.7518778443336487, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0346755981445312, 2.622199773788452, 0.7210119366645813, 0.1347496658563614, -0.006821414455771446, 0.9930466413497925, 0.08626453578472137, 0.0, 1.0226632356643677, 0.786374568939209, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0346755981445312, 2.622199773788452, 0.7210119366645813, 0.1347496658563614, -0.006821414455771446, 0.9930466413497925, 0.08626453578472137, 0.0, 1.0615639686584473, 0.8558010458946228, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0346755981445312, 2.622199773788452, 0.7210119366645813, 0.1347496658563614, -0.006821414455771446, 0.9930466413497925, 0.08626453578472137, 0.0, 1.0818812847137451, 0.8920615315437317, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0346755981445312, 2.622199773788452, 0.7210119366645813, 0.1347496658563614, -0.006821414455771446, 0.9930466413497925, 0.08626453578472137, 0.0, 1.1197936534881592, 0.9597240090370178, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0346755981445312, 2.622199773788452, 0.7210119366645813, 0.1347496658563614, -0.006821414455771446, 0.9930466413497925, 0.08626453578472137, 0.0, 1.140877366065979, 0.9973523616790771, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0346755981445312, 2.622199773788452, 0.7210119366645813, 0.1347496658563614, -0.006821414455771446, 0.9930466413497925, 0.08626453578472137, 0.0, 1.178023338317871, 1.0636471509933472, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0346755981445312, 2.622199773788452, 0.7210119366645813, 0.1347496658563614, -0.006821414455771446, 0.9930466413497925, 0.08626453578472137, 0.0, 1.2000735998153687, 1.1030004024505615, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0346755981445312, 2.622199773788452, 0.7210119366645813, 0.1347496658563614, -0.006821414455771446, 0.9930466413497925, 0.08626453578472137, 0.0, 1.236253023147583, 1.1675701141357422, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0346755981445312, 2.622199773788452, 0.7210119366645813, 0.1347496658563614, -0.006821414455771446, 0.9930466413497925, 0.08626453578472137, 0.0, 1.2590916156768799, 1.2083302736282349, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0346755981445312, 2.622199773788452, 0.7210119366645813, 0.1347496658563614, -0.006821414455771446, 0.9930466413497925, 0.08626453578472137, 0.0, 1.294482707977295, 1.2714930772781372, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0346755981445312, 2.622199773788452, 0.7210119366645813, 0.1347496658563614, -0.006821414455771446, 0.9930466413497925, 0.08626453578472137, 0.0, 1.3182659149169922, 1.3139392137527466, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0346755981445312, 2.622199773788452, 0.7210119366645813, 0.1347496658563614, -0.006821414455771446, 0.9930466413497925, 0.08626453578472137, 0.0, 1.3527125120162964, 1.3754162788391113, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0346755981445312, 2.622199773788452, 0.7210119366645813, 0.1347496658563614, -0.006821414455771446, 0.9930466413497925, 0.08626453578472137, 0.0, 1.3773058652877808, 1.4193083047866821, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0346755981445312, 2.622199773788452, 0.7210119366645813, 0.1347496658563614, -0.006821414455771446, 0.9930466413497925, 0.08626453578472137, 0.0, 1.4109420776367188, 1.4793391227722168, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0346755981445312, 2.622199773788452, 0.7210119366645813, 0.1347496658563614, -0.006821414455771446, 0.9930466413497925, 0.08626453578472137, 0.0, 1.4364583492279053, 1.5248781442642212, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0346755981445312, 2.622199773788452, 0.7210119366645813, 0.1347496658563614, -0.006821414455771446, 0.9930466413497925, 0.08626453578472137, 0.0, 1.4691720008850098, 1.5832624435424805, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0346755981445312, 2.622199773788452, 0.7210119366645813, 0.1347496658563614, -0.006821414455771446, 0.9930466413497925, 0.08626453578472137, 0.0, 1.4955201148986816, 1.6302860975265503, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0346755981445312, 2.622199773788452, 0.7210119366645813, 0.1347496658563614, -0.006821414455771446, 0.9930466413497925, 0.08626453578472137, 0.0, 1.5274016857147217, 1.687185525894165, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0346755981445312, 2.622199773788452, 0.7210119366645813, 0.1347496658563614, -0.006821414455771446, 0.9930466413497925, 0.08626453578472137, 0.0, 1.5546506643295288, 1.7358170747756958, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0346755981445312, 2.622199773788452, 0.7210119366645813, 0.1347496658563614, -0.006821414455771446, 0.9930466413497925, 0.08626453578472137, 0.0, 1.585631251335144, 1.79110848903656, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0346755981445312, 2.622199773788452, 0.7210119366645813, 0.1347496658563614, -0.006821414455771446, 0.9930466413497925, 0.08626453578472137, 0.0, 1.61385178565979, 1.841473937034607, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0346755981445312, 2.622199773788452, 0.7210119366645813, 0.1347496658563614, -0.006821414455771446, 0.9930466413497925, 0.08626453578472137, 0.0, 1.6443431377410889, 1.8958921432495117, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0346755981445312, 2.622199773788452, 0.7210119366645813, 0.1347496658563614, -0.006821414455771446, 0.9930466413497925, 0.08626453578472137, 0.0, 1.6741539239883423, 1.9490957260131836, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0346755981445312, 2.622199773788452, 0.7210119366645813, 0.1347496658563614, -0.006821414455771446, 0.9930466413497925, 0.08626453578472137, 0.0, 1.7051408290863037, 2.0043981075286865, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0346755981445312, 2.622199773788452, 0.7210119366645813, 0.1347496658563614, -0.006821414455771446, 0.9930466413497925, 0.08626453578472137, 0.0, 1.7376586198806763, 2.0624330043792725, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0346755981445312, 2.622199773788452, 0.7210119366645813, 0.1347496658563614, -0.006821414455771446, 0.9930466413497925, 0.08626453578472137, 0.0, 1.7707700729370117, 2.1215274333953857, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0346755981445312, 2.622199773788452, 0.7210119366645813, 0.1347496658563614, -0.006821414455771446, 0.9930466413497925, 0.08626453578472137, 0.0, 1.806570053100586, 2.185420036315918, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0346755981445312, 2.622199773788452, 0.7210119366645813, 0.1347496658563614, -0.006821414455771446, 0.9930466413497925, 0.08626453578472137, 0.0, 1.8420194387435913, 2.2486865520477295, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0346755981445312, 2.622199773788452, 0.7210119366645813, 0.1347496658563614, -0.006821414455771446, 0.9930466413497925, 0.08626453578472137, 0.0, 1.8102530241012573, 2.283644437789917, 1.487827181816101, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0346755981445312, 2.622199773788452, 0.7210119366645813, 0.1347496658563614, -0.006821414455771446, 0.9930466413497925, 0.08626453578472137, 0.0], "count": [1872]}, "action.applied": {"mean": [0.29923199728911376, 0.7625919277501158, -1.2881012074330933, -0.2895637316048209, 0.7571200874244046, -1.308389827513542, 0.15100560645755923, 0.8855408343494447, -1.4459414083797197, -0.12378545734498045, 0.8812130716366645, -1.440775804953952, -0.11043395882394144, 2.2010376669275455, -1.7845472855827746, 0.024229982228013258, 0.9904430219664787, 0.09747954462727199, 0.003402777792265018, -0.003402777792265018], "std": [0.1266047133873454, 0.12643808922616845, 0.20482724891718176, 0.1291857181459526, 0.14584298308833607, 0.1915642310010547, 0.13108666667233698, 0.14593629121132826, 0.21244958812271889, 0.12288101902428951, 0.13146041330603292, 0.22992785834631113, 0.11843163730309793, 0.34981846658522686, 0.5474543101423419, 0.027446612644616404, 0.21100336016235102, 0.5167688032793143, 0.010369104422889913, 0.010369104422889913], "min": [-0.20405152440071106, 0.23450332880020142, -1.7169398069381714, -0.5009406208992004, 0.3511228561401367, -1.795545220375061, -0.24138465523719788, 0.46603846549987793, -1.8437185287475586, -0.5108274221420288, 0.5567281246185303, -1.705853819847107, -0.5101386904716492, 1.7056212425231934, -2.7898378372192383, -0.026536203920841217, 0.4667274057865143, -0.30486491322517395, 0.0, -0.03500000014901161], "max": [0.7221477031707764, 1.0108771324157715, -0.8477603197097778, 0.20011162757873535, 0.9831027984619141, -0.8441757559776306, 0.45897921919822693, 1.1711533069610596, -0.9998485445976257, 0.3103066086769104, 1.1233664751052856, -0.8738365173339844, 0.018974121659994125, 2.7928996086120605, -0.9740143418312073, 0.10013025999069214, 1.2193868160247803, 1.4567577838897705, 0.03500000014901161, 0.0], "count": [1872]}, "extra.reward": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1872]}, "next.truncated": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1872]}, "sim_step_idx": {"mean": [1972.0], "std": [1080.7995497161658], "min": [101.0], "max": [3843.0], "count": [1872]}, "timestamp": {"mean": [37.42000000292642], "std": [21.615990995781438], "min": [0.0], "max": [74.83999633789062], "count": [1872]}, "frame_index": {"mean": [935.5], "std": [540.3997748580829], "min": [0.0], "max": [1871.0], "count": [1872]}, "episode_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1872]}, "index": {"mean": [935.5], "std": [540.3997748580829], "min": [0.0], "max": [1871.0], "count": [1872]}, "task_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1872]}, "next.done": {"mean": [0.0005341880341880342], "std": [0.023106334138763], "min": [0.0], "max": [1.0], "count": [1872]}, "observation.images.head": {"mean": [[[0.5247687902187619]], [[0.4600582236877542]], [[0.4198149787033]]], "std": [[[0.11293013400443269]], [[0.1329227767074021]], [[0.13264172067784288]]], "min": [[[0.00784313725490196]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[0.8745098039215686]], [[0.8745098039215686]], [[0.8745098039215686]]], "count": [100]}, "observation.images.wrist": {"mean": [[[0.6041538768630759]], [[0.4684064787560455]], [[0.40038727713303673]]], "std": [[[0.1263490615301043]], [[0.15596993606279422]], [[0.1504989432598255]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9294117647058824]], [[0.9176470588235294]], [[0.9058823529411765]]], "count": [100]}}} diff --git a/N034/go2_arm/dr_off/seed_1019/rec/stationbookend/000/lerobot_v21/meta/extra/episode_000000.json b/N034/go2_arm/dr_off/seed_1019/rec/stationbookend/000/lerobot_v21/meta/extra/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..ca5a2fd796f8cf4f1482b25676f4f9aed37db668 --- /dev/null +++ b/N034/go2_arm/dr_off/seed_1019/rec/stationbookend/000/lerobot_v21/meta/extra/episode_000000.json @@ -0,0 +1,665 @@ +{ + "episode_index": 0, + "trajectory_id": 0, + "env_id": 0, + "task_type": "BookendCommand", + "subsample_every": 2, + "control_steps": 3743, + "language": { + "scene": { + "objects": [ + { + "id": "table_A_1", + "cat_name": "table_A", + "inst_id": 1, + "noun": "table A", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 3.600548313746148, + -0.5909615153159056, + -0.2019169384141179 + ], + "bbox": { + "extent": [ + 1.026501796447754, + 0.7277032704892243, + 0.30000001192092896 + ], + "center": [ + -5.551115123125783e-17, + 0.0, + 0.0 + ] + } + }, + { + "id": "table_B_1", + "cat_name": "table_B", + "inst_id": 1, + "noun": "table B", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 7.261996842219224, + -0.295318737817837, + -0.23357632926636096 + ], + "bbox": { + "extent": [ + 0.9825875451901123, + 0.6486576203194643, + 0.30000001192092896 + ], + "center": [ + -2.7755575615628914e-17, + 0.0, + 0.0 + ] + } + }, + { + "id": "slot_left_1", + "cat_name": "slot_left", + "inst_id": 1, + "noun": "slot left", + "color": "brown", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.4889016515276126, + -0.6387109996741758, + -0.03335386547410694 + ], + "bbox": { + "extent": [ + 0.040360435967380745, + 0.12253003366703248, + 0.03500000014901161 + ], + "center": [ + 2.42861286636753e-17, + 2.0816681711721685e-17, + 0.0 + ] + } + }, + { + "id": "slot_right_1", + "cat_name": "slot_right", + "inst_id": 1, + "noun": "slot right", + "color": "brown", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.5196915945494993, + -0.6818497781209907, + -0.033512619452198404 + ], + "bbox": { + "extent": [ + 0.04036043596738069, + 0.12253003366703248, + 0.03500000014901161 + ], + "center": [ + -1.0408340855860843e-17, + -6.938893903907228e-18, + 0.0 + ] + } + }, + { + "id": "book_1", + "cat_name": "book", + "inst_id": 1, + "noun": "book", + "color": "red", + "size": "small", + "material": null, + "category": "rigid", + "pos": [ + 3.493296258438993, + -0.6683257541998803, + 0.019180822430816168 + ], + "bbox": { + "extent": [ + 0.1088553349198786, + 0.06030120422858522, + 0.14000038710383694 + ], + "center": [ + 0.0, + -6.418476861114186e-17, + 2.7755575615628914e-17 + ] + } + }, + { + "id": "plate_1", + "cat_name": "plate", + "inst_id": 1, + "noun": "plate", + "color": "gray", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 7.167326776414808, + -0.3341307214299803, + -0.042176986089123125 + ], + "bbox": { + "extent": [ + 0.03512451953171189, + 0.1419821022700436, + 0.07999999821186066 + ], + "center": [ + -9.71445146547012e-17, + 0.0, + 0.0 + ] + } + }, + { + "id": "bookend_1", + "cat_name": "bookend", + "inst_id": 1, + "noun": "bookend", + "color": null, + "size": "small", + "material": null, + "category": "rigid", + "pos": [ + 7.241113353199848, + -0.4069972003471082, + -0.08313079937921934 + ], + "bbox": { + "extent": [ + 0.13189298122424453, + 0.09182161230100233, + 0.06000026208979914 + ], + "center": [ + -2.1283962162166326e-09, + -0.029999974044947433, + 0.029999999569703617 + ] + } + } + ], + "relations": [ + { + "subject": "table_A_1", + "relation": "left_of", + "object": "slot_right_1" + }, + { + "subject": "table_B_1", + "relation": "left_of", + "object": "bookend_1" + }, + { + "subject": "book_1", + "relation": "on_top_of", + "object": "slot_right_1" + }, + { + "subject": "plate_1", + "relation": "on_top_of", + "object": "bookend_1" + }, + { + "subject": "plate_1", + "relation": "left_of", + "object": "bookend_1" + }, + { + "subject": "bookend_1", + "relation": "right_of", + "object": "plate_1" + } + ], + "cameras": [ + { + "name": "head", + "intrinsics": { + "K": [ + [ + 607.7061061683956, + 0.0, + 320.0 + ], + [ + 0.0, + 607.3754374751866, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 55.53991912549515, + "resolution": [ + 640, + 480 + ] + }, + "pos_robot": [ + 4.0789661323607795, + -1.1238754015882753, + -0.29115163529827515 + ], + "viewpoint": "front, at table height", + "extrinsics": { + "R": [ + [ + 0.0034545225363202814, + -0.9995776319673901, + 0.028855223868669955 + ], + [ + -0.02338972540530354, + 0.0287667346071393, + 0.9993124615081647 + ], + [ + -0.9997204544368945, + -0.0041270631819024794, + -0.023280471000004077 + ] + ], + "t": [ + 0.03416419479862187, + -0.08682200219228882, + 0.33429322289826396 + ] + } + }, + { + "name": "wrist", + "intrinsics": { + "K": [ + [ + 617.2500342478374, + 0.0, + 320.0 + ], + [ + 0.0, + 617.548655622722, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 54.807019583348044, + "resolution": [ + 640, + 480 + ] + }, + "pos_robot": [ + 3.7777724360840117, + -0.847811276053392, + -0.3369947484002437 + ], + "viewpoint": "front, at table height", + "extrinsics": { + "R": [ + [ + 0.017356943317221596, + -0.9998337334638687, + 0.005589449560045617 + ], + [ + -0.9382601518788614, + -0.014355819960515381, + 0.34563246061317376 + ], + [ + -0.3454947523696107, + -0.011243480820582297, + -0.9383533237667454 + ] + ], + "t": [ + 0.006333551580298355, + -0.08611861262827436, + 0.017148138726427706 + ] + } + } + ], + "robots": [ + { + "name": "Go2Plus", + "model": "go2plus", + "type": "mobilemanip", + "noun": "Unitree Go2 EDU quadruped with a Piper arm", + "arms": 1, + "arm_layout": null, + "mobile": true, + "dexterous": false, + "base_pose": { + "pos": [ + -3.4, + -2.2, + 0.44999999999999996 + ], + "ori": [ + 0.9396926164627075, + 0.0, + 0.0, + 0.3420201539993286 + ] + }, + "facing_yaw_deg": 40.000001288448495, + "gripper": "parallel gripper" + } + ], + "lighting": [], + "background": { + "name": null, + "kind": "background", + "type": "dome", + "pose": null, + "setting": null, + "time_of_day": null, + "indoor": false, + "intensity": 1000.0, + "ambient": "dim" + }, + "effects": [], + "caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the brown slot right. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is to the left of the brown slot right. The gray table B is to the left of the bookend. The red book is on top of the brown slot right. The gray plate is on top of the bookend. The gray plate is to the left of the bookend. The bookend is to the right of the gray plate. The scene is viewed from front, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n [t[pl[bookend]\n\n\n\n [slot [book]\n\n\n\n[robot]" + }, + "task": { + "task_type": "StationBookend", + "instruction": "Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.", + "template_id": -1, + "slots": { + "obj": 1.4429052220164702, + "support": null + }, + "generic_instruction": "Stationbookend the 1.4429052220164702.", + "task_id": "N034", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_0517": { + "frame_idx": 517, + "caption": "Computing a grasp pose for the small red book; the right gripper is below and to the left of and in front of the red book.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "NavTo", + "planner_state": "finished", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0546": { + "frame_idx": 546, + "caption": "Working on the small red book; the right gripper is below and to the left of and in front of the red book.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0834": { + "frame_idx": 834, + "caption": "Computing a grasp pose for the small red book; the right gripper is below and to the left of and in front of the red book.", + "skill": "ReachStance", + "phase": "verify", + "skill_state": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0848": { + "frame_idx": 848, + "caption": "Pre-grasping the small red book, servoing the arm toward it; the right gripper is below and to the left of and in front of the red book.", + "skill": "Grasp", + "phase": "pre_grasp", + "skill_state": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0849": { + "frame_idx": 849, + "caption": "Pre-grasping the small red book, moving the arm toward it; the right gripper is below and to the left of and in front of the red book.", + "skill": "Grasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0902": { + "frame_idx": 902, + "caption": "Grasping the small red book, moving the arm in to make contact; the right gripper is below and to the left of and in front of the red book.", + "skill": "Grasp", + "phase": "grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0924": { + "frame_idx": 924, + "caption": "Grasping the small red book, moving the arm in to make contact; the right gripper is below and in front of the red book.", + "skill": "Grasp", + "phase": "grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "in_front_of" + ] + }, + "frame_0964": { + "frame_idx": 964, + "caption": "Closing the right gripper on the red book; the right gripper is below and in front of the red book.", + "skill": "Grasp", + "phase": "close_gripper", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "in_front_of" + ] + }, + "frame_1024": { + "frame_idx": 1024, + "caption": "Lifting the red book away with the gripper; the right gripper is below and in front of the red book.", + "skill": "Grasp", + "phase": "retrieval", + "skill_state": "running", + "planner": "ParallelGripper", + "planner_state": "finished", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "in_front_of" + ] + }, + "frame_1025": { + "frame_idx": 1025, + "caption": "Lifting the red book away with the arm; the right gripper is below and in front of the red book.", + "skill": "Grasp", + "phase": "retrieval", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "in_front_of" + ] + }, + "frame_1087": { + "frame_idx": 1087, + "caption": "Done — the small red book is grasped; the right gripper is below and in front of the red book.", + "skill": "Grasp", + "phase": "completed", + "skill_state": "finished", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "in_front_of" + ] + }, + "frame_2836": { + "frame_idx": 2836, + "caption": "Computing a grasp pose for the small bookend; the right gripper is below and to the left of and in front of the bookend.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "bookend_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_2912": { + "frame_idx": 2912, + "caption": "Working on the small bookend; the right gripper is below and to the left of and in front of the bookend.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "bookend_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_2945": { + "frame_idx": 2945, + "caption": "Working on the small bookend; the right gripper is below and to the left of the bookend.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "bookend_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_3010": { + "frame_idx": 3010, + "caption": "Working on the small bookend; the right gripper is below and to the left of and behind the bookend.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "bookend_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "behind" + ] + }, + "frame_3159": { + "frame_idx": 3159, + "caption": "Computing a grasp pose for the small bookend; the right gripper is below and to the left of and behind the bookend.", + "skill": "ReachStance", + "phase": "verify", + "skill_state": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "bookend_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "behind" + ] + } + } + }, + "depth_range": [ + 0.1, + 20.0 + ], + "annotation_sidecar": null, + "annotation_sidecar_keys": [], + "terminated": true, + "truncated": false +} \ No newline at end of file diff --git a/N034/go2_arm/dr_off/seed_1019/rec/stationbookend/000/lerobot_v21/meta/info.json b/N034/go2_arm/dr_off/seed_1019/rec/stationbookend/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..a247a357d6af64bab41953b064c7306cfe33bed2 --- /dev/null +++ b/N034/go2_arm/dr_off/seed_1019/rec/stationbookend/000/lerobot_v21/meta/info.json @@ -0,0 +1,315 @@ +{ + "codebase_version": "v2.1", + "robot_type": "Go2PlusCfg", + "total_episodes": 1, + "total_frames": 1872, + "total_tasks": 1, + "total_videos": 2, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 25, + "splits": { + "train": "0:1" + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", + "features": { + "action": { + "dtype": "float32", + "shape": [ + 12 + ], + "names": [ + "base_action_0", + "base_action_1", + "base_action_2", + "base_action_3", + "eef0.pos_x", + "eef0.pos_y", + "eef0.pos_z", + "eef0.quat_w", + "eef0.quat_x", + "eef0.quat_y", + "eef0.quat_z", + "gripper" + ] + }, + "action_is_hold": { + "dtype": "bool", + "shape": [ + 12 + ], + "names": null + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 26 + ], + "names": [ + "joint_0", + "joint_1", + "joint_2", + "joint_3", + "joint_4", + "joint_5", + "joint_6", + "joint_7", + "joint_8", + "joint_9", + "joint_10", + "joint_11", + "joint_12", + "joint_13", + "joint_14", + "joint_15", + "joint_16", + "joint_17", + "joint_18", + "joint_19", + "joint_20", + "joint_21", + "joint_22", + "joint_23", + "gripper_0", + "gripper_1" + ] + }, + "observation.joint_vel": { + "dtype": "float32", + "shape": [ + 20 + ], + "names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ] + }, + "observation.eef_pose": { + "dtype": "float32", + "shape": [ + 7 + ], + "names": null + }, + "observation.environment_state": { + "dtype": "float32", + "shape": [ + 49 + ], + "names": [ + "object_pose.book.0", + "object_pose.book.1", + "object_pose.book.2", + "object_pose.book.3", + "object_pose.book.4", + "object_pose.book.5", + "object_pose.book.6", + "object_pose.bookend.0", + "object_pose.bookend.1", + "object_pose.bookend.2", + "object_pose.bookend.3", + "object_pose.bookend.4", + "object_pose.bookend.5", + "object_pose.bookend.6", + "object_pose.plate.0", + "object_pose.plate.1", + "object_pose.plate.2", + "object_pose.plate.3", + "object_pose.plate.4", + "object_pose.plate.5", + "object_pose.plate.6", + "object_pose.slot_left.0", + "object_pose.slot_left.1", + "object_pose.slot_left.2", + "object_pose.slot_left.3", + "object_pose.slot_left.4", + "object_pose.slot_left.5", + "object_pose.slot_left.6", + "object_pose.slot_right.0", + "object_pose.slot_right.1", + "object_pose.slot_right.2", + "object_pose.slot_right.3", + "object_pose.slot_right.4", + "object_pose.slot_right.5", + "object_pose.slot_right.6", + "object_pose.table_A.0", + "object_pose.table_A.1", + "object_pose.table_A.2", + "object_pose.table_A.3", + "object_pose.table_A.4", + "object_pose.table_A.5", + "object_pose.table_A.6", + "object_pose.table_B.0", + "object_pose.table_B.1", + "object_pose.table_B.2", + "object_pose.table_B.3", + "object_pose.table_B.4", + "object_pose.table_B.5", + "object_pose.table_B.6" + ] + }, + "action.command": { + "dtype": "float32", + "shape": [ + 1120 + ], + "names": null + }, + "action.applied": { + "dtype": "float32", + "shape": [ + 20 + ], + "names": null + }, + "narration": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "collect_info": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "extra.reward": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "extra.action_info": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "next.truncated": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "sim_step_idx": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "next.done": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "observation.images.head": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25, + "video.codec": "libsvtav1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.wrist": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25, + "video.codec": "libsvtav1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + } + } +} \ No newline at end of file diff --git a/N034/go2_arm/dr_off/seed_1019/rec/stationbookend/000/lerobot_v21/meta/magicsim_manifest.json b/N034/go2_arm/dr_off/seed_1019/rec/stationbookend/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..20d3de40f5a506d9f9df27a189831cd373038723 --- /dev/null +++ b/N034/go2_arm/dr_off/seed_1019/rec/stationbookend/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,290 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 03:15:29" + }, + "embodiment": { + "robots": [ + { + "name": "Go2Plus", + "cfg": "Go2PlusCfg", + "type": "mobilemanip", + "joint_names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 12, + "nan_policy": "from_raw", + "segments": [ + { + "name": "Go2Plus.base_action", + "start": 0, + "end": 4, + "names": [ + "base_action_0", + "base_action_1", + "base_action_2", + "base_action_3" + ], + "source": "Go2UnifiedLocomotionAction", + "names_source": "fallback" + }, + { + "name": "Go2Plus.arm_action", + "start": 4, + "end": 11, + "names": [ + "eef0.pos_x", + "eef0.pos_y", + "eef0.pos_z", + "eef0.quat_w", + "eef0.quat_x", + "eef0.quat_y", + "eef0.quat_z" + ], + "source": "Go2PlusCuroboIKAction", + "names_source": "pose_layout" + }, + { + "name": "Go2Plus.eef_action", + "start": 11, + "end": 12, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 26, + "segments": [ + { + "name": "Go2Plus.joint_pos", + "start": 0, + "end": 24, + "names": [ + "joint_0", + "joint_1", + "joint_2", + "joint_3", + "joint_4", + "joint_5", + "joint_6", + "joint_7", + "joint_8", + "joint_9", + "joint_10", + "joint_11", + "joint_12", + "joint_13", + "joint_14", + "joint_15", + "joint_16", + "joint_17", + "joint_18", + "joint_19", + "joint_20", + "joint_21", + "joint_22", + "joint_23" + ], + "source": "ObservationManager", + "names_source": "fallback_dim_mismatch(joint_names=20,obs=24)" + }, + { + "name": "Go2Plus.gripper_pos", + "start": 24, + "end": 26, + "names": [ + "gripper_0", + "gripper_1" + ], + "source": "ObservationManager", + "names_source": "generated" + } + ] + }, + "joint_vel_layout": { + "dim": 20, + "segments": [ + { + "name": "Go2Plus.joint_vel", + "start": 0, + "end": 20, + "names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "action_levels": { + "L0": "task command list (collect.auto_collect_info.current_action)", + "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)", + "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)", + "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy", + "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)" + }, + "cameras": { + "head": { + "intrinsics": { + "K": [ + [ + 607.7061061683956, + 0.0, + 320.0 + ], + [ + 0.0, + 607.3754374751866, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 55.53991912549515, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.33205100893974304, + 0.038026999682188034, + 0.09355899691581726 + ], + "quat": [ + -0.5022302269935608, + -0.499491810798645, + 0.5120040774345398, + 0.4859265089035034 + ] + }, + "wrist": { + "intrinsics": { + "K": [ + [ + 617.2500342478374, + 0.0, + 320.0 + ], + [ + 0.0, + 617.548655622722, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 54.807019583348044, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + -0.0749870017170906, + 0.005288999993354082, + 0.04582099989056587 + ], + "quat": [ + 0.1271296590566635, + 0.701795220375061, + -0.6904057860374451, + -0.12108422070741653 + ] + } + }, + "lerobot": { + "codebase_version": "v2.1", + "video_keys": [ + "observation.images.head", + "observation.images.wrist" + ], + "columns": [ + "action", + "action.applied", + "action.command", + "action_is_hold", + "collect_info", + "episode_index", + "extra.action_info", + "extra.reward", + "frame_index", + "index", + "narration", + "next.done", + "next.truncated", + "observation.eef_pose", + "observation.environment_state", + "observation.images.head", + "observation.images.wrist", + "observation.joint_vel", + "observation.state", + "sim_step_idx", + "task_index", + "timestamp" + ] + }, + "generated_run": { + "run_id": "stationbookend/000", + "task_type": "BookendCommand" + } +} \ No newline at end of file diff --git a/N034/go2_arm/dr_off/seed_1019/rec/stationbookend/000/lerobot_v21/meta/stats.json b/N034/go2_arm/dr_off/seed_1019/rec/stationbookend/000/lerobot_v21/meta/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..702c2b47b24a2e2d77b8674cbd180b79255f48aa --- /dev/null +++ b/N034/go2_arm/dr_off/seed_1019/rec/stationbookend/000/lerobot_v21/meta/stats.json @@ -0,0 +1,5469 @@ +{ + "action": { + "mean": [ + 0.10140935979528815, + -0.0014676845967809423, + 0.0125796333437688, + 0.32402712770570546, + 0.8557659135096602, + 1.1990686055416098, + 0.6454265084849973, + 0.09637270915376357, + -0.42801306552938223, + 0.8516579517123536, + 0.06192552304173271, + 0.6746794871794872 + ], + "std": [ + 0.13572761697600666, + 0.01886371268891117, + 0.22198442512225394, + 0.03234801727837406, + 1.3386319674834193, + 1.6443076100041374, + 0.06289186787037732, + 0.04591091940877138, + 0.25472108177269265, + 0.10037084105835113, + 0.03600038955416298, + 0.46849447889885487 + ], + "min": [ + 0.0, + -0.07999998331069946, + -0.800000011920929, + 0.28999999165534973, + -3.0114896297454834, + -1.9162098169326782, + 0.4879685044288635, + -0.017439953982830048, + -0.7472398281097412, + 0.6528578996658325, + -0.0064080990850925446, + 0.0 + ], + "max": [ + 0.3499999940395355, + 0.25, + 0.800000011920929, + 0.3700000047683716, + 2.101583480834961, + 2.8395228385925293, + 0.7210119366645813, + 0.16507500410079956, + 0.043140195310115814, + 0.9990512132644653, + 0.11499176919460297, + 1.0 + ], + "count": [ + 1872 + ] + }, + "action_is_hold": { + "mean": [ + 0.13514957264957264, + 0.13514957264957264, + 0.13514957264957264, + 0.13514957264957264, + 0.1639957264957265, + 0.1639957264957265, + 0.1639957264957265, + 0.1639957264957265, + 0.1639957264957265, + 0.1639957264957265, + 0.1639957264957265, + 0.9626068376068376 + ], + "std": [ + 0.34188326320867, + 0.34188326320867, + 0.34188326320867, + 0.34188326320867, + 0.3702716950927641, + 0.3702716950927641, + 0.3702716950927641, + 0.3702716950927641, + 0.3702716950927641, + 0.3702716950927641, + 0.3702716950927641, + 0.18972325582120708 + ], + "min": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "max": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "count": [ + 1872 + ] + }, + "observation.state": { + "mean": [ + -0.008832174099540843, + -0.006818120418063925, + -0.03761027486698573, + 0.05294472543024841, + -0.1104851687365561, + 0.7753938230502809, + 0.7730668656464316, + 0.897143251557126, + 0.9180748263994852, + 2.2005462352918763, + -1.5601903826125667, + -1.563874392810031, + -1.5692544562312274, + -1.59188411766902, + -1.782576620610606, + 0.024265999359892876, + 0.9890512286916248, + 0.09473962598526124, + 0.01773934831244469, + -0.018021320844611752, + 0.6357011234063882, + 0.7722771208204476, + 1.1470727746623157, + 0.3537860835910353, + -0.018021320844611752, + -0.01773934831244469 + ], + "std": [ + 0.04557911954090298, + 0.03762449180726127, + 0.0658406786353018, + 0.06279696576894771, + 0.11793424616833284, + 0.13658220383354783, + 0.1316235374634346, + 0.12553955129909133, + 0.14344138385219796, + 0.34990647331251107, + 0.18755988392670336, + 0.19672838653686442, + 0.20457536013300595, + 0.1906471681788869, + 0.5479832409694988, + 0.027306337399509096, + 0.21113318606134066, + 0.5142110830331957, + 0.013834195474583911, + 0.013826345460945745, + 1.3699032050628963, + 1.5071578299810746, + 0.4324487668904756, + 0.030772473106477696, + 0.013826345460945745, + 0.013834195474583911 + ], + "min": [ + -0.15732549130916595, + -0.10672853887081146, + -0.1741328090429306, + -0.06987550854682922, + -0.4887844920158386, + 0.4857245683670044, + 0.48751285672187805, + 0.597061276435852, + 0.5976895689964294, + 1.704373836517334, + -1.8092864751815796, + -1.8075467348098755, + -1.831852674484253, + -1.8492465019226074, + -2.732652187347412, + -0.024989083409309387, + 0.4727647006511688, + -0.3030072748661041, + 0.0, + -0.03500000014901161, + -3.2669074535369873, + -2.1906704902648926, + -0.043494898825883865, + 0.3131336569786072, + -0.03500000014901161, + -0.03500000014901161 + ], + "max": [ + 0.13793444633483887, + 0.1626463681459427, + 0.1602793037891388, + 0.19420820474624634, + 0.016660191118717194, + 0.998702883720398, + 0.9464517831802368, + 1.091968059539795, + 1.093217372894287, + 2.7588090896606445, + -1.1371465921401978, + -1.2077312469482422, + -1.1387938261032104, + -1.2079437971115112, + -0.9797386527061462, + 0.10015591979026794, + 1.2172913551330566, + 1.4415864944458008, + 0.03500000014901161, + 0.0, + 1.8019195795059204, + 2.2737157344818115, + 1.8380955457687378, + 0.4016351103782654, + 0.0, + -0.0 + ], + "count": [ + 1872 + ] + }, + "observation.joint_vel": { + "mean": [ + 5.658717436434126e-05, + -0.00016269483045014055, + -0.003131358342752486, + -0.0011021332811991607, + 0.00031031674499062376, + 0.014918789178741813, + 0.0023487369099327157, + -0.002442914786999811, + 0.003060892237354721, + 0.004053531825363287, + -0.017783681274502274, + -0.012663773629153892, + 0.004101192419220285, + -0.003768157028340812, + -0.012372948512676368, + 0.0004844753396730199, + 0.011613372662972883, + -0.0010487127111403903, + -0.0005749369743214272, + 0.00048150080831753193 + ], + "std": [ + 0.3475744567247443, + 0.305516884615371, + 0.38820988907411663, + 0.46312273221460964, + 0.10462406107991296, + 0.9006979363785158, + 0.8998542579306033, + 0.6920299373749452, + 0.6098147605820221, + 0.12504394551706752, + 0.519947936945233, + 0.7537227805146813, + 0.7932765299565853, + 0.8722789761288164, + 0.17869431345252262, + 0.031786596810297864, + 0.08997458897624891, + 0.15757873988737392, + 0.012155363665931198, + 0.012030322126698686 + ], + "min": [ + -2.6919047832489014, + -3.9249582290649414, + -3.0232958793640137, + -4.058384418487549, + -1.040321946144104, + -4.148984432220459, + -4.251581192016602, + -3.8354456424713135, + -3.3741226196289062, + -0.73247891664505, + -3.054687261581421, + -5.965991020202637, + -3.737506151199341, + -4.363677501678467, + -1.502197027206421, + -0.23465396463871002, + -0.8379309773445129, + -0.35616621375083923, + -0.20009158551692963, + -0.18673476576805115 + ], + "max": [ + 3.519874095916748, + 2.6237998008728027, + 4.992315292358398, + 3.2069613933563232, + 0.43806377053260803, + 2.2009119987487793, + 2.4935574531555176, + 3.0721447467803955, + 4.089498996734619, + 1.0488511323928833, + 3.3878424167633057, + 4.483425617218018, + 3.272062063217163, + 4.42346715927124, + 0.9258668422698975, + 0.21712136268615723, + 0.8982918858528137, + 1.3132436275482178, + 0.19988736510276794, + 0.20035140216350555 + ], + "count": [ + 1872 + ] + }, + "observation.eef_pose": { + "mean": [ + 0.8536915201186321, + 1.1952117141764054, + 0.6422788069352635, + 0.10022790583535138, + -0.42971512272110224, + 0.8497235213653145, + 0.06777520611500129 + ], + "std": [ + 1.338134082962231, + 1.6408085688346183, + 0.0628207425683308, + 0.04615969257792927, + 0.2549070390802848, + 0.10178025882905485, + 0.034759528616306545 + ], + "min": [ + -3.011502265930176, + -1.9162250757217407, + 0.4858432710170746, + -0.016474366188049316, + -0.7584421634674072, + 0.6394243240356445, + -0.0065291523933410645 + ], + "max": [ + 2.107058048248291, + 2.8397367000579834, + 0.7211058139801025, + 0.19857513904571533, + 0.046573422849178314, + 0.9990140199661255, + 0.12380838394165039 + ], + "count": [ + 1872 + ] + }, + "observation.environment_state": { + "mean": [ + 0.9893123280079379, + 1.4379371153959373, + 0.44646153920608705, + 0.7854741624532602, + -0.0015101889111090794, + 0.00126159866710742, + 0.5983259185559602, + 1.9522682716831183, + 2.8425058719948826, + 0.3300000437272665, + 0.7367163490917947, + 8.111259857986136e-09, + 1.870843883932551e-07, + 0.6761862154190357, + 1.85211181640625, + 2.8373796939849854, + 0.37049999833106995, + 0.999139666557312, + 0.0, + 0.0, + -0.041471999138593674, + -0.42595377564430237, + -0.06667723506689072, + 0.3474999964237213, + 0.9979561567306519, + 0.0, + 0.0, + -0.0639023408293724, + -0.3733866214752197, + -0.07343699783086777, + 0.3474999964237213, + 0.9979561567306519, + 0.0, + 0.0, + -0.0639023408293724, + -0.3843650817871094, + 0.048962850123643875, + 0.18000000715255737, + 0.9979561567306519, + 0.0, + 0.0, + -0.0639023408293724, + 1.8888012170791626, + 2.93467378616333, + 0.18000000715255737, + 0.999139666557312, + 0.0, + 0.0, + -0.041471999138593674 + ], + "std": [ + 1.0167796623155043, + 1.3908491584453189, + 0.06643077895152255, + 0.06665939339587296, + 0.004403776682730839, + 0.005485552638720673, + 0.14331644791437623, + 0.012928027456085903, + 0.0009318888409756144, + 5.445323233497571e-08, + 0.0030882896442173203, + 1.0392376219663828e-06, + 9.095748482266936e-07, + 0.00341555301042065, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 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": [ + -0.40268540382385254, + -0.6666067242622375, + 0.39999982714653015, + 0.7450120449066162, + -0.017099654302001, + -0.03383307158946991, + 0.009017993696033955, + 1.9043458700180054, + 2.8422462940216064, + 0.3299998939037323, + 0.7358241081237793, + -1.5988945960998535e-05, + -1.3887882232666016e-05, + 0.6575465202331543, + 1.85211181640625, + 2.8373796939849854, + 0.37049999833106995, + 0.999139666557312, + 0.0, + 0.0, + -0.041471999138593674, + -0.42595377564430237, + -0.06667723506689072, + 0.3474999964237213, + 0.9979561567306519, + 0.0, + 0.0, + -0.0639023408293724, + -0.3733866214752197, + -0.07343699783086777, + 0.3474999964237213, + 0.9979561567306519, + 0.0, + 0.0, + -0.0639023408293724, + -0.3843650817871094, + 0.048962850123643875, + 0.18000000715255737, + 0.9979561567306519, + 0.0, + 0.0, + -0.0639023408293724, + 1.8888012170791626, + 2.93467378616333, + 0.18000000715255737, + 0.999139666557312, + 0.0, + 0.0, + -0.041471999138593674 + ], + "max": [ + 2.0642666816711426, + 2.846712827682495, + 0.5680146217346191, + 0.9999197125434875, + 0.02100456692278385, + 0.016988104209303856, + 0.667021632194519, + 1.955877423286438, + 2.8459818363189697, + 0.3300004005432129, + 0.7534139156341553, + 2.57790111390932e-06, + 3.8743023651477415e-06, + 0.6771726608276367, + 1.85211181640625, + 2.8373796939849854, + 0.37049999833106995, + 0.999139666557312, + 0.0, + 0.0, + -0.041471999138593674, + -0.42595377564430237, + -0.06667723506689072, + 0.3474999964237213, + 0.9979561567306519, + 0.0, + 0.0, + -0.0639023408293724, + -0.3733866214752197, + -0.07343699783086777, + 0.3474999964237213, + 0.9979561567306519, + 0.0, + 0.0, + -0.0639023408293724, + -0.3843650817871094, + 0.048962850123643875, + 0.18000000715255737, + 0.9979561567306519, + 0.0, + 0.0, + -0.0639023408293724, + 1.8888012170791626, + 2.93467378616333, + 0.18000000715255737, + 0.999139666557312, + 0.0, + 0.0, + -0.041471999138593674 + ], + "count": [ + 1872 + ] + }, + "action.command": { + "mean": [ + -0.9395345685066776, + -0.6866675488752861, + 1.1784617084346405, + 0.7767024605247611, + 0.0, + 0.0, + 0.6290785380012484, + 0.615335463258786, + 0.7344755223003059, + 1.0108268250958226, + 0.650235224151002, + 0.09809620026547385, + -0.4076678530024454, + 0.8630246846058879, + 0.05905079477462551, + 0.5714285714285714, + -1.4376937629850421, + -1.1620679243627297, + 1.472375924843716, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14463954495085504, + 0.039506903029533025, + 0.6926794279302417, + 0.1137307808792607, + -0.35807604951954697, + 0.9050533834048318, + 0.0424795204653806, + 0.0, + -1.3521067382171652, + -1.1504023773261751, + 1.472375924843716, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14463954495085504, + 0.039506903029533025, + 0.6926794279302417, + 0.1137307808792607, + -0.35807604951954697, + 0.9050533834048318, + 0.0424795204653806, + 0.0, + -1.3226810677909597, + -1.1452060595926536, + 1.472375924843716, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14463954495085504, + 0.039506903029533025, + 0.6926794279302417, + 0.1137307808792607, + -0.35807604951954697, + 0.9050533834048318, + 0.0424795204653806, + 0.0, + -1.2571867872202698, + -1.140414543044203, + 1.472375924843716, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14463954495085504, + 0.039506903029533025, + 0.6926794279302417, + 0.1137307808792607, + -0.35807604951954697, + 0.9050533834048318, + 0.0424795204653806, + 0.0, + -1.2073012277741197, + -1.1282857282861454, + 1.472375924843716, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14463954495085504, + 0.039506903029533025, + 0.6926794279302417, + 0.1137307808792607, + -0.35807604951954697, + 0.9050533834048318, + 0.0424795204653806, + 0.0, + -1.1255665712385063, + -1.1129035224635921, + 1.472375924843716, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14463954495085504, + 0.039506903029533025, + 0.6926794279302417, + 0.1137307808792607, + -0.35807604951954697, + 0.9050533834048318, + 0.0424795204653806, + 0.0, + -1.0914686082368827, + -1.1113546007024655, + 1.472375924843716, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14463954495085504, + 0.039506903029533025, + 0.6926794279302417, + 0.1137307808792607, + -0.35807604951954697, + 0.9050533834048318, + 0.0424795204653806, + 0.0, + -1.0472230821016775, + -1.1092767302258557, + 1.472375924843716, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14463954495085504, + 0.039506903029533025, + 0.6926794279302417, + 0.1137307808792607, + -0.35807604951954697, + 0.9050533834048318, + 0.0424795204653806, + 0.0, + -0.9804608432073912, + -1.094605636628342, + 1.472375924843716, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14463954495085504, + 0.039506903029533025, + 0.6926794279302417, + 0.1137307808792607, + -0.35807604951954697, + 0.9050533834048318, + 0.0424795204653806, + 0.0, + -0.92398956784135, + -1.083930736835576, + 1.472375924843716, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14463954495085504, + 0.039506903029533025, + 0.6926794279302417, + 0.1137307808792607, + -0.35807604951954697, + 0.9050533834048318, + 0.0424795204653806, + 0.0, + -0.882293364342307, + -1.0781668236214486, + 1.472375924843716, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14463954495085504, + 0.039506903029533025, + 0.6926794279302417, + 0.1137307808792607, + -0.35807604951954697, + 0.9050533834048318, + 0.0424795204653806, + 0.0, + -0.8285136681945517, + -1.0701971684160778, + 1.472375924843716, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14463954495085504, + 0.039506903029533025, + 0.6926794279302417, + 0.1137307808792607, + -0.35807604951954697, + 0.9050533834048318, + 0.0424795204653806, + 0.0, + -0.789922102118235, + -1.034316372428124, + 1.472375924843716, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14463954495085504, + 0.039506903029533025, + 0.6926794279302417, + 0.1137307808792607, + -0.35807604951954697, + 0.9050533834048318, + 0.0424795204653806, + 0.0, + -0.7466729029241311, + -0.9882125943147171, + 1.472375924843716, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14463954495085504, + 0.039506903029533025, + 0.6926794279302417, + 0.1137307808792607, + -0.35807604951954697, + 0.9050533834048318, + 0.0424795204653806, + 0.0, + -0.7146300954489435, + -0.963601579466664, + 1.472375924843716, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14463954495085504, + 0.039506903029533025, + 0.6926794279302417, + 0.1137307808792607, + -0.35807604951954697, + 0.9050533834048318, + 0.0424795204653806, + 0.0, + -0.6770321623895906, + -0.9384821833050742, + 1.472375924843716, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14463954495085504, + 0.039506903029533025, + 0.6926794279302417, + 0.1137307808792607, + -0.35807604951954697, + 0.9050533834048318, + 0.0424795204653806, + 0.0, + -0.6370985561791328, + -0.8899324000435838, + 1.472375924843716, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14463954495085504, + 0.039506903029533025, + 0.6926794279302417, + 0.1137307808792607, + -0.35807604951954697, + 0.9050533834048318, + 0.0424795204653806, + 0.0, + -0.6199675627438671, + -0.8701803510090903, + 1.472375924843716, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14463954495085504, + 0.039506903029533025, + 0.6926794279302417, + 0.1137307808792607, + -0.35807604951954697, + 0.9050533834048318, + 0.0424795204653806, + 0.0, + -0.571362290645184, + -0.8315963889973097, + 1.472375924843716, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14463954495085504, + 0.039506903029533025, + 0.6926794279302417, + 0.1137307808792607, + -0.35807604951954697, + 0.9050533834048318, + 0.0424795204653806, + 0.0, + -0.5218368946001982, + -0.7892285949522122, + 1.472375924843716, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14463954495085504, + 0.039506903029533025, + 0.6926794279302417, + 0.1137307808792607, + -0.35807604951954697, + 0.9050533834048318, + 0.0424795204653806, + 0.0, + -0.48801029290494374, + -0.7370645096340027, + 1.472375924843716, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14463954495085504, + 0.039506903029533025, + 0.6926794279302417, + 0.1137307808792607, + -0.35807604951954697, + 0.9050533834048318, + 0.0424795204653806, + 0.0, + -0.46982302957005395, + -0.7161108568845043, + 1.472375924843716, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14463954495085504, + 0.039506903029533025, + 0.6926794279302417, + 0.1137307808792607, + -0.35807604951954697, + 0.9050533834048318, + 0.0424795204653806, + 0.0, + -0.4117828229192402, + -0.644443262581173, + 1.472375924843716, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14463954495085504, + 0.039506903029533025, + 0.6926794279302417, + 0.1137307808792607, + -0.35807604951954697, + 0.9050533834048318, + 0.0424795204653806, + 0.0, + -0.39107390260633085, + -0.6304526822381761, + 1.472375924843716, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14463954495085504, + 0.039506903029533025, + 0.6926794279302417, + 0.1137307808792607, + -0.35807604951954697, + 0.9050533834048318, + 0.0424795204653806, + 0.0, + -0.3555345927893245, + -0.5875386765516136, + 1.472375924843716, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14463954495085504, + 0.039506903029533025, + 0.6926794279302417, + 0.1137307808792607, + -0.35807604951954697, + 0.9050533834048318, + 0.0424795204653806, + 0.0, + -0.3165420301723607, + -0.5464536965754165, + 1.472375924843716, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14463954495085504, + 0.039506903029533025, + 0.6926794279302417, + 0.1137307808792607, + -0.35807604951954697, + 0.9050533834048318, + 0.0424795204653806, + 0.0, + -0.3022543212490411, + -0.5358539157377613, + 1.472375924843716, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14463954495085504, + 0.039506903029533025, + 0.6926794279302417, + 0.1137307808792607, + -0.35807604951954697, + 0.9050533834048318, + 0.0424795204653806, + 0.0, + -0.2595505590932778, + -0.47026782851928417, + 1.472375924843716, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14463954495085504, + 0.039506903029533025, + 0.6926794279302417, + 0.1137307808792607, + -0.35807604951954697, + 0.9050533834048318, + 0.0424795204653806, + 0.0, + -0.22857140402394938, + -0.44761004576961677, + 1.472375924843716, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14463954495085504, + 0.039506903029533025, + 0.6926794279302417, + 0.1137307808792607, + -0.35807604951954697, + 0.9050533834048318, + 0.0424795204653806, + 0.0, + -0.16581508647873108, + -0.377091829955657, + 1.472375924843716, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14463954495085504, + 0.039506903029533025, + 0.6926794279302417, + 0.1137307808792607, + -0.35807604951954697, + 0.9050533834048318, + 0.0424795204653806, + 0.0, + -0.1557437572504578, + -0.36089240903081804, + 1.472375924843716, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14463954495085504, + 0.039506903029533025, + 0.6926794279302417, + 0.1137307808792607, + -0.35807604951954697, + 0.9050533834048318, + 0.0424795204653806, + 0.0, + -0.12446205454518595, + -0.30755223577241025, + 1.472375924843716, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14463954495085504, + 0.039506903029533025, + 0.6926794279302417, + 0.1137307808792607, + -0.35807604951954697, + 0.9050533834048318, + 0.0424795204653806, + 0.0, + -0.08352224633671532, + -0.27546733989816896, + 1.472375924843716, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14463954495085504, + 0.039506903029533025, + 0.6926794279302417, + 0.1137307808792607, + -0.35807604951954697, + 0.9050533834048318, + 0.0424795204653806, + 0.0, + -0.03311005737360413, + -0.21498714001530195, + 1.472375924843716, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14463954495085504, + 0.039506903029533025, + 0.6926794279302417, + 0.1137307808792607, + -0.35807604951954697, + 0.9050533834048318, + 0.0424795204653806, + 0.0, + -0.011504409481013122, + -0.19041845515113112, + 1.472375924843716, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14463954495085504, + 0.039506903029533025, + 0.6926794279302417, + 0.1137307808792607, + -0.35807604951954697, + 0.9050533834048318, + 0.0424795204653806, + 0.0, + 0.030347879189419082, + -0.1351663516970428, + 1.472375924843716, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14463954495085504, + 0.039506903029533025, + 0.6926794279302417, + 0.1137307808792607, + -0.35807604951954697, + 0.9050533834048318, + 0.0424795204653806, + 0.0, + 0.059911192017564105, + -0.10632096565418826, + 1.472375924843716, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14463954495085504, + 0.039506903029533025, + 0.6926794279302417, + 0.1137307808792607, + -0.35807604951954697, + 0.9050533834048318, + 0.0424795204653806, + 0.0, + 0.09942976032120299, + -0.05285117619857687, + 1.472375924843716, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14463954495085504, + 0.039506903029533025, + 0.6926794279302417, + 0.1137307808792607, + -0.35807604951954697, + 0.9050533834048318, + 0.0424795204653806, + 0.0, + 0.13135197010648203, + -0.02207864818978278, + 1.472375924843716, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14463954495085504, + 0.039506903029533025, + 0.6926794279302417, + 0.1137307808792607, + -0.35807604951954697, + 0.9050533834048318, + 0.0424795204653806, + 0.0, + 0.18502160024199668, + 0.036975631992497135, + 1.472375924843716, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14463954495085504, + 0.039506903029533025, + 0.6926794279302417, + 0.1137307808792607, + -0.35807604951954697, + 0.9050533834048318, + 0.0424795204653806, + 0.0, + 0.20264392434205034, + 0.06186436561949225, + 1.472375924843716, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14463954495085504, + 0.039506903029533025, + 0.6926794279302417, + 0.1137307808792607, + -0.35807604951954697, + 0.9050533834048318, + 0.0424795204653806, + 0.0, + 0.23172060142000359, + 0.10903557996509243, + 1.472375924843716, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14463954495085504, + 0.039506903029533025, + 0.6926794279302417, + 0.1137307808792607, + -0.35807604951954697, + 0.9050533834048318, + 0.0424795204653806, + 0.0, + 0.2742386666902033, + 0.14615807020331759, + 1.472375924843716, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14463954495085504, + 0.039506903029533025, + 0.6926794279302417, + 0.1137307808792607, + -0.35807604951954697, + 0.9050533834048318, + 0.0424795204653806, + 0.0, + 0.32623131848268144, + 0.20293664805601, + 1.472375924843716, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14463954495085504, + 0.039506903029533025, + 0.6926794279302417, + 0.1137307808792607, + -0.35807604951954697, + 0.9050533834048318, + 0.0424795204653806, + 0.0, + 0.34568782979906953, + 0.2301918950530479, + 1.472375924843716, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14463954495085504, + 0.039506903029533025, + 0.6926794279302417, + 0.1137307808792607, + -0.35807604951954697, + 0.9050533834048318, + 0.0424795204653806, + 0.0, + 0.377873267627174, + 0.2772546292617818, + 1.472375924843716, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14463954495085504, + 0.039506903029533025, + 0.6926794279302417, + 0.1137307808792607, + -0.35807604951954697, + 0.9050533834048318, + 0.0424795204653806, + 0.0, + 0.4171401262283325, + 0.314401554079803, + 1.472375924843716, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14463954495085504, + 0.039506903029533025, + 0.6926794279302417, + 0.1137307808792607, + -0.35807604951954697, + 0.9050533834048318, + 0.0424795204653806, + 0.0, + 0.45856562838611375, + 0.36484325533685774, + 1.472375924843716, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14463954495085504, + 0.039506903029533025, + 0.6926794279302417, + 0.1137307808792607, + -0.35807604951954697, + 0.9050533834048318, + 0.0424795204653806, + 0.0, + 0.48843530077699965, + 0.398384111019403, + 1.472375924843716, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14463954495085504, + 0.039506903029533025, + 0.6926794279302417, + 0.1137307808792607, + -0.35807604951954697, + 0.9050533834048318, + 0.0424795204653806, + 0.0, + 0.5325235859806319, + 0.4493554726064918, + 1.472375924843716, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14463954495085504, + 0.039506903029533025, + 0.6926794279302417, + 0.1137307808792607, + -0.35807604951954697, + 0.9050533834048318, + 0.0424795204653806, + 0.0, + 0.5598935446891177, + 0.48257738502218744, + 1.472375924843716, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14463954495085504, + 0.039506903029533025, + 0.6926794279302417, + 0.1137307808792607, + -0.35807604951954697, + 0.9050533834048318, + 0.0424795204653806, + 0.0, + 0.590959921776061, + 0.526777250674933, + 1.472375924843716, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14463954495085504, + 0.039506903029533025, + 0.6926794279302417, + 0.1137307808792607, + -0.35807604951954697, + 0.9050533834048318, + 0.0424795204653806, + 0.0, + 0.631371426234049, + 0.5666625523472212, + 1.472375924843716, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14463954495085504, + 0.039506903029533025, + 0.6926794279302417, + 0.1137307808792607, + -0.35807604951954697, + 0.9050533834048318, + 0.0424795204653806, + 0.0, + 0.6854547335015508, + 0.6206710240438799, + 1.472375924843716, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14463954495085504, + 0.039506903029533025, + 0.6926794279302417, + 0.1137307808792607, + -0.35807604951954697, + 0.9050533834048318, + 0.0424795204653806, + 0.0, + 0.7029373215964116, + 0.650885897645279, + 1.472375924843716, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14463954495085504, + 0.039506903029533025, + 0.6926794279302417, + 0.1137307808792607, + -0.35807604951954697, + 0.9050533834048318, + 0.0424795204653806, + 0.0, + 0.7254389681189184, + 0.6896636210589769, + 1.472375924843716, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14463954495085504, + 0.039506903029533025, + 0.6926794279302417, + 0.1137307808792607, + -0.35807604951954697, + 0.9050533834048318, + 0.0424795204653806, + 0.0, + 0.7744572943900211, + 0.7350092301489031, + 1.472375924843716, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14463954495085504, + 0.039506903029533025, + 0.6926794279302417, + 0.1137307808792607, + -0.35807604951954697, + 0.9050533834048318, + 0.0424795204653806, + 0.0, + 0.8173976423414263, + 0.7823989105572897, + 1.472375924843716, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14463954495085504, + 0.039506903029533025, + 0.6926794279302417, + 0.1137307808792607, + -0.35807604951954697, + 0.9050533834048318, + 0.0424795204653806, + 0.0, + 0.8463878923678303, + 0.8193802355453471, + 1.472375924843716, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14463954495085504, + 0.039506903029533025, + 0.6926794279302417, + 0.1137307808792607, + -0.35807604951954697, + 0.9050533834048318, + 0.0424795204653806, + 0.0, + 0.8833706522209552, + 0.8632634867076696, + 1.472375924843716, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14463954495085504, + 0.039506903029533025, + 0.6926794279302417, + 0.1137307808792607, + -0.35807604951954697, + 0.9050533834048318, + 0.0424795204653806, + 0.0, + 0.8848742721565216, + 0.9008353031172379, + 1.472375924843716, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.14463954495085504, + 0.039506903029533025, + 0.6926794279302417, + 0.1137307808792607, + -0.35807604951954697, + 0.9050533834048318, + 0.0424795204653806, + 0.0, + 1.6443431377410889, + 1.8958921432495117, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.0016398565609927, + 0.7662854111086019, + 0.7028815836800255, + 0.11102232677854507, + -0.4188503188756012, + 0.8770546630809182, + 0.04929125810041788, + 0.0, + 1.6741539239883423, + 1.9490957260131836, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.0016398565609927, + 0.7662854111086019, + 0.7028815836800255, + 0.11102232677854507, + -0.4188503188756012, + 0.8770546630809182, + 0.04929125810041788, + 0.0, + 1.7051408290863037, + 2.0043981075286865, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.0016398565609927, + 0.7662854111086019, + 0.7028815836800255, + 0.11102232677854507, + -0.4188503188756012, + 0.8770546630809182, + 0.04929125810041788, + 0.0, + 1.7376586198806763, + 2.0624330043792725, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.0016398565609927, + 0.7662854111086019, + 0.7028815836800255, + 0.11102232677854507, + -0.4188503188756012, + 0.8770546630809182, + 0.04929125810041788, + 0.0, + 1.7707700729370117, + 2.1215274333953857, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.0016398565609927, + 0.7662854111086019, + 0.7028815836800255, + 0.11102232677854507, + -0.4188503188756012, + 0.8770546630809182, + 0.04929125810041788, + 0.0, + 1.806570053100586, + 2.185420036315918, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.0016398565609927, + 0.7662854111086019, + 0.7028815836800255, + 0.11102232677854507, + -0.4188503188756012, + 0.8770546630809182, + 0.04929125810041788, + 0.0, + 1.8420194387435913, + 2.2486865520477295, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.0016398565609927, + 0.7662854111086019, + 0.7028815836800255, + 0.11102232677854507, + -0.4188503188756012, + 0.8770546630809182, + 0.04929125810041788, + 0.0, + 1.8102530241012573, + 2.283644437789917, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.0016398565609927, + 0.7662854111086019, + 0.7028815836800255, + 0.11102232677854507, + -0.4188503188756012, + 0.8770546630809182, + 0.04929125810041788, + 0.0 + ], + "std": [ + 1.5456062748952473, + 1.2732583788461755, + 0.4922903285716288, + 0.020864097007169007, + 0.0, + 0.0, + 0.02362555656694354, + 1.375837113492659, + 1.3725620258475089, + 1.6556857513911925, + 0.06080399465885637, + 0.045777969093492764, + 0.25067941037284325, + 0.09831193404750943, + 0.03583733141694378, + 0.49487165930539406, + 1.3197833536417956, + 0.7425025517776604, + 0.02133916432789823, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.396679630919602, + 1.3415673963966124, + 0.015331062402569718, + 0.008030751712028732, + 0.18174272081601045, + 0.06584516534411038, + 0.022135279253410686, + 0.0, + 1.3349269867248736, + 0.7295573878082007, + 0.02133916432789823, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.396679630919602, + 1.3415673963966124, + 0.015331062402569718, + 0.008030751712028732, + 0.18174272081601045, + 0.06584516534411038, + 0.022135279253410686, + 0.0, + 1.334370450256444, + 0.7233325376015943, + 0.02133916432789823, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.396679630919602, + 1.3415673963966124, + 0.015331062402569718, + 0.008030751712028732, + 0.18174272081601045, + 0.06584516534411038, + 0.022135279253410686, + 0.0, + 1.3660603548083485, + 0.7196148762574627, + 0.02133916432789823, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.396679630919602, + 1.3415673963966124, + 0.015331062402569718, + 0.008030751712028732, + 0.18174272081601045, + 0.06584516534411038, + 0.022135279253410686, + 0.0, + 1.348981528677565, + 0.704094372058021, + 0.02133916432789823, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.396679630919602, + 1.3415673963966124, + 0.015331062402569718, + 0.008030751712028732, + 0.18174272081601045, + 0.06584516534411038, + 0.022135279253410686, + 0.0, + 1.3428248793876663, + 0.6853842309649991, + 0.02133916432789823, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.396679630919602, + 1.3415673963966124, + 0.015331062402569718, + 0.008030751712028732, + 0.18174272081601045, + 0.06584516534411038, + 0.022135279253410686, + 0.0, + 1.3639202829508397, + 0.6848638512461535, + 0.02133916432789823, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.396679630919602, + 1.3415673963966124, + 0.015331062402569718, + 0.008030751712028732, + 0.18174272081601045, + 0.06584516534411038, + 0.022135279253410686, + 0.0, + 1.3909630966657254, + 0.6840868633662506, + 0.02133916432789823, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.396679630919602, + 1.3415673963966124, + 0.015331062402569718, + 0.008030751712028732, + 0.18174272081601045, + 0.06584516534411038, + 0.022135279253410686, + 0.0, + 1.3756938077291632, + 0.6656516211627476, + 0.02133916432789823, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.396679630919602, + 1.3415673963966124, + 0.015331062402569718, + 0.008030751712028732, + 0.18174272081601045, + 0.06584516534411038, + 0.022135279253410686, + 0.0, + 1.371210621178696, + 0.652653963368878, + 0.02133916432789823, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.396679630919602, + 1.3415673963966124, + 0.015331062402569718, + 0.008030751712028732, + 0.18174272081601045, + 0.06584516534411038, + 0.022135279253410686, + 0.0, + 1.3781960089351057, + 0.646226556085795, + 0.02133916432789823, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.396679630919602, + 1.3415673963966124, + 0.015331062402569718, + 0.008030751712028732, + 0.18174272081601045, + 0.06584516534411038, + 0.022135279253410686, + 0.0, + 1.3846032178460566, + 0.6371353278816264, + 0.02133916432789823, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.396679630919602, + 1.3415673963966124, + 0.015331062402569718, + 0.008030751712028732, + 0.18174272081601045, + 0.06584516534411038, + 0.022135279253410686, + 0.0, + 1.376314842197408, + 0.6465645947964571, + 0.02133916432789823, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.396679630919602, + 1.3415673963966124, + 0.015331062402569718, + 0.008030751712028732, + 0.18174272081601045, + 0.06584516534411038, + 0.022135279253410686, + 0.0, + 1.381557443477698, + 0.6680366925146338, + 0.02133916432789823, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.396679630919602, + 1.3415673963966124, + 0.015331062402569718, + 0.008030751712028732, + 0.18174272081601045, + 0.06584516534411038, + 0.022135279253410686, + 0.0, + 1.361898959259237, + 0.6662778237881216, + 0.02133916432789823, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.396679630919602, + 1.3415673963966124, + 0.015331062402569718, + 0.008030751712028732, + 0.18174272081601045, + 0.06584516534411038, + 0.022135279253410686, + 0.0, + 1.329564108332334, + 0.6572587958278957, + 0.02133916432789823, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.396679630919602, + 1.3415673963966124, + 0.015331062402569718, + 0.008030751712028732, + 0.18174272081601045, + 0.06584516534411038, + 0.022135279253410686, + 0.0, + 1.3491528414524145, + 0.6881522750617108, + 0.02133916432789823, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.396679630919602, + 1.3415673963966124, + 0.015331062402569718, + 0.008030751712028732, + 0.18174272081601045, + 0.06584516534411038, + 0.022135279253410686, + 0.0, + 1.3549047659044426, + 0.699415456485984, + 0.02133916432789823, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.396679630919602, + 1.3415673963966124, + 0.015331062402569718, + 0.008030751712028732, + 0.18174272081601045, + 0.06584516534411038, + 0.022135279253410686, + 0.0, + 1.3281722575124322, + 0.6990642093777537, + 0.02133916432789823, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.396679630919602, + 1.3415673963966124, + 0.015331062402569718, + 0.008030751712028732, + 0.18174272081601045, + 0.06584516534411038, + 0.022135279253410686, + 0.0, + 1.3084635870459782, + 0.7043570676906025, + 0.02133916432789823, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.396679630919602, + 1.3415673963966124, + 0.015331062402569718, + 0.008030751712028732, + 0.18174272081601045, + 0.06584516534411038, + 0.022135279253410686, + 0.0, + 1.31994669607598, + 0.7361848393161402, + 0.02133916432789823, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.396679630919602, + 1.3415673963966124, + 0.015331062402569718, + 0.008030751712028732, + 0.18174272081601045, + 0.06584516534411038, + 0.022135279253410686, + 0.0, + 1.3148760729453073, + 0.7430247718948789, + 0.02133916432789823, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.396679630919602, + 1.3415673963966124, + 0.015331062402569718, + 0.008030751712028732, + 0.18174272081601045, + 0.06584516534411038, + 0.022135279253410686, + 0.0, + 1.3063024213917134, + 0.7718030741984419, + 0.02133916432789823, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.396679630919602, + 1.3415673963966124, + 0.015331062402569718, + 0.008030751712028732, + 0.18174272081601045, + 0.06584516534411038, + 0.022135279253410686, + 0.0, + 1.2848843181304557, + 0.7652993010004758, + 0.02133916432789823, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.396679630919602, + 1.3415673963966124, + 0.015331062402569718, + 0.008030751712028732, + 0.18174272081601045, + 0.06584516534411038, + 0.022135279253410686, + 0.0, + 1.2780973253187928, + 0.7815166118775533, + 0.02133916432789823, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.396679630919602, + 1.3415673963966124, + 0.015331062402569718, + 0.008030751712028732, + 0.18174272081601045, + 0.06584516534411038, + 0.022135279253410686, + 0.0, + 1.2611406308555424, + 0.7906216598808571, + 0.02133916432789823, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.396679630919602, + 1.3415673963966124, + 0.015331062402569718, + 0.008030751712028732, + 0.18174272081601045, + 0.06584516534411038, + 0.022135279253410686, + 0.0, + 1.247865242790054, + 0.7875063405741544, + 0.02133916432789823, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.396679630919602, + 1.3415673963966124, + 0.015331062402569718, + 0.008030751712028732, + 0.18174272081601045, + 0.06584516534411038, + 0.022135279253410686, + 0.0, + 1.2619377781760808, + 0.8272992678838178, + 0.02133916432789823, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.396679630919602, + 1.3415673963966124, + 0.015331062402569718, + 0.008030751712028732, + 0.18174272081601045, + 0.06584516534411038, + 0.022135279253410686, + 0.0, + 1.2326384095435288, + 0.8200738638655334, + 0.02133916432789823, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.396679630919602, + 1.3415673963966124, + 0.015331062402569718, + 0.008030751712028732, + 0.18174272081601045, + 0.06584516534411038, + 0.022135279253410686, + 0.0, + 1.2123140408793318, + 0.8410921193445738, + 0.02133916432789823, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.396679630919602, + 1.3415673963966124, + 0.015331062402569718, + 0.008030751712028732, + 0.18174272081601045, + 0.06584516534411038, + 0.022135279253410686, + 0.0, + 1.2167925512253, + 0.8515363588844753, + 0.02133916432789823, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.396679630919602, + 1.3415673963966124, + 0.015331062402569718, + 0.008030751712028732, + 0.18174272081601045, + 0.06584516534411038, + 0.022135279253410686, + 0.0, + 1.235497878968719, + 0.8883566853573386, + 0.02133916432789823, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.396679630919602, + 1.3415673963966124, + 0.015331062402569718, + 0.008030751712028732, + 0.18174272081601045, + 0.06584516534411038, + 0.022135279253410686, + 0.0, + 1.200173668962132, + 0.881910237029521, + 0.02133916432789823, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.396679630919602, + 1.3415673963966124, + 0.015331062402569718, + 0.008030751712028732, + 0.18174272081601045, + 0.06584516534411038, + 0.022135279253410686, + 0.0, + 1.1899234428031769, + 0.9043453019617925, + 0.02133916432789823, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.396679630919602, + 1.3415673963966124, + 0.015331062402569718, + 0.008030751712028732, + 0.18174272081601045, + 0.06584516534411038, + 0.022135279253410686, + 0.0, + 1.183387112250119, + 0.9120024917525439, + 0.02133916432789823, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.396679630919602, + 1.3415673963966124, + 0.015331062402569718, + 0.008030751712028732, + 0.18174272081601045, + 0.06584516534411038, + 0.022135279253410686, + 0.0, + 1.1828695072857662, + 0.937929386991466, + 0.02133916432789823, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.396679630919602, + 1.3415673963966124, + 0.015331062402569718, + 0.008030751712028732, + 0.18174272081601045, + 0.06584516534411038, + 0.022135279253410686, + 0.0, + 1.1663602561380733, + 0.9414953711957151, + 0.02133916432789823, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.396679630919602, + 1.3415673963966124, + 0.015331062402569718, + 0.008030751712028732, + 0.18174272081601045, + 0.06584516534411038, + 0.022135279253410686, + 0.0, + 1.1679302575206325, + 0.9678573790811241, + 0.02133916432789823, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.396679630919602, + 1.3415673963966124, + 0.015331062402569718, + 0.008030751712028732, + 0.18174272081601045, + 0.06584516534411038, + 0.022135279253410686, + 0.0, + 1.149510021642315, + 0.97116553763, + 0.02133916432789823, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.396679630919602, + 1.3415673963966124, + 0.015331062402569718, + 0.008030751712028732, + 0.18174272081601045, + 0.06584516534411038, + 0.022135279253410686, + 0.0, + 1.130141470952376, + 0.9873252263418344, + 0.02133916432789823, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.396679630919602, + 1.3415673963966124, + 0.015331062402569718, + 0.008030751712028732, + 0.18174272081601045, + 0.06584516534411038, + 0.022135279253410686, + 0.0, + 1.132498596562761, + 1.0005944703081209, + 0.02133916432789823, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.396679630919602, + 1.3415673963966124, + 0.015331062402569718, + 0.008030751712028732, + 0.18174272081601045, + 0.06584516534411038, + 0.022135279253410686, + 0.0, + 1.146066239890139, + 1.0313303972841714, + 0.02133916432789823, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.396679630919602, + 1.3415673963966124, + 0.015331062402569718, + 0.008030751712028732, + 0.18174272081601045, + 0.06584516534411038, + 0.022135279253410686, + 0.0, + 1.115405599364533, + 1.0301399143602494, + 0.02133916432789823, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.396679630919602, + 1.3415673963966124, + 0.015331062402569718, + 0.008030751712028732, + 0.18174272081601045, + 0.06584516534411038, + 0.022135279253410686, + 0.0, + 1.0959598368842993, + 1.0451712689856076, + 0.02133916432789823, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.396679630919602, + 1.3415673963966124, + 0.015331062402569718, + 0.008030751712028732, + 0.18174272081601045, + 0.06584516534411038, + 0.022135279253410686, + 0.0, + 1.0982071048686595, + 1.0594971847570713, + 0.02133916432789823, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.396679630919602, + 1.3415673963966124, + 0.015331062402569718, + 0.008030751712028732, + 0.18174272081601045, + 0.06584516534411038, + 0.022135279253410686, + 0.0, + 1.105057917033171, + 1.0860578707254405, + 0.02133916432789823, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.396679630919602, + 1.3415673963966124, + 0.015331062402569718, + 0.008030751712028732, + 0.18174272081601045, + 0.06584516534411038, + 0.022135279253410686, + 0.0, + 1.0812807061940137, + 1.0891049475295285, + 0.02133916432789823, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.396679630919602, + 1.3415673963966124, + 0.015331062402569718, + 0.008030751712028732, + 0.18174272081601045, + 0.06584516534411038, + 0.022135279253410686, + 0.0, + 1.0740355391286054, + 1.1086166245854003, + 0.02133916432789823, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.396679630919602, + 1.3415673963966124, + 0.015331062402569718, + 0.008030751712028732, + 0.18174272081601045, + 0.06584516534411038, + 0.022135279253410686, + 0.0, + 1.0643251725974405, + 1.1185869403085087, + 0.02133916432789823, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.396679630919602, + 1.3415673963966124, + 0.015331062402569718, + 0.008030751712028732, + 0.18174272081601045, + 0.06584516534411038, + 0.022135279253410686, + 0.0, + 1.0523137984493685, + 1.1354240938188775, + 0.02133916432789823, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.396679630919602, + 1.3415673963966124, + 0.015331062402569718, + 0.008030751712028732, + 0.18174272081601045, + 0.06584516534411038, + 0.022135279253410686, + 0.0, + 1.04736026712605, + 1.1481633313671518, + 0.02133916432789823, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.396679630919602, + 1.3415673963966124, + 0.015331062402569718, + 0.008030751712028732, + 0.18174272081601045, + 0.06584516534411038, + 0.022135279253410686, + 0.0, + 1.0520285650151393, + 1.172024237861585, + 0.02133916432789823, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.396679630919602, + 1.3415673963966124, + 0.015331062402569718, + 0.008030751712028732, + 0.18174272081601045, + 0.06584516534411038, + 0.022135279253410686, + 0.0, + 1.0301826965440102, + 1.1775577778111064, + 0.02133916432789823, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.396679630919602, + 1.3415673963966124, + 0.015331062402569718, + 0.008030751712028732, + 0.18174272081601045, + 0.06584516534411038, + 0.022135279253410686, + 0.0, + 1.0019439636516012, + 1.185875019400416, + 0.02133916432789823, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.396679630919602, + 1.3415673963966124, + 0.015331062402569718, + 0.008030751712028732, + 0.18174272081601045, + 0.06584516534411038, + 0.022135279253410686, + 0.0, + 1.0130389892920915, + 1.207038638037211, + 0.02133916432789823, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.396679630919602, + 1.3415673963966124, + 0.015331062402569718, + 0.008030751712028732, + 0.18174272081601045, + 0.06584516534411038, + 0.022135279253410686, + 0.0, + 1.0271424150569846, + 1.2341165608902844, + 0.02133916432789823, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.396679630919602, + 1.3415673963966124, + 0.015331062402569718, + 0.008030751712028732, + 0.18174272081601045, + 0.06584516534411038, + 0.022135279253410686, + 0.0, + 0.9958334163409379, + 1.2364340471510882, + 0.02133916432789823, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.396679630919602, + 1.3415673963966124, + 0.015331062402569718, + 0.008030751712028732, + 0.18174272081601045, + 0.06584516534411038, + 0.022135279253410686, + 0.0, + 0.9805605448212378, + 1.2495676112864704, + 0.02133916432789823, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.396679630919602, + 1.3415673963966124, + 0.015331062402569718, + 0.008030751712028732, + 0.18174272081601045, + 0.06584516534411038, + 0.022135279253410686, + 0.0, + 0.9781557387360381, + 1.2656573082324096, + 0.02133916432789823, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.396679630919602, + 1.3415673963966124, + 0.015331062402569718, + 0.008030751712028732, + 0.18174272081601045, + 0.06584516534411038, + 0.022135279253410686, + 0.0, + 0.969866357946732, + 1.281412703892078, + 0.02133916432789823, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.396679630919602, + 1.3415673963966124, + 0.015331062402569718, + 0.008030751712028732, + 0.18174272081601045, + 0.06584516534411038, + 0.022135279253410686, + 0.0, + 1.0067641085635177, + 1.2990815192710026, + 0.02133916432789823, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.396679630919602, + 1.3415673963966124, + 0.015331062402569718, + 0.008030751712028732, + 0.18174272081601045, + 0.06584516534411038, + 0.022135279253410686, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.6575012180623806, + 1.05776399931959, + 0.006785551229908053, + 0.008143659422392601, + 0.19004759961132378, + 0.06193166178224199, + 0.02374350407824634, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.6575012180623806, + 1.05776399931959, + 0.006785551229908053, + 0.008143659422392601, + 0.19004759961132378, + 0.06193166178224199, + 0.02374350407824634, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.6575012180623806, + 1.05776399931959, + 0.006785551229908053, + 0.008143659422392601, + 0.19004759961132378, + 0.06193166178224199, + 0.02374350407824634, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.6575012180623806, + 1.05776399931959, + 0.006785551229908053, + 0.008143659422392601, + 0.19004759961132378, + 0.06193166178224199, + 0.02374350407824634, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.6575012180623806, + 1.05776399931959, + 0.006785551229908053, + 0.008143659422392601, + 0.19004759961132378, + 0.06193166178224199, + 0.02374350407824634, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.6575012180623806, + 1.05776399931959, + 0.006785551229908053, + 0.008143659422392601, + 0.19004759961132378, + 0.06193166178224199, + 0.02374350407824634, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.6575012180623806, + 1.05776399931959, + 0.006785551229908053, + 0.008143659422392601, + 0.19004759961132378, + 0.06193166178224199, + 0.02374350407824634, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.6575012180623806, + 1.05776399931959, + 0.006785551229908053, + 0.008143659422392601, + 0.19004759961132378, + 0.06193166178224199, + 0.02374350407824634, + 0.0 + ], + "min": [ + -3.266780376434326, + -2.1904263496398926, + 0.28999999165534973, + 0.6580126285552979, + 0.0, + 0.0, + 0.6108466982841492, + -1.0, + -3.0114896297454834, + -1.9162098169326782, + 0.4879685044288635, + -0.017439953982830048, + -0.7472398281097412, + 0.6528578996658325, + -0.0064080990850925446, + 0.0, + -3.2603981494903564, + -2.1875109672546387, + 1.4429051876068115, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0114896297454834, + -1.9162098169326782, + 0.6515977382659912, + 0.09778662770986557, + -0.6557327508926392, + 0.7436467409133911, + -0.0064080990850925446, + 0.0, + -3.195725440979004, + -2.1579673290252686, + 1.4429051876068115, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0114896297454834, + -1.9162098169326782, + 0.6515977382659912, + 0.09778662770986557, + -0.6557327508926392, + 0.7436467409133911, + -0.0064080990850925446, + 0.0, + -3.1655311584472656, + -2.144174098968506, + 1.4429051876068115, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0114896297454834, + -1.9162098169326782, + 0.6515977382659912, + 0.09778662770986557, + -0.6557327508926392, + 0.7436467409133911, + -0.0064080990850925446, + 0.0, + -3.1438026428222656, + -2.1342482566833496, + 1.4429051876068115, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0114896297454834, + -1.9162098169326782, + 0.6515977382659912, + 0.09778662770986557, + -0.6557327508926392, + 0.7436467409133911, + -0.0064080990850925446, + 0.0, + -3.0703301429748535, + -2.100684642791748, + 1.4429051876068115, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0114896297454834, + -1.9162098169326782, + 0.6515977382659912, + 0.09778662770986557, + -0.6557327508926392, + 0.7436467409133911, + -0.0064080990850925446, + 0.0, + -2.980092763900757, + -2.059462547302246, + 1.4429051876068115, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0114896297454834, + -1.9162098169326782, + 0.6515977382659912, + 0.09778662770986557, + -0.6557327508926392, + 0.7436467409133911, + -0.0064080990850925446, + 0.0, + -2.9751288890838623, + -2.057194948196411, + 1.4429051876068115, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0114896297454834, + -1.9162098169326782, + 0.6515977382659912, + 0.09778662770986557, + -0.6557327508926392, + 0.7436467409133911, + -0.0064080990850925446, + 0.0, + -2.968231201171875, + -2.054044008255005, + 1.4429051876068115, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0114896297454834, + -1.9162098169326782, + 0.6515977382659912, + 0.09778662770986557, + -0.6557327508926392, + 0.7436467409133911, + -0.0064080990850925446, + 0.0, + -2.8803811073303223, + -2.0139126777648926, + 1.4429051876068115, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0114896297454834, + -1.9162098169326782, + 0.6515977382659912, + 0.09778662770986557, + -0.6557327508926392, + 0.7436467409133911, + -0.0064080990850925446, + 0.0, + -2.817718267440796, + -1.9852871894836426, + 1.4429051876068115, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0114896297454834, + -1.9162098169326782, + 0.6515977382659912, + 0.09778662770986557, + -0.6557327508926392, + 0.7436467409133911, + -0.0064080990850925446, + 0.0, + -2.7856693267822266, + -1.970646619796753, + 1.4429051876068115, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0114896297454834, + -1.9162098169326782, + 0.6515977382659912, + 0.09778662770986557, + -0.6557327508926392, + 0.7436467409133911, + -0.0064080990850925446, + 0.0, + -2.7407383918762207, + -1.9501214027404785, + 1.4429051876068115, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0114896297454834, + -1.9162098169326782, + 0.6515977382659912, + 0.09778662770986557, + -0.6557327508926392, + 0.7436467409133911, + -0.0064080990850925446, + 0.0, + -2.690700054168701, + -1.9272630214691162, + 1.4429051876068115, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0114896297454834, + -1.9162098169326782, + 0.6515977382659912, + 0.09778662770986557, + -0.6557327508926392, + 0.7436467409133911, + -0.0064080990850925446, + 0.0, + -2.654691219329834, + -1.910813570022583, + 1.4429051876068115, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0114896297454834, + -1.9162098169326782, + 0.6515977382659912, + 0.09778662770986557, + -0.6557327508926392, + 0.7436467409133911, + -0.0064080990850925446, + 0.0, + -2.59549880027771, + -1.8837734460830688, + 1.4429051876068115, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0114896297454834, + -1.9162098169326782, + 0.6515977382659912, + 0.09778662770986557, + -0.6557327508926392, + 0.7436467409133911, + -0.0064080990850925446, + 0.0, + -2.513244390487671, + -1.8461982011795044, + 1.4429051876068115, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0114896297454834, + -1.9162098169326782, + 0.6515977382659912, + 0.09778662770986557, + -0.6557327508926392, + 0.7436467409133911, + -0.0064080990850925446, + 0.0, + -2.500364065170288, + -1.840314269065857, + 1.4429051876068115, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0114896297454834, + -1.9162098169326782, + 0.6515977382659912, + 0.09778662770986557, + -0.6557327508926392, + 0.7436467409133911, + -0.0064080990850925446, + 0.0, + -2.4911768436431885, + -1.8361173868179321, + 1.4429051876068115, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0114896297454834, + -1.9162098169326782, + 0.6515977382659912, + 0.09778662770986557, + -0.6557327508926392, + 0.7436467409133911, + -0.0064080990850925446, + 0.0, + -2.4056522846221924, + -1.7970483303070068, + 1.4429051876068115, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0114896297454834, + -1.9162098169326782, + 0.6515977382659912, + 0.09778662770986557, + -0.6557327508926392, + 0.7436467409133911, + -0.0064080990850925446, + 0.0, + -2.3289079666137695, + -1.7619903087615967, + 1.4429051876068115, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0114896297454834, + -1.9162098169326782, + 0.6515977382659912, + 0.09778662770986557, + -0.6557327508926392, + 0.7436467409133911, + -0.0064080990850925446, + 0.0, + -2.3109402656555176, + -1.7537823915481567, + 1.4429051876068115, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0114896297454834, + -1.9162098169326782, + 0.6515977382659912, + 0.09778662770986557, + -0.6557327508926392, + 0.7436467409133911, + -0.0064080990850925446, + 0.0, + -2.285750150680542, + -1.7422751188278198, + 1.4429051876068115, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0114896297454834, + -1.9162098169326782, + 0.6515977382659912, + 0.09778662770986557, + -0.6557327508926392, + 0.7436467409133911, + -0.0064080990850925446, + 0.0, + -2.215869188308716, + -1.7103521823883057, + 1.4429051876068115, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0114896297454834, + -1.9162098169326782, + 0.6515977382659912, + 0.09778662770986557, + -0.6557327508926392, + 0.7436467409133911, + -0.0064080990850925446, + 0.0, + -2.1655805110931396, + -1.6873794794082642, + 1.4429051876068115, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0114896297454834, + -1.9162098169326782, + 0.6515977382659912, + 0.09778662770986557, + -0.6557327508926392, + 0.7436467409133911, + -0.0064080990850925446, + 0.0, + -2.1206679344177246, + -1.6668626070022583, + 1.4429051876068115, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0114896297454834, + -1.9162098169326782, + 0.6515977382659912, + 0.09778662770986557, + -0.6557327508926392, + 0.7436467409133911, + -0.0064080990850925446, + 0.0, + -2.0582571029663086, + -1.6383522748947144, + 1.4429051876068115, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0114896297454834, + -1.9162098169326782, + 0.6515977382659912, + 0.09778662770986557, + -0.6557327508926392, + 0.7436467409133911, + -0.0064080990850925446, + 0.0, + -2.025635242462158, + -1.6234500408172607, + 1.4429051876068115, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0114896297454834, + -1.9162098169326782, + 0.6515977382659912, + 0.09778662770986557, + -0.6557327508926392, + 0.7436467409133911, + -0.0064080990850925446, + 0.0, + -2.002366542816162, + -1.6128205060958862, + 1.4429051876068115, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0114896297454834, + -1.9162098169326782, + 0.6515977382659912, + 0.09778662770986557, + -0.6557327508926392, + 0.7436467409133911, + -0.0064080990850925446, + 0.0, + -1.9309231042861938, + -1.580183982849121, + 1.4429051876068115, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0114896297454834, + -1.9162098169326782, + 0.6515977382659912, + 0.09778662770986557, + -0.6557327508926392, + 0.7436467409133911, + -0.0064080990850925446, + 0.0, + -1.8400975465774536, + -1.5386933088302612, + 1.4429051876068115, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0114896297454834, + -1.9162098169326782, + 0.6515977382659912, + 0.09778662770986557, + -0.6557327508926392, + 0.7436467409133911, + -0.0064080990850925446, + 0.0, + -1.8362113237380981, + -1.536918044090271, + 1.4429051876068115, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0114896297454834, + -1.9162098169326782, + 0.6515977382659912, + 0.09778662770986557, + -0.6557327508926392, + 0.7436467409133911, + -0.0064080990850925446, + 0.0, + -1.8307628631591797, + -1.5344290733337402, + 1.4429051876068115, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0114896297454834, + -1.9162098169326782, + 0.6515977382659912, + 0.09778662770986557, + -0.6557327508926392, + 0.7436467409133911, + -0.0064080990850925446, + 0.0, + -1.7410380840301514, + -1.4934412240982056, + 1.4429051876068115, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0114896297454834, + -1.9162098169326782, + 0.6515977382659912, + 0.09778662770986557, + -0.6557327508926392, + 0.7436467409133911, + -0.0064080990850925446, + 0.0, + -1.6764696836471558, + -1.4639452695846558, + 1.4429051876068115, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0114896297454834, + -1.9162098169326782, + 0.6515977382659912, + 0.09778662770986557, + -0.6557327508926392, + 0.7436467409133911, + -0.0064080990850925446, + 0.0, + -1.6458369493484497, + -1.4499516487121582, + 1.4429051876068115, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0114896297454834, + -1.9162098169326782, + 0.6515977382659912, + 0.09778662770986557, + -0.6557327508926392, + 0.7436467409133911, + -0.0064080990850925446, + 0.0, + -1.6032698154449463, + -1.4305062294006348, + 1.4429051876068115, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0114896297454834, + -1.9162098169326782, + 0.6515977382659912, + 0.09778662770986557, + -0.6557327508926392, + 0.7436467409133911, + -0.0064080990850925446, + 0.0, + -1.5509061813354492, + -1.406585693359375, + 1.4429051876068115, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0114896297454834, + -1.9162098169326782, + 0.6515977382659912, + 0.09778662770986557, + -0.6557327508926392, + 0.7436467409133911, + -0.0064080990850925446, + 0.0, + -1.513555884361267, + -1.3895235061645508, + 1.4429051876068115, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0114896297454834, + -1.9162098169326782, + 0.6515977382659912, + 0.09778662770986557, + -0.6557327508926392, + 0.7436467409133911, + -0.0064080990850925446, + 0.0, + -1.4561941623687744, + -1.363319754600525, + 1.4429051876068115, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0114896297454834, + -1.9162098169326782, + 0.6515977382659912, + 0.09778662770986557, + -0.6557327508926392, + 0.7436467409133911, + -0.0064080990850925446, + 0.0, + -1.3757753372192383, + -1.3265830278396606, + 1.4429051876068115, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0114896297454834, + -1.9162098169326782, + 0.6515977382659912, + 0.09778662770986557, + -0.6557327508926392, + 0.7436467409133911, + -0.0064080990850925446, + 0.0, + -1.3614083528518677, + -1.3200199604034424, + 1.4429051876068115, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0114896297454834, + -1.9162098169326782, + 0.6515977382659912, + 0.09778662770986557, + -0.6557327508926392, + 0.7436467409133911, + -0.0064080990850925446, + 0.0, + -1.351069450378418, + -1.31529700756073, + 1.4429051876068115, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0114896297454834, + -1.9162098169326782, + 0.6515977382659912, + 0.09778662770986557, + -0.6557327508926392, + 0.7436467409133911, + -0.0064080990850925446, + 0.0, + -1.2662070989608765, + -1.276530385017395, + 1.4429051876068115, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0114896297454834, + -1.9162098169326782, + 0.6515977382659912, + 0.09778662770986557, + -0.6557327508926392, + 0.7436467409133911, + -0.0064080990850925446, + 0.0, + -1.1873586177825928, + -1.2405110597610474, + 1.4429051876068115, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0114896297454834, + -1.9162098169326782, + 0.6515977382659912, + 0.09778662770986557, + -0.6557327508926392, + 0.7436467409133911, + -0.0064080990850925446, + 0.0, + -1.1710057258605957, + -1.2330408096313477, + 1.4429051876068115, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0114896297454834, + -1.9162098169326782, + 0.6515977382659912, + 0.09778662770986557, + -0.6557327508926392, + 0.7436467409133911, + -0.0064080990850925446, + 0.0, + -1.1482816934585571, + -1.2226600646972656, + 1.4429051876068115, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0114896297454834, + -1.9162098169326782, + 0.6515977382659912, + 0.09778662770986557, + -0.6557327508926392, + 0.7436467409133911, + -0.0064080990850925446, + 0.0, + -1.0761770009994507, + -1.1897213459014893, + 1.4429051876068115, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0114896297454834, + -1.9162098169326782, + 0.6515977382659912, + 0.09778662770986557, + -0.6557327508926392, + 0.7436467409133911, + -0.0064080990850925446, + 0.0, + -1.0247454643249512, + -1.1662265062332153, + 1.4429051876068115, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0114896297454834, + -1.9162098169326782, + 0.6515977382659912, + 0.09778662770986557, + -0.6557327508926392, + 0.7436467409133911, + -0.0064080990850925446, + 0.0, + -0.9814651608467102, + -1.1464552879333496, + 1.4429051876068115, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0114896297454834, + -1.9162098169326782, + 0.6515977382659912, + 0.09778662770986557, + -0.6557327508926392, + 0.7436467409133911, + -0.0064080990850925446, + 0.0, + -0.9207884073257446, + -1.1187371015548706, + 1.4429051876068115, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0114896297454834, + -1.9162098169326782, + 0.6515977382659912, + 0.09778662770986557, + -0.6557327508926392, + 0.7436467409133911, + -0.0064080990850925446, + 0.0, + -0.886577308177948, + -1.1031088829040527, + 1.4429051876068115, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0114896297454834, + -1.9162098169326782, + 0.6515977382659912, + 0.09778662770986557, + -0.6557327508926392, + 0.7436467409133911, + -0.0064080990850925446, + 0.0, + -0.8619581460952759, + -1.091862440109253, + 1.4429051876068115, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0114896297454834, + -1.9162098169326782, + 0.6515977382659912, + 0.09778662770986557, + -0.6557327508926392, + 0.7436467409133911, + -0.0064080990850925446, + 0.0, + -0.7913761138916016, + -1.0596193075180054, + 1.4429051876068115, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0114896297454834, + -1.9162098169326782, + 0.6515977382659912, + 0.09778662770986557, + -0.6557327508926392, + 0.7436467409133911, + -0.0064080990850925446, + 0.0, + -0.6982933282852173, + -1.0170974731445312, + 1.4429051876068115, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0114896297454834, + -1.9162098169326782, + 0.6515977382659912, + 0.09778662770986557, + -0.6557327508926392, + 0.7436467409133911, + -0.0064080990850925446, + 0.0, + -0.6961336731910706, + -1.016110897064209, + 1.4429051876068115, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0114896297454834, + -1.9162098169326782, + 0.6515977382659912, + 0.09778662770986557, + -0.6557327508926392, + 0.7436467409133911, + -0.0064080990850925446, + 0.0, + -0.6931097507476807, + -1.0147294998168945, + 1.4429051876068115, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0114896297454834, + -1.9162098169326782, + 0.6515977382659912, + 0.09778662770986557, + -0.6557327508926392, + 0.7436467409133911, + -0.0064080990850925446, + 0.0, + -0.6008517146110535, + -0.9725844860076904, + 1.4429051876068115, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0114896297454834, + -1.9162098169326782, + 0.6515977382659912, + 0.09778662770986557, + -0.6557327508926392, + 0.7436467409133911, + -0.0064080990850925446, + 0.0, + -0.5368185639381409, + -0.943333089351654, + 1.4429051876068115, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0114896297454834, + -1.9162098169326782, + 0.6515977382659912, + 0.09778662770986557, + -0.6557327508926392, + 0.7436467409133911, + -0.0064080990850925446, + 0.0, + -0.5045071244239807, + -0.9285726547241211, + 1.4429051876068115, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0114896297454834, + -1.9162098169326782, + 0.6515977382659912, + 0.09778662770986557, + -0.6557327508926392, + 0.7436467409133911, + -0.0064080990850925446, + 0.0, + -0.4560762047767639, + -0.9064486026763916, + 1.4429051876068115, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0114896297454834, + -1.9162098169326782, + 0.6515977382659912, + 0.09778662770986557, + -0.6557327508926392, + 0.7436467409133911, + -0.0064080990850925446, + 0.0, + -0.5055307149887085, + -0.8932785391807556, + 1.4429051876068115, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.0114896297454834, + -1.9162098169326782, + 0.6515977382659912, + 0.09778662770986557, + -0.6557327508926392, + 0.7436467409133911, + -0.0064080990850925446, + 0.0, + 1.6443431377410889, + 1.8958921432495117, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.4101322591304779, + -0.6673240661621094, + 0.6518163084983826, + 0.09778662770986557, + -0.6557327508926392, + 0.7436467409133911, + -0.0064080990850925446, + 0.0, + 1.6741539239883423, + 1.9490957260131836, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.4101322591304779, + -0.6673240661621094, + 0.6518163084983826, + 0.09778662770986557, + -0.6557327508926392, + 0.7436467409133911, + -0.0064080990850925446, + 0.0, + 1.7051408290863037, + 2.0043981075286865, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.4101322591304779, + -0.6673240661621094, + 0.6518163084983826, + 0.09778662770986557, + -0.6557327508926392, + 0.7436467409133911, + -0.0064080990850925446, + 0.0, + 1.7376586198806763, + 2.0624330043792725, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.4101322591304779, + -0.6673240661621094, + 0.6518163084983826, + 0.09778662770986557, + -0.6557327508926392, + 0.7436467409133911, + -0.0064080990850925446, + 0.0, + 1.7707700729370117, + 2.1215274333953857, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.4101322591304779, + -0.6673240661621094, + 0.6518163084983826, + 0.09778662770986557, + -0.6557327508926392, + 0.7436467409133911, + -0.0064080990850925446, + 0.0, + 1.806570053100586, + 2.185420036315918, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.4101322591304779, + -0.6673240661621094, + 0.6518163084983826, + 0.09778662770986557, + -0.6557327508926392, + 0.7436467409133911, + -0.0064080990850925446, + 0.0, + 1.8420194387435913, + 2.2486865520477295, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.4101322591304779, + -0.6673240661621094, + 0.6518163084983826, + 0.09778662770986557, + -0.6557327508926392, + 0.7436467409133911, + -0.0064080990850925446, + 0.0, + 1.8102530241012573, + 2.283644437789917, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.4101322591304779, + -0.6673240661621094, + 0.6518163084983826, + 0.09778662770986557, + -0.6557327508926392, + 0.7436467409133911, + -0.0064080990850925446, + 0.0 + ], + "max": [ + 1.808712363243103, + 2.2812271118164062, + 1.487827181816101, + 0.7917488813400269, + 0.0, + 0.0, + 0.7530068755149841, + 2.0, + 2.101583480834961, + 2.8395228385925293, + 0.7210119366645813, + 0.16507500410079956, + 0.043140195310115814, + 0.9990512132644653, + 0.11499176919460297, + 1.0, + -0.482065349817276, + -0.6244368553161621, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0346755981445312, + 2.622199773788452, + 0.7210119366645813, + 0.1347496658563614, + -0.006821414455771446, + 0.9930466413497925, + 0.08626453578472137, + 0.0, + -0.3855131268501282, + -0.6221446394920349, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0346755981445312, + 2.622199773788452, + 0.7210119366645813, + 0.1347496658563614, + -0.006821414455771446, + 0.9930466413497925, + 0.08626453578472137, + 0.0, + -0.35649043321609497, + -0.6214556097984314, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0346755981445312, + 2.622199773788452, + 0.7210119366645813, + 0.1347496658563614, + -0.006821414455771446, + 0.9930466413497925, + 0.08626453578472137, + 0.0, + -0.2680501341819763, + -0.6193559765815735, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0346755981445312, + 2.622199773788452, + 0.7210119366645813, + 0.1347496658563614, + -0.006821414455771446, + 0.9930466413497925, + 0.08626453578472137, + 0.0, + -0.2305310070514679, + -0.61846524477005, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0346755981445312, + 2.622199773788452, + 0.7210119366645813, + 0.1347496658563614, + -0.006821414455771446, + 0.9930466413497925, + 0.08626453578472137, + 0.0, + -0.15325425565242767, + -0.6166306734085083, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0346755981445312, + 2.622199773788452, + 0.7210119366645813, + 0.1347496658563614, + -0.006821414455771446, + 0.9930466413497925, + 0.08626453578472137, + 0.0, + -0.10388153791427612, + -0.6154585480690002, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0346755981445312, + 2.622199773788452, + 0.7210119366645813, + 0.1347496658563614, + -0.006821414455771446, + 0.9930466413497925, + 0.08626453578472137, + 0.0, + -0.04005485773086548, + -0.6139432787895203, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0346755981445312, + 2.622199773788452, + 0.7210119366645813, + 0.1347496658563614, + -0.006821414455771446, + 0.9930466413497925, + 0.08626453578472137, + 0.0, + 0.015651198104023933, + -0.6126207709312439, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0346755981445312, + 2.622199773788452, + 0.7210119366645813, + 0.1347496658563614, + -0.006821414455771446, + 0.9930466413497925, + 0.08626453578472137, + 0.0, + 0.06887628883123398, + -0.6113572120666504, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0346755981445312, + 2.622199773788452, + 0.7210119366645813, + 0.1347496658563614, + -0.006821414455771446, + 0.9930466413497925, + 0.08626453578472137, + 0.0, + 0.11563047021627426, + -0.6102472543716431, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0346755981445312, + 2.622199773788452, + 0.7210119366645813, + 0.1347496658563614, + -0.006821414455771446, + 0.9930466413497925, + 0.08626453578472137, + 0.0, + 0.1740494966506958, + -0.6088603734970093, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0346755981445312, + 2.622199773788452, + 0.7210119366645813, + 0.1347496658563614, + -0.006821414455771446, + 0.9930466413497925, + 0.08626453578472137, + 0.0, + 0.2066396176815033, + -0.566152036190033, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0346755981445312, + 2.622199773788452, + 0.7210119366645813, + 0.1347496658563614, + -0.006821414455771446, + 0.9930466413497925, + 0.08626453578472137, + 0.0, + 0.2536848783493042, + -0.5045007467269897, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0346755981445312, + 2.622199773788452, + 0.7210119366645813, + 0.1347496658563614, + -0.006821414455771446, + 0.9930466413497925, + 0.08626453578472137, + 0.0, + 0.2714933753013611, + -0.48116329312324524, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0346755981445312, + 2.622199773788452, + 0.7210119366645813, + 0.1347496658563614, + -0.006821414455771446, + 0.9930466413497925, + 0.08626453578472137, + 0.0, + 0.28567829728126526, + -0.46257439255714417, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0346755981445312, + 2.622199773788452, + 0.7210119366645813, + 0.1347496658563614, + -0.006821414455771446, + 0.9930466413497925, + 0.08626453578472137, + 0.0, + 0.33979570865631104, + -0.3916552662849426, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0346755981445312, + 2.622199773788452, + 0.7210119366645813, + 0.1347496658563614, + -0.006821414455771446, + 0.9930466413497925, + 0.08626453578472137, + 0.0, + 0.3610915541648865, + -0.363747775554657, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0346755981445312, + 2.622199773788452, + 0.7210119366645813, + 0.1347496658563614, + -0.006821414455771446, + 0.9930466413497925, + 0.08626453578472137, + 0.0, + 0.3903403580188751, + -0.3254181444644928, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0346755981445312, + 2.622199773788452, + 0.7210119366645813, + 0.1347496658563614, + -0.006821414455771446, + 0.9930466413497925, + 0.08626453578472137, + 0.0, + 0.42559510469436646, + -0.2792178988456726, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0346755981445312, + 2.622199773788452, + 0.7210119366645813, + 0.1347496658563614, + -0.006821414455771446, + 0.9930466413497925, + 0.08626453578472137, + 0.0, + 0.4677363932132721, + -0.20400796830654144, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0346755981445312, + 2.622199773788452, + 0.7210119366645813, + 0.1347496658563614, + -0.006821414455771446, + 0.9930466413497925, + 0.08626453578472137, + 0.0, + 0.4822521209716797, + -0.17810165882110596, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0346755981445312, + 2.622199773788452, + 0.7210119366645813, + 0.1347496658563614, + -0.006821414455771446, + 0.9930466413497925, + 0.08626453578472137, + 0.0, + 0.5340843200683594, + -0.08559627830982208, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0346755981445312, + 2.622199773788452, + 0.7210119366645813, + 0.1347496658563614, + -0.006821414455771446, + 0.9930466413497925, + 0.08626453578472137, + 0.0, + 0.5392848253250122, + -0.07631494849920273, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0346755981445312, + 2.622199773788452, + 0.7210119366645813, + 0.1347496658563614, + -0.006821414455771446, + 0.9930466413497925, + 0.08626453578472137, + 0.0, + 0.5699098110198975, + -0.021658316254615784, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0346755981445312, + 2.622199773788452, + 0.7210119366645813, + 0.1347496658563614, + -0.006821414455771446, + 0.9930466413497925, + 0.08626453578472137, + 0.0, + 0.5966243743896484, + 0.026019444689154625, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0346755981445312, + 2.622199773788452, + 0.7210119366645813, + 0.1347496658563614, + -0.006821414455771446, + 0.9930466413497925, + 0.08626453578472137, + 0.0, + 0.6012996435165405, + 0.034363485872745514, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0346755981445312, + 2.622199773788452, + 0.7210119366645813, + 0.1347496658563614, + -0.006821414455771446, + 0.9930466413497925, + 0.08626453578472137, + 0.0, + 0.6541930437088013, + 0.12876282632350922, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0346755981445312, + 2.622199773788452, + 0.7210119366645813, + 0.1347496658563614, + -0.006821414455771446, + 0.9930466413497925, + 0.08626453578472137, + 0.0, + 0.6639571189880371, + 0.14618884027004242, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0346755981445312, + 2.622199773788452, + 0.7210119366645813, + 0.1347496658563614, + -0.006821414455771446, + 0.9930466413497925, + 0.08626453578472137, + 0.0, + 0.7119969725608826, + 0.23192594945430756, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0346755981445312, + 2.622199773788452, + 0.7210119366645813, + 0.1347496658563614, + -0.006821414455771446, + 0.9930466413497925, + 0.08626453578472137, + 0.0, + 0.7253111004829407, + 0.2556878328323364, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0346755981445312, + 2.622199773788452, + 0.7210119366645813, + 0.1347496658563614, + -0.006821414455771446, + 0.9930466413497925, + 0.08626453578472137, + 0.0, + 0.7701369524002075, + 0.33568885922431946, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0346755981445312, + 2.622199773788452, + 0.7210119366645813, + 0.1347496658563614, + -0.006821414455771446, + 0.9930466413497925, + 0.08626453578472137, + 0.0, + 0.7854992151260376, + 0.36310601234436035, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0346755981445312, + 2.622199773788452, + 0.7210119366645813, + 0.1347496658563614, + -0.006821414455771446, + 0.9930466413497925, + 0.08626453578472137, + 0.0, + 0.8284894227981567, + 0.4398309886455536, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0346755981445312, + 2.622199773788452, + 0.7210119366645813, + 0.1347496658563614, + -0.006821414455771446, + 0.9930466413497925, + 0.08626453578472137, + 0.0, + 0.8453622460365295, + 0.4699440896511078, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0346755981445312, + 2.622199773788452, + 0.7210119366645813, + 0.1347496658563614, + -0.006821414455771446, + 0.9930466413497925, + 0.08626453578472137, + 0.0, + 0.886839747428894, + 0.5439693331718445, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0346755981445312, + 2.622199773788452, + 0.7210119366645813, + 0.1347496658563614, + -0.006821414455771446, + 0.9930466413497925, + 0.08626453578472137, + 0.0, + 0.9044490456581116, + 0.5753967761993408, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0346755981445312, + 2.622199773788452, + 0.7210119366645813, + 0.1347496658563614, + -0.006821414455771446, + 0.9930466413497925, + 0.08626453578472137, + 0.0, + 0.9451044201850891, + 0.6479547619819641, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0346755981445312, + 2.622199773788452, + 0.7210119366645813, + 0.1347496658563614, + -0.006821414455771446, + 0.9930466413497925, + 0.08626453578472137, + 0.0, + 0.9636889100074768, + 0.6811226606369019, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0346755981445312, + 2.622199773788452, + 0.7210119366645813, + 0.1347496658563614, + -0.006821414455771446, + 0.9930466413497925, + 0.08626453578472137, + 0.0, + 1.0033341646194458, + 0.7518778443336487, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0346755981445312, + 2.622199773788452, + 0.7210119366645813, + 0.1347496658563614, + -0.006821414455771446, + 0.9930466413497925, + 0.08626453578472137, + 0.0, + 1.0226632356643677, + 0.786374568939209, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0346755981445312, + 2.622199773788452, + 0.7210119366645813, + 0.1347496658563614, + -0.006821414455771446, + 0.9930466413497925, + 0.08626453578472137, + 0.0, + 1.0615639686584473, + 0.8558010458946228, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0346755981445312, + 2.622199773788452, + 0.7210119366645813, + 0.1347496658563614, + -0.006821414455771446, + 0.9930466413497925, + 0.08626453578472137, + 0.0, + 1.0818812847137451, + 0.8920615315437317, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0346755981445312, + 2.622199773788452, + 0.7210119366645813, + 0.1347496658563614, + -0.006821414455771446, + 0.9930466413497925, + 0.08626453578472137, + 0.0, + 1.1197936534881592, + 0.9597240090370178, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0346755981445312, + 2.622199773788452, + 0.7210119366645813, + 0.1347496658563614, + -0.006821414455771446, + 0.9930466413497925, + 0.08626453578472137, + 0.0, + 1.140877366065979, + 0.9973523616790771, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0346755981445312, + 2.622199773788452, + 0.7210119366645813, + 0.1347496658563614, + -0.006821414455771446, + 0.9930466413497925, + 0.08626453578472137, + 0.0, + 1.178023338317871, + 1.0636471509933472, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0346755981445312, + 2.622199773788452, + 0.7210119366645813, + 0.1347496658563614, + -0.006821414455771446, + 0.9930466413497925, + 0.08626453578472137, + 0.0, + 1.2000735998153687, + 1.1030004024505615, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0346755981445312, + 2.622199773788452, + 0.7210119366645813, + 0.1347496658563614, + -0.006821414455771446, + 0.9930466413497925, + 0.08626453578472137, + 0.0, + 1.236253023147583, + 1.1675701141357422, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0346755981445312, + 2.622199773788452, + 0.7210119366645813, + 0.1347496658563614, + -0.006821414455771446, + 0.9930466413497925, + 0.08626453578472137, + 0.0, + 1.2590916156768799, + 1.2083302736282349, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0346755981445312, + 2.622199773788452, + 0.7210119366645813, + 0.1347496658563614, + -0.006821414455771446, + 0.9930466413497925, + 0.08626453578472137, + 0.0, + 1.294482707977295, + 1.2714930772781372, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0346755981445312, + 2.622199773788452, + 0.7210119366645813, + 0.1347496658563614, + -0.006821414455771446, + 0.9930466413497925, + 0.08626453578472137, + 0.0, + 1.3182659149169922, + 1.3139392137527466, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0346755981445312, + 2.622199773788452, + 0.7210119366645813, + 0.1347496658563614, + -0.006821414455771446, + 0.9930466413497925, + 0.08626453578472137, + 0.0, + 1.3527125120162964, + 1.3754162788391113, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0346755981445312, + 2.622199773788452, + 0.7210119366645813, + 0.1347496658563614, + -0.006821414455771446, + 0.9930466413497925, + 0.08626453578472137, + 0.0, + 1.3773058652877808, + 1.4193083047866821, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0346755981445312, + 2.622199773788452, + 0.7210119366645813, + 0.1347496658563614, + -0.006821414455771446, + 0.9930466413497925, + 0.08626453578472137, + 0.0, + 1.4109420776367188, + 1.4793391227722168, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0346755981445312, + 2.622199773788452, + 0.7210119366645813, + 0.1347496658563614, + -0.006821414455771446, + 0.9930466413497925, + 0.08626453578472137, + 0.0, + 1.4364583492279053, + 1.5248781442642212, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0346755981445312, + 2.622199773788452, + 0.7210119366645813, + 0.1347496658563614, + -0.006821414455771446, + 0.9930466413497925, + 0.08626453578472137, + 0.0, + 1.4691720008850098, + 1.5832624435424805, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0346755981445312, + 2.622199773788452, + 0.7210119366645813, + 0.1347496658563614, + -0.006821414455771446, + 0.9930466413497925, + 0.08626453578472137, + 0.0, + 1.4955201148986816, + 1.6302860975265503, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0346755981445312, + 2.622199773788452, + 0.7210119366645813, + 0.1347496658563614, + -0.006821414455771446, + 0.9930466413497925, + 0.08626453578472137, + 0.0, + 1.5274016857147217, + 1.687185525894165, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0346755981445312, + 2.622199773788452, + 0.7210119366645813, + 0.1347496658563614, + -0.006821414455771446, + 0.9930466413497925, + 0.08626453578472137, + 0.0, + 1.5546506643295288, + 1.7358170747756958, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0346755981445312, + 2.622199773788452, + 0.7210119366645813, + 0.1347496658563614, + -0.006821414455771446, + 0.9930466413497925, + 0.08626453578472137, + 0.0, + 1.585631251335144, + 1.79110848903656, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0346755981445312, + 2.622199773788452, + 0.7210119366645813, + 0.1347496658563614, + -0.006821414455771446, + 0.9930466413497925, + 0.08626453578472137, + 0.0, + 1.61385178565979, + 1.841473937034607, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0346755981445312, + 2.622199773788452, + 0.7210119366645813, + 0.1347496658563614, + -0.006821414455771446, + 0.9930466413497925, + 0.08626453578472137, + 0.0, + 1.6443431377410889, + 1.8958921432495117, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0346755981445312, + 2.622199773788452, + 0.7210119366645813, + 0.1347496658563614, + -0.006821414455771446, + 0.9930466413497925, + 0.08626453578472137, + 0.0, + 1.6741539239883423, + 1.9490957260131836, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0346755981445312, + 2.622199773788452, + 0.7210119366645813, + 0.1347496658563614, + -0.006821414455771446, + 0.9930466413497925, + 0.08626453578472137, + 0.0, + 1.7051408290863037, + 2.0043981075286865, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0346755981445312, + 2.622199773788452, + 0.7210119366645813, + 0.1347496658563614, + -0.006821414455771446, + 0.9930466413497925, + 0.08626453578472137, + 0.0, + 1.7376586198806763, + 2.0624330043792725, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0346755981445312, + 2.622199773788452, + 0.7210119366645813, + 0.1347496658563614, + -0.006821414455771446, + 0.9930466413497925, + 0.08626453578472137, + 0.0, + 1.7707700729370117, + 2.1215274333953857, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0346755981445312, + 2.622199773788452, + 0.7210119366645813, + 0.1347496658563614, + -0.006821414455771446, + 0.9930466413497925, + 0.08626453578472137, + 0.0, + 1.806570053100586, + 2.185420036315918, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0346755981445312, + 2.622199773788452, + 0.7210119366645813, + 0.1347496658563614, + -0.006821414455771446, + 0.9930466413497925, + 0.08626453578472137, + 0.0, + 1.8420194387435913, + 2.2486865520477295, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0346755981445312, + 2.622199773788452, + 0.7210119366645813, + 0.1347496658563614, + -0.006821414455771446, + 0.9930466413497925, + 0.08626453578472137, + 0.0, + 1.8102530241012573, + 2.283644437789917, + 1.487827181816101, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0346755981445312, + 2.622199773788452, + 0.7210119366645813, + 0.1347496658563614, + -0.006821414455771446, + 0.9930466413497925, + 0.08626453578472137, + 0.0 + ], + "count": [ + 1872 + ] + }, + "action.applied": { + "mean": [ + 0.29923199728911376, + 0.7625919277501158, + -1.2881012074330933, + -0.2895637316048209, + 0.7571200874244046, + -1.308389827513542, + 0.15100560645755923, + 0.8855408343494447, + -1.4459414083797197, + -0.12378545734498045, + 0.8812130716366645, + -1.440775804953952, + -0.11043395882394144, + 2.2010376669275455, + -1.7845472855827746, + 0.024229982228013258, + 0.9904430219664787, + 0.09747954462727199, + 0.003402777792265018, + -0.003402777792265018 + ], + "std": [ + 0.1266047133873454, + 0.12643808922616845, + 0.20482724891718176, + 0.1291857181459526, + 0.14584298308833607, + 0.1915642310010547, + 0.13108666667233698, + 0.14593629121132826, + 0.21244958812271889, + 0.12288101902428951, + 0.13146041330603292, + 0.22992785834631113, + 0.11843163730309793, + 0.34981846658522686, + 0.5474543101423419, + 0.027446612644616404, + 0.21100336016235102, + 0.5167688032793143, + 0.010369104422889913, + 0.010369104422889913 + ], + "min": [ + -0.20405152440071106, + 0.23450332880020142, + -1.7169398069381714, + -0.5009406208992004, + 0.3511228561401367, + -1.795545220375061, + -0.24138465523719788, + 0.46603846549987793, + -1.8437185287475586, + -0.5108274221420288, + 0.5567281246185303, + -1.705853819847107, + -0.5101386904716492, + 1.7056212425231934, + -2.7898378372192383, + -0.026536203920841217, + 0.4667274057865143, + -0.30486491322517395, + 0.0, + -0.03500000014901161 + ], + "max": [ + 0.7221477031707764, + 1.0108771324157715, + -0.8477603197097778, + 0.20011162757873535, + 0.9831027984619141, + -0.8441757559776306, + 0.45897921919822693, + 1.1711533069610596, + -0.9998485445976257, + 0.3103066086769104, + 1.1233664751052856, + -0.8738365173339844, + 0.018974121659994125, + 2.7928996086120605, + -0.9740143418312073, + 0.10013025999069214, + 1.2193868160247803, + 1.4567577838897705, + 0.03500000014901161, + 0.0 + ], + "count": [ + 1872 + ] + }, + "extra.reward": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 1872 + ] + }, + "next.truncated": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 1872 + ] + }, + "sim_step_idx": { + "mean": [ + 1972.0 + ], + "std": [ + 1080.7995497161658 + ], + "min": [ + 101.0 + ], + "max": [ + 3843.0 + ], + "count": [ + 1872 + ] + }, + "timestamp": { + "mean": [ + 37.42000000292642 + ], + "std": [ + 21.615990995781438 + ], + "min": [ + 0.0 + ], + "max": [ + 74.83999633789062 + ], + "count": [ + 1872 + ] + }, + "frame_index": { + "mean": [ + 935.5 + ], + "std": [ + 540.3997748580829 + ], + "min": [ + 0.0 + ], + "max": [ + 1871.0 + ], + "count": [ + 1872 + ] + }, + "episode_index": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 1872 + ] + }, + "index": { + "mean": [ + 935.5 + ], + "std": [ + 540.3997748580829 + ], + "min": [ + 0.0 + ], + "max": [ + 1871.0 + ], + "count": [ + 1872 + ] + }, + "task_index": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 1872 + ] + }, + "next.done": { + "mean": [ + 0.0005341880341880342 + ], + "std": [ + 0.023106334138763 + ], + "min": [ + 0.0 + ], + "max": [ + 1.0 + ], + "count": [ + 1872 + ] + }, + "observation.images.head": { + "mean": [ + [ + [ + 0.5247687902187619 + ] + ], + [ + [ + 0.4600582236877542 + ] + ], + [ + [ + 0.4198149787033 + ] + ] + ], + "std": [ + [ + [ + 0.11293013400443269 + ] + ], + [ + [ + 0.1329227767074021 + ] + ], + [ + [ + 0.13264172067784288 + ] + ] + ], + "min": [ + [ + [ + 0.00784313725490196 + ] + ], + [ + [ + 0.00392156862745098 + ] + ], + [ + [ + 0.00392156862745098 + ] + ] + ], + "max": [ + [ + [ + 0.8745098039215686 + ] + ], + [ + [ + 0.8745098039215686 + ] + ], + [ + [ + 0.8745098039215686 + ] + ] + ], + "count": [ + 100 + ] + }, + "observation.images.wrist": { + "mean": [ + [ + [ + 0.6041538768630759 + ] + ], + [ + [ + 0.4684064787560455 + ] + ], + [ + [ + 0.40038727713303673 + ] + ] + ], + "std": [ + [ + [ + 0.1263490615301043 + ] + ], + [ + [ + 0.15596993606279422 + ] + ], + [ + [ + 0.1504989432598255 + ] + ] + ], + "min": [ + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ] + ], + "max": [ + [ + [ + 0.9294117647058824 + ] + ], + [ + [ + 0.9176470588235294 + ] + ], + [ + [ + 0.9058823529411765 + ] + ] + ], + "count": [ + 100 + ] + } +} \ No newline at end of file diff --git a/N034/go2_arm/dr_off/seed_1019/rec/stationbookend/000/lerobot_v21/meta/tasks.jsonl b/N034/go2_arm/dr_off/seed_1019/rec/stationbookend/000/lerobot_v21/meta/tasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e639892eae0aca859cb3ed9b82a48465787b6b4a --- /dev/null +++ b/N034/go2_arm/dr_off/seed_1019/rec/stationbookend/000/lerobot_v21/meta/tasks.jsonl @@ -0,0 +1 @@ +{"task_index": 0, "task": "Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it."} diff --git a/N034/go2_arm/dr_off/seed_1019/rec/stationbookend/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 b/N034/go2_arm/dr_off/seed_1019/rec/stationbookend/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..571ca7de38495232574220e8f7cad48f49c7fd91 --- /dev/null +++ b/N034/go2_arm/dr_off/seed_1019/rec/stationbookend/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:f2b2ea78badd1ed43632cfa96207006317cd2a24404661e8e1ee24e3ba3f8668 +size 20305574 diff --git a/N034/go2_arm/dr_off/seed_1019/rec/stationbookend/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 b/N034/go2_arm/dr_off/seed_1019/rec/stationbookend/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f9739141a9582402165618dc8cea85c6c242042e --- /dev/null +++ b/N034/go2_arm/dr_off/seed_1019/rec/stationbookend/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 sha256:0e1264ed0b1f0cfa40311da735bbe0b7ea0ecfc4dc8b4b8b0a10e5adb7fdf9ea +size 31896234 diff --git a/N034/go2_arm/dr_off/seed_1019/rec/stationbookend/000/run_meta.json b/N034/go2_arm/dr_off/seed_1019/rec/stationbookend/000/run_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1d4867890e0434162046083987bf243c27841f0c --- /dev/null +++ b/N034/go2_arm/dr_off/seed_1019/rec/stationbookend/000/run_meta.json @@ -0,0 +1,1195 @@ +{ + "run_id": "stationbookend/000", + "created": "2026-11-08 02:53:08", + "num_envs": 1, + "session_id": null, + "record_config": { + "output_dir": "/mnt/scratch/xc536_atomic/n034_go2_off_1019/out/rec", + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "json_round": null, + "schema": { + "source": "robot_manager", + "nan_policy": "from_raw" + }, + "lerobot": { + "subsample_every": 2 + } + }, + "config": { + "env_string": "StationBookendEnv-V0", + "env": { + "sim": { + "device": "cpu", + "use_fabric": false, + "decimation": 4, + "dt": 0.005, + "seed": 1019, + "soft_resets": 2, + "enable_scene_query_support": true, + "scene": { + "num_envs": 1, + "env_spacing": 16 + }, + "render": { + "rendering_mode": "performance", + "enable_reflections": false, + "enable_global_illumination": false, + "enable_translucency": false, + "enable_dl_denoiser": false + } + }, + "robot": { + "Go2Plus": { + "name": "go2plus", + "type": "mobilemanip", + "common": { + "pos": [ + [ + -3.4, + -2.2, + 0.44999999999999996 + ], + [ + -3.4, + -2.2, + 0.44999999999999996 + ] + ], + "ori": [ + [ + 0, + 0, + 40.0 + ], + [ + 0, + 0, + 40.0 + ] + ], + "initial_joint_pos": null + }, + "action": { + "base_action": "unified", + "arm_action": "ik_curobo", + "eef_action": "binary" + }, + "reset": "default", + "planner": { + "dual_mode": true, + "base_joint_names": [ + "base_x", + "base_y", + "base_yaw", + "base_height" + ], + "ik": { + "type": "go2plus", + "enable": true, + "ik_num_instances": 1, + "ik_batch_size": 1, + "ik_max_goalset": 128, + "ik_num_seeds": 64, + "ik_position_threshold": 0.005, + "ik_rotation_threshold": 0.05, + "microbatch_wait_ms": 20.0, + "relative_to_world_frame": false, + "eef_num": 1, + "debug": false, + "seed_use_live_joint_pos": true + }, + "motiongen": { + "type": "go2plus", + "enable": true, + "batch_size": 1, + "debug": false, + "motiongen_num_instances": 1, + "microbatch_wait_ms": 400.0, + "mode": "position", + "relative_to_world_frame": false, + "eef_num": 1, + "seed_use_live_joint_pos": true, + "anchor_ik_seeds_to_current_state": false, + "num_trajopt_seeds": 1, + "num_ik_seeds": 4, + "max_attempts": 4, + "joint_limit_retry_weight": 100000000.0, + "start_state_limit_inset": 0.002 + }, + "body": { + "type": "nav", + "dwb_type": "dwb_quadruped", + "dwb_quadruped": { + "device": "cpu", + "dt": 0.02, + "debug": false, + "num_rollout_steps": 60, + "num_speed_samples": 11, + "num_steer_samples": 11, + "num_vx_samples": 7, + "num_vy_samples": 7, + "num_yaw_samples": 7, + "max_accel": 1.5, + "max_steer_rate": 1.5, + "max_accel_vx": 1.5, + "max_accel_vy": 1.5, + "max_yaw_accel": 1.5, + "w_goal": 6.0, + "w_path": 24.0, + "w_vel": 0.2, + "w_vy": 0.0, + "dilate_radius": 0.2, + "goal_cost_mode": "path", + "room_size": 12.0, + "occupancy_update_interval": 25, + "scan_height": 0.38, + "scan_min_z": 0.15, + "scan_max_z": 0.63, + "goal_pos_threshold": 0.16, + "goal_yaw_threshold": 0.08, + "goal_yaw_hysteresis": 0.02, + "kp_goal_yaw": 4.0, + "heading_reference": "path", + "turn_yaw_threshold": 0.8, + "heading_lookahead": 0.8, + "heading_min_leg": 0.35, + "route_yaw_gain": 2.0, + "min_vx": -0.35, + "max_vx": 0.35, + "min_vy": -0.25, + "max_vy": 0.25, + "min_yaw_rate": -0.8, + "max_yaw_rate": 0.8, + "dynamic_window_source": "command", + "default_height": 0.35, + "safety_min_progress_speed": 0.1, + "safety_stop_distance": 0.2, + "safety_enabled": true, + "safety_deceleration": 0.5, + "safety_reaction_time": 0.5, + "safety_release_distance": 0.35, + "scan_type": "3d", + "robot_type": "quadruped", + "velocity_frame": "body" + }, + "p_controller": { + "velocity_frame": "body", + "nav_upgrade_distance": 0.03, + "nav_heading_target": -1, + "kp_linear_x": 3.0, + "kd_linear_x": 0.4, + "kp_linear_y": 3.0, + "kd_linear_y": 0.4, + "kp_angular": 1.5, + "kd_angular": 0.2, + "kp_angular_turning_only": 1.5, + "kd_angular_turning_only": 0.2, + "min_vel": -0.4, + "max_vel": 0.5, + "linear_dead_zone": 0.01, + "angular_dead_zone": 0.05 + } + }, + "arm": { + "type": "default" + }, + "eef": { + "type": "default" + } + }, + "physics": { + "robot_radius": 0.5 + } + } + }, + "camera": { + "enable_tiled": false, + "colorize_depth": false, + "head": { + "camera": { + "type": "camera", + "mesh": "pinhole", + "resolution": [ + 640, + 480 + ], + "frequency": 25, + "focal_length": 1.8231182098388672, + "horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.4407838582992554, + "clipping_range": [ + 0.05, + 30.0 + ], + "focus_distance": 3.0, + "mode": "RGB", + "mount_link": "Robot_0/Bodies/go2_base", + "pos": [ + 0.332051, + 0.038027, + 0.093559 + ], + "ori": [ + 169.9473, + -88.6452, + 81.5985 + ] + }, + "annotator": { + "enabled": true, + "rgb_capture": { + "type": "rgb", + "device": "cpu" + } + } + }, + "wrist": { + "camera": { + "type": "camera", + "mesh": "pinhole", + "resolution": [ + 640, + 480 + ], + "frequency": 25, + "focal_length": 1.8517500162124634, + "horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.4393036365509033, + "clipping_range": [ + 0.05, + 30.0 + ], + "focus_distance": 3.0, + "mode": "RGB", + "mount_link": "Robot_0/Bodies/piper_link6", + "pos": [ + -0.074987, + 0.005289, + 0.045821 + ], + "ori": [ + 179.3135, + -20.212, + 88.9402 + ] + }, + "annotator": { + "enabled": true, + "rgb_capture": { + "type": "rgb", + "device": "cpu" + } + } + } + }, + "nav": { + "navmesh": { + "enabled": true, + "visualize": false, + "bake_timeout_s": 180, + "agent_height_cm": 65, + "min_agent_radius_cm": 30.0, + "max_agent_radius_cm": 30.0, + "max_step_height_cm": 20, + "max_floor_slope_deg": 30, + "agent_island_radius_cm": 5, + "auto_exclude_rigid_bodies": true, + "validate_path_clearance": true, + "validate_path_window": true, + "navmesh_offset_z_m": 0, + "verbose": false + }, + "occupancymap": { + "cell_size": 0.05 + } + }, + "scene": { + "background": { + "intensity": [ + 1000, + 1000 + ] + }, + "terrain": { + "type": "nav_room", + "collision": true, + "hide_top_walls": true, + "usd": [ + "$MAGICSIM_ASSETS/Room/Collected_SimpleRoom" + ], + "annotation": "Annotation", + "random": false, + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0, + "friction_combine_mode": "multiply", + "restitution_combine_mode": "multiply" + } + }, + "objects": { + "table_A": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "table_A_1": { + "pos": [ + -0.38436507868674646, + 0.04896285143982412, + 0.18 + ], + "ori": [ + 0.0, + 0.0, + -7.327620541069223 + ], + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.45, + 0.35 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "table_B": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "table_B_1": { + "pos": [ + 1.8888012100086482, + 2.9346737377748306, + 0.18 + ], + "ori": [ + 0.0, + 0.0, + -4.753780996333489 + ], + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.45, + 0.35 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "slot_left": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "slot_left_1": { + "pos": [ + -0.42595378582258603, + -0.06667723433828901, + 0.3475 + ], + "ori": [ + 0.0, + 0.0, + -7.327620541069223 + ], + "primitive_params": { + "size": [ + 0.01, + 0.12, + 0.035 + ] + }, + "visual": { + "color": [ + [ + 0.4, + 0.3, + 0.2 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "slot_right": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "slot_right_1": { + "pos": [ + -0.37338663293337504, + -0.07343700039358408, + 0.3475 + ], + "ori": [ + 0.0, + 0.0, + -7.327620541069223 + ], + "primitive_params": { + "size": [ + 0.01, + 0.12, + 0.035 + ] + }, + "visual": { + "color": [ + [ + 0.4, + 0.3, + 0.2 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "book": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "book_1": { + "pos": [ + -0.40146363207817926, + -0.08400362446472576, + 0.40149999999999997 + ], + "ori": [ + 0.0, + 0.0, + 82.67237945893078 + ], + "primitive_params": { + "size": [ + 0.1, + 0.035, + 0.14 + ] + }, + "visual": { + "color": [ + [ + 0.78, + 0.12, + 0.12 + ] + ] + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.05, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + } + } + } + }, + "plate": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "plate_1": { + "pos": [ + 1.8521118518377615, + 2.8373796423886852, + 0.37049999999999994 + ], + "ori": [ + 0.0, + 0.0, + -4.753780996333489 + ], + "primitive_params": { + "size": [ + 0.012, + 0.14, + 0.08 + ] + }, + "visual": { + "color": [ + [ + 0.35, + 0.35, + 0.4 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "bookend": { + "usd": [ + "$MAGICSIM_ASSETS/Object/MMB_A07/bookend_l/Object.usda" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "bookend_1": { + "pos": [ + 1.955877313191509, + 2.8422462259074837, + 0.33099999999999996 + ], + "ori": [ + 0.0, + 0.0, + 85.24621900366651 + ], + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.6, + "physics_material": { + "static_friction": 0.2, + "dynamic_friction": 0.15, + "restitution": 0.0 + } + } + } + } + } + } + }, + "task": { + "new_seed_per_episode": true, + "observation": {}, + "reward": {}, + "termination": { + "timeout_steps": 30000, + "success_hold_frames": 10, + "fall_height": 0.08, + "fall_tilt": 1.0, + "lift_height": 0.12, + "grasp_distance": 0.25 + }, + "grasp": { + "mode": "generated", + "debug": false, + "floor_z": 0.03 + }, + "stance": { + "radii": [ + 0.54, + 0.58, + 0.5, + 0.46 + ], + "heights": [ + 0.26, + 0.22, + 0.3 + ], + "bearings_deg": [ + 0, + -25, + 25 + ], + "yaw_offsets_deg": [ + 0.0 + ], + "include_current": true + }, + "station": { + "task_id": "N034", + "task_version": "EXT60-MobileAvatar-v3", + "family_id": "bookend_support", + "primary_category": "C2", + "stage": "full", + "layout": { + "floor_z": 0.03, + "start": { + "x": -3.4, + "y": -2.2, + "yaw_deg": 40.0, + "radius": 0.3, + "yaw_spread_deg": 20.0 + }, + "stations": { + "A": { + "center": [ + -0.38436507868674646, + 0.04896285143982412 + ], + "facing_deg": 82.67237945893078, + "standoff": 0.7, + "table": { + "width": 0.9, + "depth": 0.5, + "height": 0.3 + } + }, + "B": { + "center": [ + 1.8888012100086482, + 2.9346737377748306 + ], + "facing_deg": 85.24621900366651, + "standoff": 0.7, + "table": { + "width": 0.9, + "depth": 0.5, + "height": 0.3 + } + } + } + }, + "route": [ + "A", + "B" + ], + "book": "book", + "bookend": "bookend", + "plate": "plate", + "dr": { + "enabled": true, + "stations": { + "center_m": 0.25, + "facing_deg": 8.0 + }, + "objects": { + "across_m": 0.025, + "along_m": 0.02, + "yaw_deg": 8.0 + } + }, + "book_slot": { + "across": -0.001 + }, + "push": { + "height": 0.025, + "overshoot": -0.002 + }, + "place_check": { + "book": { + "at": { + "station": "B", + "across": -0.001, + "along": -0.1, + "z": 0.0725 + }, + "yaw_deg": 90.0, + "clearance": 0.004 + } + }, + "success": { + "upright_deg": 15.0, + "rest_z_tol": 0.02, + "contact_gap": 0.006, + "max_penetration": 0.01, + "min_push": 0.04, + "release_dist": 0.15, + "rest_speed": 0.03, + "lift": 0.08 + }, + "objects": { + "slot_left": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.01, + 0.12, + 0.035 + ], + "at": { + "station": "A", + "across": -0.0265, + "along": -0.12, + "z": 0.0175 + }, + "color": [ + 0.4, + 0.3, + 0.2 + ], + "pos": [ + -0.42595378582258603, + -0.06667723433828901, + 0.3475 + ], + "yaw_deg": -7.327620541069223 + }, + "slot_right": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.01, + 0.12, + 0.035 + ], + "at": { + "station": "A", + "across": 0.0265, + "along": -0.12, + "z": 0.0175 + }, + "color": [ + 0.4, + 0.3, + 0.2 + ], + "pos": [ + -0.37338663293337504, + -0.07343700039358408, + 0.3475 + ], + "yaw_deg": -7.327620541069223 + }, + "book": { + "jitter": { + "across_m": 0.0, + "yaw_deg": 0.0 + }, + "asset": "Cube", + "type": "rigid", + "size": [ + 0.1, + 0.035, + 0.14 + ], + "yaw_deg": 82.67237945893078, + "at": { + "station": "A", + "across": 0.0, + "along": -0.13406134507215314, + "z": 0.0715 + }, + "mass": 0.05, + "color": [ + 0.78, + 0.12, + 0.12 + ], + "friction": { + "static": 1.5, + "dynamic": 1.5 + }, + "grasp": { + "part": "body", + "thin_axis": 1, + "min_elevation_deg": 60.0, + "approach_deg": [ + 0, + 15, + 30, + 45, + 60, + 75, + 90, + 105, + 120, + 135, + 150, + 165, + 180, + 195, + 210, + 225, + 240, + 255, + 270, + 285, + 300, + 315, + 330, + 345 + ], + "inset": 0.012 + }, + "pos": [ + -0.40146363207817926, + -0.08400362446472576, + 0.40149999999999997 + ] + }, + "plate": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.012, + 0.14, + 0.08 + ], + "at": { + "station": "B", + "across": -0.0285, + "along": -0.1, + "z": 0.0405 + }, + "color": [ + 0.35, + 0.35, + 0.4 + ], + "pos": [ + 1.8521118518377615, + 2.8373796423886852, + 0.37049999999999994 + ], + "yaw_deg": -4.753780996333489 + }, + "bookend": { + "jitter": { + "across_m": 0.01, + "yaw_deg": 0.0 + }, + "catalog": "bookend_l", + "type": "rigid", + "yaw_deg": 85.24621900366651, + "at": { + "station": "B", + "across": 0.07450519877185226, + "along": -0.08655070146540203, + "z": 0.001 + }, + "friction": { + "static": 0.2, + "dynamic": 0.15 + }, + "asset": "$MAGICSIM_ASSETS/Object/MMB_A07/bookend_l/Object.usda", + "parts": [ + { + "name": "wall", + "center": [ + 0.0, + 0.0, + 0.03 + ], + "half": [ + 0.06, + 0.006, + 0.03 + ], + "rpy_deg": [ + 0.0, + 0.0, + 0.0 + ] + }, + { + "name": "foot", + "center": [ + 0.0, + -0.036, + 0.004 + ], + "half": [ + 0.06, + 0.03, + 0.004 + ], + "rpy_deg": [ + 0.0, + 0.0, + 0.0 + ] + } + ], + "mass": 0.6, + "com": [ + 0.0, + -0.01, + 0.03 + ], + "pos": [ + 1.955877313191509, + 2.8422462259074837, + 0.33099999999999996 + ] + } + }, + "planner_seeds": "lean", + "report_jsonl": "/mnt/scratch/xc536_atomic/n034_go2_off_1019/out/report.episodes.jsonl", + "dr_applied": true, + "level": "easy" + }, + "command": { + "StationBookend": { + "obj_type": "rigid", + "obj_name": "book", + "obj_id": 0, + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.05, + "settle_ticks": 120 + } + } + }, + "collect": { + "global_planner": { + "NavTo": { + "use_navmesh": true, + "use_absolute": true, + "translation_threshold": 0.2, + "rotation_threshold": 0.15, + "num_path_segments": 30, + "start_forward_offset": 0.0, + "visualize_path": false, + "carry_arm": true + }, + "RetractMoveL": { + "translation_threshold": 0.06, + "rotation_threshold": 0.3, + "motiongen_distance_threshold": 0.05, + "timeout_steps": 2000, + "base_pos_threshold": 0.12, + "base_rot_threshold": 0.5, + "eef_pos_threshold": 0.03, + "eef_rot_threshold": 0.3, + "base_waypoint_max_steps": 20, + "arm_waypoint_max_steps": 8 + }, + "MobileMoveL": { + "translation_threshold": 0.006, + "rotation_threshold": 0.2, + "motiongen_distance_threshold": 0.05, + "timeout_steps": 1500, + "stall_release_ticks": 100, + "stall_release_factor": 5.0, + "reactive": false, + "base_pos_threshold": 0.12, + "base_rot_threshold": 0.5, + "eef_pos_threshold": 0.03, + "eef_rot_threshold": 0.3, + "waypoint_max_steps": 8, + "interp_steps": 60, + "interp_validate_target": true, + "retry_mobile_on_locked_plan_failure": true + }, + "MobileServoL": { + "base_pos_threshold": 0.12, + "waypoint_max_steps": 20, + "translation_threshold": 0.05, + "timeout_steps": 300 + }, + "ParallelGripper": { + "gripper_threshold": 0.0005, + "timeout_steps": 60 + } + }, + "atomic_skill": { + "NavToPose": { + "robot_id": 0, + "show_marker": false + }, + "Move": { + "arm_planner": "MobileMoveL", + "hand_planner": "ParallelGripper", + "obstacle_avoid_paths": [], + "obstacle_ignore_paths": [], + "close_value": 1.0, + "open_value": 0.0, + "hold_steps": 10 + }, + "ReachStance": { + "check_current_first": true, + "stance_margin": 0.03, + "max_reach": 0.85, + "max_walks": 4, + "reject_radius": 0.05, + "obstacle_avoidance": [ + "dynamic" + ], + "walk_planner": "MobileServoL", + "strategy_kwargs": { + "reach_steps": 2 + }, + "debug": false + }, + "Grasp": { + "pre_grasp_offset": 0.1, + "retrieval_offset": 0.1, + "mobile": true, + "pre_grasp_planner": "MobileMoveL", + "pre_grasp_mode": -1, + "grasp_mode": 4, + "retrieval_mode": 4, + "goalset_lock_base": true, + "reactive": false, + "viz_grasp": false + } + }, + "command": { + "StationBookend": { + "obj_type": "rigid", + "obj_name": "book", + "obj_id": 0, + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.05, + "settle_ticks": 120 + } + }, + "auto_collect": {}, + "record": { + "output_dir": "/mnt/scratch/xc536_atomic/n034_go2_off_1019/out/rec", + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "json_round": null, + "schema": { + "source": "robot_manager", + "nan_policy": "from_raw" + }, + "lerobot": { + "subsample_every": 2 + } + } + }, + "visual_dr": { + "keep": [ + "book", + "book_other", + "bookend" + ] + } + }, + "git_sha": null, + "collect_runtime": { + "max_trajectories": 1 + } +} \ No newline at end of file diff --git a/N034/go2_arm/dr_off/seed_1019/rec/stationbookend/000/sim_info/0/actions.npz b/N034/go2_arm/dr_off/seed_1019/rec/stationbookend/000/sim_info/0/actions.npz new file mode 100644 index 0000000000000000000000000000000000000000..1ac06c4e12b7243aa392fd5d20b3444bfacc2e35 --- /dev/null +++ b/N034/go2_arm/dr_off/seed_1019/rec/stationbookend/000/sim_info/0/actions.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ff53bec192d7899d80c1bb22c2b3db2c91d2c3d74209906a556e60b4bcc45404 +size 746856 diff --git a/N034/go2_arm/dr_off/seed_1019/rec/stationbookend/000/sim_info/0/device_commands.jsonl b/N034/go2_arm/dr_off/seed_1019/rec/stationbookend/000/sim_info/0/device_commands.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N034/go2_arm/dr_off/seed_1019/rec/stationbookend/000/sim_info/0/device_events.jsonl b/N034/go2_arm/dr_off/seed_1019/rec/stationbookend/000/sim_info/0/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N034/go2_arm/dr_off/seed_1019/rec/stationbookend/000/sim_info/0/scene_snapshot.json b/N034/go2_arm/dr_off/seed_1019/rec/stationbookend/000/sim_info/0/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..81c1da0fa63b7b0f0fdf3cb02938f0e28e079556 --- /dev/null +++ b/N034/go2_arm/dr_off/seed_1019/rec/stationbookend/000/sim_info/0/scene_snapshot.json @@ -0,0 +1,523 @@ +{ + "trajectory_id": 0, + "env_id": 0, + "run_id": "stationbookend/000", + "task_type": "BookendCommand", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])", + "avatars": "avatar_manager.set_avatars_state(snapshot['avatars'], env_ids=[env_id]) (present when the scene has animated avatars)" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "table_A": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.38436507868674646, + 0.04896285143982412, + 0.18 + ], + "ori": [ + 0.9979561567306519, + 0.0, + 0.0, + -0.06390198320150375 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.45, + 0.35 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + } + }, + "type_specific": {} + } + ], + "table_B": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 1.8888012100086482, + 2.9346737377748306, + 0.18 + ], + "ori": [ + 0.999139666557312, + 0.0, + 0.0, + -0.0414726659655571 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.45, + 0.35 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + } + }, + "type_specific": {} + } + ], + "slot_left": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.42595378582258603, + -0.06667723433828901, + 0.3475 + ], + "ori": [ + 0.9979561567306519, + 0.0, + 0.0, + -0.06390198320150375 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.4, + 0.3, + 0.2 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.01, + 0.12, + 0.035 + ] + } + }, + "type_specific": {} + } + ], + "slot_right": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.37338663293337504, + -0.07343700039358408, + 0.3475 + ], + "ori": [ + 0.9979561567306519, + 0.0, + 0.0, + -0.06390198320150375 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.4, + 0.3, + 0.2 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.01, + 0.12, + 0.035 + ] + } + }, + "type_specific": {} + } + ], + "book": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.40146344900131226, + -0.08400356769561768, + 0.40000006556510925 + ], + "ori": [ + 0.7508471012115479, + 6.091726163504063e-07, + 1.0118988029717002e-06, + 0.66047602891922 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.78, + 0.12, + 0.12 + ], + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.05, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.1, + 0.035, + 0.14 + ] + } + }, + "type_specific": { + "linear_velocity": [ + -2.3029864678392187e-05, + 3.61743732355535e-05, + -2.1452100554597564e-05 + ], + "angular_velocity": [ + -0.0003505572967696935, + -0.00027049161144532263, + 0.0007492718868888915 + ] + } + } + ], + "plate": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 1.8521118518377615, + 2.8373796423886852, + 0.37049999999999994 + ], + "ori": [ + 0.999139666557312, + 0.0, + 0.0, + -0.0414726659655571 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.35, + 0.35, + 0.4 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.012, + 0.14, + 0.08 + ] + } + }, + "type_specific": {} + } + ], + "bookend": [ + { + "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MMB_A07/bookend_l/Object.usda", + "pose": { + "pos": [ + 1.9558773040771484, + 2.8422462940216064, + 0.330000102519989 + ], + "ori": [ + 0.7358242869377136, + 3.8743019104003906e-07, + 7.152557373046875e-07, + 0.6771725416183472 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.6, + "physics_material": { + "static_friction": 0.2, + "dynamic_friction": 0.15, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.592731564414862e-06, + -6.786739845665579e-07, + -3.250514282626682e-06 + ], + "angular_velocity": [ + 1.528862412669696e-05, + 3.951981489080936e-05, + -1.1567632100195624e-05 + ] + } + } + ] + } + ], + "artifacts": [ + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1000.0, + "texture": null, + "color": [ + 0.85, + 0.85, + 0.85 + ] + } + } + }, + "robots": { + "Go2Plus": { + "root_pose": [ + [ + -3.266780376434326, + -2.1904263496398926, + 0.35279977321624756, + 0.9165205359458923, + 0.0027790647000074387, + -0.0034040212631225586, + 0.3999634087085724 + ] + ], + "root_vel": [ + [ + -0.004322402644902468, + -0.0049559809267520905, + -0.0007462018984369934, + -0.007197220344096422, + 0.007292801979929209, + 0.0022574174217879772 + ] + ], + "joint_pos": [ + [ + 0.032372329384088516, + -0.0249829962849617, + -0.09767116606235504, + 0.08388865739107132, + -1.714591053314507e-05, + 0.6713981628417969, + 0.7331708669662476, + 0.9685483574867249, + 0.9714365601539612, + 1.7056227922439575, + -1.5385457277297974, + -1.5558444261550903, + -1.6194599866867065, + -1.615059494972229, + -0.9955917000770569, + 1.593420711287763e-05, + 0.6994319558143616, + -3.0157054879964562e-06, + 0.03500000014901161, + -0.03499915078282356 + ] + ], + "joint_vel": [ + [ + -0.0018053260864689946, + -0.0013462784700095654, + 0.0024931675288826227, + 0.0013176263310015202, + 0.0005316638271324337, + -0.02514675073325634, + -0.022141948342323303, + -0.03567787632346153, + -0.032713327556848526, + -0.03640862926840782, + -0.013991400599479675, + -0.016190549358725548, + 0.0033512176014482975, + 0.0011653137626126409, + -0.02711743675172329, + 2.2403699404094368e-05, + 0.011962066404521465, + -3.04861823678948e-05, + -1.3148223843018059e-08, + -3.9788134017726406e-05 + ] + ] + } + }, + "cameras": { + "cameras": { + "head": [ + [ + 0.33205100893974304, + 0.038026999682188034, + 0.09355899691581726, + -0.5022302269935608, + -0.499491810798645, + 0.5120040774345398, + 0.4859265089035034 + ] + ], + "wrist": [ + [ + -0.0749870017170906, + 0.005288999993354082, + 0.04582099989056587, + 0.1271296590566635, + 0.701795220375061, + -0.6904057860374451, + -0.12108422070741653 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/N034/go2_arm/dr_off/seed_1019/rec/stationbookend/000/sim_info/0/sim_states.npz b/N034/go2_arm/dr_off/seed_1019/rec/stationbookend/000/sim_info/0/sim_states.npz new file mode 100644 index 0000000000000000000000000000000000000000..68de00b33bdea2ae90f93d10495c64b618c3bfe8 --- /dev/null +++ b/N034/go2_arm/dr_off/seed_1019/rec/stationbookend/000/sim_info/0/sim_states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d0b9d913e4838e779bdccac621d518afb21b59beb2f1f4339452795f4edc0553 +size 851323 diff --git a/N034/go2_arm/dr_off/seed_1019/rec/stationbookend/000/sim_info/magicsim_manifest.json b/N034/go2_arm/dr_off/seed_1019/rec/stationbookend/000/sim_info/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..9edd8d65e58907d5ba2f8ee436a096ddebfb968e --- /dev/null +++ b/N034/go2_arm/dr_off/seed_1019/rec/stationbookend/000/sim_info/magicsim_manifest.json @@ -0,0 +1,259 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 03:15:53" + }, + "embodiment": { + "robots": [ + { + "name": "Go2Plus", + "cfg": "Go2PlusCfg", + "type": "mobilemanip", + "joint_names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 12, + "nan_policy": "from_raw", + "segments": [ + { + "name": "Go2Plus.base_action", + "start": 0, + "end": 4, + "names": [ + "base_action_0", + "base_action_1", + "base_action_2", + "base_action_3" + ], + "source": "Go2UnifiedLocomotionAction", + "names_source": "fallback" + }, + { + "name": "Go2Plus.arm_action", + "start": 4, + "end": 11, + "names": [ + "eef0.pos_x", + "eef0.pos_y", + "eef0.pos_z", + "eef0.quat_w", + "eef0.quat_x", + "eef0.quat_y", + "eef0.quat_z" + ], + "source": "Go2PlusCuroboIKAction", + "names_source": "pose_layout" + }, + { + "name": "Go2Plus.eef_action", + "start": 11, + "end": 12, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 26, + "segments": [ + { + "name": "Go2Plus.joint_pos", + "start": 0, + "end": 24, + "names": [ + "joint_0", + "joint_1", + "joint_2", + "joint_3", + "joint_4", + "joint_5", + "joint_6", + "joint_7", + "joint_8", + "joint_9", + "joint_10", + "joint_11", + "joint_12", + "joint_13", + "joint_14", + "joint_15", + "joint_16", + "joint_17", + "joint_18", + "joint_19", + "joint_20", + "joint_21", + "joint_22", + "joint_23" + ], + "source": "ObservationManager", + "names_source": "fallback_dim_mismatch(joint_names=20,obs=24)" + }, + { + "name": "Go2Plus.gripper_pos", + "start": 24, + "end": 26, + "names": [ + "gripper_0", + "gripper_1" + ], + "source": "ObservationManager", + "names_source": "generated" + } + ] + }, + "joint_vel_layout": { + "dim": 20, + "segments": [ + { + "name": "Go2Plus.joint_vel", + "start": 0, + "end": 20, + "names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "action_levels": { + "L0": "task command list (collect.auto_collect_info.current_action)", + "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)", + "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)", + "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy", + "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)" + }, + "cameras": { + "head": { + "intrinsics": { + "K": [ + [ + 607.7061061683956, + 0.0, + 320.0 + ], + [ + 0.0, + 607.3754374751866, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 55.53991912549515, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.33205100893974304, + 0.038026999682188034, + 0.09355899691581726 + ], + "quat": [ + -0.5022302269935608, + -0.499491810798645, + 0.5120040774345398, + 0.4859265089035034 + ] + }, + "wrist": { + "intrinsics": { + "K": [ + [ + 617.2500342478374, + 0.0, + 320.0 + ], + [ + 0.0, + 617.548655622722, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 54.807019583348044, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + -0.0749870017170906, + 0.005288999993354082, + 0.04582099989056587 + ], + "quat": [ + 0.1271296590566635, + 0.701795220375061, + -0.6904057860374451, + -0.12108422070741653 + ] + } + }, + "generated_run": { + "run_id": "stationbookend/000", + "task_type": "BookendCommand" + } +} \ No newline at end of file diff --git a/N034/go2_arm/dr_off/seed_1019/report.episodes.jsonl b/N034/go2_arm/dr_off/seed_1019/report.episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..116ca733c8a0a2590e60d063e71cfdb48bd533d9 --- /dev/null +++ b/N034/go2_arm/dr_off/seed_1019/report.episodes.jsonl @@ -0,0 +1 @@ +{"task_id": "N034", "task_version": "EXT60-MobileAvatar-v3", "instruction": null, "agent_id": "a07", "family_id": "bookend_support", "primary_category": "C2", "level": "easy", "embodiment": "go2_arm", "scene_seed": 1019, "execution_mode": "expert_privileged_command", "station_layout": {"A": {"center": [-0.38436507868674646, 0.04896285143982412], "facing": 1.443, "stand": [-0.506, -0.893, 1.443]}, "B": {"center": [1.8888012100086482, 2.9346737377748306], "facing": 1.488, "stand": [1.81, 1.988, 1.488]}}, "spawn_pose": [-3.251, -2.176, 0.811], "base_path": [[-3.251, -2.176, 0.811], [-3.255, -2.178, 0.821], [-3.26, -2.184, 0.821], [-3.264, -2.188, 0.822], [-3.267, -2.191, 0.823], [-3.205, -2.154, 0.755], [-3.086, -2.082, 0.501], [-2.934, -2.022, 0.4], [-2.774, -1.962, 0.399], [-2.616, -1.894, 0.411], [-2.461, -1.823, 0.42], [-2.306, -1.752, 0.419], [-2.148, -1.68, 0.423], [-1.993, -1.609, 0.419], [-1.837, -1.538, 0.416], [-1.681, -1.466, 0.419], [-1.526, -1.395, 0.42], [-1.369, -1.324, 0.422], [-1.213, -1.252, 0.421], [-1.058, -1.181, 0.418], [-0.902, -1.11, 0.418], [-0.752, -1.037, 0.421], [-0.634, -0.98, 0.422], [-0.595, -0.949, 0.639], [-0.589, -0.946, 1.025], [-0.585, -0.948, 1.429], [-0.584, -0.948, 1.78], [-0.585, -0.953, 1.764], [-0.571, -0.963, 1.635], [-0.569, -0.923, 1.522], [-0.557, -0.824, 1.414], [-0.534, -0.709, 1.39], [-0.523, -0.628, 1.387], [-0.526, -0.622, 1.386], [-0.527, -0.633, 1.386], [-0.528, -0.638, 1.386], [-0.528, -0.633, 1.385], [-0.526, -0.626, 1.385], [-0.524, -0.625, 1.389], [-0.524, -0.625, 1.389], [-0.524, -0.624, 1.39], [-0.524, -0.625, 1.39], [-0.525, -0.625, 1.39], [-0.525, -0.626, 1.389], [-0.525, -0.629, 1.385], [-0.526, -0.631, 1.382], [-0.526, -0.629, 1.386], [-0.525, -0.626, 1.39], [-0.525, -0.625, 1.389], [-0.524, -0.631, 1.137], [-0.529, -0.632, 0.732], [-0.533, -0.628, 0.308], [-0.458, -0.617, -0.004], [-0.338, -0.621, -0.042], [-0.226, -0.617, -0.014], [-0.11, -0.607, 0.008], [0.003, -0.6, 0.014], [0.109, -0.562, 0.011], [0.182, -0.503, 0.185], [0.194, -0.493, 0.569], [0.242, -0.456, 0.894], [0.32, -0.366, 0.962], [0.391, -0.27, 0.936], [0.464, -0.175, 0.991], [0.529, -0.079, 1.044], [0.587, 0.022, 1.056], [0.644, 0.125, 1.055], [0.701, 0.225, 1.053], [0.759, 0.326, 1.054], [0.817, 0.426, 1.056], [0.874, 0.526, 1.056], [0.928, 0.626, 1.054], [0.984, 0.727, 1.051], [1.041, 0.827, 1.052], [1.097, 0.927, 1.052], [1.153, 1.027, 1.053], [1.209, 1.126, 1.054], [1.266, 1.227, 1.055], [1.321, 1.329, 1.054], [1.377, 1.429, 1.053], [1.433, 1.529, 1.052], [1.488, 1.628, 1.051], [1.545, 1.729, 1.052], [1.602, 1.829, 1.055], [1.659, 1.928, 1.055], [1.716, 2.028, 1.056], [1.762, 2.118, 1.055], [1.775, 2.152, 1.186], [1.776, 2.156, 1.501], [1.777, 2.154, 1.54], [1.778, 2.155, 1.517], [1.779, 2.159, 1.485], [1.779, 2.162, 1.485], [1.779, 2.165, 1.484], [1.779, 2.162, 1.48], [1.778, 2.163, 1.483], [1.778, 2.163, 1.483], [1.778, 2.163, 1.483], [1.778, 2.163, 1.483], [1.778, 2.163, 1.483], [1.778, 2.163, 1.483], [1.778, 2.163, 1.483], [1.778, 2.164, 1.483], [1.779, 2.164, 1.483], [1.779, 2.165, 1.483], [1.779, 2.165, 1.483], [1.779, 2.165, 1.483], [1.779, 2.165, 1.483], [1.779, 2.165, 1.483], [1.779, 2.165, 1.483], [1.779, 2.165, 1.483], [1.778, 2.165, 1.485], [1.778, 2.165, 1.485], [1.778, 2.165, 1.484], [1.778, 2.164, 1.483], [1.778, 2.163, 1.483], [1.778, 2.163, 1.483], [1.778, 2.162, 1.483], [1.777, 2.162, 1.483], [1.777, 2.162, 1.483], [1.777, 2.162, 1.483], [1.778, 2.162, 1.486], [1.777, 2.158, 1.489], [1.782, 2.147, 1.457], [1.792, 2.191, 1.445], [1.801, 2.262, 1.385], [1.796, 2.273, 1.376], [1.794, 2.268, 1.382], [1.794, 2.265, 1.39], [1.792, 2.263, 1.397], [1.793, 2.258, 1.387], [1.795, 2.258, 1.386], [1.796, 2.259, 1.384], [1.797, 2.259, 1.382], [1.797, 2.26, 1.384], [1.797, 2.262, 1.384], [1.797, 2.263, 1.384], [1.797, 2.264, 1.384], [1.797, 2.264, 1.384], [1.797, 2.264, 1.384], [1.797, 2.265, 1.384], [1.797, 2.265, 1.384], [1.798, 2.265, 1.381], [1.801, 2.263, 1.351], [1.802, 2.264, 1.34], [1.802, 2.265, 1.339], [1.799, 2.266, 1.35], [1.796, 2.263, 1.364], [1.797, 2.261, 1.371], [1.798, 2.259, 1.375], [1.799, 2.259, 1.378], [1.799, 2.26, 1.379], [1.799, 2.261, 1.379], [1.799, 2.262, 1.379]], "stage_events": [{"tick": 468, "event": "enter_station", "station": "A", "xy": [-1.108, -1.204]}, {"tick": 1781, "event": "leave_station", "station": "A", "xy": [0.939, 0.646]}, {"tick": 2008, "event": "enter_station", "station": "B", "xy": [1.449, 1.557]}], "transport_state": {"book": {"held": false, "grasps": 1}}, "manipulation_success": true, "mobile_success": true, "full_success": true, "failure_reason": null, "fail_class_hint": null, "distance_to_first_interaction": 2.401, "interstation_path_lengths": [4.236], "station_transition_order": ["A", "B"], "final_approach_pose": [1.799, 2.262, 1.379], "regrasp_events": 0, "control_ticks": 3239, "wall_s": 1135.4, "phase": "done", "state": "success: task sequence complete", "check": {"book": [1.879, 2.835, 0.4], "dist_wrist": 0.187, "held": false, "upright_deg": 0.0, "rest_z": true, "gaps": {"plate": 0.0018, "bookend": -0.0031}, "pushed": true, "released": true, "at_rest": true, "manipulation_success": true}, "route": ["A", "B"], "total_path_m": 7.56, "planner_seeds": "lean"} diff --git a/N034/go2_arm/dr_off/seed_1019/report.json b/N034/go2_arm/dr_off/seed_1019/report.json new file mode 100644 index 0000000000000000000000000000000000000000..9dc52dc8ff69001394d88dfc0719c80e7e736282 --- /dev/null +++ b/N034/go2_arm/dr_off/seed_1019/report.json @@ -0,0 +1,994 @@ +{ + "task_id": "N034", + "level": "easy", + "seed": 1019, + "episodes_requested": 1, + "episodes": [ + { + "task_id": "N034", + "task_version": "EXT60-MobileAvatar-v3", + "instruction": null, + "agent_id": "a07", + "family_id": "bookend_support", + "primary_category": "C2", + "level": "easy", + "embodiment": "go2_arm", + "scene_seed": 1019, + "execution_mode": "expert_privileged_command", + "station_layout": { + "A": { + "center": [ + -0.38436507868674646, + 0.04896285143982412 + ], + "facing": 1.443, + "stand": [ + -0.506, + -0.893, + 1.443 + ] + }, + "B": { + "center": [ + 1.8888012100086482, + 2.9346737377748306 + ], + "facing": 1.488, + "stand": [ + 1.81, + 1.988, + 1.488 + ] + } + }, + "spawn_pose": [ + -3.251, + -2.176, + 0.811 + ], + "base_path": [ + [ + -3.251, + -2.176, + 0.811 + ], + [ + -3.255, + -2.178, + 0.821 + ], + [ + -3.26, + -2.184, + 0.821 + ], + [ + -3.264, + -2.188, + 0.822 + ], + [ + -3.267, + -2.191, + 0.823 + ], + [ + -3.205, + -2.154, + 0.755 + ], + [ + -3.086, + -2.082, + 0.501 + ], + [ + -2.934, + -2.022, + 0.4 + ], + [ + -2.774, + -1.962, + 0.399 + ], + [ + -2.616, + -1.894, + 0.411 + ], + [ + -2.461, + -1.823, + 0.42 + ], + [ + -2.306, + -1.752, + 0.419 + ], + [ + -2.148, + -1.68, + 0.423 + ], + [ + -1.993, + -1.609, + 0.419 + ], + [ + -1.837, + -1.538, + 0.416 + ], + [ + -1.681, + -1.466, + 0.419 + ], + [ + -1.526, + -1.395, + 0.42 + ], + [ + -1.369, + -1.324, + 0.422 + ], + [ + -1.213, + -1.252, + 0.421 + ], + [ + -1.058, + -1.181, + 0.418 + ], + [ + -0.902, + -1.11, + 0.418 + ], + [ + -0.752, + -1.037, + 0.421 + ], + [ + -0.634, + -0.98, + 0.422 + ], + [ + -0.595, + -0.949, + 0.639 + ], + [ + -0.589, + -0.946, + 1.025 + ], + [ + -0.585, + -0.948, + 1.429 + ], + [ + -0.584, + -0.948, + 1.78 + ], + [ + -0.585, + -0.953, + 1.764 + ], + [ + -0.571, + -0.963, + 1.635 + ], + [ + -0.569, + -0.923, + 1.522 + ], + [ + -0.557, + -0.824, + 1.414 + ], + [ + -0.534, + -0.709, + 1.39 + ], + [ + -0.523, + -0.628, + 1.387 + ], + [ + -0.526, + -0.622, + 1.386 + ], + [ + -0.527, + -0.633, + 1.386 + ], + [ + -0.528, + -0.638, + 1.386 + ], + [ + -0.528, + -0.633, + 1.385 + ], + [ + -0.526, + -0.626, + 1.385 + ], + [ + -0.524, + -0.625, + 1.389 + ], + [ + -0.524, + -0.625, + 1.389 + ], + [ + -0.524, + -0.624, + 1.39 + ], + [ + -0.524, + -0.625, + 1.39 + ], + [ + -0.525, + -0.625, + 1.39 + ], + [ + -0.525, + -0.626, + 1.389 + ], + [ + -0.525, + -0.629, + 1.385 + ], + [ + -0.526, + -0.631, + 1.382 + ], + [ + -0.526, + -0.629, + 1.386 + ], + [ + -0.525, + -0.626, + 1.39 + ], + [ + -0.525, + -0.625, + 1.389 + ], + [ + -0.524, + -0.631, + 1.137 + ], + [ + -0.529, + -0.632, + 0.732 + ], + [ + -0.533, + -0.628, + 0.308 + ], + [ + -0.458, + -0.617, + -0.004 + ], + [ + -0.338, + -0.621, + -0.042 + ], + [ + -0.226, + -0.617, + -0.014 + ], + [ + -0.11, + -0.607, + 0.008 + ], + [ + 0.003, + -0.6, + 0.014 + ], + [ + 0.109, + -0.562, + 0.011 + ], + [ + 0.182, + -0.503, + 0.185 + ], + [ + 0.194, + -0.493, + 0.569 + ], + [ + 0.242, + -0.456, + 0.894 + ], + [ + 0.32, + -0.366, + 0.962 + ], + [ + 0.391, + -0.27, + 0.936 + ], + [ + 0.464, + -0.175, + 0.991 + ], + [ + 0.529, + -0.079, + 1.044 + ], + [ + 0.587, + 0.022, + 1.056 + ], + [ + 0.644, + 0.125, + 1.055 + ], + [ + 0.701, + 0.225, + 1.053 + ], + [ + 0.759, + 0.326, + 1.054 + ], + [ + 0.817, + 0.426, + 1.056 + ], + [ + 0.874, + 0.526, + 1.056 + ], + [ + 0.928, + 0.626, + 1.054 + ], + [ + 0.984, + 0.727, + 1.051 + ], + [ + 1.041, + 0.827, + 1.052 + ], + [ + 1.097, + 0.927, + 1.052 + ], + [ + 1.153, + 1.027, + 1.053 + ], + [ + 1.209, + 1.126, + 1.054 + ], + [ + 1.266, + 1.227, + 1.055 + ], + [ + 1.321, + 1.329, + 1.054 + ], + [ + 1.377, + 1.429, + 1.053 + ], + [ + 1.433, + 1.529, + 1.052 + ], + [ + 1.488, + 1.628, + 1.051 + ], + [ + 1.545, + 1.729, + 1.052 + ], + [ + 1.602, + 1.829, + 1.055 + ], + [ + 1.659, + 1.928, + 1.055 + ], + [ + 1.716, + 2.028, + 1.056 + ], + [ + 1.762, + 2.118, + 1.055 + ], + [ + 1.775, + 2.152, + 1.186 + ], + [ + 1.776, + 2.156, + 1.501 + ], + [ + 1.777, + 2.154, + 1.54 + ], + [ + 1.778, + 2.155, + 1.517 + ], + [ + 1.779, + 2.159, + 1.485 + ], + [ + 1.779, + 2.162, + 1.485 + ], + [ + 1.779, + 2.165, + 1.484 + ], + [ + 1.779, + 2.162, + 1.48 + ], + [ + 1.778, + 2.163, + 1.483 + ], + [ + 1.778, + 2.163, + 1.483 + ], + [ + 1.778, + 2.163, + 1.483 + ], + [ + 1.778, + 2.163, + 1.483 + ], + [ + 1.778, + 2.163, + 1.483 + ], + [ + 1.778, + 2.163, + 1.483 + ], + [ + 1.778, + 2.163, + 1.483 + ], + [ + 1.778, + 2.164, + 1.483 + ], + [ + 1.779, + 2.164, + 1.483 + ], + [ + 1.779, + 2.165, + 1.483 + ], + [ + 1.779, + 2.165, + 1.483 + ], + [ + 1.779, + 2.165, + 1.483 + ], + [ + 1.779, + 2.165, + 1.483 + ], + [ + 1.779, + 2.165, + 1.483 + ], + [ + 1.779, + 2.165, + 1.483 + ], + [ + 1.779, + 2.165, + 1.483 + ], + [ + 1.778, + 2.165, + 1.485 + ], + [ + 1.778, + 2.165, + 1.485 + ], + [ + 1.778, + 2.165, + 1.484 + ], + [ + 1.778, + 2.164, + 1.483 + ], + [ + 1.778, + 2.163, + 1.483 + ], + [ + 1.778, + 2.163, + 1.483 + ], + [ + 1.778, + 2.162, + 1.483 + ], + [ + 1.777, + 2.162, + 1.483 + ], + [ + 1.777, + 2.162, + 1.483 + ], + [ + 1.777, + 2.162, + 1.483 + ], + [ + 1.778, + 2.162, + 1.486 + ], + [ + 1.777, + 2.158, + 1.489 + ], + [ + 1.782, + 2.147, + 1.457 + ], + [ + 1.792, + 2.191, + 1.445 + ], + [ + 1.801, + 2.262, + 1.385 + ], + [ + 1.796, + 2.273, + 1.376 + ], + [ + 1.794, + 2.268, + 1.382 + ], + [ + 1.794, + 2.265, + 1.39 + ], + [ + 1.792, + 2.263, + 1.397 + ], + [ + 1.793, + 2.258, + 1.387 + ], + [ + 1.795, + 2.258, + 1.386 + ], + [ + 1.796, + 2.259, + 1.384 + ], + [ + 1.797, + 2.259, + 1.382 + ], + [ + 1.797, + 2.26, + 1.384 + ], + [ + 1.797, + 2.262, + 1.384 + ], + [ + 1.797, + 2.263, + 1.384 + ], + [ + 1.797, + 2.264, + 1.384 + ], + [ + 1.797, + 2.264, + 1.384 + ], + [ + 1.797, + 2.264, + 1.384 + ], + [ + 1.797, + 2.265, + 1.384 + ], + [ + 1.797, + 2.265, + 1.384 + ], + [ + 1.798, + 2.265, + 1.381 + ], + [ + 1.801, + 2.263, + 1.351 + ], + [ + 1.802, + 2.264, + 1.34 + ], + [ + 1.802, + 2.265, + 1.339 + ], + [ + 1.799, + 2.266, + 1.35 + ], + [ + 1.796, + 2.263, + 1.364 + ], + [ + 1.797, + 2.261, + 1.371 + ], + [ + 1.798, + 2.259, + 1.375 + ], + [ + 1.799, + 2.259, + 1.378 + ], + [ + 1.799, + 2.26, + 1.379 + ], + [ + 1.799, + 2.261, + 1.379 + ], + [ + 1.799, + 2.262, + 1.379 + ] + ], + "stage_events": [ + { + "tick": 468, + "event": "enter_station", + "station": "A", + "xy": [ + -1.108, + -1.204 + ] + }, + { + "tick": 1781, + "event": "leave_station", + "station": "A", + "xy": [ + 0.939, + 0.646 + ] + }, + { + "tick": 2008, + "event": "enter_station", + "station": "B", + "xy": [ + 1.449, + 1.557 + ] + } + ], + "transport_state": { + "book": { + "held": false, + "grasps": 1 + } + }, + "manipulation_success": true, + "mobile_success": true, + "full_success": true, + "failure_reason": null, + "fail_class_hint": null, + "distance_to_first_interaction": 2.401, + "interstation_path_lengths": [ + 4.236 + ], + "station_transition_order": [ + "A", + "B" + ], + "final_approach_pose": [ + 1.799, + 2.262, + 1.379 + ], + "regrasp_events": 0, + "control_ticks": 3239, + "wall_s": 1135.4, + "phase": "done", + "state": "success: task sequence complete", + "check": { + "book": [ + 1.879, + 2.835, + 0.4 + ], + "dist_wrist": 0.187, + "held": false, + "upright_deg": 0.0, + "rest_z": true, + "gaps": { + "plate": 0.0018, + "bookend": -0.0031 + }, + "pushed": true, + "released": true, + "at_rest": true, + "manipulation_success": true + }, + "route": [ + "A", + "B" + ], + "total_path_m": 7.56, + "planner_seeds": "lean" + } + ], + "error": null, + "collect": { + "task": "N034", + "robot": "go2_arm", + "visual_dr": false, + "env": { + "MMB_COLLECT": "1", + "MMB_TASK_ID": "N034", + "MMB_CLEAN_VIEW": "1", + "MMB_REAL_ROBOT_LOOK": "1", + "MMB_VISUAL_DR": "0" + }, + "cameras": { + "head": { + "link": "Robot_0/Bodies/go2_base", + "pos": [ + 0.332051, + 0.038027, + 0.093559 + ], + "ori": [ + 169.9473, + -88.6452, + 81.5985 + ], + "focal_length": 1.8231182098388672, + "horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.4407838582992554 + }, + "wrist": { + "link": "Robot_0/Bodies/piper_link6", + "pos": [ + -0.074987, + 0.005289, + 0.045821 + ], + "ori": [ + 179.3135, + -20.212, + 88.9402 + ], + "focal_length": 1.8517500162124634, + "horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.4393036365509033 + } + }, + "resolution": [ + 640, + 480 + ], + "camera_hz": 25, + "record": { + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + } + }, + "review_cameras": [], + "policy_obs_signature": [ + "/camera_info[0]/rgb[0]:(480, 640, 4):uint8", + "/camera_info[1]/rgb[0]:(480, 640, 4):uint8", + "/robot_state[0]/Go2Plus/base_ang_vel:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/base_lin_vel:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/base_pos:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/base_quat:(1, 4):torch.float32", + "/robot_state[0]/Go2Plus/eef_pos:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/eef_quat:(1, 4):torch.float32", + "/robot_state[0]/Go2Plus/eef_relative_pos:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/eef_relative_quat:(1, 4):torch.float32", + "/robot_state[0]/Go2Plus/finger_joint_pos:(1, 2):torch.float32", + "/robot_state[0]/Go2Plus/gripper_pos:(1, 2):torch.float32", + "/robot_state[0]/Go2Plus/joint_effort:(1, 20):torch.float32", + "/robot_state[0]/Go2Plus/joint_pos:(1, 24):torch.float32", + "/robot_state[0]/Go2Plus/joint_vel:(1, 20):torch.float32" + ], + "n_success": 1, + "elapsed_s": 1390.2, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 32.0 + } +} diff --git a/N034/go2_arm/dr_on/seed_2023/check.json b/N034/go2_arm/dr_on/seed_2023/check.json new file mode 100644 index 0000000000000000000000000000000000000000..3d67bf0f9f062bae888cfe78eae18411be7f2c50 --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2023/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'; expected 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "1807 rows vs ceil(3614/2) = 1807" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..3713, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "39.90 MB, 1807 frames at 25 fps, mean luma 51..78, std 49, new picture 1806x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1807 vs 1807" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "30.48 MB, 1807 frames at 25 fps, mean luma 77..134, std 22, new picture 1806x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1807 vs 1807" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationbookend/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N034/go2_arm/dr_on/seed_2023/check.txt b/N034/go2_arm/dr_on/seed_2023/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..bd60e3250311ff5a4a23588f08fdd59a33a690b3 --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2023/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n034_go2_on_2023/out task=N034 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n034_go2_on_2023/out/rec/stationbookend/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1807 videos 2 robot_type Go2PlusCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 1807 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5'] +[PASS] action shape: parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y'] +[PASS] task text = MobileBench instruction: task_index 0: 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'; expected 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.' +rows 1807 at dataset fps 25 = 72.28 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1807 rows vs ceil(3614/2) = 1807 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..3713, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 39.90 MB, 1807 frames at 25 fps, mean luma 51..78, std 49, new picture 1806x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1807 vs 1807 +[PASS] video observation.images.wrist decodes, 640x480, not black: 30.48 MB, 1807 frames at 25 fps, mean luma 77..134, std 22, new picture 1806x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1807 vs 1807 +parquet size 6.38 MB +[PASS] sim_info present: rec/stationbookend/000/sim_info +dataset size 77.01 MB; whole cell dir 78.7 MB +RESULT: ALL PASS diff --git a/N034/go2_arm/dr_on/seed_2023/rec/stationbookend/000/completed/0.json b/N034/go2_arm/dr_on/seed_2023/rec/stationbookend/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..92774b53003e83bf90b8dbc14d938d81cff5769c --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2023/rec/stationbookend/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationbookend/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N034/go2_arm/dr_on/seed_2023/rec/stationbookend/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N034/go2_arm/dr_on/seed_2023/rec/stationbookend/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..199c8c546dfe576d13be866f530ca053d949d65f --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2023/rec/stationbookend/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:93e34e4b38e0bba3d117a353b80ab21657f77713167880830d2ce25d1b1b802e +size 6375896 diff --git a/N034/go2_arm/dr_on/seed_2023/rec/stationbookend/000/lerobot_v21/meta/episodes.jsonl b/N034/go2_arm/dr_on/seed_2023/rec/stationbookend/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3a8fc9101dccb3266c92888b7dd1297e6526ed47 --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2023/rec/stationbookend/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it."], "length": 1807, "magicsim/control_steps": 3614, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the brown slot left. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is in front of the brown slot left. The gray table B is to the left of the bookend. The red book is on top of the brown slot left. The gray plate is on top of the bookend. The gray plate is to the left of the bookend. The bookend is to the right of the gray plate. The scene is viewed from front-right, at table height."} diff --git a/N034/go2_arm/dr_on/seed_2023/rec/stationbookend/000/lerobot_v21/meta/episodes_stats.jsonl b/N034/go2_arm/dr_on/seed_2023/rec/stationbookend/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5c1c60959d544920c6e2a2f445bfe51c1953b64a --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2023/rec/stationbookend/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.11702150371138008, -0.002234472547347003, 0.013307595341535946, 0.33081774912490064, 0.8469963502211009, 1.1646635839061046, 0.6440725402734394, 0.10895514900231884, -0.44366557287166564, 0.8411527526398422, 0.06696247331965967, 0.655229662423907], "std": [0.1409246020393937, 0.027879193281700163, 0.22281898834809755, 0.02936683347484253, 1.4530049882239877, 1.6907572286325503, 0.061146565290005915, 0.05102591754068211, 0.2509022447830207, 0.11012448655871541, 0.03980813924370908, 0.47529333248400657], "min": [0.0, -0.15999993681907654, -0.800000011920929, 0.28999999165534973, -3.4573943614959717, -1.9889944791793823, 0.48813289403915405, -0.01743997260928154, -0.6823234558105469, 0.7041717767715454, 0.000512195227202028, 0.0], "max": [0.3499999940395355, 0.2333332896232605, 0.800000011920929, 0.3700000047683716, 2.280346393585205, 2.791379928588867, 0.7259262800216675, 0.21935801208019257, 0.037119943648576736, 0.9996245503425598, 0.14995728433132172, 1.0], "count": [1807]}, "action_is_hold": {"mean": [0.11898173768677366, 0.11898173768677366, 0.11898173768677366, 0.11898173768677366, 0.14941892639734367, 0.14941892639734367, 0.14941892639734367, 0.14941892639734367, 0.14941892639734367, 0.14941892639734367, 0.14941892639734367, 0.961261759822911], "std": [0.32376702084031045, 0.32376702084031045, 0.32376702084031045, 0.32376702084031045, 0.3565009268313468, 0.3565009268313468, 0.3565009268313468, 0.3565009268313468, 0.3565009268313468, 0.3565009268313468, 0.3565009268313468, 0.1929704353652909], "min": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], "count": [1807]}, "observation.state": {"mean": [-0.02329882212449509, 0.017975133629399318, -0.035274166306084875, 0.06627054589729144, -0.09513796864918214, 0.7003439273138896, 0.7699448232269446, 0.8951148716665858, 0.8822229788919543, 2.344594269545618, -1.5283732534972223, -1.5313061879495262, -1.5233297202226928, -1.558009441873944, -2.0181892152708674, 0.03184526825014413, 1.0551069669784203, 0.040940920238301884, 0.019009418532081098, -0.019339288616837817, 0.605893409423897, 0.7172965683791875, 1.1150837201866315, 0.36042987187065734, -0.019339288616837817, -0.019009418532081098], "std": [0.033370607443899934, 0.03501651355797711, 0.040428445353401773, 0.04675334781240661, 0.15941683647873023, 0.10363519485565095, 0.138700999124647, 0.1392717808689918, 0.12416317747346527, 0.3953103964687536, 0.18052105222059373, 0.18815134268694403, 0.19010745871266604, 0.18382024478187872, 0.6303228151932867, 0.03197650296483725, 0.22349145728638187, 0.48670010224871246, 0.01335887709182223, 0.013319834770937315, 1.4723750354585843, 1.5487593657596552, 0.4419040002642906, 0.028153014448580677, 0.013319834770937315, 0.01335887709182223], "min": [-0.163019597530365, -0.09707851707935333, -0.17514166235923767, -0.0962117612361908, -0.7724999189376831, 0.4444734752178192, 0.43715932965278625, 0.5854823589324951, 0.54256671667099, 1.7043771743774414, -1.827678918838501, -1.846091389656067, -1.820884346961975, -1.8442617654800415, -2.8844997882843018, -0.0106697678565979, 0.48266956210136414, -0.44134068489074707, 0.0, -0.03500000014901161, -3.6658875942230225, -2.2849957942962646, 0.12503959238529205, 0.31501007080078125, -0.03500000014901161, -0.03500000014901161], "max": [0.15977047383785248, 0.2085888534784317, 0.1549040824174881, 0.19510838389396667, 0.21716472506523132, 0.951337456703186, 1.0551549196243286, 1.1740187406539917, 1.1006321907043457, 2.9506194591522217, -1.127149224281311, -1.1798559427261353, -1.1559139490127563, -1.1499011516571045, -0.9940715432167053, 0.1441539227962494, 1.217044711112976, 1.4390239715576172, 0.03500000014901161, 0.0, 1.8582268953323364, 2.2641332149505615, 1.6038926839828491, 0.4035291075706482, 0.0, -0.0], "count": [1807]}, "observation.joint_vel": {"mean": [0.0005499074883324091, -0.001127853499897378, 0.001715434463516195, -0.002549698888780569, 0.002679506369406914, 0.011093997284820424, 0.006169049784997828, 0.003677532990260237, 0.002106966493668923, 0.004403343575212364, -0.01637670727488213, -0.012014762386854885, -0.003449305981810687, -0.0017962731080364634, -0.013921490825278653, -0.0001799810995583608, 0.013179809924417179, 0.003287353899035009, -0.00038042563011681755, 0.00041890849381976596], "std": [0.35180257015951705, 0.3510370689195239, 0.37022424736014337, 0.44947287031349836, 0.12039423424432948, 0.9467363979938471, 0.9352324522615333, 0.7357843740200999, 0.6376670298765461, 0.13666922144018556, 0.5418780409192696, 0.8121507073929927, 0.8302012897013843, 0.9172717732801953, 0.20700449313059033, 0.03055114841468451, 0.09471591950332776, 0.15697846891126094, 0.0130720791084695, 0.014342676925624305], "min": [-2.762030839920044, -4.024587631225586, -1.6789675951004028, -2.598686456680298, -0.7380765080451965, -4.293771266937256, -4.560217380523682, -3.590677499771118, -4.022411823272705, -0.549767792224884, -3.256826877593994, -5.750273704528809, -3.7365689277648926, -4.435935020446777, -1.495896577835083, -0.15525038540363312, -0.8776700496673584, -0.3740447163581848, -0.20009316504001617, -0.2000644952058792], "max": [3.519606351852417, 2.5883755683898926, 4.158236503601074, 2.9919593334198, 1.932504415512085, 1.4829188585281372, 1.7915558815002441, 3.532139778137207, 4.1450347900390625, 1.1091030836105347, 2.9546425342559814, 5.154033660888672, 3.366830825805664, 3.5557727813720703, 1.147177815437317, 0.281960666179657, 0.8996401429176331, 1.2830311059951782, 0.20001792907714844, 0.2003551423549652], "count": [1807]}, "observation.eef_pose": {"mean": [0.8443904638032191, 1.1587231565198814, 0.640923367921463, 0.11359540184657746, -0.44433246677257965, 0.8397606118449732, 0.07196917788521914], "std": [1.4511107430747772, 1.6856729290554058, 0.06110617895078169, 0.05233975691801996, 0.25037161543039843, 0.11101567548674626, 0.03921022999356207], "min": [-3.457406759262085, -1.9891291856765747, 0.4858323931694031, -0.01733076572418213, -0.6830118894577026, 0.7041000127792358, -0.00047194957733154297], "max": [2.2923529148101807, 2.7917232513427734, 0.7255979776382446, 0.2206220030784607, 0.04250321909785271, 0.9994884729385376, 0.15563112497329712], "count": [1807]}, "observation.environment_state": {"mean": [1.0187093149716016, 1.4101322612399982, 0.4456650060088712, 0.7634447629305297, -0.007104114118336596, 0.005174784955883793, 0.6257631038359402, 2.0127975236135884, 2.7847085637682105, 0.3300044823398759, 0.7330614125194244, -0.00027459134774501814, -0.0002487293787399006, 0.6801416349133933, 1.91335129737854, 2.7951674461364746, 0.37049999833106995, 0.9993106126785278, 0.0, 0.0, -0.03712545335292816, -0.38958045840263367, -0.10157608985900879, 0.3474999964237213, 0.9996502995491028, 0.0, 0.0, -0.026443876326084137, -0.33665457367897034, -0.10437805950641632, 0.3474999964237213, 0.9996502995491028, 0.0, 0.0, -0.026443876326084137, -0.3567734360694885, 0.016855109483003616, 0.18000000715255737, 0.9996502995491028, 0.0, 0.0, -0.026443876326084137, 1.9491926431655884, 2.8927769660949707, 0.18000000715255737, 0.9993106126785278, 0.0, 0.0, -0.03712545335292816], "std": [1.0343942227620826, 1.3537123857036515, 0.0632579880258631, 0.07395576008079299, 0.02439052123893742, 0.023809230039926712, 0.13734681444560895, 0.01406050155960982, 0.001618111816174184, 6.143297770602345e-05, 0.0008121173133969997, 0.0038111231112920607, 0.0034474927574140416, 0.0010655124416404959, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 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": [-0.36377719044685364, -0.5863357782363892, 0.3999989926815033, 0.7153422236442566, -0.10816765576601028, -0.07414540648460388, 0.08994821459054947, 1.9612975120544434, 2.784247398376465, 0.3299999237060547, 0.732871413230896, -0.0826323851943016, -0.0745098665356636, 0.6655044555664062, 1.91335129737854, 2.7951674461364746, 0.37049999833106995, 0.9993106126785278, 0.0, 0.0, -0.03712545335292816, -0.38958045840263367, -0.10157608985900879, 0.3474999964237213, 0.9996502995491028, 0.0, 0.0, -0.026443876326084137, -0.33665457367897034, -0.10437805950641632, 0.3474999964237213, 0.9996502995491028, 0.0, 0.0, -0.026443876326084137, -0.3567734360694885, 0.016855109483003616, 0.18000000715255737, 0.9996502995491028, 0.0, 0.0, -0.026443876326084137, 1.9491926431655884, 2.8927769660949707, 0.18000000715255737, 0.9993106126785278, 0.0, 0.0, -0.03712545335292816], "max": [2.0753157138824463, 2.791126251220703, 0.5641321539878845, 0.9959261417388916, 0.07033764570951462, 0.11568325012922287, 0.690795361995697, 2.016765832901001, 2.790632963180542, 0.3313271105289459, 0.742665708065033, 8.672476724314038e-06, 1.5363099009846337e-05, 0.6803672313690186, 1.91335129737854, 2.7951674461364746, 0.37049999833106995, 0.9993106126785278, 0.0, 0.0, -0.03712545335292816, -0.38958045840263367, -0.10157608985900879, 0.3474999964237213, 0.9996502995491028, 0.0, 0.0, -0.026443876326084137, -0.33665457367897034, -0.10437805950641632, 0.3474999964237213, 0.9996502995491028, 0.0, 0.0, -0.026443876326084137, -0.3567734360694885, 0.016855109483003616, 0.18000000715255737, 0.9996502995491028, 0.0, 0.0, -0.026443876326084137, 1.9491926431655884, 2.8927769660949707, 0.18000000715255737, 0.9993106126785278, 0.0, 0.0, -0.03712545335292816], "count": [1807]}, "action.command": {"mean": [-0.8404938520888937, -0.5082635251645049, 1.1268595897773812, 0.7624734873929735, 0.0, 0.0, 0.6439630443549288, 0.6857514638906962, 0.7234670040703627, 0.9805161569051798, 0.6485210344941879, 0.11132611953229998, -0.42731314820973515, 0.8515626234362943, 0.06490284662445155, 0.5714285714285714, -1.699895449433962, -1.3193379618117178, 1.505274731089257, 0.0, 0.0, 0.0, 0.0, 2.0, 0.014373501409271364, -0.04877738147211909, 0.6940691142993531, 0.11647347924406082, -0.3461415615950587, 0.9093902250639041, 0.04332746356640457, 0.0, -1.6897448271633317, -1.315509450868835, 1.505274731089257, 0.0, 0.0, 0.0, 0.0, 2.0, 0.014373501409271364, -0.04877738147211909, 0.6940691142993531, 0.11647347924406082, -0.3461415615950587, 0.9093902250639041, 0.04332746356640457, 0.0, -1.6816221782448795, -1.3128373249863872, 1.505274731089257, 0.0, 0.0, 0.0, 0.0, 2.0, 0.014373501409271364, -0.04877738147211909, 0.6940691142993531, 0.11647347924406082, -0.3461415615950587, 0.9093902250639041, 0.04332746356640457, 0.0, -1.583908944880818, -1.287332351563917, 1.505274731089257, 0.0, 0.0, 0.0, 0.0, 2.0, 0.014373501409271364, -0.04877738147211909, 0.6940691142993531, 0.11647347924406082, -0.3461415615950587, 0.9093902250639041, 0.04332746356640457, 0.0, -1.5401546215666095, -1.2732586984197993, 1.505274731089257, 0.0, 0.0, 0.0, 0.0, 2.0, 0.014373501409271364, -0.04877738147211909, 0.6940691142993531, 0.11647347924406082, -0.3461415615950587, 0.9093902250639041, 0.04332746356640457, 0.0, -1.4782949408483699, -1.2591988924053443, 1.505274731089257, 0.0, 0.0, 0.0, 0.0, 2.0, 0.014373501409271364, -0.04877738147211909, 0.6940691142993531, 0.11647347924406082, -0.3461415615950587, 0.9093902250639041, 0.04332746356640457, 0.0, -1.4278830257150399, -1.2457207772645142, 1.505274731089257, 0.0, 0.0, 0.0, 0.0, 2.0, 0.014373501409271364, -0.04877738147211909, 0.6940691142993531, 0.11647347924406082, -0.3461415615950587, 0.9093902250639041, 0.04332746356640457, 0.0, -1.3729454236227925, -1.2310983471241486, 1.505274731089257, 0.0, 0.0, 0.0, 0.0, 2.0, 0.014373501409271364, -0.04877738147211909, 0.6940691142993531, 0.11647347924406082, -0.3461415615950587, 0.9093902250639041, 0.04332746356640457, 0.0, -1.3128818962848363, -1.2172065938786574, 1.505274731089257, 0.0, 0.0, 0.0, 0.0, 2.0, 0.014373501409271364, -0.04877738147211909, 0.6940691142993531, 0.11647347924406082, -0.3461415615950587, 0.9093902250639041, 0.04332746356640457, 0.0, -1.2679474928778562, -1.2030480591477488, 1.505274731089257, 0.0, 0.0, 0.0, 0.0, 2.0, 0.014373501409271364, -0.04877738147211909, 0.6940691142993531, 0.11647347924406082, -0.3461415615950587, 0.9093902250639041, 0.04332746356640457, 0.0, -1.1820867357632674, -1.1796110776199147, 1.505274731089257, 0.0, 0.0, 0.0, 0.0, 2.0, 0.014373501409271364, -0.04877738147211909, 0.6940691142993531, 0.11647347924406082, -0.3461415615950587, 0.9093902250639041, 0.04332746356640457, 0.0, -1.168361136722372, -1.1760353859950203, 1.505274731089257, 0.0, 0.0, 0.0, 0.0, 2.0, 0.014373501409271364, -0.04877738147211909, 0.6940691142993531, 0.11647347924406082, -0.3461415615950587, 0.9093902250639041, 0.04332746356640457, 0.0, -1.148757194044773, -1.170651361406411, 1.505274731089257, 0.0, 0.0, 0.0, 0.0, 2.0, 0.014373501409271364, -0.04877738147211909, 0.6940691142993531, 0.11647347924406082, -0.3461415615950587, 0.9093902250639041, 0.04332746356640457, 0.0, -1.063386447938262, -1.1480178208883807, 1.505274731089257, 0.0, 0.0, 0.0, 0.0, 2.0, 0.014373501409271364, -0.04877738147211909, 0.6940691142993531, 0.11647347924406082, -0.3461415615950587, 0.9093902250639041, 0.04332746356640457, 0.0, -1.0297141206296585, -1.119627012779703, 1.505274731089257, 0.0, 0.0, 0.0, 0.0, 2.0, 0.014373501409271364, -0.04877738147211909, 0.6940691142993531, 0.11647347924406082, -0.3461415615950587, 0.9093902250639041, 0.04332746356640457, 0.0, -0.9979723456088819, -1.0972383181949323, 1.505274731089257, 0.0, 0.0, 0.0, 0.0, 2.0, 0.014373501409271364, -0.04877738147211909, 0.6940691142993531, 0.11647347924406082, -0.3461415615950587, 0.9093902250639041, 0.04332746356640457, 0.0, -0.9258070440504144, -1.0346699904545158, 1.505274731089257, 0.0, 0.0, 0.0, 0.0, 2.0, 0.014373501409271364, -0.04877738147211909, 0.6940691142993531, 0.11647347924406082, -0.3461415615950587, 0.9093902250639041, 0.04332746356640457, 0.0, -0.9118795096874237, -1.0177977999639705, 1.505274731089257, 0.0, 0.0, 0.0, 0.0, 2.0, 0.014373501409271364, -0.04877738147211909, 0.6940691142993531, 0.11647347924406082, -0.3461415615950587, 0.9093902250639041, 0.04332746356640457, 0.0, -0.8922737827612285, -0.9920300461081124, 1.505274731089257, 0.0, 0.0, 0.0, 0.0, 2.0, 0.014373501409271364, -0.04877738147211909, 0.6940691142993531, 0.11647347924406082, -0.3461415615950587, 0.9093902250639041, 0.04332746356640457, 0.0, -0.8337141257356026, -0.9495190364756141, 1.505274731089257, 0.0, 0.0, 0.0, 0.0, 2.0, 0.014373501409271364, -0.04877738147211909, 0.6940691142993531, 0.11647347924406082, -0.3461415615950587, 0.9093902250639041, 0.04332746356640457, 0.0, -0.7865979261947031, -0.8991021024988285, 1.505274731089257, 0.0, 0.0, 0.0, 0.0, 2.0, 0.014373501409271364, -0.04877738147211909, 0.6940691142993531, 0.11647347924406082, -0.3461415615950587, 0.9093902250639041, 0.04332746356640457, 0.0, -0.7603385912136628, -0.8733351117709444, 1.505274731089257, 0.0, 0.0, 0.0, 0.0, 2.0, 0.014373501409271364, -0.04877738147211909, 0.6940691142993531, 0.11647347924406082, -0.3461415615950587, 0.9093902250639041, 0.04332746356640457, 0.0, -0.7081410571190743, -0.8162197144263365, 1.505274731089257, 0.0, 0.0, 0.0, 0.0, 2.0, 0.014373501409271364, -0.04877738147211909, 0.6940691142993531, 0.11647347924406082, -0.3461415615950587, 0.9093902250639041, 0.04332746356640457, 0.0, -0.6867849744184502, -0.7967378028729883, 1.505274731089257, 0.0, 0.0, 0.0, 0.0, 2.0, 0.014373501409271364, -0.04877738147211909, 0.6940691142993531, 0.11647347924406082, -0.3461415615950587, 0.9093902250639041, 0.04332746356640457, 0.0, -0.6495162361723898, -0.7399672638539672, 1.505274731089257, 0.0, 0.0, 0.0, 0.0, 2.0, 0.014373501409271364, -0.04877738147211909, 0.6940691142993531, 0.11647347924406082, -0.3461415615950587, 0.9093902250639041, 0.04332746356640457, 0.0, -0.613250771008462, -0.7200038364836457, 1.505274731089257, 0.0, 0.0, 0.0, 0.0, 2.0, 0.014373501409271364, -0.04877738147211909, 0.6940691142993531, 0.11647347924406082, -0.3461415615950587, 0.9093902250639041, 0.04332746356640457, 0.0, -0.5509491968764592, -0.6506878021668296, 1.505274731089257, 0.0, 0.0, 0.0, 0.0, 2.0, 0.014373501409271364, -0.04877738147211909, 0.6940691142993531, 0.11647347924406082, -0.3461415615950587, 0.9093902250639041, 0.04332746356640457, 0.0, -0.5396809981456515, -0.6432048854083424, 1.505274731089257, 0.0, 0.0, 0.0, 0.0, 2.0, 0.014373501409271364, -0.04877738147211909, 0.6940691142993531, 0.11647347924406082, -0.3461415615950587, 0.9093902250639041, 0.04332746356640457, 0.0, -0.49066480187997524, -0.576436593386559, 1.505274731089257, 0.0, 0.0, 0.0, 0.0, 2.0, 0.014373501409271364, -0.04877738147211909, 0.6940691142993531, 0.11647347924406082, -0.3461415615950587, 0.9093902250639041, 0.04332746356640457, 0.0, -0.46596165139774615, -0.5662905789841554, 1.505274731089257, 0.0, 0.0, 0.0, 0.0, 2.0, 0.014373501409271364, -0.04877738147211909, 0.6940691142993531, 0.11647347924406082, -0.3461415615950587, 0.9093902250639041, 0.04332746356640457, 0.0, -0.4397488670426134, -0.538747253199766, 1.505274731089257, 0.0, 0.0, 0.0, 0.0, 2.0, 0.014373501409271364, -0.04877738147211909, 0.6940691142993531, 0.11647347924406082, -0.3461415615950587, 0.9093902250639041, 0.04332746356640457, 0.0, -0.39211527945055136, -0.48924745829878713, 1.505274731089257, 0.0, 0.0, 0.0, 0.0, 2.0, 0.014373501409271364, -0.04877738147211909, 0.6940691142993531, 0.11647347924406082, -0.3461415615950587, 0.9093902250639041, 0.04332746356640457, 0.0, -0.35396044692312884, -0.4734368062356279, 1.505274731089257, 0.0, 0.0, 0.0, 0.0, 2.0, 0.014373501409271364, -0.04877738147211909, 0.6940691142993531, 0.11647347924406082, -0.3461415615950587, 0.9093902250639041, 0.04332746356640457, 0.0, -0.3182460867059022, -0.41216266271564234, 1.505274731089257, 0.0, 0.0, 0.0, 0.0, 2.0, 0.014373501409271364, -0.04877738147211909, 0.6940691142993531, 0.11647347924406082, -0.3461415615950587, 0.9093902250639041, 0.04332746356640457, 0.0, -0.3116632517863411, -0.4068646895051163, 1.505274731089257, 0.0, 0.0, 0.0, 0.0, 2.0, 0.014373501409271364, -0.04877738147211909, 0.6940691142993531, 0.11647347924406082, -0.3461415615950587, 0.9093902250639041, 0.04332746356640457, 0.0, -0.24454773290641857, -0.33515948674880963, 1.505274731089257, 0.0, 0.0, 0.0, 0.0, 2.0, 0.014373501409271364, -0.04877738147211909, 0.6940691142993531, 0.11647347924406082, -0.3461415615950587, 0.9093902250639041, 0.04332746356640457, 0.0, -0.22153806670357049, -0.32245104590463447, 1.505274731089257, 0.0, 0.0, 0.0, 0.0, 2.0, 0.014373501409271364, -0.04877738147211909, 0.6940691142993531, 0.11647347924406082, -0.3461415615950587, 0.9093902250639041, 0.04332746356640457, 0.0, -0.17088809910244127, -0.25819647817560354, 1.505274731089257, 0.0, 0.0, 0.0, 0.0, 2.0, 0.014373501409271364, -0.04877738147211909, 0.6940691142993531, 0.11647347924406082, -0.3461415615950587, 0.9093902250639041, 0.04332746356640457, 0.0, -0.13320159334513895, -0.23827845901050285, 1.505274731089257, 0.0, 0.0, 0.0, 0.0, 2.0, 0.014373501409271364, -0.04877738147211909, 0.6940691142993531, 0.11647347924406082, -0.3461415615950587, 0.9093902250639041, 0.04332746356640457, 0.0, -0.09720535586371236, -0.18123045720129924, 1.505274731089257, 0.0, 0.0, 0.0, 0.0, 2.0, 0.014373501409271364, -0.04877738147211909, 0.6940691142993531, 0.11647347924406082, -0.3461415615950587, 0.9093902250639041, 0.04332746356640457, 0.0, -0.0893265610588351, -0.17187157638300796, 1.505274731089257, 0.0, 0.0, 0.0, 0.0, 2.0, 0.014373501409271364, -0.04877738147211909, 0.6940691142993531, 0.11647347924406082, -0.3461415615950587, 0.9093902250639041, 0.04332746356640457, 0.0, -0.02336840048773292, -0.10420442164987125, 1.505274731089257, 0.0, 0.0, 0.0, 0.0, 2.0, 0.014373501409271364, -0.04877738147211909, 0.6940691142993531, 0.11647347924406082, -0.3461415615950587, 0.9093902250639041, 0.04332746356640457, 0.0, 0.00888392293116286, -0.08389246656307461, 1.505274731089257, 0.0, 0.0, 0.0, 0.0, 2.0, 0.014373501409271364, -0.04877738147211909, 0.6940691142993531, 0.11647347924406082, -0.3461415615950587, 0.9093902250639041, 0.04332746356640457, 0.0, 0.050468533228415983, -0.027178526967563347, 1.505274731089257, 0.0, 0.0, 0.0, 0.0, 2.0, 0.014373501409271364, -0.04877738147211909, 0.6940691142993531, 0.11647347924406082, -0.3461415615950587, 0.9093902250639041, 0.04332746356640457, 0.0, 0.07960426261896722, -0.007017748753764588, 1.505274731089257, 0.0, 0.0, 0.0, 0.0, 2.0, 0.014373501409271364, -0.04877738147211909, 0.6940691142993531, 0.11647347924406082, -0.3461415615950587, 0.9093902250639041, 0.04332746356640457, 0.0, 0.12422783923502084, 0.04981728180902001, 1.505274731089257, 0.0, 0.0, 0.0, 0.0, 2.0, 0.014373501409271364, -0.04877738147211909, 0.6940691142993531, 0.11647347924406082, -0.3461415615950587, 0.9093902250639041, 0.04332746356640457, 0.0, 0.14126419475550286, 0.06672066779027556, 1.505274731089257, 0.0, 0.0, 0.0, 0.0, 2.0, 0.014373501409271364, -0.04877738147211909, 0.6940691142993531, 0.11647347924406082, -0.3461415615950587, 0.9093902250639041, 0.04332746356640457, 0.0, 0.19788337973213452, 0.12677269700719082, 1.505274731089257, 0.0, 0.0, 0.0, 0.0, 2.0, 0.014373501409271364, -0.04877738147211909, 0.6940691142993531, 0.11647347924406082, -0.3461415615950587, 0.9093902250639041, 0.04332746356640457, 0.0, 0.23875356362292777, 0.15403352242619964, 1.505274731089257, 0.0, 0.0, 0.0, 0.0, 2.0, 0.014373501409271364, -0.04877738147211909, 0.6940691142993531, 0.11647347924406082, -0.3461415615950587, 0.9093902250639041, 0.04332746356640457, 0.0, 0.2715388226797892, 0.2037280634306321, 1.505274731089257, 0.0, 0.0, 0.0, 0.0, 2.0, 0.014373501409271364, -0.04877738147211909, 0.6940691142993531, 0.11647347924406082, -0.3461415615950587, 0.9093902250639041, 0.04332746356640457, 0.0, 0.2926790269836282, 0.2247333675823494, 1.505274731089257, 0.0, 0.0, 0.0, 0.0, 2.0, 0.014373501409271364, -0.04877738147211909, 0.6940691142993531, 0.11647347924406082, -0.3461415615950587, 0.9093902250639041, 0.04332746356640457, 0.0, 0.3453203699630491, 0.28073254055161817, 1.505274731089257, 0.0, 0.0, 0.0, 0.0, 2.0, 0.014373501409271364, -0.04877738147211909, 0.6940691142993531, 0.11647347924406082, -0.3461415615950587, 0.9093902250639041, 0.04332746356640457, 0.0, 0.37121145208623174, 0.30470887761096777, 1.505274731089257, 0.0, 0.0, 0.0, 0.0, 2.0, 0.014373501409271364, -0.04877738147211909, 0.6940691142993531, 0.11647347924406082, -0.3461415615950587, 0.9093902250639041, 0.04332746356640457, 0.0, 0.419157303679198, 0.35775848400865556, 1.505274731089257, 0.0, 0.0, 0.0, 0.0, 2.0, 0.014373501409271364, -0.04877738147211909, 0.6940691142993531, 0.11647347924406082, -0.3461415615950587, 0.9093902250639041, 0.04332746356640457, 0.0, 0.4693551668408421, 0.3925661275396437, 1.505274731089257, 0.0, 0.0, 0.0, 0.0, 2.0, 0.014373501409271364, -0.04877738147211909, 0.6940691142993531, 0.11647347924406082, -0.3461415615950587, 0.9093902250639041, 0.04332746356640457, 0.0, 0.49299430782990694, 0.43478456833481305, 1.505274731089257, 0.0, 0.0, 0.0, 0.0, 2.0, 0.014373501409271364, -0.04877738147211909, 0.6940691142993531, 0.11647347924406082, -0.3461415615950587, 0.9093902250639041, 0.04332746356640457, 0.0, 0.5055516305232914, 0.4561159784026935, 1.505274731089257, 0.0, 0.0, 0.0, 0.0, 2.0, 0.014373501409271364, -0.04877738147211909, 0.6940691142993531, 0.11647347924406082, -0.3461415615950587, 0.9093902250639041, 0.04332746356640457, 0.0, 0.5666547962345313, 0.5117420266165548, 1.505274731089257, 0.0, 0.0, 0.0, 0.0, 2.0, 0.014373501409271364, -0.04877738147211909, 0.6940691142993531, 0.11647347924406082, -0.3461415615950587, 0.9093902250639041, 0.04332746356640457, 0.0, 0.601489272605362, 0.5430836146484314, 1.505274731089257, 0.0, 0.0, 0.0, 0.0, 2.0, 0.014373501409271364, -0.04877738147211909, 0.6940691142993531, 0.11647347924406082, -0.3461415615950587, 0.9093902250639041, 0.04332746356640457, 0.0, 0.6403102635695508, 0.588697322605436, 1.505274731089257, 0.0, 0.0, 0.0, 0.0, 2.0, 0.014373501409271364, -0.04877738147211909, 0.6940691142993531, 0.11647347924406082, -0.3461415615950587, 0.9093902250639041, 0.04332746356640457, 0.0, 0.6840456671220617, 0.6247616109424452, 1.505274731089257, 0.0, 0.0, 0.0, 0.0, 2.0, 0.014373501409271364, -0.04877738147211909, 0.6940691142993531, 0.11647347924406082, -0.3461415615950587, 0.9093902250639041, 0.04332746356640457, 0.0, 0.7142282968254141, 0.6660427617192429, 1.505274731089257, 0.0, 0.0, 0.0, 0.0, 2.0, 0.014373501409271364, -0.04877738147211909, 0.6940691142993531, 0.11647347924406082, -0.3461415615950587, 0.9093902250639041, 0.04332746356640457, 0.0, 0.7342250698508035, 0.6946133822804345, 1.505274731089257, 0.0, 0.0, 0.0, 0.0, 2.0, 0.014373501409271364, -0.04877738147211909, 0.6940691142993531, 0.11647347924406082, -0.3461415615950587, 0.9093902250639041, 0.04332746356640457, 0.0, 0.7890329348126459, 0.7447359250660379, 1.505274731089257, 0.0, 0.0, 0.0, 0.0, 2.0, 0.014373501409271364, -0.04877738147211909, 0.6940691142993531, 0.11647347924406082, -0.3461415615950587, 0.9093902250639041, 0.04332746356640457, 0.0, 0.8338678337202419, 0.7853992771492672, 1.505274731089257, 0.0, 0.0, 0.0, 0.0, 2.0, 0.014373501409271364, -0.04877738147211909, 0.6940691142993531, 0.11647347924406082, -0.3461415615950587, 0.9093902250639041, 0.04332746356640457, 0.0, 0.8651629952691284, 0.825864172559407, 1.505274731089257, 0.0, 0.0, 0.0, 0.0, 2.0, 0.014373501409271364, -0.04877738147211909, 0.6940691142993531, 0.11647347924406082, -0.3461415615950587, 0.9093902250639041, 0.04332746356640457, 0.0, 0.9041265289363116, 0.8680743596755961, 1.505274731089257, 0.0, 0.0, 0.0, 0.0, 2.0, 0.014373501409271364, -0.04877738147211909, 0.6940691142993531, 0.11647347924406082, -0.3461415615950587, 0.9093902250639041, 0.04332746356640457, 0.0, 0.9461322429202608, 0.9223464067980226, 1.505274731089257, 0.0, 0.0, 0.0, 0.0, 2.0, 0.014373501409271364, -0.04877738147211909, 0.6940691142993531, 0.11647347924406082, -0.3461415615950587, 0.9093902250639041, 0.04332746356640457, 0.0], "std": [1.949596768223545, 1.5649525557291888, 0.5424201154884886, 0.03965965524519364, 0.0, 0.0, 0.048712357053133586, 1.3207758699120962, 1.4963642424261736, 1.7065846416618402, 0.058297029946324394, 0.0497953085267488, 0.2447765562637411, 0.10799566150023546, 0.03975470882986048, 0.49487165930539406, 1.5860671735579959, 0.7839963359568202, 0.010509750992405144, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5561314512295943, 1.4351405067454819, 0.018555400967439725, 0.007578399437744387, 0.17958039437494006, 0.07005295948290612, 0.02319601849360778, 0.0, 1.5750816501489942, 0.7796281212424953, 0.010509750992405144, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5561314512295943, 1.4351405067454819, 0.018555400967439725, 0.007578399437744387, 0.17958039437494006, 0.07005295948290612, 0.02319601849360778, 0.0, 1.570333084188359, 0.7773781920338816, 0.010509750992405144, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5561314512295943, 1.4351405067454819, 0.018555400967439725, 0.007578399437744387, 0.17958039437494006, 0.07005295948290612, 0.02319601849360778, 0.0, 1.5817649711857868, 0.771436788179511, 0.010509750992405144, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5561314512295943, 1.4351405067454819, 0.018555400967439725, 0.007578399437744387, 0.17958039437494006, 0.07005295948290612, 0.02319601849360778, 0.0, 1.559492223786645, 0.760335871386671, 0.010509750992405144, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5561314512295943, 1.4351405067454819, 0.018555400967439725, 0.007578399437744387, 0.17958039437494006, 0.07005295948290612, 0.02319601849360778, 0.0, 1.588273773466778, 0.7632133061534363, 0.010509750992405144, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5561314512295943, 1.4351405067454819, 0.018555400967439725, 0.007578399437744387, 0.17958039437494006, 0.07005295948290612, 0.02319601849360778, 0.0, 1.590871223588218, 0.7591310618872871, 0.010509750992405144, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5561314512295943, 1.4351405067454819, 0.018555400967439725, 0.007578399437744387, 0.17958039437494006, 0.07005295948290612, 0.02319601849360778, 0.0, 1.5943797539295348, 0.7548912085752062, 0.010509750992405144, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5561314512295943, 1.4351405067454819, 0.018555400967439725, 0.007578399437744387, 0.17958039437494006, 0.07005295948290612, 0.02319601849360778, 0.0, 1.6198454985358286, 0.7569209012683557, 0.010509750992405144, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5561314512295943, 1.4351405067454819, 0.018555400967439725, 0.007578399437744387, 0.17958039437494006, 0.07005295948290612, 0.02319601849360778, 0.0, 1.6000149953251748, 0.7464582454296887, 0.010509750992405144, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5561314512295943, 1.4351405067454819, 0.018555400967439725, 0.007578399437744387, 0.17958039437494006, 0.07005295948290612, 0.02319601849360778, 0.0, 1.599469613223527, 0.7379741721733298, 0.010509750992405144, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5561314512295943, 1.4351405067454819, 0.018555400967439725, 0.007578399437744387, 0.17958039437494006, 0.07005295948290612, 0.02319601849360778, 0.0, 1.6011467663075014, 0.7371616269134328, 0.010509750992405144, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5561314512295943, 1.4351405067454819, 0.018555400967439725, 0.007578399437744387, 0.17958039437494006, 0.07005295948290612, 0.02319601849360778, 0.0, 1.6006834783560648, 0.7351201237990207, 0.010509750992405144, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5561314512295943, 1.4351405067454819, 0.018555400967439725, 0.007578399437744387, 0.17958039437494006, 0.07005295948290612, 0.02319601849360778, 0.0, 1.6070559039737458, 0.7288151172237544, 0.010509750992405144, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5561314512295943, 1.4351405067454819, 0.018555400967439725, 0.007578399437744387, 0.17958039437494006, 0.07005295948290612, 0.02319601849360778, 0.0, 1.597780239430697, 0.7379421111290196, 0.010509750992405144, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5561314512295943, 1.4351405067454819, 0.018555400967439725, 0.007578399437744387, 0.17958039437494006, 0.07005295948290612, 0.02319601849360778, 0.0, 1.5801200696367872, 0.7394395435967458, 0.010509750992405144, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5561314512295943, 1.4351405067454819, 0.018555400967439725, 0.007578399437744387, 0.17958039437494006, 0.07005295948290612, 0.02319601849360778, 0.0, 1.5637512067574737, 0.7617980044687689, 0.010509750992405144, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5561314512295943, 1.4351405067454819, 0.018555400967439725, 0.007578399437744387, 0.17958039437494006, 0.07005295948290612, 0.02319601849360778, 0.0, 1.570369541171094, 0.7739056644283312, 0.010509750992405144, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5561314512295943, 1.4351405067454819, 0.018555400967439725, 0.007578399437744387, 0.17958039437494006, 0.07005295948290612, 0.02319601849360778, 0.0, 1.5837970230325784, 0.7942258898335403, 0.010509750992405144, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5561314512295943, 1.4351405067454819, 0.018555400967439725, 0.007578399437744387, 0.17958039437494006, 0.07005295948290612, 0.02319601849360778, 0.0, 1.5536757305228397, 0.798948754207471, 0.010509750992405144, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5561314512295943, 1.4351405067454819, 0.018555400967439725, 0.007578399437744387, 0.17958039437494006, 0.07005295948290612, 0.02319601849360778, 0.0, 1.5425173734678364, 0.8213240515237121, 0.010509750992405144, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5561314512295943, 1.4351405067454819, 0.018555400967439725, 0.007578399437744387, 0.17958039437494006, 0.07005295948290612, 0.02319601849360778, 0.0, 1.5329960199257504, 0.8305701680339398, 0.010509750992405144, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5561314512295943, 1.4351405067454819, 0.018555400967439725, 0.007578399437744387, 0.17958039437494006, 0.07005295948290612, 0.02319601849360778, 0.0, 1.5224203005505716, 0.8571023489876227, 0.010509750992405144, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5561314512295943, 1.4351405067454819, 0.018555400967439725, 0.007578399437744387, 0.17958039437494006, 0.07005295948290612, 0.02319601849360778, 0.0, 1.5125896927397995, 0.8625842893569956, 0.010509750992405144, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5561314512295943, 1.4351405067454819, 0.018555400967439725, 0.007578399437744387, 0.17958039437494006, 0.07005295948290612, 0.02319601849360778, 0.0, 1.5276843489049832, 0.9036379730331884, 0.010509750992405144, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5561314512295943, 1.4351405067454819, 0.018555400967439725, 0.007578399437744387, 0.17958039437494006, 0.07005295948290612, 0.02319601849360778, 0.0, 1.492411045858396, 0.894806966820804, 0.010509750992405144, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5561314512295943, 1.4351405067454819, 0.018555400967439725, 0.007578399437744387, 0.17958039437494006, 0.07005295948290612, 0.02319601849360778, 0.0, 1.481409242824067, 0.9280578469574428, 0.010509750992405144, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5561314512295943, 1.4351405067454819, 0.018555400967439725, 0.007578399437744387, 0.17958039437494006, 0.07005295948290612, 0.02319601849360778, 0.0, 1.4722619982957503, 0.9270837216538759, 0.010509750992405144, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5561314512295943, 1.4351405067454819, 0.018555400967439725, 0.007578399437744387, 0.17958039437494006, 0.07005295948290612, 0.02319601849360778, 0.0, 1.480931111253887, 0.970159038802749, 0.010509750992405144, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5561314512295943, 1.4351405067454819, 0.018555400967439725, 0.007578399437744387, 0.17958039437494006, 0.07005295948290612, 0.02319601849360778, 0.0, 1.4520142179559288, 0.9593696694932085, 0.010509750992405144, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5561314512295943, 1.4351405067454819, 0.018555400967439725, 0.007578399437744387, 0.17958039437494006, 0.07005295948290612, 0.02319601849360778, 0.0, 1.4450900874118013, 0.9711187161219925, 0.010509750992405144, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5561314512295943, 1.4351405067454819, 0.018555400967439725, 0.007578399437744387, 0.17958039437494006, 0.07005295948290612, 0.02319601849360778, 0.0, 1.431726317351341, 0.9917060680526109, 0.010509750992405144, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5561314512295943, 1.4351405067454819, 0.018555400967439725, 0.007578399437744387, 0.17958039437494006, 0.07005295948290612, 0.02319601849360778, 0.0, 1.3872611949607392, 0.9752348237671952, 0.010509750992405144, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5561314512295943, 1.4351405067454819, 0.018555400967439725, 0.007578399437744387, 0.17958039437494006, 0.07005295948290612, 0.02319601849360778, 0.0, 1.4114574072007964, 1.0240772458115963, 0.010509750992405144, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5561314512295943, 1.4351405067454819, 0.018555400967439725, 0.007578399437744387, 0.17958039437494006, 0.07005295948290612, 0.02319601849360778, 0.0, 1.40742577483914, 1.0247892706126671, 0.010509750992405144, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5561314512295943, 1.4351405067454819, 0.018555400967439725, 0.007578399437744387, 0.17958039437494006, 0.07005295948290612, 0.02319601849360778, 0.0, 1.391372305889259, 1.056507182614273, 0.010509750992405144, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5561314512295943, 1.4351405067454819, 0.018555400967439725, 0.007578399437744387, 0.17958039437494006, 0.07005295948290612, 0.02319601849360778, 0.0, 1.3690516647408577, 1.050962175181528, 0.010509750992405144, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5561314512295943, 1.4351405067454819, 0.018555400967439725, 0.007578399437744387, 0.17958039437494006, 0.07005295948290612, 0.02319601849360778, 0.0, 1.3712981358112695, 1.0889204588103267, 0.010509750992405144, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5561314512295943, 1.4351405067454819, 0.018555400967439725, 0.007578399437744387, 0.17958039437494006, 0.07005295948290612, 0.02319601849360778, 0.0, 1.3334704701664348, 1.0785989712078603, 0.010509750992405144, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5561314512295943, 1.4351405067454819, 0.018555400967439725, 0.007578399437744387, 0.17958039437494006, 0.07005295948290612, 0.02319601849360778, 0.0, 1.3511877432006065, 1.12131471524605, 0.010509750992405144, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5561314512295943, 1.4351405067454819, 0.018555400967439725, 0.007578399437744387, 0.17958039437494006, 0.07005295948290612, 0.02319601849360778, 0.0, 1.3506361994585792, 1.1263396245497095, 0.010509750992405144, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5561314512295943, 1.4351405067454819, 0.018555400967439725, 0.007578399437744387, 0.17958039437494006, 0.07005295948290612, 0.02319601849360778, 0.0, 1.33089210574437, 1.153636995516526, 0.010509750992405144, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5561314512295943, 1.4351405067454819, 0.018555400967439725, 0.007578399437744387, 0.17958039437494006, 0.07005295948290612, 0.02319601849360778, 0.0, 1.3031442976194798, 1.1493196857692596, 0.010509750992405144, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5561314512295943, 1.4351405067454819, 0.018555400967439725, 0.007578399437744387, 0.17958039437494006, 0.07005295948290612, 0.02319601849360778, 0.0, 1.3105963510631242, 1.1859591585619904, 0.010509750992405144, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5561314512295943, 1.4351405067454819, 0.018555400967439725, 0.007578399437744387, 0.17958039437494006, 0.07005295948290612, 0.02319601849360778, 0.0, 1.288095476438997, 1.1845638877034426, 0.010509750992405144, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5561314512295943, 1.4351405067454819, 0.018555400967439725, 0.007578399437744387, 0.17958039437494006, 0.07005295948290612, 0.02319601849360778, 0.0, 1.2903940247266927, 1.218317690671409, 0.010509750992405144, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5561314512295943, 1.4351405067454819, 0.018555400967439725, 0.007578399437744387, 0.17958039437494006, 0.07005295948290612, 0.02319601849360778, 0.0, 1.2844809014095802, 1.2245741660863716, 0.010509750992405144, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5561314512295943, 1.4351405067454819, 0.018555400967439725, 0.007578399437744387, 0.17958039437494006, 0.07005295948290612, 0.02319601849360778, 0.0, 1.2703162499792098, 1.2507245487973258, 0.010509750992405144, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5561314512295943, 1.4351405067454819, 0.018555400967439725, 0.007578399437744387, 0.17958039437494006, 0.07005295948290612, 0.02319601849360778, 0.0, 1.2373089066633547, 1.2473573185703852, 0.010509750992405144, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5561314512295943, 1.4351405067454819, 0.018555400967439725, 0.007578399437744387, 0.17958039437494006, 0.07005295948290612, 0.02319601849360778, 0.0, 1.2502385924567305, 1.2831314655357717, 0.010509750992405144, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5561314512295943, 1.4351405067454819, 0.018555400967439725, 0.007578399437744387, 0.17958039437494006, 0.07005295948290612, 0.02319601849360778, 0.0, 1.2429435619339, 1.2909366007543213, 0.010509750992405144, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5561314512295943, 1.4351405067454819, 0.018555400967439725, 0.007578399437744387, 0.17958039437494006, 0.07005295948290612, 0.02319601849360778, 0.0, 1.23000953881462, 1.3154796525367376, 0.010509750992405144, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5561314512295943, 1.4351405067454819, 0.018555400967439725, 0.007578399437744387, 0.17958039437494006, 0.07005295948290612, 0.02319601849360778, 0.0, 1.2185975068057804, 1.3226198288017108, 0.010509750992405144, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5561314512295943, 1.4351405067454819, 0.018555400967439725, 0.007578399437744387, 0.17958039437494006, 0.07005295948290612, 0.02319601849360778, 0.0, 1.209713784133375, 1.347801756969683, 0.010509750992405144, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5561314512295943, 1.4351405067454819, 0.018555400967439725, 0.007578399437744387, 0.17958039437494006, 0.07005295948290612, 0.02319601849360778, 0.0, 1.1710498937736142, 1.3454982852309412, 0.010509750992405144, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5561314512295943, 1.4351405067454819, 0.018555400967439725, 0.007578399437744387, 0.17958039437494006, 0.07005295948290612, 0.02319601849360778, 0.0, 1.1894180880646426, 1.3801239786276478, 0.010509750992405144, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5561314512295943, 1.4351405067454819, 0.018555400967439725, 0.007578399437744387, 0.17958039437494006, 0.07005295948290612, 0.02319601849360778, 0.0, 1.197624162174522, 1.397002858283909, 0.010509750992405144, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5561314512295943, 1.4351405067454819, 0.018555400967439725, 0.007578399437744387, 0.17958039437494006, 0.07005295948290612, 0.02319601849360778, 0.0, 1.169334510678411, 1.412528668090613, 0.010509750992405144, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5561314512295943, 1.4351405067454819, 0.018555400967439725, 0.007578399437744387, 0.17958039437494006, 0.07005295948290612, 0.02319601849360778, 0.0, 1.152682314913988, 1.4208677046849396, 0.010509750992405144, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5561314512295943, 1.4351405067454819, 0.018555400967439725, 0.007578399437744387, 0.17958039437494006, 0.07005295948290612, 0.02319601849360778, 0.0, 1.1492568238496905, 1.4449355262165338, 0.010509750992405144, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5561314512295943, 1.4351405067454819, 0.018555400967439725, 0.007578399437744387, 0.17958039437494006, 0.07005295948290612, 0.02319601849360778, 0.0, 1.1236963467701306, 1.450862189024009, 0.010509750992405144, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5561314512295943, 1.4351405067454819, 0.018555400967439725, 0.007578399437744387, 0.17958039437494006, 0.07005295948290612, 0.02319601849360778, 0.0, 1.1292715982593278, 1.4776180389884375, 0.010509750992405144, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5561314512295943, 1.4351405067454819, 0.018555400967439725, 0.007578399437744387, 0.17958039437494006, 0.07005295948290612, 0.02319601849360778, 0.0, 1.134694164153612, 1.4970323787076467, 0.010509750992405144, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5561314512295943, 1.4351405067454819, 0.018555400967439725, 0.007578399437744387, 0.17958039437494006, 0.07005295948290612, 0.02319601849360778, 0.0, 1.10964130073802, 1.5112731677917135, 0.010509750992405144, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5561314512295943, 1.4351405067454819, 0.018555400967439725, 0.007578399437744387, 0.17958039437494006, 0.07005295948290612, 0.02319601849360778, 0.0, 1.0886673406753515, 1.5224542665015646, 0.010509750992405144, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5561314512295943, 1.4351405067454819, 0.018555400967439725, 0.007578399437744387, 0.17958039437494006, 0.07005295948290612, 0.02319601849360778, 0.0, 1.0911371986837919, 1.5469637919268457, 0.010509750992405144, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5561314512295943, 1.4351405067454819, 0.018555400967439725, 0.007578399437744387, 0.17958039437494006, 0.07005295948290612, 0.02319601849360778, 0.0, 1.0826418571718919, 1.5661823072420515, 0.010509750992405144, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5561314512295943, 1.4351405067454819, 0.018555400967439725, 0.007578399437744387, 0.17958039437494006, 0.07005295948290612, 0.02319601849360778, 0.0, 1.12601439837134, 1.542951882675614, 0.010509750992405144, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5561314512295943, 1.4351405067454819, 0.018555400967439725, 0.007578399437744387, 0.17958039437494006, 0.07005295948290612, 0.02319601849360778, 0.0], "min": [-3.6654136180877686, -2.284611940383911, 0.28999999165534973, 0.7159931659698486, 0.0, 0.0, 0.5472246408462524, -1.0, -3.4573943614959717, -1.9889944791793823, 0.48813289403915405, -0.01743997260928154, -0.6823234558105469, 0.7041717767715454, 0.000512195227202028, 0.0, -3.605869770050049, -2.261465072631836, 1.49652898311615, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4573943614959717, -1.9889944791793823, 0.6515327095985413, 0.09803823381662369, -0.681645929813385, 0.7186908721923828, 0.007195526733994484, 0.0, -3.5825178623199463, -2.252387285232544, 1.49652898311615, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4573943614959717, -1.9889944791793823, 0.6515327095985413, 0.09803823381662369, -0.681645929813385, 0.7186908721923828, 0.007195526733994484, 0.0, -3.5686888694763184, -2.247011423110962, 1.49652898311615, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4573943614959717, -1.9889944791793823, 0.6515327095985413, 0.09803823381662369, -0.681645929813385, 0.7186908721923828, 0.007195526733994484, 0.0, -3.484713315963745, -2.2143666744232178, 1.49652898311615, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4573943614959717, -1.9889944791793823, 0.6515327095985413, 0.09803823381662369, -0.681645929813385, 0.7186908721923828, 0.007195526733994484, 0.0, -3.414193868637085, -2.186953067779541, 1.49652898311615, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4573943614959717, -1.9889944791793823, 0.6515327095985413, 0.09803823381662369, -0.681645929813385, 0.7186908721923828, 0.007195526733994484, 0.0, -3.386920928955078, -2.1763510704040527, 1.49652898311615, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4573943614959717, -1.9889944791793823, 0.6515327095985413, 0.09803823381662369, -0.681645929813385, 0.7186908721923828, 0.007195526733994484, 0.0, -3.339630365371704, -2.1579673290252686, 1.49652898311615, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4573943614959717, -1.9889944791793823, 0.6515327095985413, 0.09803823381662369, -0.681645929813385, 0.7186908721923828, 0.007195526733994484, 0.0, -3.2889089584350586, -2.1382498741149902, 1.49652898311615, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4573943614959717, -1.9889944791793823, 0.6515327095985413, 0.09803823381662369, -0.681645929813385, 0.7186908721923828, 0.007195526733994484, 0.0, -3.2594475746154785, -2.1267971992492676, 1.49652898311615, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4573943614959717, -1.9889944791793823, 0.6515327095985413, 0.09803823381662369, -0.681645929813385, 0.7186908721923828, 0.007195526733994484, 0.0, -3.190682888031006, -2.1000657081604004, 1.49652898311615, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4573943614959717, -1.9889944791793823, 0.6515327095985413, 0.09803823381662369, -0.681645929813385, 0.7186908721923828, 0.007195526733994484, 0.0, -3.1041667461395264, -2.0664334297180176, 1.49652898311615, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4573943614959717, -1.9889944791793823, 0.6515327095985413, 0.09803823381662369, -0.681645929813385, 0.7186908721923828, 0.007195526733994484, 0.0, -3.092456579208374, -2.0618813037872314, 1.49652898311615, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4573943614959717, -1.9889944791793823, 0.6515327095985413, 0.09803823381662369, -0.681645929813385, 0.7186908721923828, 0.007195526733994484, 0.0, -3.072295904159546, -2.054044008255005, 1.49652898311615, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4573943614959717, -1.9889944791793823, 0.6515327095985413, 0.09803823381662369, -0.681645929813385, 0.7186908721923828, 0.007195526733994484, 0.0, -2.9945828914642334, -2.023833751678467, 1.49652898311615, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4573943614959717, -1.9889944791793823, 0.6515327095985413, 0.09803823381662369, -0.681645929813385, 0.7186908721923828, 0.007195526733994484, 0.0, -2.9497640132904053, -2.006410837173462, 1.49652898311615, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4573943614959717, -1.9889944791793823, 0.6515327095985413, 0.09803823381662369, -0.681645929813385, 0.7186908721923828, 0.007195526733994484, 0.0, -2.8968000411987305, -1.9858216047286987, 1.49652898311615, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4573943614959717, -1.9889944791793823, 0.6515327095985413, 0.09803823381662369, -0.681645929813385, 0.7186908721923828, 0.007195526733994484, 0.0, -2.804964303970337, -1.9501214027404785, 1.49652898311615, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4573943614959717, -1.9889944791793823, 0.6515327095985413, 0.09803823381662369, -0.681645929813385, 0.7186908721923828, 0.007195526733994484, 0.0, -2.79899001121521, -1.9477989673614502, 1.49652898311615, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4573943614959717, -1.9889944791793823, 0.6515327095985413, 0.09803823381662369, -0.681645929813385, 0.7186908721923828, 0.007195526733994484, 0.0, -2.795520067214966, -1.9464499950408936, 1.49652898311615, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4573943614959717, -1.9889944791793823, 0.6515327095985413, 0.09803823381662369, -0.681645929813385, 0.7186908721923828, 0.007195526733994484, 0.0, -2.700763702392578, -1.9096144437789917, 1.49652898311615, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4573943614959717, -1.9889944791793823, 0.6515327095985413, 0.09803823381662369, -0.681645929813385, 0.7186908721923828, 0.007195526733994484, 0.0, -2.6402385234832764, -1.886085867881775, 1.49652898311615, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4573943614959717, -1.9889944791793823, 0.6515327095985413, 0.09803823381662369, -0.681645929813385, 0.7186908721923828, 0.007195526733994484, 0.0, -2.6025373935699463, -1.8714299201965332, 1.49652898311615, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4573943614959717, -1.9889944791793823, 0.6515327095985413, 0.09803823381662369, -0.681645929813385, 0.7186908721923828, 0.007195526733994484, 0.0, -2.537631034851074, -1.8461982011795044, 1.49652898311615, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4573943614959717, -1.9889944791793823, 0.6515327095985413, 0.09803823381662369, -0.681645929813385, 0.7186908721923828, 0.007195526733994484, 0.0, -2.5044615268707275, -1.8333039283752441, 1.49652898311615, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4573943614959717, -1.9889944791793823, 0.6515327095985413, 0.09803823381662369, -0.681645929813385, 0.7186908721923828, 0.007195526733994484, 0.0, -2.4853320121765137, -1.8258675336837769, 1.49652898311615, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4573943614959717, -1.9889944791793823, 0.6515327095985413, 0.09803823381662369, -0.681645929813385, 0.7186908721923828, 0.007195526733994484, 0.0, -2.4066786766052246, -1.7952919006347656, 1.49652898311615, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4573943614959717, -1.9889944791793823, 0.6515327095985413, 0.09803823381662369, -0.681645929813385, 0.7186908721923828, 0.007195526733994484, 0.0, -2.3311562538146973, -1.7659333944320679, 1.49652898311615, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4573943614959717, -1.9889944791793823, 0.6515327095985413, 0.09803823381662369, -0.681645929813385, 0.7186908721923828, 0.007195526733994484, 0.0, -2.3088958263397217, -1.757279872894287, 1.49652898311615, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4573943614959717, -1.9889944791793823, 0.6515327095985413, 0.09803823381662369, -0.681645929813385, 0.7186908721923828, 0.007195526733994484, 0.0, -2.2702972888946533, -1.7422751188278198, 1.49652898311615, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4573943614959717, -1.9889944791793823, 0.6515327095985413, 0.09803823381662369, -0.681645929813385, 0.7186908721923828, 0.007195526733994484, 0.0, -2.2108447551727295, -1.7191635370254517, 1.49652898311615, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4573943614959717, -1.9889944791793823, 0.6515327095985413, 0.09803823381662369, -0.681645929813385, 0.7186908721923828, 0.007195526733994484, 0.0, -2.1763112545013428, -1.7057390213012695, 1.49652898311615, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4573943614959717, -1.9889944791793823, 0.6515327095985413, 0.09803823381662369, -0.681645929813385, 0.7186908721923828, 0.007195526733994484, 0.0, -2.1126184463500977, -1.6809790134429932, 1.49652898311615, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4573943614959717, -1.9889944791793823, 0.6515327095985413, 0.09803823381662369, -0.681645929813385, 0.7186908721923828, 0.007195526733994484, 0.0, -2.0210299491882324, -1.6453748941421509, 1.49652898311615, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4573943614959717, -1.9889944791793823, 0.6515327095985413, 0.09803823381662369, -0.681645929813385, 0.7186908721923828, 0.007195526733994484, 0.0, -2.014392137527466, -1.6427946090698242, 1.49652898311615, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4573943614959717, -1.9889944791793823, 0.6515327095985413, 0.09803823381662369, -0.681645929813385, 0.7186908721923828, 0.007195526733994484, 0.0, -2.002964496612549, -1.6383522748947144, 1.49652898311615, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4573943614959717, -1.9889944791793823, 0.6515327095985413, 0.09803823381662369, -0.681645929813385, 0.7186908721923828, 0.007195526733994484, 0.0, -1.9165575504302979, -1.6047624349594116, 1.49652898311615, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4573943614959717, -1.9889944791793823, 0.6515327095985413, 0.09803823381662369, -0.681645929813385, 0.7186908721923828, 0.007195526733994484, 0.0, -1.866725206375122, -1.585390567779541, 1.49652898311615, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4573943614959717, -1.9889944791793823, 0.6515327095985413, 0.09803823381662369, -0.681645929813385, 0.7186908721923828, 0.007195526733994484, 0.0, -1.8187748193740845, -1.566750407218933, 1.49652898311615, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4573943614959717, -1.9889944791793823, 0.6515327095985413, 0.09803823381662369, -0.681645929813385, 0.7186908721923828, 0.007195526733994484, 0.0, -1.7356308698654175, -1.5344290733337402, 1.49652898311615, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4573943614959717, -1.9889944791793823, 0.6515327095985413, 0.09803823381662369, -0.681645929813385, 0.7186908721923828, 0.007195526733994484, 0.0, -1.7209254503250122, -1.528712511062622, 1.49652898311615, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4573943614959717, -1.9889944791793823, 0.6515327095985413, 0.09803823381662369, -0.681645929813385, 0.7186908721923828, 0.007195526733994484, 0.0, -1.7123838663101196, -1.5253920555114746, 1.49652898311615, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4573943614959717, -1.9889944791793823, 0.6515327095985413, 0.09803823381662369, -0.681645929813385, 0.7186908721923828, 0.007195526733994484, 0.0, -1.62269926071167, -1.4905281066894531, 1.49652898311615, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4573943614959717, -1.9889944791793823, 0.6515327095985413, 0.09803823381662369, -0.681645929813385, 0.7186908721923828, 0.007195526733994484, 0.0, -1.5571024417877197, -1.4650280475616455, 1.49652898311615, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4573943614959717, -1.9889944791793823, 0.6515327095985413, 0.09803823381662369, -0.681645929813385, 0.7186908721923828, 0.007195526733994484, 0.0, -1.524472951889038, -1.4523437023162842, 1.49652898311615, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4573943614959717, -1.9889944791793823, 0.6515327095985413, 0.09803823381662369, -0.681645929813385, 0.7186908721923828, 0.007195526733994484, 0.0, -1.4682979583740234, -1.4305062294006348, 1.49652898311615, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4573943614959717, -1.9889944791793823, 0.6515327095985413, 0.09803823381662369, -0.681645929813385, 0.7186908721923828, 0.007195526733994484, 0.0, -1.4264365434646606, -1.4142330884933472, 1.49652898311615, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4573943614959717, -1.9889944791793823, 0.6515327095985413, 0.09803823381662369, -0.681645929813385, 0.7186908721923828, 0.007195526733994484, 0.0, -1.402294397354126, -1.4048480987548828, 1.49652898311615, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4573943614959717, -1.9889944791793823, 0.6515327095985413, 0.09803823381662369, -0.681645929813385, 0.7186908721923828, 0.007195526733994484, 0.0, -1.3286535739898682, -1.376220941543579, 1.49652898311615, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4573943614959717, -1.9889944791793823, 0.6515327095985413, 0.09803823381662369, -0.681645929813385, 0.7186908721923828, 0.007195526733994484, 0.0, -1.24811851978302, -1.3449137210845947, 1.49652898311615, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4573943614959717, -1.9889944791793823, 0.6515327095985413, 0.09803823381662369, -0.681645929813385, 0.7186908721923828, 0.007195526733994484, 0.0, -1.2308708429336548, -1.3382089138031006, 1.49652898311615, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4573943614959717, -1.9889944791793823, 0.6515327095985413, 0.09803823381662369, -0.681645929813385, 0.7186908721923828, 0.007195526733994484, 0.0, -1.2009642124176025, -1.3265830278396606, 1.49652898311615, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4573943614959717, -1.9889944791793823, 0.6515327095985413, 0.09803823381662369, -0.681645929813385, 0.7186908721923828, 0.007195526733994484, 0.0, -1.1327800750732422, -1.300077199935913, 1.49652898311615, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4573943614959717, -1.9889944791793823, 0.6515327095985413, 0.09803823381662369, -0.681645929813385, 0.7186908721923828, 0.007195526733994484, 0.0, -1.0931751728057861, -1.2846812009811401, 1.49652898311615, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4573943614959717, -1.9889944791793823, 0.6515327095985413, 0.09803823381662369, -0.681645929813385, 0.7186908721923828, 0.007195526733994484, 0.0, -1.0345537662506104, -1.2618926763534546, 1.49652898311615, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4573943614959717, -1.9889944791793823, 0.6515327095985413, 0.09803823381662369, -0.681645929813385, 0.7186908721923828, 0.007195526733994484, 0.0, -0.9378935694694519, -1.224316954612732, 1.49652898311615, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4573943614959717, -1.9889944791793823, 0.6515327095985413, 0.09803823381662369, -0.681645929813385, 0.7186908721923828, 0.007195526733994484, 0.0, -0.9363274574279785, -1.223708152770996, 1.49652898311615, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4573943614959717, -1.9889944791793823, 0.6515327095985413, 0.09803823381662369, -0.681645929813385, 0.7186908721923828, 0.007195526733994484, 0.0, -0.9336313605308533, -1.2226600646972656, 1.49652898311615, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4573943614959717, -1.9889944791793823, 0.6515327095985413, 0.09803823381662369, -0.681645929813385, 0.7186908721923828, 0.007195526733994484, 0.0, -0.838532567024231, -1.1856913566589355, 1.49652898311615, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4573943614959717, -1.9889944791793823, 0.6515327095985413, 0.09803823381662369, -0.681645929813385, 0.7186908721923828, 0.007195526733994484, 0.0, -0.783687174320221, -1.1643707752227783, 1.49652898311615, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4573943614959717, -1.9889944791793823, 0.6515327095985413, 0.09803823381662369, -0.681645929813385, 0.7186908721923828, 0.007195526733994484, 0.0, -0.7407497763633728, -1.147679328918457, 1.49652898311615, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4573943614959717, -1.9889944791793823, 0.6515327095985413, 0.09803823381662369, -0.681645929813385, 0.7186908721923828, 0.007195526733994484, 0.0, -0.6662983894348145, -1.1187371015548706, 1.49652898311615, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4573943614959717, -1.9889944791793823, 0.6515327095985413, 0.09803823381662369, -0.681645929813385, 0.7186908721923828, 0.007195526733994484, 0.0, -0.6428155303001404, -1.1096084117889404, 1.49652898311615, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4573943614959717, -1.9889944791793823, 0.6515327095985413, 0.09803823381662369, -0.681645929813385, 0.7186908721923828, 0.007195526733994484, 0.0, -0.6293350458145142, -1.104367971420288, 1.49652898311615, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4573943614959717, -1.9889944791793823, 0.6515327095985413, 0.09803823381662369, -0.681645929813385, 0.7186908721923828, 0.007195526733994484, 0.0, -0.5444211959838867, -1.071358561515808, 1.49652898311615, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4573943614959717, -1.9889944791793823, 0.6515327095985413, 0.09803823381662369, -0.681645929813385, 0.7186908721923828, 0.007195526733994484, 0.0, -0.4743819236755371, -1.0441315174102783, 1.49652898311615, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4573943614959717, -1.9889944791793823, 0.6515327095985413, 0.09803823381662369, -0.681645929813385, 0.7186908721923828, 0.007195526733994484, 0.0, -0.4460547864437103, -1.0331196784973145, 1.49652898311615, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4573943614959717, -1.9889944791793823, 0.6515327095985413, 0.09803823381662369, -0.681645929813385, 0.7186908721923828, 0.007195526733994484, 0.0, -0.39688241481781006, -1.0140043497085571, 1.49652898311615, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4573943614959717, -1.9889944791793823, 0.6515327095985413, 0.09803823381662369, -0.681645929813385, 0.7186908721923828, 0.007195526733994484, 0.0, -0.406997412443161, -0.9318163394927979, 1.49652898311615, 0.0, 0.0, 0.0, 0.0, 2.0, -3.4573943614959717, -1.9889944791793823, 0.6515327095985413, 0.09803823381662369, -0.681645929813385, 0.7186908721923828, 0.007195526733994484, 0.0], "max": [1.860534429550171, 2.267341375350952, 1.517904281616211, 0.8369857668876648, 0.0, 0.0, 0.6981072425842285, 2.0, 2.280346393585205, 2.791379928588867, 0.7259262800216675, 0.21935801208019257, 0.037119943648576736, 0.9996245503425598, 0.14995728433132172, 1.0, -0.3800407946109772, -0.6669310331344604, 1.517904281616211, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0597927570343018, 2.674823045730591, 0.7259262800216675, 0.13810095191001892, -0.08679653704166412, 0.9884705543518066, 0.0931013897061348, 0.0, -0.37903183698654175, -0.6667375564575195, 1.517904281616211, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0597927570343018, 2.674823045730591, 0.7259262800216675, 0.13810095191001892, -0.08679653704166412, 0.9884705543518066, 0.0931013897061348, 0.0, -0.3748607337474823, -0.6659377217292786, 1.517904281616211, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0597927570343018, 2.674823045730591, 0.7259262800216675, 0.13810095191001892, -0.08679653704166412, 0.9884705543518066, 0.0931013897061348, 0.0, -0.26763439178466797, -0.6453769207000732, 1.517904281616211, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0597927570343018, 2.674823045730591, 0.7259262800216675, 0.13810095191001892, -0.08679653704166412, 0.9884705543518066, 0.0931013897061348, 0.0, -0.2424144595861435, -0.6405409574508667, 1.517904281616211, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0597927570343018, 2.674823045730591, 0.7259262800216675, 0.13810095191001892, -0.08679653704166412, 0.9884705543518066, 0.0931013897061348, 0.0, -0.15660405158996582, -0.6240866780281067, 1.517904281616211, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0597927570343018, 2.674823045730591, 0.7259262800216675, 0.13810095191001892, -0.08679653704166412, 0.9884705543518066, 0.0931013897061348, 0.0, -0.10403065383434296, -0.6140056252479553, 1.517904281616211, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0597927570343018, 2.674823045730591, 0.7259262800216675, 0.13810095191001892, -0.08679653704166412, 0.9884705543518066, 0.0931013897061348, 0.0, -0.04617340862751007, -0.6029114127159119, 1.517904281616211, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0597927570343018, 2.674823045730591, 0.7259262800216675, 0.13810095191001892, -0.08679653704166412, 0.9884705543518066, 0.0931013897061348, 0.0, 0.03508158028125763, -0.5873306393623352, 1.517904281616211, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0597927570343018, 2.674823045730591, 0.7259262800216675, 0.13810095191001892, -0.08679653704166412, 0.9884705543518066, 0.0931013897061348, 0.0, 0.06351391971111298, -0.581878662109375, 1.517904281616211, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0597927570343018, 2.674823045730591, 0.7259262800216675, 0.13810095191001892, -0.08679653704166412, 0.9884705543518066, 0.0931013897061348, 0.0, 0.14892083406448364, -0.5655017495155334, 1.517904281616211, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0597927570343018, 2.674823045730591, 0.7259262800216675, 0.13810095191001892, -0.08679653704166412, 0.9884705543518066, 0.0931013897061348, 0.0, 0.16404208540916443, -0.5626022219657898, 1.517904281616211, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0597927570343018, 2.674823045730591, 0.7259262800216675, 0.13810095191001892, -0.08679653704166412, 0.9884705543518066, 0.0931013897061348, 0.0, 0.1832605004310608, -0.5589170455932617, 1.517904281616211, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0597927570343018, 2.674823045730591, 0.7259262800216675, 0.13810095191001892, -0.08679653704166412, 0.9884705543518066, 0.0931013897061348, 0.0, 0.27393409609794617, -0.5415302515029907, 1.517904281616211, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0597927570343018, 2.674823045730591, 0.7259262800216675, 0.13810095191001892, -0.08679653704166412, 0.9884705543518066, 0.0931013897061348, 0.0, 0.29988762736320496, -0.5055443644523621, 1.517904281616211, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0597927570343018, 2.674823045730591, 0.7259262800216675, 0.13810095191001892, -0.08679653704166412, 0.9884705543518066, 0.0931013897061348, 0.0, 0.31693339347839355, -0.4819095730781555, 1.517904281616211, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0597927570343018, 2.674823045730591, 0.7259262800216675, 0.13810095191001892, -0.08679653704166412, 0.9884705543518066, 0.0931013897061348, 0.0, 0.37547725439071655, -0.4007355272769928, 1.517904281616211, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0597927570343018, 2.674823045730591, 0.7259262800216675, 0.13810095191001892, -0.08679653704166412, 0.9884705543518066, 0.0931013897061348, 0.0, 0.3949122726917267, -0.37378787994384766, 1.517904281616211, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0597927570343018, 2.674823045730591, 0.7259262800216675, 0.13810095191001892, -0.08679653704166412, 0.9884705543518066, 0.0931013897061348, 0.0, 0.42569175362586975, -0.33111053705215454, 1.517904281616211, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0597927570343018, 2.674823045730591, 0.7259262800216675, 0.13810095191001892, -0.08679653704166412, 0.9884705543518066, 0.0931013897061348, 0.0, 0.45918580889701843, -0.2846693694591522, 1.517904281616211, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0597927570343018, 2.674823045730591, 0.7259262800216675, 0.13810095191001892, -0.08679653704166412, 0.9884705543518066, 0.0931013897061348, 0.0, 0.4970165193080902, -0.21563270688056946, 1.517904281616211, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0597927570343018, 2.674823045730591, 0.7259262800216675, 0.13810095191001892, -0.08679653704166412, 0.9884705543518066, 0.0931013897061348, 0.0, 0.5153526067733765, -0.1821715086698532, 1.517904281616211, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0597927570343018, 2.674823045730591, 0.7259262800216675, 0.13810095191001892, -0.08679653704166412, 0.9884705543518066, 0.0931013897061348, 0.0, 0.5587494969367981, -0.1029772087931633, 1.517904281616211, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0597927570343018, 2.674823045730591, 0.7259262800216675, 0.13810095191001892, -0.08679653704166412, 0.9884705543518066, 0.0931013897061348, 0.0, 0.5719249844551086, -0.0789334699511528, 1.517904281616211, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0597927570343018, 2.674823045730591, 0.7259262800216675, 0.13810095191001892, -0.08679653704166412, 0.9884705543518066, 0.0931013897061348, 0.0, 0.6217548251152039, 0.012000121176242828, 1.517904281616211, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0597927570343018, 2.674823045730591, 0.7259262800216675, 0.13810095191001892, -0.08679653704166412, 0.9884705543518066, 0.0931013897061348, 0.0, 0.628667414188385, 0.02461477741599083, 1.517904281616211, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0597927570343018, 2.674823045730591, 0.7259262800216675, 0.13810095191001892, -0.08679653704166412, 0.9884705543518066, 0.0931013897061348, 0.0, 0.6818137764930725, 0.12160071730613708, 1.517904281616211, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0597927570343018, 2.674823045730591, 0.7259262800216675, 0.13810095191001892, -0.08679653704166412, 0.9884705543518066, 0.0931013897061348, 0.0, 0.6854700446128845, 0.12827301025390625, 1.517904281616211, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0597927570343018, 2.674823045730591, 0.7259262800216675, 0.13810095191001892, -0.08679653704166412, 0.9884705543518066, 0.0931013897061348, 0.0, 0.741700291633606, 0.23088666796684265, 1.517904281616211, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0597927570343018, 2.674823045730591, 0.7259262800216675, 0.13810095191001892, -0.08679653704166412, 0.9884705543518066, 0.0931013897061348, 0.0, 0.742340087890625, 0.23205424845218658, 1.517904281616211, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0597927570343018, 2.674823045730591, 0.7259262800216675, 0.13810095191001892, -0.08679653704166412, 0.9884705543518066, 0.0931013897061348, 0.0, 0.7627909183502197, 0.2693746089935303, 1.517904281616211, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0597927570343018, 2.674823045730591, 0.7259262800216675, 0.13810095191001892, -0.08679653704166412, 0.9884705543518066, 0.0931013897061348, 0.0, 0.7993037700653076, 0.3360062837600708, 1.517904281616211, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0597927570343018, 2.674823045730591, 0.7259262800216675, 0.13810095191001892, -0.08679653704166412, 0.9884705543518066, 0.0931013897061348, 0.0, 0.800456702709198, 0.3381102979183197, 1.517904281616211, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0597927570343018, 2.674823045730591, 0.7259262800216675, 0.13810095191001892, -0.08679653704166412, 0.9884705543518066, 0.0931013897061348, 0.0, 0.8563060760498047, 0.44002893567085266, 1.517904281616211, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0597927570343018, 2.674823045730591, 0.7259262800216675, 0.13810095191001892, -0.08679653704166412, 0.9884705543518066, 0.0931013897061348, 0.0, 0.859533965587616, 0.4459194242954254, 1.517904281616211, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0597927570343018, 2.674823045730591, 0.7259262800216675, 0.13810095191001892, -0.08679653704166412, 0.9884705543518066, 0.0931013897061348, 0.0, 0.9132905006408691, 0.5440188646316528, 1.517904281616211, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0597927570343018, 2.674823045730591, 0.7259262800216675, 0.13810095191001892, -0.08679653704166412, 0.9884705543518066, 0.0931013897061348, 0.0, 0.9177259206771851, 0.5521129965782166, 1.517904281616211, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0597927570343018, 2.674823045730591, 0.7259262800216675, 0.13810095191001892, -0.08679653704166412, 0.9884705543518066, 0.0931013897061348, 0.0, 0.9702453017234802, 0.6479547619819641, 1.517904281616211, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0597927570343018, 2.674823045730591, 0.7259262800216675, 0.13810095191001892, -0.08679653704166412, 0.9884705543518066, 0.0931013897061348, 0.0, 0.9764533042907715, 0.6592836976051331, 1.517904281616211, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0597927570343018, 2.674823045730591, 0.7259262800216675, 0.13810095191001892, -0.08679653704166412, 0.9884705543518066, 0.0931013897061348, 0.0, 1.0271930694580078, 0.7518778443336487, 1.517904281616211, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0597927570343018, 2.674823045730591, 0.7259262800216675, 0.13810095191001892, -0.08679653704166412, 0.9884705543518066, 0.0931013897061348, 0.0, 1.0346128940582275, 0.7654182314872742, 1.517904281616211, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0597927570343018, 2.674823045730591, 0.7259262800216675, 0.13810095191001892, -0.08679653704166412, 0.9884705543518066, 0.0931013897061348, 0.0, 1.0841408967971802, 0.8558010458946228, 1.517904281616211, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0597927570343018, 2.674823045730591, 0.7259262800216675, 0.13810095191001892, -0.08679653704166412, 0.9884705543518066, 0.0931013897061348, 0.0, 1.0933027267456055, 0.8725203275680542, 1.517904281616211, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0597927570343018, 2.674823045730591, 0.7259262800216675, 0.13810095191001892, -0.08679653704166412, 0.9884705543518066, 0.0931013897061348, 0.0, 1.141088604927063, 0.9597240090370178, 1.517904281616211, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0597927570343018, 2.674823045730591, 0.7259262800216675, 0.13810095191001892, -0.08679653704166412, 0.9884705543518066, 0.0931013897061348, 0.0, 1.1515001058578491, 0.9787237048149109, 1.517904281616211, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0597927570343018, 2.674823045730591, 0.7259262800216675, 0.13810095191001892, -0.08679653704166412, 0.9884705543518066, 0.0931013897061348, 0.0, 1.1980364322662354, 1.0636471509933472, 1.517904281616211, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0597927570343018, 2.674823045730591, 0.7259262800216675, 0.13810095191001892, -0.08679653704166412, 0.9884705543518066, 0.0931013897061348, 0.0, 1.2101521492004395, 1.0857568979263306, 1.517904281616211, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0597927570343018, 2.674823045730591, 0.7259262800216675, 0.13810095191001892, -0.08679653704166412, 0.9884705543518066, 0.0931013897061348, 0.0, 1.2549841403961182, 1.1675701141357422, 1.517904281616211, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0597927570343018, 2.674823045730591, 0.7259262800216675, 0.13810095191001892, -0.08679653704166412, 0.9884705543518066, 0.0931013897061348, 0.0, 1.2683870792388916, 1.1920288801193237, 1.517904281616211, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0597927570343018, 2.674823045730591, 0.7259262800216675, 0.13810095191001892, -0.08679653704166412, 0.9884705543518066, 0.0931013897061348, 0.0, 1.311931848526001, 1.2714930772781372, 1.517904281616211, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0597927570343018, 2.674823045730591, 0.7259262800216675, 0.13810095191001892, -0.08679653704166412, 0.9884705543518066, 0.0931013897061348, 0.0, 1.3270014524459839, 1.298993468284607, 1.517904281616211, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0597927570343018, 2.674823045730591, 0.7259262800216675, 0.13810095191001892, -0.08679653704166412, 0.9884705543518066, 0.0931013897061348, 0.0, 1.3688796758651733, 1.3754162788391113, 1.517904281616211, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0597927570343018, 2.674823045730591, 0.7259262800216675, 0.13810095191001892, -0.08679653704166412, 0.9884705543518066, 0.0931013897061348, 0.0, 1.3852741718292236, 1.4053343534469604, 1.517904281616211, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0597927570343018, 2.674823045730591, 0.7259262800216675, 0.13810095191001892, -0.08679653704166412, 0.9884705543518066, 0.0931013897061348, 0.0, 1.4258273839950562, 1.4793392419815063, 1.517904281616211, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0597927570343018, 2.674823045730591, 0.7259262800216675, 0.13810095191001892, -0.08679653704166412, 0.9884705543518066, 0.0931013897061348, 0.0, 1.4438508749008179, 1.5122300386428833, 1.517904281616211, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0597927570343018, 2.674823045730591, 0.7259262800216675, 0.13810095191001892, -0.08679653704166412, 0.9884705543518066, 0.0931013897061348, 0.0, 1.4827752113342285, 1.5832624435424805, 1.517904281616211, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0597927570343018, 2.674823045730591, 0.7259262800216675, 0.13810095191001892, -0.08679653704166412, 0.9884705543518066, 0.0931013897061348, 0.0, 1.5021612644195557, 1.6186397075653076, 1.517904281616211, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0597927570343018, 2.674823045730591, 0.7259262800216675, 0.13810095191001892, -0.08679653704166412, 0.9884705543518066, 0.0931013897061348, 0.0, 1.5397230386734009, 1.6871856451034546, 1.517904281616211, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0597927570343018, 2.674823045730591, 0.7259262800216675, 0.13810095191001892, -0.08679653704166412, 0.9884705543518066, 0.0931013897061348, 0.0, 1.5607002973556519, 1.7254666090011597, 1.517904281616211, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0597927570343018, 2.674823045730591, 0.7259262800216675, 0.13810095191001892, -0.08679653704166412, 0.9884705543518066, 0.0931013897061348, 0.0, 1.5966707468032837, 1.79110848903656, 1.517904281616211, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0597927570343018, 2.674823045730591, 0.7259262800216675, 0.13810095191001892, -0.08679653704166412, 0.9884705543518066, 0.0931013897061348, 0.0, 1.619135856628418, 1.8321046829223633, 1.517904281616211, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0597927570343018, 2.674823045730591, 0.7259262800216675, 0.13810095191001892, -0.08679653704166412, 0.9884705543518066, 0.0931013897061348, 0.0, 1.6539579629898071, 1.895650863647461, 1.517904281616211, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0597927570343018, 2.674823045730591, 0.7259262800216675, 0.13810095191001892, -0.08679653704166412, 0.9884705543518066, 0.0931013897061348, 0.0, 1.6784671545028687, 1.9403772354125977, 1.517904281616211, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0597927570343018, 2.674823045730591, 0.7259262800216675, 0.13810095191001892, -0.08679653704166412, 0.9884705543518066, 0.0931013897061348, 0.0, 1.7124271392822266, 2.002350330352783, 1.517904281616211, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0597927570343018, 2.674823045730591, 0.7259262800216675, 0.13810095191001892, -0.08679653704166412, 0.9884705543518066, 0.0931013897061348, 0.0, 1.739808440208435, 2.0523180961608887, 1.517904281616211, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0597927570343018, 2.674823045730591, 0.7259262800216675, 0.13810095191001892, -0.08679653704166412, 0.9884705543518066, 0.0931013897061348, 0.0, 1.7731589078903198, 2.1131787300109863, 1.517904281616211, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0597927570343018, 2.674823045730591, 0.7259262800216675, 0.13810095191001892, -0.08679653704166412, 0.9884705543518066, 0.0931013897061348, 0.0, 1.8050529956817627, 2.171381711959839, 1.517904281616211, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0597927570343018, 2.674823045730591, 0.7259262800216675, 0.13810095191001892, -0.08679653704166412, 0.9884705543518066, 0.0931013897061348, 0.0, 1.8831514120101929, 2.206322431564331, 1.517904281616211, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0597927570343018, 2.674823045730591, 0.7259262800216675, 0.13810095191001892, -0.08679653704166412, 0.9884705543518066, 0.0931013897061348, 0.0], "count": [1807]}, "action.applied": {"mean": [0.2543649173526719, 0.7400056636326868, -1.2634252136625765, -0.2164335531807764, 0.7763329494144617, -1.2615567562523373, 0.17268391277622502, 0.8808174745510082, -1.4054919618826647, -0.15479885089748724, 0.8116863763457711, -1.4140114483743593, -0.0947224112344053, 2.344726711066309, -2.019583847948907, 0.03187771204041216, 1.0564923201665473, 0.04378565456369801, 0.0035251798711234718, -0.0035251798711234718], "std": [0.1376104124649404, 0.12380497999559006, 0.208449122494384, 0.12276809573581554, 0.15603112220065626, 0.17873564784001064, 0.119197927250505, 0.16515095038539712, 0.20134404894903435, 0.11297623082203405, 0.0953099674886759, 0.22574036258398275, 0.16024308032602355, 0.3945298195983881, 0.6290067127437882, 0.03209128326265603, 0.2230599937606656, 0.4897962632786902, 0.010533489587541424, 0.010533489587541424], "min": [-0.20343124866485596, 0.3770197331905365, -1.7218023538589478, -0.5069651007652283, 0.3569223880767822, -1.7131640911102295, -0.1622251570224762, 0.4581429362297058, -1.8435094356536865, -0.5383759140968323, 0.5296067595481873, -1.7572789192199707, -0.7953469157218933, 1.7056257724761963, -2.9059653282165527, -0.012534938752651215, 0.47567835450172424, -0.4449126720428467, 0.0, -0.03500000014901161], "max": [0.6852459907531738, 1.0338289737701416, -0.7651851773262024, 0.17490790784358978, 1.108286738395691, -0.8384775519371033, 0.4912358820438385, 1.2309746742248535, -0.8990793824195862, 0.2618393003940582, 1.065987229347229, -0.9469731450080872, 0.22035105526447296, 2.9614951610565186, -0.9955918788909912, 0.15298599004745483, 1.219894528388977, 1.4398294687271118, 0.03500000014901161, 0.0], "count": [1807]}, "extra.reward": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1807]}, "next.truncated": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1807]}, "sim_step_idx": {"mean": [1907.0], "std": [1043.2717766718315], "min": [101.0], "max": [3713.0], "count": [1807]}, "timestamp": {"mean": [36.12000000218726], "std": [20.865435533654175], "min": [0.0], "max": [72.23999786376953], "count": [1807]}, "frame_index": {"mean": [903.0], "std": [521.6358883359158], "min": [0.0], "max": [1806.0], "count": [1807]}, "episode_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1807]}, "index": {"mean": [903.0], "std": [521.6358883359158], "min": [0.0], "max": [1806.0], "count": [1807]}, "task_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1807]}, "next.done": {"mean": [0.0005534034311012728], "std": [0.023518018108329583], "min": [0.0], "max": [1.0], "count": [1807]}, "observation.images.head": {"mean": [[[0.30347372015628704]], [[0.2359566607134344]], [[0.19978306849747404]]], "std": [[[0.22879353726973628]], [[0.18829001310397459]], [[0.163037942930174]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9254901960784314]], [[0.9137254901960784]], [[0.9019607843137255]]], "count": [100]}, "observation.images.wrist": {"mean": [[[0.5157279799678802]], [[0.3967314756942677]], [[0.3150560876480899]]], "std": [[[0.129713060152025]], [[0.11471088017797651]], [[0.09617244847516289]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9019607843137255]], [[0.807843137254902]], [[0.6823529411764706]]], "count": [100]}}} diff --git a/N034/go2_arm/dr_on/seed_2023/rec/stationbookend/000/lerobot_v21/meta/extra/episode_000000.json b/N034/go2_arm/dr_on/seed_2023/rec/stationbookend/000/lerobot_v21/meta/extra/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..067b260ad69775d155ff6ff6b575077976484dce --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2023/rec/stationbookend/000/lerobot_v21/meta/extra/episode_000000.json @@ -0,0 +1,688 @@ +{ + "episode_index": 0, + "trajectory_id": 0, + "env_id": 0, + "task_type": "BookendCommand", + "subsample_every": 2, + "control_steps": 3614, + "language": { + "scene": { + "objects": [ + { + "id": "table_A_1", + "cat_name": "table_A", + "inst_id": 1, + "noun": "table A", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 3.749018307324622, + -1.4772077176487064, + -0.20056859213955625 + ], + "bbox": { + "extent": [ + 0.9527952938700797, + 0.5950315693640107, + 0.30000001192092896 + ], + "center": [ + -2.7755575615628914e-17, + -2.7755575615628914e-17, + 0.0 + ] + } + }, + { + "id": "table_B_1", + "cat_name": "table_B", + "inst_id": 1, + "noun": "table B", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 7.420912184166474, + -1.8008121586075956, + -0.2302682919970479 + ], + "bbox": { + "extent": [ + 0.9739951590975284, + 0.633191325762529, + 0.30000001192092896 + ], + "center": [ + -8.326672684688674e-17, + 0.0, + 0.0 + ] + } + }, + { + "id": "slot_left_1", + "cat_name": "slot_left", + "inst_id": 1, + "noun": "slot left", + "color": "brown", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.6336705916515366, + -1.5152160304097122, + -0.03201957063523946 + ], + "bbox": { + "extent": [ + 0.022670875744131347, + 0.12105590364842841, + 0.03500000014901161 + ], + "center": [ + 1.6479873021779667e-17, + -1.3877787807814457e-17, + 0.0 + ] + } + }, + { + "id": "slot_right_1", + "cat_name": "slot_right", + "inst_id": 1, + "noun": "slot right", + "color": "brown", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.660694659900235, + -1.560808632053996, + -0.0321396147744601 + ], + "bbox": { + "extent": [ + 0.022670875744131347, + 0.12105590364842839, + 0.03500000014901161 + ], + "center": [ + 4.2500725161431774e-17, + -1.0408340855860843e-17, + 0.0 + ] + } + }, + { + "id": "book_1", + "cat_name": "book", + "inst_id": 1, + "noun": "book", + "color": "red", + "size": "small", + "material": null, + "category": "rigid", + "pos": [ + 3.645717626361867, + -1.5390180831611027, + 0.02043649280466845 + ], + "bbox": { + "extent": [ + 0.10369612131590131, + 0.04556129180305825, + 0.1400010169079441 + ], + "center": [ + 0.0, + -6.418476861114186e-17, + 0.0 + ] + } + }, + { + "id": "plate_1", + "cat_name": "plate", + "inst_id": 1, + "noun": "plate", + "color": "gray", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 7.32139649778363, + -1.824694490042722, + -0.03888187030267998 + ], + "bbox": { + "extent": [ + 0.0327186514155455, + 0.14177588500202765, + 0.07999999821186066 + ], + "center": [ + 6.938893903907228e-17, + -2.220446049250313e-16, + 0.0 + ] + } + }, + { + "id": "bookend_1", + "cat_name": "bookend", + "inst_id": 1, + "noun": "bookend", + "color": null, + "size": "small", + "material": null, + "category": "rigid", + "pos": [ + 7.369333950802431, + -1.9168926805373983, + -0.07957044876536372 + ], + "bbox": { + "extent": [ + 0.1306555639397714, + 0.08975919939465182, + 0.060000115696732303 + ], + "center": [ + -1.9269785073161572e-10, + -0.02999999704884554, + 0.02999999956972868 + ] + } + } + ], + "relations": [ + { + "subject": "table_A_1", + "relation": "in_front_of", + "object": "slot_left_1" + }, + { + "subject": "table_B_1", + "relation": "left_of", + "object": "bookend_1" + }, + { + "subject": "book_1", + "relation": "on_top_of", + "object": "slot_left_1" + }, + { + "subject": "plate_1", + "relation": "on_top_of", + "object": "bookend_1" + }, + { + "subject": "plate_1", + "relation": "left_of", + "object": "bookend_1" + }, + { + "subject": "bookend_1", + "relation": "right_of", + "object": "plate_1" + } + ], + "cameras": [ + { + "name": "head", + "intrinsics": { + "K": [ + [ + 607.7061061683956, + 0.0, + 320.0 + ], + [ + 0.0, + 607.3754374751866, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 55.53991912549515, + "resolution": [ + 640, + 480 + ] + }, + "pos_robot": [ + 4.1479752282186375, + -2.0388176742002653, + -0.28903920745347067 + ], + "viewpoint": "front-right, at table height", + "extrinsics": { + "R": [ + [ + 0.0034545225363202814, + -0.9995776319673901, + 0.028855223868669955 + ], + [ + -0.02338972540530354, + 0.0287667346071393, + 0.9993124615081647 + ], + [ + -0.9997204544368945, + -0.0041270631819024794, + -0.023280471000004077 + ] + ], + "t": [ + 0.03416419479862187, + -0.08682200219228882, + 0.33429322289826396 + ] + } + }, + { + "name": "wrist", + "intrinsics": { + "K": [ + [ + 617.2500342478374, + 0.0, + 320.0 + ], + [ + 0.0, + 617.548655622722, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 54.807019583348044, + "resolution": [ + 640, + 480 + ] + }, + "pos_robot": [ + 3.8945758919454083, + -1.718397259871567, + -0.3354091283159657 + ], + "viewpoint": "front-right, at table height", + "extrinsics": { + "R": [ + [ + 0.017356943317221596, + -0.9998337334638687, + 0.005589449560045617 + ], + [ + -0.9382601518788614, + -0.014355819960515381, + 0.34563246061317376 + ], + [ + -0.3454947523696107, + -0.011243480820582297, + -0.9383533237667454 + ] + ], + "t": [ + 0.006333551580298355, + -0.08611861262827436, + 0.017148138726427706 + ] + } + } + ], + "robots": [ + { + "name": "Go2Plus", + "model": "go2plus", + "type": "mobilemanip", + "noun": "Unitree Go2 EDU quadruped with a Piper arm", + "arms": 1, + "arm_layout": null, + "mobile": true, + "dexterous": false, + "base_pose": { + "pos": [ + -3.4, + -2.2, + 0.44999999999999996 + ], + "ori": [ + 0.9396926164627075, + 0.0, + 0.0, + 0.3420201539993286 + ] + }, + "facing_yaw_deg": 40.000001288448495, + "gripper": "parallel gripper" + } + ], + "lighting": [], + "background": { + "name": null, + "kind": "background", + "type": "dome", + "pose": null, + "setting": null, + "time_of_day": null, + "indoor": false, + "intensity": 1000.0, + "ambient": "dim" + }, + "effects": [], + "caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the brown slot left. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is in front of the brown slot left. The gray table B is to the left of the bookend. The red book is on top of the brown slot left. The gray plate is on top of the bookend. The gray plate is to the left of the bookend. The bookend is to the right of the gray plate. The scene is viewed from front-right, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n [bookend]\n\n\n\n [slot[book]]\n\n\n\n[robot]" + }, + "task": { + "task_type": "StationBookend", + "instruction": "Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.", + "template_id": -1, + "slots": { + "obj": 1.5179043392155747, + "support": null + }, + "generic_instruction": "Stationbookend the 1.5179043392155747.", + "task_id": "N034", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_0607": { + "frame_idx": 607, + "caption": "Computing a grasp pose for the small red book; the right gripper is below and to the left of and in front of the red book.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "NavTo", + "planner_state": "finished", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0613": { + "frame_idx": 613, + "caption": "Working on the small red book; the right gripper is below and to the left of and in front of the red book.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0862": { + "frame_idx": 862, + "caption": "Computing a grasp pose for the small red book; the right gripper is below and to the left of and in front of the red book.", + "skill": "ReachStance", + "phase": "verify", + "skill_state": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0876": { + "frame_idx": 876, + "caption": "Pre-grasping the small red book, servoing the arm toward it; the right gripper is below and to the left of and in front of the red book.", + "skill": "Grasp", + "phase": "pre_grasp", + "skill_state": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0877": { + "frame_idx": 877, + "caption": "Pre-grasping the small red book, moving the arm toward it; the right gripper is below and to the left of and in front of the red book.", + "skill": "Grasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0904": { + "frame_idx": 904, + "caption": "Pre-grasping the small red book, moving the arm toward it; the right gripper is below and in front of the red book.", + "skill": "Grasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "in_front_of" + ] + }, + "frame_0930": { + "frame_idx": 930, + "caption": "Pre-grasping the small red book, moving the arm toward it; the right gripper is below the red book.", + "skill": "Grasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_0931": { + "frame_idx": 931, + "caption": "Grasping the small red book, moving the arm in to make contact; the right gripper is below the red book.", + "skill": "Grasp", + "phase": "grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_0994": { + "frame_idx": 994, + "caption": "Closing the right gripper on the red book; the right gripper is below the red book.", + "skill": "Grasp", + "phase": "close_gripper", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_1054": { + "frame_idx": 1054, + "caption": "Lifting the red book away with the gripper; the right gripper is below the red book.", + "skill": "Grasp", + "phase": "retrieval", + "skill_state": "running", + "planner": "ParallelGripper", + "planner_state": "finished", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_1055": { + "frame_idx": 1055, + "caption": "Lifting the red book away with the arm; the right gripper is below the red book.", + "skill": "Grasp", + "phase": "retrieval", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_1118": { + "frame_idx": 1118, + "caption": "Done — the small red book is grasped; the right gripper is below the red book.", + "skill": "Grasp", + "phase": "completed", + "skill_state": "finished", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_2841": { + "frame_idx": 2841, + "caption": "Computing a grasp pose for the small bookend; the right gripper is below and to the left of the bookend.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "bookend_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_2850": { + "frame_idx": 2850, + "caption": "Computing a grasp pose for the small bookend; the right gripper is below and to the left of and in front of the bookend.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "bookend_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_2865": { + "frame_idx": 2865, + "caption": "Working on the small bookend; the right gripper is below and to the left of and in front of the bookend.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "bookend_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_2940": { + "frame_idx": 2940, + "caption": "Working on the small bookend; the right gripper is below and to the left of the bookend.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "bookend_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_2970": { + "frame_idx": 2970, + "caption": "Working on the small bookend; the right gripper is below and to the left of and behind the bookend.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "bookend_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "behind" + ] + }, + "frame_3129": { + "frame_idx": 3129, + "caption": "Computing a grasp pose for the small bookend; the right gripper is below and to the left of and behind the bookend.", + "skill": "ReachStance", + "phase": "verify", + "skill_state": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "bookend_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "behind" + ] + } + } + }, + "depth_range": [ + 0.1, + 20.0 + ], + "annotation_sidecar": null, + "annotation_sidecar_keys": [], + "terminated": true, + "truncated": false +} \ No newline at end of file diff --git a/N034/go2_arm/dr_on/seed_2023/rec/stationbookend/000/lerobot_v21/meta/info.json b/N034/go2_arm/dr_on/seed_2023/rec/stationbookend/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..885917756c893fd691039d2666dd8da93af11479 --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2023/rec/stationbookend/000/lerobot_v21/meta/info.json @@ -0,0 +1,315 @@ +{ + "codebase_version": "v2.1", + "robot_type": "Go2PlusCfg", + "total_episodes": 1, + "total_frames": 1807, + "total_tasks": 1, + "total_videos": 2, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 25, + "splits": { + "train": "0:1" + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", + "features": { + "action": { + "dtype": "float32", + "shape": [ + 12 + ], + "names": [ + "base_action_0", + "base_action_1", + "base_action_2", + "base_action_3", + "eef0.pos_x", + "eef0.pos_y", + "eef0.pos_z", + "eef0.quat_w", + "eef0.quat_x", + "eef0.quat_y", + "eef0.quat_z", + "gripper" + ] + }, + "action_is_hold": { + "dtype": "bool", + "shape": [ + 12 + ], + "names": null + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 26 + ], + "names": [ + "joint_0", + "joint_1", + "joint_2", + "joint_3", + "joint_4", + "joint_5", + "joint_6", + "joint_7", + "joint_8", + "joint_9", + "joint_10", + "joint_11", + "joint_12", + "joint_13", + "joint_14", + "joint_15", + "joint_16", + "joint_17", + "joint_18", + "joint_19", + "joint_20", + "joint_21", + "joint_22", + "joint_23", + "gripper_0", + "gripper_1" + ] + }, + "observation.joint_vel": { + "dtype": "float32", + "shape": [ + 20 + ], + "names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ] + }, + "observation.eef_pose": { + "dtype": "float32", + "shape": [ + 7 + ], + "names": null + }, + "observation.environment_state": { + "dtype": "float32", + "shape": [ + 49 + ], + "names": [ + "object_pose.book.0", + "object_pose.book.1", + "object_pose.book.2", + "object_pose.book.3", + "object_pose.book.4", + "object_pose.book.5", + "object_pose.book.6", + "object_pose.bookend.0", + "object_pose.bookend.1", + "object_pose.bookend.2", + "object_pose.bookend.3", + "object_pose.bookend.4", + "object_pose.bookend.5", + "object_pose.bookend.6", + "object_pose.plate.0", + "object_pose.plate.1", + "object_pose.plate.2", + "object_pose.plate.3", + "object_pose.plate.4", + "object_pose.plate.5", + "object_pose.plate.6", + "object_pose.slot_left.0", + "object_pose.slot_left.1", + "object_pose.slot_left.2", + "object_pose.slot_left.3", + "object_pose.slot_left.4", + "object_pose.slot_left.5", + "object_pose.slot_left.6", + "object_pose.slot_right.0", + "object_pose.slot_right.1", + "object_pose.slot_right.2", + "object_pose.slot_right.3", + "object_pose.slot_right.4", + "object_pose.slot_right.5", + "object_pose.slot_right.6", + "object_pose.table_A.0", + "object_pose.table_A.1", + "object_pose.table_A.2", + "object_pose.table_A.3", + "object_pose.table_A.4", + "object_pose.table_A.5", + "object_pose.table_A.6", + "object_pose.table_B.0", + "object_pose.table_B.1", + "object_pose.table_B.2", + "object_pose.table_B.3", + "object_pose.table_B.4", + "object_pose.table_B.5", + "object_pose.table_B.6" + ] + }, + "action.command": { + "dtype": "float32", + "shape": [ + 1104 + ], + "names": null + }, + "action.applied": { + "dtype": "float32", + "shape": [ + 20 + ], + "names": null + }, + "narration": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "collect_info": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "extra.reward": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "extra.action_info": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "next.truncated": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "sim_step_idx": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "next.done": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "observation.images.head": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25, + "video.codec": "libsvtav1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.wrist": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25, + "video.codec": "libsvtav1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + } + } +} \ No newline at end of file diff --git a/N034/go2_arm/dr_on/seed_2023/rec/stationbookend/000/lerobot_v21/meta/magicsim_manifest.json b/N034/go2_arm/dr_on/seed_2023/rec/stationbookend/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..4faccafbb12f6553fa7365597123f5879b31a233 --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2023/rec/stationbookend/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,290 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 03:05:40" + }, + "embodiment": { + "robots": [ + { + "name": "Go2Plus", + "cfg": "Go2PlusCfg", + "type": "mobilemanip", + "joint_names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 12, + "nan_policy": "from_raw", + "segments": [ + { + "name": "Go2Plus.base_action", + "start": 0, + "end": 4, + "names": [ + "base_action_0", + "base_action_1", + "base_action_2", + "base_action_3" + ], + "source": "Go2UnifiedLocomotionAction", + "names_source": "fallback" + }, + { + "name": "Go2Plus.arm_action", + "start": 4, + "end": 11, + "names": [ + "eef0.pos_x", + "eef0.pos_y", + "eef0.pos_z", + "eef0.quat_w", + "eef0.quat_x", + "eef0.quat_y", + "eef0.quat_z" + ], + "source": "Go2PlusCuroboIKAction", + "names_source": "pose_layout" + }, + { + "name": "Go2Plus.eef_action", + "start": 11, + "end": 12, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 26, + "segments": [ + { + "name": "Go2Plus.joint_pos", + "start": 0, + "end": 24, + "names": [ + "joint_0", + "joint_1", + "joint_2", + "joint_3", + "joint_4", + "joint_5", + "joint_6", + "joint_7", + "joint_8", + "joint_9", + "joint_10", + "joint_11", + "joint_12", + "joint_13", + "joint_14", + "joint_15", + "joint_16", + "joint_17", + "joint_18", + "joint_19", + "joint_20", + "joint_21", + "joint_22", + "joint_23" + ], + "source": "ObservationManager", + "names_source": "fallback_dim_mismatch(joint_names=20,obs=24)" + }, + { + "name": "Go2Plus.gripper_pos", + "start": 24, + "end": 26, + "names": [ + "gripper_0", + "gripper_1" + ], + "source": "ObservationManager", + "names_source": "generated" + } + ] + }, + "joint_vel_layout": { + "dim": 20, + "segments": [ + { + "name": "Go2Plus.joint_vel", + "start": 0, + "end": 20, + "names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "action_levels": { + "L0": "task command list (collect.auto_collect_info.current_action)", + "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)", + "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)", + "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy", + "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)" + }, + "cameras": { + "head": { + "intrinsics": { + "K": [ + [ + 607.7061061683956, + 0.0, + 320.0 + ], + [ + 0.0, + 607.3754374751866, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 55.53991912549515, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.33205100893974304, + 0.038026999682188034, + 0.09355899691581726 + ], + "quat": [ + -0.5022302269935608, + -0.499491810798645, + 0.5120040774345398, + 0.4859265089035034 + ] + }, + "wrist": { + "intrinsics": { + "K": [ + [ + 617.2500342478374, + 0.0, + 320.0 + ], + [ + 0.0, + 617.548655622722, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 54.807019583348044, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + -0.0749870017170906, + 0.005288999993354082, + 0.04582099989056587 + ], + "quat": [ + 0.1271296590566635, + 0.701795220375061, + -0.6904057860374451, + -0.12108422070741653 + ] + } + }, + "lerobot": { + "codebase_version": "v2.1", + "video_keys": [ + "observation.images.head", + "observation.images.wrist" + ], + "columns": [ + "action", + "action.applied", + "action.command", + "action_is_hold", + "collect_info", + "episode_index", + "extra.action_info", + "extra.reward", + "frame_index", + "index", + "narration", + "next.done", + "next.truncated", + "observation.eef_pose", + "observation.environment_state", + "observation.images.head", + "observation.images.wrist", + "observation.joint_vel", + "observation.state", + "sim_step_idx", + "task_index", + "timestamp" + ] + }, + "generated_run": { + "run_id": "stationbookend/000", + "task_type": "BookendCommand" + } +} \ No newline at end of file diff --git a/N034/go2_arm/dr_on/seed_2023/rec/stationbookend/000/lerobot_v21/meta/stats.json b/N034/go2_arm/dr_on/seed_2023/rec/stationbookend/000/lerobot_v21/meta/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..1ef7e4676654eaf2c5c72bd751b0ec592b61c2f7 --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2023/rec/stationbookend/000/lerobot_v21/meta/stats.json @@ -0,0 +1,5405 @@ +{ + "action": { + "mean": [ + 0.11702150371138008, + -0.002234472547347003, + 0.013307595341535946, + 0.33081774912490064, + 0.8469963502211009, + 1.1646635839061046, + 0.6440725402734394, + 0.10895514900231884, + -0.44366557287166564, + 0.8411527526398422, + 0.06696247331965967, + 0.655229662423907 + ], + "std": [ + 0.1409246020393937, + 0.027879193281700163, + 0.22281898834809755, + 0.02936683347484253, + 1.4530049882239877, + 1.6907572286325503, + 0.061146565290005915, + 0.05102591754068211, + 0.2509022447830207, + 0.11012448655871541, + 0.03980813924370908, + 0.47529333248400657 + ], + "min": [ + 0.0, + -0.15999993681907654, + -0.800000011920929, + 0.28999999165534973, + -3.4573943614959717, + -1.9889944791793823, + 0.48813289403915405, + -0.01743997260928154, + -0.6823234558105469, + 0.7041717767715454, + 0.000512195227202028, + 0.0 + ], + "max": [ + 0.3499999940395355, + 0.2333332896232605, + 0.800000011920929, + 0.3700000047683716, + 2.280346393585205, + 2.791379928588867, + 0.7259262800216675, + 0.21935801208019257, + 0.037119943648576736, + 0.9996245503425598, + 0.14995728433132172, + 1.0 + ], + "count": [ + 1807 + ] + }, + "action_is_hold": { + "mean": [ + 0.11898173768677366, + 0.11898173768677366, + 0.11898173768677366, + 0.11898173768677366, + 0.14941892639734367, + 0.14941892639734367, + 0.14941892639734367, + 0.14941892639734367, + 0.14941892639734367, + 0.14941892639734367, + 0.14941892639734367, + 0.961261759822911 + ], + "std": [ + 0.32376702084031045, + 0.32376702084031045, + 0.32376702084031045, + 0.32376702084031045, + 0.3565009268313468, + 0.3565009268313468, + 0.3565009268313468, + 0.3565009268313468, + 0.3565009268313468, + 0.3565009268313468, + 0.3565009268313468, + 0.1929704353652909 + ], + "min": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "max": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "count": [ + 1807 + ] + }, + "observation.state": { + "mean": [ + -0.02329882212449509, + 0.017975133629399318, + -0.035274166306084875, + 0.06627054589729144, + -0.09513796864918214, + 0.7003439273138896, + 0.7699448232269446, + 0.8951148716665858, + 0.8822229788919543, + 2.344594269545618, + -1.5283732534972223, + -1.5313061879495262, + -1.5233297202226928, + -1.558009441873944, + -2.0181892152708674, + 0.03184526825014413, + 1.0551069669784203, + 0.040940920238301884, + 0.019009418532081098, + -0.019339288616837817, + 0.605893409423897, + 0.7172965683791875, + 1.1150837201866315, + 0.36042987187065734, + -0.019339288616837817, + -0.019009418532081098 + ], + "std": [ + 0.033370607443899934, + 0.03501651355797711, + 0.040428445353401773, + 0.04675334781240661, + 0.15941683647873023, + 0.10363519485565095, + 0.138700999124647, + 0.1392717808689918, + 0.12416317747346527, + 0.3953103964687536, + 0.18052105222059373, + 0.18815134268694403, + 0.19010745871266604, + 0.18382024478187872, + 0.6303228151932867, + 0.03197650296483725, + 0.22349145728638187, + 0.48670010224871246, + 0.01335887709182223, + 0.013319834770937315, + 1.4723750354585843, + 1.5487593657596552, + 0.4419040002642906, + 0.028153014448580677, + 0.013319834770937315, + 0.01335887709182223 + ], + "min": [ + -0.163019597530365, + -0.09707851707935333, + -0.17514166235923767, + -0.0962117612361908, + -0.7724999189376831, + 0.4444734752178192, + 0.43715932965278625, + 0.5854823589324951, + 0.54256671667099, + 1.7043771743774414, + -1.827678918838501, + -1.846091389656067, + -1.820884346961975, + -1.8442617654800415, + -2.8844997882843018, + -0.0106697678565979, + 0.48266956210136414, + -0.44134068489074707, + 0.0, + -0.03500000014901161, + -3.6658875942230225, + -2.2849957942962646, + 0.12503959238529205, + 0.31501007080078125, + -0.03500000014901161, + -0.03500000014901161 + ], + "max": [ + 0.15977047383785248, + 0.2085888534784317, + 0.1549040824174881, + 0.19510838389396667, + 0.21716472506523132, + 0.951337456703186, + 1.0551549196243286, + 1.1740187406539917, + 1.1006321907043457, + 2.9506194591522217, + -1.127149224281311, + -1.1798559427261353, + -1.1559139490127563, + -1.1499011516571045, + -0.9940715432167053, + 0.1441539227962494, + 1.217044711112976, + 1.4390239715576172, + 0.03500000014901161, + 0.0, + 1.8582268953323364, + 2.2641332149505615, + 1.6038926839828491, + 0.4035291075706482, + 0.0, + -0.0 + ], + "count": [ + 1807 + ] + }, + "observation.joint_vel": { + "mean": [ + 0.0005499074883324091, + -0.001127853499897378, + 0.001715434463516195, + -0.002549698888780569, + 0.002679506369406914, + 0.011093997284820424, + 0.006169049784997828, + 0.003677532990260237, + 0.002106966493668923, + 0.004403343575212364, + -0.01637670727488213, + -0.012014762386854885, + -0.003449305981810687, + -0.0017962731080364634, + -0.013921490825278653, + -0.0001799810995583608, + 0.013179809924417179, + 0.003287353899035009, + -0.00038042563011681755, + 0.00041890849381976596 + ], + "std": [ + 0.35180257015951705, + 0.3510370689195239, + 0.37022424736014337, + 0.44947287031349836, + 0.12039423424432948, + 0.9467363979938471, + 0.9352324522615333, + 0.7357843740200999, + 0.6376670298765461, + 0.13666922144018556, + 0.5418780409192696, + 0.8121507073929927, + 0.8302012897013843, + 0.9172717732801953, + 0.20700449313059033, + 0.03055114841468451, + 0.09471591950332776, + 0.15697846891126094, + 0.0130720791084695, + 0.014342676925624305 + ], + "min": [ + -2.762030839920044, + -4.024587631225586, + -1.6789675951004028, + -2.598686456680298, + -0.7380765080451965, + -4.293771266937256, + -4.560217380523682, + -3.590677499771118, + -4.022411823272705, + -0.549767792224884, + -3.256826877593994, + -5.750273704528809, + -3.7365689277648926, + -4.435935020446777, + -1.495896577835083, + -0.15525038540363312, + -0.8776700496673584, + -0.3740447163581848, + -0.20009316504001617, + -0.2000644952058792 + ], + "max": [ + 3.519606351852417, + 2.5883755683898926, + 4.158236503601074, + 2.9919593334198, + 1.932504415512085, + 1.4829188585281372, + 1.7915558815002441, + 3.532139778137207, + 4.1450347900390625, + 1.1091030836105347, + 2.9546425342559814, + 5.154033660888672, + 3.366830825805664, + 3.5557727813720703, + 1.147177815437317, + 0.281960666179657, + 0.8996401429176331, + 1.2830311059951782, + 0.20001792907714844, + 0.2003551423549652 + ], + "count": [ + 1807 + ] + }, + "observation.eef_pose": { + "mean": [ + 0.8443904638032191, + 1.1587231565198814, + 0.640923367921463, + 0.11359540184657746, + -0.44433246677257965, + 0.8397606118449732, + 0.07196917788521914 + ], + "std": [ + 1.4511107430747772, + 1.6856729290554058, + 0.06110617895078169, + 0.05233975691801996, + 0.25037161543039843, + 0.11101567548674626, + 0.03921022999356207 + ], + "min": [ + -3.457406759262085, + -1.9891291856765747, + 0.4858323931694031, + -0.01733076572418213, + -0.6830118894577026, + 0.7041000127792358, + -0.00047194957733154297 + ], + "max": [ + 2.2923529148101807, + 2.7917232513427734, + 0.7255979776382446, + 0.2206220030784607, + 0.04250321909785271, + 0.9994884729385376, + 0.15563112497329712 + ], + "count": [ + 1807 + ] + }, + "observation.environment_state": { + "mean": [ + 1.0187093149716016, + 1.4101322612399982, + 0.4456650060088712, + 0.7634447629305297, + -0.007104114118336596, + 0.005174784955883793, + 0.6257631038359402, + 2.0127975236135884, + 2.7847085637682105, + 0.3300044823398759, + 0.7330614125194244, + -0.00027459134774501814, + -0.0002487293787399006, + 0.6801416349133933, + 1.91335129737854, + 2.7951674461364746, + 0.37049999833106995, + 0.9993106126785278, + 0.0, + 0.0, + -0.03712545335292816, + -0.38958045840263367, + -0.10157608985900879, + 0.3474999964237213, + 0.9996502995491028, + 0.0, + 0.0, + -0.026443876326084137, + -0.33665457367897034, + -0.10437805950641632, + 0.3474999964237213, + 0.9996502995491028, + 0.0, + 0.0, + -0.026443876326084137, + -0.3567734360694885, + 0.016855109483003616, + 0.18000000715255737, + 0.9996502995491028, + 0.0, + 0.0, + -0.026443876326084137, + 1.9491926431655884, + 2.8927769660949707, + 0.18000000715255737, + 0.9993106126785278, + 0.0, + 0.0, + -0.03712545335292816 + ], + "std": [ + 1.0343942227620826, + 1.3537123857036515, + 0.0632579880258631, + 0.07395576008079299, + 0.02439052123893742, + 0.023809230039926712, + 0.13734681444560895, + 0.01406050155960982, + 0.001618111816174184, + 6.143297770602345e-05, + 0.0008121173133969997, + 0.0038111231112920607, + 0.0034474927574140416, + 0.0010655124416404959, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 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": [ + -0.36377719044685364, + -0.5863357782363892, + 0.3999989926815033, + 0.7153422236442566, + -0.10816765576601028, + -0.07414540648460388, + 0.08994821459054947, + 1.9612975120544434, + 2.784247398376465, + 0.3299999237060547, + 0.732871413230896, + -0.0826323851943016, + -0.0745098665356636, + 0.6655044555664062, + 1.91335129737854, + 2.7951674461364746, + 0.37049999833106995, + 0.9993106126785278, + 0.0, + 0.0, + -0.03712545335292816, + -0.38958045840263367, + -0.10157608985900879, + 0.3474999964237213, + 0.9996502995491028, + 0.0, + 0.0, + -0.026443876326084137, + -0.33665457367897034, + -0.10437805950641632, + 0.3474999964237213, + 0.9996502995491028, + 0.0, + 0.0, + -0.026443876326084137, + -0.3567734360694885, + 0.016855109483003616, + 0.18000000715255737, + 0.9996502995491028, + 0.0, + 0.0, + -0.026443876326084137, + 1.9491926431655884, + 2.8927769660949707, + 0.18000000715255737, + 0.9993106126785278, + 0.0, + 0.0, + -0.03712545335292816 + ], + "max": [ + 2.0753157138824463, + 2.791126251220703, + 0.5641321539878845, + 0.9959261417388916, + 0.07033764570951462, + 0.11568325012922287, + 0.690795361995697, + 2.016765832901001, + 2.790632963180542, + 0.3313271105289459, + 0.742665708065033, + 8.672476724314038e-06, + 1.5363099009846337e-05, + 0.6803672313690186, + 1.91335129737854, + 2.7951674461364746, + 0.37049999833106995, + 0.9993106126785278, + 0.0, + 0.0, + -0.03712545335292816, + -0.38958045840263367, + -0.10157608985900879, + 0.3474999964237213, + 0.9996502995491028, + 0.0, + 0.0, + -0.026443876326084137, + -0.33665457367897034, + -0.10437805950641632, + 0.3474999964237213, + 0.9996502995491028, + 0.0, + 0.0, + -0.026443876326084137, + -0.3567734360694885, + 0.016855109483003616, + 0.18000000715255737, + 0.9996502995491028, + 0.0, + 0.0, + -0.026443876326084137, + 1.9491926431655884, + 2.8927769660949707, + 0.18000000715255737, + 0.9993106126785278, + 0.0, + 0.0, + -0.03712545335292816 + ], + "count": [ + 1807 + ] + }, + "action.command": { + "mean": [ + -0.8404938520888937, + -0.5082635251645049, + 1.1268595897773812, + 0.7624734873929735, + 0.0, + 0.0, + 0.6439630443549288, + 0.6857514638906962, + 0.7234670040703627, + 0.9805161569051798, + 0.6485210344941879, + 0.11132611953229998, + -0.42731314820973515, + 0.8515626234362943, + 0.06490284662445155, + 0.5714285714285714, + -1.699895449433962, + -1.3193379618117178, + 1.505274731089257, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.014373501409271364, + -0.04877738147211909, + 0.6940691142993531, + 0.11647347924406082, + -0.3461415615950587, + 0.9093902250639041, + 0.04332746356640457, + 0.0, + -1.6897448271633317, + -1.315509450868835, + 1.505274731089257, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.014373501409271364, + -0.04877738147211909, + 0.6940691142993531, + 0.11647347924406082, + -0.3461415615950587, + 0.9093902250639041, + 0.04332746356640457, + 0.0, + -1.6816221782448795, + -1.3128373249863872, + 1.505274731089257, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.014373501409271364, + -0.04877738147211909, + 0.6940691142993531, + 0.11647347924406082, + -0.3461415615950587, + 0.9093902250639041, + 0.04332746356640457, + 0.0, + -1.583908944880818, + -1.287332351563917, + 1.505274731089257, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.014373501409271364, + -0.04877738147211909, + 0.6940691142993531, + 0.11647347924406082, + -0.3461415615950587, + 0.9093902250639041, + 0.04332746356640457, + 0.0, + -1.5401546215666095, + -1.2732586984197993, + 1.505274731089257, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.014373501409271364, + -0.04877738147211909, + 0.6940691142993531, + 0.11647347924406082, + -0.3461415615950587, + 0.9093902250639041, + 0.04332746356640457, + 0.0, + -1.4782949408483699, + -1.2591988924053443, + 1.505274731089257, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.014373501409271364, + -0.04877738147211909, + 0.6940691142993531, + 0.11647347924406082, + -0.3461415615950587, + 0.9093902250639041, + 0.04332746356640457, + 0.0, + -1.4278830257150399, + -1.2457207772645142, + 1.505274731089257, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.014373501409271364, + -0.04877738147211909, + 0.6940691142993531, + 0.11647347924406082, + -0.3461415615950587, + 0.9093902250639041, + 0.04332746356640457, + 0.0, + -1.3729454236227925, + -1.2310983471241486, + 1.505274731089257, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.014373501409271364, + -0.04877738147211909, + 0.6940691142993531, + 0.11647347924406082, + -0.3461415615950587, + 0.9093902250639041, + 0.04332746356640457, + 0.0, + -1.3128818962848363, + -1.2172065938786574, + 1.505274731089257, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.014373501409271364, + -0.04877738147211909, + 0.6940691142993531, + 0.11647347924406082, + -0.3461415615950587, + 0.9093902250639041, + 0.04332746356640457, + 0.0, + -1.2679474928778562, + -1.2030480591477488, + 1.505274731089257, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.014373501409271364, + -0.04877738147211909, + 0.6940691142993531, + 0.11647347924406082, + -0.3461415615950587, + 0.9093902250639041, + 0.04332746356640457, + 0.0, + -1.1820867357632674, + -1.1796110776199147, + 1.505274731089257, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.014373501409271364, + -0.04877738147211909, + 0.6940691142993531, + 0.11647347924406082, + -0.3461415615950587, + 0.9093902250639041, + 0.04332746356640457, + 0.0, + -1.168361136722372, + -1.1760353859950203, + 1.505274731089257, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.014373501409271364, + -0.04877738147211909, + 0.6940691142993531, + 0.11647347924406082, + -0.3461415615950587, + 0.9093902250639041, + 0.04332746356640457, + 0.0, + -1.148757194044773, + -1.170651361406411, + 1.505274731089257, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.014373501409271364, + -0.04877738147211909, + 0.6940691142993531, + 0.11647347924406082, + -0.3461415615950587, + 0.9093902250639041, + 0.04332746356640457, + 0.0, + -1.063386447938262, + -1.1480178208883807, + 1.505274731089257, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.014373501409271364, + -0.04877738147211909, + 0.6940691142993531, + 0.11647347924406082, + -0.3461415615950587, + 0.9093902250639041, + 0.04332746356640457, + 0.0, + -1.0297141206296585, + -1.119627012779703, + 1.505274731089257, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.014373501409271364, + -0.04877738147211909, + 0.6940691142993531, + 0.11647347924406082, + -0.3461415615950587, + 0.9093902250639041, + 0.04332746356640457, + 0.0, + -0.9979723456088819, + -1.0972383181949323, + 1.505274731089257, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.014373501409271364, + -0.04877738147211909, + 0.6940691142993531, + 0.11647347924406082, + -0.3461415615950587, + 0.9093902250639041, + 0.04332746356640457, + 0.0, + -0.9258070440504144, + -1.0346699904545158, + 1.505274731089257, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.014373501409271364, + -0.04877738147211909, + 0.6940691142993531, + 0.11647347924406082, + -0.3461415615950587, + 0.9093902250639041, + 0.04332746356640457, + 0.0, + -0.9118795096874237, + -1.0177977999639705, + 1.505274731089257, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.014373501409271364, + -0.04877738147211909, + 0.6940691142993531, + 0.11647347924406082, + -0.3461415615950587, + 0.9093902250639041, + 0.04332746356640457, + 0.0, + -0.8922737827612285, + -0.9920300461081124, + 1.505274731089257, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.014373501409271364, + -0.04877738147211909, + 0.6940691142993531, + 0.11647347924406082, + -0.3461415615950587, + 0.9093902250639041, + 0.04332746356640457, + 0.0, + -0.8337141257356026, + -0.9495190364756141, + 1.505274731089257, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.014373501409271364, + -0.04877738147211909, + 0.6940691142993531, + 0.11647347924406082, + -0.3461415615950587, + 0.9093902250639041, + 0.04332746356640457, + 0.0, + -0.7865979261947031, + -0.8991021024988285, + 1.505274731089257, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.014373501409271364, + -0.04877738147211909, + 0.6940691142993531, + 0.11647347924406082, + -0.3461415615950587, + 0.9093902250639041, + 0.04332746356640457, + 0.0, + -0.7603385912136628, + -0.8733351117709444, + 1.505274731089257, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.014373501409271364, + -0.04877738147211909, + 0.6940691142993531, + 0.11647347924406082, + -0.3461415615950587, + 0.9093902250639041, + 0.04332746356640457, + 0.0, + -0.7081410571190743, + -0.8162197144263365, + 1.505274731089257, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.014373501409271364, + -0.04877738147211909, + 0.6940691142993531, + 0.11647347924406082, + -0.3461415615950587, + 0.9093902250639041, + 0.04332746356640457, + 0.0, + -0.6867849744184502, + -0.7967378028729883, + 1.505274731089257, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.014373501409271364, + -0.04877738147211909, + 0.6940691142993531, + 0.11647347924406082, + -0.3461415615950587, + 0.9093902250639041, + 0.04332746356640457, + 0.0, + -0.6495162361723898, + -0.7399672638539672, + 1.505274731089257, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.014373501409271364, + -0.04877738147211909, + 0.6940691142993531, + 0.11647347924406082, + -0.3461415615950587, + 0.9093902250639041, + 0.04332746356640457, + 0.0, + -0.613250771008462, + -0.7200038364836457, + 1.505274731089257, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.014373501409271364, + -0.04877738147211909, + 0.6940691142993531, + 0.11647347924406082, + -0.3461415615950587, + 0.9093902250639041, + 0.04332746356640457, + 0.0, + -0.5509491968764592, + -0.6506878021668296, + 1.505274731089257, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.014373501409271364, + -0.04877738147211909, + 0.6940691142993531, + 0.11647347924406082, + -0.3461415615950587, + 0.9093902250639041, + 0.04332746356640457, + 0.0, + -0.5396809981456515, + -0.6432048854083424, + 1.505274731089257, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.014373501409271364, + -0.04877738147211909, + 0.6940691142993531, + 0.11647347924406082, + -0.3461415615950587, + 0.9093902250639041, + 0.04332746356640457, + 0.0, + -0.49066480187997524, + -0.576436593386559, + 1.505274731089257, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.014373501409271364, + -0.04877738147211909, + 0.6940691142993531, + 0.11647347924406082, + -0.3461415615950587, + 0.9093902250639041, + 0.04332746356640457, + 0.0, + -0.46596165139774615, + -0.5662905789841554, + 1.505274731089257, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.014373501409271364, + -0.04877738147211909, + 0.6940691142993531, + 0.11647347924406082, + -0.3461415615950587, + 0.9093902250639041, + 0.04332746356640457, + 0.0, + -0.4397488670426134, + -0.538747253199766, + 1.505274731089257, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.014373501409271364, + -0.04877738147211909, + 0.6940691142993531, + 0.11647347924406082, + -0.3461415615950587, + 0.9093902250639041, + 0.04332746356640457, + 0.0, + -0.39211527945055136, + -0.48924745829878713, + 1.505274731089257, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.014373501409271364, + -0.04877738147211909, + 0.6940691142993531, + 0.11647347924406082, + -0.3461415615950587, + 0.9093902250639041, + 0.04332746356640457, + 0.0, + -0.35396044692312884, + -0.4734368062356279, + 1.505274731089257, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.014373501409271364, + -0.04877738147211909, + 0.6940691142993531, + 0.11647347924406082, + -0.3461415615950587, + 0.9093902250639041, + 0.04332746356640457, + 0.0, + -0.3182460867059022, + -0.41216266271564234, + 1.505274731089257, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.014373501409271364, + -0.04877738147211909, + 0.6940691142993531, + 0.11647347924406082, + -0.3461415615950587, + 0.9093902250639041, + 0.04332746356640457, + 0.0, + -0.3116632517863411, + -0.4068646895051163, + 1.505274731089257, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.014373501409271364, + -0.04877738147211909, + 0.6940691142993531, + 0.11647347924406082, + -0.3461415615950587, + 0.9093902250639041, + 0.04332746356640457, + 0.0, + -0.24454773290641857, + -0.33515948674880963, + 1.505274731089257, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.014373501409271364, + -0.04877738147211909, + 0.6940691142993531, + 0.11647347924406082, + -0.3461415615950587, + 0.9093902250639041, + 0.04332746356640457, + 0.0, + -0.22153806670357049, + -0.32245104590463447, + 1.505274731089257, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.014373501409271364, + -0.04877738147211909, + 0.6940691142993531, + 0.11647347924406082, + -0.3461415615950587, + 0.9093902250639041, + 0.04332746356640457, + 0.0, + -0.17088809910244127, + -0.25819647817560354, + 1.505274731089257, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.014373501409271364, + -0.04877738147211909, + 0.6940691142993531, + 0.11647347924406082, + -0.3461415615950587, + 0.9093902250639041, + 0.04332746356640457, + 0.0, + -0.13320159334513895, + -0.23827845901050285, + 1.505274731089257, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.014373501409271364, + -0.04877738147211909, + 0.6940691142993531, + 0.11647347924406082, + -0.3461415615950587, + 0.9093902250639041, + 0.04332746356640457, + 0.0, + -0.09720535586371236, + -0.18123045720129924, + 1.505274731089257, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.014373501409271364, + -0.04877738147211909, + 0.6940691142993531, + 0.11647347924406082, + -0.3461415615950587, + 0.9093902250639041, + 0.04332746356640457, + 0.0, + -0.0893265610588351, + -0.17187157638300796, + 1.505274731089257, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.014373501409271364, + -0.04877738147211909, + 0.6940691142993531, + 0.11647347924406082, + -0.3461415615950587, + 0.9093902250639041, + 0.04332746356640457, + 0.0, + -0.02336840048773292, + -0.10420442164987125, + 1.505274731089257, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.014373501409271364, + -0.04877738147211909, + 0.6940691142993531, + 0.11647347924406082, + -0.3461415615950587, + 0.9093902250639041, + 0.04332746356640457, + 0.0, + 0.00888392293116286, + -0.08389246656307461, + 1.505274731089257, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.014373501409271364, + -0.04877738147211909, + 0.6940691142993531, + 0.11647347924406082, + -0.3461415615950587, + 0.9093902250639041, + 0.04332746356640457, + 0.0, + 0.050468533228415983, + -0.027178526967563347, + 1.505274731089257, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.014373501409271364, + -0.04877738147211909, + 0.6940691142993531, + 0.11647347924406082, + -0.3461415615950587, + 0.9093902250639041, + 0.04332746356640457, + 0.0, + 0.07960426261896722, + -0.007017748753764588, + 1.505274731089257, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.014373501409271364, + -0.04877738147211909, + 0.6940691142993531, + 0.11647347924406082, + -0.3461415615950587, + 0.9093902250639041, + 0.04332746356640457, + 0.0, + 0.12422783923502084, + 0.04981728180902001, + 1.505274731089257, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.014373501409271364, + -0.04877738147211909, + 0.6940691142993531, + 0.11647347924406082, + -0.3461415615950587, + 0.9093902250639041, + 0.04332746356640457, + 0.0, + 0.14126419475550286, + 0.06672066779027556, + 1.505274731089257, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.014373501409271364, + -0.04877738147211909, + 0.6940691142993531, + 0.11647347924406082, + -0.3461415615950587, + 0.9093902250639041, + 0.04332746356640457, + 0.0, + 0.19788337973213452, + 0.12677269700719082, + 1.505274731089257, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.014373501409271364, + -0.04877738147211909, + 0.6940691142993531, + 0.11647347924406082, + -0.3461415615950587, + 0.9093902250639041, + 0.04332746356640457, + 0.0, + 0.23875356362292777, + 0.15403352242619964, + 1.505274731089257, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.014373501409271364, + -0.04877738147211909, + 0.6940691142993531, + 0.11647347924406082, + -0.3461415615950587, + 0.9093902250639041, + 0.04332746356640457, + 0.0, + 0.2715388226797892, + 0.2037280634306321, + 1.505274731089257, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.014373501409271364, + -0.04877738147211909, + 0.6940691142993531, + 0.11647347924406082, + -0.3461415615950587, + 0.9093902250639041, + 0.04332746356640457, + 0.0, + 0.2926790269836282, + 0.2247333675823494, + 1.505274731089257, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.014373501409271364, + -0.04877738147211909, + 0.6940691142993531, + 0.11647347924406082, + -0.3461415615950587, + 0.9093902250639041, + 0.04332746356640457, + 0.0, + 0.3453203699630491, + 0.28073254055161817, + 1.505274731089257, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.014373501409271364, + -0.04877738147211909, + 0.6940691142993531, + 0.11647347924406082, + -0.3461415615950587, + 0.9093902250639041, + 0.04332746356640457, + 0.0, + 0.37121145208623174, + 0.30470887761096777, + 1.505274731089257, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.014373501409271364, + -0.04877738147211909, + 0.6940691142993531, + 0.11647347924406082, + -0.3461415615950587, + 0.9093902250639041, + 0.04332746356640457, + 0.0, + 0.419157303679198, + 0.35775848400865556, + 1.505274731089257, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.014373501409271364, + -0.04877738147211909, + 0.6940691142993531, + 0.11647347924406082, + -0.3461415615950587, + 0.9093902250639041, + 0.04332746356640457, + 0.0, + 0.4693551668408421, + 0.3925661275396437, + 1.505274731089257, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.014373501409271364, + -0.04877738147211909, + 0.6940691142993531, + 0.11647347924406082, + -0.3461415615950587, + 0.9093902250639041, + 0.04332746356640457, + 0.0, + 0.49299430782990694, + 0.43478456833481305, + 1.505274731089257, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.014373501409271364, + -0.04877738147211909, + 0.6940691142993531, + 0.11647347924406082, + -0.3461415615950587, + 0.9093902250639041, + 0.04332746356640457, + 0.0, + 0.5055516305232914, + 0.4561159784026935, + 1.505274731089257, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.014373501409271364, + -0.04877738147211909, + 0.6940691142993531, + 0.11647347924406082, + -0.3461415615950587, + 0.9093902250639041, + 0.04332746356640457, + 0.0, + 0.5666547962345313, + 0.5117420266165548, + 1.505274731089257, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.014373501409271364, + -0.04877738147211909, + 0.6940691142993531, + 0.11647347924406082, + -0.3461415615950587, + 0.9093902250639041, + 0.04332746356640457, + 0.0, + 0.601489272605362, + 0.5430836146484314, + 1.505274731089257, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.014373501409271364, + -0.04877738147211909, + 0.6940691142993531, + 0.11647347924406082, + -0.3461415615950587, + 0.9093902250639041, + 0.04332746356640457, + 0.0, + 0.6403102635695508, + 0.588697322605436, + 1.505274731089257, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.014373501409271364, + -0.04877738147211909, + 0.6940691142993531, + 0.11647347924406082, + -0.3461415615950587, + 0.9093902250639041, + 0.04332746356640457, + 0.0, + 0.6840456671220617, + 0.6247616109424452, + 1.505274731089257, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.014373501409271364, + -0.04877738147211909, + 0.6940691142993531, + 0.11647347924406082, + -0.3461415615950587, + 0.9093902250639041, + 0.04332746356640457, + 0.0, + 0.7142282968254141, + 0.6660427617192429, + 1.505274731089257, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.014373501409271364, + -0.04877738147211909, + 0.6940691142993531, + 0.11647347924406082, + -0.3461415615950587, + 0.9093902250639041, + 0.04332746356640457, + 0.0, + 0.7342250698508035, + 0.6946133822804345, + 1.505274731089257, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.014373501409271364, + -0.04877738147211909, + 0.6940691142993531, + 0.11647347924406082, + -0.3461415615950587, + 0.9093902250639041, + 0.04332746356640457, + 0.0, + 0.7890329348126459, + 0.7447359250660379, + 1.505274731089257, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.014373501409271364, + -0.04877738147211909, + 0.6940691142993531, + 0.11647347924406082, + -0.3461415615950587, + 0.9093902250639041, + 0.04332746356640457, + 0.0, + 0.8338678337202419, + 0.7853992771492672, + 1.505274731089257, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.014373501409271364, + -0.04877738147211909, + 0.6940691142993531, + 0.11647347924406082, + -0.3461415615950587, + 0.9093902250639041, + 0.04332746356640457, + 0.0, + 0.8651629952691284, + 0.825864172559407, + 1.505274731089257, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.014373501409271364, + -0.04877738147211909, + 0.6940691142993531, + 0.11647347924406082, + -0.3461415615950587, + 0.9093902250639041, + 0.04332746356640457, + 0.0, + 0.9041265289363116, + 0.8680743596755961, + 1.505274731089257, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.014373501409271364, + -0.04877738147211909, + 0.6940691142993531, + 0.11647347924406082, + -0.3461415615950587, + 0.9093902250639041, + 0.04332746356640457, + 0.0, + 0.9461322429202608, + 0.9223464067980226, + 1.505274731089257, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.014373501409271364, + -0.04877738147211909, + 0.6940691142993531, + 0.11647347924406082, + -0.3461415615950587, + 0.9093902250639041, + 0.04332746356640457, + 0.0 + ], + "std": [ + 1.949596768223545, + 1.5649525557291888, + 0.5424201154884886, + 0.03965965524519364, + 0.0, + 0.0, + 0.048712357053133586, + 1.3207758699120962, + 1.4963642424261736, + 1.7065846416618402, + 0.058297029946324394, + 0.0497953085267488, + 0.2447765562637411, + 0.10799566150023546, + 0.03975470882986048, + 0.49487165930539406, + 1.5860671735579959, + 0.7839963359568202, + 0.010509750992405144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5561314512295943, + 1.4351405067454819, + 0.018555400967439725, + 0.007578399437744387, + 0.17958039437494006, + 0.07005295948290612, + 0.02319601849360778, + 0.0, + 1.5750816501489942, + 0.7796281212424953, + 0.010509750992405144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5561314512295943, + 1.4351405067454819, + 0.018555400967439725, + 0.007578399437744387, + 0.17958039437494006, + 0.07005295948290612, + 0.02319601849360778, + 0.0, + 1.5703330841883587, + 0.7773781920338816, + 0.010509750992405144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5561314512295943, + 1.4351405067454819, + 0.018555400967439725, + 0.007578399437744387, + 0.17958039437494006, + 0.07005295948290612, + 0.02319601849360778, + 0.0, + 1.5817649711857868, + 0.771436788179511, + 0.010509750992405144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5561314512295943, + 1.4351405067454819, + 0.018555400967439725, + 0.007578399437744387, + 0.17958039437494006, + 0.07005295948290612, + 0.02319601849360778, + 0.0, + 1.559492223786645, + 0.760335871386671, + 0.010509750992405144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5561314512295943, + 1.4351405067454819, + 0.018555400967439725, + 0.007578399437744387, + 0.17958039437494006, + 0.07005295948290612, + 0.02319601849360778, + 0.0, + 1.5882737734667778, + 0.7632133061534363, + 0.010509750992405144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5561314512295943, + 1.4351405067454819, + 0.018555400967439725, + 0.007578399437744387, + 0.17958039437494006, + 0.07005295948290612, + 0.02319601849360778, + 0.0, + 1.590871223588218, + 0.7591310618872871, + 0.010509750992405144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5561314512295943, + 1.4351405067454819, + 0.018555400967439725, + 0.007578399437744387, + 0.17958039437494006, + 0.07005295948290612, + 0.02319601849360778, + 0.0, + 1.5943797539295348, + 0.7548912085752062, + 0.010509750992405144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5561314512295943, + 1.4351405067454819, + 0.018555400967439725, + 0.007578399437744387, + 0.17958039437494006, + 0.07005295948290612, + 0.02319601849360778, + 0.0, + 1.6198454985358286, + 0.7569209012683557, + 0.010509750992405144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5561314512295943, + 1.4351405067454819, + 0.018555400967439725, + 0.007578399437744387, + 0.17958039437494006, + 0.07005295948290612, + 0.02319601849360778, + 0.0, + 1.6000149953251748, + 0.7464582454296887, + 0.010509750992405144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5561314512295943, + 1.4351405067454819, + 0.018555400967439725, + 0.007578399437744387, + 0.17958039437494006, + 0.07005295948290612, + 0.02319601849360778, + 0.0, + 1.599469613223527, + 0.7379741721733298, + 0.010509750992405144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5561314512295943, + 1.4351405067454819, + 0.018555400967439725, + 0.007578399437744387, + 0.17958039437494006, + 0.07005295948290612, + 0.02319601849360778, + 0.0, + 1.6011467663075014, + 0.7371616269134328, + 0.010509750992405144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5561314512295943, + 1.4351405067454819, + 0.018555400967439725, + 0.007578399437744387, + 0.17958039437494006, + 0.07005295948290612, + 0.02319601849360778, + 0.0, + 1.6006834783560648, + 0.7351201237990207, + 0.010509750992405144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5561314512295943, + 1.4351405067454819, + 0.018555400967439725, + 0.007578399437744387, + 0.17958039437494006, + 0.07005295948290612, + 0.02319601849360778, + 0.0, + 1.6070559039737458, + 0.7288151172237544, + 0.010509750992405144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5561314512295943, + 1.4351405067454819, + 0.018555400967439725, + 0.007578399437744387, + 0.17958039437494006, + 0.07005295948290612, + 0.02319601849360778, + 0.0, + 1.597780239430697, + 0.7379421111290196, + 0.010509750992405144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5561314512295943, + 1.4351405067454819, + 0.018555400967439725, + 0.007578399437744387, + 0.17958039437494006, + 0.07005295948290612, + 0.02319601849360778, + 0.0, + 1.5801200696367872, + 0.7394395435967458, + 0.010509750992405144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5561314512295943, + 1.4351405067454819, + 0.018555400967439725, + 0.007578399437744387, + 0.17958039437494006, + 0.07005295948290612, + 0.02319601849360778, + 0.0, + 1.563751206757474, + 0.7617980044687689, + 0.010509750992405144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5561314512295943, + 1.4351405067454819, + 0.018555400967439725, + 0.007578399437744387, + 0.17958039437494006, + 0.07005295948290612, + 0.02319601849360778, + 0.0, + 1.570369541171094, + 0.7739056644283312, + 0.010509750992405144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5561314512295943, + 1.4351405067454819, + 0.018555400967439725, + 0.007578399437744387, + 0.17958039437494006, + 0.07005295948290612, + 0.02319601849360778, + 0.0, + 1.5837970230325784, + 0.7942258898335403, + 0.010509750992405144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5561314512295943, + 1.4351405067454819, + 0.018555400967439725, + 0.007578399437744387, + 0.17958039437494006, + 0.07005295948290612, + 0.02319601849360778, + 0.0, + 1.5536757305228397, + 0.798948754207471, + 0.010509750992405144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5561314512295943, + 1.4351405067454819, + 0.018555400967439725, + 0.007578399437744387, + 0.17958039437494006, + 0.07005295948290612, + 0.02319601849360778, + 0.0, + 1.5425173734678364, + 0.8213240515237121, + 0.010509750992405144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5561314512295943, + 1.4351405067454819, + 0.018555400967439725, + 0.007578399437744387, + 0.17958039437494006, + 0.07005295948290612, + 0.02319601849360778, + 0.0, + 1.5329960199257504, + 0.8305701680339398, + 0.010509750992405144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5561314512295943, + 1.4351405067454819, + 0.018555400967439725, + 0.007578399437744387, + 0.17958039437494006, + 0.07005295948290612, + 0.02319601849360778, + 0.0, + 1.5224203005505716, + 0.8571023489876227, + 0.010509750992405144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5561314512295943, + 1.4351405067454819, + 0.018555400967439725, + 0.007578399437744387, + 0.17958039437494006, + 0.07005295948290612, + 0.02319601849360778, + 0.0, + 1.5125896927397995, + 0.8625842893569956, + 0.010509750992405144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5561314512295943, + 1.4351405067454819, + 0.018555400967439725, + 0.007578399437744387, + 0.17958039437494006, + 0.07005295948290612, + 0.02319601849360778, + 0.0, + 1.5276843489049832, + 0.9036379730331884, + 0.010509750992405144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5561314512295943, + 1.4351405067454819, + 0.018555400967439725, + 0.007578399437744387, + 0.17958039437494006, + 0.07005295948290612, + 0.02319601849360778, + 0.0, + 1.492411045858396, + 0.894806966820804, + 0.010509750992405144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5561314512295943, + 1.4351405067454819, + 0.018555400967439725, + 0.007578399437744387, + 0.17958039437494006, + 0.07005295948290612, + 0.02319601849360778, + 0.0, + 1.481409242824067, + 0.9280578469574428, + 0.010509750992405144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5561314512295943, + 1.4351405067454819, + 0.018555400967439725, + 0.007578399437744387, + 0.17958039437494006, + 0.07005295948290612, + 0.02319601849360778, + 0.0, + 1.4722619982957503, + 0.9270837216538759, + 0.010509750992405144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5561314512295943, + 1.4351405067454819, + 0.018555400967439725, + 0.007578399437744387, + 0.17958039437494006, + 0.07005295948290612, + 0.02319601849360778, + 0.0, + 1.480931111253887, + 0.970159038802749, + 0.010509750992405144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5561314512295943, + 1.4351405067454819, + 0.018555400967439725, + 0.007578399437744387, + 0.17958039437494006, + 0.07005295948290612, + 0.02319601849360778, + 0.0, + 1.4520142179559288, + 0.9593696694932085, + 0.010509750992405144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5561314512295943, + 1.4351405067454819, + 0.018555400967439725, + 0.007578399437744387, + 0.17958039437494006, + 0.07005295948290612, + 0.02319601849360778, + 0.0, + 1.4450900874118013, + 0.9711187161219925, + 0.010509750992405144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5561314512295943, + 1.4351405067454819, + 0.018555400967439725, + 0.007578399437744387, + 0.17958039437494006, + 0.07005295948290612, + 0.02319601849360778, + 0.0, + 1.431726317351341, + 0.9917060680526109, + 0.010509750992405144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5561314512295943, + 1.4351405067454819, + 0.018555400967439725, + 0.007578399437744387, + 0.17958039437494006, + 0.07005295948290612, + 0.02319601849360778, + 0.0, + 1.3872611949607392, + 0.9752348237671952, + 0.010509750992405144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5561314512295943, + 1.4351405067454819, + 0.018555400967439725, + 0.007578399437744387, + 0.17958039437494006, + 0.07005295948290612, + 0.02319601849360778, + 0.0, + 1.4114574072007964, + 1.0240772458115963, + 0.010509750992405144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5561314512295943, + 1.4351405067454819, + 0.018555400967439725, + 0.007578399437744387, + 0.17958039437494006, + 0.07005295948290612, + 0.02319601849360778, + 0.0, + 1.40742577483914, + 1.0247892706126671, + 0.010509750992405144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5561314512295943, + 1.4351405067454819, + 0.018555400967439725, + 0.007578399437744387, + 0.17958039437494006, + 0.07005295948290612, + 0.02319601849360778, + 0.0, + 1.391372305889259, + 1.056507182614273, + 0.010509750992405144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5561314512295943, + 1.4351405067454819, + 0.018555400967439725, + 0.007578399437744387, + 0.17958039437494006, + 0.07005295948290612, + 0.02319601849360778, + 0.0, + 1.3690516647408577, + 1.050962175181528, + 0.010509750992405144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5561314512295943, + 1.4351405067454819, + 0.018555400967439725, + 0.007578399437744387, + 0.17958039437494006, + 0.07005295948290612, + 0.02319601849360778, + 0.0, + 1.3712981358112695, + 1.0889204588103267, + 0.010509750992405144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5561314512295943, + 1.4351405067454819, + 0.018555400967439725, + 0.007578399437744387, + 0.17958039437494006, + 0.07005295948290612, + 0.02319601849360778, + 0.0, + 1.3334704701664348, + 1.0785989712078603, + 0.010509750992405144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5561314512295943, + 1.4351405067454819, + 0.018555400967439725, + 0.007578399437744387, + 0.17958039437494006, + 0.07005295948290612, + 0.02319601849360778, + 0.0, + 1.3511877432006065, + 1.12131471524605, + 0.010509750992405144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5561314512295943, + 1.4351405067454819, + 0.018555400967439725, + 0.007578399437744387, + 0.17958039437494006, + 0.07005295948290612, + 0.02319601849360778, + 0.0, + 1.3506361994585792, + 1.1263396245497095, + 0.010509750992405144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5561314512295943, + 1.4351405067454819, + 0.018555400967439725, + 0.007578399437744387, + 0.17958039437494006, + 0.07005295948290612, + 0.02319601849360778, + 0.0, + 1.33089210574437, + 1.153636995516526, + 0.010509750992405144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5561314512295943, + 1.4351405067454819, + 0.018555400967439725, + 0.007578399437744387, + 0.17958039437494006, + 0.07005295948290612, + 0.02319601849360778, + 0.0, + 1.3031442976194798, + 1.1493196857692596, + 0.010509750992405144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5561314512295943, + 1.4351405067454819, + 0.018555400967439725, + 0.007578399437744387, + 0.17958039437494006, + 0.07005295948290612, + 0.02319601849360778, + 0.0, + 1.3105963510631242, + 1.1859591585619902, + 0.010509750992405144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5561314512295943, + 1.4351405067454819, + 0.018555400967439725, + 0.007578399437744387, + 0.17958039437494006, + 0.07005295948290612, + 0.02319601849360778, + 0.0, + 1.288095476438997, + 1.1845638877034426, + 0.010509750992405144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5561314512295943, + 1.4351405067454819, + 0.018555400967439725, + 0.007578399437744387, + 0.17958039437494006, + 0.07005295948290612, + 0.02319601849360778, + 0.0, + 1.2903940247266927, + 1.218317690671409, + 0.010509750992405144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5561314512295943, + 1.4351405067454819, + 0.018555400967439725, + 0.007578399437744387, + 0.17958039437494006, + 0.07005295948290612, + 0.02319601849360778, + 0.0, + 1.2844809014095802, + 1.2245741660863716, + 0.010509750992405144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5561314512295943, + 1.4351405067454819, + 0.018555400967439725, + 0.007578399437744387, + 0.17958039437494006, + 0.07005295948290612, + 0.02319601849360778, + 0.0, + 1.2703162499792098, + 1.2507245487973258, + 0.010509750992405144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5561314512295943, + 1.4351405067454819, + 0.018555400967439725, + 0.007578399437744387, + 0.17958039437494006, + 0.07005295948290612, + 0.02319601849360778, + 0.0, + 1.2373089066633547, + 1.2473573185703852, + 0.010509750992405144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5561314512295943, + 1.4351405067454819, + 0.018555400967439725, + 0.007578399437744387, + 0.17958039437494006, + 0.07005295948290612, + 0.02319601849360778, + 0.0, + 1.2502385924567305, + 1.2831314655357717, + 0.010509750992405144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5561314512295943, + 1.4351405067454819, + 0.018555400967439725, + 0.007578399437744387, + 0.17958039437494006, + 0.07005295948290612, + 0.02319601849360778, + 0.0, + 1.2429435619339, + 1.290936600754321, + 0.010509750992405144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5561314512295943, + 1.4351405067454819, + 0.018555400967439725, + 0.007578399437744387, + 0.17958039437494006, + 0.07005295948290612, + 0.02319601849360778, + 0.0, + 1.2300095388146197, + 1.3154796525367376, + 0.010509750992405144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5561314512295943, + 1.4351405067454819, + 0.018555400967439725, + 0.007578399437744387, + 0.17958039437494006, + 0.07005295948290612, + 0.02319601849360778, + 0.0, + 1.2185975068057804, + 1.3226198288017108, + 0.010509750992405144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5561314512295943, + 1.4351405067454819, + 0.018555400967439725, + 0.007578399437744387, + 0.17958039437494006, + 0.07005295948290612, + 0.02319601849360778, + 0.0, + 1.2097137841333747, + 1.347801756969683, + 0.010509750992405144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5561314512295943, + 1.4351405067454819, + 0.018555400967439725, + 0.007578399437744387, + 0.17958039437494006, + 0.07005295948290612, + 0.02319601849360778, + 0.0, + 1.1710498937736142, + 1.3454982852309412, + 0.010509750992405144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5561314512295943, + 1.4351405067454819, + 0.018555400967439725, + 0.007578399437744387, + 0.17958039437494006, + 0.07005295948290612, + 0.02319601849360778, + 0.0, + 1.1894180880646426, + 1.3801239786276478, + 0.010509750992405144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5561314512295943, + 1.4351405067454819, + 0.018555400967439725, + 0.007578399437744387, + 0.17958039437494006, + 0.07005295948290612, + 0.02319601849360778, + 0.0, + 1.197624162174522, + 1.397002858283909, + 0.010509750992405144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5561314512295943, + 1.4351405067454819, + 0.018555400967439725, + 0.007578399437744387, + 0.17958039437494006, + 0.07005295948290612, + 0.02319601849360778, + 0.0, + 1.169334510678411, + 1.412528668090613, + 0.010509750992405144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5561314512295943, + 1.4351405067454819, + 0.018555400967439725, + 0.007578399437744387, + 0.17958039437494006, + 0.07005295948290612, + 0.02319601849360778, + 0.0, + 1.152682314913988, + 1.4208677046849396, + 0.010509750992405144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5561314512295943, + 1.4351405067454819, + 0.018555400967439725, + 0.007578399437744387, + 0.17958039437494006, + 0.07005295948290612, + 0.02319601849360778, + 0.0, + 1.1492568238496905, + 1.4449355262165338, + 0.010509750992405144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5561314512295943, + 1.4351405067454819, + 0.018555400967439725, + 0.007578399437744387, + 0.17958039437494006, + 0.07005295948290612, + 0.02319601849360778, + 0.0, + 1.1236963467701306, + 1.450862189024009, + 0.010509750992405144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5561314512295943, + 1.4351405067454819, + 0.018555400967439725, + 0.007578399437744387, + 0.17958039437494006, + 0.07005295948290612, + 0.02319601849360778, + 0.0, + 1.1292715982593278, + 1.4776180389884375, + 0.010509750992405144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5561314512295943, + 1.4351405067454819, + 0.018555400967439725, + 0.007578399437744387, + 0.17958039437494006, + 0.07005295948290612, + 0.02319601849360778, + 0.0, + 1.1346941641536121, + 1.4970323787076467, + 0.010509750992405144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5561314512295943, + 1.4351405067454819, + 0.018555400967439725, + 0.007578399437744387, + 0.17958039437494006, + 0.07005295948290612, + 0.02319601849360778, + 0.0, + 1.10964130073802, + 1.5112731677917135, + 0.010509750992405144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5561314512295943, + 1.4351405067454819, + 0.018555400967439725, + 0.007578399437744387, + 0.17958039437494006, + 0.07005295948290612, + 0.02319601849360778, + 0.0, + 1.0886673406753515, + 1.5224542665015646, + 0.010509750992405144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5561314512295943, + 1.4351405067454819, + 0.018555400967439725, + 0.007578399437744387, + 0.17958039437494006, + 0.07005295948290612, + 0.02319601849360778, + 0.0, + 1.0911371986837919, + 1.5469637919268457, + 0.010509750992405144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5561314512295943, + 1.4351405067454819, + 0.018555400967439725, + 0.007578399437744387, + 0.17958039437494006, + 0.07005295948290612, + 0.02319601849360778, + 0.0, + 1.0826418571718919, + 1.5661823072420515, + 0.010509750992405144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5561314512295943, + 1.4351405067454819, + 0.018555400967439725, + 0.007578399437744387, + 0.17958039437494006, + 0.07005295948290612, + 0.02319601849360778, + 0.0, + 1.12601439837134, + 1.542951882675614, + 0.010509750992405144, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5561314512295943, + 1.4351405067454819, + 0.018555400967439725, + 0.007578399437744387, + 0.17958039437494006, + 0.07005295948290612, + 0.02319601849360778, + 0.0 + ], + "min": [ + -3.6654136180877686, + -2.284611940383911, + 0.28999999165534973, + 0.7159931659698486, + 0.0, + 0.0, + 0.5472246408462524, + -1.0, + -3.4573943614959717, + -1.9889944791793823, + 0.48813289403915405, + -0.01743997260928154, + -0.6823234558105469, + 0.7041717767715454, + 0.000512195227202028, + 0.0, + -3.605869770050049, + -2.261465072631836, + 1.49652898311615, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4573943614959717, + -1.9889944791793823, + 0.6515327095985413, + 0.09803823381662369, + -0.681645929813385, + 0.7186908721923828, + 0.007195526733994484, + 0.0, + -3.5825178623199463, + -2.252387285232544, + 1.49652898311615, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4573943614959717, + -1.9889944791793823, + 0.6515327095985413, + 0.09803823381662369, + -0.681645929813385, + 0.7186908721923828, + 0.007195526733994484, + 0.0, + -3.5686888694763184, + -2.247011423110962, + 1.49652898311615, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4573943614959717, + -1.9889944791793823, + 0.6515327095985413, + 0.09803823381662369, + -0.681645929813385, + 0.7186908721923828, + 0.007195526733994484, + 0.0, + -3.484713315963745, + -2.2143666744232178, + 1.49652898311615, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4573943614959717, + -1.9889944791793823, + 0.6515327095985413, + 0.09803823381662369, + -0.681645929813385, + 0.7186908721923828, + 0.007195526733994484, + 0.0, + -3.414193868637085, + -2.186953067779541, + 1.49652898311615, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4573943614959717, + -1.9889944791793823, + 0.6515327095985413, + 0.09803823381662369, + -0.681645929813385, + 0.7186908721923828, + 0.007195526733994484, + 0.0, + -3.386920928955078, + -2.1763510704040527, + 1.49652898311615, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4573943614959717, + -1.9889944791793823, + 0.6515327095985413, + 0.09803823381662369, + -0.681645929813385, + 0.7186908721923828, + 0.007195526733994484, + 0.0, + -3.339630365371704, + -2.1579673290252686, + 1.49652898311615, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4573943614959717, + -1.9889944791793823, + 0.6515327095985413, + 0.09803823381662369, + -0.681645929813385, + 0.7186908721923828, + 0.007195526733994484, + 0.0, + -3.2889089584350586, + -2.1382498741149902, + 1.49652898311615, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4573943614959717, + -1.9889944791793823, + 0.6515327095985413, + 0.09803823381662369, + -0.681645929813385, + 0.7186908721923828, + 0.007195526733994484, + 0.0, + -3.2594475746154785, + -2.1267971992492676, + 1.49652898311615, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4573943614959717, + -1.9889944791793823, + 0.6515327095985413, + 0.09803823381662369, + -0.681645929813385, + 0.7186908721923828, + 0.007195526733994484, + 0.0, + -3.190682888031006, + -2.1000657081604004, + 1.49652898311615, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4573943614959717, + -1.9889944791793823, + 0.6515327095985413, + 0.09803823381662369, + -0.681645929813385, + 0.7186908721923828, + 0.007195526733994484, + 0.0, + -3.1041667461395264, + -2.0664334297180176, + 1.49652898311615, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4573943614959717, + -1.9889944791793823, + 0.6515327095985413, + 0.09803823381662369, + -0.681645929813385, + 0.7186908721923828, + 0.007195526733994484, + 0.0, + -3.092456579208374, + -2.0618813037872314, + 1.49652898311615, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4573943614959717, + -1.9889944791793823, + 0.6515327095985413, + 0.09803823381662369, + -0.681645929813385, + 0.7186908721923828, + 0.007195526733994484, + 0.0, + -3.072295904159546, + -2.054044008255005, + 1.49652898311615, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4573943614959717, + -1.9889944791793823, + 0.6515327095985413, + 0.09803823381662369, + -0.681645929813385, + 0.7186908721923828, + 0.007195526733994484, + 0.0, + -2.9945828914642334, + -2.023833751678467, + 1.49652898311615, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4573943614959717, + -1.9889944791793823, + 0.6515327095985413, + 0.09803823381662369, + -0.681645929813385, + 0.7186908721923828, + 0.007195526733994484, + 0.0, + -2.9497640132904053, + -2.006410837173462, + 1.49652898311615, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4573943614959717, + -1.9889944791793823, + 0.6515327095985413, + 0.09803823381662369, + -0.681645929813385, + 0.7186908721923828, + 0.007195526733994484, + 0.0, + -2.8968000411987305, + -1.9858216047286987, + 1.49652898311615, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4573943614959717, + -1.9889944791793823, + 0.6515327095985413, + 0.09803823381662369, + -0.681645929813385, + 0.7186908721923828, + 0.007195526733994484, + 0.0, + -2.804964303970337, + -1.9501214027404785, + 1.49652898311615, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4573943614959717, + -1.9889944791793823, + 0.6515327095985413, + 0.09803823381662369, + -0.681645929813385, + 0.7186908721923828, + 0.007195526733994484, + 0.0, + -2.79899001121521, + -1.9477989673614502, + 1.49652898311615, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4573943614959717, + -1.9889944791793823, + 0.6515327095985413, + 0.09803823381662369, + -0.681645929813385, + 0.7186908721923828, + 0.007195526733994484, + 0.0, + -2.795520067214966, + -1.9464499950408936, + 1.49652898311615, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4573943614959717, + -1.9889944791793823, + 0.6515327095985413, + 0.09803823381662369, + -0.681645929813385, + 0.7186908721923828, + 0.007195526733994484, + 0.0, + -2.700763702392578, + -1.9096144437789917, + 1.49652898311615, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4573943614959717, + -1.9889944791793823, + 0.6515327095985413, + 0.09803823381662369, + -0.681645929813385, + 0.7186908721923828, + 0.007195526733994484, + 0.0, + -2.6402385234832764, + -1.886085867881775, + 1.49652898311615, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4573943614959717, + -1.9889944791793823, + 0.6515327095985413, + 0.09803823381662369, + -0.681645929813385, + 0.7186908721923828, + 0.007195526733994484, + 0.0, + -2.6025373935699463, + -1.8714299201965332, + 1.49652898311615, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4573943614959717, + -1.9889944791793823, + 0.6515327095985413, + 0.09803823381662369, + -0.681645929813385, + 0.7186908721923828, + 0.007195526733994484, + 0.0, + -2.537631034851074, + -1.8461982011795044, + 1.49652898311615, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4573943614959717, + -1.9889944791793823, + 0.6515327095985413, + 0.09803823381662369, + -0.681645929813385, + 0.7186908721923828, + 0.007195526733994484, + 0.0, + -2.5044615268707275, + -1.8333039283752441, + 1.49652898311615, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4573943614959717, + -1.9889944791793823, + 0.6515327095985413, + 0.09803823381662369, + -0.681645929813385, + 0.7186908721923828, + 0.007195526733994484, + 0.0, + -2.4853320121765137, + -1.8258675336837769, + 1.49652898311615, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4573943614959717, + -1.9889944791793823, + 0.6515327095985413, + 0.09803823381662369, + -0.681645929813385, + 0.7186908721923828, + 0.007195526733994484, + 0.0, + -2.4066786766052246, + -1.7952919006347656, + 1.49652898311615, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4573943614959717, + -1.9889944791793823, + 0.6515327095985413, + 0.09803823381662369, + -0.681645929813385, + 0.7186908721923828, + 0.007195526733994484, + 0.0, + -2.3311562538146973, + -1.7659333944320679, + 1.49652898311615, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4573943614959717, + -1.9889944791793823, + 0.6515327095985413, + 0.09803823381662369, + -0.681645929813385, + 0.7186908721923828, + 0.007195526733994484, + 0.0, + -2.3088958263397217, + -1.757279872894287, + 1.49652898311615, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4573943614959717, + -1.9889944791793823, + 0.6515327095985413, + 0.09803823381662369, + -0.681645929813385, + 0.7186908721923828, + 0.007195526733994484, + 0.0, + -2.2702972888946533, + -1.7422751188278198, + 1.49652898311615, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4573943614959717, + -1.9889944791793823, + 0.6515327095985413, + 0.09803823381662369, + -0.681645929813385, + 0.7186908721923828, + 0.007195526733994484, + 0.0, + -2.2108447551727295, + -1.7191635370254517, + 1.49652898311615, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4573943614959717, + -1.9889944791793823, + 0.6515327095985413, + 0.09803823381662369, + -0.681645929813385, + 0.7186908721923828, + 0.007195526733994484, + 0.0, + -2.1763112545013428, + -1.7057390213012695, + 1.49652898311615, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4573943614959717, + -1.9889944791793823, + 0.6515327095985413, + 0.09803823381662369, + -0.681645929813385, + 0.7186908721923828, + 0.007195526733994484, + 0.0, + -2.1126184463500977, + -1.6809790134429932, + 1.49652898311615, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4573943614959717, + -1.9889944791793823, + 0.6515327095985413, + 0.09803823381662369, + -0.681645929813385, + 0.7186908721923828, + 0.007195526733994484, + 0.0, + -2.0210299491882324, + -1.6453748941421509, + 1.49652898311615, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4573943614959717, + -1.9889944791793823, + 0.6515327095985413, + 0.09803823381662369, + -0.681645929813385, + 0.7186908721923828, + 0.007195526733994484, + 0.0, + -2.014392137527466, + -1.6427946090698242, + 1.49652898311615, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4573943614959717, + -1.9889944791793823, + 0.6515327095985413, + 0.09803823381662369, + -0.681645929813385, + 0.7186908721923828, + 0.007195526733994484, + 0.0, + -2.002964496612549, + -1.6383522748947144, + 1.49652898311615, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4573943614959717, + -1.9889944791793823, + 0.6515327095985413, + 0.09803823381662369, + -0.681645929813385, + 0.7186908721923828, + 0.007195526733994484, + 0.0, + -1.9165575504302979, + -1.6047624349594116, + 1.49652898311615, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4573943614959717, + -1.9889944791793823, + 0.6515327095985413, + 0.09803823381662369, + -0.681645929813385, + 0.7186908721923828, + 0.007195526733994484, + 0.0, + -1.866725206375122, + -1.585390567779541, + 1.49652898311615, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4573943614959717, + -1.9889944791793823, + 0.6515327095985413, + 0.09803823381662369, + -0.681645929813385, + 0.7186908721923828, + 0.007195526733994484, + 0.0, + -1.8187748193740845, + -1.566750407218933, + 1.49652898311615, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4573943614959717, + -1.9889944791793823, + 0.6515327095985413, + 0.09803823381662369, + -0.681645929813385, + 0.7186908721923828, + 0.007195526733994484, + 0.0, + -1.7356308698654175, + -1.5344290733337402, + 1.49652898311615, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4573943614959717, + -1.9889944791793823, + 0.6515327095985413, + 0.09803823381662369, + -0.681645929813385, + 0.7186908721923828, + 0.007195526733994484, + 0.0, + -1.7209254503250122, + -1.528712511062622, + 1.49652898311615, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4573943614959717, + -1.9889944791793823, + 0.6515327095985413, + 0.09803823381662369, + -0.681645929813385, + 0.7186908721923828, + 0.007195526733994484, + 0.0, + -1.7123838663101196, + -1.5253920555114746, + 1.49652898311615, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4573943614959717, + -1.9889944791793823, + 0.6515327095985413, + 0.09803823381662369, + -0.681645929813385, + 0.7186908721923828, + 0.007195526733994484, + 0.0, + -1.62269926071167, + -1.4905281066894531, + 1.49652898311615, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4573943614959717, + -1.9889944791793823, + 0.6515327095985413, + 0.09803823381662369, + -0.681645929813385, + 0.7186908721923828, + 0.007195526733994484, + 0.0, + -1.5571024417877197, + -1.4650280475616455, + 1.49652898311615, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4573943614959717, + -1.9889944791793823, + 0.6515327095985413, + 0.09803823381662369, + -0.681645929813385, + 0.7186908721923828, + 0.007195526733994484, + 0.0, + -1.524472951889038, + -1.4523437023162842, + 1.49652898311615, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4573943614959717, + -1.9889944791793823, + 0.6515327095985413, + 0.09803823381662369, + -0.681645929813385, + 0.7186908721923828, + 0.007195526733994484, + 0.0, + -1.4682979583740234, + -1.4305062294006348, + 1.49652898311615, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4573943614959717, + -1.9889944791793823, + 0.6515327095985413, + 0.09803823381662369, + -0.681645929813385, + 0.7186908721923828, + 0.007195526733994484, + 0.0, + -1.4264365434646606, + -1.4142330884933472, + 1.49652898311615, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4573943614959717, + -1.9889944791793823, + 0.6515327095985413, + 0.09803823381662369, + -0.681645929813385, + 0.7186908721923828, + 0.007195526733994484, + 0.0, + -1.402294397354126, + -1.4048480987548828, + 1.49652898311615, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4573943614959717, + -1.9889944791793823, + 0.6515327095985413, + 0.09803823381662369, + -0.681645929813385, + 0.7186908721923828, + 0.007195526733994484, + 0.0, + -1.3286535739898682, + -1.376220941543579, + 1.49652898311615, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4573943614959717, + -1.9889944791793823, + 0.6515327095985413, + 0.09803823381662369, + -0.681645929813385, + 0.7186908721923828, + 0.007195526733994484, + 0.0, + -1.24811851978302, + -1.3449137210845947, + 1.49652898311615, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4573943614959717, + -1.9889944791793823, + 0.6515327095985413, + 0.09803823381662369, + -0.681645929813385, + 0.7186908721923828, + 0.007195526733994484, + 0.0, + -1.2308708429336548, + -1.3382089138031006, + 1.49652898311615, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4573943614959717, + -1.9889944791793823, + 0.6515327095985413, + 0.09803823381662369, + -0.681645929813385, + 0.7186908721923828, + 0.007195526733994484, + 0.0, + -1.2009642124176025, + -1.3265830278396606, + 1.49652898311615, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4573943614959717, + -1.9889944791793823, + 0.6515327095985413, + 0.09803823381662369, + -0.681645929813385, + 0.7186908721923828, + 0.007195526733994484, + 0.0, + -1.1327800750732422, + -1.300077199935913, + 1.49652898311615, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4573943614959717, + -1.9889944791793823, + 0.6515327095985413, + 0.09803823381662369, + -0.681645929813385, + 0.7186908721923828, + 0.007195526733994484, + 0.0, + -1.0931751728057861, + -1.2846812009811401, + 1.49652898311615, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4573943614959717, + -1.9889944791793823, + 0.6515327095985413, + 0.09803823381662369, + -0.681645929813385, + 0.7186908721923828, + 0.007195526733994484, + 0.0, + -1.0345537662506104, + -1.2618926763534546, + 1.49652898311615, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4573943614959717, + -1.9889944791793823, + 0.6515327095985413, + 0.09803823381662369, + -0.681645929813385, + 0.7186908721923828, + 0.007195526733994484, + 0.0, + -0.9378935694694519, + -1.224316954612732, + 1.49652898311615, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4573943614959717, + -1.9889944791793823, + 0.6515327095985413, + 0.09803823381662369, + -0.681645929813385, + 0.7186908721923828, + 0.007195526733994484, + 0.0, + -0.9363274574279785, + -1.223708152770996, + 1.49652898311615, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4573943614959717, + -1.9889944791793823, + 0.6515327095985413, + 0.09803823381662369, + -0.681645929813385, + 0.7186908721923828, + 0.007195526733994484, + 0.0, + -0.9336313605308533, + -1.2226600646972656, + 1.49652898311615, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4573943614959717, + -1.9889944791793823, + 0.6515327095985413, + 0.09803823381662369, + -0.681645929813385, + 0.7186908721923828, + 0.007195526733994484, + 0.0, + -0.838532567024231, + -1.1856913566589355, + 1.49652898311615, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4573943614959717, + -1.9889944791793823, + 0.6515327095985413, + 0.09803823381662369, + -0.681645929813385, + 0.7186908721923828, + 0.007195526733994484, + 0.0, + -0.783687174320221, + -1.1643707752227783, + 1.49652898311615, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4573943614959717, + -1.9889944791793823, + 0.6515327095985413, + 0.09803823381662369, + -0.681645929813385, + 0.7186908721923828, + 0.007195526733994484, + 0.0, + -0.7407497763633728, + -1.147679328918457, + 1.49652898311615, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4573943614959717, + -1.9889944791793823, + 0.6515327095985413, + 0.09803823381662369, + -0.681645929813385, + 0.7186908721923828, + 0.007195526733994484, + 0.0, + -0.6662983894348145, + -1.1187371015548706, + 1.49652898311615, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4573943614959717, + -1.9889944791793823, + 0.6515327095985413, + 0.09803823381662369, + -0.681645929813385, + 0.7186908721923828, + 0.007195526733994484, + 0.0, + -0.6428155303001404, + -1.1096084117889404, + 1.49652898311615, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4573943614959717, + -1.9889944791793823, + 0.6515327095985413, + 0.09803823381662369, + -0.681645929813385, + 0.7186908721923828, + 0.007195526733994484, + 0.0, + -0.6293350458145142, + -1.104367971420288, + 1.49652898311615, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4573943614959717, + -1.9889944791793823, + 0.6515327095985413, + 0.09803823381662369, + -0.681645929813385, + 0.7186908721923828, + 0.007195526733994484, + 0.0, + -0.5444211959838867, + -1.071358561515808, + 1.49652898311615, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4573943614959717, + -1.9889944791793823, + 0.6515327095985413, + 0.09803823381662369, + -0.681645929813385, + 0.7186908721923828, + 0.007195526733994484, + 0.0, + -0.4743819236755371, + -1.0441315174102783, + 1.49652898311615, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4573943614959717, + -1.9889944791793823, + 0.6515327095985413, + 0.09803823381662369, + -0.681645929813385, + 0.7186908721923828, + 0.007195526733994484, + 0.0, + -0.4460547864437103, + -1.0331196784973145, + 1.49652898311615, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4573943614959717, + -1.9889944791793823, + 0.6515327095985413, + 0.09803823381662369, + -0.681645929813385, + 0.7186908721923828, + 0.007195526733994484, + 0.0, + -0.39688241481781006, + -1.0140043497085571, + 1.49652898311615, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4573943614959717, + -1.9889944791793823, + 0.6515327095985413, + 0.09803823381662369, + -0.681645929813385, + 0.7186908721923828, + 0.007195526733994484, + 0.0, + -0.406997412443161, + -0.9318163394927979, + 1.49652898311615, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.4573943614959717, + -1.9889944791793823, + 0.6515327095985413, + 0.09803823381662369, + -0.681645929813385, + 0.7186908721923828, + 0.007195526733994484, + 0.0 + ], + "max": [ + 1.860534429550171, + 2.267341375350952, + 1.517904281616211, + 0.8369857668876648, + 0.0, + 0.0, + 0.6981072425842285, + 2.0, + 2.280346393585205, + 2.791379928588867, + 0.7259262800216675, + 0.21935801208019257, + 0.037119943648576736, + 0.9996245503425598, + 0.14995728433132172, + 1.0, + -0.3800407946109772, + -0.6669310331344604, + 1.517904281616211, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0597927570343018, + 2.674823045730591, + 0.7259262800216675, + 0.13810095191001892, + -0.08679653704166412, + 0.9884705543518066, + 0.0931013897061348, + 0.0, + -0.37903183698654175, + -0.6667375564575195, + 1.517904281616211, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0597927570343018, + 2.674823045730591, + 0.7259262800216675, + 0.13810095191001892, + -0.08679653704166412, + 0.9884705543518066, + 0.0931013897061348, + 0.0, + -0.3748607337474823, + -0.6659377217292786, + 1.517904281616211, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0597927570343018, + 2.674823045730591, + 0.7259262800216675, + 0.13810095191001892, + -0.08679653704166412, + 0.9884705543518066, + 0.0931013897061348, + 0.0, + -0.26763439178466797, + -0.6453769207000732, + 1.517904281616211, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0597927570343018, + 2.674823045730591, + 0.7259262800216675, + 0.13810095191001892, + -0.08679653704166412, + 0.9884705543518066, + 0.0931013897061348, + 0.0, + -0.2424144595861435, + -0.6405409574508667, + 1.517904281616211, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0597927570343018, + 2.674823045730591, + 0.7259262800216675, + 0.13810095191001892, + -0.08679653704166412, + 0.9884705543518066, + 0.0931013897061348, + 0.0, + -0.15660405158996582, + -0.6240866780281067, + 1.517904281616211, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0597927570343018, + 2.674823045730591, + 0.7259262800216675, + 0.13810095191001892, + -0.08679653704166412, + 0.9884705543518066, + 0.0931013897061348, + 0.0, + -0.10403065383434296, + -0.6140056252479553, + 1.517904281616211, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0597927570343018, + 2.674823045730591, + 0.7259262800216675, + 0.13810095191001892, + -0.08679653704166412, + 0.9884705543518066, + 0.0931013897061348, + 0.0, + -0.04617340862751007, + -0.6029114127159119, + 1.517904281616211, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0597927570343018, + 2.674823045730591, + 0.7259262800216675, + 0.13810095191001892, + -0.08679653704166412, + 0.9884705543518066, + 0.0931013897061348, + 0.0, + 0.03508158028125763, + -0.5873306393623352, + 1.517904281616211, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0597927570343018, + 2.674823045730591, + 0.7259262800216675, + 0.13810095191001892, + -0.08679653704166412, + 0.9884705543518066, + 0.0931013897061348, + 0.0, + 0.06351391971111298, + -0.581878662109375, + 1.517904281616211, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0597927570343018, + 2.674823045730591, + 0.7259262800216675, + 0.13810095191001892, + -0.08679653704166412, + 0.9884705543518066, + 0.0931013897061348, + 0.0, + 0.14892083406448364, + -0.5655017495155334, + 1.517904281616211, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0597927570343018, + 2.674823045730591, + 0.7259262800216675, + 0.13810095191001892, + -0.08679653704166412, + 0.9884705543518066, + 0.0931013897061348, + 0.0, + 0.16404208540916443, + -0.5626022219657898, + 1.517904281616211, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0597927570343018, + 2.674823045730591, + 0.7259262800216675, + 0.13810095191001892, + -0.08679653704166412, + 0.9884705543518066, + 0.0931013897061348, + 0.0, + 0.1832605004310608, + -0.5589170455932617, + 1.517904281616211, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0597927570343018, + 2.674823045730591, + 0.7259262800216675, + 0.13810095191001892, + -0.08679653704166412, + 0.9884705543518066, + 0.0931013897061348, + 0.0, + 0.27393409609794617, + -0.5415302515029907, + 1.517904281616211, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0597927570343018, + 2.674823045730591, + 0.7259262800216675, + 0.13810095191001892, + -0.08679653704166412, + 0.9884705543518066, + 0.0931013897061348, + 0.0, + 0.29988762736320496, + -0.5055443644523621, + 1.517904281616211, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0597927570343018, + 2.674823045730591, + 0.7259262800216675, + 0.13810095191001892, + -0.08679653704166412, + 0.9884705543518066, + 0.0931013897061348, + 0.0, + 0.31693339347839355, + -0.4819095730781555, + 1.517904281616211, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0597927570343018, + 2.674823045730591, + 0.7259262800216675, + 0.13810095191001892, + -0.08679653704166412, + 0.9884705543518066, + 0.0931013897061348, + 0.0, + 0.37547725439071655, + -0.4007355272769928, + 1.517904281616211, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0597927570343018, + 2.674823045730591, + 0.7259262800216675, + 0.13810095191001892, + -0.08679653704166412, + 0.9884705543518066, + 0.0931013897061348, + 0.0, + 0.3949122726917267, + -0.37378787994384766, + 1.517904281616211, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0597927570343018, + 2.674823045730591, + 0.7259262800216675, + 0.13810095191001892, + -0.08679653704166412, + 0.9884705543518066, + 0.0931013897061348, + 0.0, + 0.42569175362586975, + -0.33111053705215454, + 1.517904281616211, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0597927570343018, + 2.674823045730591, + 0.7259262800216675, + 0.13810095191001892, + -0.08679653704166412, + 0.9884705543518066, + 0.0931013897061348, + 0.0, + 0.45918580889701843, + -0.2846693694591522, + 1.517904281616211, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0597927570343018, + 2.674823045730591, + 0.7259262800216675, + 0.13810095191001892, + -0.08679653704166412, + 0.9884705543518066, + 0.0931013897061348, + 0.0, + 0.4970165193080902, + -0.21563270688056946, + 1.517904281616211, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0597927570343018, + 2.674823045730591, + 0.7259262800216675, + 0.13810095191001892, + -0.08679653704166412, + 0.9884705543518066, + 0.0931013897061348, + 0.0, + 0.5153526067733765, + -0.1821715086698532, + 1.517904281616211, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0597927570343018, + 2.674823045730591, + 0.7259262800216675, + 0.13810095191001892, + -0.08679653704166412, + 0.9884705543518066, + 0.0931013897061348, + 0.0, + 0.5587494969367981, + -0.1029772087931633, + 1.517904281616211, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0597927570343018, + 2.674823045730591, + 0.7259262800216675, + 0.13810095191001892, + -0.08679653704166412, + 0.9884705543518066, + 0.0931013897061348, + 0.0, + 0.5719249844551086, + -0.0789334699511528, + 1.517904281616211, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0597927570343018, + 2.674823045730591, + 0.7259262800216675, + 0.13810095191001892, + -0.08679653704166412, + 0.9884705543518066, + 0.0931013897061348, + 0.0, + 0.6217548251152039, + 0.012000121176242828, + 1.517904281616211, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0597927570343018, + 2.674823045730591, + 0.7259262800216675, + 0.13810095191001892, + -0.08679653704166412, + 0.9884705543518066, + 0.0931013897061348, + 0.0, + 0.628667414188385, + 0.02461477741599083, + 1.517904281616211, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0597927570343018, + 2.674823045730591, + 0.7259262800216675, + 0.13810095191001892, + -0.08679653704166412, + 0.9884705543518066, + 0.0931013897061348, + 0.0, + 0.6818137764930725, + 0.12160071730613708, + 1.517904281616211, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0597927570343018, + 2.674823045730591, + 0.7259262800216675, + 0.13810095191001892, + -0.08679653704166412, + 0.9884705543518066, + 0.0931013897061348, + 0.0, + 0.6854700446128845, + 0.12827301025390625, + 1.517904281616211, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0597927570343018, + 2.674823045730591, + 0.7259262800216675, + 0.13810095191001892, + -0.08679653704166412, + 0.9884705543518066, + 0.0931013897061348, + 0.0, + 0.741700291633606, + 0.23088666796684265, + 1.517904281616211, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0597927570343018, + 2.674823045730591, + 0.7259262800216675, + 0.13810095191001892, + -0.08679653704166412, + 0.9884705543518066, + 0.0931013897061348, + 0.0, + 0.742340087890625, + 0.23205424845218658, + 1.517904281616211, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0597927570343018, + 2.674823045730591, + 0.7259262800216675, + 0.13810095191001892, + -0.08679653704166412, + 0.9884705543518066, + 0.0931013897061348, + 0.0, + 0.7627909183502197, + 0.2693746089935303, + 1.517904281616211, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0597927570343018, + 2.674823045730591, + 0.7259262800216675, + 0.13810095191001892, + -0.08679653704166412, + 0.9884705543518066, + 0.0931013897061348, + 0.0, + 0.7993037700653076, + 0.3360062837600708, + 1.517904281616211, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0597927570343018, + 2.674823045730591, + 0.7259262800216675, + 0.13810095191001892, + -0.08679653704166412, + 0.9884705543518066, + 0.0931013897061348, + 0.0, + 0.800456702709198, + 0.3381102979183197, + 1.517904281616211, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0597927570343018, + 2.674823045730591, + 0.7259262800216675, + 0.13810095191001892, + -0.08679653704166412, + 0.9884705543518066, + 0.0931013897061348, + 0.0, + 0.8563060760498047, + 0.44002893567085266, + 1.517904281616211, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0597927570343018, + 2.674823045730591, + 0.7259262800216675, + 0.13810095191001892, + -0.08679653704166412, + 0.9884705543518066, + 0.0931013897061348, + 0.0, + 0.859533965587616, + 0.4459194242954254, + 1.517904281616211, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0597927570343018, + 2.674823045730591, + 0.7259262800216675, + 0.13810095191001892, + -0.08679653704166412, + 0.9884705543518066, + 0.0931013897061348, + 0.0, + 0.9132905006408691, + 0.5440188646316528, + 1.517904281616211, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0597927570343018, + 2.674823045730591, + 0.7259262800216675, + 0.13810095191001892, + -0.08679653704166412, + 0.9884705543518066, + 0.0931013897061348, + 0.0, + 0.9177259206771851, + 0.5521129965782166, + 1.517904281616211, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0597927570343018, + 2.674823045730591, + 0.7259262800216675, + 0.13810095191001892, + -0.08679653704166412, + 0.9884705543518066, + 0.0931013897061348, + 0.0, + 0.9702453017234802, + 0.6479547619819641, + 1.517904281616211, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0597927570343018, + 2.674823045730591, + 0.7259262800216675, + 0.13810095191001892, + -0.08679653704166412, + 0.9884705543518066, + 0.0931013897061348, + 0.0, + 0.9764533042907715, + 0.6592836976051331, + 1.517904281616211, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0597927570343018, + 2.674823045730591, + 0.7259262800216675, + 0.13810095191001892, + -0.08679653704166412, + 0.9884705543518066, + 0.0931013897061348, + 0.0, + 1.0271930694580078, + 0.7518778443336487, + 1.517904281616211, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0597927570343018, + 2.674823045730591, + 0.7259262800216675, + 0.13810095191001892, + -0.08679653704166412, + 0.9884705543518066, + 0.0931013897061348, + 0.0, + 1.0346128940582275, + 0.7654182314872742, + 1.517904281616211, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0597927570343018, + 2.674823045730591, + 0.7259262800216675, + 0.13810095191001892, + -0.08679653704166412, + 0.9884705543518066, + 0.0931013897061348, + 0.0, + 1.0841408967971802, + 0.8558010458946228, + 1.517904281616211, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0597927570343018, + 2.674823045730591, + 0.7259262800216675, + 0.13810095191001892, + -0.08679653704166412, + 0.9884705543518066, + 0.0931013897061348, + 0.0, + 1.0933027267456055, + 0.8725203275680542, + 1.517904281616211, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0597927570343018, + 2.674823045730591, + 0.7259262800216675, + 0.13810095191001892, + -0.08679653704166412, + 0.9884705543518066, + 0.0931013897061348, + 0.0, + 1.141088604927063, + 0.9597240090370178, + 1.517904281616211, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0597927570343018, + 2.674823045730591, + 0.7259262800216675, + 0.13810095191001892, + -0.08679653704166412, + 0.9884705543518066, + 0.0931013897061348, + 0.0, + 1.1515001058578491, + 0.9787237048149109, + 1.517904281616211, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0597927570343018, + 2.674823045730591, + 0.7259262800216675, + 0.13810095191001892, + -0.08679653704166412, + 0.9884705543518066, + 0.0931013897061348, + 0.0, + 1.1980364322662354, + 1.0636471509933472, + 1.517904281616211, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0597927570343018, + 2.674823045730591, + 0.7259262800216675, + 0.13810095191001892, + -0.08679653704166412, + 0.9884705543518066, + 0.0931013897061348, + 0.0, + 1.2101521492004395, + 1.0857568979263306, + 1.517904281616211, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0597927570343018, + 2.674823045730591, + 0.7259262800216675, + 0.13810095191001892, + -0.08679653704166412, + 0.9884705543518066, + 0.0931013897061348, + 0.0, + 1.2549841403961182, + 1.1675701141357422, + 1.517904281616211, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0597927570343018, + 2.674823045730591, + 0.7259262800216675, + 0.13810095191001892, + -0.08679653704166412, + 0.9884705543518066, + 0.0931013897061348, + 0.0, + 1.2683870792388916, + 1.1920288801193237, + 1.517904281616211, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0597927570343018, + 2.674823045730591, + 0.7259262800216675, + 0.13810095191001892, + -0.08679653704166412, + 0.9884705543518066, + 0.0931013897061348, + 0.0, + 1.311931848526001, + 1.2714930772781372, + 1.517904281616211, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0597927570343018, + 2.674823045730591, + 0.7259262800216675, + 0.13810095191001892, + -0.08679653704166412, + 0.9884705543518066, + 0.0931013897061348, + 0.0, + 1.3270014524459839, + 1.298993468284607, + 1.517904281616211, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0597927570343018, + 2.674823045730591, + 0.7259262800216675, + 0.13810095191001892, + -0.08679653704166412, + 0.9884705543518066, + 0.0931013897061348, + 0.0, + 1.3688796758651733, + 1.3754162788391113, + 1.517904281616211, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0597927570343018, + 2.674823045730591, + 0.7259262800216675, + 0.13810095191001892, + -0.08679653704166412, + 0.9884705543518066, + 0.0931013897061348, + 0.0, + 1.3852741718292236, + 1.4053343534469604, + 1.517904281616211, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0597927570343018, + 2.674823045730591, + 0.7259262800216675, + 0.13810095191001892, + -0.08679653704166412, + 0.9884705543518066, + 0.0931013897061348, + 0.0, + 1.4258273839950562, + 1.4793392419815063, + 1.517904281616211, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0597927570343018, + 2.674823045730591, + 0.7259262800216675, + 0.13810095191001892, + -0.08679653704166412, + 0.9884705543518066, + 0.0931013897061348, + 0.0, + 1.4438508749008179, + 1.5122300386428833, + 1.517904281616211, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0597927570343018, + 2.674823045730591, + 0.7259262800216675, + 0.13810095191001892, + -0.08679653704166412, + 0.9884705543518066, + 0.0931013897061348, + 0.0, + 1.4827752113342285, + 1.5832624435424805, + 1.517904281616211, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0597927570343018, + 2.674823045730591, + 0.7259262800216675, + 0.13810095191001892, + -0.08679653704166412, + 0.9884705543518066, + 0.0931013897061348, + 0.0, + 1.5021612644195557, + 1.6186397075653076, + 1.517904281616211, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0597927570343018, + 2.674823045730591, + 0.7259262800216675, + 0.13810095191001892, + -0.08679653704166412, + 0.9884705543518066, + 0.0931013897061348, + 0.0, + 1.5397230386734009, + 1.6871856451034546, + 1.517904281616211, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0597927570343018, + 2.674823045730591, + 0.7259262800216675, + 0.13810095191001892, + -0.08679653704166412, + 0.9884705543518066, + 0.0931013897061348, + 0.0, + 1.5607002973556519, + 1.7254666090011597, + 1.517904281616211, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0597927570343018, + 2.674823045730591, + 0.7259262800216675, + 0.13810095191001892, + -0.08679653704166412, + 0.9884705543518066, + 0.0931013897061348, + 0.0, + 1.5966707468032837, + 1.79110848903656, + 1.517904281616211, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0597927570343018, + 2.674823045730591, + 0.7259262800216675, + 0.13810095191001892, + -0.08679653704166412, + 0.9884705543518066, + 0.0931013897061348, + 0.0, + 1.619135856628418, + 1.8321046829223633, + 1.517904281616211, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0597927570343018, + 2.674823045730591, + 0.7259262800216675, + 0.13810095191001892, + -0.08679653704166412, + 0.9884705543518066, + 0.0931013897061348, + 0.0, + 1.6539579629898071, + 1.895650863647461, + 1.517904281616211, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0597927570343018, + 2.674823045730591, + 0.7259262800216675, + 0.13810095191001892, + -0.08679653704166412, + 0.9884705543518066, + 0.0931013897061348, + 0.0, + 1.6784671545028687, + 1.9403772354125977, + 1.517904281616211, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0597927570343018, + 2.674823045730591, + 0.7259262800216675, + 0.13810095191001892, + -0.08679653704166412, + 0.9884705543518066, + 0.0931013897061348, + 0.0, + 1.7124271392822266, + 2.002350330352783, + 1.517904281616211, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0597927570343018, + 2.674823045730591, + 0.7259262800216675, + 0.13810095191001892, + -0.08679653704166412, + 0.9884705543518066, + 0.0931013897061348, + 0.0, + 1.739808440208435, + 2.0523180961608887, + 1.517904281616211, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0597927570343018, + 2.674823045730591, + 0.7259262800216675, + 0.13810095191001892, + -0.08679653704166412, + 0.9884705543518066, + 0.0931013897061348, + 0.0, + 1.7731589078903198, + 2.1131787300109863, + 1.517904281616211, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0597927570343018, + 2.674823045730591, + 0.7259262800216675, + 0.13810095191001892, + -0.08679653704166412, + 0.9884705543518066, + 0.0931013897061348, + 0.0, + 1.8050529956817627, + 2.171381711959839, + 1.517904281616211, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0597927570343018, + 2.674823045730591, + 0.7259262800216675, + 0.13810095191001892, + -0.08679653704166412, + 0.9884705543518066, + 0.0931013897061348, + 0.0, + 1.8831514120101929, + 2.206322431564331, + 1.517904281616211, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.0597927570343018, + 2.674823045730591, + 0.7259262800216675, + 0.13810095191001892, + -0.08679653704166412, + 0.9884705543518066, + 0.0931013897061348, + 0.0 + ], + "count": [ + 1807 + ] + }, + "action.applied": { + "mean": [ + 0.2543649173526719, + 0.7400056636326868, + -1.2634252136625765, + -0.2164335531807764, + 0.7763329494144617, + -1.2615567562523373, + 0.17268391277622502, + 0.8808174745510082, + -1.4054919618826647, + -0.15479885089748724, + 0.8116863763457711, + -1.4140114483743593, + -0.0947224112344053, + 2.344726711066309, + -2.019583847948907, + 0.03187771204041216, + 1.0564923201665473, + 0.04378565456369801, + 0.0035251798711234718, + -0.0035251798711234718 + ], + "std": [ + 0.1376104124649404, + 0.12380497999559006, + 0.208449122494384, + 0.12276809573581554, + 0.15603112220065626, + 0.17873564784001064, + 0.119197927250505, + 0.16515095038539712, + 0.20134404894903435, + 0.11297623082203405, + 0.0953099674886759, + 0.22574036258398275, + 0.16024308032602355, + 0.3945298195983881, + 0.6290067127437882, + 0.03209128326265603, + 0.22305999376066563, + 0.4897962632786902, + 0.010533489587541424, + 0.010533489587541424 + ], + "min": [ + -0.20343124866485596, + 0.3770197331905365, + -1.7218023538589478, + -0.5069651007652283, + 0.3569223880767822, + -1.7131640911102295, + -0.1622251570224762, + 0.4581429362297058, + -1.8435094356536865, + -0.5383759140968323, + 0.5296067595481873, + -1.7572789192199707, + -0.7953469157218933, + 1.7056257724761963, + -2.9059653282165527, + -0.012534938752651215, + 0.47567835450172424, + -0.4449126720428467, + 0.0, + -0.03500000014901161 + ], + "max": [ + 0.6852459907531738, + 1.0338289737701416, + -0.7651851773262024, + 0.17490790784358978, + 1.108286738395691, + -0.8384775519371033, + 0.4912358820438385, + 1.2309746742248535, + -0.8990793824195862, + 0.2618393003940582, + 1.065987229347229, + -0.9469731450080872, + 0.22035105526447296, + 2.9614951610565186, + -0.9955918788909912, + 0.15298599004745483, + 1.219894528388977, + 1.4398294687271118, + 0.03500000014901161, + 0.0 + ], + "count": [ + 1807 + ] + }, + "extra.reward": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 1807 + ] + }, + "next.truncated": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 1807 + ] + }, + "sim_step_idx": { + "mean": [ + 1907.0 + ], + "std": [ + 1043.2717766718315 + ], + "min": [ + 101.0 + ], + "max": [ + 3713.0 + ], + "count": [ + 1807 + ] + }, + "timestamp": { + "mean": [ + 36.12000000218726 + ], + "std": [ + 20.865435533654175 + ], + "min": [ + 0.0 + ], + "max": [ + 72.23999786376953 + ], + "count": [ + 1807 + ] + }, + "frame_index": { + "mean": [ + 903.0 + ], + "std": [ + 521.6358883359158 + ], + "min": [ + 0.0 + ], + "max": [ + 1806.0 + ], + "count": [ + 1807 + ] + }, + "episode_index": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 1807 + ] + }, + "index": { + "mean": [ + 903.0 + ], + "std": [ + 521.6358883359158 + ], + "min": [ + 0.0 + ], + "max": [ + 1806.0 + ], + "count": [ + 1807 + ] + }, + "task_index": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 1807 + ] + }, + "next.done": { + "mean": [ + 0.0005534034311012728 + ], + "std": [ + 0.023518018108329583 + ], + "min": [ + 0.0 + ], + "max": [ + 1.0 + ], + "count": [ + 1807 + ] + }, + "observation.images.head": { + "mean": [ + [ + [ + 0.30347372015628704 + ] + ], + [ + [ + 0.2359566607134344 + ] + ], + [ + [ + 0.19978306849747404 + ] + ] + ], + "std": [ + [ + [ + 0.22879353726973628 + ] + ], + [ + [ + 0.18829001310397459 + ] + ], + [ + [ + 0.163037942930174 + ] + ] + ], + "min": [ + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ] + ], + "max": [ + [ + [ + 0.9254901960784314 + ] + ], + [ + [ + 0.9137254901960784 + ] + ], + [ + [ + 0.9019607843137255 + ] + ] + ], + "count": [ + 100 + ] + }, + "observation.images.wrist": { + "mean": [ + [ + [ + 0.5157279799678802 + ] + ], + [ + [ + 0.3967314756942677 + ] + ], + [ + [ + 0.3150560876480899 + ] + ] + ], + "std": [ + [ + [ + 0.129713060152025 + ] + ], + [ + [ + 0.11471088017797652 + ] + ], + [ + [ + 0.09617244847516289 + ] + ] + ], + "min": [ + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ] + ], + "max": [ + [ + [ + 0.9019607843137255 + ] + ], + [ + [ + 0.807843137254902 + ] + ], + [ + [ + 0.6823529411764706 + ] + ] + ], + "count": [ + 100 + ] + } +} \ No newline at end of file diff --git a/N034/go2_arm/dr_on/seed_2023/rec/stationbookend/000/lerobot_v21/meta/tasks.jsonl b/N034/go2_arm/dr_on/seed_2023/rec/stationbookend/000/lerobot_v21/meta/tasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e639892eae0aca859cb3ed9b82a48465787b6b4a --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2023/rec/stationbookend/000/lerobot_v21/meta/tasks.jsonl @@ -0,0 +1 @@ +{"task_index": 0, "task": "Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it."} diff --git a/N034/go2_arm/dr_on/seed_2023/rec/stationbookend/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 b/N034/go2_arm/dr_on/seed_2023/rec/stationbookend/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d55d5d42726759322651149c1c9213c2fa2a773f --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2023/rec/stationbookend/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:f55e4a780390bb770ff5242bab34cea02276f71443e382a2fc2a4f0c4953f34f +size 39896905 diff --git a/N034/go2_arm/dr_on/seed_2023/rec/stationbookend/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 b/N034/go2_arm/dr_on/seed_2023/rec/stationbookend/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0affdd4143e01be424cd5c493ac31d29f4f7a89d --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2023/rec/stationbookend/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:caa4dcca8434e8275256ccb16e680922ba63bcff5cffc04eb31c319449b8f4cd +size 30479142 diff --git a/N034/go2_arm/dr_on/seed_2023/rec/stationbookend/000/run_meta.json b/N034/go2_arm/dr_on/seed_2023/rec/stationbookend/000/run_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..348f2b5be354bc5084b3d1badca2fe21ffe129b1 --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2023/rec/stationbookend/000/run_meta.json @@ -0,0 +1,1195 @@ +{ + "run_id": "stationbookend/000", + "created": "2026-11-08 02:40:27", + "num_envs": 1, + "session_id": null, + "record_config": { + "output_dir": "/mnt/scratch/xc536_atomic/n034_go2_on_2023/out/rec", + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "json_round": null, + "schema": { + "source": "robot_manager", + "nan_policy": "from_raw" + }, + "lerobot": { + "subsample_every": 2 + } + }, + "config": { + "env_string": "StationBookendEnv-V0", + "env": { + "sim": { + "device": "cpu", + "use_fabric": false, + "decimation": 4, + "dt": 0.005, + "seed": 2023, + "soft_resets": 2, + "enable_scene_query_support": true, + "scene": { + "num_envs": 1, + "env_spacing": 16 + }, + "render": { + "rendering_mode": "performance", + "enable_reflections": false, + "enable_global_illumination": false, + "enable_translucency": false, + "enable_dl_denoiser": false + } + }, + "robot": { + "Go2Plus": { + "name": "go2plus", + "type": "mobilemanip", + "common": { + "pos": [ + [ + -3.4, + -2.2, + 0.44999999999999996 + ], + [ + -3.4, + -2.2, + 0.44999999999999996 + ] + ], + "ori": [ + [ + 0, + 0, + 40.0 + ], + [ + 0, + 0, + 40.0 + ] + ], + "initial_joint_pos": null + }, + "action": { + "base_action": "unified", + "arm_action": "ik_curobo", + "eef_action": "binary" + }, + "reset": "default", + "planner": { + "dual_mode": true, + "base_joint_names": [ + "base_x", + "base_y", + "base_yaw", + "base_height" + ], + "ik": { + "type": "go2plus", + "enable": true, + "ik_num_instances": 1, + "ik_batch_size": 1, + "ik_max_goalset": 128, + "ik_num_seeds": 64, + "ik_position_threshold": 0.005, + "ik_rotation_threshold": 0.05, + "microbatch_wait_ms": 20.0, + "relative_to_world_frame": false, + "eef_num": 1, + "debug": false, + "seed_use_live_joint_pos": true + }, + "motiongen": { + "type": "go2plus", + "enable": true, + "batch_size": 1, + "debug": false, + "motiongen_num_instances": 1, + "microbatch_wait_ms": 400.0, + "mode": "position", + "relative_to_world_frame": false, + "eef_num": 1, + "seed_use_live_joint_pos": true, + "anchor_ik_seeds_to_current_state": false, + "num_trajopt_seeds": 1, + "num_ik_seeds": 4, + "max_attempts": 4, + "joint_limit_retry_weight": 100000000.0, + "start_state_limit_inset": 0.002 + }, + "body": { + "type": "nav", + "dwb_type": "dwb_quadruped", + "dwb_quadruped": { + "device": "cpu", + "dt": 0.02, + "debug": false, + "num_rollout_steps": 60, + "num_speed_samples": 11, + "num_steer_samples": 11, + "num_vx_samples": 7, + "num_vy_samples": 7, + "num_yaw_samples": 7, + "max_accel": 1.5, + "max_steer_rate": 1.5, + "max_accel_vx": 1.5, + "max_accel_vy": 1.5, + "max_yaw_accel": 1.5, + "w_goal": 6.0, + "w_path": 24.0, + "w_vel": 0.2, + "w_vy": 0.0, + "dilate_radius": 0.2, + "goal_cost_mode": "path", + "room_size": 12.0, + "occupancy_update_interval": 25, + "scan_height": 0.38, + "scan_min_z": 0.15, + "scan_max_z": 0.63, + "goal_pos_threshold": 0.16, + "goal_yaw_threshold": 0.08, + "goal_yaw_hysteresis": 0.02, + "kp_goal_yaw": 4.0, + "heading_reference": "path", + "turn_yaw_threshold": 0.8, + "heading_lookahead": 0.8, + "heading_min_leg": 0.35, + "route_yaw_gain": 2.0, + "min_vx": -0.35, + "max_vx": 0.35, + "min_vy": -0.25, + "max_vy": 0.25, + "min_yaw_rate": -0.8, + "max_yaw_rate": 0.8, + "dynamic_window_source": "command", + "default_height": 0.35, + "safety_min_progress_speed": 0.1, + "safety_stop_distance": 0.2, + "safety_enabled": true, + "safety_deceleration": 0.5, + "safety_reaction_time": 0.5, + "safety_release_distance": 0.35, + "scan_type": "3d", + "robot_type": "quadruped", + "velocity_frame": "body" + }, + "p_controller": { + "velocity_frame": "body", + "nav_upgrade_distance": 0.03, + "nav_heading_target": -1, + "kp_linear_x": 3.0, + "kd_linear_x": 0.4, + "kp_linear_y": 3.0, + "kd_linear_y": 0.4, + "kp_angular": 1.5, + "kd_angular": 0.2, + "kp_angular_turning_only": 1.5, + "kd_angular_turning_only": 0.2, + "min_vel": -0.4, + "max_vel": 0.5, + "linear_dead_zone": 0.01, + "angular_dead_zone": 0.05 + } + }, + "arm": { + "type": "default" + }, + "eef": { + "type": "default" + } + }, + "physics": { + "robot_radius": 0.5 + } + } + }, + "camera": { + "enable_tiled": false, + "colorize_depth": false, + "head": { + "camera": { + "type": "camera", + "mesh": "pinhole", + "resolution": [ + 640, + 480 + ], + "frequency": 25, + "focal_length": 1.8231182098388672, + "horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.4407838582992554, + "clipping_range": [ + 0.05, + 30.0 + ], + "focus_distance": 3.0, + "mode": "RGB", + "mount_link": "Robot_0/Bodies/go2_base", + "pos": [ + 0.332051, + 0.038027, + 0.093559 + ], + "ori": [ + 169.9473, + -88.6452, + 81.5985 + ] + }, + "annotator": { + "enabled": true, + "rgb_capture": { + "type": "rgb", + "device": "cpu" + } + } + }, + "wrist": { + "camera": { + "type": "camera", + "mesh": "pinhole", + "resolution": [ + 640, + 480 + ], + "frequency": 25, + "focal_length": 1.8517500162124634, + "horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.4393036365509033, + "clipping_range": [ + 0.05, + 30.0 + ], + "focus_distance": 3.0, + "mode": "RGB", + "mount_link": "Robot_0/Bodies/piper_link6", + "pos": [ + -0.074987, + 0.005289, + 0.045821 + ], + "ori": [ + 179.3135, + -20.212, + 88.9402 + ] + }, + "annotator": { + "enabled": true, + "rgb_capture": { + "type": "rgb", + "device": "cpu" + } + } + } + }, + "nav": { + "navmesh": { + "enabled": true, + "visualize": false, + "bake_timeout_s": 180, + "agent_height_cm": 65, + "min_agent_radius_cm": 30.0, + "max_agent_radius_cm": 30.0, + "max_step_height_cm": 20, + "max_floor_slope_deg": 30, + "agent_island_radius_cm": 5, + "auto_exclude_rigid_bodies": true, + "validate_path_clearance": true, + "validate_path_window": true, + "navmesh_offset_z_m": 0, + "verbose": false + }, + "occupancymap": { + "cell_size": 0.05 + } + }, + "scene": { + "background": { + "intensity": [ + 1000, + 1000 + ] + }, + "terrain": { + "type": "nav_room", + "collision": true, + "hide_top_walls": true, + "usd": [ + "$MAGICSIM_ASSETS/Room/Collected_SimpleRoom" + ], + "annotation": "Annotation", + "random": false, + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0, + "friction_combine_mode": "multiply", + "restitution_combine_mode": "multiply" + } + }, + "objects": { + "table_A": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "table_A_1": { + "pos": [ + -0.3567734402820751, + 0.016855109328249178, + 0.18 + ], + "ori": [ + 0.0, + 0.0, + -3.030487658353522 + ], + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.45, + 0.35 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "table_B": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "table_B_1": { + "pos": [ + 1.9491926141285831, + 2.892777066731538, + 0.18 + ], + "ori": [ + 0.0, + 0.0, + -4.2552075242394665 + ], + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.45, + 0.35 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "slot_left": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "slot_left_1": { + "pos": [ + -0.38958046077251207, + -0.10157609182474112, + 0.3475 + ], + "ori": [ + 0.0, + 0.0, + -3.030487658353522 + ], + "primitive_params": { + "size": [ + 0.01, + 0.12, + 0.035 + ] + }, + "visual": { + "color": [ + [ + 0.4, + 0.3, + 0.2 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "slot_right": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "slot_right_1": { + "pos": [ + -0.3366545788932003, + -0.10437806029300276, + 0.3475 + ], + "ori": [ + 0.0, + 0.0, + -3.030487658353522 + ], + "primitive_params": { + "size": [ + 0.01, + 0.12, + 0.035 + ] + }, + "visual": { + "color": [ + [ + 0.4, + 0.3, + 0.2 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "book": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "book_1": { + "pos": [ + -0.36323427048848794, + -0.10518235833784581, + 0.40149999999999997 + ], + "ori": [ + 0.0, + 0.0, + 86.96951234164648 + ], + "primitive_params": { + "size": [ + 0.1, + 0.035, + 0.14 + ] + }, + "visual": { + "color": [ + [ + 0.78, + 0.12, + 0.12 + ] + ] + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.05, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + } + } + } + }, + "plate": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "plate_1": { + "pos": [ + 1.9133512630947276, + 2.7951673973536124, + 0.37049999999999994 + ], + "ori": [ + 0.0, + 0.0, + -4.2552075242394665 + ], + "primitive_params": { + "size": [ + 0.012, + 0.14, + 0.08 + ] + }, + "visual": { + "color": [ + [ + 0.35, + 0.35, + 0.4 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "bookend": { + "usd": [ + "$MAGICSIM_ASSETS/Object/MMB_A07/bookend_l/Object.usda" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "bookend_1": { + "pos": [ + 2.016765773248379, + 2.7842472945172942, + 0.33099999999999996 + ], + "ori": [ + 0.0, + 0.0, + 85.74479247576053 + ], + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.6, + "physics_material": { + "static_friction": 0.2, + "dynamic_friction": 0.15, + "restitution": 0.0 + } + } + } + } + } + } + }, + "task": { + "new_seed_per_episode": true, + "observation": {}, + "reward": {}, + "termination": { + "timeout_steps": 30000, + "success_hold_frames": 10, + "fall_height": 0.08, + "fall_tilt": 1.0, + "lift_height": 0.12, + "grasp_distance": 0.25 + }, + "grasp": { + "mode": "generated", + "debug": false, + "floor_z": 0.03 + }, + "stance": { + "radii": [ + 0.54, + 0.58, + 0.5, + 0.46 + ], + "heights": [ + 0.26, + 0.22, + 0.3 + ], + "bearings_deg": [ + 0, + -25, + 25 + ], + "yaw_offsets_deg": [ + 0.0 + ], + "include_current": true + }, + "station": { + "task_id": "N034", + "task_version": "EXT60-MobileAvatar-v3", + "family_id": "bookend_support", + "primary_category": "C2", + "stage": "full", + "layout": { + "floor_z": 0.03, + "start": { + "x": -3.4, + "y": -2.2, + "yaw_deg": 40.0, + "radius": 0.3, + "yaw_spread_deg": 20.0 + }, + "stations": { + "A": { + "center": [ + -0.3567734402820751, + 0.016855109328249178 + ], + "facing_deg": 86.96951234164648, + "standoff": 0.7, + "table": { + "width": 0.9, + "depth": 0.5, + "height": 0.3 + } + }, + "B": { + "center": [ + 1.9491926141285831, + 2.892777066731538 + ], + "facing_deg": 85.74479247576053, + "standoff": 0.7, + "table": { + "width": 0.9, + "depth": 0.5, + "height": 0.3 + } + } + } + }, + "route": [ + "A", + "B" + ], + "book": "book", + "bookend": "bookend", + "plate": "plate", + "dr": { + "enabled": true, + "stations": { + "center_m": 0.25, + "facing_deg": 8.0 + }, + "objects": { + "across_m": 0.025, + "along_m": 0.02, + "yaw_deg": 8.0 + } + }, + "book_slot": { + "across": -0.001 + }, + "push": { + "height": 0.025, + "overshoot": -0.002 + }, + "place_check": { + "book": { + "at": { + "station": "B", + "across": -0.001, + "along": -0.1, + "z": 0.0725 + }, + "yaw_deg": 90.0, + "clearance": 0.004 + } + }, + "success": { + "upright_deg": 15.0, + "rest_z_tol": 0.02, + "contact_gap": 0.006, + "max_penetration": 0.01, + "min_push": 0.04, + "release_dist": 0.15, + "rest_speed": 0.03, + "lift": 0.08 + }, + "objects": { + "slot_left": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.01, + 0.12, + 0.035 + ], + "at": { + "station": "A", + "across": -0.0265, + "along": -0.12, + "z": 0.0175 + }, + "color": [ + 0.4, + 0.3, + 0.2 + ], + "pos": [ + -0.38958046077251207, + -0.10157609182474112, + 0.3475 + ], + "yaw_deg": -3.030487658353522 + }, + "slot_right": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.01, + 0.12, + 0.035 + ], + "at": { + "station": "A", + "across": 0.0265, + "along": -0.12, + "z": 0.0175 + }, + "color": [ + 0.4, + 0.3, + 0.2 + ], + "pos": [ + -0.3366545788932003, + -0.10437806029300276, + 0.3475 + ], + "yaw_deg": -3.030487658353522 + }, + "book": { + "jitter": { + "across_m": 0.0, + "yaw_deg": 0.0 + }, + "asset": "Cube", + "type": "rigid", + "size": [ + 0.1, + 0.035, + 0.14 + ], + "yaw_deg": 86.96951234164648, + "at": { + "station": "A", + "across": 0.0, + "along": -0.12220837058609887, + "z": 0.0715 + }, + "mass": 0.05, + "color": [ + 0.78, + 0.12, + 0.12 + ], + "friction": { + "static": 1.5, + "dynamic": 1.5 + }, + "grasp": { + "part": "body", + "thin_axis": 1, + "min_elevation_deg": 60.0, + "approach_deg": [ + 0, + 15, + 30, + 45, + 60, + 75, + 90, + 105, + 120, + 135, + 150, + 165, + 180, + 195, + 210, + 225, + 240, + 255, + 270, + 285, + 300, + 315, + 330, + 345 + ], + "inset": 0.012 + }, + "pos": [ + -0.36323427048848794, + -0.10518235833784581, + 0.40149999999999997 + ] + }, + "plate": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.012, + 0.14, + 0.08 + ], + "at": { + "station": "B", + "across": -0.0285, + "along": -0.1, + "z": 0.0405 + }, + "color": [ + 0.35, + 0.35, + 0.4 + ], + "pos": [ + 1.9133512630947276, + 2.7951673973536124, + 0.37049999999999994 + ], + "yaw_deg": -4.2552075242394665 + }, + "bookend": { + "jitter": { + "across_m": 0.01, + "yaw_deg": 0.0 + }, + "catalog": "bookend_l", + "type": "rigid", + "yaw_deg": 85.74479247576053, + "at": { + "station": "B", + "across": 0.0754397045199763, + "along": -0.10321673445834022, + "z": 0.001 + }, + "friction": { + "static": 0.2, + "dynamic": 0.15 + }, + "asset": "$MAGICSIM_ASSETS/Object/MMB_A07/bookend_l/Object.usda", + "parts": [ + { + "name": "wall", + "center": [ + 0.0, + 0.0, + 0.03 + ], + "half": [ + 0.06, + 0.006, + 0.03 + ], + "rpy_deg": [ + 0.0, + 0.0, + 0.0 + ] + }, + { + "name": "foot", + "center": [ + 0.0, + -0.036, + 0.004 + ], + "half": [ + 0.06, + 0.03, + 0.004 + ], + "rpy_deg": [ + 0.0, + 0.0, + 0.0 + ] + } + ], + "mass": 0.6, + "com": [ + 0.0, + -0.01, + 0.03 + ], + "pos": [ + 2.016765773248379, + 2.7842472945172942, + 0.33099999999999996 + ] + } + }, + "planner_seeds": "lean", + "report_jsonl": "/mnt/scratch/xc536_atomic/n034_go2_on_2023/out/report.episodes.jsonl", + "dr_applied": true, + "level": "easy" + }, + "command": { + "StationBookend": { + "obj_type": "rigid", + "obj_name": "book", + "obj_id": 0, + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.05, + "settle_ticks": 120 + } + } + }, + "collect": { + "global_planner": { + "NavTo": { + "use_navmesh": true, + "use_absolute": true, + "translation_threshold": 0.2, + "rotation_threshold": 0.15, + "num_path_segments": 30, + "start_forward_offset": 0.0, + "visualize_path": false, + "carry_arm": true + }, + "RetractMoveL": { + "translation_threshold": 0.06, + "rotation_threshold": 0.3, + "motiongen_distance_threshold": 0.05, + "timeout_steps": 2000, + "base_pos_threshold": 0.12, + "base_rot_threshold": 0.5, + "eef_pos_threshold": 0.03, + "eef_rot_threshold": 0.3, + "base_waypoint_max_steps": 20, + "arm_waypoint_max_steps": 8 + }, + "MobileMoveL": { + "translation_threshold": 0.006, + "rotation_threshold": 0.2, + "motiongen_distance_threshold": 0.05, + "timeout_steps": 1500, + "stall_release_ticks": 100, + "stall_release_factor": 5.0, + "reactive": false, + "base_pos_threshold": 0.12, + "base_rot_threshold": 0.5, + "eef_pos_threshold": 0.03, + "eef_rot_threshold": 0.3, + "waypoint_max_steps": 8, + "interp_steps": 60, + "interp_validate_target": true, + "retry_mobile_on_locked_plan_failure": true + }, + "MobileServoL": { + "base_pos_threshold": 0.12, + "waypoint_max_steps": 20, + "translation_threshold": 0.05, + "timeout_steps": 300 + }, + "ParallelGripper": { + "gripper_threshold": 0.0005, + "timeout_steps": 60 + } + }, + "atomic_skill": { + "NavToPose": { + "robot_id": 0, + "show_marker": false + }, + "Move": { + "arm_planner": "MobileMoveL", + "hand_planner": "ParallelGripper", + "obstacle_avoid_paths": [], + "obstacle_ignore_paths": [], + "close_value": 1.0, + "open_value": 0.0, + "hold_steps": 10 + }, + "ReachStance": { + "check_current_first": true, + "stance_margin": 0.03, + "max_reach": 0.85, + "max_walks": 4, + "reject_radius": 0.05, + "obstacle_avoidance": [ + "dynamic" + ], + "walk_planner": "MobileServoL", + "strategy_kwargs": { + "reach_steps": 2 + }, + "debug": false + }, + "Grasp": { + "pre_grasp_offset": 0.1, + "retrieval_offset": 0.1, + "mobile": true, + "pre_grasp_planner": "MobileMoveL", + "pre_grasp_mode": -1, + "grasp_mode": 4, + "retrieval_mode": 4, + "goalset_lock_base": true, + "reactive": false, + "viz_grasp": false + } + }, + "command": { + "StationBookend": { + "obj_type": "rigid", + "obj_name": "book", + "obj_id": 0, + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.05, + "settle_ticks": 120 + } + }, + "auto_collect": {}, + "record": { + "output_dir": "/mnt/scratch/xc536_atomic/n034_go2_on_2023/out/rec", + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "json_round": null, + "schema": { + "source": "robot_manager", + "nan_policy": "from_raw" + }, + "lerobot": { + "subsample_every": 2 + } + } + }, + "visual_dr": { + "keep": [ + "book", + "book_other", + "bookend" + ] + } + }, + "git_sha": null, + "collect_runtime": { + "max_trajectories": 1 + } +} \ No newline at end of file diff --git a/N034/go2_arm/dr_on/seed_2023/rec/stationbookend/000/sim_info/0/actions.npz b/N034/go2_arm/dr_on/seed_2023/rec/stationbookend/000/sim_info/0/actions.npz new file mode 100644 index 0000000000000000000000000000000000000000..39e2888d3b814d09f20958448eb4c977cd88360f --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2023/rec/stationbookend/000/sim_info/0/actions.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f387b0dcef8a00c0a9c3b0cf7d58de0386ea8393acee1ab83628b284420390ac +size 748440 diff --git a/N034/go2_arm/dr_on/seed_2023/rec/stationbookend/000/sim_info/0/device_commands.jsonl b/N034/go2_arm/dr_on/seed_2023/rec/stationbookend/000/sim_info/0/device_commands.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N034/go2_arm/dr_on/seed_2023/rec/stationbookend/000/sim_info/0/device_events.jsonl b/N034/go2_arm/dr_on/seed_2023/rec/stationbookend/000/sim_info/0/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N034/go2_arm/dr_on/seed_2023/rec/stationbookend/000/sim_info/0/scene_snapshot.json b/N034/go2_arm/dr_on/seed_2023/rec/stationbookend/000/sim_info/0/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..2f5990d964dcb9df285e52cde887da6734c04c4f --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2023/rec/stationbookend/000/sim_info/0/scene_snapshot.json @@ -0,0 +1,523 @@ +{ + "trajectory_id": 0, + "env_id": 0, + "run_id": "stationbookend/000", + "task_type": "BookendCommand", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])", + "avatars": "avatar_manager.set_avatars_state(snapshot['avatars'], env_ids=[env_id]) (present when the scene has animated avatars)" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "table_A": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.3567734402820751, + 0.016855109328249178, + 0.18 + ], + "ori": [ + 0.9996502995491028, + 0.0, + 0.0, + -0.026442911475896835 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.45, + 0.35 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + } + }, + "type_specific": {} + } + ], + "table_B": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 1.9491926141285831, + 2.892777066731538, + 0.18 + ], + "ori": [ + 0.9993106126785278, + 0.0, + 0.0, + -0.03712515905499458 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.45, + 0.35 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + } + }, + "type_specific": {} + } + ], + "slot_left": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.38958046077251207, + -0.10157609182474112, + 0.3475 + ], + "ori": [ + 0.9996502995491028, + 0.0, + 0.0, + -0.026442911475896835 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.4, + 0.3, + 0.2 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.01, + 0.12, + 0.035 + ] + } + }, + "type_specific": {} + } + ], + "slot_right": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.3366545788932003, + -0.10437806029300276, + 0.3475 + ], + "ori": [ + 0.9996502995491028, + 0.0, + 0.0, + -0.026442911475896835 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.4, + 0.3, + 0.2 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.01, + 0.12, + 0.035 + ] + } + }, + "type_specific": {} + } + ], + "book": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.36323508620262146, + -0.10518250614404678, + 0.399999737739563 + ], + "ori": [ + 0.7255575060844421, + -2.452487251503044e-06, + -3.7978422824380687e-06, + 0.6881614923477173 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.78, + 0.12, + 0.12 + ], + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.05, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.1, + 0.035, + 0.14 + ] + } + }, + "type_specific": { + "linear_velocity": [ + -0.00032193082734011114, + -0.00015921538579277694, + -0.00021225078671704978 + ], + "angular_velocity": [ + 0.0020296634174883366, + -0.005395967047661543, + -0.00011049112799810246 + ] + } + } + ], + "plate": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 1.9133512630947276, + 2.7951673973536124, + 0.37049999999999994 + ], + "ori": [ + 0.9993106126785278, + 0.0, + 0.0, + -0.03712515905499458 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.35, + 0.35, + 0.4 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.012, + 0.14, + 0.08 + ] + } + }, + "type_specific": {} + } + ], + "bookend": [ + { + "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MMB_A07/bookend_l/Object.usda", + "pose": { + "pos": [ + 2.016765832901001, + 2.784247398376465, + 0.33000004291534424 + ], + "ori": [ + 0.732871413230896, + -1.043081283569336e-07, + 1.6391277313232422e-07, + 0.680367112159729 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.6, + "physics_material": { + "static_friction": 0.2, + "dynamic_friction": 0.15, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.0241018319211435e-06, + 9.578374715601967e-08, + -5.962318141428113e-07 + ], + "angular_velocity": [ + 9.594029506843071e-06, + -2.3406382752000354e-06, + 5.562226306210505e-06 + ] + } + } + ] + } + ], + "artifacts": [ + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1000.0, + "texture": null, + "color": [ + 0.85, + 0.85, + 0.85 + ] + } + } + }, + "robots": { + "Go2Plus": { + "root_pose": [ + [ + -3.6658053398132324, + -2.2846665382385254, + 0.352804571390152, + 0.8816606998443604, + 0.0029723430052399635, + -0.0031041130423545837, + 0.4718642234802246 + ] + ], + "root_vel": [ + [ + -0.0035606268793344498, + -0.005783486180007458, + -0.0010779781732708216, + -0.008062001317739487, + 0.005251840688288212, + 0.0012415655655786395 + ] + ], + "joint_pos": [ + [ + 0.032479964196681976, + -0.02486557513475418, + -0.09803960472345352, + 0.08353137224912643, + -1.1681132491503377e-05, + 0.6712177991867065, + 0.7323979139328003, + 0.9681968092918396, + 0.9704295992851257, + 1.7056268453598022, + -1.538726806640625, + -1.5560228824615479, + -1.6194621324539185, + -1.6147669553756714, + -0.9955921769142151, + 1.6807263818918727e-05, + 0.6994295120239258, + -2.7822725314763375e-06, + 0.03500000014901161, + -0.03499944135546684 + ] + ], + "joint_vel": [ + [ + 0.0001936691696755588, + 1.5096899005584419e-05, + 0.0023243033792823553, + 0.0014619695721194148, + 0.0007743560709059238, + -0.024274785071611404, + -0.02178628370165825, + -0.033361706882715225, + -0.03122684918344021, + -0.036550089716911316, + -0.015570765361189842, + -0.0179242342710495, + 9.501276508672163e-05, + -0.0017303824424743652, + -0.027122510597109795, + 6.33046729490161e-05, + 0.012011777609586716, + -1.1562747204152402e-05, + 9.963559932657517e-08, + -5.418886212282814e-05 + ] + ] + } + }, + "cameras": { + "cameras": { + "head": [ + [ + 0.33205100893974304, + 0.038026999682188034, + 0.09355899691581726, + -0.5022302269935608, + -0.499491810798645, + 0.5120040774345398, + 0.4859265089035034 + ] + ], + "wrist": [ + [ + -0.0749870017170906, + 0.005288999993354082, + 0.04582099989056587, + 0.1271296590566635, + 0.701795220375061, + -0.6904057860374451, + -0.12108422070741653 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/N034/go2_arm/dr_on/seed_2023/rec/stationbookend/000/sim_info/0/sim_states.npz b/N034/go2_arm/dr_on/seed_2023/rec/stationbookend/000/sim_info/0/sim_states.npz new file mode 100644 index 0000000000000000000000000000000000000000..5acd0a210dad103de19b0a033ebd1bf9f75a9ded --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2023/rec/stationbookend/000/sim_info/0/sim_states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9ca8a613b1fceb397cb255e34d4021d97951a14a695992ee457e9ac7ce64a991 +size 829422 diff --git a/N034/go2_arm/dr_on/seed_2023/rec/stationbookend/000/sim_info/magicsim_manifest.json b/N034/go2_arm/dr_on/seed_2023/rec/stationbookend/000/sim_info/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..29f7266079b780f26e06ef381f07ef119fa69b2b --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2023/rec/stationbookend/000/sim_info/magicsim_manifest.json @@ -0,0 +1,259 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 03:06:06" + }, + "embodiment": { + "robots": [ + { + "name": "Go2Plus", + "cfg": "Go2PlusCfg", + "type": "mobilemanip", + "joint_names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 12, + "nan_policy": "from_raw", + "segments": [ + { + "name": "Go2Plus.base_action", + "start": 0, + "end": 4, + "names": [ + "base_action_0", + "base_action_1", + "base_action_2", + "base_action_3" + ], + "source": "Go2UnifiedLocomotionAction", + "names_source": "fallback" + }, + { + "name": "Go2Plus.arm_action", + "start": 4, + "end": 11, + "names": [ + "eef0.pos_x", + "eef0.pos_y", + "eef0.pos_z", + "eef0.quat_w", + "eef0.quat_x", + "eef0.quat_y", + "eef0.quat_z" + ], + "source": "Go2PlusCuroboIKAction", + "names_source": "pose_layout" + }, + { + "name": "Go2Plus.eef_action", + "start": 11, + "end": 12, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 26, + "segments": [ + { + "name": "Go2Plus.joint_pos", + "start": 0, + "end": 24, + "names": [ + "joint_0", + "joint_1", + "joint_2", + "joint_3", + "joint_4", + "joint_5", + "joint_6", + "joint_7", + "joint_8", + "joint_9", + "joint_10", + "joint_11", + "joint_12", + "joint_13", + "joint_14", + "joint_15", + "joint_16", + "joint_17", + "joint_18", + "joint_19", + "joint_20", + "joint_21", + "joint_22", + "joint_23" + ], + "source": "ObservationManager", + "names_source": "fallback_dim_mismatch(joint_names=20,obs=24)" + }, + { + "name": "Go2Plus.gripper_pos", + "start": 24, + "end": 26, + "names": [ + "gripper_0", + "gripper_1" + ], + "source": "ObservationManager", + "names_source": "generated" + } + ] + }, + "joint_vel_layout": { + "dim": 20, + "segments": [ + { + "name": "Go2Plus.joint_vel", + "start": 0, + "end": 20, + "names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "action_levels": { + "L0": "task command list (collect.auto_collect_info.current_action)", + "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)", + "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)", + "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy", + "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)" + }, + "cameras": { + "head": { + "intrinsics": { + "K": [ + [ + 607.7061061683956, + 0.0, + 320.0 + ], + [ + 0.0, + 607.3754374751866, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 55.53991912549515, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.33205100893974304, + 0.038026999682188034, + 0.09355899691581726 + ], + "quat": [ + -0.5022302269935608, + -0.499491810798645, + 0.5120040774345398, + 0.4859265089035034 + ] + }, + "wrist": { + "intrinsics": { + "K": [ + [ + 617.2500342478374, + 0.0, + 320.0 + ], + [ + 0.0, + 617.548655622722, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 54.807019583348044, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + -0.0749870017170906, + 0.005288999993354082, + 0.04582099989056587 + ], + "quat": [ + 0.1271296590566635, + 0.701795220375061, + -0.6904057860374451, + -0.12108422070741653 + ] + } + }, + "generated_run": { + "run_id": "stationbookend/000", + "task_type": "BookendCommand" + } +} \ No newline at end of file diff --git a/N034/go2_arm/dr_on/seed_2023/rec/stationbookend/000/visual_dr.json b/N034/go2_arm/dr_on/seed_2023/rec/stationbookend/000/visual_dr.json new file mode 100644 index 0000000000000000000000000000000000000000..9c045fedd919293546fd5ad6b093c55b8ed21c41 --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2023/rec/stationbookend/000/visual_dr.json @@ -0,0 +1,678 @@ +{ + "version": 1, + "settings": { + "enabled": false, + "keep": [ + "book", + "book_other", + "bookend" + ], + "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": 2023, + "seeds": { + "0": 2023 + }, + "lights": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/RectLight", + "type": "RectLight", + "intensity": 10777.074238, + "intensity_base": 15000.0, + "enable_color_temperature": true, + "color_temperature_k": 3637.61514, + "rotate_deg": [ + 1.636, + 4.98, + 3.109 + ] + } + ], + "domes": [ + { + "path": "/World/background", + "type": "DomeLight", + "intensity": 1427.457045, + "intensity_base": 1000.0, + "enable_color_temperature": true, + "color_temperature_k": 5688.617207, + "rotate_deg": [ + 0.0, + 0.0, + 120.876 + ], + "dome": { + "path": "/World/background", + "hdr_base": null, + "color": [ + 0.83759, + 0.8381, + 0.826965 + ] + } + } + ], + "materials": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light", + "shader": "omnipbr", + "color": [ + 0.9547, + 0.7537, + 0.7878 + ], + "color_base": [ + 1.0, + 1.0, + 1.0 + ], + "roughness": 0.584693, + "roughness_base": 0.5, + "bound_prims": 1 + } + ], + "display_colors": [], + "swapped": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/ParquetFloor", + "role": "ground", + "mdl": "Source/Concrete/Concrete_Formed.mdl", + "material": "/MmbVdrLooks/Source_Concrete_Concrete_Formed", + "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/Padang_Dark_Gray.mdl", + "material": "/MmbVdrLooks/Source_Stone_Padang_Dark_Gray", + "bound_prims": 17, + "pool_size": 28, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic2", + "role": "wall", + "mdl": "Source/Ceramic/Ceramic_Tiles_Glazed_Subway.mdl", + "material": "/MmbVdrLooks/Source_Ceramic_Ceramic_Tiles_Glazed_Subway", + "bound_prims": 22, + "pool_size": 28, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WoodWall", + "role": "wall", + "mdl": "Source/Stone/Devil_Black.mdl", + "material": "/MmbVdrLooks/Source_Stone_Devil_Black", + "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": { + "book": 1, + "book_other": 0, + "bookend": 2 + }, + "physics_skip": { + "physics_binding": 8, + "rigid_body": 222, + "examples": [ + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calf_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calf_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calf_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calflower_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calflower1_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_foot_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_foot_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_hip/go2_FL_hip_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_hip/go2_FL_hip_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_hip/go2_FL_hip_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_thigh/go2_FL_thigh_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_thigh/go2_FL_thigh_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_thigh/go2_FL_thigh_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calf_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calf_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calf_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calflower_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calflower1_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_foot_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_foot_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_hip/go2_FR_hip_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_hip/go2_FR_hip_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_hip/go2_FR_hip_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_thigh/go2_FR_thigh_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_thigh/go2_FR_thigh_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_thigh/go2_FR_thigh_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calf_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calf_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calf_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calflower_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calflower1_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_foot_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_foot_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_hip/go2_RL_hip_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_hip/go2_RL_hip_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_hip/go2_RL_hip_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_thigh/go2_RL_thigh_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_thigh/go2_RL_thigh_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_thigh/go2_RL_thigh_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RR_calf/go2_RR_calf_geometry/visual_0", + "rigid_body" + ] + ] + }, + "material_library": { + "root": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Material", + "pool_sizes": { + "ground": 42, + "wall": 28, + "furniture": 38, + "object": 54 + } + }, + "no_swap": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass", + "reason": "glass", + "bound_prims": 1 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light", + "reason": "emissive", + "bound_prims": 1 + } + ], + "unsupported": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass", + "mdl": "OmniGlass.mdl", + "bound_prims": 1 + } + ] + }, + { + "env_ids": [ + 0 + ], + "reset_index": 1, + "episode_seed": 2024, + "seeds": { + "0": 2024 + }, + "lights": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/RectLight", + "type": "RectLight", + "intensity": 22252.441764, + "intensity_base": 15000.0, + "enable_color_temperature": true, + "color_temperature_k": 6474.591652, + "rotate_deg": [ + 1.651, + -4.398, + -4.415 + ] + } + ], + "domes": [ + { + "path": "/World/background", + "type": "DomeLight", + "intensity": 1479.777346, + "intensity_base": 1000.0, + "enable_color_temperature": true, + "color_temperature_k": 5694.485681, + "rotate_deg": [ + 0.0, + 0.0, + 26.022 + ], + "dome": { + "path": "/World/background", + "hdr_base": null, + "hdr": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Background/qwantani_4k.hdr", + "color": [ + 0.815405, + 0.802825, + 0.799425 + ] + } + } + ], + "materials": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light", + "shader": "omnipbr", + "color": [ + 0.6967, + 0.7682, + 0.6672 + ], + "color_base": [ + 1.0, + 1.0, + 1.0 + ], + "roughness": 0.44404, + "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/Serizzo_Gneis.mdl", + "material": "/MmbVdrLooks/Source_Stone_Serizzo_Gneis", + "bound_prims": 1, + "pool_size": 42, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic", + "role": "wall", + "mdl": "Source/Paint/Chalk_Paint.mdl", + "material": "/MmbVdrLooks/Source_Paint_Chalk_Paint", + "bound_prims": 17, + "pool_size": 28, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic2", + "role": "wall", + "mdl": "Source/Masonry/Facade_Brick_Grey.mdl", + "material": "/MmbVdrLooks/Source_Masonry_Facade_Brick_Grey", + "bound_prims": 22, + "pool_size": 28, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WoodWall", + "role": "wall", + "mdl": "Source/Paint/Paint_Gun_Metal.mdl", + "material": "/MmbVdrLooks/Source_Paint_Paint_Gun_Metal", + "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": { + "book": 1, + "book_other": 0, + "bookend": 2 + }, + "physics_skip": { + "physics_binding": 8, + "rigid_body": 222, + "examples": [ + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calf_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calf_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calf_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calflower_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calflower1_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_foot_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_foot_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_hip/go2_FL_hip_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_hip/go2_FL_hip_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_hip/go2_FL_hip_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_thigh/go2_FL_thigh_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_thigh/go2_FL_thigh_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_thigh/go2_FL_thigh_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calf_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calf_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calf_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calflower_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calflower1_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_foot_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_foot_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_hip/go2_FR_hip_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_hip/go2_FR_hip_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_hip/go2_FR_hip_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_thigh/go2_FR_thigh_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_thigh/go2_FR_thigh_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_thigh/go2_FR_thigh_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calf_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calf_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calf_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calflower_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calflower1_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_foot_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_foot_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_hip/go2_RL_hip_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_hip/go2_RL_hip_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_hip/go2_RL_hip_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_thigh/go2_RL_thigh_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_thigh/go2_RL_thigh_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_thigh/go2_RL_thigh_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RR_calf/go2_RR_calf_geometry/visual_0", + "rigid_body" + ] + ] + }, + "material_library": { + "root": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Material", + "pool_sizes": { + "ground": 42, + "wall": 28, + "furniture": 38, + "object": 54 + } + }, + "no_swap": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass", + "reason": "glass", + "bound_prims": 1 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light", + "reason": "emissive", + "bound_prims": 1 + } + ], + "unsupported": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass", + "mdl": "OmniGlass.mdl", + "bound_prims": 1 + } + ] + } + ] +} \ No newline at end of file diff --git a/N034/go2_arm/dr_on/seed_2023/report.episodes.jsonl b/N034/go2_arm/dr_on/seed_2023/report.episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d06cceba7993e8cbda3de6b26c483a8c8aaac7b0 --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2023/report.episodes.jsonl @@ -0,0 +1 @@ +{"task_id": "N034", "task_version": "EXT60-MobileAvatar-v3", "instruction": null, "agent_id": "a07", "family_id": "bookend_support", "primary_category": "C2", "level": "easy", "embodiment": "go2_arm", "scene_seed": 2023, "execution_mode": "expert_privileged_command", "station_layout": {"A": {"center": [-0.3567734402820751, 0.016855109328249178], "facing": 1.518, "stand": [-0.407, -0.932, 1.518]}, "B": {"center": [1.9491926141285831, 2.892777066731538], "facing": 1.497, "stand": [1.879, 1.945, 1.497]}}, "spawn_pose": [-3.652, -2.268, 0.971], "base_path": [[-3.653, -2.268, 0.972], [-3.656, -2.27, 0.981], [-3.66, -2.277, 0.981], [-3.664, -2.281, 0.982], [-3.666, -2.285, 0.983], [-3.596, -2.243, 0.914], [-3.466, -2.171, 0.582], [-3.313, -2.121, 0.356], [-3.147, -2.077, 0.326], [-2.983, -2.022, 0.347], [-2.824, -1.961, 0.357], [-2.664, -1.899, 0.362], [-2.504, -1.837, 0.361], [-2.344, -1.774, 0.358], [-2.185, -1.712, 0.361], [-2.026, -1.65, 0.361], [-1.865, -1.588, 0.364], [-1.706, -1.526, 0.362], [-1.546, -1.464, 0.359], [-1.387, -1.401, 0.361], [-1.228, -1.339, 0.362], [-1.067, -1.277, 0.364], [-0.907, -1.215, 0.363], [-0.748, -1.153, 0.359], [-0.607, -1.095, 0.359], [-0.518, -1.057, 0.363], [-0.49, -1.047, 0.494], [-0.485, -1.048, 0.868], [-0.482, -1.05, 1.281], [-0.48, -1.051, 1.601], [-0.469, -0.979, 1.535], [-0.457, -0.866, 1.489], [-0.447, -0.753, 1.471], [-0.438, -0.665, 1.468], [-0.438, -0.667, 1.464], [-0.439, -0.668, 1.462], [-0.439, -0.672, 1.46], [-0.44, -0.671, 1.457], [-0.441, -0.668, 1.451], [-0.438, -0.67, 1.451], [-0.439, -0.681, 1.456], [-0.438, -0.691, 1.462], [-0.437, -0.688, 1.467], [-0.437, -0.686, 1.468], [-0.438, -0.688, 1.469], [-0.438, -0.689, 1.468], [-0.438, -0.69, 1.467], [-0.438, -0.689, 1.468], [-0.437, -0.686, 1.469], [-0.437, -0.684, 1.469], [-0.436, -0.672, 1.302], [-0.444, -0.68, 0.913], [-0.451, -0.68, 0.495], [-0.383, -0.657, 0.179], [-0.266, -0.641, 0.126], [-0.155, -0.622, 0.15], [-0.051, -0.6, 0.173], [0.054, -0.58, 0.18], [0.178, -0.51, 0.175], [0.327, -0.394, 0.236], [0.461, -0.276, 0.547], [0.563, -0.143, 0.931], [0.622, -0.006, 1.109], [0.666, 0.106, 1.096], [0.719, 0.21, 1.068], [0.777, 0.312, 1.056], [0.834, 0.413, 1.056], [0.889, 0.514, 1.06], [0.942, 0.612, 1.061], [0.996, 0.711, 1.058], [1.05, 0.811, 1.058], [1.107, 0.915, 1.06], [1.162, 1.016, 1.06], [1.218, 1.116, 1.061], [1.27, 1.215, 1.06], [1.325, 1.315, 1.06], [1.382, 1.414, 1.06], [1.437, 1.515, 1.058], [1.492, 1.614, 1.06], [1.544, 1.711, 1.062], [1.598, 1.811, 1.06], [1.653, 1.914, 1.057], [1.714, 2.014, 1.061], [1.773, 2.096, 1.064], [1.782, 2.13, 1.269], [1.778, 2.134, 1.56], [1.778, 2.134, 1.585], [1.779, 2.135, 1.556], [1.779, 2.14, 1.538], [1.778, 2.145, 1.535], [1.777, 2.148, 1.534], [1.774, 2.142, 1.556], [1.775, 2.135, 1.546], [1.774, 2.13, 1.545], [1.774, 2.127, 1.545], [1.775, 2.126, 1.546], [1.775, 2.125, 1.546], [1.776, 2.125, 1.544], [1.778, 2.134, 1.54], [1.774, 2.13, 1.54], [1.775, 2.131, 1.54], [1.775, 2.131, 1.539], [1.775, 2.131, 1.539], [1.774, 2.126, 1.54], [1.774, 2.126, 1.539], [1.774, 2.126, 1.539], [1.774, 2.126, 1.539], [1.774, 2.126, 1.539], [1.774, 2.126, 1.539], [1.774, 2.126, 1.539], [1.774, 2.126, 1.539], [1.774, 2.126, 1.539], [1.774, 2.126, 1.539], [1.774, 2.126, 1.54], [1.774, 2.126, 1.539], [1.774, 2.125, 1.541], [1.794, 2.123, 1.539], [1.824, 2.126, 1.526], [1.809, 2.123, 1.525], [1.787, 2.121, 1.551], [1.785, 2.12, 1.475], [1.792, 2.106, 1.293], [1.798, 2.142, 1.202], [1.836, 2.227, 1.14], [1.855, 2.263, 1.192], [1.853, 2.24, 1.176], [1.849, 2.243, 1.193], [1.851, 2.237, 1.182], [1.85, 2.241, 1.192], [1.854, 2.241, 1.202], [1.853, 2.234, 1.196], [1.852, 2.23, 1.183], [1.851, 2.228, 1.183], [1.852, 2.228, 1.188], [1.852, 2.228, 1.186], [1.852, 2.228, 1.185], [1.852, 2.228, 1.185], [1.853, 2.228, 1.177], [1.856, 2.227, 1.152], [1.857, 2.227, 1.155], [1.858, 2.227, 1.156], [1.854, 2.228, 1.172], [1.853, 2.23, 1.179], [1.854, 2.231, 1.18], [1.854, 2.232, 1.18], [1.854, 2.232, 1.181], [1.854, 2.232, 1.181], [1.854, 2.232, 1.18], [1.854, 2.232, 1.181]], "stage_events": [{"tick": 531, "event": "enter_station", "station": "A", "xy": [-1.035, -1.264]}, {"tick": 1707, "event": "leave_station", "station": "A", "xy": [0.955, 0.636]}, {"tick": 1931, "event": "enter_station", "station": "B", "xy": [1.448, 1.534]}], "transport_state": {"book": {"held": false, "grasps": 1}}, "manipulation_success": true, "mobile_success": true, "full_success": true, "failure_reason": null, "fail_class_hint": null, "distance_to_first_interaction": 2.851, "interstation_path_lengths": [4.259], "station_transition_order": ["A", "B"], "final_approach_pose": [1.854, 2.232, 1.181], "regrasp_events": 0, "control_ticks": 3185, "wall_s": 1287.2, "phase": "done", "state": "success: task sequence complete", "check": {"book": [1.933, 2.73, 0.4], "dist_wrist": 0.193, "held": false, "upright_deg": 0.0, "rest_z": true, "gaps": {"plate": 0.0, "bookend": -0.0009}, "pushed": true, "released": true, "at_rest": true, "manipulation_success": true}, "route": ["A", "B"], "total_path_m": 8.28, "planner_seeds": "lean"} diff --git a/N034/go2_arm/dr_on/seed_2023/report.json b/N034/go2_arm/dr_on/seed_2023/report.json new file mode 100644 index 0000000000000000000000000000000000000000..0f01bb7bd4f441d92b6635c1ee107cf8d66ec67d --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2023/report.json @@ -0,0 +1,969 @@ +{ + "task_id": "N034", + "level": "easy", + "seed": 2023, + "episodes_requested": 1, + "episodes": [ + { + "task_id": "N034", + "task_version": "EXT60-MobileAvatar-v3", + "instruction": null, + "agent_id": "a07", + "family_id": "bookend_support", + "primary_category": "C2", + "level": "easy", + "embodiment": "go2_arm", + "scene_seed": 2023, + "execution_mode": "expert_privileged_command", + "station_layout": { + "A": { + "center": [ + -0.3567734402820751, + 0.016855109328249178 + ], + "facing": 1.518, + "stand": [ + -0.407, + -0.932, + 1.518 + ] + }, + "B": { + "center": [ + 1.9491926141285831, + 2.892777066731538 + ], + "facing": 1.497, + "stand": [ + 1.879, + 1.945, + 1.497 + ] + } + }, + "spawn_pose": [ + -3.652, + -2.268, + 0.971 + ], + "base_path": [ + [ + -3.653, + -2.268, + 0.972 + ], + [ + -3.656, + -2.27, + 0.981 + ], + [ + -3.66, + -2.277, + 0.981 + ], + [ + -3.664, + -2.281, + 0.982 + ], + [ + -3.666, + -2.285, + 0.983 + ], + [ + -3.596, + -2.243, + 0.914 + ], + [ + -3.466, + -2.171, + 0.582 + ], + [ + -3.313, + -2.121, + 0.356 + ], + [ + -3.147, + -2.077, + 0.326 + ], + [ + -2.983, + -2.022, + 0.347 + ], + [ + -2.824, + -1.961, + 0.357 + ], + [ + -2.664, + -1.899, + 0.362 + ], + [ + -2.504, + -1.837, + 0.361 + ], + [ + -2.344, + -1.774, + 0.358 + ], + [ + -2.185, + -1.712, + 0.361 + ], + [ + -2.026, + -1.65, + 0.361 + ], + [ + -1.865, + -1.588, + 0.364 + ], + [ + -1.706, + -1.526, + 0.362 + ], + [ + -1.546, + -1.464, + 0.359 + ], + [ + -1.387, + -1.401, + 0.361 + ], + [ + -1.228, + -1.339, + 0.362 + ], + [ + -1.067, + -1.277, + 0.364 + ], + [ + -0.907, + -1.215, + 0.363 + ], + [ + -0.748, + -1.153, + 0.359 + ], + [ + -0.607, + -1.095, + 0.359 + ], + [ + -0.518, + -1.057, + 0.363 + ], + [ + -0.49, + -1.047, + 0.494 + ], + [ + -0.485, + -1.048, + 0.868 + ], + [ + -0.482, + -1.05, + 1.281 + ], + [ + -0.48, + -1.051, + 1.601 + ], + [ + -0.469, + -0.979, + 1.535 + ], + [ + -0.457, + -0.866, + 1.489 + ], + [ + -0.447, + -0.753, + 1.471 + ], + [ + -0.438, + -0.665, + 1.468 + ], + [ + -0.438, + -0.667, + 1.464 + ], + [ + -0.439, + -0.668, + 1.462 + ], + [ + -0.439, + -0.672, + 1.46 + ], + [ + -0.44, + -0.671, + 1.457 + ], + [ + -0.441, + -0.668, + 1.451 + ], + [ + -0.438, + -0.67, + 1.451 + ], + [ + -0.439, + -0.681, + 1.456 + ], + [ + -0.438, + -0.691, + 1.462 + ], + [ + -0.437, + -0.688, + 1.467 + ], + [ + -0.437, + -0.686, + 1.468 + ], + [ + -0.438, + -0.688, + 1.469 + ], + [ + -0.438, + -0.689, + 1.468 + ], + [ + -0.438, + -0.69, + 1.467 + ], + [ + -0.438, + -0.689, + 1.468 + ], + [ + -0.437, + -0.686, + 1.469 + ], + [ + -0.437, + -0.684, + 1.469 + ], + [ + -0.436, + -0.672, + 1.302 + ], + [ + -0.444, + -0.68, + 0.913 + ], + [ + -0.451, + -0.68, + 0.495 + ], + [ + -0.383, + -0.657, + 0.179 + ], + [ + -0.266, + -0.641, + 0.126 + ], + [ + -0.155, + -0.622, + 0.15 + ], + [ + -0.051, + -0.6, + 0.173 + ], + [ + 0.054, + -0.58, + 0.18 + ], + [ + 0.178, + -0.51, + 0.175 + ], + [ + 0.327, + -0.394, + 0.236 + ], + [ + 0.461, + -0.276, + 0.547 + ], + [ + 0.563, + -0.143, + 0.931 + ], + [ + 0.622, + -0.006, + 1.109 + ], + [ + 0.666, + 0.106, + 1.096 + ], + [ + 0.719, + 0.21, + 1.068 + ], + [ + 0.777, + 0.312, + 1.056 + ], + [ + 0.834, + 0.413, + 1.056 + ], + [ + 0.889, + 0.514, + 1.06 + ], + [ + 0.942, + 0.612, + 1.061 + ], + [ + 0.996, + 0.711, + 1.058 + ], + [ + 1.05, + 0.811, + 1.058 + ], + [ + 1.107, + 0.915, + 1.06 + ], + [ + 1.162, + 1.016, + 1.06 + ], + [ + 1.218, + 1.116, + 1.061 + ], + [ + 1.27, + 1.215, + 1.06 + ], + [ + 1.325, + 1.315, + 1.06 + ], + [ + 1.382, + 1.414, + 1.06 + ], + [ + 1.437, + 1.515, + 1.058 + ], + [ + 1.492, + 1.614, + 1.06 + ], + [ + 1.544, + 1.711, + 1.062 + ], + [ + 1.598, + 1.811, + 1.06 + ], + [ + 1.653, + 1.914, + 1.057 + ], + [ + 1.714, + 2.014, + 1.061 + ], + [ + 1.773, + 2.096, + 1.064 + ], + [ + 1.782, + 2.13, + 1.269 + ], + [ + 1.778, + 2.134, + 1.56 + ], + [ + 1.778, + 2.134, + 1.585 + ], + [ + 1.779, + 2.135, + 1.556 + ], + [ + 1.779, + 2.14, + 1.538 + ], + [ + 1.778, + 2.145, + 1.535 + ], + [ + 1.777, + 2.148, + 1.534 + ], + [ + 1.774, + 2.142, + 1.556 + ], + [ + 1.775, + 2.135, + 1.546 + ], + [ + 1.774, + 2.13, + 1.545 + ], + [ + 1.774, + 2.127, + 1.545 + ], + [ + 1.775, + 2.126, + 1.546 + ], + [ + 1.775, + 2.125, + 1.546 + ], + [ + 1.776, + 2.125, + 1.544 + ], + [ + 1.778, + 2.134, + 1.54 + ], + [ + 1.774, + 2.13, + 1.54 + ], + [ + 1.775, + 2.131, + 1.54 + ], + [ + 1.775, + 2.131, + 1.539 + ], + [ + 1.775, + 2.131, + 1.539 + ], + [ + 1.774, + 2.126, + 1.54 + ], + [ + 1.774, + 2.126, + 1.539 + ], + [ + 1.774, + 2.126, + 1.539 + ], + [ + 1.774, + 2.126, + 1.539 + ], + [ + 1.774, + 2.126, + 1.539 + ], + [ + 1.774, + 2.126, + 1.539 + ], + [ + 1.774, + 2.126, + 1.539 + ], + [ + 1.774, + 2.126, + 1.539 + ], + [ + 1.774, + 2.126, + 1.539 + ], + [ + 1.774, + 2.126, + 1.539 + ], + [ + 1.774, + 2.126, + 1.54 + ], + [ + 1.774, + 2.126, + 1.539 + ], + [ + 1.774, + 2.125, + 1.541 + ], + [ + 1.794, + 2.123, + 1.539 + ], + [ + 1.824, + 2.126, + 1.526 + ], + [ + 1.809, + 2.123, + 1.525 + ], + [ + 1.787, + 2.121, + 1.551 + ], + [ + 1.785, + 2.12, + 1.475 + ], + [ + 1.792, + 2.106, + 1.293 + ], + [ + 1.798, + 2.142, + 1.202 + ], + [ + 1.836, + 2.227, + 1.14 + ], + [ + 1.855, + 2.263, + 1.192 + ], + [ + 1.853, + 2.24, + 1.176 + ], + [ + 1.849, + 2.243, + 1.193 + ], + [ + 1.851, + 2.237, + 1.182 + ], + [ + 1.85, + 2.241, + 1.192 + ], + [ + 1.854, + 2.241, + 1.202 + ], + [ + 1.853, + 2.234, + 1.196 + ], + [ + 1.852, + 2.23, + 1.183 + ], + [ + 1.851, + 2.228, + 1.183 + ], + [ + 1.852, + 2.228, + 1.188 + ], + [ + 1.852, + 2.228, + 1.186 + ], + [ + 1.852, + 2.228, + 1.185 + ], + [ + 1.852, + 2.228, + 1.185 + ], + [ + 1.853, + 2.228, + 1.177 + ], + [ + 1.856, + 2.227, + 1.152 + ], + [ + 1.857, + 2.227, + 1.155 + ], + [ + 1.858, + 2.227, + 1.156 + ], + [ + 1.854, + 2.228, + 1.172 + ], + [ + 1.853, + 2.23, + 1.179 + ], + [ + 1.854, + 2.231, + 1.18 + ], + [ + 1.854, + 2.232, + 1.18 + ], + [ + 1.854, + 2.232, + 1.181 + ], + [ + 1.854, + 2.232, + 1.181 + ], + [ + 1.854, + 2.232, + 1.18 + ], + [ + 1.854, + 2.232, + 1.181 + ] + ], + "stage_events": [ + { + "tick": 531, + "event": "enter_station", + "station": "A", + "xy": [ + -1.035, + -1.264 + ] + }, + { + "tick": 1707, + "event": "leave_station", + "station": "A", + "xy": [ + 0.955, + 0.636 + ] + }, + { + "tick": 1931, + "event": "enter_station", + "station": "B", + "xy": [ + 1.448, + 1.534 + ] + } + ], + "transport_state": { + "book": { + "held": false, + "grasps": 1 + } + }, + "manipulation_success": true, + "mobile_success": true, + "full_success": true, + "failure_reason": null, + "fail_class_hint": null, + "distance_to_first_interaction": 2.851, + "interstation_path_lengths": [ + 4.259 + ], + "station_transition_order": [ + "A", + "B" + ], + "final_approach_pose": [ + 1.854, + 2.232, + 1.181 + ], + "regrasp_events": 0, + "control_ticks": 3185, + "wall_s": 1287.2, + "phase": "done", + "state": "success: task sequence complete", + "check": { + "book": [ + 1.933, + 2.73, + 0.4 + ], + "dist_wrist": 0.193, + "held": false, + "upright_deg": 0.0, + "rest_z": true, + "gaps": { + "plate": 0.0, + "bookend": -0.0009 + }, + "pushed": true, + "released": true, + "at_rest": true, + "manipulation_success": true + }, + "route": [ + "A", + "B" + ], + "total_path_m": 8.28, + "planner_seeds": "lean" + } + ], + "error": null, + "collect": { + "task": "N034", + "robot": "go2_arm", + "visual_dr": true, + "env": { + "MMB_COLLECT": "1", + "MMB_TASK_ID": "N034", + "MMB_CLEAN_VIEW": "1", + "MMB_REAL_ROBOT_LOOK": "1", + "MMB_VISUAL_DR": "1" + }, + "cameras": { + "head": { + "link": "Robot_0/Bodies/go2_base", + "pos": [ + 0.332051, + 0.038027, + 0.093559 + ], + "ori": [ + 169.9473, + -88.6452, + 81.5985 + ], + "focal_length": 1.8231182098388672, + "horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.4407838582992554 + }, + "wrist": { + "link": "Robot_0/Bodies/piper_link6", + "pos": [ + -0.074987, + 0.005289, + 0.045821 + ], + "ori": [ + 179.3135, + -20.212, + 88.9402 + ], + "focal_length": 1.8517500162124634, + "horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.4393036365509033 + } + }, + "resolution": [ + 640, + 480 + ], + "camera_hz": 25, + "record": { + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + } + }, + "review_cameras": [], + "policy_obs_signature": [ + "/camera_info[0]/rgb[0]:(480, 640, 4):uint8", + "/camera_info[1]/rgb[0]:(480, 640, 4):uint8", + "/robot_state[0]/Go2Plus/base_ang_vel:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/base_lin_vel:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/base_pos:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/base_quat:(1, 4):torch.float32", + "/robot_state[0]/Go2Plus/eef_pos:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/eef_quat:(1, 4):torch.float32", + "/robot_state[0]/Go2Plus/eef_relative_pos:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/eef_relative_quat:(1, 4):torch.float32", + "/robot_state[0]/Go2Plus/finger_joint_pos:(1, 2):torch.float32", + "/robot_state[0]/Go2Plus/gripper_pos:(1, 2):torch.float32", + "/robot_state[0]/Go2Plus/joint_effort:(1, 20):torch.float32", + "/robot_state[0]/Go2Plus/joint_pos:(1, 24):torch.float32", + "/robot_state[0]/Go2Plus/joint_vel:(1, 20):torch.float32" + ], + "n_success": 1, + "elapsed_s": 1560.1, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 33.6 + } +} diff --git a/N034/go2_arm/dr_on/seed_2025/check.json b/N034/go2_arm/dr_on/seed_2025/check.json new file mode 100644 index 0000000000000000000000000000000000000000..53d10a4c0409dc5fe265614d42f533d8a7363f0c --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2025/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'; expected 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "1774 rows vs ceil(3547/2) = 1774" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..3647, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "19.12 MB, 1774 frames at 25 fps, mean luma 60..105, std 39, new picture 1773x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1774 vs 1774" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "28.00 MB, 1774 frames at 25 fps, mean luma 77..149, std 25, new picture 1773x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1774 vs 1774" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationbookend/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N034/go2_arm/dr_on/seed_2025/check.txt b/N034/go2_arm/dr_on/seed_2025/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..9604901a780cbf7a9df0819073be5e5ee39e3735 --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2025/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n034_go2_on_2025_r1/out task=N034 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n034_go2_on_2025_r1/out/rec/stationbookend/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1774 videos 2 robot_type Go2PlusCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 1774 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5'] +[PASS] action shape: parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y'] +[PASS] task text = MobileBench instruction: task_index 0: 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'; expected 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.' +rows 1774 at dataset fps 25 = 70.96 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1774 rows vs ceil(3547/2) = 1774 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..3647, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 19.12 MB, 1774 frames at 25 fps, mean luma 60..105, std 39, new picture 1773x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1774 vs 1774 +[PASS] video observation.images.wrist decodes, 640x480, not black: 28.00 MB, 1774 frames at 25 fps, mean luma 77..149, std 25, new picture 1773x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1774 vs 1774 +parquet size 6.03 MB +[PASS] sim_info present: rec/stationbookend/000/sim_info +dataset size 53.42 MB; whole cell dir 55.1 MB +RESULT: ALL PASS diff --git a/N034/go2_arm/dr_on/seed_2025/rec/stationbookend/000/completed/0.json b/N034/go2_arm/dr_on/seed_2025/rec/stationbookend/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..92774b53003e83bf90b8dbc14d938d81cff5769c --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2025/rec/stationbookend/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationbookend/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N034/go2_arm/dr_on/seed_2025/rec/stationbookend/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N034/go2_arm/dr_on/seed_2025/rec/stationbookend/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..0e3e8d09f3cfb73bd8ab725db4f0ff6077c335c4 --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2025/rec/stationbookend/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2c37618d5d3994c3bc881c4be3f5b02d7774696c316f5b8d7fe6e30418151778 +size 6025658 diff --git a/N034/go2_arm/dr_on/seed_2025/rec/stationbookend/000/lerobot_v21/meta/episodes.jsonl b/N034/go2_arm/dr_on/seed_2025/rec/stationbookend/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..061218062488b7fbac9d9a3382ce91aa305c6256 --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2025/rec/stationbookend/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it."], "length": 1774, "magicsim/control_steps": 3547, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the brown slot left. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is in front of the brown slot left. The gray table B is to the left of the bookend. The red book is on top of the brown slot left. The gray plate is on top of the bookend. The gray plate is to the left of the bookend. The bookend is to the right of the gray plate. The scene is viewed from front, at table height."} diff --git a/N034/go2_arm/dr_on/seed_2025/rec/stationbookend/000/lerobot_v21/meta/episodes_stats.jsonl b/N034/go2_arm/dr_on/seed_2025/rec/stationbookend/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..69a9b398a01f08b0669e43e9c1239d35b1314bc3 --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2025/rec/stationbookend/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.11018353321388985, -0.001903356639342855, 0.011690642710947332, 0.3249411791764628, 0.6741875034779008, 1.3113425708299224, 0.6528194009115355, 0.09816072817129362, -0.45061605266170557, 0.842785218657071, 0.062051605423513415, 0.6820744081172492], "std": [0.13550146679846783, 0.021237895899576458, 0.21313401410797608, 0.03212022460034438, 1.3102787850133686, 1.7274468129025187, 0.05956157457205326, 0.04510767743871473, 0.2449795762639314, 0.10048031134777015, 0.032034092538310015, 0.4656703876227908], "min": [0.0, -0.06343301385641098, -0.800000011920929, 0.28999999165534973, -2.9864649772644043, -2.133573532104492, 0.48840755224227905, -0.017430001869797707, -0.6721431612968445, 0.7259445190429688, 0.0009000003337860107, 0.0], "max": [0.3499999940395355, 0.25, 0.800000011920929, 0.3700000047683716, 1.9894119501113892, 3.0359599590301514, 0.7303881645202637, 0.18108417093753815, 0.05512988567352295, 0.9994028210639954, 0.11055763065814972, 1.0], "count": [1774]}, "action_is_hold": {"mean": [0.12288613303269448, 0.12288613303269448, 0.12288613303269448, 0.12288613303269448, 0.1527621195039459, 0.1527621195039459, 0.1527621195039459, 0.1527621195039459, 0.1527621195039459, 0.1527621195039459, 0.1527621195039459, 0.9605411499436303], "std": [0.3283064594871183, 0.3283064594871183, 0.3283064594871183, 0.3283064594871183, 0.35975804973427167, 0.35975804973427167, 0.35975804973427167, 0.35975804973427167, 0.35975804973427167, 0.35975804973427167, 0.35975804973427167, 0.19468397265464998], "min": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], "count": [1774]}, "observation.state": {"mean": [-0.026394279674417417, 0.015123592582019741, -0.03876627373928137, 0.06615548223170312, -0.11397070138342859, 0.7532885976748913, 0.786927712390361, 0.9342426116732626, 0.9134649392784381, 2.2165194672554427, -1.5695445737817242, -1.5700789251214622, -1.5559303948683023, -1.5957680607997846, -1.8278234818742403, 0.03612856010018268, 1.0204006840874942, 0.014496586787010986, 0.01795939461185835, -0.018253537490692667, 0.42810418742883155, 0.88410978087853, 1.1202038389640065, 0.35451763636498734, -0.018253537490692667, -0.01795939461185835], "std": [0.02893593161343156, 0.03233714061924592, 0.042795175359749575, 0.044814483608407264, 0.1502793877878215, 0.1189587541784988, 0.1468063943958763, 0.15049488189780796, 0.13066522454958415, 0.31503142922397237, 0.19962107955968747, 0.20368859394269997, 0.19796285952549358, 0.20222887244866056, 0.5080091592212722, 0.03484530743653385, 0.2050597041466777, 0.4884238485768596, 0.013513285089492408, 0.013510771830156258, 1.3156541515178475, 1.6146537637002432, 0.38641552237892224, 0.031047130112070043, 0.013510771830156258, 0.013513285089492408], "min": [-0.14282193779945374, -0.10477536171674728, -0.16373206675052643, -0.08980683982372284, -0.6736674904823303, 0.4393175542354584, 0.4421321153640747, 0.5729333758354187, 0.6409087777137756, 1.7042458057403564, -1.81537926197052, -1.833487868309021, -1.8116737604141235, -1.8443330526351929, -2.730074882507324, -0.012022481299936771, 0.4776967465877533, -0.46078789234161377, 0.0, -0.03500000014901161, -3.2217860221862793, -2.423767328262329, 0.0401950478553772, 0.31866395473480225, -0.03500000014901161, -0.03500000014901161], "max": [0.14531083405017853, 0.16158200800418854, 0.1591888815164566, 0.19775433838367462, 0.0977625623345375, 0.9138402938842773, 0.9880475401878357, 1.178486943244934, 1.0819858312606812, 2.75392746925354, -1.1535800695419312, -1.2400107383728027, -1.1796159744262695, -1.1568363904953003, -0.9913099408149719, 0.13479548692703247, 1.2172452211380005, 1.3834830522537231, 0.03500000014901161, 0.0, 1.582678198814392, 2.514237642288208, 1.5671170949935913, 0.4025323987007141, 0.0, -0.0], "count": [1774]}, "observation.joint_vel": {"mean": [-0.003023960174432801, -0.0005396178945916531, 0.00011239458460880762, -0.0006941170107249487, 0.001130937145166707, -0.0009132023851890925, 0.0004329834501355659, -0.0027109403166967984, -0.0037896948423475608, 0.0026672180942885282, -0.005652829157568, -0.011946191952701368, -0.0030359791485880675, -0.0005802845690168284, -0.012690525644752019, 0.00031281012649620463, 0.012270531507372985, -0.006903301425873273, -0.0003893556503651195, 0.0005143250944078702], "std": [0.34442363362672945, 0.31814522042815213, 0.3901207812625742, 0.45738352059802145, 0.09043157439207057, 0.9609066819932401, 0.9549169080893902, 0.7306821038362826, 0.6078099711940483, 0.12313728862137735, 0.5903129374147643, 0.8335808698075127, 0.843988784103022, 0.9431285992381099, 0.1736217421072225, 0.030658957923752353, 0.08311626078556733, 0.17796562609318844, 0.01255981270420539, 0.012393691363553803], "min": [-2.6436338424682617, -3.646630048751831, -2.9724628925323486, -2.554933547973633, -0.706501305103302, -4.411606311798096, -5.366806983947754, -3.8558905124664307, -4.330692768096924, -0.7703870534896851, -4.460332870483398, -4.974963665008545, -4.135714054107666, -6.1190361976623535, -1.131199836730957, -0.2011246383190155, -0.45444127917289734, -0.34760957956314087, -0.20009461045265198, -0.18686845898628235], "max": [2.898422956466675, 2.7327165603637695, 5.04071044921875, 2.454045534133911, 0.3970412015914917, 1.4591426849365234, 2.217611074447632, 3.780630350112915, 4.313711643218994, 0.900192141532898, 2.9526965618133545, 6.3285603523254395, 4.1179070472717285, 3.312244415283203, 1.0156710147857666, 0.23328684270381927, 0.6924459338188171, 1.712302327156067, 0.19992558658123016, 0.20035219192504883], "count": [1774]}, "observation.eef_pose": {"mean": [0.6720894058434483, 1.3078495162862576, 0.649511605702769, 0.10306775779909588, -0.4515410300886013, 0.841432206660274, 0.06631110274267572], "std": [1.3086479054303433, 1.724436852525756, 0.05946179595159665, 0.046780049033671715, 0.24427611556477527, 0.10116560961894351, 0.03144458924117189], "min": [-2.9864649772644043, -2.133589029312134, 0.4879055321216583, -0.01708558201789856, -0.672869086265564, 0.7234453558921814, 0.00036281347274780273], "max": [1.991723656654358, 3.037856340408325, 0.7301251292228699, 0.21065068244934082, 0.05738847330212593, 0.9994089603424072, 0.11857408285140991], "count": [1774]}, "observation.environment_state": {"mean": [0.7876933024075484, 1.5654414657560065, 0.4492223572737738, 0.7751357185128308, -0.001827489111148637, 0.0021981185083205556, 0.6118767550855606, 1.7861348230647933, 3.029208239197328, 0.3300200926713234, 0.7431760483086445, -0.0012514184641829347, -0.0011087941711328804, 0.6689554402497603, 1.6812705993652344, 3.043275833129883, 0.37049999833106995, 0.9986622929573059, 0.0, 0.0, -0.051707103848457336, -0.6396471858024597, -0.03771057352423668, 0.3474999964237213, 0.9991533756256104, 0.0, 0.0, -0.041140392422676086, -0.5868265628814697, -0.042067743837833405, 0.3474999964237213, 0.9991533756256104, 0.0, 0.0, -0.041140392422676086, -0.6033715605735779, 0.0797046348452568, 0.18000000715255737, 0.9991533756256104, 0.0, 0.0, -0.041140392422676086, 1.7199457883834839, 3.1397976875305176, 0.18000000715255737, 0.9986622929573059, 0.0, 0.0, -0.051707103848457336], "std": [1.0170314307806554, 1.4503505093152629, 0.06672316313237547, 0.07076579180046716, 0.0040641528797471715, 0.006688653176106107, 0.1403361272205647, 0.014273151788463456, 0.002541409967985177, 0.00015926954319181458, 0.0015670046437104895, 0.009991828688391897, 0.008853161017460648, 0.002126103954212445, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 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": [-0.6142007112503052, -0.5614621639251709, 0.3999995291233063, 0.7331672310829163, -0.018890732899308205, -0.033031877130270004, 0.06232062354683876, 1.7345739603042603, 3.028456211090088, 0.3299999237060547, 0.7426207065582275, -0.09009166061878204, -0.0799216777086258, 0.6585473418235779, 1.6812705993652344, 3.043275833129883, 0.37049999833106995, 0.9986622929573059, 0.0, 0.0, -0.051707103848457336, -0.6396471858024597, -0.03771057352423668, 0.3474999964237213, 0.9991533756256104, 0.0, 0.0, -0.041140392422676086, -0.5868265628814697, -0.042067743837833405, 0.3474999964237213, 0.9991533756256104, 0.0, 0.0, -0.041140392422676086, -0.6033715605735779, 0.0797046348452568, 0.18000000715255737, 0.9991533756256104, 0.0, 0.0, -0.041140392422676086, 1.7199457883834839, 3.1397976875305176, 0.18000000715255737, 0.9986622929573059, 0.0, 0.0, -0.051707103848457336], "max": [1.8282339572906494, 3.0508456230163574, 0.5701763033866882, 0.9979506731033325, 0.014609793201088905, 0.023088274523615837, 0.6800479292869568, 1.790371060371399, 3.0383660793304443, 0.3314344584941864, 0.7502701878547668, 0.0011580436257645488, 0.0010273008374497294, 0.6695981621742249, 1.6812705993652344, 3.043275833129883, 0.37049999833106995, 0.9986622929573059, 0.0, 0.0, -0.051707103848457336, -0.6396471858024597, -0.03771057352423668, 0.3474999964237213, 0.9991533756256104, 0.0, 0.0, -0.041140392422676086, -0.5868265628814697, -0.042067743837833405, 0.3474999964237213, 0.9991533756256104, 0.0, 0.0, -0.041140392422676086, -0.6033715605735779, 0.0797046348452568, 0.18000000715255737, 0.9991533756256104, 0.0, 0.0, -0.041140392422676086, 1.7199457883834839, 3.1397976875305176, 0.18000000715255737, 0.9986622929573059, 0.0, 0.0, -0.051707103848457336], "count": [1774]}, "action.command": {"mean": [-1.0458894870658912, -0.6595873293310108, 1.1961127762747283, 0.7908133042761054, 0.0, 0.0, 0.610055136490628, 0.6819693945442449, 0.5578599769674137, 1.1135650512651452, 0.6589577983239454, 0.10095200048371451, -0.43697263420850235, 0.852222460750255, 0.060347938233941884, 0.5714285714285714, -1.5200580762151987, -1.1885589337631648, 1.474332333710511, 0.0, 0.0, 0.0, 0.0, 2.0, -0.0002605288396239752, 0.15336653276080356, 0.6967793626904645, 0.11071732467499332, -0.39426704849041655, 0.892464222879749, 0.0477499668587647, 0.0, -1.4394311204415222, -1.175603571302492, 1.474332333710511, 0.0, 0.0, 0.0, 0.0, 2.0, -0.0002605288396239752, 0.15336653276080356, 0.6967793626904645, 0.11071732467499332, -0.39426704849041655, 0.892464222879749, 0.0477499668587647, 0.0, -1.4288551562388423, -1.1706603971237564, 1.474332333710511, 0.0, 0.0, 0.0, 0.0, 2.0, -0.0002605288396239752, 0.15336653276080356, 0.6967793626904645, 0.11071732467499332, -0.39426704849041655, 0.892464222879749, 0.0477499668587647, 0.0, -1.406641404148147, -1.157538853458108, 1.474332333710511, 0.0, 0.0, 0.0, 0.0, 2.0, -0.0002605288396239752, 0.15336653276080356, 0.6967793626904645, 0.11071732467499332, -0.39426704849041655, 0.892464222879749, 0.0477499668587647, 0.0, -1.298859223232596, -1.1341364182659446, 1.474332333710511, 0.0, 0.0, 0.0, 0.0, 2.0, -0.0002605288396239752, 0.15336653276080356, 0.6967793626904645, 0.11071732467499332, -0.39426704849041655, 0.892464222879749, 0.0477499668587647, 0.0, -1.290183803623687, -1.1300008535699253, 1.474332333710511, 0.0, 0.0, 0.0, 0.0, 2.0, -0.0002605288396239752, 0.15336653276080356, 0.6967793626904645, 0.11071732467499332, -0.39426704849041655, 0.892464222879749, 0.0477499668587647, 0.0, -1.279535856014498, -1.1258125553332141, 1.474332333710511, 0.0, 0.0, 0.0, 0.0, 2.0, -0.0002605288396239752, 0.15336653276080356, 0.6967793626904645, 0.11071732467499332, -0.39426704849041655, 0.892464222879749, 0.0477499668587647, 0.0, -1.1714805334767178, -1.102270105924845, 1.474332333710511, 0.0, 0.0, 0.0, 0.0, 2.0, -0.0002605288396239752, 0.15336653276080356, 0.6967793626904645, 0.11071732467499332, -0.39426704849041655, 0.892464222879749, 0.0477499668587647, 0.0, -1.1208435469779416, -1.0846308128949995, 1.474332333710511, 0.0, 0.0, 0.0, 0.0, 2.0, -0.0002605288396239752, 0.15336653276080356, 0.6967793626904645, 0.11071732467499332, -0.39426704849041655, 0.892464222879749, 0.0477499668587647, 0.0, -1.057053805025827, -1.0750390632036333, 1.474332333710511, 0.0, 0.0, 0.0, 0.0, 2.0, -0.0002605288396239752, 0.15336653276080356, 0.6967793626904645, 0.11071732467499332, -0.39426704849041655, 0.892464222879749, 0.0477499668587647, 0.0, -1.0383410444372727, -1.0706602628680244, 1.474332333710511, 0.0, 0.0, 0.0, 0.0, 2.0, -0.0002605288396239752, 0.15336653276080356, 0.6967793626904645, 0.11071732467499332, -0.39426704849041655, 0.892464222879749, 0.0477499668587647, 0.0, -0.9984220209800208, -1.054038557924615, 1.474332333710511, 0.0, 0.0, 0.0, 0.0, 2.0, -0.0002605288396239752, 0.15336653276080356, 0.6967793626904645, 0.11071732467499332, -0.39426704849041655, 0.892464222879749, 0.0477499668587647, 0.0, -0.9182158772967393, -1.032067086542705, 1.474332333710511, 0.0, 0.0, 0.0, 0.0, 2.0, -0.0002605288396239752, 0.15336653276080356, 0.6967793626904645, 0.11071732467499332, -0.39426704849041655, 0.892464222879749, 0.0477499668587647, 0.0, -0.895619222612092, -1.0280303958219346, 1.474332333710511, 0.0, 0.0, 0.0, 0.0, 2.0, -0.0002605288396239752, 0.15336653276080356, 0.6967793626904645, 0.11071732467499332, -0.39426704849041655, 0.892464222879749, 0.0477499668587647, 0.0, -0.8572138542375664, -1.02229804295325, 1.474332333710511, 0.0, 0.0, 0.0, 0.0, 2.0, -0.0002605288396239752, 0.15336653276080356, 0.6967793626904645, 0.11071732467499332, -0.39426704849041655, 0.892464222879749, 0.0477499668587647, 0.0, -0.8138785739975327, -0.9771651829027218, 1.474332333710511, 0.0, 0.0, 0.0, 0.0, 2.0, -0.0002605288396239752, 0.15336653276080356, 0.6967793626904645, 0.11071732467499332, -0.39426704849041655, 0.892464222879749, 0.0477499668587647, 0.0, -0.7779599361425961, -0.9465098041790747, 1.474332333710511, 0.0, 0.0, 0.0, 0.0, 2.0, -0.0002605288396239752, 0.15336653276080356, 0.6967793626904645, 0.11071732467499332, -0.39426704849041655, 0.892464222879749, 0.0477499668587647, 0.0, -0.7414825403957341, -0.8847011621447577, 1.474332333710511, 0.0, 0.0, 0.0, 0.0, 2.0, -0.0002605288396239752, 0.15336653276080356, 0.6967793626904645, 0.11071732467499332, -0.39426704849041655, 0.892464222879749, 0.0477499668587647, 0.0, -0.7371309783618912, -0.8787161413388761, 1.474332333710511, 0.0, 0.0, 0.0, 0.0, 2.0, -0.0002605288396239752, 0.15336653276080356, 0.6967793626904645, 0.11071732467499332, -0.39426704849041655, 0.892464222879749, 0.0477499668587647, 0.0, -0.6862684193021852, -0.8223406706245835, 1.474332333710511, 0.0, 0.0, 0.0, 0.0, 2.0, -0.0002605288396239752, 0.15336653276080356, 0.6967793626904645, 0.11071732467499332, -0.39426704849041655, 0.892464222879749, 0.0477499668587647, 0.0, -0.6513453684305485, -0.7948194123382468, 1.474332333710511, 0.0, 0.0, 0.0, 0.0, 2.0, -0.0002605288396239752, 0.15336653276080356, 0.6967793626904645, 0.11071732467499332, -0.39426704849041655, 0.892464222879749, 0.0477499668587647, 0.0, -0.6321530811714403, -0.7618996198626532, 1.474332333710511, 0.0, 0.0, 0.0, 0.0, 2.0, -0.0002605288396239752, 0.15336653276080356, 0.6967793626904645, 0.11071732467499332, -0.39426704849041655, 0.892464222879749, 0.0477499668587647, 0.0, -0.6280268208468541, -0.7299670280989294, 1.474332333710511, 0.0, 0.0, 0.0, 0.0, 2.0, -0.0002605288396239752, 0.15336653276080356, 0.6967793626904645, 0.11071732467499332, -0.39426704849041655, 0.892464222879749, 0.0477499668587647, 0.0, -0.5864783351129222, -0.6893154730595776, 1.474332333710511, 0.0, 0.0, 0.0, 0.0, 2.0, -0.0002605288396239752, 0.15336653276080356, 0.6967793626904645, 0.11071732467499332, -0.39426704849041655, 0.892464222879749, 0.0477499668587647, 0.0, -0.5346113747287645, -0.6278074371170778, 1.474332333710511, 0.0, 0.0, 0.0, 0.0, 2.0, -0.0002605288396239752, 0.15336653276080356, 0.6967793626904645, 0.11071732467499332, -0.39426704849041655, 0.892464222879749, 0.0477499668587647, 0.0, -0.5118406001129955, -0.5880643160171973, 1.474332333710511, 0.0, 0.0, 0.0, 0.0, 2.0, -0.0002605288396239752, 0.15336653276080356, 0.6967793626904645, 0.11071732467499332, -0.39426704849041655, 0.892464222879749, 0.0477499668587647, 0.0, -0.49349248739099316, -0.5566507715128156, 1.474332333710511, 0.0, 0.0, 0.0, 0.0, 2.0, -0.0002605288396239752, 0.15336653276080356, 0.6967793626904645, 0.11071732467499332, -0.39426704849041655, 0.892464222879749, 0.0477499668587647, 0.0, -0.44038746086819214, -0.49291859702630475, 1.474332333710511, 0.0, 0.0, 0.0, 0.0, 2.0, -0.0002605288396239752, 0.15336653276080356, 0.6967793626904645, 0.11071732467499332, -0.39426704849041655, 0.892464222879749, 0.0477499668587647, 0.0, -0.402697547308227, -0.455558552650909, 1.474332333710511, 0.0, 0.0, 0.0, 0.0, 2.0, -0.0002605288396239752, 0.15336653276080356, 0.6967793626904645, 0.11071732467499332, -0.39426704849041655, 0.892464222879749, 0.0477499668587647, 0.0, -0.3691444015314457, -0.3981321087310751, 1.474332333710511, 0.0, 0.0, 0.0, 0.0, 2.0, -0.0002605288396239752, 0.15336653276080356, 0.6967793626904645, 0.11071732467499332, -0.39426704849041655, 0.892464222879749, 0.0477499668587647, 0.0, -0.35772110068279767, -0.38185176335775806, 1.474332333710511, 0.0, 0.0, 0.0, 0.0, 2.0, -0.0002605288396239752, 0.15336653276080356, 0.6967793626904645, 0.11071732467499332, -0.39426704849041655, 0.892464222879749, 0.0477499668587647, 0.0, -0.2998533281884175, -0.30674938156670734, 1.474332333710511, 0.0, 0.0, 0.0, 0.0, 2.0, -0.0002605288396239752, 0.15336653276080356, 0.6967793626904645, 0.11071732467499332, -0.39426704849041655, 0.892464222879749, 0.0477499668587647, 0.0, -0.270418606099718, -0.2826348607562119, 1.474332333710511, 0.0, 0.0, 0.0, 0.0, 2.0, -0.0002605288396239752, 0.15336653276080356, 0.6967793626904645, 0.11071732467499332, -0.39426704849041655, 0.892464222879749, 0.0477499668587647, 0.0, -0.23063293778692154, -0.2155381907587466, 1.474332333710511, 0.0, 0.0, 0.0, 0.0, 2.0, -0.0002605288396239752, 0.15336653276080356, 0.6967793626904645, 0.11071732467499332, -0.39426704849041655, 0.892464222879749, 0.0477499668587647, 0.0, -0.22210009437304712, -0.20663682604024533, 1.474332333710511, 0.0, 0.0, 0.0, 0.0, 2.0, -0.0002605288396239752, 0.15336653276080356, 0.6967793626904645, 0.11071732467499332, -0.39426704849041655, 0.892464222879749, 0.0477499668587647, 0.0, -0.16207754250728723, -0.1257490331162263, 1.474332333710511, 0.0, 0.0, 0.0, 0.0, 2.0, -0.0002605288396239752, 0.15336653276080356, 0.6967793626904645, 0.11071732467499332, -0.39426704849041655, 0.892464222879749, 0.0477499668587647, 0.0, -0.1377492676610532, -0.10898954547912236, 1.474332333710511, 0.0, 0.0, 0.0, 0.0, 2.0, -0.0002605288396239752, 0.15336653276080356, 0.6967793626904645, 0.11071732467499332, -0.39426704849041655, 0.892464222879749, 0.0477499668587647, 0.0, -0.09340397359825406, -0.035686408106988594, 1.474332333710511, 0.0, 0.0, 0.0, 0.0, 2.0, -0.0002605288396239752, 0.15336653276080356, 0.6967793626904645, 0.11071732467499332, -0.39426704849041655, 0.892464222879749, 0.0477499668587647, 0.0, -0.08585355796989873, -0.030849264701521602, 1.474332333710511, 0.0, 0.0, 0.0, 0.0, 2.0, -0.0002605288396239752, 0.15336653276080356, 0.6967793626904645, 0.11071732467499332, -0.39426704849041655, 0.892464222879749, 0.0477499668587647, 0.0, -0.054326314857040627, -0.0001540091355013439, 1.474332333710511, 0.0, 0.0, 0.0, 0.0, 2.0, -0.0002605288396239752, 0.15336653276080356, 0.6967793626904645, 0.11071732467499332, -0.39426704849041655, 0.892464222879749, 0.0477499668587647, 0.0, -0.0051455141213257475, 0.06453439385209316, 1.474332333710511, 0.0, 0.0, 0.0, 0.0, 2.0, -0.0002605288396239752, 0.15336653276080356, 0.6967793626904645, 0.11071732467499332, -0.39426704849041655, 0.892464222879749, 0.0477499668587647, 0.0, 0.004040723261625871, 0.07096850542211722, 1.474332333710511, 0.0, 0.0, 0.0, 0.0, 2.0, -0.0002605288396239752, 0.15336653276080356, 0.6967793626904645, 0.11071732467499332, -0.39426704849041655, 0.892464222879749, 0.0477499668587647, 0.0, 0.049925651474903694, 0.1445481627983224, 1.474332333710511, 0.0, 0.0, 0.0, 0.0, 2.0, -0.0002605288396239752, 0.15336653276080356, 0.6967793626904645, 0.11071732467499332, -0.39426704849041655, 0.892464222879749, 0.0477499668587647, 0.0, 0.07268723527433373, 0.16092605348946393, 1.474332333710511, 0.0, 0.0, 0.0, 0.0, 2.0, -0.0002605288396239752, 0.15336653276080356, 0.6967793626904645, 0.11071732467499332, -0.39426704849041655, 0.892464222879749, 0.0477499668587647, 0.0, 0.12743378612206702, 0.23801341358380826, 1.474332333710511, 0.0, 0.0, 0.0, 0.0, 2.0, -0.0002605288396239752, 0.15336653276080356, 0.6967793626904645, 0.11071732467499332, -0.39426704849041655, 0.892464222879749, 0.0477499668587647, 0.0, 0.14084219728376868, 0.25005599742507434, 1.474332333710511, 0.0, 0.0, 0.0, 0.0, 2.0, -0.0002605288396239752, 0.15336653276080356, 0.6967793626904645, 0.11071732467499332, -0.39426704849041655, 0.892464222879749, 0.0477499668587647, 0.0, 0.18599615093904678, 0.32012015086388873, 1.474332333710511, 0.0, 0.0, 0.0, 0.0, 2.0, -0.0002605288396239752, 0.15336653276080356, 0.6967793626904645, 0.11071732467499332, -0.39426704849041655, 0.892464222879749, 0.0477499668587647, 0.0, 0.2092704138422829, 0.33984366314527387, 1.474332333710511, 0.0, 0.0, 0.0, 0.0, 2.0, -0.0002605288396239752, 0.15336653276080356, 0.6967793626904645, 0.11071732467499332, -0.39426704849041655, 0.892464222879749, 0.0477499668587647, 0.0, 0.26001300610729516, 0.41149223384806916, 1.474332333710511, 0.0, 0.0, 0.0, 0.0, 2.0, -0.0002605288396239752, 0.15336653276080356, 0.6967793626904645, 0.11071732467499332, -0.39426704849041655, 0.892464222879749, 0.0477499668587647, 0.0, 0.27740859608405194, 0.42900247536157904, 1.474332333710511, 0.0, 0.0, 0.0, 0.0, 2.0, -0.0002605288396239752, 0.15336653276080356, 0.6967793626904645, 0.11071732467499332, -0.39426704849041655, 0.892464222879749, 0.0477499668587647, 0.0, 0.3218633293791408, 0.4955700860507246, 1.474332333710511, 0.0, 0.0, 0.0, 0.0, 2.0, -0.0002605288396239752, 0.15336653276080356, 0.6967793626904645, 0.11071732467499332, -0.39426704849041655, 0.892464222879749, 0.0477499668587647, 0.0, 0.3459927733393683, 0.518844611088749, 1.474332333710511, 0.0, 0.0, 0.0, 0.0, 2.0, -0.0002605288396239752, 0.15336653276080356, 0.6967793626904645, 0.11071732467499332, -0.39426704849041655, 0.892464222879749, 0.0477499668587647, 0.0, 0.39259254335571814, 0.5849712132151105, 1.474332333710511, 0.0, 0.0, 0.0, 0.0, 2.0, -0.0002605288396239752, 0.15336653276080356, 0.6967793626904645, 0.11071732467499332, -0.39426704849041655, 0.892464222879749, 0.0477499668587647, 0.0, 0.4142123969647253, 0.60809128801185, 1.474332333710511, 0.0, 0.0, 0.0, 0.0, 2.0, -0.0002605288396239752, 0.15336653276080356, 0.6967793626904645, 0.11071732467499332, -0.39426704849041655, 0.892464222879749, 0.0477499668587647, 0.0, 0.45779084554616956, 0.6710563113566915, 1.474332333710511, 0.0, 0.0, 0.0, 0.0, 2.0, -0.0002605288396239752, 0.15336653276080356, 0.6967793626904645, 0.11071732467499332, -0.39426704849041655, 0.892464222879749, 0.0477499668587647, 0.0, 0.48261224155526544, 0.6977839231962272, 1.474332333710511, 0.0, 0.0, 0.0, 0.0, 2.0, -0.0002605288396239752, 0.15336653276080356, 0.6967793626904645, 0.11071732467499332, -0.39426704849041655, 0.892464222879749, 0.0477499668587647, 0.0, 0.5254836740544034, 0.7586370543214801, 1.474332333710511, 0.0, 0.0, 0.0, 0.0, 2.0, -0.0002605288396239752, 0.15336653276080356, 0.6967793626904645, 0.11071732467499332, -0.39426704849041655, 0.892464222879749, 0.0477499668587647, 0.0, 0.5414206105258625, 0.7925273622134614, 1.474332333710511, 0.0, 0.0, 0.0, 0.0, 2.0, -0.0002605288396239752, 0.15336653276080356, 0.6967793626904645, 0.11071732467499332, -0.39426704849041655, 0.892464222879749, 0.0477499668587647, 0.0, 1.186031460762024, 1.6871854066848755, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, 0.7820101680131409, 0.9291294291615486, 0.708526054118562, 0.10777257724599106, -0.44556044110309656, 0.8660983700217224, 0.05336653503110838, 0.0, 1.2038371562957764, 1.720099687576294, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, 0.7820101680131409, 0.9291294291615486, 0.708526054118562, 0.10777257724599106, -0.44556044110309656, 0.8660983700217224, 0.05336653503110838, 0.0, 1.2422508001327515, 1.7911083698272705, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, 0.7820101680131409, 0.9291294291615486, 0.708526054118562, 0.10777257724599106, -0.44556044110309656, 0.8660983700217224, 0.05336653503110838, 0.0, 1.2617648839950562, 1.8271806240081787, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, 0.7820101680131409, 0.9291294291615486, 0.708526054118562, 0.10777257724599106, -0.44556044110309656, 0.8660983700217224, 0.05336653503110838, 0.0, 1.2984702587127686, 1.8950315713882446, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, 0.7820101680131409, 0.9291294291615486, 0.708526054118562, 0.10777257724599106, -0.44556044110309656, 0.8660983700217224, 0.05336653503110838, 0.0, 1.3199102878570557, 1.9346641302108765, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, 0.7820101680131409, 0.9291294291615486, 0.708526054118562, 0.10777257724599106, -0.44556044110309656, 0.8660983700217224, 0.05336653503110838, 0.0, 1.3546894788742065, 1.99895441532135, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, 0.7820101680131409, 0.9291294291615486, 0.708526054118562, 0.10777257724599106, -0.44556044110309656, 0.8660983700217224, 0.05336653503110838, 0.0, 1.377930760383606, 2.041916608810425, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, 0.7820101680131409, 0.9291294291615486, 0.708526054118562, 0.10777257724599106, -0.44556044110309656, 0.8660983700217224, 0.05336653503110838, 0.0, 1.4112080335617065, 2.1034305095672607, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, 0.7820101680131409, 0.9291294291615486, 0.708526054118562, 0.10777257724599106, -0.44556044110309656, 0.8660983700217224, 0.05336653503110838, 0.0, 1.4367772340774536, 2.15069580078125, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, 0.7820101680131409, 0.9291294291615486, 0.708526054118562, 0.10777257724599106, -0.44556044110309656, 0.8660983700217224, 0.05336653503110838, 0.0, 1.4694198369979858, 2.2110366821289062, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, 0.7820101680131409, 0.9291294291615486, 0.708526054118562, 0.10777257724599106, -0.44556044110309656, 0.8660983700217224, 0.05336653503110838, 0.0, 1.4983981847763062, 2.264604091644287, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, 0.7820101680131409, 0.9291294291615486, 0.708526054118562, 0.10777257724599106, -0.44556044110309656, 0.8660983700217224, 0.05336653503110838, 0.0, 1.5322786569595337, 2.327233076095581, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, 0.7820101680131409, 0.9291294291615486, 0.708526054118562, 0.10777257724599106, -0.44556044110309656, 0.8660983700217224, 0.05336653503110838, 0.0, 1.5668166875839233, 2.3910775184631348, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, 0.7820101680131409, 0.9291294291615486, 0.708526054118562, 0.10777257724599106, -0.44556044110309656, 0.8660983700217224, 0.05336653503110838, 0.0, 1.602135181427002, 2.456364870071411, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, 0.7820101680131409, 0.9291294291615486, 0.708526054118562, 0.10777257724599106, -0.44556044110309656, 0.8660983700217224, 0.05336653503110838, 0.0, 1.6379915475845337, 2.4737367630004883, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, 0.7820101680131409, 0.9291294291615486, 0.708526054118562, 0.10777257724599106, -0.44556044110309656, 0.8660983700217224, 0.05336653503110838, 0.0], "std": [1.4578803964644471, 1.4279226097619064, 0.4840867977907817, 0.030095380539917876, 0.0, 0.0, 0.03925960912223675, 1.3721838324806301, 1.3380259078767425, 1.7358601793013477, 0.05564304363188766, 0.04412705858464578, 0.23757139855364726, 0.09772210119255392, 0.03164619911169755, 0.49487165930539406, 1.161902881693782, 0.8476057919811163, 0.009953519523203953, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3117795631849147, 1.451949499506015, 0.01805994332605861, 0.008979852123424552, 0.16864966273677448, 0.06769470210251262, 0.02040910335366919, 0.0, 1.2017942151514989, 0.8466506576855395, 0.009953519523203953, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3117795631849147, 1.451949499506015, 0.01805994332605861, 0.008979852123424552, 0.16864966273677448, 0.06769470210251262, 0.02040910335366919, 0.0, 1.1928539887720717, 0.8403084549171642, 0.009953519523203953, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3117795631849147, 1.451949499506015, 0.01805994332605861, 0.008979852123424552, 0.16864966273677448, 0.06769470210251262, 0.02040910335366919, 0.0, 1.1621086810124917, 0.8217380598721855, 0.009953519523203953, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3117795631849147, 1.451949499506015, 0.01805994332605861, 0.008979852123424552, 0.16864966273677448, 0.06769470210251262, 0.02040910335366919, 0.0, 1.1888545584499102, 0.808801529839603, 0.009953519523203953, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3117795631849147, 1.451949499506015, 0.01805994332605861, 0.008979852123424552, 0.16864966273677448, 0.06769470210251262, 0.02040910335366919, 0.0, 1.1811681543948396, 0.8034443540052691, 0.009953519523203953, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3117795631849147, 1.451949499506015, 0.01805994332605861, 0.008979852123424552, 0.16864966273677448, 0.06769470210251262, 0.02040910335366919, 0.0, 1.175612203731401, 0.798570199463348, 0.009953519523203953, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3117795631849147, 1.451949499506015, 0.01805994332605861, 0.008979852123424552, 0.16864966273677448, 0.06769470210251262, 0.02040910335366919, 0.0, 1.202073119637679, 0.7854461814562421, 0.009953519523203953, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3117795631849147, 1.451949499506015, 0.01805994332605861, 0.008979852123424552, 0.16864966273677448, 0.06769470210251262, 0.02040910335366919, 0.0, 1.1856064961404815, 0.7666337569903794, 0.009953519523203953, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3117795631849147, 1.451949499506015, 0.01805994332605861, 0.008979852123424552, 0.16864966273677448, 0.06769470210251262, 0.02040910335366919, 0.0, 1.220043082060698, 0.7671394922013354, 0.009953519523203953, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3117795631849147, 1.451949499506015, 0.01805994332605861, 0.008979852123424552, 0.16864966273677448, 0.06769470210251262, 0.02040910335366919, 0.0, 1.2233068758618464, 0.7642883065451337, 0.009953519523203953, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3117795631849147, 1.451949499506015, 0.01805994332605861, 0.008979852123424552, 0.16864966273677448, 0.06769470210251262, 0.02040910335366919, 0.0, 1.198458900548824, 0.744252471168036, 0.009953519523203953, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3117795631849147, 1.451949499506015, 0.01805994332605861, 0.008979852123424552, 0.16864966273677448, 0.06769470210251262, 0.02040910335366919, 0.0, 1.1984531940273146, 0.7258929510211048, 0.009953519523203953, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3117795631849147, 1.451949499506015, 0.01805994332605861, 0.008979852123424552, 0.16864966273677448, 0.06769470210251262, 0.02040910335366919, 0.0, 1.2078601633908663, 0.7248475499307518, 0.009953519523203953, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3117795631849147, 1.451949499506015, 0.01805994332605861, 0.008979852123424552, 0.16864966273677448, 0.06769470210251262, 0.02040910335366919, 0.0, 1.2287785674830798, 0.7252333780853001, 0.009953519523203953, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3117795631849147, 1.451949499506015, 0.01805994332605861, 0.008979852123424552, 0.16864966273677448, 0.06769470210251262, 0.02040910335366919, 0.0, 1.2028160961194088, 0.7231306300659507, 0.009953519523203953, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3117795631849147, 1.451949499506015, 0.01805994332605861, 0.008979852123424552, 0.16864966273677448, 0.06769470210251262, 0.02040910335366919, 0.0, 1.168713222529565, 0.7090965690978974, 0.009953519523203953, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3117795631849147, 1.451949499506015, 0.01805994332605861, 0.008979852123424552, 0.16864966273677448, 0.06769470210251262, 0.02040910335366919, 0.0, 1.1912419034559951, 0.7506773273622079, 0.009953519523203953, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3117795631849147, 1.451949499506015, 0.01805994332605861, 0.008979852123424552, 0.16864966273677448, 0.06769470210251262, 0.02040910335366919, 0.0, 1.1913422513047633, 0.7531106330010197, 0.009953519523203953, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3117795631849147, 1.451949499506015, 0.01805994332605861, 0.008979852123424552, 0.16864966273677448, 0.06769470210251262, 0.02040910335366919, 0.0, 1.1672114749801203, 0.7568365288560303, 0.009953519523203953, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3117795631849147, 1.451949499506015, 0.01805994332605861, 0.008979852123424552, 0.16864966273677448, 0.06769470210251262, 0.02040910335366919, 0.0, 1.1297970803182869, 0.7390336539436682, 0.009953519523203953, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3117795631849147, 1.451949499506015, 0.01805994332605861, 0.008979852123424552, 0.16864966273677448, 0.06769470210251262, 0.02040910335366919, 0.0, 1.1423951168808804, 0.7616384755705005, 0.009953519523203953, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3117795631849147, 1.451949499506015, 0.01805994332605861, 0.008979852123424552, 0.16864966273677448, 0.06769470210251262, 0.02040910335366919, 0.0, 1.1443567091132385, 0.7835216395508711, 0.009953519523203953, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3117795631849147, 1.451949499506015, 0.01805994332605861, 0.008979852123424552, 0.16864966273677448, 0.06769470210251262, 0.02040910335366919, 0.0, 1.1120382031073983, 0.7752112406885997, 0.009953519523203953, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3117795631849147, 1.451949499506015, 0.01805994332605861, 0.008979852123424552, 0.16864966273677448, 0.06769470210251262, 0.02040910335366919, 0.0, 1.0900062699710553, 0.7833800070520184, 0.009953519523203953, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3117795631849147, 1.451949499506015, 0.01805994332605861, 0.008979852123424552, 0.16864966273677448, 0.06769470210251262, 0.02040910335366919, 0.0, 1.1020142704367133, 0.8089193284975534, 0.009953519523203953, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3117795631849147, 1.451949499506015, 0.01805994332605861, 0.008979852123424552, 0.16864966273677448, 0.06769470210251262, 0.02040910335366919, 0.0, 1.110651055689553, 0.8284461863219073, 0.009953519523203953, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3117795631849147, 1.451949499506015, 0.01805994332605861, 0.008979852123424552, 0.16864966273677448, 0.06769470210251262, 0.02040910335366919, 0.0, 1.089379695311374, 0.8381125623056106, 0.009953519523203953, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3117795631849147, 1.451949499506015, 0.01805994332605861, 0.008979852123424552, 0.16864966273677448, 0.06769470210251262, 0.02040910335366919, 0.0, 1.0608858977166284, 0.8314076484031584, 0.009953519523203953, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3117795631849147, 1.451949499506015, 0.01805994332605861, 0.008979852123424552, 0.16864966273677448, 0.06769470210251262, 0.02040910335366919, 0.0, 1.076646973624415, 0.8670830332133539, 0.009953519523203953, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3117795631849147, 1.451949499506015, 0.01805994332605861, 0.008979852123424552, 0.16864966273677448, 0.06769470210251262, 0.02040910335366919, 0.0, 1.0764467546387464, 0.8735927230891014, 0.009953519523203953, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3117795631849147, 1.451949499506015, 0.01805994332605861, 0.008979852123424552, 0.16864966273677448, 0.06769470210251262, 0.02040910335366919, 0.0, 1.0628902467975228, 0.8938695853900729, 0.009953519523203953, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3117795631849147, 1.451949499506015, 0.01805994332605861, 0.008979852123424552, 0.16864966273677448, 0.06769470210251262, 0.02040910335366919, 0.0, 1.032021919333479, 0.8799094568247566, 0.009953519523203953, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3117795631849147, 1.451949499506015, 0.01805994332605861, 0.008979852123424552, 0.16864966273677448, 0.06769470210251262, 0.02040910335366919, 0.0, 1.0490143700448962, 0.9204939994470329, 0.009953519523203953, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3117795631849147, 1.451949499506015, 0.01805994332605861, 0.008979852123424552, 0.16864966273677448, 0.06769470210251262, 0.02040910335366919, 0.0, 1.0433176631911645, 0.9197396870374277, 0.009953519523203953, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3117795631849147, 1.451949499506015, 0.01805994332605861, 0.008979852123424552, 0.16864966273677448, 0.06769470210251262, 0.02040910335366919, 0.0, 1.0343428331382953, 0.9459220069181429, 0.009953519523203953, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3117795631849147, 1.451949499506015, 0.01805994332605861, 0.008979852123424552, 0.16864966273677448, 0.06769470210251262, 0.02040910335366919, 0.0, 1.0034322746108844, 0.9289185077080855, 0.009953519523203953, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3117795631849147, 1.451949499506015, 0.01805994332605861, 0.008979852123424552, 0.16864966273677448, 0.06769470210251262, 0.02040910335366919, 0.0, 1.0198482124194763, 0.9715985495250952, 0.009953519523203953, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3117795631849147, 1.451949499506015, 0.01805994332605861, 0.008979852123424552, 0.16864966273677448, 0.06769470210251262, 0.02040910335366919, 0.0, 1.009635053178051, 0.9656937158770574, 0.009953519523203953, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3117795631849147, 1.451949499506015, 0.01805994332605861, 0.008979852123424552, 0.16864966273677448, 0.06769470210251262, 0.02040910335366919, 0.0, 0.9848539997990836, 0.9591269537757375, 0.009953519523203953, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3117795631849147, 1.451949499506015, 0.01805994332605861, 0.008979852123424552, 0.16864966273677448, 0.06769470210251262, 0.02040910335366919, 0.0, 0.97479652904622, 0.9778422411875074, 0.009953519523203953, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3117795631849147, 1.451949499506015, 0.01805994332605861, 0.008979852123424552, 0.16864966273677448, 0.06769470210251262, 0.02040910335366919, 0.0, 0.9633049407353161, 0.9716041018162936, 0.009953519523203953, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3117795631849147, 1.451949499506015, 0.01805994332605861, 0.008979852123424552, 0.16864966273677448, 0.06769470210251262, 0.02040910335366919, 0.0, 0.9764301365011501, 1.0118567548300585, 0.009953519523203953, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3117795631849147, 1.451949499506015, 0.01805994332605861, 0.008979852123424552, 0.16864966273677448, 0.06769470210251262, 0.02040910335366919, 0.0, 0.9486974514706605, 0.9971504740406736, 0.009953519523203953, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3117795631849147, 1.451949499506015, 0.01805994332605861, 0.008979852123424552, 0.16864966273677448, 0.06769470210251262, 0.02040910335366919, 0.0, 0.94614384618923, 1.0267344836416048, 0.009953519523203953, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3117795631849147, 1.451949499506015, 0.01805994332605861, 0.008979852123424552, 0.16864966273677448, 0.06769470210251262, 0.02040910335366919, 0.0, 0.933882368207297, 1.0221978130622094, 0.009953519523203953, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3117795631849147, 1.451949499506015, 0.01805994332605861, 0.008979852123424552, 0.16864966273677448, 0.06769470210251262, 0.02040910335366919, 0.0, 0.9428105646224542, 1.0577712025634913, 0.009953519523203953, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3117795631849147, 1.451949499506015, 0.01805994332605861, 0.008979852123424552, 0.16864966273677448, 0.06769470210251262, 0.02040910335366919, 0.0, 0.9195190395460165, 1.0478631669611091, 0.009953519523203953, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3117795631849147, 1.451949499506015, 0.01805994332605861, 0.008979852123424552, 0.16864966273677448, 0.06769470210251262, 0.02040910335366919, 0.0, 0.9174910231228592, 1.0756265858863066, 0.009953519523203953, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3117795631849147, 1.451949499506015, 0.01805994332605861, 0.008979852123424552, 0.16864966273677448, 0.06769470210251262, 0.02040910335366919, 0.0, 0.9047942230774357, 1.0729920517543845, 0.009953519523203953, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3117795631849147, 1.451949499506015, 0.01805994332605861, 0.008979852123424552, 0.16864966273677448, 0.06769470210251262, 0.02040910335366919, 0.0, 0.9094801605561001, 1.1038590332084446, 0.009953519523203953, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3117795631849147, 1.451949499506015, 0.01805994332605861, 0.008979852123424552, 0.16864966273677448, 0.06769470210251262, 0.02040910335366919, 0.0, 0.8901427080694462, 1.0984572147095235, 0.009953519523203953, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3117795631849147, 1.451949499506015, 0.01805994332605861, 0.008979852123424552, 0.16864966273677448, 0.06769470210251262, 0.02040910335366919, 0.0, 0.8888380878889649, 1.124518716172916, 0.009953519523203953, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3117795631849147, 1.451949499506015, 0.01805994332605861, 0.008979852123424552, 0.16864966273677448, 0.06769470210251262, 0.02040910335366919, 0.0, 0.8753685098594491, 1.1235838841946546, 0.009953519523203953, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3117795631849147, 1.451949499506015, 0.01805994332605861, 0.008979852123424552, 0.16864966273677448, 0.06769470210251262, 0.02040910335366919, 0.0, 0.8760642568136554, 1.149895575264514, 0.009953519523203953, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3117795631849147, 1.451949499506015, 0.01805994332605861, 0.008979852123424552, 0.16864966273677448, 0.06769470210251262, 0.02040910335366919, 0.0, 0.860912923430253, 1.149139117651489, 0.009953519523203953, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3117795631849147, 1.451949499506015, 0.01805994332605861, 0.008979852123424552, 0.16864966273677448, 0.06769470210251262, 0.02040910335366919, 0.0, 0.859741782573557, 1.173145009486966, 0.009953519523203953, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3117795631849147, 1.451949499506015, 0.01805994332605861, 0.008979852123424552, 0.16864966273677448, 0.06769470210251262, 0.02040910335366919, 0.0, 0.8595937775586775, 1.1665684888132353, 0.009953519523203953, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3117795631849147, 1.451949499506015, 0.01805994332605861, 0.008979852123424552, 0.16864966273677448, 0.06769470210251262, 0.02040910335366919, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6326545095623517, 1.100834087073923, 0.007713954149014675, 0.00909474278663906, 0.1789427012158212, 0.06553772725377684, 0.022088289046137462, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6326545095623517, 1.100834087073923, 0.007713954149014675, 0.00909474278663906, 0.1789427012158212, 0.06553772725377684, 0.022088289046137462, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6326545095623517, 1.100834087073923, 0.007713954149014675, 0.00909474278663906, 0.1789427012158212, 0.06553772725377684, 0.022088289046137462, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6326545095623517, 1.100834087073923, 0.007713954149014675, 0.00909474278663906, 0.1789427012158212, 0.06553772725377684, 0.022088289046137462, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6326545095623517, 1.100834087073923, 0.007713954149014675, 0.00909474278663906, 0.1789427012158212, 0.06553772725377684, 0.022088289046137462, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6326545095623517, 1.100834087073923, 0.007713954149014675, 0.00909474278663906, 0.1789427012158212, 0.06553772725377684, 0.022088289046137462, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6326545095623517, 1.100834087073923, 0.007713954149014675, 0.00909474278663906, 0.1789427012158212, 0.06553772725377684, 0.022088289046137462, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6326545095623517, 1.100834087073923, 0.007713954149014675, 0.00909474278663906, 0.1789427012158212, 0.06553772725377684, 0.022088289046137462, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6326545095623517, 1.100834087073923, 0.007713954149014675, 0.00909474278663906, 0.1789427012158212, 0.06553772725377684, 0.022088289046137462, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6326545095623517, 1.100834087073923, 0.007713954149014675, 0.00909474278663906, 0.1789427012158212, 0.06553772725377684, 0.022088289046137462, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6326545095623517, 1.100834087073923, 0.007713954149014675, 0.00909474278663906, 0.1789427012158212, 0.06553772725377684, 0.022088289046137462, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6326545095623517, 1.100834087073923, 0.007713954149014675, 0.00909474278663906, 0.1789427012158212, 0.06553772725377684, 0.022088289046137462, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6326545095623517, 1.100834087073923, 0.007713954149014675, 0.00909474278663906, 0.1789427012158212, 0.06553772725377684, 0.022088289046137462, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6326545095623517, 1.100834087073923, 0.007713954149014675, 0.00909474278663906, 0.1789427012158212, 0.06553772725377684, 0.022088289046137462, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6326545095623517, 1.100834087073923, 0.007713954149014675, 0.00909474278663906, 0.1789427012158212, 0.06553772725377684, 0.022088289046137462, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6326545095623517, 1.100834087073923, 0.007713954149014675, 0.00909474278663906, 0.1789427012158212, 0.06553772725377684, 0.022088289046137462, 0.0], "min": [-3.2217862606048584, -2.423628807067871, 0.28999999165534973, 0.7397059202194214, 0.0, 0.0, 0.5660667419433594, -1.0, -2.9864649772644043, -2.133573532104492, 0.48840755224227905, -0.017430001869797707, -0.6721431612968445, 0.7259445190429688, 0.0009000003337860107, 0.0, -3.173027515411377, -2.3943967819213867, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9864649772644043, -2.133573532104492, 0.6523534059524536, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, -3.149151563644409, -2.380082607269287, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9864649772644043, -2.133573532104492, 0.6523534059524536, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, -3.125856876373291, -2.366116762161255, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9864649772644043, -2.133573532104492, 0.6523534059524536, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, -3.059903621673584, -2.3265762329101562, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9864649772644043, -2.133573532104492, 0.6523534059524536, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, -2.990171194076538, -2.2847697734832764, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9864649772644043, -2.133573532104492, 0.6523534059524536, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, -2.9705607891082764, -2.27301287651062, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9864649772644043, -2.133573532104492, 0.6523534059524536, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, -2.9520087242126465, -2.261890411376953, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9864649772644043, -2.133573532104492, 0.6523534059524536, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, -2.8815977573394775, -2.219677209854126, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9864649772644043, -2.133573532104492, 0.6523534059524536, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, -2.807534694671631, -2.175274610519409, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9864649772644043, -2.133573532104492, 0.6523534059524536, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, -2.7927358150482178, -2.1664023399353027, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9864649772644043, -2.133573532104492, 0.6523534059524536, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, -2.7786662578582764, -2.1579673290252686, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9864649772644043, -2.133573532104492, 0.6523534059524536, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, -2.703397512435913, -2.112841844558716, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9864649772644043, -2.133573532104492, 0.6523534059524536, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, -2.623183250427246, -2.064751386642456, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9864649772644043, -2.133573532104492, 0.6523534059524536, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, -2.613969326019287, -2.059227466583252, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9864649772644043, -2.133573532104492, 0.6523534059524536, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, -2.605323314666748, -2.054044008255005, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9864649772644043, -2.133573532104492, 0.6523534059524536, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, -2.525052785873413, -2.0059196949005127, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9864649772644043, -2.133573532104492, 0.6523534059524536, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, -2.4406180381774902, -1.955298900604248, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9864649772644043, -2.133573532104492, 0.6523534059524536, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, -2.4361908435821533, -1.9526447057724, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9864649772644043, -2.133573532104492, 0.6523534059524536, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, -2.4319820404052734, -1.9501214027404785, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9864649772644043, -2.133573532104492, 0.6523534059524536, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, -2.346790075302124, -1.899046540260315, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9864649772644043, -2.133573532104492, 0.6523534059524536, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, -2.2586398124694824, -1.8461982011795044, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9864649772644043, -2.133573532104492, 0.6523534059524536, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, -2.2573699951171875, -1.845436930656433, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9864649772644043, -2.133573532104492, 0.6523534059524536, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, -2.2560343742370605, -1.8446362018585205, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9864649772644043, -2.133573532104492, 0.6523534059524536, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, -2.168508291244507, -1.7921619415283203, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9864649772644043, -2.133573532104492, 0.6523534059524536, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, -2.0852978229522705, -1.7422751188278198, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9864649772644043, -2.133573532104492, 0.6523534059524536, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, -2.0796101093292236, -1.7388652563095093, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9864649772644043, -2.133573532104492, 0.6523534059524536, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, -2.0735490322113037, -1.7352313995361328, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9864649772644043, -2.133573532104492, 0.6523534059524536, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, -1.9901825189590454, -1.685250997543335, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9864649772644043, -2.133573532104492, 0.6523534059524536, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, -1.9119561910629272, -1.6383522748947144, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9864649772644043, -2.133573532104492, 0.6523534059524536, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, -1.9008253812789917, -1.6316790580749512, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9864649772644043, -2.133573532104492, 0.6523534059524536, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, -1.8891172409057617, -1.6246596574783325, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9864649772644043, -2.133573532104492, 0.6523534059524536, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, -1.811963438987732, -1.5784039497375488, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9864649772644043, -2.133573532104492, 0.6523534059524536, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, -1.7386142015457153, -1.5344291925430298, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9864649772644043, -2.133573532104492, 0.6523534059524536, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, -1.7230026721954346, -1.5250697135925293, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9864649772644043, -2.133573532104492, 0.6523534059524536, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, -1.7063654661178589, -1.5150952339172363, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9864649772644043, -2.133573532104492, 0.6523534059524536, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, -1.6335749626159668, -1.471455454826355, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9864649772644043, -2.133573532104492, 0.6523534059524536, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, -1.5652720928192139, -1.4305061101913452, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9864649772644043, -2.133573532104492, 0.6523534059524536, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, -1.544280767440796, -1.4179213047027588, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9864649772644043, -2.133573532104492, 0.6523534059524536, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, -1.5222007036209106, -1.4046837091445923, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9864649772644043, -2.133573532104492, 0.6523534059524536, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, -1.4554189443588257, -1.364646315574646, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9864649772644043, -2.133573532104492, 0.6523534059524536, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, -1.3919299840927124, -1.3265830278396606, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9864649772644043, -2.133573532104492, 0.6523534059524536, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, -1.366395354270935, -1.3112742900848389, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9864649772644043, -2.133573532104492, 0.6523534059524536, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, -1.3391828536987305, -1.2949596643447876, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9864649772644043, -2.133573532104492, 0.6523534059524536, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, -1.2769676446914673, -1.2576600313186646, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9864649772644043, -2.133573532104492, 0.6523534059524536, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, -1.2185882329940796, -1.2226600646972656, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9864649772644043, -2.133573532104492, 0.6523534059524536, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, -1.1877361536026, -1.2041634321212769, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9864649772644043, -2.133573532104492, 0.6523534059524536, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, -1.155283808708191, -1.1847074031829834, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9864649772644043, -2.133573532104492, 0.6523534059524536, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, -1.0988740921020508, -1.1508883237838745, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9864649772644043, -2.133573532104492, 0.6523534059524536, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, -1.0452463626861572, -1.1187371015548706, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9864649772644043, -2.133573532104492, 0.6523534059524536, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, -1.0097877979278564, -1.0974788665771484, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9864649772644043, -2.133573532104492, 0.6523534059524536, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, -0.97199946641922, -1.0748238563537598, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9864649772644043, -2.133573532104492, 0.6523534059524536, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, -0.9203597903251648, -1.0438644886016846, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9864649772644043, -2.133573532104492, 0.6523534059524536, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, -0.8719040155410767, -1.014814019203186, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9864649772644043, -2.133573532104492, 0.6523534059524536, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, -0.8311218023300171, -0.9903640151023865, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9864649772644043, -2.133573532104492, 0.6523534059524536, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, -0.7885331511497498, -0.9648310542106628, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9864649772644043, -2.133573532104492, 0.6523534059524536, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, -0.7421568632125854, -0.9370272755622864, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9864649772644043, -2.133573532104492, 0.6523534059524536, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, -0.6976193189620972, -0.9103258848190308, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9864649772644043, -2.133573532104492, 0.6523534059524536, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, -0.6814718246459961, -0.8670795559883118, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9864649772644043, -2.133573532104492, 0.6523534059524536, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, 1.186031460762024, 1.6871854066848755, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6173357367515564, -0.5701128244400024, 0.6579385995864868, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, 1.2038371562957764, 1.720099687576294, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6173357367515564, -0.5701128244400024, 0.6579385995864868, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, 1.2422508001327515, 1.7911083698272705, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6173357367515564, -0.5701128244400024, 0.6579385995864868, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, 1.2617648839950562, 1.8271806240081787, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6173357367515564, -0.5701128244400024, 0.6579385995864868, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, 1.2984702587127686, 1.8950315713882446, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6173357367515564, -0.5701128244400024, 0.6579385995864868, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, 1.3199102878570557, 1.9346641302108765, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6173357367515564, -0.5701128244400024, 0.6579385995864868, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, 1.3546894788742065, 1.99895441532135, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6173357367515564, -0.5701128244400024, 0.6579385995864868, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, 1.377930760383606, 2.041916608810425, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6173357367515564, -0.5701128244400024, 0.6579385995864868, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, 1.4112080335617065, 2.1034305095672607, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6173357367515564, -0.5701128244400024, 0.6579385995864868, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, 1.4367772340774536, 2.15069580078125, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6173357367515564, -0.5701128244400024, 0.6579385995864868, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, 1.4694198369979858, 2.2110366821289062, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6173357367515564, -0.5701128244400024, 0.6579385995864868, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, 1.4983981847763062, 2.264604091644287, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6173357367515564, -0.5701128244400024, 0.6579385995864868, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, 1.5322786569595337, 2.327233076095581, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6173357367515564, -0.5701128244400024, 0.6579385995864868, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, 1.5668166875839233, 2.3910775184631348, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6173357367515564, -0.5701128244400024, 0.6579385995864868, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, 1.602135181427002, 2.456364870071411, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6173357367515564, -0.5701128244400024, 0.6579385995864868, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0, 1.6379915475845337, 2.4737367630004883, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6173357367515564, -0.5701128244400024, 0.6579385995864868, 0.09389196336269379, -0.6721431612968445, 0.7288625240325928, 0.0022171116434037685, 0.0], "max": [1.596558928489685, 2.524435520172119, 1.4884926080703735, 0.8243594169616699, 0.0, 0.0, 0.6729303002357483, 2.0, 1.9894119501113892, 3.0359599590301514, 0.7303881645202637, 0.18108417093753815, 0.05512988567352295, 0.9994028210639954, 0.11055763065814972, 1.0, -0.7033349871635437, -0.5927610993385315, 1.4884926080703735, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, -0.5946676731109619, -0.5804771184921265, 1.4884926080703735, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, -0.5903759598731995, -0.5799919962882996, 1.4884926080703735, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, -0.5897736549377441, -0.5799239277839661, 1.4884926080703735, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, -0.46319130063056946, -0.5656148195266724, 1.4884926080703735, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, -0.4599187970161438, -0.5652449131011963, 1.4884926080703735, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, -0.45317623019218445, -0.5644827485084534, 1.4884926080703735, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, -0.32652103900909424, -0.5501654148101807, 1.4884926080703735, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, -0.28745874762535095, -0.5457497239112854, 1.4884926080703735, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, -0.199462890625, -0.5358024835586548, 1.4884926080703735, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, -0.17845594882965088, -0.5334278345108032, 1.4884926080703735, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, -0.15600302815437317, -0.5308896899223328, 1.4884926080703735, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, -0.07580089569091797, -0.5218234658241272, 1.4884926080703735, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, -0.04659190773963928, -0.5185216069221497, 1.4884926080703735, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, 0.006517394911497831, -0.512518048286438, 1.4884926080703735, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, 0.03160317242145538, -0.46886324882507324, 1.4884926080703735, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, 0.043550267815589905, -0.4480726718902588, 1.4884926080703735, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, 0.09586349129676819, -0.35703614354133606, 1.4884926080703735, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, 0.1002855896949768, -0.3493407070636749, 1.4884926080703735, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, 0.13418617844581604, -0.29034623503685, 1.4884926080703735, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, 0.14280995726585388, -0.27533894777297974, 1.4884926080703735, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, 0.17085763812065125, -0.2265298068523407, 1.4884926080703735, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, 0.17636273801326752, -0.17921513319015503, 1.4884926080703735, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, 0.19519394636154175, -0.14440511167049408, 1.4884926080703735, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, 0.23157425224781036, -0.07715509831905365, 1.4884926080703735, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, 0.2627856731414795, -0.019459914416074753, 1.4884926080703735, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, 0.2872047424316406, 0.025679420679807663, 1.4884926080703735, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, 0.32535773515701294, 0.09620627015829086, 1.4884926080703735, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, 0.3430188298225403, 0.12885330617427826, 1.4884926080703735, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, 0.387650728225708, 0.21135663986206055, 1.4884926080703735, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, 0.3989332914352417, 0.23221276700496674, 1.4884926080703735, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, 0.4472719430923462, 0.3215681314468384, 1.4884926080703735, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, 0.45500874519348145, 0.33586981892585754, 1.4884926080703735, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, 0.5067387223243713, 0.4314941167831421, 1.4884926080703735, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, 0.5112672448158264, 0.43986526131629944, 1.4884926080703735, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, 0.56498122215271, 0.5391570925712585, 1.4884926080703735, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, 0.5675818920135498, 0.5439645051956177, 1.4884926080703735, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, 0.6234662532806396, 0.6472682356834412, 1.4884926080703735, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, 0.6238376498222351, 0.6479547619819641, 1.4884926080703735, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, 0.637945830821991, 0.6740341186523438, 1.4884926080703735, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, 0.6800570487976074, 0.7518778443336487, 1.4884926080703735, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, 0.6811656355857849, 0.7539270520210266, 1.4884926080703735, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, 0.7362765073776245, 0.8558010458946228, 1.4884926080703735, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, 0.7395442724227905, 0.86184161901474, 1.4884926080703735, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, 0.792495846748352, 0.9597241282463074, 1.4884926080703735, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, 0.7972854375839233, 0.9685778021812439, 1.4884926080703735, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, 0.8487151861190796, 1.0636471509933472, 1.4884926080703735, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, 0.8556174039840698, 1.0764061212539673, 1.4884926080703735, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, 0.9049344658851624, 1.1675701141357422, 1.4884926080703735, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, 0.9134052395820618, 1.1832284927368164, 1.4884926080703735, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, 0.9611538052558899, 1.2714930772781372, 1.4884926080703735, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, 0.9716905951499939, 1.2909705638885498, 1.4884926080703735, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, 1.0173733234405518, 1.3754162788391113, 1.4884926080703735, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, 1.0295251607894897, 1.3978792428970337, 1.4884926080703735, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, 1.0735926628112793, 1.4793392419815063, 1.4884926080703735, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, 1.0877639055252075, 1.5055351257324219, 1.4884926080703735, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, 1.1298121213912964, 1.5832624435424805, 1.4884926080703735, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, 1.145645022392273, 1.612529993057251, 1.4884926080703735, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, 1.186031460762024, 1.6871854066848755, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, 1.2038371562957764, 1.720099687576294, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, 1.2422508001327515, 1.7911083698272705, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, 1.2617648839950562, 1.8271806240081787, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, 1.2984702587127686, 1.8950315713882446, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, 1.3199102878570557, 1.9346641302108765, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, 1.3546894788742065, 1.99895441532135, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, 1.377930760383606, 2.041916608810425, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, 1.4112080335617065, 2.1034305095672607, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, 1.4367772340774536, 2.15069580078125, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, 1.4694198369979858, 2.2110366821289062, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, 1.4983981847763062, 2.264604091644287, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, 1.5322786569595337, 2.327233076095581, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, 1.5668166875839233, 2.3910775184631348, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, 1.602135181427002, 2.456364870071411, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0, 1.6379915475845337, 2.4737367630004883, 1.467335820198059, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8038179874420166, 2.8716821670532227, 0.7303881645202637, 0.13628515601158142, -0.0598384328186512, 0.9913568496704102, 0.08815661817789078, 0.0], "count": [1774]}, "action.applied": {"mean": [0.29039648992535494, 0.7915463694691524, -1.2786349931389531, -0.20833236472775662, 0.7505073832954872, -1.3211123135272653, 0.14115685843594852, 0.9338128478376545, -1.439157310978267, -0.17270807936166024, 0.83050687612783, -1.4502122443181955, -0.11379023846915426, 2.2168317181147477, -1.829567789762641, 0.03615779294276739, 1.0218591515684612, 0.017249539091906692, 0.0035512965201928356, -0.0035512965201928356], "std": [0.11991455601766741, 0.14005230319657466, 0.20139553510618974, 0.12613307546984018, 0.1255385805739869, 0.21370514795772913, 0.13524319381257432, 0.19357505137430703, 0.21352072800300426, 0.10275396727318224, 0.101179516933924, 0.23018523909586774, 0.15067980285741003, 0.31464917541818127, 0.507079288205728, 0.03489491731532118, 0.20478253773935193, 0.49133703426134057, 0.010568049572253215, 0.010568049572253215], "min": [-0.20130778849124908, 0.405227929353714, -1.7509703636169434, -0.5329376459121704, 0.315472275018692, -1.669160008430481, -0.1690889149904251, 0.48081910610198975, -1.7392178773880005, -0.5121254324913025, 0.554559051990509, -1.721604824066162, -0.6975391507148743, 1.7056604623794556, -2.7800955772399902, -0.018861088901758194, 0.4723162353038788, -0.46326789259910583, 0.0, -0.03500000014901161], "max": [0.6717394590377808, 1.0054959058761597, -0.6980429887771606, 0.15366360545158386, 0.9683988690376282, -0.8173349499702454, 0.4792371094226837, 1.1951038837432861, -0.9504404664039612, 0.291709303855896, 1.1013575792312622, -0.9703599214553833, 0.10719597339630127, 2.780489444732666, -0.9858155846595764, 0.13559935986995697, 1.2199947834014893, 1.385320782661438, 0.03500000014901161, 0.0], "count": [1774]}, "extra.reward": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1774]}, "next.truncated": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1774]}, "sim_step_idx": {"mean": [1874.0], "std": [1024.219214816828], "min": [101.0], "max": [3647.0], "count": [1774]}, "timestamp": {"mean": [35.460000000507684], "std": [20.484384293657488], "min": [0.0], "max": [70.91999816894531], "count": [1774]}, "frame_index": {"mean": [886.5], "std": [512.109607408414], "min": [0.0], "max": [1773.0], "count": [1774]}, "episode_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1774]}, "index": {"mean": [886.5], "std": [512.109607408414], "min": [0.0], "max": [1773.0], "count": [1774]}, "task_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1774]}, "next.done": {"mean": [0.0005636978579481398], "std": [0.023735629392815445], "min": [0.0], "max": [1.0], "count": [1774]}, "observation.images.head": {"mean": [[[0.39697694101249476]], [[0.30425056069042544]], [[0.25430314558458755]]], "std": [[[0.19781614935434808]], [[0.16294194683014318]], [[0.14715418535148422]]], "min": [[[0.00784313725490196]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[0.8705882352941177]], [[0.8117647058823529]], [[0.7647058823529411]]], "count": [100]}, "observation.images.wrist": {"mean": [[[0.5891145579035642]], [[0.3951188620891956]], [[0.2735216372152796]]], "std": [[[0.1355958331275719]], [[0.13954812368713612]], [[0.11159391686553052]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[0.9921568627450981]], [[0.9764705882352941]]], "count": [100]}}} diff --git a/N034/go2_arm/dr_on/seed_2025/rec/stationbookend/000/lerobot_v21/meta/extra/episode_000000.json b/N034/go2_arm/dr_on/seed_2025/rec/stationbookend/000/lerobot_v21/meta/extra/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..ea488c1b04e7b866edeb771296fdb1c8ac3ae290 --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2025/rec/stationbookend/000/lerobot_v21/meta/extra/episode_000000.json @@ -0,0 +1,705 @@ +{ + "episode_index": 0, + "trajectory_id": 0, + "env_id": 0, + "task_type": "BookendCommand", + "subsample_every": 2, + "control_steps": 3547, + "language": { + "scene": { + "objects": [ + { + "id": "table_A_1", + "cat_name": "table_A", + "inst_id": 1, + "noun": "table A", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 3.5883518618713057, + -0.48056759470989635, + -0.21404301810536067 + ], + "bbox": { + "extent": [ + 0.9819328122854175, + 0.6474791011222334, + 0.30000001192092896 + ], + "center": [ + 5.551115123125783e-17, + 0.0, + 0.0 + ] + } + }, + { + "id": "table_B_1", + "cat_name": "table_B", + "inst_id": 1, + "noun": "table B", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 7.428885897624835, + -0.38156298390456217, + -0.2637359423723125 + ], + "bbox": { + "extent": [ + 1.0027236048319326, + 0.6849025267145783, + 0.30000001192092896 + ], + "center": [ + -5.551115123125783e-17, + -2.220446049250313e-16, + 0.0 + ] + } + }, + { + "id": "slot_left_1", + "cat_name": "slot_left", + "inst_id": 1, + "noun": "slot left", + "color": "brown", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.4761710511621446, + -0.5243508940115201, + -0.044759266933253966 + ], + "bbox": { + "extent": [ + 0.02966388000750667, + 0.12163865400370967, + 0.03500000014901161 + ], + "center": [ + -2.6020852139652106e-17, + 6.938893903907228e-18, + 0.0 + ] + } + }, + { + "id": "slot_right_1", + "cat_name": "slot_right", + "inst_id": 1, + "noun": "slot right", + "color": "brown", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.5057855104939915, + -0.568305213357324, + -0.04479938338217104 + ], + "bbox": { + "extent": [ + 0.029663880007506777, + 0.12163865400370968, + 0.03500000014901161 + ], + "center": [ + 7.892991815694472e-17, + 3.469446951953614e-18, + 0.0 + ] + } + }, + { + "id": "book_1", + "cat_name": "book", + "inst_id": 1, + "noun": "book", + "color": "red", + "size": "small", + "material": null, + "category": "rigid", + "pos": [ + 3.4973509849977282, + -0.5420811770351053, + 0.007612381232138234 + ], + "bbox": { + "extent": [ + 0.1057358731646271, + 0.05138933840075442, + 0.14000108104187298 + ], + "center": [ + -1.734723475976807e-17, + 3.122502256758253e-17, + -2.7755575615628914e-17 + ] + } + }, + { + "id": "plate_1", + "cat_name": "plate", + "inst_id": 1, + "noun": "plate", + "color": "gray", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 7.331805168516453, + -0.4102384323946526, + -0.07175794704556343 + ], + "bbox": { + "extent": [ + 0.04076261625542571, + 0.14246536770564644, + 0.07999999821186066 + ], + "center": [ + 2.7755575615628914e-17, + -2.220446049250313e-16, + 0.0 + ] + } + }, + { + "id": "bookend_1", + "cat_name": "bookend", + "inst_id": 1, + "noun": "bookend", + "color": null, + "size": "small", + "material": null, + "category": "rigid", + "pos": [ + 7.387915301023288, + -0.5049737223080608, + -0.11225053554200097 + ], + "bbox": { + "extent": [ + 0.1347923309558377, + 0.09665393907134398, + 0.06000015186772867 + ], + "center": [ + 1.055462835186649e-09, + -0.02999997763828051, + 0.029999999569710334 + ] + } + } + ], + "relations": [ + { + "subject": "table_A_1", + "relation": "in_front_of", + "object": "slot_left_1" + }, + { + "subject": "table_B_1", + "relation": "left_of", + "object": "bookend_1" + }, + { + "subject": "book_1", + "relation": "on_top_of", + "object": "slot_left_1" + }, + { + "subject": "plate_1", + "relation": "on_top_of", + "object": "bookend_1" + }, + { + "subject": "plate_1", + "relation": "left_of", + "object": "bookend_1" + }, + { + "subject": "bookend_1", + "relation": "right_of", + "object": "plate_1" + } + ], + "cameras": [ + { + "name": "head", + "intrinsics": { + "K": [ + [ + 607.7061061683956, + 0.0, + 320.0 + ], + [ + 0.0, + 607.3754374751866, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 55.53991912549515, + "resolution": [ + 640, + 480 + ] + }, + "pos_robot": [ + 4.139401658046356, + -1.237458262393114, + -0.30170793159399667 + ], + "viewpoint": "front, at table height", + "extrinsics": { + "R": [ + [ + 0.0034545225363202814, + -0.9995776319673901, + 0.028855223868669955 + ], + [ + -0.02338972540530354, + 0.0287667346071393, + 0.9993124615081647 + ], + [ + -0.9997204544368945, + -0.0041270631819024794, + -0.023280471000004077 + ] + ], + "t": [ + 0.03416419479862187, + -0.08682200219228882, + 0.33429322289826396 + ] + } + }, + { + "name": "wrist", + "intrinsics": { + "K": [ + [ + 617.2500342478374, + 0.0, + 320.0 + ], + [ + 0.0, + 617.548655622722, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 54.807019583348044, + "resolution": [ + 640, + 480 + ] + }, + "pos_robot": [ + 3.858825452630078, + -0.9405569600935185, + -0.3481540805203437 + ], + "viewpoint": "front, at table height", + "extrinsics": { + "R": [ + [ + 0.017356943317221596, + -0.9998337334638687, + 0.005589449560045617 + ], + [ + -0.9382601518788614, + -0.014355819960515381, + 0.34563246061317376 + ], + [ + -0.3454947523696107, + -0.011243480820582297, + -0.9383533237667454 + ] + ], + "t": [ + 0.006333551580298355, + -0.08611861262827436, + 0.017148138726427706 + ] + } + } + ], + "robots": [ + { + "name": "Go2Plus", + "model": "go2plus", + "type": "mobilemanip", + "noun": "Unitree Go2 EDU quadruped with a Piper arm", + "arms": 1, + "arm_layout": null, + "mobile": true, + "dexterous": false, + "base_pose": { + "pos": [ + -3.4, + -2.2, + 0.44999999999999996 + ], + "ori": [ + 0.9396926164627075, + 0.0, + 0.0, + 0.3420201539993286 + ] + }, + "facing_yaw_deg": 40.000001288448495, + "gripper": "parallel gripper" + } + ], + "lighting": [], + "background": { + "name": null, + "kind": "background", + "type": "dome", + "pose": null, + "setting": null, + "time_of_day": null, + "indoor": false, + "intensity": 1000.0, + "ambient": "dim" + }, + "effects": [], + "caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the brown slot left. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is in front of the brown slot left. The gray table B is to the left of the bookend. The red book is on top of the brown slot left. The gray plate is on top of the bookend. The gray plate is to the left of the bookend. The bookend is to the right of the gray plate. The scene is viewed from front, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n [t[bookend]\n\n\n\n [slot [book]\n\n\n\n[robot]" + }, + "task": { + "task_type": "StationBookend", + "instruction": "Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.", + "template_id": -1, + "slots": { + "obj": 1.4884926454514853, + "support": null + }, + "generic_instruction": "Stationbookend the 1.4884926454514853.", + "task_id": "N034", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_0502": { + "frame_idx": 502, + "caption": "Computing a grasp pose for the small red book; the right gripper is below and to the left of and in front of the red book.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "NavTo", + "planner_state": "finished", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0507": { + "frame_idx": 507, + "caption": "Working on the small red book; the right gripper is below and to the left of and in front of the red book.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0750": { + "frame_idx": 750, + "caption": "Computing a grasp pose for the small red book; the right gripper is below and to the left of and in front of the red book.", + "skill": "ReachStance", + "phase": "verify", + "skill_state": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0764": { + "frame_idx": 764, + "caption": "Pre-grasping the small red book, servoing the arm toward it; the right gripper is below and to the left of and in front of the red book.", + "skill": "Grasp", + "phase": "pre_grasp", + "skill_state": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0765": { + "frame_idx": 765, + "caption": "Pre-grasping the small red book, moving the arm toward it; the right gripper is below and to the left of and in front of the red book.", + "skill": "Grasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0798": { + "frame_idx": 798, + "caption": "Pre-grasping the small red book, moving the arm toward it; the right gripper is below and in front of the red book.", + "skill": "Grasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "in_front_of" + ] + }, + "frame_0817": { + "frame_idx": 817, + "caption": "Grasping the small red book, moving the arm in to make contact; the right gripper is below and in front of the red book.", + "skill": "Grasp", + "phase": "grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "in_front_of" + ] + }, + "frame_0874": { + "frame_idx": 874, + "caption": "Grasping the small red book, moving the arm in to make contact; the right gripper is below the red book.", + "skill": "Grasp", + "phase": "grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_0879": { + "frame_idx": 879, + "caption": "Closing the right gripper on the red book; the right gripper is below the red book.", + "skill": "Grasp", + "phase": "close_gripper", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_0939": { + "frame_idx": 939, + "caption": "Lifting the red book away with the gripper; the right gripper is below the red book.", + "skill": "Grasp", + "phase": "retrieval", + "skill_state": "running", + "planner": "ParallelGripper", + "planner_state": "finished", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_0940": { + "frame_idx": 940, + "caption": "Lifting the red book away with the arm; the right gripper is below the red book.", + "skill": "Grasp", + "phase": "retrieval", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_1002": { + "frame_idx": 1002, + "caption": "Done — the small red book is grasped; the right gripper is below the red book.", + "skill": "Grasp", + "phase": "completed", + "skill_state": "finished", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_2779": { + "frame_idx": 2779, + "caption": "Computing a grasp pose for the small bookend; the right gripper is below and to the left of and in front of the bookend.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "bookend_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_2807": { + "frame_idx": 2807, + "caption": "Working on the small bookend; the right gripper is below and to the left of and in front of the bookend.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "bookend_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_2842": { + "frame_idx": 2842, + "caption": "Working on the small bookend; the right gripper is below and to the left of the bookend.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "bookend_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_2853": { + "frame_idx": 2853, + "caption": "Working on the small bookend; the right gripper is below and to the left of and in front of the bookend.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "bookend_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_2872": { + "frame_idx": 2872, + "caption": "Working on the small bookend; the right gripper is below and to the left of the bookend.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "bookend_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_2912": { + "frame_idx": 2912, + "caption": "Working on the small bookend; the right gripper is below and to the left of and behind the bookend.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "bookend_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "behind" + ] + }, + "frame_3065": { + "frame_idx": 3065, + "caption": "Computing a grasp pose for the small bookend; the right gripper is below and to the left of and behind the bookend.", + "skill": "ReachStance", + "phase": "verify", + "skill_state": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "bookend_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "behind" + ] + } + } + }, + "depth_range": [ + 0.1, + 20.0 + ], + "annotation_sidecar": null, + "annotation_sidecar_keys": [], + "terminated": true, + "truncated": false +} \ No newline at end of file diff --git a/N034/go2_arm/dr_on/seed_2025/rec/stationbookend/000/lerobot_v21/meta/info.json b/N034/go2_arm/dr_on/seed_2025/rec/stationbookend/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..55d7b97e5e9db5fcf1475131043c6c502de7f9e4 --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2025/rec/stationbookend/000/lerobot_v21/meta/info.json @@ -0,0 +1,315 @@ +{ + "codebase_version": "v2.1", + "robot_type": "Go2PlusCfg", + "total_episodes": 1, + "total_frames": 1774, + "total_tasks": 1, + "total_videos": 2, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 25, + "splits": { + "train": "0:1" + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", + "features": { + "action": { + "dtype": "float32", + "shape": [ + 12 + ], + "names": [ + "base_action_0", + "base_action_1", + "base_action_2", + "base_action_3", + "eef0.pos_x", + "eef0.pos_y", + "eef0.pos_z", + "eef0.quat_w", + "eef0.quat_x", + "eef0.quat_y", + "eef0.quat_z", + "gripper" + ] + }, + "action_is_hold": { + "dtype": "bool", + "shape": [ + 12 + ], + "names": null + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 26 + ], + "names": [ + "joint_0", + "joint_1", + "joint_2", + "joint_3", + "joint_4", + "joint_5", + "joint_6", + "joint_7", + "joint_8", + "joint_9", + "joint_10", + "joint_11", + "joint_12", + "joint_13", + "joint_14", + "joint_15", + "joint_16", + "joint_17", + "joint_18", + "joint_19", + "joint_20", + "joint_21", + "joint_22", + "joint_23", + "gripper_0", + "gripper_1" + ] + }, + "observation.joint_vel": { + "dtype": "float32", + "shape": [ + 20 + ], + "names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ] + }, + "observation.eef_pose": { + "dtype": "float32", + "shape": [ + 7 + ], + "names": null + }, + "observation.environment_state": { + "dtype": "float32", + "shape": [ + 49 + ], + "names": [ + "object_pose.book.0", + "object_pose.book.1", + "object_pose.book.2", + "object_pose.book.3", + "object_pose.book.4", + "object_pose.book.5", + "object_pose.book.6", + "object_pose.bookend.0", + "object_pose.bookend.1", + "object_pose.bookend.2", + "object_pose.bookend.3", + "object_pose.bookend.4", + "object_pose.bookend.5", + "object_pose.bookend.6", + "object_pose.plate.0", + "object_pose.plate.1", + "object_pose.plate.2", + "object_pose.plate.3", + "object_pose.plate.4", + "object_pose.plate.5", + "object_pose.plate.6", + "object_pose.slot_left.0", + "object_pose.slot_left.1", + "object_pose.slot_left.2", + "object_pose.slot_left.3", + "object_pose.slot_left.4", + "object_pose.slot_left.5", + "object_pose.slot_left.6", + "object_pose.slot_right.0", + "object_pose.slot_right.1", + "object_pose.slot_right.2", + "object_pose.slot_right.3", + "object_pose.slot_right.4", + "object_pose.slot_right.5", + "object_pose.slot_right.6", + "object_pose.table_A.0", + "object_pose.table_A.1", + "object_pose.table_A.2", + "object_pose.table_A.3", + "object_pose.table_A.4", + "object_pose.table_A.5", + "object_pose.table_A.6", + "object_pose.table_B.0", + "object_pose.table_B.1", + "object_pose.table_B.2", + "object_pose.table_B.3", + "object_pose.table_B.4", + "object_pose.table_B.5", + "object_pose.table_B.6" + ] + }, + "action.command": { + "dtype": "float32", + "shape": [ + 1200 + ], + "names": null + }, + "action.applied": { + "dtype": "float32", + "shape": [ + 20 + ], + "names": null + }, + "narration": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "collect_info": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "extra.reward": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "extra.action_info": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "next.truncated": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "sim_step_idx": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "next.done": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "observation.images.head": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25, + "video.codec": "libsvtav1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.wrist": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25, + "video.codec": "libsvtav1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + } + } +} \ No newline at end of file diff --git a/N034/go2_arm/dr_on/seed_2025/rec/stationbookend/000/lerobot_v21/meta/magicsim_manifest.json b/N034/go2_arm/dr_on/seed_2025/rec/stationbookend/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..2541a9da5ca9566a5f5b75ecdaf75561fc8fbeb2 --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2025/rec/stationbookend/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,290 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 03:15:52" + }, + "embodiment": { + "robots": [ + { + "name": "Go2Plus", + "cfg": "Go2PlusCfg", + "type": "mobilemanip", + "joint_names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 12, + "nan_policy": "from_raw", + "segments": [ + { + "name": "Go2Plus.base_action", + "start": 0, + "end": 4, + "names": [ + "base_action_0", + "base_action_1", + "base_action_2", + "base_action_3" + ], + "source": "Go2UnifiedLocomotionAction", + "names_source": "fallback" + }, + { + "name": "Go2Plus.arm_action", + "start": 4, + "end": 11, + "names": [ + "eef0.pos_x", + "eef0.pos_y", + "eef0.pos_z", + "eef0.quat_w", + "eef0.quat_x", + "eef0.quat_y", + "eef0.quat_z" + ], + "source": "Go2PlusCuroboIKAction", + "names_source": "pose_layout" + }, + { + "name": "Go2Plus.eef_action", + "start": 11, + "end": 12, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 26, + "segments": [ + { + "name": "Go2Plus.joint_pos", + "start": 0, + "end": 24, + "names": [ + "joint_0", + "joint_1", + "joint_2", + "joint_3", + "joint_4", + "joint_5", + "joint_6", + "joint_7", + "joint_8", + "joint_9", + "joint_10", + "joint_11", + "joint_12", + "joint_13", + "joint_14", + "joint_15", + "joint_16", + "joint_17", + "joint_18", + "joint_19", + "joint_20", + "joint_21", + "joint_22", + "joint_23" + ], + "source": "ObservationManager", + "names_source": "fallback_dim_mismatch(joint_names=20,obs=24)" + }, + { + "name": "Go2Plus.gripper_pos", + "start": 24, + "end": 26, + "names": [ + "gripper_0", + "gripper_1" + ], + "source": "ObservationManager", + "names_source": "generated" + } + ] + }, + "joint_vel_layout": { + "dim": 20, + "segments": [ + { + "name": "Go2Plus.joint_vel", + "start": 0, + "end": 20, + "names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "action_levels": { + "L0": "task command list (collect.auto_collect_info.current_action)", + "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)", + "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)", + "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy", + "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)" + }, + "cameras": { + "head": { + "intrinsics": { + "K": [ + [ + 607.7061061683956, + 0.0, + 320.0 + ], + [ + 0.0, + 607.3754374751866, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 55.53991912549515, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.33205100893974304, + 0.038026999682188034, + 0.09355899691581726 + ], + "quat": [ + -0.5022302269935608, + -0.499491810798645, + 0.5120040774345398, + 0.4859265089035034 + ] + }, + "wrist": { + "intrinsics": { + "K": [ + [ + 617.2500342478374, + 0.0, + 320.0 + ], + [ + 0.0, + 617.548655622722, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 54.807019583348044, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + -0.0749870017170906, + 0.005288999993354082, + 0.04582099989056587 + ], + "quat": [ + 0.1271296590566635, + 0.701795220375061, + -0.6904057860374451, + -0.12108422070741653 + ] + } + }, + "lerobot": { + "codebase_version": "v2.1", + "video_keys": [ + "observation.images.head", + "observation.images.wrist" + ], + "columns": [ + "action", + "action.applied", + "action.command", + "action_is_hold", + "collect_info", + "episode_index", + "extra.action_info", + "extra.reward", + "frame_index", + "index", + "narration", + "next.done", + "next.truncated", + "observation.eef_pose", + "observation.environment_state", + "observation.images.head", + "observation.images.wrist", + "observation.joint_vel", + "observation.state", + "sim_step_idx", + "task_index", + "timestamp" + ] + }, + "generated_run": { + "run_id": "stationbookend/000", + "task_type": "BookendCommand" + } +} \ No newline at end of file diff --git a/N034/go2_arm/dr_on/seed_2025/rec/stationbookend/000/lerobot_v21/meta/stats.json b/N034/go2_arm/dr_on/seed_2025/rec/stationbookend/000/lerobot_v21/meta/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..615085974b8ded2314cde85a18ff19e9cfea374d --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2025/rec/stationbookend/000/lerobot_v21/meta/stats.json @@ -0,0 +1,5789 @@ +{ + "action": { + "mean": [ + 0.11018353321388985, + -0.001903356639342855, + 0.011690642710947332, + 0.3249411791764628, + 0.6741875034779008, + 1.3113425708299224, + 0.6528194009115355, + 0.09816072817129362, + -0.45061605266170557, + 0.842785218657071, + 0.062051605423513415, + 0.6820744081172492 + ], + "std": [ + 0.13550146679846783, + 0.021237895899576458, + 0.21313401410797608, + 0.03212022460034438, + 1.3102787850133686, + 1.7274468129025187, + 0.05956157457205326, + 0.04510767743871473, + 0.2449795762639314, + 0.10048031134777015, + 0.032034092538310015, + 0.4656703876227908 + ], + "min": [ + 0.0, + -0.06343301385641098, + -0.800000011920929, + 0.28999999165534973, + -2.9864649772644043, + -2.133573532104492, + 0.48840755224227905, + -0.017430001869797707, + -0.6721431612968445, + 0.7259445190429688, + 0.0009000003337860107, + 0.0 + ], + "max": [ + 0.3499999940395355, + 0.25, + 0.800000011920929, + 0.3700000047683716, + 1.9894119501113892, + 3.0359599590301514, + 0.7303881645202637, + 0.18108417093753815, + 0.05512988567352295, + 0.9994028210639954, + 0.11055763065814972, + 1.0 + ], + "count": [ + 1774 + ] + }, + "action_is_hold": { + "mean": [ + 0.12288613303269448, + 0.12288613303269448, + 0.12288613303269448, + 0.12288613303269448, + 0.1527621195039459, + 0.1527621195039459, + 0.1527621195039459, + 0.1527621195039459, + 0.1527621195039459, + 0.1527621195039459, + 0.1527621195039459, + 0.9605411499436303 + ], + "std": [ + 0.3283064594871183, + 0.3283064594871183, + 0.3283064594871183, + 0.3283064594871183, + 0.35975804973427167, + 0.35975804973427167, + 0.35975804973427167, + 0.35975804973427167, + 0.35975804973427167, + 0.35975804973427167, + 0.35975804973427167, + 0.19468397265464998 + ], + "min": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "max": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "count": [ + 1774 + ] + }, + "observation.state": { + "mean": [ + -0.026394279674417417, + 0.015123592582019741, + -0.03876627373928137, + 0.06615548223170312, + -0.11397070138342859, + 0.7532885976748913, + 0.786927712390361, + 0.9342426116732626, + 0.9134649392784381, + 2.2165194672554427, + -1.5695445737817242, + -1.5700789251214622, + -1.5559303948683023, + -1.5957680607997846, + -1.8278234818742403, + 0.03612856010018268, + 1.0204006840874942, + 0.014496586787010986, + 0.01795939461185835, + -0.018253537490692667, + 0.42810418742883155, + 0.88410978087853, + 1.1202038389640065, + 0.35451763636498734, + -0.018253537490692667, + -0.01795939461185835 + ], + "std": [ + 0.02893593161343156, + 0.03233714061924592, + 0.042795175359749575, + 0.044814483608407264, + 0.1502793877878215, + 0.1189587541784988, + 0.1468063943958763, + 0.15049488189780796, + 0.13066522454958415, + 0.31503142922397237, + 0.19962107955968747, + 0.20368859394269997, + 0.19796285952549358, + 0.20222887244866056, + 0.5080091592212722, + 0.03484530743653385, + 0.2050597041466777, + 0.4884238485768596, + 0.013513285089492408, + 0.013510771830156258, + 1.3156541515178475, + 1.6146537637002432, + 0.38641552237892224, + 0.031047130112070043, + 0.013510771830156258, + 0.013513285089492408 + ], + "min": [ + -0.14282193779945374, + -0.10477536171674728, + -0.16373206675052643, + -0.08980683982372284, + -0.6736674904823303, + 0.4393175542354584, + 0.4421321153640747, + 0.5729333758354187, + 0.6409087777137756, + 1.7042458057403564, + -1.81537926197052, + -1.833487868309021, + -1.8116737604141235, + -1.8443330526351929, + -2.730074882507324, + -0.012022481299936771, + 0.4776967465877533, + -0.46078789234161377, + 0.0, + -0.03500000014901161, + -3.2217860221862793, + -2.423767328262329, + 0.0401950478553772, + 0.31866395473480225, + -0.03500000014901161, + -0.03500000014901161 + ], + "max": [ + 0.14531083405017853, + 0.16158200800418854, + 0.1591888815164566, + 0.19775433838367462, + 0.0977625623345375, + 0.9138402938842773, + 0.9880475401878357, + 1.178486943244934, + 1.0819858312606812, + 2.75392746925354, + -1.1535800695419312, + -1.2400107383728027, + -1.1796159744262695, + -1.1568363904953003, + -0.9913099408149719, + 0.13479548692703247, + 1.2172452211380005, + 1.3834830522537231, + 0.03500000014901161, + 0.0, + 1.582678198814392, + 2.514237642288208, + 1.5671170949935913, + 0.4025323987007141, + 0.0, + -0.0 + ], + "count": [ + 1774 + ] + }, + "observation.joint_vel": { + "mean": [ + -0.003023960174432801, + -0.0005396178945916531, + 0.00011239458460880762, + -0.0006941170107249487, + 0.001130937145166707, + -0.0009132023851890925, + 0.0004329834501355659, + -0.0027109403166967984, + -0.0037896948423475608, + 0.0026672180942885282, + -0.005652829157568, + -0.011946191952701368, + -0.0030359791485880675, + -0.0005802845690168284, + -0.012690525644752019, + 0.00031281012649620463, + 0.012270531507372985, + -0.006903301425873273, + -0.0003893556503651195, + 0.0005143250944078702 + ], + "std": [ + 0.34442363362672945, + 0.31814522042815213, + 0.3901207812625742, + 0.45738352059802145, + 0.09043157439207057, + 0.9609066819932401, + 0.9549169080893902, + 0.7306821038362826, + 0.6078099711940483, + 0.12313728862137735, + 0.5903129374147643, + 0.8335808698075127, + 0.843988784103022, + 0.9431285992381099, + 0.1736217421072225, + 0.030658957923752353, + 0.08311626078556733, + 0.17796562609318844, + 0.01255981270420539, + 0.012393691363553803 + ], + "min": [ + -2.6436338424682617, + -3.646630048751831, + -2.9724628925323486, + -2.554933547973633, + -0.706501305103302, + -4.411606311798096, + -5.366806983947754, + -3.8558905124664307, + -4.330692768096924, + -0.7703870534896851, + -4.460332870483398, + -4.974963665008545, + -4.135714054107666, + -6.1190361976623535, + -1.131199836730957, + -0.2011246383190155, + -0.45444127917289734, + -0.34760957956314087, + -0.20009461045265198, + -0.18686845898628235 + ], + "max": [ + 2.898422956466675, + 2.7327165603637695, + 5.04071044921875, + 2.454045534133911, + 0.3970412015914917, + 1.4591426849365234, + 2.217611074447632, + 3.780630350112915, + 4.313711643218994, + 0.900192141532898, + 2.9526965618133545, + 6.3285603523254395, + 4.1179070472717285, + 3.312244415283203, + 1.0156710147857666, + 0.23328684270381927, + 0.6924459338188171, + 1.712302327156067, + 0.19992558658123016, + 0.20035219192504883 + ], + "count": [ + 1774 + ] + }, + "observation.eef_pose": { + "mean": [ + 0.6720894058434483, + 1.3078495162862576, + 0.649511605702769, + 0.10306775779909588, + -0.4515410300886013, + 0.841432206660274, + 0.06631110274267572 + ], + "std": [ + 1.3086479054303433, + 1.724436852525756, + 0.05946179595159665, + 0.046780049033671715, + 0.24427611556477527, + 0.10116560961894351, + 0.03144458924117189 + ], + "min": [ + -2.9864649772644043, + -2.133589029312134, + 0.4879055321216583, + -0.01708558201789856, + -0.672869086265564, + 0.7234453558921814, + 0.00036281347274780273 + ], + "max": [ + 1.991723656654358, + 3.037856340408325, + 0.7301251292228699, + 0.21065068244934082, + 0.05738847330212593, + 0.9994089603424072, + 0.11857408285140991 + ], + "count": [ + 1774 + ] + }, + "observation.environment_state": { + "mean": [ + 0.7876933024075484, + 1.5654414657560065, + 0.4492223572737738, + 0.7751357185128308, + -0.001827489111148637, + 0.0021981185083205556, + 0.6118767550855606, + 1.7861348230647933, + 3.029208239197328, + 0.3300200926713234, + 0.7431760483086445, + -0.0012514184641829347, + -0.0011087941711328804, + 0.6689554402497603, + 1.6812705993652344, + 3.043275833129883, + 0.37049999833106995, + 0.9986622929573059, + 0.0, + 0.0, + -0.051707103848457336, + -0.6396471858024597, + -0.03771057352423668, + 0.3474999964237213, + 0.9991533756256104, + 0.0, + 0.0, + -0.041140392422676086, + -0.5868265628814697, + -0.042067743837833405, + 0.3474999964237213, + 0.9991533756256104, + 0.0, + 0.0, + -0.041140392422676086, + -0.6033715605735779, + 0.0797046348452568, + 0.18000000715255737, + 0.9991533756256104, + 0.0, + 0.0, + -0.041140392422676086, + 1.7199457883834839, + 3.1397976875305176, + 0.18000000715255737, + 0.9986622929573059, + 0.0, + 0.0, + -0.051707103848457336 + ], + "std": [ + 1.0170314307806554, + 1.4503505093152629, + 0.06672316313237547, + 0.07076579180046716, + 0.0040641528797471715, + 0.006688653176106107, + 0.1403361272205647, + 0.014273151788463456, + 0.002541409967985177, + 0.00015926954319181458, + 0.0015670046437104895, + 0.009991828688391897, + 0.008853161017460648, + 0.002126103954212445, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 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": [ + -0.6142007112503052, + -0.5614621639251709, + 0.3999995291233063, + 0.7331672310829163, + -0.018890732899308205, + -0.033031877130270004, + 0.06232062354683876, + 1.7345739603042603, + 3.028456211090088, + 0.3299999237060547, + 0.7426207065582275, + -0.09009166061878204, + -0.0799216777086258, + 0.6585473418235779, + 1.6812705993652344, + 3.043275833129883, + 0.37049999833106995, + 0.9986622929573059, + 0.0, + 0.0, + -0.051707103848457336, + -0.6396471858024597, + -0.03771057352423668, + 0.3474999964237213, + 0.9991533756256104, + 0.0, + 0.0, + -0.041140392422676086, + -0.5868265628814697, + -0.042067743837833405, + 0.3474999964237213, + 0.9991533756256104, + 0.0, + 0.0, + -0.041140392422676086, + -0.6033715605735779, + 0.0797046348452568, + 0.18000000715255737, + 0.9991533756256104, + 0.0, + 0.0, + -0.041140392422676086, + 1.7199457883834839, + 3.1397976875305176, + 0.18000000715255737, + 0.9986622929573059, + 0.0, + 0.0, + -0.051707103848457336 + ], + "max": [ + 1.8282339572906494, + 3.0508456230163574, + 0.5701763033866882, + 0.9979506731033325, + 0.014609793201088905, + 0.023088274523615837, + 0.6800479292869568, + 1.790371060371399, + 3.0383660793304443, + 0.3314344584941864, + 0.7502701878547668, + 0.0011580436257645488, + 0.0010273008374497294, + 0.6695981621742249, + 1.6812705993652344, + 3.043275833129883, + 0.37049999833106995, + 0.9986622929573059, + 0.0, + 0.0, + -0.051707103848457336, + -0.6396471858024597, + -0.03771057352423668, + 0.3474999964237213, + 0.9991533756256104, + 0.0, + 0.0, + -0.041140392422676086, + -0.5868265628814697, + -0.042067743837833405, + 0.3474999964237213, + 0.9991533756256104, + 0.0, + 0.0, + -0.041140392422676086, + -0.6033715605735779, + 0.0797046348452568, + 0.18000000715255737, + 0.9991533756256104, + 0.0, + 0.0, + -0.041140392422676086, + 1.7199457883834839, + 3.1397976875305176, + 0.18000000715255737, + 0.9986622929573059, + 0.0, + 0.0, + -0.051707103848457336 + ], + "count": [ + 1774 + ] + }, + "action.command": { + "mean": [ + -1.0458894870658912, + -0.6595873293310108, + 1.1961127762747283, + 0.7908133042761054, + 0.0, + 0.0, + 0.610055136490628, + 0.6819693945442449, + 0.5578599769674137, + 1.1135650512651452, + 0.6589577983239454, + 0.10095200048371451, + -0.43697263420850235, + 0.852222460750255, + 0.060347938233941884, + 0.5714285714285714, + -1.5200580762151987, + -1.1885589337631648, + 1.474332333710511, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.0002605288396239752, + 0.15336653276080356, + 0.6967793626904645, + 0.11071732467499332, + -0.39426704849041655, + 0.892464222879749, + 0.0477499668587647, + 0.0, + -1.4394311204415222, + -1.175603571302492, + 1.474332333710511, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.0002605288396239752, + 0.15336653276080356, + 0.6967793626904645, + 0.11071732467499332, + -0.39426704849041655, + 0.892464222879749, + 0.0477499668587647, + 0.0, + -1.4288551562388423, + -1.1706603971237564, + 1.474332333710511, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.0002605288396239752, + 0.15336653276080356, + 0.6967793626904645, + 0.11071732467499332, + -0.39426704849041655, + 0.892464222879749, + 0.0477499668587647, + 0.0, + -1.406641404148147, + -1.157538853458108, + 1.474332333710511, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.0002605288396239752, + 0.15336653276080356, + 0.6967793626904645, + 0.11071732467499332, + -0.39426704849041655, + 0.892464222879749, + 0.0477499668587647, + 0.0, + -1.298859223232596, + -1.1341364182659446, + 1.474332333710511, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.0002605288396239752, + 0.15336653276080356, + 0.6967793626904645, + 0.11071732467499332, + -0.39426704849041655, + 0.892464222879749, + 0.0477499668587647, + 0.0, + -1.290183803623687, + -1.1300008535699253, + 1.474332333710511, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.0002605288396239752, + 0.15336653276080356, + 0.6967793626904645, + 0.11071732467499332, + -0.39426704849041655, + 0.892464222879749, + 0.0477499668587647, + 0.0, + -1.279535856014498, + -1.1258125553332141, + 1.474332333710511, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.0002605288396239752, + 0.15336653276080356, + 0.6967793626904645, + 0.11071732467499332, + -0.39426704849041655, + 0.892464222879749, + 0.0477499668587647, + 0.0, + -1.1714805334767178, + -1.102270105924845, + 1.474332333710511, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.0002605288396239752, + 0.15336653276080356, + 0.6967793626904645, + 0.11071732467499332, + -0.39426704849041655, + 0.892464222879749, + 0.0477499668587647, + 0.0, + -1.1208435469779416, + -1.0846308128949995, + 1.474332333710511, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.0002605288396239752, + 0.15336653276080356, + 0.6967793626904645, + 0.11071732467499332, + -0.39426704849041655, + 0.892464222879749, + 0.0477499668587647, + 0.0, + -1.057053805025827, + -1.0750390632036333, + 1.474332333710511, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.0002605288396239752, + 0.15336653276080356, + 0.6967793626904645, + 0.11071732467499332, + -0.39426704849041655, + 0.892464222879749, + 0.0477499668587647, + 0.0, + -1.0383410444372727, + -1.0706602628680244, + 1.474332333710511, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.0002605288396239752, + 0.15336653276080356, + 0.6967793626904645, + 0.11071732467499332, + -0.39426704849041655, + 0.892464222879749, + 0.0477499668587647, + 0.0, + -0.9984220209800208, + -1.054038557924615, + 1.474332333710511, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.0002605288396239752, + 0.15336653276080356, + 0.6967793626904645, + 0.11071732467499332, + -0.39426704849041655, + 0.892464222879749, + 0.0477499668587647, + 0.0, + -0.9182158772967393, + -1.032067086542705, + 1.474332333710511, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.0002605288396239752, + 0.15336653276080356, + 0.6967793626904645, + 0.11071732467499332, + -0.39426704849041655, + 0.892464222879749, + 0.0477499668587647, + 0.0, + -0.895619222612092, + -1.0280303958219346, + 1.474332333710511, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.0002605288396239752, + 0.15336653276080356, + 0.6967793626904645, + 0.11071732467499332, + -0.39426704849041655, + 0.892464222879749, + 0.0477499668587647, + 0.0, + -0.8572138542375664, + -1.02229804295325, + 1.474332333710511, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.0002605288396239752, + 0.15336653276080356, + 0.6967793626904645, + 0.11071732467499332, + -0.39426704849041655, + 0.892464222879749, + 0.0477499668587647, + 0.0, + -0.8138785739975327, + -0.9771651829027218, + 1.474332333710511, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.0002605288396239752, + 0.15336653276080356, + 0.6967793626904645, + 0.11071732467499332, + -0.39426704849041655, + 0.892464222879749, + 0.0477499668587647, + 0.0, + -0.7779599361425961, + -0.9465098041790747, + 1.474332333710511, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.0002605288396239752, + 0.15336653276080356, + 0.6967793626904645, + 0.11071732467499332, + -0.39426704849041655, + 0.892464222879749, + 0.0477499668587647, + 0.0, + -0.7414825403957341, + -0.8847011621447577, + 1.474332333710511, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.0002605288396239752, + 0.15336653276080356, + 0.6967793626904645, + 0.11071732467499332, + -0.39426704849041655, + 0.892464222879749, + 0.0477499668587647, + 0.0, + -0.7371309783618912, + -0.8787161413388761, + 1.474332333710511, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.0002605288396239752, + 0.15336653276080356, + 0.6967793626904645, + 0.11071732467499332, + -0.39426704849041655, + 0.892464222879749, + 0.0477499668587647, + 0.0, + -0.6862684193021852, + -0.8223406706245835, + 1.474332333710511, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.0002605288396239752, + 0.15336653276080356, + 0.6967793626904645, + 0.11071732467499332, + -0.39426704849041655, + 0.892464222879749, + 0.0477499668587647, + 0.0, + -0.6513453684305485, + -0.7948194123382468, + 1.474332333710511, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.0002605288396239752, + 0.15336653276080356, + 0.6967793626904645, + 0.11071732467499332, + -0.39426704849041655, + 0.892464222879749, + 0.0477499668587647, + 0.0, + -0.6321530811714403, + -0.7618996198626532, + 1.474332333710511, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.0002605288396239752, + 0.15336653276080356, + 0.6967793626904645, + 0.11071732467499332, + -0.39426704849041655, + 0.892464222879749, + 0.0477499668587647, + 0.0, + -0.6280268208468541, + -0.7299670280989294, + 1.474332333710511, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.0002605288396239752, + 0.15336653276080356, + 0.6967793626904645, + 0.11071732467499332, + -0.39426704849041655, + 0.892464222879749, + 0.0477499668587647, + 0.0, + -0.5864783351129222, + -0.6893154730595776, + 1.474332333710511, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.0002605288396239752, + 0.15336653276080356, + 0.6967793626904645, + 0.11071732467499332, + -0.39426704849041655, + 0.892464222879749, + 0.0477499668587647, + 0.0, + -0.5346113747287645, + -0.6278074371170778, + 1.474332333710511, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.0002605288396239752, + 0.15336653276080356, + 0.6967793626904645, + 0.11071732467499332, + -0.39426704849041655, + 0.892464222879749, + 0.0477499668587647, + 0.0, + -0.5118406001129955, + -0.5880643160171973, + 1.474332333710511, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.0002605288396239752, + 0.15336653276080356, + 0.6967793626904645, + 0.11071732467499332, + -0.39426704849041655, + 0.892464222879749, + 0.0477499668587647, + 0.0, + -0.49349248739099316, + -0.5566507715128156, + 1.474332333710511, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.0002605288396239752, + 0.15336653276080356, + 0.6967793626904645, + 0.11071732467499332, + -0.39426704849041655, + 0.892464222879749, + 0.0477499668587647, + 0.0, + -0.44038746086819214, + -0.49291859702630475, + 1.474332333710511, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.0002605288396239752, + 0.15336653276080356, + 0.6967793626904645, + 0.11071732467499332, + -0.39426704849041655, + 0.892464222879749, + 0.0477499668587647, + 0.0, + -0.402697547308227, + -0.455558552650909, + 1.474332333710511, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.0002605288396239752, + 0.15336653276080356, + 0.6967793626904645, + 0.11071732467499332, + -0.39426704849041655, + 0.892464222879749, + 0.0477499668587647, + 0.0, + -0.3691444015314457, + -0.3981321087310751, + 1.474332333710511, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.0002605288396239752, + 0.15336653276080356, + 0.6967793626904645, + 0.11071732467499332, + -0.39426704849041655, + 0.892464222879749, + 0.0477499668587647, + 0.0, + -0.35772110068279767, + -0.38185176335775806, + 1.474332333710511, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.0002605288396239752, + 0.15336653276080356, + 0.6967793626904645, + 0.11071732467499332, + -0.39426704849041655, + 0.892464222879749, + 0.0477499668587647, + 0.0, + -0.2998533281884175, + -0.30674938156670734, + 1.474332333710511, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.0002605288396239752, + 0.15336653276080356, + 0.6967793626904645, + 0.11071732467499332, + -0.39426704849041655, + 0.892464222879749, + 0.0477499668587647, + 0.0, + -0.270418606099718, + -0.2826348607562119, + 1.474332333710511, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.0002605288396239752, + 0.15336653276080356, + 0.6967793626904645, + 0.11071732467499332, + -0.39426704849041655, + 0.892464222879749, + 0.0477499668587647, + 0.0, + -0.23063293778692154, + -0.2155381907587466, + 1.474332333710511, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.0002605288396239752, + 0.15336653276080356, + 0.6967793626904645, + 0.11071732467499332, + -0.39426704849041655, + 0.892464222879749, + 0.0477499668587647, + 0.0, + -0.22210009437304712, + -0.20663682604024533, + 1.474332333710511, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.0002605288396239752, + 0.15336653276080356, + 0.6967793626904645, + 0.11071732467499332, + -0.39426704849041655, + 0.892464222879749, + 0.0477499668587647, + 0.0, + -0.16207754250728723, + -0.1257490331162263, + 1.474332333710511, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.0002605288396239752, + 0.15336653276080356, + 0.6967793626904645, + 0.11071732467499332, + -0.39426704849041655, + 0.892464222879749, + 0.0477499668587647, + 0.0, + -0.1377492676610532, + -0.10898954547912236, + 1.474332333710511, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.0002605288396239752, + 0.15336653276080356, + 0.6967793626904645, + 0.11071732467499332, + -0.39426704849041655, + 0.892464222879749, + 0.0477499668587647, + 0.0, + -0.09340397359825406, + -0.035686408106988594, + 1.474332333710511, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.0002605288396239752, + 0.15336653276080356, + 0.6967793626904645, + 0.11071732467499332, + -0.39426704849041655, + 0.892464222879749, + 0.0477499668587647, + 0.0, + -0.08585355796989873, + -0.030849264701521602, + 1.474332333710511, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.0002605288396239752, + 0.15336653276080356, + 0.6967793626904645, + 0.11071732467499332, + -0.39426704849041655, + 0.892464222879749, + 0.0477499668587647, + 0.0, + -0.054326314857040627, + -0.0001540091355013439, + 1.474332333710511, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.0002605288396239752, + 0.15336653276080356, + 0.6967793626904645, + 0.11071732467499332, + -0.39426704849041655, + 0.892464222879749, + 0.0477499668587647, + 0.0, + -0.0051455141213257475, + 0.06453439385209316, + 1.474332333710511, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.0002605288396239752, + 0.15336653276080356, + 0.6967793626904645, + 0.11071732467499332, + -0.39426704849041655, + 0.892464222879749, + 0.0477499668587647, + 0.0, + 0.004040723261625871, + 0.07096850542211722, + 1.474332333710511, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.0002605288396239752, + 0.15336653276080356, + 0.6967793626904645, + 0.11071732467499332, + -0.39426704849041655, + 0.892464222879749, + 0.0477499668587647, + 0.0, + 0.049925651474903694, + 0.1445481627983224, + 1.474332333710511, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.0002605288396239752, + 0.15336653276080356, + 0.6967793626904645, + 0.11071732467499332, + -0.39426704849041655, + 0.892464222879749, + 0.0477499668587647, + 0.0, + 0.07268723527433373, + 0.16092605348946393, + 1.474332333710511, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.0002605288396239752, + 0.15336653276080356, + 0.6967793626904645, + 0.11071732467499332, + -0.39426704849041655, + 0.892464222879749, + 0.0477499668587647, + 0.0, + 0.12743378612206702, + 0.23801341358380826, + 1.474332333710511, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.0002605288396239752, + 0.15336653276080356, + 0.6967793626904645, + 0.11071732467499332, + -0.39426704849041655, + 0.892464222879749, + 0.0477499668587647, + 0.0, + 0.14084219728376868, + 0.25005599742507434, + 1.474332333710511, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.0002605288396239752, + 0.15336653276080356, + 0.6967793626904645, + 0.11071732467499332, + -0.39426704849041655, + 0.892464222879749, + 0.0477499668587647, + 0.0, + 0.18599615093904678, + 0.32012015086388873, + 1.474332333710511, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.0002605288396239752, + 0.15336653276080356, + 0.6967793626904645, + 0.11071732467499332, + -0.39426704849041655, + 0.892464222879749, + 0.0477499668587647, + 0.0, + 0.2092704138422829, + 0.33984366314527387, + 1.474332333710511, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.0002605288396239752, + 0.15336653276080356, + 0.6967793626904645, + 0.11071732467499332, + -0.39426704849041655, + 0.892464222879749, + 0.0477499668587647, + 0.0, + 0.26001300610729516, + 0.41149223384806916, + 1.474332333710511, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.0002605288396239752, + 0.15336653276080356, + 0.6967793626904645, + 0.11071732467499332, + -0.39426704849041655, + 0.892464222879749, + 0.0477499668587647, + 0.0, + 0.27740859608405194, + 0.42900247536157904, + 1.474332333710511, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.0002605288396239752, + 0.15336653276080356, + 0.6967793626904645, + 0.11071732467499332, + -0.39426704849041655, + 0.892464222879749, + 0.0477499668587647, + 0.0, + 0.3218633293791408, + 0.4955700860507246, + 1.474332333710511, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.0002605288396239752, + 0.15336653276080356, + 0.6967793626904645, + 0.11071732467499332, + -0.39426704849041655, + 0.892464222879749, + 0.0477499668587647, + 0.0, + 0.3459927733393683, + 0.518844611088749, + 1.474332333710511, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.0002605288396239752, + 0.15336653276080356, + 0.6967793626904645, + 0.11071732467499332, + -0.39426704849041655, + 0.892464222879749, + 0.0477499668587647, + 0.0, + 0.39259254335571814, + 0.5849712132151105, + 1.474332333710511, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.0002605288396239752, + 0.15336653276080356, + 0.6967793626904645, + 0.11071732467499332, + -0.39426704849041655, + 0.892464222879749, + 0.0477499668587647, + 0.0, + 0.4142123969647253, + 0.60809128801185, + 1.474332333710511, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.0002605288396239752, + 0.15336653276080356, + 0.6967793626904645, + 0.11071732467499332, + -0.39426704849041655, + 0.892464222879749, + 0.0477499668587647, + 0.0, + 0.45779084554616956, + 0.6710563113566915, + 1.474332333710511, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.0002605288396239752, + 0.15336653276080356, + 0.6967793626904645, + 0.11071732467499332, + -0.39426704849041655, + 0.892464222879749, + 0.0477499668587647, + 0.0, + 0.48261224155526544, + 0.6977839231962272, + 1.474332333710511, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.0002605288396239752, + 0.15336653276080356, + 0.6967793626904645, + 0.11071732467499332, + -0.39426704849041655, + 0.892464222879749, + 0.0477499668587647, + 0.0, + 0.5254836740544034, + 0.7586370543214801, + 1.474332333710511, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.0002605288396239752, + 0.15336653276080356, + 0.6967793626904645, + 0.11071732467499332, + -0.39426704849041655, + 0.892464222879749, + 0.0477499668587647, + 0.0, + 0.5414206105258625, + 0.7925273622134614, + 1.474332333710511, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.0002605288396239752, + 0.15336653276080356, + 0.6967793626904645, + 0.11071732467499332, + -0.39426704849041655, + 0.892464222879749, + 0.0477499668587647, + 0.0, + 1.186031460762024, + 1.6871854066848755, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.7820101680131409, + 0.9291294291615486, + 0.708526054118562, + 0.10777257724599106, + -0.44556044110309656, + 0.8660983700217224, + 0.05336653503110838, + 0.0, + 1.2038371562957764, + 1.720099687576294, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.7820101680131409, + 0.9291294291615486, + 0.708526054118562, + 0.10777257724599106, + -0.44556044110309656, + 0.8660983700217224, + 0.05336653503110838, + 0.0, + 1.2422508001327515, + 1.7911083698272705, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.7820101680131409, + 0.9291294291615486, + 0.708526054118562, + 0.10777257724599106, + -0.44556044110309656, + 0.8660983700217224, + 0.05336653503110838, + 0.0, + 1.2617648839950562, + 1.8271806240081787, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.7820101680131409, + 0.9291294291615486, + 0.708526054118562, + 0.10777257724599106, + -0.44556044110309656, + 0.8660983700217224, + 0.05336653503110838, + 0.0, + 1.2984702587127686, + 1.8950315713882446, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.7820101680131409, + 0.9291294291615486, + 0.708526054118562, + 0.10777257724599106, + -0.44556044110309656, + 0.8660983700217224, + 0.05336653503110838, + 0.0, + 1.3199102878570557, + 1.9346641302108765, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.7820101680131409, + 0.9291294291615486, + 0.708526054118562, + 0.10777257724599106, + -0.44556044110309656, + 0.8660983700217224, + 0.05336653503110838, + 0.0, + 1.3546894788742065, + 1.99895441532135, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.7820101680131409, + 0.9291294291615486, + 0.708526054118562, + 0.10777257724599106, + -0.44556044110309656, + 0.8660983700217224, + 0.05336653503110838, + 0.0, + 1.377930760383606, + 2.041916608810425, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.7820101680131409, + 0.9291294291615486, + 0.708526054118562, + 0.10777257724599106, + -0.44556044110309656, + 0.8660983700217224, + 0.05336653503110838, + 0.0, + 1.4112080335617065, + 2.1034305095672607, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.7820101680131409, + 0.9291294291615486, + 0.708526054118562, + 0.10777257724599106, + -0.44556044110309656, + 0.8660983700217224, + 0.05336653503110838, + 0.0, + 1.4367772340774536, + 2.15069580078125, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.7820101680131409, + 0.9291294291615486, + 0.708526054118562, + 0.10777257724599106, + -0.44556044110309656, + 0.8660983700217224, + 0.05336653503110838, + 0.0, + 1.4694198369979858, + 2.2110366821289062, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.7820101680131409, + 0.9291294291615486, + 0.708526054118562, + 0.10777257724599106, + -0.44556044110309656, + 0.8660983700217224, + 0.05336653503110838, + 0.0, + 1.4983981847763062, + 2.264604091644287, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.7820101680131409, + 0.9291294291615486, + 0.708526054118562, + 0.10777257724599106, + -0.44556044110309656, + 0.8660983700217224, + 0.05336653503110838, + 0.0, + 1.5322786569595337, + 2.327233076095581, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.7820101680131409, + 0.9291294291615486, + 0.708526054118562, + 0.10777257724599106, + -0.44556044110309656, + 0.8660983700217224, + 0.05336653503110838, + 0.0, + 1.5668166875839233, + 2.3910775184631348, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.7820101680131409, + 0.9291294291615486, + 0.708526054118562, + 0.10777257724599106, + -0.44556044110309656, + 0.8660983700217224, + 0.05336653503110838, + 0.0, + 1.602135181427002, + 2.456364870071411, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.7820101680131409, + 0.9291294291615486, + 0.708526054118562, + 0.10777257724599106, + -0.44556044110309656, + 0.8660983700217224, + 0.05336653503110838, + 0.0, + 1.6379915475845337, + 2.4737367630004883, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.7820101680131409, + 0.9291294291615486, + 0.708526054118562, + 0.10777257724599106, + -0.44556044110309656, + 0.8660983700217224, + 0.05336653503110838, + 0.0 + ], + "std": [ + 1.4578803964644471, + 1.4279226097619064, + 0.4840867977907817, + 0.030095380539917876, + 0.0, + 0.0, + 0.03925960912223675, + 1.3721838324806301, + 1.3380259078767425, + 1.7358601793013477, + 0.05564304363188766, + 0.04412705858464578, + 0.23757139855364726, + 0.09772210119255392, + 0.03164619911169755, + 0.49487165930539406, + 1.161902881693782, + 0.8476057919811163, + 0.009953519523203953, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3117795631849147, + 1.451949499506015, + 0.01805994332605861, + 0.008979852123424552, + 0.16864966273677448, + 0.06769470210251262, + 0.02040910335366919, + 0.0, + 1.2017942151514989, + 0.8466506576855395, + 0.009953519523203953, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3117795631849147, + 1.451949499506015, + 0.01805994332605861, + 0.008979852123424552, + 0.16864966273677448, + 0.06769470210251262, + 0.02040910335366919, + 0.0, + 1.1928539887720717, + 0.8403084549171643, + 0.009953519523203953, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3117795631849147, + 1.451949499506015, + 0.01805994332605861, + 0.008979852123424552, + 0.16864966273677448, + 0.06769470210251262, + 0.02040910335366919, + 0.0, + 1.1621086810124917, + 0.8217380598721855, + 0.009953519523203953, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3117795631849147, + 1.451949499506015, + 0.01805994332605861, + 0.008979852123424552, + 0.16864966273677448, + 0.06769470210251262, + 0.02040910335366919, + 0.0, + 1.1888545584499102, + 0.808801529839603, + 0.009953519523203953, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3117795631849147, + 1.451949499506015, + 0.01805994332605861, + 0.008979852123424552, + 0.16864966273677448, + 0.06769470210251262, + 0.02040910335366919, + 0.0, + 1.1811681543948396, + 0.8034443540052693, + 0.009953519523203953, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3117795631849147, + 1.451949499506015, + 0.01805994332605861, + 0.008979852123424552, + 0.16864966273677448, + 0.06769470210251262, + 0.02040910335366919, + 0.0, + 1.175612203731401, + 0.798570199463348, + 0.009953519523203953, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3117795631849147, + 1.451949499506015, + 0.01805994332605861, + 0.008979852123424552, + 0.16864966273677448, + 0.06769470210251262, + 0.02040910335366919, + 0.0, + 1.202073119637679, + 0.7854461814562421, + 0.009953519523203953, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3117795631849147, + 1.451949499506015, + 0.01805994332605861, + 0.008979852123424552, + 0.16864966273677448, + 0.06769470210251262, + 0.02040910335366919, + 0.0, + 1.1856064961404815, + 0.7666337569903794, + 0.009953519523203953, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3117795631849147, + 1.451949499506015, + 0.01805994332605861, + 0.008979852123424552, + 0.16864966273677448, + 0.06769470210251262, + 0.02040910335366919, + 0.0, + 1.220043082060698, + 0.7671394922013354, + 0.009953519523203953, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3117795631849147, + 1.451949499506015, + 0.01805994332605861, + 0.008979852123424552, + 0.16864966273677448, + 0.06769470210251262, + 0.02040910335366919, + 0.0, + 1.2233068758618464, + 0.7642883065451337, + 0.009953519523203953, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3117795631849147, + 1.451949499506015, + 0.01805994332605861, + 0.008979852123424552, + 0.16864966273677448, + 0.06769470210251262, + 0.02040910335366919, + 0.0, + 1.198458900548824, + 0.744252471168036, + 0.009953519523203953, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3117795631849147, + 1.451949499506015, + 0.01805994332605861, + 0.008979852123424552, + 0.16864966273677448, + 0.06769470210251262, + 0.02040910335366919, + 0.0, + 1.1984531940273146, + 0.7258929510211048, + 0.009953519523203953, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3117795631849147, + 1.451949499506015, + 0.01805994332605861, + 0.008979852123424552, + 0.16864966273677448, + 0.06769470210251262, + 0.02040910335366919, + 0.0, + 1.207860163390866, + 0.7248475499307518, + 0.009953519523203953, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3117795631849147, + 1.451949499506015, + 0.01805994332605861, + 0.008979852123424552, + 0.16864966273677448, + 0.06769470210251262, + 0.02040910335366919, + 0.0, + 1.2287785674830798, + 0.7252333780853001, + 0.009953519523203953, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3117795631849147, + 1.451949499506015, + 0.01805994332605861, + 0.008979852123424552, + 0.16864966273677448, + 0.06769470210251262, + 0.02040910335366919, + 0.0, + 1.2028160961194088, + 0.7231306300659507, + 0.009953519523203953, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3117795631849147, + 1.451949499506015, + 0.01805994332605861, + 0.008979852123424552, + 0.16864966273677448, + 0.06769470210251262, + 0.02040910335366919, + 0.0, + 1.168713222529565, + 0.7090965690978974, + 0.009953519523203953, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3117795631849147, + 1.451949499506015, + 0.01805994332605861, + 0.008979852123424552, + 0.16864966273677448, + 0.06769470210251262, + 0.02040910335366919, + 0.0, + 1.1912419034559951, + 0.7506773273622079, + 0.009953519523203953, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3117795631849147, + 1.451949499506015, + 0.01805994332605861, + 0.008979852123424552, + 0.16864966273677448, + 0.06769470210251262, + 0.02040910335366919, + 0.0, + 1.1913422513047633, + 0.7531106330010197, + 0.009953519523203953, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3117795631849147, + 1.451949499506015, + 0.01805994332605861, + 0.008979852123424552, + 0.16864966273677448, + 0.06769470210251262, + 0.02040910335366919, + 0.0, + 1.1672114749801203, + 0.7568365288560303, + 0.009953519523203953, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3117795631849147, + 1.451949499506015, + 0.01805994332605861, + 0.008979852123424552, + 0.16864966273677448, + 0.06769470210251262, + 0.02040910335366919, + 0.0, + 1.1297970803182869, + 0.7390336539436682, + 0.009953519523203953, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3117795631849147, + 1.451949499506015, + 0.01805994332605861, + 0.008979852123424552, + 0.16864966273677448, + 0.06769470210251262, + 0.02040910335366919, + 0.0, + 1.1423951168808804, + 0.7616384755705005, + 0.009953519523203953, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3117795631849147, + 1.451949499506015, + 0.01805994332605861, + 0.008979852123424552, + 0.16864966273677448, + 0.06769470210251262, + 0.02040910335366919, + 0.0, + 1.1443567091132385, + 0.7835216395508711, + 0.009953519523203953, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3117795631849147, + 1.451949499506015, + 0.01805994332605861, + 0.008979852123424552, + 0.16864966273677448, + 0.06769470210251262, + 0.02040910335366919, + 0.0, + 1.1120382031073983, + 0.7752112406885997, + 0.009953519523203953, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3117795631849147, + 1.451949499506015, + 0.01805994332605861, + 0.008979852123424552, + 0.16864966273677448, + 0.06769470210251262, + 0.02040910335366919, + 0.0, + 1.090006269971055, + 0.7833800070520183, + 0.009953519523203953, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3117795631849147, + 1.451949499506015, + 0.01805994332605861, + 0.008979852123424552, + 0.16864966273677448, + 0.06769470210251262, + 0.02040910335366919, + 0.0, + 1.1020142704367133, + 0.8089193284975535, + 0.009953519523203953, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3117795631849147, + 1.451949499506015, + 0.01805994332605861, + 0.008979852123424552, + 0.16864966273677448, + 0.06769470210251262, + 0.02040910335366919, + 0.0, + 1.110651055689553, + 0.8284461863219073, + 0.009953519523203953, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3117795631849147, + 1.451949499506015, + 0.01805994332605861, + 0.008979852123424552, + 0.16864966273677448, + 0.06769470210251262, + 0.02040910335366919, + 0.0, + 1.089379695311374, + 0.8381125623056106, + 0.009953519523203953, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3117795631849147, + 1.451949499506015, + 0.01805994332605861, + 0.008979852123424552, + 0.16864966273677448, + 0.06769470210251262, + 0.02040910335366919, + 0.0, + 1.0608858977166284, + 0.8314076484031584, + 0.009953519523203953, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3117795631849147, + 1.451949499506015, + 0.01805994332605861, + 0.008979852123424552, + 0.16864966273677448, + 0.06769470210251262, + 0.02040910335366919, + 0.0, + 1.076646973624415, + 0.8670830332133539, + 0.009953519523203953, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3117795631849147, + 1.451949499506015, + 0.01805994332605861, + 0.008979852123424552, + 0.16864966273677448, + 0.06769470210251262, + 0.02040910335366919, + 0.0, + 1.0764467546387464, + 0.8735927230891013, + 0.009953519523203953, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3117795631849147, + 1.451949499506015, + 0.01805994332605861, + 0.008979852123424552, + 0.16864966273677448, + 0.06769470210251262, + 0.02040910335366919, + 0.0, + 1.0628902467975228, + 0.8938695853900729, + 0.009953519523203953, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3117795631849147, + 1.451949499506015, + 0.01805994332605861, + 0.008979852123424552, + 0.16864966273677448, + 0.06769470210251262, + 0.02040910335366919, + 0.0, + 1.032021919333479, + 0.8799094568247566, + 0.009953519523203953, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3117795631849147, + 1.451949499506015, + 0.01805994332605861, + 0.008979852123424552, + 0.16864966273677448, + 0.06769470210251262, + 0.02040910335366919, + 0.0, + 1.0490143700448962, + 0.9204939994470329, + 0.009953519523203953, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3117795631849147, + 1.451949499506015, + 0.01805994332605861, + 0.008979852123424552, + 0.16864966273677448, + 0.06769470210251262, + 0.02040910335366919, + 0.0, + 1.0433176631911645, + 0.9197396870374277, + 0.009953519523203953, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3117795631849147, + 1.451949499506015, + 0.01805994332605861, + 0.008979852123424552, + 0.16864966273677448, + 0.06769470210251262, + 0.02040910335366919, + 0.0, + 1.0343428331382953, + 0.9459220069181429, + 0.009953519523203953, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3117795631849147, + 1.451949499506015, + 0.01805994332605861, + 0.008979852123424552, + 0.16864966273677448, + 0.06769470210251262, + 0.02040910335366919, + 0.0, + 1.0034322746108844, + 0.9289185077080855, + 0.009953519523203953, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3117795631849147, + 1.451949499506015, + 0.01805994332605861, + 0.008979852123424552, + 0.16864966273677448, + 0.06769470210251262, + 0.02040910335366919, + 0.0, + 1.0198482124194763, + 0.9715985495250952, + 0.009953519523203953, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3117795631849147, + 1.451949499506015, + 0.01805994332605861, + 0.008979852123424552, + 0.16864966273677448, + 0.06769470210251262, + 0.02040910335366919, + 0.0, + 1.009635053178051, + 0.9656937158770574, + 0.009953519523203953, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3117795631849147, + 1.451949499506015, + 0.01805994332605861, + 0.008979852123424552, + 0.16864966273677448, + 0.06769470210251262, + 0.02040910335366919, + 0.0, + 0.9848539997990836, + 0.9591269537757375, + 0.009953519523203953, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3117795631849147, + 1.451949499506015, + 0.01805994332605861, + 0.008979852123424552, + 0.16864966273677448, + 0.06769470210251262, + 0.02040910335366919, + 0.0, + 0.97479652904622, + 0.9778422411875074, + 0.009953519523203953, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3117795631849147, + 1.451949499506015, + 0.01805994332605861, + 0.008979852123424552, + 0.16864966273677448, + 0.06769470210251262, + 0.02040910335366919, + 0.0, + 0.9633049407353161, + 0.9716041018162936, + 0.009953519523203953, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3117795631849147, + 1.451949499506015, + 0.01805994332605861, + 0.008979852123424552, + 0.16864966273677448, + 0.06769470210251262, + 0.02040910335366919, + 0.0, + 0.9764301365011501, + 1.0118567548300585, + 0.009953519523203953, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3117795631849147, + 1.451949499506015, + 0.01805994332605861, + 0.008979852123424552, + 0.16864966273677448, + 0.06769470210251262, + 0.02040910335366919, + 0.0, + 0.9486974514706605, + 0.9971504740406736, + 0.009953519523203953, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3117795631849147, + 1.451949499506015, + 0.01805994332605861, + 0.008979852123424552, + 0.16864966273677448, + 0.06769470210251262, + 0.02040910335366919, + 0.0, + 0.94614384618923, + 1.0267344836416048, + 0.009953519523203953, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3117795631849147, + 1.451949499506015, + 0.01805994332605861, + 0.008979852123424552, + 0.16864966273677448, + 0.06769470210251262, + 0.02040910335366919, + 0.0, + 0.933882368207297, + 1.0221978130622094, + 0.009953519523203953, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3117795631849147, + 1.451949499506015, + 0.01805994332605861, + 0.008979852123424552, + 0.16864966273677448, + 0.06769470210251262, + 0.02040910335366919, + 0.0, + 0.9428105646224542, + 1.0577712025634913, + 0.009953519523203953, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3117795631849147, + 1.451949499506015, + 0.01805994332605861, + 0.008979852123424552, + 0.16864966273677448, + 0.06769470210251262, + 0.02040910335366919, + 0.0, + 0.9195190395460165, + 1.0478631669611091, + 0.009953519523203953, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3117795631849147, + 1.451949499506015, + 0.01805994332605861, + 0.008979852123424552, + 0.16864966273677448, + 0.06769470210251262, + 0.02040910335366919, + 0.0, + 0.9174910231228592, + 1.0756265858863066, + 0.009953519523203953, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3117795631849147, + 1.451949499506015, + 0.01805994332605861, + 0.008979852123424552, + 0.16864966273677448, + 0.06769470210251262, + 0.02040910335366919, + 0.0, + 0.9047942230774357, + 1.0729920517543845, + 0.009953519523203953, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3117795631849147, + 1.451949499506015, + 0.01805994332605861, + 0.008979852123424552, + 0.16864966273677448, + 0.06769470210251262, + 0.02040910335366919, + 0.0, + 0.9094801605561001, + 1.1038590332084446, + 0.009953519523203953, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3117795631849147, + 1.451949499506015, + 0.01805994332605861, + 0.008979852123424552, + 0.16864966273677448, + 0.06769470210251262, + 0.02040910335366919, + 0.0, + 0.8901427080694461, + 1.0984572147095235, + 0.009953519523203953, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3117795631849147, + 1.451949499506015, + 0.01805994332605861, + 0.008979852123424552, + 0.16864966273677448, + 0.06769470210251262, + 0.02040910335366919, + 0.0, + 0.8888380878889649, + 1.124518716172916, + 0.009953519523203953, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3117795631849147, + 1.451949499506015, + 0.01805994332605861, + 0.008979852123424552, + 0.16864966273677448, + 0.06769470210251262, + 0.02040910335366919, + 0.0, + 0.8753685098594491, + 1.1235838841946546, + 0.009953519523203953, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3117795631849147, + 1.451949499506015, + 0.01805994332605861, + 0.008979852123424552, + 0.16864966273677448, + 0.06769470210251262, + 0.02040910335366919, + 0.0, + 0.8760642568136554, + 1.149895575264514, + 0.009953519523203953, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3117795631849147, + 1.451949499506015, + 0.01805994332605861, + 0.008979852123424552, + 0.16864966273677448, + 0.06769470210251262, + 0.02040910335366919, + 0.0, + 0.860912923430253, + 1.149139117651489, + 0.009953519523203953, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3117795631849147, + 1.451949499506015, + 0.01805994332605861, + 0.008979852123424552, + 0.16864966273677448, + 0.06769470210251262, + 0.02040910335366919, + 0.0, + 0.859741782573557, + 1.173145009486966, + 0.009953519523203953, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3117795631849147, + 1.451949499506015, + 0.01805994332605861, + 0.008979852123424552, + 0.16864966273677448, + 0.06769470210251262, + 0.02040910335366919, + 0.0, + 0.8595937775586775, + 1.1665684888132353, + 0.009953519523203953, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3117795631849147, + 1.451949499506015, + 0.01805994332605861, + 0.008979852123424552, + 0.16864966273677448, + 0.06769470210251262, + 0.02040910335366919, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.6326545095623517, + 1.100834087073923, + 0.007713954149014675, + 0.009094742786639059, + 0.1789427012158212, + 0.06553772725377684, + 0.022088289046137462, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.6326545095623517, + 1.100834087073923, + 0.007713954149014675, + 0.009094742786639059, + 0.1789427012158212, + 0.06553772725377684, + 0.022088289046137462, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.6326545095623517, + 1.100834087073923, + 0.007713954149014675, + 0.009094742786639059, + 0.1789427012158212, + 0.06553772725377684, + 0.022088289046137462, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.6326545095623517, + 1.100834087073923, + 0.007713954149014675, + 0.009094742786639059, + 0.1789427012158212, + 0.06553772725377684, + 0.022088289046137462, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.6326545095623517, + 1.100834087073923, + 0.007713954149014675, + 0.009094742786639059, + 0.1789427012158212, + 0.06553772725377684, + 0.022088289046137462, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.6326545095623517, + 1.100834087073923, + 0.007713954149014675, + 0.009094742786639059, + 0.1789427012158212, + 0.06553772725377684, + 0.022088289046137462, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.6326545095623517, + 1.100834087073923, + 0.007713954149014675, + 0.009094742786639059, + 0.1789427012158212, + 0.06553772725377684, + 0.022088289046137462, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.6326545095623517, + 1.100834087073923, + 0.007713954149014675, + 0.009094742786639059, + 0.1789427012158212, + 0.06553772725377684, + 0.022088289046137462, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.6326545095623517, + 1.100834087073923, + 0.007713954149014675, + 0.009094742786639059, + 0.1789427012158212, + 0.06553772725377684, + 0.022088289046137462, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.6326545095623517, + 1.100834087073923, + 0.007713954149014675, + 0.009094742786639059, + 0.1789427012158212, + 0.06553772725377684, + 0.022088289046137462, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.6326545095623517, + 1.100834087073923, + 0.007713954149014675, + 0.009094742786639059, + 0.1789427012158212, + 0.06553772725377684, + 0.022088289046137462, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.6326545095623517, + 1.100834087073923, + 0.007713954149014675, + 0.009094742786639059, + 0.1789427012158212, + 0.06553772725377684, + 0.022088289046137462, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.6326545095623517, + 1.100834087073923, + 0.007713954149014675, + 0.009094742786639059, + 0.1789427012158212, + 0.06553772725377684, + 0.022088289046137462, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.6326545095623517, + 1.100834087073923, + 0.007713954149014675, + 0.009094742786639059, + 0.1789427012158212, + 0.06553772725377684, + 0.022088289046137462, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.6326545095623517, + 1.100834087073923, + 0.007713954149014675, + 0.009094742786639059, + 0.1789427012158212, + 0.06553772725377684, + 0.022088289046137462, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.6326545095623517, + 1.100834087073923, + 0.007713954149014675, + 0.009094742786639059, + 0.1789427012158212, + 0.06553772725377684, + 0.022088289046137462, + 0.0 + ], + "min": [ + -3.2217862606048584, + -2.423628807067871, + 0.28999999165534973, + 0.7397059202194214, + 0.0, + 0.0, + 0.5660667419433594, + -1.0, + -2.9864649772644043, + -2.133573532104492, + 0.48840755224227905, + -0.017430001869797707, + -0.6721431612968445, + 0.7259445190429688, + 0.0009000003337860107, + 0.0, + -3.173027515411377, + -2.3943967819213867, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9864649772644043, + -2.133573532104492, + 0.6523534059524536, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + -3.149151563644409, + -2.380082607269287, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9864649772644043, + -2.133573532104492, + 0.6523534059524536, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + -3.125856876373291, + -2.366116762161255, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9864649772644043, + -2.133573532104492, + 0.6523534059524536, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + -3.059903621673584, + -2.3265762329101562, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9864649772644043, + -2.133573532104492, + 0.6523534059524536, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + -2.990171194076538, + -2.2847697734832764, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9864649772644043, + -2.133573532104492, + 0.6523534059524536, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + -2.9705607891082764, + -2.27301287651062, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9864649772644043, + -2.133573532104492, + 0.6523534059524536, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + -2.9520087242126465, + -2.261890411376953, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9864649772644043, + -2.133573532104492, + 0.6523534059524536, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + -2.8815977573394775, + -2.219677209854126, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9864649772644043, + -2.133573532104492, + 0.6523534059524536, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + -2.807534694671631, + -2.175274610519409, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9864649772644043, + -2.133573532104492, + 0.6523534059524536, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + -2.7927358150482178, + -2.1664023399353027, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9864649772644043, + -2.133573532104492, + 0.6523534059524536, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + -2.7786662578582764, + -2.1579673290252686, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9864649772644043, + -2.133573532104492, + 0.6523534059524536, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + -2.703397512435913, + -2.112841844558716, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9864649772644043, + -2.133573532104492, + 0.6523534059524536, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + -2.623183250427246, + -2.064751386642456, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9864649772644043, + -2.133573532104492, + 0.6523534059524536, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + -2.613969326019287, + -2.059227466583252, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9864649772644043, + -2.133573532104492, + 0.6523534059524536, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + -2.605323314666748, + -2.054044008255005, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9864649772644043, + -2.133573532104492, + 0.6523534059524536, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + -2.525052785873413, + -2.0059196949005127, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9864649772644043, + -2.133573532104492, + 0.6523534059524536, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + -2.4406180381774902, + -1.955298900604248, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9864649772644043, + -2.133573532104492, + 0.6523534059524536, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + -2.4361908435821533, + -1.9526447057724, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9864649772644043, + -2.133573532104492, + 0.6523534059524536, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + -2.4319820404052734, + -1.9501214027404785, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9864649772644043, + -2.133573532104492, + 0.6523534059524536, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + -2.346790075302124, + -1.899046540260315, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9864649772644043, + -2.133573532104492, + 0.6523534059524536, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + -2.2586398124694824, + -1.8461982011795044, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9864649772644043, + -2.133573532104492, + 0.6523534059524536, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + -2.2573699951171875, + -1.845436930656433, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9864649772644043, + -2.133573532104492, + 0.6523534059524536, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + -2.2560343742370605, + -1.8446362018585205, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9864649772644043, + -2.133573532104492, + 0.6523534059524536, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + -2.168508291244507, + -1.7921619415283203, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9864649772644043, + -2.133573532104492, + 0.6523534059524536, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + -2.0852978229522705, + -1.7422751188278198, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9864649772644043, + -2.133573532104492, + 0.6523534059524536, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + -2.0796101093292236, + -1.7388652563095093, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9864649772644043, + -2.133573532104492, + 0.6523534059524536, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + -2.0735490322113037, + -1.7352313995361328, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9864649772644043, + -2.133573532104492, + 0.6523534059524536, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + -1.9901825189590454, + -1.685250997543335, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9864649772644043, + -2.133573532104492, + 0.6523534059524536, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + -1.9119561910629272, + -1.6383522748947144, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9864649772644043, + -2.133573532104492, + 0.6523534059524536, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + -1.9008253812789917, + -1.6316790580749512, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9864649772644043, + -2.133573532104492, + 0.6523534059524536, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + -1.8891172409057617, + -1.6246596574783325, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9864649772644043, + -2.133573532104492, + 0.6523534059524536, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + -1.811963438987732, + -1.5784039497375488, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9864649772644043, + -2.133573532104492, + 0.6523534059524536, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + -1.7386142015457153, + -1.5344291925430298, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9864649772644043, + -2.133573532104492, + 0.6523534059524536, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + -1.7230026721954346, + -1.5250697135925293, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9864649772644043, + -2.133573532104492, + 0.6523534059524536, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + -1.7063654661178589, + -1.5150952339172363, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9864649772644043, + -2.133573532104492, + 0.6523534059524536, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + -1.6335749626159668, + -1.471455454826355, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9864649772644043, + -2.133573532104492, + 0.6523534059524536, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + -1.5652720928192139, + -1.4305061101913452, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9864649772644043, + -2.133573532104492, + 0.6523534059524536, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + -1.544280767440796, + -1.4179213047027588, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9864649772644043, + -2.133573532104492, + 0.6523534059524536, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + -1.5222007036209106, + -1.4046837091445923, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9864649772644043, + -2.133573532104492, + 0.6523534059524536, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + -1.4554189443588257, + -1.364646315574646, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9864649772644043, + -2.133573532104492, + 0.6523534059524536, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + -1.3919299840927124, + -1.3265830278396606, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9864649772644043, + -2.133573532104492, + 0.6523534059524536, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + -1.366395354270935, + -1.3112742900848389, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9864649772644043, + -2.133573532104492, + 0.6523534059524536, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + -1.3391828536987305, + -1.2949596643447876, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9864649772644043, + -2.133573532104492, + 0.6523534059524536, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + -1.2769676446914673, + -1.2576600313186646, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9864649772644043, + -2.133573532104492, + 0.6523534059524536, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + -1.2185882329940796, + -1.2226600646972656, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9864649772644043, + -2.133573532104492, + 0.6523534059524536, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + -1.1877361536026, + -1.2041634321212769, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9864649772644043, + -2.133573532104492, + 0.6523534059524536, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + -1.155283808708191, + -1.1847074031829834, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9864649772644043, + -2.133573532104492, + 0.6523534059524536, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + -1.0988740921020508, + -1.1508883237838745, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9864649772644043, + -2.133573532104492, + 0.6523534059524536, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + -1.0452463626861572, + -1.1187371015548706, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9864649772644043, + -2.133573532104492, + 0.6523534059524536, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + -1.0097877979278564, + -1.0974788665771484, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9864649772644043, + -2.133573532104492, + 0.6523534059524536, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + -0.97199946641922, + -1.0748238563537598, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9864649772644043, + -2.133573532104492, + 0.6523534059524536, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + -0.9203597903251648, + -1.0438644886016846, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9864649772644043, + -2.133573532104492, + 0.6523534059524536, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + -0.8719040155410767, + -1.014814019203186, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9864649772644043, + -2.133573532104492, + 0.6523534059524536, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + -0.8311218023300171, + -0.9903640151023865, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9864649772644043, + -2.133573532104492, + 0.6523534059524536, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + -0.7885331511497498, + -0.9648310542106628, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9864649772644043, + -2.133573532104492, + 0.6523534059524536, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + -0.7421568632125854, + -0.9370272755622864, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9864649772644043, + -2.133573532104492, + 0.6523534059524536, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + -0.6976193189620972, + -0.9103258848190308, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9864649772644043, + -2.133573532104492, + 0.6523534059524536, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + -0.6814718246459961, + -0.8670795559883118, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9864649772644043, + -2.133573532104492, + 0.6523534059524536, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + 1.186031460762024, + 1.6871854066848755, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.6173357367515564, + -0.5701128244400024, + 0.6579385995864868, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + 1.2038371562957764, + 1.720099687576294, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.6173357367515564, + -0.5701128244400024, + 0.6579385995864868, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + 1.2422508001327515, + 1.7911083698272705, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.6173357367515564, + -0.5701128244400024, + 0.6579385995864868, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + 1.2617648839950562, + 1.8271806240081787, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.6173357367515564, + -0.5701128244400024, + 0.6579385995864868, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + 1.2984702587127686, + 1.8950315713882446, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.6173357367515564, + -0.5701128244400024, + 0.6579385995864868, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + 1.3199102878570557, + 1.9346641302108765, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.6173357367515564, + -0.5701128244400024, + 0.6579385995864868, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + 1.3546894788742065, + 1.99895441532135, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.6173357367515564, + -0.5701128244400024, + 0.6579385995864868, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + 1.377930760383606, + 2.041916608810425, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.6173357367515564, + -0.5701128244400024, + 0.6579385995864868, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + 1.4112080335617065, + 2.1034305095672607, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.6173357367515564, + -0.5701128244400024, + 0.6579385995864868, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + 1.4367772340774536, + 2.15069580078125, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.6173357367515564, + -0.5701128244400024, + 0.6579385995864868, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + 1.4694198369979858, + 2.2110366821289062, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.6173357367515564, + -0.5701128244400024, + 0.6579385995864868, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + 1.4983981847763062, + 2.264604091644287, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.6173357367515564, + -0.5701128244400024, + 0.6579385995864868, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + 1.5322786569595337, + 2.327233076095581, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.6173357367515564, + -0.5701128244400024, + 0.6579385995864868, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + 1.5668166875839233, + 2.3910775184631348, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.6173357367515564, + -0.5701128244400024, + 0.6579385995864868, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + 1.602135181427002, + 2.456364870071411, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.6173357367515564, + -0.5701128244400024, + 0.6579385995864868, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0, + 1.6379915475845337, + 2.4737367630004883, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.6173357367515564, + -0.5701128244400024, + 0.6579385995864868, + 0.09389196336269379, + -0.6721431612968445, + 0.7288625240325928, + 0.0022171116434037685, + 0.0 + ], + "max": [ + 1.596558928489685, + 2.524435520172119, + 1.4884926080703735, + 0.8243594169616699, + 0.0, + 0.0, + 0.6729303002357483, + 2.0, + 1.9894119501113892, + 3.0359599590301514, + 0.7303881645202637, + 0.18108417093753815, + 0.05512988567352295, + 0.9994028210639954, + 0.11055763065814972, + 1.0, + -0.7033349871635437, + -0.5927610993385315, + 1.4884926080703735, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + -0.5946676731109619, + -0.5804771184921265, + 1.4884926080703735, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + -0.5903759598731995, + -0.5799919962882996, + 1.4884926080703735, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + -0.5897736549377441, + -0.5799239277839661, + 1.4884926080703735, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + -0.46319130063056946, + -0.5656148195266724, + 1.4884926080703735, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + -0.4599187970161438, + -0.5652449131011963, + 1.4884926080703735, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + -0.45317623019218445, + -0.5644827485084534, + 1.4884926080703735, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + -0.32652103900909424, + -0.5501654148101807, + 1.4884926080703735, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + -0.28745874762535095, + -0.5457497239112854, + 1.4884926080703735, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + -0.199462890625, + -0.5358024835586548, + 1.4884926080703735, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + -0.17845594882965088, + -0.5334278345108032, + 1.4884926080703735, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + -0.15600302815437317, + -0.5308896899223328, + 1.4884926080703735, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + -0.07580089569091797, + -0.5218234658241272, + 1.4884926080703735, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + -0.04659190773963928, + -0.5185216069221497, + 1.4884926080703735, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + 0.006517394911497831, + -0.512518048286438, + 1.4884926080703735, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + 0.03160317242145538, + -0.46886324882507324, + 1.4884926080703735, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + 0.043550267815589905, + -0.4480726718902588, + 1.4884926080703735, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + 0.09586349129676819, + -0.35703614354133606, + 1.4884926080703735, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + 0.1002855896949768, + -0.3493407070636749, + 1.4884926080703735, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + 0.13418617844581604, + -0.29034623503685, + 1.4884926080703735, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + 0.14280995726585388, + -0.27533894777297974, + 1.4884926080703735, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + 0.17085763812065125, + -0.2265298068523407, + 1.4884926080703735, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + 0.17636273801326752, + -0.17921513319015503, + 1.4884926080703735, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + 0.19519394636154175, + -0.14440511167049408, + 1.4884926080703735, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + 0.23157425224781036, + -0.07715509831905365, + 1.4884926080703735, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + 0.2627856731414795, + -0.019459914416074753, + 1.4884926080703735, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + 0.2872047424316406, + 0.025679420679807663, + 1.4884926080703735, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + 0.32535773515701294, + 0.09620627015829086, + 1.4884926080703735, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + 0.3430188298225403, + 0.12885330617427826, + 1.4884926080703735, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + 0.387650728225708, + 0.21135663986206055, + 1.4884926080703735, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + 0.3989332914352417, + 0.23221276700496674, + 1.4884926080703735, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + 0.4472719430923462, + 0.3215681314468384, + 1.4884926080703735, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + 0.45500874519348145, + 0.33586981892585754, + 1.4884926080703735, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + 0.5067387223243713, + 0.4314941167831421, + 1.4884926080703735, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + 0.5112672448158264, + 0.43986526131629944, + 1.4884926080703735, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + 0.56498122215271, + 0.5391570925712585, + 1.4884926080703735, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + 0.5675818920135498, + 0.5439645051956177, + 1.4884926080703735, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + 0.6234662532806396, + 0.6472682356834412, + 1.4884926080703735, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + 0.6238376498222351, + 0.6479547619819641, + 1.4884926080703735, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + 0.637945830821991, + 0.6740341186523438, + 1.4884926080703735, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + 0.6800570487976074, + 0.7518778443336487, + 1.4884926080703735, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + 0.6811656355857849, + 0.7539270520210266, + 1.4884926080703735, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + 0.7362765073776245, + 0.8558010458946228, + 1.4884926080703735, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + 0.7395442724227905, + 0.86184161901474, + 1.4884926080703735, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + 0.792495846748352, + 0.9597241282463074, + 1.4884926080703735, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + 0.7972854375839233, + 0.9685778021812439, + 1.4884926080703735, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + 0.8487151861190796, + 1.0636471509933472, + 1.4884926080703735, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + 0.8556174039840698, + 1.0764061212539673, + 1.4884926080703735, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + 0.9049344658851624, + 1.1675701141357422, + 1.4884926080703735, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + 0.9134052395820618, + 1.1832284927368164, + 1.4884926080703735, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + 0.9611538052558899, + 1.2714930772781372, + 1.4884926080703735, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + 0.9716905951499939, + 1.2909705638885498, + 1.4884926080703735, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + 1.0173733234405518, + 1.3754162788391113, + 1.4884926080703735, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + 1.0295251607894897, + 1.3978792428970337, + 1.4884926080703735, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + 1.0735926628112793, + 1.4793392419815063, + 1.4884926080703735, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + 1.0877639055252075, + 1.5055351257324219, + 1.4884926080703735, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + 1.1298121213912964, + 1.5832624435424805, + 1.4884926080703735, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + 1.145645022392273, + 1.612529993057251, + 1.4884926080703735, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + 1.186031460762024, + 1.6871854066848755, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + 1.2038371562957764, + 1.720099687576294, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + 1.2422508001327515, + 1.7911083698272705, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + 1.2617648839950562, + 1.8271806240081787, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + 1.2984702587127686, + 1.8950315713882446, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + 1.3199102878570557, + 1.9346641302108765, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + 1.3546894788742065, + 1.99895441532135, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + 1.377930760383606, + 2.041916608810425, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + 1.4112080335617065, + 2.1034305095672607, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + 1.4367772340774536, + 2.15069580078125, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + 1.4694198369979858, + 2.2110366821289062, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + 1.4983981847763062, + 2.264604091644287, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + 1.5322786569595337, + 2.327233076095581, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + 1.5668166875839233, + 2.3910775184631348, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + 1.602135181427002, + 2.456364870071411, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0, + 1.6379915475845337, + 2.4737367630004883, + 1.467335820198059, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8038179874420166, + 2.8716821670532227, + 0.7303881645202637, + 0.13628515601158142, + -0.0598384328186512, + 0.9913568496704102, + 0.08815661817789078, + 0.0 + ], + "count": [ + 1774 + ] + }, + "action.applied": { + "mean": [ + 0.29039648992535494, + 0.7915463694691524, + -1.2786349931389531, + -0.20833236472775662, + 0.7505073832954872, + -1.3211123135272653, + 0.14115685843594852, + 0.9338128478376545, + -1.439157310978267, + -0.17270807936166024, + 0.83050687612783, + -1.4502122443181955, + -0.11379023846915426, + 2.2168317181147477, + -1.829567789762641, + 0.03615779294276739, + 1.0218591515684612, + 0.017249539091906692, + 0.0035512965201928356, + -0.0035512965201928356 + ], + "std": [ + 0.11991455601766741, + 0.14005230319657466, + 0.20139553510618974, + 0.12613307546984018, + 0.1255385805739869, + 0.21370514795772913, + 0.13524319381257432, + 0.19357505137430703, + 0.21352072800300426, + 0.10275396727318224, + 0.101179516933924, + 0.23018523909586774, + 0.15067980285741003, + 0.31464917541818127, + 0.507079288205728, + 0.03489491731532118, + 0.20478253773935193, + 0.49133703426134057, + 0.010568049572253215, + 0.010568049572253215 + ], + "min": [ + -0.20130778849124908, + 0.405227929353714, + -1.7509703636169434, + -0.5329376459121704, + 0.315472275018692, + -1.669160008430481, + -0.1690889149904251, + 0.48081910610198975, + -1.7392178773880005, + -0.5121254324913025, + 0.554559051990509, + -1.721604824066162, + -0.6975391507148743, + 1.7056604623794556, + -2.7800955772399902, + -0.018861088901758194, + 0.4723162353038788, + -0.46326789259910583, + 0.0, + -0.03500000014901161 + ], + "max": [ + 0.6717394590377808, + 1.0054959058761597, + -0.6980429887771606, + 0.15366360545158386, + 0.9683988690376282, + -0.8173349499702454, + 0.4792371094226837, + 1.1951038837432861, + -0.9504404664039612, + 0.291709303855896, + 1.1013575792312622, + -0.9703599214553833, + 0.10719597339630127, + 2.780489444732666, + -0.9858155846595764, + 0.13559935986995697, + 1.2199947834014893, + 1.385320782661438, + 0.03500000014901161, + 0.0 + ], + "count": [ + 1774 + ] + }, + "extra.reward": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 1774 + ] + }, + "next.truncated": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 1774 + ] + }, + "sim_step_idx": { + "mean": [ + 1874.0 + ], + "std": [ + 1024.219214816828 + ], + "min": [ + 101.0 + ], + "max": [ + 3647.0 + ], + "count": [ + 1774 + ] + }, + "timestamp": { + "mean": [ + 35.460000000507684 + ], + "std": [ + 20.484384293657488 + ], + "min": [ + 0.0 + ], + "max": [ + 70.91999816894531 + ], + "count": [ + 1774 + ] + }, + "frame_index": { + "mean": [ + 886.5 + ], + "std": [ + 512.109607408414 + ], + "min": [ + 0.0 + ], + "max": [ + 1773.0 + ], + "count": [ + 1774 + ] + }, + "episode_index": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 1774 + ] + }, + "index": { + "mean": [ + 886.5 + ], + "std": [ + 512.109607408414 + ], + "min": [ + 0.0 + ], + "max": [ + 1773.0 + ], + "count": [ + 1774 + ] + }, + "task_index": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 1774 + ] + }, + "next.done": { + "mean": [ + 0.0005636978579481398 + ], + "std": [ + 0.023735629392815445 + ], + "min": [ + 0.0 + ], + "max": [ + 1.0 + ], + "count": [ + 1774 + ] + }, + "observation.images.head": { + "mean": [ + [ + [ + 0.39697694101249476 + ] + ], + [ + [ + 0.30425056069042544 + ] + ], + [ + [ + 0.25430314558458755 + ] + ] + ], + "std": [ + [ + [ + 0.19781614935434808 + ] + ], + [ + [ + 0.16294194683014318 + ] + ], + [ + [ + 0.14715418535148422 + ] + ] + ], + "min": [ + [ + [ + 0.00784313725490196 + ] + ], + [ + [ + 0.00392156862745098 + ] + ], + [ + [ + 0.00392156862745098 + ] + ] + ], + "max": [ + [ + [ + 0.8705882352941177 + ] + ], + [ + [ + 0.8117647058823529 + ] + ], + [ + [ + 0.7647058823529411 + ] + ] + ], + "count": [ + 100 + ] + }, + "observation.images.wrist": { + "mean": [ + [ + [ + 0.5891145579035642 + ] + ], + [ + [ + 0.3951188620891956 + ] + ], + [ + [ + 0.2735216372152796 + ] + ] + ], + "std": [ + [ + [ + 0.1355958331275719 + ] + ], + [ + [ + 0.13954812368713612 + ] + ], + [ + [ + 0.11159391686553052 + ] + ] + ], + "min": [ + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ] + ], + "max": [ + [ + [ + 1.0 + ] + ], + [ + [ + 0.9921568627450981 + ] + ], + [ + [ + 0.9764705882352941 + ] + ] + ], + "count": [ + 100 + ] + } +} \ No newline at end of file diff --git a/N034/go2_arm/dr_on/seed_2025/rec/stationbookend/000/lerobot_v21/meta/tasks.jsonl b/N034/go2_arm/dr_on/seed_2025/rec/stationbookend/000/lerobot_v21/meta/tasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e639892eae0aca859cb3ed9b82a48465787b6b4a --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2025/rec/stationbookend/000/lerobot_v21/meta/tasks.jsonl @@ -0,0 +1 @@ +{"task_index": 0, "task": "Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it."} diff --git a/N034/go2_arm/dr_on/seed_2025/rec/stationbookend/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 b/N034/go2_arm/dr_on/seed_2025/rec/stationbookend/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4405f994d5b7cf775ca278fda4df0a8cc9a14dac --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2025/rec/stationbookend/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 sha256:8fe64ca128e2ecf9afaf85f6220bba01e8e11d60d64f7ef7c3628f881cda50d0 +size 19117840 diff --git a/N034/go2_arm/dr_on/seed_2025/rec/stationbookend/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 b/N034/go2_arm/dr_on/seed_2025/rec/stationbookend/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4e155c451aa4397907deeed45efa682cc7c3ed25 --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2025/rec/stationbookend/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 sha256:30d4bc41ddf01dd0de01ba4236b45c0b300728c9a4d4ebf9bfc4a55d46e84912 +size 28002333 diff --git a/N034/go2_arm/dr_on/seed_2025/rec/stationbookend/000/run_meta.json b/N034/go2_arm/dr_on/seed_2025/rec/stationbookend/000/run_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8a3ef1c9c0610e8c95b3e3a8fe5c7d26f1cab79b --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2025/rec/stationbookend/000/run_meta.json @@ -0,0 +1,1195 @@ +{ + "run_id": "stationbookend/000", + "created": "2026-11-08 02:55:00", + "num_envs": 1, + "session_id": null, + "record_config": { + "output_dir": "/mnt/scratch/xc536_atomic/n034_go2_on_2025_r1/out/rec", + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "json_round": null, + "schema": { + "source": "robot_manager", + "nan_policy": "from_raw" + }, + "lerobot": { + "subsample_every": 2 + } + }, + "config": { + "env_string": "StationBookendEnv-V0", + "env": { + "sim": { + "device": "cpu", + "use_fabric": false, + "decimation": 4, + "dt": 0.005, + "seed": 2025, + "soft_resets": 2, + "enable_scene_query_support": true, + "scene": { + "num_envs": 1, + "env_spacing": 16 + }, + "render": { + "rendering_mode": "performance", + "enable_reflections": false, + "enable_global_illumination": false, + "enable_translucency": false, + "enable_dl_denoiser": false + } + }, + "robot": { + "Go2Plus": { + "name": "go2plus", + "type": "mobilemanip", + "common": { + "pos": [ + [ + -3.4, + -2.2, + 0.44999999999999996 + ], + [ + -3.4, + -2.2, + 0.44999999999999996 + ] + ], + "ori": [ + [ + 0, + 0, + 40.0 + ], + [ + 0, + 0, + 40.0 + ] + ], + "initial_joint_pos": null + }, + "action": { + "base_action": "unified", + "arm_action": "ik_curobo", + "eef_action": "binary" + }, + "reset": "default", + "planner": { + "dual_mode": true, + "base_joint_names": [ + "base_x", + "base_y", + "base_yaw", + "base_height" + ], + "ik": { + "type": "go2plus", + "enable": true, + "ik_num_instances": 1, + "ik_batch_size": 1, + "ik_max_goalset": 128, + "ik_num_seeds": 64, + "ik_position_threshold": 0.005, + "ik_rotation_threshold": 0.05, + "microbatch_wait_ms": 20.0, + "relative_to_world_frame": false, + "eef_num": 1, + "debug": false, + "seed_use_live_joint_pos": true + }, + "motiongen": { + "type": "go2plus", + "enable": true, + "batch_size": 1, + "debug": false, + "motiongen_num_instances": 1, + "microbatch_wait_ms": 400.0, + "mode": "position", + "relative_to_world_frame": false, + "eef_num": 1, + "seed_use_live_joint_pos": true, + "anchor_ik_seeds_to_current_state": false, + "num_trajopt_seeds": 1, + "num_ik_seeds": 4, + "max_attempts": 4, + "joint_limit_retry_weight": 100000000.0, + "start_state_limit_inset": 0.002 + }, + "body": { + "type": "nav", + "dwb_type": "dwb_quadruped", + "dwb_quadruped": { + "device": "cpu", + "dt": 0.02, + "debug": false, + "num_rollout_steps": 60, + "num_speed_samples": 11, + "num_steer_samples": 11, + "num_vx_samples": 7, + "num_vy_samples": 7, + "num_yaw_samples": 7, + "max_accel": 1.5, + "max_steer_rate": 1.5, + "max_accel_vx": 1.5, + "max_accel_vy": 1.5, + "max_yaw_accel": 1.5, + "w_goal": 6.0, + "w_path": 24.0, + "w_vel": 0.2, + "w_vy": 0.0, + "dilate_radius": 0.2, + "goal_cost_mode": "path", + "room_size": 12.0, + "occupancy_update_interval": 25, + "scan_height": 0.38, + "scan_min_z": 0.15, + "scan_max_z": 0.63, + "goal_pos_threshold": 0.16, + "goal_yaw_threshold": 0.08, + "goal_yaw_hysteresis": 0.02, + "kp_goal_yaw": 4.0, + "heading_reference": "path", + "turn_yaw_threshold": 0.8, + "heading_lookahead": 0.8, + "heading_min_leg": 0.35, + "route_yaw_gain": 2.0, + "min_vx": -0.35, + "max_vx": 0.35, + "min_vy": -0.25, + "max_vy": 0.25, + "min_yaw_rate": -0.8, + "max_yaw_rate": 0.8, + "dynamic_window_source": "command", + "default_height": 0.35, + "safety_min_progress_speed": 0.1, + "safety_stop_distance": 0.2, + "safety_enabled": true, + "safety_deceleration": 0.5, + "safety_reaction_time": 0.5, + "safety_release_distance": 0.35, + "scan_type": "3d", + "robot_type": "quadruped", + "velocity_frame": "body" + }, + "p_controller": { + "velocity_frame": "body", + "nav_upgrade_distance": 0.03, + "nav_heading_target": -1, + "kp_linear_x": 3.0, + "kd_linear_x": 0.4, + "kp_linear_y": 3.0, + "kd_linear_y": 0.4, + "kp_angular": 1.5, + "kd_angular": 0.2, + "kp_angular_turning_only": 1.5, + "kd_angular_turning_only": 0.2, + "min_vel": -0.4, + "max_vel": 0.5, + "linear_dead_zone": 0.01, + "angular_dead_zone": 0.05 + } + }, + "arm": { + "type": "default" + }, + "eef": { + "type": "default" + } + }, + "physics": { + "robot_radius": 0.5 + } + } + }, + "camera": { + "enable_tiled": false, + "colorize_depth": false, + "head": { + "camera": { + "type": "camera", + "mesh": "pinhole", + "resolution": [ + 640, + 480 + ], + "frequency": 25, + "focal_length": 1.8231182098388672, + "horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.4407838582992554, + "clipping_range": [ + 0.05, + 30.0 + ], + "focus_distance": 3.0, + "mode": "RGB", + "mount_link": "Robot_0/Bodies/go2_base", + "pos": [ + 0.332051, + 0.038027, + 0.093559 + ], + "ori": [ + 169.9473, + -88.6452, + 81.5985 + ] + }, + "annotator": { + "enabled": true, + "rgb_capture": { + "type": "rgb", + "device": "cpu" + } + } + }, + "wrist": { + "camera": { + "type": "camera", + "mesh": "pinhole", + "resolution": [ + 640, + 480 + ], + "frequency": 25, + "focal_length": 1.8517500162124634, + "horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.4393036365509033, + "clipping_range": [ + 0.05, + 30.0 + ], + "focus_distance": 3.0, + "mode": "RGB", + "mount_link": "Robot_0/Bodies/piper_link6", + "pos": [ + -0.074987, + 0.005289, + 0.045821 + ], + "ori": [ + 179.3135, + -20.212, + 88.9402 + ] + }, + "annotator": { + "enabled": true, + "rgb_capture": { + "type": "rgb", + "device": "cpu" + } + } + } + }, + "nav": { + "navmesh": { + "enabled": true, + "visualize": false, + "bake_timeout_s": 180, + "agent_height_cm": 65, + "min_agent_radius_cm": 30.0, + "max_agent_radius_cm": 30.0, + "max_step_height_cm": 20, + "max_floor_slope_deg": 30, + "agent_island_radius_cm": 5, + "auto_exclude_rigid_bodies": true, + "validate_path_clearance": true, + "validate_path_window": true, + "navmesh_offset_z_m": 0, + "verbose": false + }, + "occupancymap": { + "cell_size": 0.05 + } + }, + "scene": { + "background": { + "intensity": [ + 1000, + 1000 + ] + }, + "terrain": { + "type": "nav_room", + "collision": true, + "hide_top_walls": true, + "usd": [ + "$MAGICSIM_ASSETS/Room/Collected_SimpleRoom" + ], + "annotation": "Annotation", + "random": false, + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0, + "friction_combine_mode": "multiply", + "restitution_combine_mode": "multiply" + } + }, + "objects": { + "table_A": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "table_A_1": { + "pos": [ + -0.6033715829131192, + 0.0797046361861379, + 0.18 + ], + "ori": [ + 0.0, + 0.0, + -4.7156535793670855 + ], + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.45, + 0.35 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "table_B": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "table_B_1": { + "pos": [ + 1.7199458354185309, + 3.1397976336522224, + 0.18 + ], + "ori": [ + 0.0, + 0.0, + -5.92785250830039 + ], + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.45, + 0.35 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "slot_left": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "slot_left_1": { + "pos": [ + -0.6396471746512628, + -0.03771057340805195, + 0.3475 + ], + "ori": [ + 0.0, + 0.0, + -4.7156535793670855 + ], + "primitive_params": { + "size": [ + 0.01, + 0.12, + 0.035 + ] + }, + "visual": { + "color": [ + [ + 0.4, + 0.3, + 0.2 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "slot_right": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "slot_right_1": { + "pos": [ + -0.5868265815863042, + -0.042067745457220335, + 0.3475 + ], + "ori": [ + 0.0, + 0.0, + -4.7156535793670855 + ], + "primitive_params": { + "size": [ + 0.01, + 0.12, + 0.035 + ] + }, + "visual": { + "color": [ + [ + 0.4, + 0.3, + 0.2 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "book": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "book_1": { + "pos": [ + -0.6126713234024532, + -0.033033121803149365, + 0.40149999999999997 + ], + "ori": [ + 0.0, + 0.0, + 85.28434642063291 + ], + "primitive_params": { + "size": [ + 0.1, + 0.035, + 0.14 + ] + }, + "visual": { + "color": [ + [ + 0.78, + 0.12, + 0.12 + ] + ] + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.05, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + } + } + } + }, + "plate": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "plate_1": { + "pos": [ + 1.6812706258511008, + 3.0432757285481715, + 0.37049999999999994 + ], + "ori": [ + 0.0, + 0.0, + -5.92785250830039 + ], + "primitive_params": { + "size": [ + 0.012, + 0.14, + 0.08 + ] + }, + "visual": { + "color": [ + [ + 0.35, + 0.35, + 0.4 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "bookend": { + "usd": [ + "$MAGICSIM_ASSETS/Object/MMB_A07/bookend_l/Object.usda" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "bookend_1": { + "pos": [ + 1.790371076446179, + 3.0284561019327025, + 0.33099999999999996 + ], + "ori": [ + 0.0, + 0.0, + 84.07214749169961 + ], + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.6, + "physics_material": { + "static_friction": 0.2, + "dynamic_friction": 0.15, + "restitution": 0.0 + } + } + } + } + } + } + }, + "task": { + "new_seed_per_episode": true, + "observation": {}, + "reward": {}, + "termination": { + "timeout_steps": 30000, + "success_hold_frames": 10, + "fall_height": 0.08, + "fall_tilt": 1.0, + "lift_height": 0.12, + "grasp_distance": 0.25 + }, + "grasp": { + "mode": "generated", + "debug": false, + "floor_z": 0.03 + }, + "stance": { + "radii": [ + 0.54, + 0.58, + 0.5, + 0.46 + ], + "heights": [ + 0.26, + 0.22, + 0.3 + ], + "bearings_deg": [ + 0, + -25, + 25 + ], + "yaw_offsets_deg": [ + 0.0 + ], + "include_current": true + }, + "station": { + "task_id": "N034", + "task_version": "EXT60-MobileAvatar-v3", + "family_id": "bookend_support", + "primary_category": "C2", + "stage": "full", + "layout": { + "floor_z": 0.03, + "start": { + "x": -3.4, + "y": -2.2, + "yaw_deg": 40.0, + "radius": 0.3, + "yaw_spread_deg": 20.0 + }, + "stations": { + "A": { + "center": [ + -0.6033715829131192, + 0.0797046361861379 + ], + "facing_deg": 85.28434642063291, + "standoff": 0.7, + "table": { + "width": 0.9, + "depth": 0.5, + "height": 0.3 + } + }, + "B": { + "center": [ + 1.7199458354185309, + 3.1397976336522224 + ], + "facing_deg": 84.07214749169961, + "standoff": 0.7, + "table": { + "width": 0.9, + "depth": 0.5, + "height": 0.3 + } + } + } + }, + "route": [ + "A", + "B" + ], + "book": "book", + "bookend": "bookend", + "plate": "plate", + "dr": { + "enabled": true, + "stations": { + "center_m": 0.25, + "facing_deg": 8.0 + }, + "objects": { + "across_m": 0.025, + "along_m": 0.02, + "yaw_deg": 8.0 + } + }, + "book_slot": { + "across": -0.001 + }, + "push": { + "height": 0.025, + "overshoot": -0.002 + }, + "place_check": { + "book": { + "at": { + "station": "B", + "across": -0.001, + "along": -0.1, + "z": 0.0725 + }, + "yaw_deg": 90.0, + "clearance": 0.004 + } + }, + "success": { + "upright_deg": 15.0, + "rest_z_tol": 0.02, + "contact_gap": 0.006, + "max_penetration": 0.01, + "min_push": 0.04, + "release_dist": 0.15, + "rest_speed": 0.03, + "lift": 0.08 + }, + "objects": { + "slot_left": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.01, + 0.12, + 0.035 + ], + "at": { + "station": "A", + "across": -0.0265, + "along": -0.12, + "z": 0.0175 + }, + "color": [ + 0.4, + 0.3, + 0.2 + ], + "pos": [ + -0.6396471746512628, + -0.03771057340805195, + 0.3475 + ], + "yaw_deg": -4.7156535793670855 + }, + "slot_right": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.01, + 0.12, + 0.035 + ], + "at": { + "station": "A", + "across": 0.0265, + "along": -0.12, + "z": 0.0175 + }, + "color": [ + 0.4, + 0.3, + 0.2 + ], + "pos": [ + -0.5868265815863042, + -0.042067745457220335, + 0.3475 + ], + "yaw_deg": -4.7156535793670855 + }, + "book": { + "jitter": { + "across_m": 0.0, + "yaw_deg": 0.0 + }, + "asset": "Cube", + "type": "rigid", + "size": [ + 0.1, + 0.035, + 0.14 + ], + "yaw_deg": 85.28434642063291, + "at": { + "station": "A", + "across": 0.0, + "along": -0.11312067560627484, + "z": 0.0715 + }, + "mass": 0.05, + "color": [ + 0.78, + 0.12, + 0.12 + ], + "friction": { + "static": 1.5, + "dynamic": 1.5 + }, + "grasp": { + "part": "body", + "thin_axis": 1, + "min_elevation_deg": 60.0, + "approach_deg": [ + 0, + 15, + 30, + 45, + 60, + 75, + 90, + 105, + 120, + 135, + 150, + 165, + 180, + 195, + 210, + 225, + 240, + 255, + 270, + 285, + 300, + 315, + 330, + 345 + ], + "inset": 0.012 + }, + "pos": [ + -0.6126713234024532, + -0.033033121803149365, + 0.40149999999999997 + ] + }, + "plate": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.012, + 0.14, + 0.08 + ], + "at": { + "station": "B", + "across": -0.0285, + "along": -0.1, + "z": 0.0405 + }, + "color": [ + 0.35, + 0.35, + 0.4 + ], + "pos": [ + 1.6812706258511008, + 3.0432757285481715, + 0.37049999999999994 + ], + "yaw_deg": -5.92785250830039 + }, + "bookend": { + "jitter": { + "across_m": 0.01, + "yaw_deg": 0.0 + }, + "catalog": "bookend_l", + "type": "rigid", + "yaw_deg": 84.07214749169961, + "at": { + "station": "B", + "across": 0.08154757381953319, + "along": -0.10347291657046764, + "z": 0.001 + }, + "friction": { + "static": 0.2, + "dynamic": 0.15 + }, + "asset": "$MAGICSIM_ASSETS/Object/MMB_A07/bookend_l/Object.usda", + "parts": [ + { + "name": "wall", + "center": [ + 0.0, + 0.0, + 0.03 + ], + "half": [ + 0.06, + 0.006, + 0.03 + ], + "rpy_deg": [ + 0.0, + 0.0, + 0.0 + ] + }, + { + "name": "foot", + "center": [ + 0.0, + -0.036, + 0.004 + ], + "half": [ + 0.06, + 0.03, + 0.004 + ], + "rpy_deg": [ + 0.0, + 0.0, + 0.0 + ] + } + ], + "mass": 0.6, + "com": [ + 0.0, + -0.01, + 0.03 + ], + "pos": [ + 1.790371076446179, + 3.0284561019327025, + 0.33099999999999996 + ] + } + }, + "planner_seeds": "lean", + "report_jsonl": "/mnt/scratch/xc536_atomic/n034_go2_on_2025_r1/out/report.episodes.jsonl", + "dr_applied": true, + "level": "easy" + }, + "command": { + "StationBookend": { + "obj_type": "rigid", + "obj_name": "book", + "obj_id": 0, + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.05, + "settle_ticks": 120 + } + } + }, + "collect": { + "global_planner": { + "NavTo": { + "use_navmesh": true, + "use_absolute": true, + "translation_threshold": 0.2, + "rotation_threshold": 0.15, + "num_path_segments": 30, + "start_forward_offset": 0.0, + "visualize_path": false, + "carry_arm": true + }, + "RetractMoveL": { + "translation_threshold": 0.06, + "rotation_threshold": 0.3, + "motiongen_distance_threshold": 0.05, + "timeout_steps": 2000, + "base_pos_threshold": 0.12, + "base_rot_threshold": 0.5, + "eef_pos_threshold": 0.03, + "eef_rot_threshold": 0.3, + "base_waypoint_max_steps": 20, + "arm_waypoint_max_steps": 8 + }, + "MobileMoveL": { + "translation_threshold": 0.006, + "rotation_threshold": 0.2, + "motiongen_distance_threshold": 0.05, + "timeout_steps": 1500, + "stall_release_ticks": 100, + "stall_release_factor": 5.0, + "reactive": false, + "base_pos_threshold": 0.12, + "base_rot_threshold": 0.5, + "eef_pos_threshold": 0.03, + "eef_rot_threshold": 0.3, + "waypoint_max_steps": 8, + "interp_steps": 60, + "interp_validate_target": true, + "retry_mobile_on_locked_plan_failure": true + }, + "MobileServoL": { + "base_pos_threshold": 0.12, + "waypoint_max_steps": 20, + "translation_threshold": 0.05, + "timeout_steps": 300 + }, + "ParallelGripper": { + "gripper_threshold": 0.0005, + "timeout_steps": 60 + } + }, + "atomic_skill": { + "NavToPose": { + "robot_id": 0, + "show_marker": false + }, + "Move": { + "arm_planner": "MobileMoveL", + "hand_planner": "ParallelGripper", + "obstacle_avoid_paths": [], + "obstacle_ignore_paths": [], + "close_value": 1.0, + "open_value": 0.0, + "hold_steps": 10 + }, + "ReachStance": { + "check_current_first": true, + "stance_margin": 0.03, + "max_reach": 0.85, + "max_walks": 4, + "reject_radius": 0.05, + "obstacle_avoidance": [ + "dynamic" + ], + "walk_planner": "MobileServoL", + "strategy_kwargs": { + "reach_steps": 2 + }, + "debug": false + }, + "Grasp": { + "pre_grasp_offset": 0.1, + "retrieval_offset": 0.1, + "mobile": true, + "pre_grasp_planner": "MobileMoveL", + "pre_grasp_mode": -1, + "grasp_mode": 4, + "retrieval_mode": 4, + "goalset_lock_base": true, + "reactive": false, + "viz_grasp": false + } + }, + "command": { + "StationBookend": { + "obj_type": "rigid", + "obj_name": "book", + "obj_id": 0, + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.05, + "settle_ticks": 120 + } + }, + "auto_collect": {}, + "record": { + "output_dir": "/mnt/scratch/xc536_atomic/n034_go2_on_2025_r1/out/rec", + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "json_round": null, + "schema": { + "source": "robot_manager", + "nan_policy": "from_raw" + }, + "lerobot": { + "subsample_every": 2 + } + } + }, + "visual_dr": { + "keep": [ + "book", + "book_other", + "bookend" + ] + } + }, + "git_sha": null, + "collect_runtime": { + "max_trajectories": 1 + } +} \ No newline at end of file diff --git a/N034/go2_arm/dr_on/seed_2025/rec/stationbookend/000/sim_info/0/actions.npz b/N034/go2_arm/dr_on/seed_2025/rec/stationbookend/000/sim_info/0/actions.npz new file mode 100644 index 0000000000000000000000000000000000000000..172ea3f4ceb6e5563148972ddb158a9e898d41e5 --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2025/rec/stationbookend/000/sim_info/0/actions.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f9d4c5a488f074b0d12e63e8e7dc805da4d9c86eca102f97474706396877e508 +size 761452 diff --git a/N034/go2_arm/dr_on/seed_2025/rec/stationbookend/000/sim_info/0/device_commands.jsonl b/N034/go2_arm/dr_on/seed_2025/rec/stationbookend/000/sim_info/0/device_commands.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N034/go2_arm/dr_on/seed_2025/rec/stationbookend/000/sim_info/0/device_events.jsonl b/N034/go2_arm/dr_on/seed_2025/rec/stationbookend/000/sim_info/0/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N034/go2_arm/dr_on/seed_2025/rec/stationbookend/000/sim_info/0/scene_snapshot.json b/N034/go2_arm/dr_on/seed_2025/rec/stationbookend/000/sim_info/0/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..11f73c5564cbeb4b62e2f7c0666407fd8920f889 --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2025/rec/stationbookend/000/sim_info/0/scene_snapshot.json @@ -0,0 +1,523 @@ +{ + "trajectory_id": 0, + "env_id": 0, + "run_id": "stationbookend/000", + "task_type": "BookendCommand", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])", + "avatars": "avatar_manager.set_avatars_state(snapshot['avatars'], env_ids=[env_id]) (present when the scene has animated avatars)" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "table_A": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.6033715829131192, + 0.0797046361861379, + 0.18 + ], + "ori": [ + 0.9991533756256104, + 0.0, + 0.0, + -0.041140228509902954 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.45, + 0.35 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + } + }, + "type_specific": {} + } + ], + "table_B": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 1.7199458354185309, + 3.1397976336522224, + 0.18 + ], + "ori": [ + 0.9986622929573059, + 0.0, + 0.0, + -0.051707204431295395 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.45, + 0.35 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + } + }, + "type_specific": {} + } + ], + "slot_left": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.6396471746512628, + -0.03771057340805195, + 0.3475 + ], + "ori": [ + 0.9991533756256104, + 0.0, + 0.0, + -0.041140228509902954 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.4, + 0.3, + 0.2 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.01, + 0.12, + 0.035 + ] + } + }, + "type_specific": {} + } + ], + "slot_right": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.5868265815863042, + -0.042067745457220335, + 0.3475 + ], + "ori": [ + 0.9991533756256104, + 0.0, + 0.0, + -0.041140228509902954 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.4, + 0.3, + 0.2 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.01, + 0.12, + 0.035 + ] + } + }, + "type_specific": {} + } + ], + "book": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.6126722097396851, + -0.03303326666355133, + 0.3999997079372406 + ], + "ori": [ + 0.7355988025665283, + -2.892513293772936e-06, + -4.153451754973503e-06, + 0.6774173974990845 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.78, + 0.12, + 0.12 + ], + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.05, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.1, + 0.035, + 0.14 + ] + } + }, + "type_specific": { + "linear_velocity": [ + -1.647230783419218e-05, + -1.5057365089887753e-05, + -8.008370059542358e-05 + ], + "angular_velocity": [ + 0.0005204668268561363, + -0.0015564471250399947, + -0.00015354028437286615 + ] + } + } + ], + "plate": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 1.6812706258511008, + 3.0432757285481715, + 0.37049999999999994 + ], + "ori": [ + 0.9986622929573059, + 0.0, + 0.0, + -0.051707204431295395 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.35, + 0.35, + 0.4 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.012, + 0.14, + 0.08 + ] + } + }, + "type_specific": {} + } + ], + "bookend": [ + { + "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MMB_A07/bookend_l/Object.usda", + "pose": { + "pos": [ + 1.790371060371399, + 3.028456211090088, + 0.33000001311302185 + ], + "ori": [ + 0.7427235841751099, + 2.384185791015625e-07, + 1.9371509552001953e-07, + 0.6695981621742249 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.6, + "physics_material": { + "static_friction": 0.2, + "dynamic_friction": 0.15, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.0892727431155436e-07, + -2.3141284088978864e-07, + -1.0674918939912459e-06 + ], + "angular_velocity": [ + 2.5723771614138968e-05, + -2.1466768885147758e-05, + -5.927988695475506e-07 + ] + } + } + ] + } + ], + "artifacts": [ + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1000.0, + "texture": null, + "color": [ + 0.85, + 0.85, + 0.85 + ] + } + } + }, + "robots": { + "Go2Plus": { + "root_pose": [ + [ + -3.2217860221862793, + -2.4237334728240967, + 0.35195571184158325, + 0.90137779712677, + 0.006224465556442738, + -0.004093177616596222, + 0.43296951055526733 + ] + ], + "root_vel": [ + [ + -0.0007149496814236045, + -0.0010394678683951497, + -0.0007712551741860807, + -0.008809034712612629, + 0.008030836470425129, + 0.000779851689003408 + ] + ], + "joint_pos": [ + [ + 0.04198399558663368, + -0.03652957081794739, + -0.07499123364686966, + 0.08057499676942825, + -0.00010854331776499748, + 0.6491756439208984, + 0.7324033975601196, + 1.0183098316192627, + 1.0110844373703003, + 1.7056617736816406, + -1.521714210510254, + -1.5529032945632935, + -1.5943586826324463, + -1.6174259185791016, + -0.9956302046775818, + 4.2802206735359505e-05, + 0.6994917392730713, + -5.505963054019958e-05, + 0.03500000014901161, + -0.03499802574515343 + ] + ], + "joint_vel": [ + [ + -0.0006545595824718475, + -0.0012096255086362362, + 0.0006379051483236253, + -0.0006611030548810959, + 0.0004695384413935244, + -0.0078053236939013, + -0.006466128397732973, + -0.023526588454842567, + -0.02257348783314228, + -0.03686174750328064, + -0.019499124959111214, + -0.01989906281232834, + 0.008801119402050972, + 0.008011949248611927, + -0.02677082270383835, + -0.0005665421485900879, + 0.011367247439920902, + 0.0005960123962722719, + -1.7635684912420402e-08, + 7.879250915721059e-06 + ] + ] + } + }, + "cameras": { + "cameras": { + "head": [ + [ + 0.33205100893974304, + 0.038026999682188034, + 0.09355899691581726, + -0.5022302269935608, + -0.499491810798645, + 0.5120040774345398, + 0.4859265089035034 + ] + ], + "wrist": [ + [ + -0.0749870017170906, + 0.005288999993354082, + 0.04582099989056587, + 0.1271296590566635, + 0.701795220375061, + -0.6904057860374451, + -0.12108422070741653 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/N034/go2_arm/dr_on/seed_2025/rec/stationbookend/000/sim_info/0/sim_states.npz b/N034/go2_arm/dr_on/seed_2025/rec/stationbookend/000/sim_info/0/sim_states.npz new file mode 100644 index 0000000000000000000000000000000000000000..e289e0c9e38111674f6576f29463bda56bf3605e --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2025/rec/stationbookend/000/sim_info/0/sim_states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:145186d5aabd97f8e8fd688007c438754c77636d92b624d1f884cba10c3e84db +size 807647 diff --git a/N034/go2_arm/dr_on/seed_2025/rec/stationbookend/000/sim_info/magicsim_manifest.json b/N034/go2_arm/dr_on/seed_2025/rec/stationbookend/000/sim_info/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..1e091ca9af282903e1002ac7bd75349257d48eae --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2025/rec/stationbookend/000/sim_info/magicsim_manifest.json @@ -0,0 +1,259 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 03:16:18" + }, + "embodiment": { + "robots": [ + { + "name": "Go2Plus", + "cfg": "Go2PlusCfg", + "type": "mobilemanip", + "joint_names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 12, + "nan_policy": "from_raw", + "segments": [ + { + "name": "Go2Plus.base_action", + "start": 0, + "end": 4, + "names": [ + "base_action_0", + "base_action_1", + "base_action_2", + "base_action_3" + ], + "source": "Go2UnifiedLocomotionAction", + "names_source": "fallback" + }, + { + "name": "Go2Plus.arm_action", + "start": 4, + "end": 11, + "names": [ + "eef0.pos_x", + "eef0.pos_y", + "eef0.pos_z", + "eef0.quat_w", + "eef0.quat_x", + "eef0.quat_y", + "eef0.quat_z" + ], + "source": "Go2PlusCuroboIKAction", + "names_source": "pose_layout" + }, + { + "name": "Go2Plus.eef_action", + "start": 11, + "end": 12, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 26, + "segments": [ + { + "name": "Go2Plus.joint_pos", + "start": 0, + "end": 24, + "names": [ + "joint_0", + "joint_1", + "joint_2", + "joint_3", + "joint_4", + "joint_5", + "joint_6", + "joint_7", + "joint_8", + "joint_9", + "joint_10", + "joint_11", + "joint_12", + "joint_13", + "joint_14", + "joint_15", + "joint_16", + "joint_17", + "joint_18", + "joint_19", + "joint_20", + "joint_21", + "joint_22", + "joint_23" + ], + "source": "ObservationManager", + "names_source": "fallback_dim_mismatch(joint_names=20,obs=24)" + }, + { + "name": "Go2Plus.gripper_pos", + "start": 24, + "end": 26, + "names": [ + "gripper_0", + "gripper_1" + ], + "source": "ObservationManager", + "names_source": "generated" + } + ] + }, + "joint_vel_layout": { + "dim": 20, + "segments": [ + { + "name": "Go2Plus.joint_vel", + "start": 0, + "end": 20, + "names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "action_levels": { + "L0": "task command list (collect.auto_collect_info.current_action)", + "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)", + "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)", + "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy", + "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)" + }, + "cameras": { + "head": { + "intrinsics": { + "K": [ + [ + 607.7061061683956, + 0.0, + 320.0 + ], + [ + 0.0, + 607.3754374751866, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 55.53991912549515, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.33205100893974304, + 0.038026999682188034, + 0.09355899691581726 + ], + "quat": [ + -0.5022302269935608, + -0.499491810798645, + 0.5120040774345398, + 0.4859265089035034 + ] + }, + "wrist": { + "intrinsics": { + "K": [ + [ + 617.2500342478374, + 0.0, + 320.0 + ], + [ + 0.0, + 617.548655622722, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 54.807019583348044, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + -0.0749870017170906, + 0.005288999993354082, + 0.04582099989056587 + ], + "quat": [ + 0.1271296590566635, + 0.701795220375061, + -0.6904057860374451, + -0.12108422070741653 + ] + } + }, + "generated_run": { + "run_id": "stationbookend/000", + "task_type": "BookendCommand" + } +} \ No newline at end of file diff --git a/N034/go2_arm/dr_on/seed_2025/rec/stationbookend/000/visual_dr.json b/N034/go2_arm/dr_on/seed_2025/rec/stationbookend/000/visual_dr.json new file mode 100644 index 0000000000000000000000000000000000000000..57b196ad99ac5f4df2c395c28f9dfbb6f23f22f8 --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2025/rec/stationbookend/000/visual_dr.json @@ -0,0 +1,677 @@ +{ + "version": 1, + "settings": { + "enabled": false, + "keep": [ + "book", + "book_other", + "bookend" + ], + "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": 2025, + "seeds": { + "0": 2025 + }, + "lights": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/RectLight", + "type": "RectLight", + "intensity": 12269.583131, + "intensity_base": 15000.0, + "enable_color_temperature": true, + "color_temperature_k": 3905.257738, + "rotate_deg": [ + 4.703, + -0.359, + -1.358 + ] + } + ], + "domes": [ + { + "path": "/World/background", + "type": "DomeLight", + "intensity": 654.487944, + "intensity_base": 1000.0, + "enable_color_temperature": true, + "color_temperature_k": 5660.446574, + "rotate_deg": [ + 0.0, + 0.0, + 289.77 + ], + "dome": { + "path": "/World/background", + "hdr_base": null, + "color": [ + 0.73848, + 0.77112, + 0.784805 + ] + } + } + ], + "materials": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light", + "shader": "omnipbr", + "color": [ + 0.7246, + 0.7235, + 0.6408 + ], + "color_base": [ + 1.0, + 1.0, + 1.0 + ], + "roughness": 0.449594, + "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/Wood/Wood_Tiles_Beech.mdl", + "material": "/MmbVdrLooks/Source_Wood_Wood_Tiles_Beech", + "bound_prims": 1, + "pool_size": 42, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic", + "role": "wall", + "mdl": "Source/Paint/Paint_Gun_Metal.mdl", + "material": "/MmbVdrLooks/Source_Paint_Paint_Gun_Metal", + "bound_prims": 17, + "pool_size": 28, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic2", + "role": "wall", + "mdl": "Source/Ceramic/Ceramic_Tiles_Glazed_Subway.mdl", + "material": "/MmbVdrLooks/Source_Ceramic_Ceramic_Tiles_Glazed_Subway", + "bound_prims": 22, + "pool_size": 28, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WoodWall", + "role": "wall", + "mdl": "Source/Concrete/Concrete_Wall_Even.mdl", + "material": "/MmbVdrLooks/Source_Concrete_Concrete_Wall_Even", + "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": { + "book": 1, + "book_other": 0, + "bookend": 2 + }, + "physics_skip": { + "physics_binding": 8, + "rigid_body": 222, + "examples": [ + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calf_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calf_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calf_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calflower_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calflower1_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_foot_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_foot_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_hip/go2_FL_hip_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_hip/go2_FL_hip_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_hip/go2_FL_hip_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_thigh/go2_FL_thigh_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_thigh/go2_FL_thigh_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_thigh/go2_FL_thigh_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calf_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calf_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calf_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calflower_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calflower1_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_foot_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_foot_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_hip/go2_FR_hip_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_hip/go2_FR_hip_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_hip/go2_FR_hip_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_thigh/go2_FR_thigh_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_thigh/go2_FR_thigh_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_thigh/go2_FR_thigh_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calf_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calf_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calf_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calflower_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calflower1_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_foot_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_foot_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_hip/go2_RL_hip_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_hip/go2_RL_hip_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_hip/go2_RL_hip_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_thigh/go2_RL_thigh_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_thigh/go2_RL_thigh_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_thigh/go2_RL_thigh_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RR_calf/go2_RR_calf_geometry/visual_0", + "rigid_body" + ] + ] + }, + "material_library": { + "root": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Material", + "pool_sizes": { + "ground": 42, + "wall": 28, + "furniture": 38, + "object": 54 + } + }, + "no_swap": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass", + "reason": "glass", + "bound_prims": 1 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light", + "reason": "emissive", + "bound_prims": 1 + } + ], + "unsupported": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass", + "mdl": "OmniGlass.mdl", + "bound_prims": 1 + } + ] + }, + { + "env_ids": [ + 0 + ], + "reset_index": 1, + "episode_seed": 2026, + "seeds": { + "0": 2026 + }, + "lights": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/RectLight", + "type": "RectLight", + "intensity": 11475.017027, + "intensity_base": 15000.0, + "enable_color_temperature": true, + "color_temperature_k": 7261.408418, + "rotate_deg": [ + -0.161, + 3.451, + -4.327 + ] + } + ], + "domes": [ + { + "path": "/World/background", + "type": "DomeLight", + "intensity": 737.044105, + "intensity_base": 1000.0, + "enable_color_temperature": true, + "color_temperature_k": 3620.880297, + "rotate_deg": [ + 0.0, + 0.0, + 157.295 + ], + "dome": { + "path": "/World/background", + "hdr_base": null, + "color": [ + 0.821355, + 0.780895, + 0.70244 + ] + } + } + ], + "materials": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light", + "shader": "omnipbr", + "color": [ + 0.7072, + 0.8617, + 0.9263 + ], + "color_base": [ + 1.0, + 1.0, + 1.0 + ], + "roughness": 0.428704, + "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/Ceramic/Ceramic_Tiles_Glazed_Subway.mdl", + "material": "/MmbVdrLooks/Source_Ceramic_Ceramic_Tiles_Glazed_Subway", + "bound_prims": 1, + "pool_size": 42, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic", + "role": "wall", + "mdl": "Source/Paint/Paint_Gun_Metal.mdl", + "material": "/MmbVdrLooks/Source_Paint_Paint_Gun_Metal", + "bound_prims": 17, + "pool_size": 28, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic2", + "role": "wall", + "mdl": "Source/Masonry/Facade_Brick_Grey.mdl", + "material": "/MmbVdrLooks/Source_Masonry_Facade_Brick_Grey", + "bound_prims": 22, + "pool_size": 28, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WoodWall", + "role": "wall", + "mdl": "Source/Stone/Padang_Dark_Gray.mdl", + "material": "/MmbVdrLooks/Source_Stone_Padang_Dark_Gray", + "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": { + "book": 1, + "book_other": 0, + "bookend": 2 + }, + "physics_skip": { + "physics_binding": 8, + "rigid_body": 222, + "examples": [ + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calf_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calf_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calf_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calflower_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calflower1_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_foot_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_foot_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_hip/go2_FL_hip_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_hip/go2_FL_hip_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_hip/go2_FL_hip_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_thigh/go2_FL_thigh_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_thigh/go2_FL_thigh_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FL_thigh/go2_FL_thigh_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calf_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calf_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calf_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calflower_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calflower1_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_foot_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_foot_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_hip/go2_FR_hip_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_hip/go2_FR_hip_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_hip/go2_FR_hip_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_thigh/go2_FR_thigh_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_thigh/go2_FR_thigh_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_FR_thigh/go2_FR_thigh_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calf_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calf_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calf_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calflower_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calflower1_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_foot_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_foot_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_hip/go2_RL_hip_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_hip/go2_RL_hip_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_hip/go2_RL_hip_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_thigh/go2_RL_thigh_geometry/visual_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_thigh/go2_RL_thigh_geometry/visual_1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RL_thigh/go2_RL_thigh_geometry/collision_0", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/Bodies/go2_RR_calf/go2_RR_calf_geometry/visual_0", + "rigid_body" + ] + ] + }, + "material_library": { + "root": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Material", + "pool_sizes": { + "ground": 42, + "wall": 28, + "furniture": 38, + "object": 54 + } + }, + "no_swap": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass", + "reason": "glass", + "bound_prims": 1 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light", + "reason": "emissive", + "bound_prims": 1 + } + ], + "unsupported": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass", + "mdl": "OmniGlass.mdl", + "bound_prims": 1 + } + ] + } + ] +} \ No newline at end of file diff --git a/N034/go2_arm/dr_on/seed_2025/report.episodes.jsonl b/N034/go2_arm/dr_on/seed_2025/report.episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ca91e43ec701f520cc53d2709693b46664daf624 --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2025/report.episodes.jsonl @@ -0,0 +1 @@ +{"task_id": "N034", "task_version": "EXT60-MobileAvatar-v3", "instruction": null, "agent_id": "a07", "family_id": "bookend_support", "primary_category": "C2", "level": "easy", "embodiment": "go2_arm", "scene_seed": 2025, "execution_mode": "expert_privileged_command", "station_layout": {"A": {"center": [-0.6033715829131192, 0.0797046361861379], "facing": 1.488, "stand": [-0.681, -0.867, 1.488]}, "B": {"center": [1.7199458354185309, 3.1397976336522224], "facing": 1.467, "stand": [1.622, 2.195, 1.467]}}, "spawn_pose": [-3.216, -2.416, 0.891], "base_path": [[-3.216, -2.417, 0.891], [-3.219, -2.42, 0.898], [-3.221, -2.422, 0.896], [-3.221, -2.423, 0.896], [-3.222, -2.424, 0.896], [-3.164, -2.38, 0.826], [-3.048, -2.299, 0.593], [-2.899, -2.221, 0.512], [-2.747, -2.141, 0.516], [-2.599, -2.054, 0.524], [-2.452, -1.966, 0.53], [-2.304, -1.878, 0.531], [-2.157, -1.79, 0.529], [-2.011, -1.701, 0.526], [-1.864, -1.613, 0.532], [-1.718, -1.525, 0.531], [-1.571, -1.437, 0.532], [-1.423, -1.35, 0.531], [-1.276, -1.261, 0.528], [-1.129, -1.173, 0.527], [-0.982, -1.085, 0.529], [-0.853, -1.001, 0.531], [-0.782, -0.951, 0.588], [-0.779, -0.942, 0.918], [-0.776, -0.942, 1.325], [-0.776, -0.935, 1.567], [-0.76, -0.845, 1.505], [-0.735, -0.735, 1.44], [-0.718, -0.624, 1.418], [-0.716, -0.575, 1.417], [-0.717, -0.588, 1.409], [-0.716, -0.591, 1.407], [-0.717, -0.594, 1.407], [-0.719, -0.588, 1.402], [-0.719, -0.584, 1.399], [-0.717, -0.585, 1.403], [-0.717, -0.586, 1.403], [-0.717, -0.586, 1.403], [-0.717, -0.587, 1.403], [-0.717, -0.588, 1.404], [-0.717, -0.589, 1.403], [-0.717, -0.593, 1.402], [-0.718, -0.595, 1.403], [-0.717, -0.594, 1.408], [-0.716, -0.594, 1.409], [-0.715, -0.596, 1.353], [-0.714, -0.6, 1.012], [-0.721, -0.601, 0.591], [-0.695, -0.584, 0.194], [-0.575, -0.572, 0.043], [-0.461, -0.57, 0.058], [-0.357, -0.556, 0.09], [-0.253, -0.541, 0.104], [-0.159, -0.526, 0.105], [-0.064, -0.473, 0.102], [0.006, -0.403, 0.261], [0.018, -0.39, 0.648], [0.049, -0.359, 0.999], [0.111, -0.266, 1.096], [0.169, -0.17, 1.105], [0.229, -0.062, 1.098], [0.288, 0.047, 1.073], [0.346, 0.151, 1.062], [0.403, 0.253, 1.061], [0.459, 0.354, 1.064], [0.515, 0.456, 1.065], [0.57, 0.558, 1.064], [0.626, 0.658, 1.063], [0.678, 0.757, 1.064], [0.729, 0.855, 1.065], [0.784, 0.954, 1.064], [0.84, 1.054, 1.065], [0.893, 1.156, 1.064], [0.947, 1.256, 1.064], [1.003, 1.356, 1.065], [1.057, 1.456, 1.065], [1.111, 1.558, 1.064], [1.165, 1.663, 1.063], [1.219, 1.762, 1.064], [1.272, 1.859, 1.065], [1.326, 1.957, 1.066], [1.382, 2.057, 1.064], [1.436, 2.157, 1.064], [1.49, 2.257, 1.063], [1.54, 2.347, 1.066], [1.548, 2.376, 1.263], [1.547, 2.378, 1.518], [1.547, 2.378, 1.528], [1.549, 2.38, 1.492], [1.549, 2.387, 1.478], [1.548, 2.393, 1.476], [1.548, 2.395, 1.475], [1.548, 2.396, 1.476], [1.548, 2.396, 1.476], [1.548, 2.396, 1.476], [1.548, 2.396, 1.476], [1.548, 2.396, 1.476], [1.548, 2.396, 1.476], [1.548, 2.396, 1.476], [1.548, 2.396, 1.476], [1.548, 2.396, 1.476], [1.548, 2.396, 1.476], [1.548, 2.396, 1.475], [1.548, 2.396, 1.475], [1.548, 2.396, 1.476], [1.548, 2.397, 1.475], [1.548, 2.396, 1.476], [1.548, 2.396, 1.475], [1.548, 2.397, 1.478], [1.547, 2.397, 1.478], [1.547, 2.397, 1.478], [1.547, 2.396, 1.476], [1.547, 2.396, 1.476], [1.547, 2.396, 1.476], [1.547, 2.396, 1.476], [1.547, 2.396, 1.476], [1.547, 2.396, 1.476], [1.547, 2.395, 1.478], [1.547, 2.387, 1.464], [1.553, 2.377, 1.369], [1.563, 2.41, 1.292], [1.575, 2.49, 1.237], [1.575, 2.513, 1.217], [1.573, 2.503, 1.21], [1.574, 2.502, 1.209], [1.574, 2.502, 1.208], [1.576, 2.506, 1.209], [1.574, 2.504, 1.216], [1.574, 2.499, 1.21], [1.573, 2.5, 1.213], [1.575, 2.499, 1.224], [1.575, 2.497, 1.221], [1.575, 2.498, 1.22], [1.574, 2.498, 1.22], [1.577, 2.496, 1.198], [1.58, 2.495, 1.187], [1.582, 2.495, 1.175], [1.583, 2.496, 1.173], [1.578, 2.498, 1.207], [1.575, 2.498, 1.221], [1.575, 2.498, 1.221], [1.575, 2.498, 1.221], [1.575, 2.498, 1.222], [1.575, 2.498, 1.222], [1.576, 2.499, 1.222], [1.576, 2.498, 1.221]], "stage_events": [{"tick": 460, "event": "enter_station", "station": "A", "xy": [-1.224, -1.229]}, {"tick": 1702, "event": "leave_station", "station": "A", "xy": [0.68, 0.76]}, {"tick": 1955, "event": "enter_station", "station": "B", "xy": [1.228, 1.777]}], "transport_state": {"book": {"held": false, "grasps": 1}}, "manipulation_success": true, "mobile_success": true, "full_success": true, "failure_reason": null, "fail_class_hint": null, "distance_to_first_interaction": 2.34, "interstation_path_lengths": [4.306], "station_transition_order": ["A", "B"], "final_approach_pose": [1.576, 2.498, 1.221], "regrasp_events": 0, "control_ticks": 3115, "wall_s": 1090.6, "phase": "done", "state": "success: task sequence complete", "check": {"book": [1.709, 3.04, 0.4], "dist_wrist": 0.187, "held": false, "upright_deg": 0.0, "rest_z": true, "gaps": {"plate": 0.0028, "bookend": 0.0004}, "pushed": true, "released": true, "at_rest": true, "manipulation_success": true}, "route": ["A", "B"], "total_path_m": 7.62, "planner_seeds": "lean"} diff --git a/N034/go2_arm/dr_on/seed_2025/report.json b/N034/go2_arm/dr_on/seed_2025/report.json new file mode 100644 index 0000000000000000000000000000000000000000..11ff825e8e2024726244908676211edebb221282 --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2025/report.json @@ -0,0 +1,954 @@ +{ + "task_id": "N034", + "level": "easy", + "seed": 2025, + "episodes_requested": 1, + "episodes": [ + { + "task_id": "N034", + "task_version": "EXT60-MobileAvatar-v3", + "instruction": null, + "agent_id": "a07", + "family_id": "bookend_support", + "primary_category": "C2", + "level": "easy", + "embodiment": "go2_arm", + "scene_seed": 2025, + "execution_mode": "expert_privileged_command", + "station_layout": { + "A": { + "center": [ + -0.6033715829131192, + 0.0797046361861379 + ], + "facing": 1.488, + "stand": [ + -0.681, + -0.867, + 1.488 + ] + }, + "B": { + "center": [ + 1.7199458354185309, + 3.1397976336522224 + ], + "facing": 1.467, + "stand": [ + 1.622, + 2.195, + 1.467 + ] + } + }, + "spawn_pose": [ + -3.216, + -2.416, + 0.891 + ], + "base_path": [ + [ + -3.216, + -2.417, + 0.891 + ], + [ + -3.219, + -2.42, + 0.898 + ], + [ + -3.221, + -2.422, + 0.896 + ], + [ + -3.221, + -2.423, + 0.896 + ], + [ + -3.222, + -2.424, + 0.896 + ], + [ + -3.164, + -2.38, + 0.826 + ], + [ + -3.048, + -2.299, + 0.593 + ], + [ + -2.899, + -2.221, + 0.512 + ], + [ + -2.747, + -2.141, + 0.516 + ], + [ + -2.599, + -2.054, + 0.524 + ], + [ + -2.452, + -1.966, + 0.53 + ], + [ + -2.304, + -1.878, + 0.531 + ], + [ + -2.157, + -1.79, + 0.529 + ], + [ + -2.011, + -1.701, + 0.526 + ], + [ + -1.864, + -1.613, + 0.532 + ], + [ + -1.718, + -1.525, + 0.531 + ], + [ + -1.571, + -1.437, + 0.532 + ], + [ + -1.423, + -1.35, + 0.531 + ], + [ + -1.276, + -1.261, + 0.528 + ], + [ + -1.129, + -1.173, + 0.527 + ], + [ + -0.982, + -1.085, + 0.529 + ], + [ + -0.853, + -1.001, + 0.531 + ], + [ + -0.782, + -0.951, + 0.588 + ], + [ + -0.779, + -0.942, + 0.918 + ], + [ + -0.776, + -0.942, + 1.325 + ], + [ + -0.776, + -0.935, + 1.567 + ], + [ + -0.76, + -0.845, + 1.505 + ], + [ + -0.735, + -0.735, + 1.44 + ], + [ + -0.718, + -0.624, + 1.418 + ], + [ + -0.716, + -0.575, + 1.417 + ], + [ + -0.717, + -0.588, + 1.409 + ], + [ + -0.716, + -0.591, + 1.407 + ], + [ + -0.717, + -0.594, + 1.407 + ], + [ + -0.719, + -0.588, + 1.402 + ], + [ + -0.719, + -0.584, + 1.399 + ], + [ + -0.717, + -0.585, + 1.403 + ], + [ + -0.717, + -0.586, + 1.403 + ], + [ + -0.717, + -0.586, + 1.403 + ], + [ + -0.717, + -0.587, + 1.403 + ], + [ + -0.717, + -0.588, + 1.404 + ], + [ + -0.717, + -0.589, + 1.403 + ], + [ + -0.717, + -0.593, + 1.402 + ], + [ + -0.718, + -0.595, + 1.403 + ], + [ + -0.717, + -0.594, + 1.408 + ], + [ + -0.716, + -0.594, + 1.409 + ], + [ + -0.715, + -0.596, + 1.353 + ], + [ + -0.714, + -0.6, + 1.012 + ], + [ + -0.721, + -0.601, + 0.591 + ], + [ + -0.695, + -0.584, + 0.194 + ], + [ + -0.575, + -0.572, + 0.043 + ], + [ + -0.461, + -0.57, + 0.058 + ], + [ + -0.357, + -0.556, + 0.09 + ], + [ + -0.253, + -0.541, + 0.104 + ], + [ + -0.159, + -0.526, + 0.105 + ], + [ + -0.064, + -0.473, + 0.102 + ], + [ + 0.006, + -0.403, + 0.261 + ], + [ + 0.018, + -0.39, + 0.648 + ], + [ + 0.049, + -0.359, + 0.999 + ], + [ + 0.111, + -0.266, + 1.096 + ], + [ + 0.169, + -0.17, + 1.105 + ], + [ + 0.229, + -0.062, + 1.098 + ], + [ + 0.288, + 0.047, + 1.073 + ], + [ + 0.346, + 0.151, + 1.062 + ], + [ + 0.403, + 0.253, + 1.061 + ], + [ + 0.459, + 0.354, + 1.064 + ], + [ + 0.515, + 0.456, + 1.065 + ], + [ + 0.57, + 0.558, + 1.064 + ], + [ + 0.626, + 0.658, + 1.063 + ], + [ + 0.678, + 0.757, + 1.064 + ], + [ + 0.729, + 0.855, + 1.065 + ], + [ + 0.784, + 0.954, + 1.064 + ], + [ + 0.84, + 1.054, + 1.065 + ], + [ + 0.893, + 1.156, + 1.064 + ], + [ + 0.947, + 1.256, + 1.064 + ], + [ + 1.003, + 1.356, + 1.065 + ], + [ + 1.057, + 1.456, + 1.065 + ], + [ + 1.111, + 1.558, + 1.064 + ], + [ + 1.165, + 1.663, + 1.063 + ], + [ + 1.219, + 1.762, + 1.064 + ], + [ + 1.272, + 1.859, + 1.065 + ], + [ + 1.326, + 1.957, + 1.066 + ], + [ + 1.382, + 2.057, + 1.064 + ], + [ + 1.436, + 2.157, + 1.064 + ], + [ + 1.49, + 2.257, + 1.063 + ], + [ + 1.54, + 2.347, + 1.066 + ], + [ + 1.548, + 2.376, + 1.263 + ], + [ + 1.547, + 2.378, + 1.518 + ], + [ + 1.547, + 2.378, + 1.528 + ], + [ + 1.549, + 2.38, + 1.492 + ], + [ + 1.549, + 2.387, + 1.478 + ], + [ + 1.548, + 2.393, + 1.476 + ], + [ + 1.548, + 2.395, + 1.475 + ], + [ + 1.548, + 2.396, + 1.476 + ], + [ + 1.548, + 2.396, + 1.476 + ], + [ + 1.548, + 2.396, + 1.476 + ], + [ + 1.548, + 2.396, + 1.476 + ], + [ + 1.548, + 2.396, + 1.476 + ], + [ + 1.548, + 2.396, + 1.476 + ], + [ + 1.548, + 2.396, + 1.476 + ], + [ + 1.548, + 2.396, + 1.476 + ], + [ + 1.548, + 2.396, + 1.476 + ], + [ + 1.548, + 2.396, + 1.476 + ], + [ + 1.548, + 2.396, + 1.475 + ], + [ + 1.548, + 2.396, + 1.475 + ], + [ + 1.548, + 2.396, + 1.476 + ], + [ + 1.548, + 2.397, + 1.475 + ], + [ + 1.548, + 2.396, + 1.476 + ], + [ + 1.548, + 2.396, + 1.475 + ], + [ + 1.548, + 2.397, + 1.478 + ], + [ + 1.547, + 2.397, + 1.478 + ], + [ + 1.547, + 2.397, + 1.478 + ], + [ + 1.547, + 2.396, + 1.476 + ], + [ + 1.547, + 2.396, + 1.476 + ], + [ + 1.547, + 2.396, + 1.476 + ], + [ + 1.547, + 2.396, + 1.476 + ], + [ + 1.547, + 2.396, + 1.476 + ], + [ + 1.547, + 2.396, + 1.476 + ], + [ + 1.547, + 2.395, + 1.478 + ], + [ + 1.547, + 2.387, + 1.464 + ], + [ + 1.553, + 2.377, + 1.369 + ], + [ + 1.563, + 2.41, + 1.292 + ], + [ + 1.575, + 2.49, + 1.237 + ], + [ + 1.575, + 2.513, + 1.217 + ], + [ + 1.573, + 2.503, + 1.21 + ], + [ + 1.574, + 2.502, + 1.209 + ], + [ + 1.574, + 2.502, + 1.208 + ], + [ + 1.576, + 2.506, + 1.209 + ], + [ + 1.574, + 2.504, + 1.216 + ], + [ + 1.574, + 2.499, + 1.21 + ], + [ + 1.573, + 2.5, + 1.213 + ], + [ + 1.575, + 2.499, + 1.224 + ], + [ + 1.575, + 2.497, + 1.221 + ], + [ + 1.575, + 2.498, + 1.22 + ], + [ + 1.574, + 2.498, + 1.22 + ], + [ + 1.577, + 2.496, + 1.198 + ], + [ + 1.58, + 2.495, + 1.187 + ], + [ + 1.582, + 2.495, + 1.175 + ], + [ + 1.583, + 2.496, + 1.173 + ], + [ + 1.578, + 2.498, + 1.207 + ], + [ + 1.575, + 2.498, + 1.221 + ], + [ + 1.575, + 2.498, + 1.221 + ], + [ + 1.575, + 2.498, + 1.221 + ], + [ + 1.575, + 2.498, + 1.222 + ], + [ + 1.575, + 2.498, + 1.222 + ], + [ + 1.576, + 2.499, + 1.222 + ], + [ + 1.576, + 2.498, + 1.221 + ] + ], + "stage_events": [ + { + "tick": 460, + "event": "enter_station", + "station": "A", + "xy": [ + -1.224, + -1.229 + ] + }, + { + "tick": 1702, + "event": "leave_station", + "station": "A", + "xy": [ + 0.68, + 0.76 + ] + }, + { + "tick": 1955, + "event": "enter_station", + "station": "B", + "xy": [ + 1.228, + 1.777 + ] + } + ], + "transport_state": { + "book": { + "held": false, + "grasps": 1 + } + }, + "manipulation_success": true, + "mobile_success": true, + "full_success": true, + "failure_reason": null, + "fail_class_hint": null, + "distance_to_first_interaction": 2.34, + "interstation_path_lengths": [ + 4.306 + ], + "station_transition_order": [ + "A", + "B" + ], + "final_approach_pose": [ + 1.576, + 2.498, + 1.221 + ], + "regrasp_events": 0, + "control_ticks": 3115, + "wall_s": 1090.6, + "phase": "done", + "state": "success: task sequence complete", + "check": { + "book": [ + 1.709, + 3.04, + 0.4 + ], + "dist_wrist": 0.187, + "held": false, + "upright_deg": 0.0, + "rest_z": true, + "gaps": { + "plate": 0.0028, + "bookend": 0.0004 + }, + "pushed": true, + "released": true, + "at_rest": true, + "manipulation_success": true + }, + "route": [ + "A", + "B" + ], + "total_path_m": 7.62, + "planner_seeds": "lean" + } + ], + "error": null, + "collect": { + "task": "N034", + "robot": "go2_arm", + "visual_dr": true, + "env": { + "MMB_COLLECT": "1", + "MMB_TASK_ID": "N034", + "MMB_CLEAN_VIEW": "1", + "MMB_REAL_ROBOT_LOOK": "1", + "MMB_VISUAL_DR": "1" + }, + "cameras": { + "head": { + "link": "Robot_0/Bodies/go2_base", + "pos": [ + 0.332051, + 0.038027, + 0.093559 + ], + "ori": [ + 169.9473, + -88.6452, + 81.5985 + ], + "focal_length": 1.8231182098388672, + "horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.4407838582992554 + }, + "wrist": { + "link": "Robot_0/Bodies/piper_link6", + "pos": [ + -0.074987, + 0.005289, + 0.045821 + ], + "ori": [ + 179.3135, + -20.212, + 88.9402 + ], + "focal_length": 1.8517500162124634, + "horizontal_aperture": 1.9199999570846558, + "vertical_aperture": 1.4393036365509033 + } + }, + "resolution": [ + 640, + 480 + ], + "camera_hz": 25, + "record": { + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + } + }, + "review_cameras": [], + "policy_obs_signature": [ + "/camera_info[0]/rgb[0]:(480, 640, 4):uint8", + "/camera_info[1]/rgb[0]:(480, 640, 4):uint8", + "/robot_state[0]/Go2Plus/base_ang_vel:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/base_lin_vel:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/base_pos:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/base_quat:(1, 4):torch.float32", + "/robot_state[0]/Go2Plus/eef_pos:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/eef_quat:(1, 4):torch.float32", + "/robot_state[0]/Go2Plus/eef_relative_pos:(1, 3):torch.float32", + "/robot_state[0]/Go2Plus/eef_relative_quat:(1, 4):torch.float32", + "/robot_state[0]/Go2Plus/finger_joint_pos:(1, 2):torch.float32", + "/robot_state[0]/Go2Plus/gripper_pos:(1, 2):torch.float32", + "/robot_state[0]/Go2Plus/joint_effort:(1, 20):torch.float32", + "/robot_state[0]/Go2Plus/joint_pos:(1, 24):torch.float32", + "/robot_state[0]/Go2Plus/joint_vel:(1, 20):torch.float32" + ], + "n_success": 1, + "elapsed_s": 1293.1, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 33.6 + } +} diff --git a/N034/sawyer_umi/dr_off/seed_1023/check.json b/N034/sawyer_umi/dr_off/seed_1023/check.json new file mode 100644 index 0000000000000000000000000000000000000000..9c92c9047d4fcc0c2e7176823c2d89694f0ed6f7 --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1023/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'; expected 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "2179 rows vs ceil(4358/2) = 2179" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..4457, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "24.41 MB, 2179 frames at 25 fps, mean luma 101..150, std 26, new picture 2178x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2179 vs 2179" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "38.20 MB, 2179 frames at 25 fps, mean luma 90..150, std 29, new picture 2178x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2179 vs 2179" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationbookendxr/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_off/seed_1023/check.txt b/N034/sawyer_umi/dr_off/seed_1023/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..10f261e446eb25b220707bf90b479d830e97d53f --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1023/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n034_saw_off_1023/out task=N034 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n034_saw_off_1023/out/rec/stationbookendxr/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2179 videos 2 robot_type RidgebackSawyerUmiCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 2179 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1'] +[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z'] +[PASS] task text = MobileBench instruction: task_index 0: 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'; expected 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.' +rows 2179 at dataset fps 25 = 87.16 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2179 rows vs ceil(4358/2) = 2179 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..4457, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 24.41 MB, 2179 frames at 25 fps, mean luma 101..150, std 26, new picture 2178x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2179 vs 2179 +[PASS] video observation.images.wrist decodes, 640x480, not black: 38.20 MB, 2179 frames at 25 fps, mean luma 90..150, std 29, new picture 2178x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2179 vs 2179 +parquet size 2.38 MB +[PASS] sim_info present: rec/stationbookendxr/000/sim_info +dataset size 65.19 MB; whole cell dir 66.4 MB +RESULT: ALL PASS diff --git a/N034/sawyer_umi/dr_off/seed_1023/rec/stationbookendxr/000/completed/0.json b/N034/sawyer_umi/dr_off/seed_1023/rec/stationbookendxr/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..2218f14552b5319a4951e60bfd54adf3df3cac5e --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1023/rec/stationbookendxr/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationbookendxr/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_off/seed_1023/rec/stationbookendxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N034/sawyer_umi/dr_off/seed_1023/rec/stationbookendxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..93f6bcd854671d5327bfc1354672a19ebdf7c21d --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1023/rec/stationbookendxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d156a598d2a8958be988eac02757c3175560e45e4361d19c4ef4983209bf1875 +size 2384751 diff --git a/N034/sawyer_umi/dr_off/seed_1023/rec/stationbookendxr/000/lerobot_v21/meta/episodes.jsonl b/N034/sawyer_umi/dr_off/seed_1023/rec/stationbookendxr/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..78e4e4b0fa640aee57466c06a3afe6baf5d06daa --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1023/rec/stationbookendxr/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it."], "length": 2179, "magicsim/control_steps": 4358, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the brown slot left. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is to the left of the brown slot left. The gray table B is to the left of the bookend. The red book is on top of the brown slot left. The gray plate is on top of the bookend. The gray plate is to the left of the bookend. The bookend is to the right of the gray plate. The scene is viewed from front, at table height."} diff --git a/N034/sawyer_umi/dr_off/seed_1023/rec/stationbookendxr/000/lerobot_v21/meta/episodes_stats.jsonl b/N034/sawyer_umi/dr_off/seed_1023/rec/stationbookendxr/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..543efced22bb4ac01081d4e6d6200a36b6c75d3a --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1023/rec/stationbookendxr/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.08376105970003397, 0.0006007830334118661, 0.006514531384764377, 0.779005412280751, 1.0861618841787566, 0.9315776327379585, 0.05591161402704014, -0.53841904167833, 0.1078546329471101, 0.7208519213486286, 0.6089949518127582], "std": [0.13090115777501354, 0.011657443901265578, 0.15543634325126957, 1.3975916854560428, 1.6404345330814463, 0.2523016204801685, 0.2512123466312633, 0.23077162217599165, 0.19177266807387316, 0.15026185939344575, 0.48797551217179236], "min": [0.0, -0.06555059552192688, -0.800000011920929, -3.103543996810913, -1.7910127639770508, 0.5874999761581421, -0.640278160572052, -0.7345939874649048, -0.15475410223007202, -0.754358172416687, 0.0], "max": [0.30000001192092896, 0.15204200148582458, 0.800000011920929, 2.312983274459839, 3.052690029144287, 1.3731155395507812, 0.6404660940170288, 0.0530332550406456, 0.5121050477027893, 0.9587254524230957, 1.0], "count": [2179]}, "action_is_hold": {"mean": [0.11289582377237264, 0.11289582377237264, 0.11289582377237264, 0.13217072051399725, 0.13217072051399725, 0.13217072051399725, 0.13217072051399725, 0.13217072051399725, 0.13217072051399725, 0.13217072051399725, 0.9885268471776044], "std": [0.316465411612594, 0.316465411612594, 0.316465411612594, 0.33867627781232396, 0.33867627781232396, 0.33867627781232396, 0.33867627781232396, 0.33867627781232396, 0.33867627781232396, 0.33867627781232396, 0.10649657077441191], "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": [2179]}, "observation.state": {"mean": [1.3199605027050423, -3.3192210975400127, 1.164877439472532, 0.6360827806391265, -0.6357197564002605, -0.7678742207646242, -1.0304238949431797, 1.0985207575184865, -1.7280351501660929, -1.6847991885368623, -1.243347466662361, 0.013318342229860884, -0.01293069440138917, -0.01293069440138917, -0.013318342229860884], "std": [2.056055931622416, 0.2809782080627687, 0.373434520286028, 0.42792786536570787, 0.42818008718450346, 0.5015314565684587, 0.5557972050315405, 0.3399515303145562, 0.8829458265025331, 0.4296643239291566, 0.7809458139673743, 0.009272306056383966, 0.009039009840560715, 0.009039009840560715, 0.009272306056383966], "min": [-3.2767372131347656, -3.9415504932403564, 0.19883322715759277, -0.09413588792085648, -1.2216013669967651, -1.6114765405654907, -1.6397945880889893, 0.49694323539733887, -2.467434883117676, -2.723059892654419, -2.0007429122924805, 0.0, -0.020833000540733337, -0.020833000540733337, -0.020833000540733337], "max": [3.5593204498291016, -2.221036672592163, 1.4045741558074951, 1.2237533330917358, 0.09359993785619736, 0.015711618587374687, 0.0007996564381755888, 1.4923194646835327, 0.005647606216371059, -1.1386032104492188, 0.13587287068367004, 0.020833000540733337, 0.0, 0.0, -0.0], "count": [2179]}, "observation.joint_vel": {"mean": [0.07847292172978916, -0.011719580683196925, 0.007012894376261398, 0.0051741692143276756, -0.004032634296584563, 0.015567258754677087, -0.016471380778124038, 0.00485394893277578, -0.02150648836506084, 0.009247876313972498, -0.00540026513381487, 0.0005202368598261757, 0.002195246765868005], "std": [0.12284768817209799, 0.05355947898380851, 0.16073169118385863, 0.06295940547565748, 0.05010532769638381, 0.06187334578329609, 0.06978960938787666, 0.051793467883977394, 0.10106923374361208, 0.0869669143906953, 0.10855330111611904, 0.010361281388431967, 0.010039709384026851], "min": [-0.00030644761864095926, -0.20883557200431824, -0.8000221252441406, -0.5994086265563965, -0.14097842574119568, -0.3751143217086792, -0.20108799636363983, -0.17687729001045227, -0.33101770281791687, -0.32129302620887756, -0.38319703936576843, -0.10001534968614578, -0.10008682310581207], "max": [0.3353573977947235, 0.09789226204156876, 1.9392452239990234, 0.21689258515834808, 0.14213822782039642, 0.18955568969249725, 0.1988062560558319, 0.19046516716480255, 0.322202205657959, 0.32285720109939575, 0.41187843680381775, 0.10001006722450256, 0.10007402300834656], "count": [2179]}, "observation.eef_pose": {"mean": [0.7794284170777497, 1.0851922724849044, 0.9340332886285331, 0.047223774459599396, -0.5352997314142163, 0.10686854636228245, 0.7257434865541007], "std": [1.397232209533432, 1.6379706027375178, 0.2533822553063941, 0.2547932094442125, 0.23277696323933453, 0.19136781398576103, 0.13180737945045096], "min": [-3.103543996810913, -1.7935374975204468, 0.5884256362915039, -0.6425536274909973, -0.7471877336502075, -0.15534421801567078, 0.4838383197784424], "max": [2.3129913806915283, 3.0527963638305664, 1.3740735054016113, 0.5159462690353394, -0.050790369510650635, 0.5127299427986145, 0.9590060114860535], "count": [2179]}, "observation.environment_state": {"mean": [0.9364974852997558, 1.261408619504838, 0.5118051393691856, 0.7521741643801038, -3.7427186256847415e-05, -0.006019151528988224, 0.6477980490546535, 2.206343423340943, 3.0523696470939004, 0.3300000430521149, 0.7238649823021156, -4.869992169417526e-07, 6.857748257368319e-07, 0.6899411027833047, 2.0988852977752686, 3.0556182861328125, 0.37049999833106995, 0.9997172355651855, 0.0, 0.0, -0.023779170587658882, -0.24537524580955505, 0.008309667930006981, 0.3474999964237213, 0.9995540976524353, 0.0, 0.0, -0.029859770089387894, -0.1924697607755661, 0.0051459940150380135, 0.3474999964237213, 0.9995540976524353, 0.0, 0.0, -0.029859770089387894, -0.21175947785377502, 0.12651385366916656, 0.18000000715255737, 0.9995540976524353, 0.0, 0.0, -0.029859770089387894, 2.132107734680176, 3.1541500091552734, 0.18000000715255737, 0.9997172355651855, 0.0, 0.0, -0.023779170587658882], "std": [1.1130525861682092, 1.4427551855736302, 0.15186236914957074, 0.060738278386383834, 0.006283209302432422, 0.010634149987683344, 0.10350742343887324, 0.012201004475684559, 9.417976256732123e-05, 9.294850562049832e-09, 0.00057702421586119, 1.466863583262734e-07, 2.3394480952903694e-07, 0.0006073319764530944, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 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": [-0.21902614831924438, -0.5618458390235901, 0.39999982714653015, 0.7010292410850525, -0.03362613171339035, -0.05663973465561867, 0.1574195921421051, 2.1510796546936035, 3.051398754119873, 0.3299999237060547, 0.7233635783195496, -3.188848722857074e-06, -2.9802324661432067e-06, 0.6870598793029785, 2.0988852977752686, 3.0556182861328125, 0.37049999833106995, 0.9997172355651855, 0.0, 0.0, -0.023779170587658882, -0.24537524580955505, 0.008309667930006981, 0.3474999964237213, 0.9995540976524353, 0.0, 0.0, -0.029859770089387894, -0.1924697607755661, 0.0051459940150380135, 0.3474999964237213, 0.9995540976524353, 0.0, 0.0, -0.029859770089387894, -0.21175947785377502, 0.12651385366916656, 0.18000000715255737, 0.9995540976524353, 0.0, 0.0, -0.029859770089387894, 2.132107734680176, 3.1541500091552734, 0.18000000715255737, 0.9997172355651855, 0.0, 0.0, -0.023779170587658882], "max": [2.318765163421631, 3.054259777069092, 0.7526980638504028, 0.9873980283737183, 0.018740534782409668, 0.0051626903004944324, 0.7130579948425293, 2.2092318534851074, 3.0524981021881104, 0.33000028133392334, 0.7266008257865906, 1.2516975402832031e-06, 1.2367964927761932e-06, 0.690467357635498, 2.0988852977752686, 3.0556182861328125, 0.37049999833106995, 0.9997172355651855, 0.0, 0.0, -0.023779170587658882, -0.24537524580955505, 0.008309667930006981, 0.3474999964237213, 0.9995540976524353, 0.0, 0.0, -0.029859770089387894, -0.1924697607755661, 0.0051459940150380135, 0.3474999964237213, 0.9995540976524353, 0.0, 0.0, -0.029859770089387894, -0.21175947785377502, 0.12651385366916656, 0.18000000715255737, 0.9995540976524353, 0.0, 0.0, -0.029859770089387894, 2.132107734680176, 3.1541500091552734, 0.18000000715255737, 0.9997172355651855, 0.0, 0.0, -0.023779170587658882], "count": [2179]}, "action.command": {"mean": [-1.6684862894170425, -1.4330524416530834, 1.5176511091344498, 0.0, 0.0, 0.0, 0.0, 0.21364357482813326, 0.6681664244152137, 0.927568825239553, 0.9493348970733453, 0.054498178877491976, -0.5247340562804107, 0.11027197675441605, 0.7282181277059487, 0.6, -1.635565776684705, -1.4255225812687593, 1.5176511091344498, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19694572278097564, 0.0645224536361258, 1.1729782917920282, -0.017242589476061804, -0.4171059579436296, 0.04470659340518752, 0.7924448251724243, 0.0, -1.5764075640369863, -1.4019877349629122, 1.5176511091344498, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19694572278097564, 0.0645224536361258, 1.1729782917920282, -0.017242589476061804, -0.4171059579436296, 0.04470659340518752, 0.7924448251724243, 0.0, -1.4796634675825344, -1.3759094126084273, 1.5176511091344498, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19694572278097564, 0.0645224536361258, 1.1729782917920282, -0.017242589476061804, -0.4171059579436296, 0.04470659340518752, 0.7924448251724243, 0.0, -1.4080550467266757, -1.3522404123755063, 1.5176511091344498, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19694572278097564, 0.0645224536361258, 1.1729782917920282, -0.017242589476061804, -0.4171059579436296, 0.04470659340518752, 0.7924448251724243, 0.0, -1.3256336597835316, -1.3268815335105448, 1.5176511091344498, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19694572278097564, 0.0645224536361258, 1.1729782917920282, -0.017242589476061804, -0.4171059579436296, 0.04470659340518752, 0.7924448251724243, 0.0, -1.2441108787761015, -1.3037859860588523, 1.5176511091344498, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19694572278097564, 0.0645224536361258, 1.1729782917920282, -0.017242589476061804, -0.4171059579436296, 0.04470659340518752, 0.7924448251724243, 0.0, -1.1747119489838096, -1.2784325515522676, 1.5176511091344498, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19694572278097564, 0.0645224536361258, 1.1729782917920282, -0.017242589476061804, -0.4171059579436296, 0.04470659340518752, 0.7924448251724243, 0.0, -1.0680864579537335, -1.2422332356957828, 1.5176511091344498, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19694572278097564, 0.0645224536361258, 1.1729782917920282, -0.017242589476061804, -0.4171059579436296, 0.04470659340518752, 0.7924448251724243, 0.0, -1.034610561763539, -1.2321358891094432, 1.5176511091344498, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19694572278097564, 0.0645224536361258, 1.1729782917920282, -0.017242589476061804, -0.4171059579436296, 0.04470659340518752, 0.7924448251724243, 0.0, -0.999639959896312, -1.2225214088664336, 1.5176511091344498, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19694572278097564, 0.0645224536361258, 1.1729782917920282, -0.017242589476061804, -0.4171059579436296, 0.04470659340518752, 0.7924448251724243, 0.0, -0.8908033511217903, -1.185162535835715, 1.5176511091344498, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19694572278097564, 0.0645224536361258, 1.1729782917920282, -0.017242589476061804, -0.4171059579436296, 0.04470659340518752, 0.7924448251724243, 0.0, -0.7889334987191593, -1.1479361912783455, 1.5176511091344498, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19694572278097564, 0.0645224536361258, 1.1729782917920282, -0.017242589476061804, -0.4171059579436296, 0.04470659340518752, 0.7924448251724243, 0.0, -0.76014464041766, -1.1021152468288646, 1.5176511091344498, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19694572278097564, 0.0645224536361258, 1.1729782917920282, -0.017242589476061804, -0.4171059579436296, 0.04470659340518752, 0.7924448251724243, 0.0, -0.7305371621075798, -1.0567495205823112, 1.5176511091344498, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19694572278097564, 0.0645224536361258, 1.1729782917920282, -0.017242589476061804, -0.4171059579436296, 0.04470659340518752, 0.7924448251724243, 0.0, -0.6513186931610108, -0.9900034981615403, 1.5176511091344498, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19694572278097564, 0.0645224536361258, 1.1729782917920282, -0.017242589476061804, -0.4171059579436296, 0.04470659340518752, 0.7924448251724243, 0.0, -0.5910203723346485, -0.9409431822159711, 1.5176511091344498, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19694572278097564, 0.0645224536361258, 1.1729782917920282, -0.017242589476061804, -0.4171059579436296, 0.04470659340518752, 0.7924448251724243, 0.0, -0.5491428375244141, -0.8900845773079816, 1.5176511091344498, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19694572278097564, 0.0645224536361258, 1.1729782917920282, -0.017242589476061804, -0.4171059579436296, 0.04470659340518752, 0.7924448251724243, 0.0, -0.4931036023532643, -0.8204405735520756, 1.5176511091344498, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19694572278097564, 0.0645224536361258, 1.1729782917920282, -0.017242589476061804, -0.4171059579436296, 0.04470659340518752, 0.7924448251724243, 0.0, -0.44060310756458954, -0.7782516369048287, 1.5176511091344498, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19694572278097564, 0.0645224536361258, 1.1729782917920282, -0.017242589476061804, -0.4171059579436296, 0.04470659340518752, 0.7924448251724243, 0.0, -0.37047869457918053, -0.6918491360019235, 1.5176511091344498, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19694572278097564, 0.0645224536361258, 1.1729782917920282, -0.017242589476061804, -0.4171059579436296, 0.04470659340518752, 0.7924448251724243, 0.0, -0.33109309953801774, -0.6644702434539795, 1.5176511091344498, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19694572278097564, 0.0645224536361258, 1.1729782917920282, -0.017242589476061804, -0.4171059579436296, 0.04470659340518752, 0.7924448251724243, 0.0, -0.2504976861617144, -0.5746854627833647, 1.5176511091344498, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19694572278097564, 0.0645224536361258, 1.1729782917920282, -0.017242589476061804, -0.4171059579436296, 0.04470659340518752, 0.7924448251724243, 0.0, -0.2210668549818151, -0.5499022357604083, 1.5176511091344498, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19694572278097564, 0.0645224536361258, 1.1729782917920282, -0.017242589476061804, -0.4171059579436296, 0.04470659340518752, 0.7924448251724243, 0.0, -0.20282682250527775, -0.5392871449975406, 1.5176511091344498, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19694572278097564, 0.0645224536361258, 1.1729782917920282, -0.017242589476061804, -0.4171059579436296, 0.04470659340518752, 0.7924448251724243, 0.0, -0.11052090981427361, -0.43469638123231774, 1.5176511091344498, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19694572278097564, 0.0645224536361258, 1.1729782917920282, -0.017242589476061804, -0.4171059579436296, 0.04470659340518752, 0.7924448251724243, 0.0, -0.04357077093685374, -0.39409251774058623, 1.5176511091344498, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19694572278097564, 0.0645224536361258, 1.1729782917920282, -0.017242589476061804, -0.4171059579436296, 0.04470659340518752, 0.7924448251724243, 0.0, 0.00030678440542782054, -0.3189488256678862, 1.5176511091344498, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19694572278097564, 0.0645224536361258, 1.1729782917920282, -0.017242589476061804, -0.4171059579436296, 0.04470659340518752, 0.7924448251724243, 0.0, 0.012906397090238683, -0.2998118414598353, 1.5176511091344498, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19694572278097564, 0.0645224536361258, 1.1729782917920282, -0.017242589476061804, -0.4171059579436296, 0.04470659340518752, 0.7924448251724243, 0.0, 0.11098758893854478, -0.20302907158346736, 1.5176511091344498, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19694572278097564, 0.0645224536361258, 1.1729782917920282, -0.017242589476061804, -0.4171059579436296, 0.04470659340518752, 0.7924448251724243, 0.0, 0.1753247906179989, -0.1563095120822682, 1.5176511091344498, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19694572278097564, 0.0645224536361258, 1.1729782917920282, -0.017242589476061804, -0.4171059579436296, 0.04470659340518752, 0.7924448251724243, 0.0, 0.2216008508906645, -0.08724470980027142, 1.5176511091344498, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19694572278097564, 0.0645224536361258, 1.1729782917920282, -0.017242589476061804, -0.4171059579436296, 0.04470659340518752, 0.7924448251724243, 0.0, 0.24957291518940644, -0.05623669764574836, 1.5176511091344498, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19694572278097564, 0.0645224536361258, 1.1729782917920282, -0.017242589476061804, -0.4171059579436296, 0.04470659340518752, 0.7924448251724243, 0.0, 0.33251431268804216, 0.02858880547916188, 1.5176511091344498, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19694572278097564, 0.0645224536361258, 1.1729782917920282, -0.017242589476061804, -0.4171059579436296, 0.04470659340518752, 0.7924448251724243, 0.0, 0.3843690605724559, 0.07265335531795726, 1.5176511091344498, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19694572278097564, 0.0645224536361258, 1.1729782917920282, -0.017242589476061804, -0.4171059579436296, 0.04470659340518752, 0.7924448251724243, 0.0, 0.44418738379197964, 0.14476563509772805, 1.5176511091344498, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19694572278097564, 0.0645224536361258, 1.1729782917920282, -0.017242589476061804, -0.4171059579436296, 0.04470659340518752, 0.7924448251724243, 0.0, 0.5016107881770414, 0.1933187821332146, 1.5176511091344498, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19694572278097564, 0.0645224536361258, 1.1729782917920282, -0.017242589476061804, -0.4171059579436296, 0.04470659340518752, 0.7924448251724243, 0.0, 0.5580472294022055, 0.2620049623882069, 1.5176511091344498, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19694572278097564, 0.0645224536361258, 1.1729782917920282, -0.017242589476061804, -0.4171059579436296, 0.04470659340518752, 0.7924448251724243, 0.0, 0.5904723805539748, 0.29993227930629957, 1.5176511091344498, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19694572278097564, 0.0645224536361258, 1.1729782917920282, -0.017242589476061804, -0.4171059579436296, 0.04470659340518752, 0.7924448251724243, 0.0, 0.6762977887602414, 0.3813775616533616, 1.5176511091344498, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19694572278097564, 0.0645224536361258, 1.1729782917920282, -0.017242589476061804, -0.4171059579436296, 0.04470659340518752, 0.7924448251724243, 0.0, 0.7482774976421805, 0.44026455037734086, 1.5176511091344498, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19694572278097564, 0.0645224536361258, 1.1729782917920282, -0.017242589476061804, -0.4171059579436296, 0.04470659340518752, 0.7924448251724243, 0.0, 0.7974035960786483, 0.5021375824423397, 1.5176511091344498, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19694572278097564, 0.0645224536361258, 1.1729782917920282, -0.017242589476061804, -0.4171059579436296, 0.04470659340518752, 0.7924448251724243, 0.0, 0.8517573745811686, 0.5540915159618154, 1.5176511091344498, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19694572278097564, 0.0645224536361258, 1.1729782917920282, -0.017242589476061804, -0.4171059579436296, 0.04470659340518752, 0.7924448251724243, 0.0, 0.9100475181551541, 0.6260007661931655, 1.5176511091344498, 0.0, 0.0, 0.0, 0.0, 2.0, 0.19694572278097564, 0.0645224536361258, 1.1729782917920282, -0.017242589476061804, -0.4171059579436296, 0.04470659340518752, 0.7924448251724243, 0.0, 1.9434033632278442, 1.8555917739868164, 1.5232317447662354, 0.0, 0.0, 0.0, 0.0, 2.0, 1.404670186664747, 0.9726177562334112, 1.0033258199691772, 0.19829262436732, -0.6776311704214069, 0.18365476831145908, 0.6648688139258951, 0.0, 1.9921700954437256, 1.944657325744629, 1.5232317447662354, 0.0, 0.0, 0.0, 0.0, 2.0, 1.404670186664747, 0.9726177562334112, 1.0033258199691772, 0.19829262436732, -0.6776311704214069, 0.18365476831145908, 0.6648688139258951, 0.0, 2.0347840785980225, 2.0224854946136475, 1.5232317447662354, 0.0, 0.0, 0.0, 0.0, 2.0, 1.404670186664747, 0.9726177562334112, 1.0033258199691772, 0.19829262436732, -0.6776311704214069, 0.18365476831145908, 0.6648688139258951, 0.0, 2.08168363571167, 2.1081409454345703, 1.5232317447662354, 0.0, 0.0, 0.0, 0.0, 2.0, 1.404670186664747, 0.9726177562334112, 1.0033258199691772, 0.19829262436732, -0.6776311704214069, 0.18365476831145908, 0.6648688139258951, 0.0, 2.0869383811950684, 2.2052245140075684, 1.5232317447662354, 0.0, 0.0, 0.0, 0.0, 2.0, 1.404670186664747, 0.9726177562334112, 1.0033258199691772, 0.19829262436732, -0.6776311704214069, 0.18365476831145908, 0.6648688139258951, 0.0], "std": [1.480832405096349, 0.7255489354947164, 0.006060804563918925, 0.0, 0.0, 0.0, 0.0, 1.4724129847847764, 1.4088014636829609, 1.6237527546979633, 0.2543988102619698, 0.25011808549273834, 0.23573257074299198, 0.1912090970756993, 0.15662883403048086, 0.4898979485566357, 1.5040491388076358, 0.7290347446000535, 0.006060804563918925, 0.0, 0.0, 0.0, 0.0, 0.0, 1.552430327958666, 1.3347255059024357, 0.18424970618893988, 0.2544361039093894, 0.2846547594351941, 0.17021642720474695, 0.14497514789121246, 0.0, 1.4760831338693583, 0.7106511654211295, 0.006060804563918925, 0.0, 0.0, 0.0, 0.0, 0.0, 1.552430327958666, 1.3347255059024357, 0.18424970618893988, 0.2544361039093894, 0.2846547594351941, 0.17021642720474695, 0.14497514789121246, 0.0, 1.5167932122560015, 0.7111623211917247, 0.006060804563918925, 0.0, 0.0, 0.0, 0.0, 0.0, 1.552430327958666, 1.3347255059024357, 0.18424970618893988, 0.2544361039093894, 0.2846547594351941, 0.17021642720474695, 0.14497514789121246, 0.0, 1.516511003630288, 0.7007829483420058, 0.006060804563918925, 0.0, 0.0, 0.0, 0.0, 0.0, 1.552430327958666, 1.3347255059024357, 0.18424970618893988, 0.2544361039093894, 0.2846547594351941, 0.17021642720474695, 0.14497514789121246, 0.0, 1.529310985669245, 0.6934784997091894, 0.006060804563918925, 0.0, 0.0, 0.0, 0.0, 0.0, 1.552430327958666, 1.3347255059024357, 0.18424970618893988, 0.2544361039093894, 0.2846547594351941, 0.17021642720474695, 0.14497514789121246, 0.0, 1.5558120362866579, 0.6911490134661582, 0.006060804563918925, 0.0, 0.0, 0.0, 0.0, 0.0, 1.552430327958666, 1.3347255059024357, 0.18424970618893988, 0.2544361039093894, 0.2846547594351941, 0.17021642720474695, 0.14497514789121246, 0.0, 1.5387166379621091, 0.6751402443946338, 0.006060804563918925, 0.0, 0.0, 0.0, 0.0, 0.0, 1.552430327958666, 1.3347255059024357, 0.18424970618893988, 0.2544361039093894, 0.2846547594351941, 0.17021642720474695, 0.14497514789121246, 0.0, 1.5316365216671899, 0.6573297774614584, 0.006060804563918925, 0.0, 0.0, 0.0, 0.0, 0.0, 1.552430327958666, 1.3347255059024357, 0.18424970618893988, 0.2544361039093894, 0.2846547594351941, 0.17021642720474695, 0.14497514789121246, 0.0, 1.5382441678621357, 0.654861349516222, 0.006060804563918925, 0.0, 0.0, 0.0, 0.0, 0.0, 1.552430327958666, 1.3347255059024357, 0.18424970618893988, 0.2544361039093894, 0.2846547594351941, 0.17021642720474695, 0.14497514789121246, 0.0, 1.551651804515293, 0.6545834364107476, 0.006060804563918925, 0.0, 0.0, 0.0, 0.0, 0.0, 1.552430327958666, 1.3347255059024357, 0.18424970618893988, 0.2544361039093894, 0.2846547594351941, 0.17021642720474695, 0.14497514789121246, 0.0, 1.5415760065133957, 0.6353960863158684, 0.006060804563918925, 0.0, 0.0, 0.0, 0.0, 0.0, 1.552430327958666, 1.3347255059024357, 0.18424970618893988, 0.2544361039093894, 0.2846547594351941, 0.17021642720474695, 0.14497514789121246, 0.0, 1.5164097971637975, 0.6118715156502553, 0.006060804563918925, 0.0, 0.0, 0.0, 0.0, 0.0, 1.552430327958666, 1.3347255059024357, 0.18424970618893988, 0.2544361039093894, 0.2846547594351941, 0.17021642720474695, 0.14497514789121246, 0.0, 1.532800819272333, 0.6491466814630795, 0.006060804563918925, 0.0, 0.0, 0.0, 0.0, 0.0, 1.552430327958666, 1.3347255059024357, 0.18424970618893988, 0.2544361039093894, 0.2846547594351941, 0.17021642720474695, 0.14497514789121246, 0.0, 1.5470258596420805, 0.6845840922901408, 0.006060804563918925, 0.0, 0.0, 0.0, 0.0, 0.0, 1.552430327958666, 1.3347255059024357, 0.18424970618893988, 0.2544361039093894, 0.2846547594351941, 0.17021642720474695, 0.14497514789121246, 0.0, 1.5032929638895076, 0.6893531815698951, 0.006060804563918925, 0.0, 0.0, 0.0, 0.0, 0.0, 1.552430327958666, 1.3347255059024357, 0.18424970618893988, 0.2544361039093894, 0.2846547594351941, 0.17021642720474695, 0.14497514789121246, 0.0, 1.467393582297998, 0.6901082278465926, 0.006060804563918925, 0.0, 0.0, 0.0, 0.0, 0.0, 1.552430327958666, 1.3347255059024357, 0.18424970618893988, 0.2544361039093894, 0.2846547594351941, 0.17021642720474695, 0.14497514789121246, 0.0, 1.4675911836543085, 0.7182985873985772, 0.006060804563918925, 0.0, 0.0, 0.0, 0.0, 0.0, 1.552430327958666, 1.3347255059024357, 0.18424970618893988, 0.2544361039093894, 0.2846547594351941, 0.17021642720474695, 0.14497514789121246, 0.0, 1.4702307195829216, 0.7586368860952726, 0.006060804563918925, 0.0, 0.0, 0.0, 0.0, 0.0, 1.552430327958666, 1.3347255059024357, 0.18424970618893988, 0.2544361039093894, 0.2846547594351941, 0.17021642720474695, 0.14497514789121246, 0.0, 1.4381850842080999, 0.7584259675124633, 0.006060804563918925, 0.0, 0.0, 0.0, 0.0, 0.0, 1.552430327958666, 1.3347255059024357, 0.18424970618893988, 0.2544361039093894, 0.2846547594351941, 0.17021642720474695, 0.14497514789121246, 0.0, 1.4403709656777113, 0.8076732754269075, 0.006060804563918925, 0.0, 0.0, 0.0, 0.0, 0.0, 1.552430327958666, 1.3347255059024357, 0.18424970618893988, 0.2544361039093894, 0.2846547594351941, 0.17021642720474695, 0.14497514789121246, 0.0, 1.4099363768634778, 0.8004756393414496, 0.006060804563918925, 0.0, 0.0, 0.0, 0.0, 0.0, 1.552430327958666, 1.3347255059024357, 0.18424970618893988, 0.2544361039093894, 0.2846547594351941, 0.17021642720474695, 0.14497514789121246, 0.0, 1.39819749599014, 0.8413871393871567, 0.006060804563918925, 0.0, 0.0, 0.0, 0.0, 0.0, 1.552430327958666, 1.3347255059024357, 0.18424970618893988, 0.2544361039093894, 0.2846547594351941, 0.17021642720474695, 0.14497514789121246, 0.0, 1.3819293175926248, 0.8431359990085097, 0.006060804563918925, 0.0, 0.0, 0.0, 0.0, 0.0, 1.552430327958666, 1.3347255059024357, 0.18424970618893988, 0.2544361039093894, 0.2846547594351941, 0.17021642720474695, 0.14497514789121246, 0.0, 1.364744028917142, 0.8364001480556377, 0.006060804563918925, 0.0, 0.0, 0.0, 0.0, 0.0, 1.552430327958666, 1.3347255059024357, 0.18424970618893988, 0.2544361039093894, 0.2846547594351941, 0.17021642720474695, 0.14497514789121246, 0.0, 1.353934613975488, 0.8861572269273219, 0.006060804563918925, 0.0, 0.0, 0.0, 0.0, 0.0, 1.552430327958666, 1.3347255059024357, 0.18424970618893988, 0.2544361039093894, 0.2846547594351941, 0.17021642720474695, 0.14497514789121246, 0.0, 1.2933126088236848, 0.8641379372384023, 0.006060804563918925, 0.0, 0.0, 0.0, 0.0, 0.0, 1.552430327958666, 1.3347255059024357, 0.18424970618893988, 0.2544361039093894, 0.2846547594351941, 0.17021642720474695, 0.14497514789121246, 0.0, 1.3262399507764002, 0.9296968873839396, 0.006060804563918925, 0.0, 0.0, 0.0, 0.0, 0.0, 1.552430327958666, 1.3347255059024357, 0.18424970618893988, 0.2544361039093894, 0.2846547594351941, 0.17021642720474695, 0.14497514789121246, 0.0, 1.3320410490034178, 0.9444995248640746, 0.006060804563918925, 0.0, 0.0, 0.0, 0.0, 0.0, 1.552430327958666, 1.3347255059024357, 0.18424970618893988, 0.2544361039093894, 0.2846547594351941, 0.17021642720474695, 0.14497514789121246, 0.0, 1.299069393023413, 0.9737155076288269, 0.006060804563918925, 0.0, 0.0, 0.0, 0.0, 0.0, 1.552430327958666, 1.3347255059024357, 0.18424970618893988, 0.2544361039093894, 0.2846547594351941, 0.17021642720474695, 0.14497514789121246, 0.0, 1.2523414392868017, 0.9652470435512206, 0.006060804563918925, 0.0, 0.0, 0.0, 0.0, 0.0, 1.552430327958666, 1.3347255059024357, 0.18424970618893988, 0.2544361039093894, 0.2846547594351941, 0.17021642720474695, 0.14497514789121246, 0.0, 1.271818642325601, 1.0176006808733187, 0.006060804563918925, 0.0, 0.0, 0.0, 0.0, 0.0, 1.552430327958666, 1.3347255059024357, 0.18424970618893988, 0.2544361039093894, 0.2846547594351941, 0.17021642720474695, 0.14497514789121246, 0.0, 1.2675148354818813, 1.0315469765070138, 0.006060804563918925, 0.0, 0.0, 0.0, 0.0, 0.0, 1.552430327958666, 1.3347255059024357, 0.18424970618893988, 0.2544361039093894, 0.2846547594351941, 0.17021642720474695, 0.14497514789121246, 0.0, 1.2440972481448895, 1.0611682306540786, 0.006060804563918925, 0.0, 0.0, 0.0, 0.0, 0.0, 1.552430327958666, 1.3347255059024357, 0.18424970618893988, 0.2544361039093894, 0.2846547594351941, 0.17021642720474695, 0.14497514789121246, 0.0, 1.2160304896817724, 1.0649064099269074, 0.006060804563918925, 0.0, 0.0, 0.0, 0.0, 0.0, 1.552430327958666, 1.3347255059024357, 0.18424970618893988, 0.2544361039093894, 0.2846547594351941, 0.17021642720474695, 0.14497514789121246, 0.0, 1.2155121759483398, 1.1042924322542653, 0.006060804563918925, 0.0, 0.0, 0.0, 0.0, 0.0, 1.552430327958666, 1.3347255059024357, 0.18424970618893988, 0.2544361039093894, 0.2846547594351941, 0.17021642720474695, 0.14497514789121246, 0.0, 1.1840668293172234, 1.108030730331469, 0.006060804563918925, 0.0, 0.0, 0.0, 0.0, 0.0, 1.552430327958666, 1.3347255059024357, 0.18424970618893988, 0.2544361039093894, 0.2846547594351941, 0.17021642720474695, 0.14497514789121246, 0.0, 1.1845521748399983, 1.1462627167804988, 0.006060804563918925, 0.0, 0.0, 0.0, 0.0, 0.0, 1.552430327958666, 1.3347255059024357, 0.18424970618893988, 0.2544361039093894, 0.2846547594351941, 0.17021642720474695, 0.14497514789121246, 0.0, 1.182531609641135, 1.1656972393520064, 0.006060804563918925, 0.0, 0.0, 0.0, 0.0, 0.0, 1.552430327958666, 1.3347255059024357, 0.18424970618893988, 0.2544361039093894, 0.2846547594351941, 0.17021642720474695, 0.14497514789121246, 0.0, 1.1488235448188278, 1.1859160489239828, 0.006060804563918925, 0.0, 0.0, 0.0, 0.0, 0.0, 1.552430327958666, 1.3347255059024357, 0.18424970618893988, 0.2544361039093894, 0.2846547594351941, 0.17021642720474695, 0.14497514789121246, 0.0, 1.1064521322124505, 1.1873487404350467, 0.006060804563918925, 0.0, 0.0, 0.0, 0.0, 0.0, 1.552430327958666, 1.3347255059024357, 0.18424970618893988, 0.2544361039093894, 0.2846547594351941, 0.17021642720474695, 0.14497514789121246, 0.0, 1.1099942545857084, 1.224062971449313, 0.006060804563918925, 0.0, 0.0, 0.0, 0.0, 0.0, 1.552430327958666, 1.3347255059024357, 0.18424970618893988, 0.2544361039093894, 0.2846547594351941, 0.17021642720474695, 0.14497514789121246, 0.0, 1.089206817632677, 1.2374843300063338, 0.006060804563918925, 0.0, 0.0, 0.0, 0.0, 0.0, 1.552430327958666, 1.3347255059024357, 0.18424970618893988, 0.2544361039093894, 0.2846547594351941, 0.17021642720474695, 0.14497514789121246, 0.0, 1.0807496696706274, 1.2595604675828334, 0.006060804563918925, 0.0, 0.0, 0.0, 0.0, 0.0, 1.552430327958666, 1.3347255059024357, 0.18424970618893988, 0.2544361039093894, 0.2846547594351941, 0.17021642720474695, 0.14497514789121246, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6962769669460469, 1.139587816672744, 0.0, 0.10440506377058968, 0.04036365117069762, 0.10668260567589416, 0.04248905587799403, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6962769669460469, 1.139587816672744, 0.0, 0.10440506377058968, 0.04036365117069762, 0.10668260567589416, 0.04248905587799403, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6962769669460469, 1.139587816672744, 0.0, 0.10440506377058968, 0.04036365117069762, 0.10668260567589416, 0.04248905587799403, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6962769669460469, 1.139587816672744, 0.0, 0.10440506377058968, 0.04036365117069762, 0.10668260567589416, 0.04248905587799403, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6962769669460469, 1.139587816672744, 0.0, 0.10440506377058968, 0.04036365117069762, 0.10668260567589416, 0.04248905587799403, 0.0], "min": [-3.2767324447631836, -2.221029043197632, 1.5110688209533691, 0.0, 0.0, 0.0, 0.0, -1.0, -3.103543996810913, -1.7910127639770508, 0.5874999761581421, -0.6388476490974426, -0.7345939874649048, -0.15465661883354187, -0.754358172416687, 0.0, -3.269026279449463, -2.217284917831421, 1.5110688209533691, 0.0, 0.0, 0.0, 0.0, 2.0, -3.103543996810913, -1.7910127639770508, 1.0033258199691772, -0.6388476490974426, -0.7112125158309937, -0.15465661883354187, 0.5636806488037109, 0.0, -3.1794958114624023, -2.1737847328186035, 1.5110688209533691, 0.0, 0.0, 0.0, 0.0, 2.0, -3.103543996810913, -1.7910127639770508, 1.0033258199691772, -0.6388476490974426, -0.7112125158309937, -0.15465661883354187, 0.5636806488037109, 0.0, -3.126964569091797, -2.148261547088623, 1.5110688209533691, 0.0, 0.0, 0.0, 0.0, 2.0, -3.103543996810913, -1.7910127639770508, 1.0033258199691772, -0.6388476490974426, -0.7112125158309937, -0.15465661883354187, 0.5636806488037109, 0.0, -3.0550496578216553, -2.1133201122283936, 1.5110688209533691, 0.0, 0.0, 0.0, 0.0, 2.0, -3.103543996810913, -1.7910127639770508, 1.0033258199691772, -0.6388476490974426, -0.7112125158309937, -0.15465661883354187, 0.5636806488037109, 0.0, -2.986529588699341, -2.0800282955169678, 1.5110688209533691, 0.0, 0.0, 0.0, 0.0, 2.0, -3.103543996810913, -1.7910127639770508, 1.0033258199691772, -0.6388476490974426, -0.7112125158309937, -0.15465661883354187, 0.5636806488037109, 0.0, -2.9337880611419678, -2.0544028282165527, 1.5110688209533691, 0.0, 0.0, 0.0, 0.0, 2.0, -3.103543996810913, -1.7910127639770508, 1.0033258199691772, -0.6388476490974426, -0.7112125158309937, -0.15465661883354187, 0.5636806488037109, 0.0, -2.845822811126709, -2.0116631984710693, 1.5110688209533691, 0.0, 0.0, 0.0, 0.0, 2.0, -3.103543996810913, -1.7910127639770508, 1.0033258199691772, -0.6388476490974426, -0.7112125158309937, -0.15465661883354187, 0.5636806488037109, 0.0, -2.7315080165863037, -1.9561209678649902, 1.5110688209533691, 0.0, 0.0, 0.0, 0.0, 2.0, -3.103543996810913, -1.7910127639770508, 1.0033258199691772, -0.6388476490974426, -0.7112125158309937, -0.15465661883354187, 0.5636806488037109, 0.0, -2.7052083015441895, -1.9433428049087524, 1.5110688209533691, 0.0, 0.0, 0.0, 0.0, 2.0, -3.103543996810913, -1.7910127639770508, 1.0033258199691772, -0.6388476490974426, -0.7112125158309937, -0.15465661883354187, 0.5636806488037109, 0.0, -2.6847989559173584, -1.9334264993667603, 1.5110688209533691, 0.0, 0.0, 0.0, 0.0, 2.0, -3.103543996810913, -1.7910127639770508, 1.0033258199691772, -0.6388476490974426, -0.7112125158309937, -0.15465661883354187, 0.5636806488037109, 0.0, -2.5650196075439453, -1.8752293586730957, 1.5110688209533691, 0.0, 0.0, 0.0, 0.0, 2.0, -3.103543996810913, -1.7910127639770508, 1.0033258199691772, -0.6388476490974426, -0.7112125158309937, -0.15465661883354187, 0.5636806488037109, 0.0, -2.4358181953430176, -1.812454342842102, 1.5110688209533691, 0.0, 0.0, 0.0, 0.0, 2.0, -3.103543996810913, -1.7910127639770508, 1.0033258199691772, -0.6388476490974426, -0.7112125158309937, -0.15465661883354187, 0.5636806488037109, 0.0, -2.424830675125122, -1.8071157932281494, 1.5110688209533691, 0.0, 0.0, 0.0, 0.0, 2.0, -3.103543996810913, -1.7910127639770508, 1.0033258199691772, -0.6388476490974426, -0.7112125158309937, -0.15465661883354187, 0.5636806488037109, 0.0, -2.410672187805176, -1.8002365827560425, 1.5110688209533691, 0.0, 0.0, 0.0, 0.0, 2.0, -3.103543996810913, -1.7910127639770508, 1.0033258199691772, -0.6388476490974426, -0.7112125158309937, -0.15465661883354187, 0.5636806488037109, 0.0, -2.2839579582214355, -1.738669991493225, 1.5110688209533691, 0.0, 0.0, 0.0, 0.0, 2.0, -3.103543996810913, -1.7910127639770508, 1.0033258199691772, -0.6388476490974426, -0.7112125158309937, -0.15465661883354187, 0.5636806488037109, 0.0, -2.184671401977539, -1.6904296875, 1.5110688209533691, 0.0, 0.0, 0.0, 0.0, 2.0, -3.103543996810913, -1.7910127639770508, 1.0033258199691772, -0.6388476490974426, -0.7112125158309937, -0.15465661883354187, 0.5636806488037109, 0.0, -2.1430084705352783, -1.670186996459961, 1.5110688209533691, 0.0, 0.0, 0.0, 0.0, 2.0, -3.103543996810913, -1.7910127639770508, 1.0033258199691772, -0.6388476490974426, -0.7112125158309937, -0.15465661883354187, 0.5636806488037109, 0.0, -2.0898358821868896, -1.6443520784378052, 1.5110688209533691, 0.0, 0.0, 0.0, 0.0, 2.0, -3.103543996810913, -1.7910127639770508, 1.0033258199691772, -0.6388476490974426, -0.7112125158309937, -0.15465661883354187, 0.5636806488037109, 0.0, -2.002532482147217, -1.6019340753555298, 1.5110688209533691, 0.0, 0.0, 0.0, 0.0, 2.0, -3.103543996810913, -1.7910127639770508, 1.0033258199691772, -0.6388476490974426, -0.7112125158309937, -0.15465661883354187, 0.5636806488037109, 0.0, -1.9347820281982422, -1.5690162181854248, 1.5110688209533691, 0.0, 0.0, 0.0, 0.0, 2.0, -3.103543996810913, -1.7910127639770508, 1.0033258199691772, -0.6388476490974426, -0.7112125158309937, -0.15465661883354187, 0.5636806488037109, 0.0, -1.862343192100525, -1.533820390701294, 1.5110688209533691, 0.0, 0.0, 0.0, 0.0, 2.0, -3.103543996810913, -1.7910127639770508, 1.0033258199691772, -0.6388476490974426, -0.7112125158309937, -0.15465661883354187, 0.5636806488037109, 0.0, -1.7689988613128662, -1.4884672164916992, 1.5110688209533691, 0.0, 0.0, 0.0, 0.0, 2.0, -3.103543996810913, -1.7910127639770508, 1.0033258199691772, -0.6388476490974426, -0.7112125158309937, -0.15465661883354187, 0.5636806488037109, 0.0, -1.7219001054763794, -1.465583324432373, 1.5110688209533691, 0.0, 0.0, 0.0, 0.0, 2.0, -3.103543996810913, -1.7910127639770508, 1.0033258199691772, -0.6388476490974426, -0.7112125158309937, -0.15465661883354187, 0.5636806488037109, 0.0, -1.6849961280822754, -1.447652816772461, 1.5110688209533691, 0.0, 0.0, 0.0, 0.0, 2.0, -3.103543996810913, -1.7910127639770508, 1.0033258199691772, -0.6388476490974426, -0.7112125158309937, -0.15465661883354187, 0.5636806488037109, 0.0, -1.5809507369995117, -1.3971003293991089, 1.5110688209533691, 0.0, 0.0, 0.0, 0.0, 2.0, -3.103543996810913, -1.7910127639770508, 1.0033258199691772, -0.6388476490974426, -0.7112125158309937, -0.15465661883354187, 0.5636806488037109, 0.0, -1.44816255569458, -1.3325825929641724, 1.5110688209533691, 0.0, 0.0, 0.0, 0.0, 2.0, -3.103543996810913, -1.7910127639770508, 1.0033258199691772, -0.6388476490974426, -0.7112125158309937, -0.15465661883354187, 0.5636806488037109, 0.0, -1.4400454759597778, -1.3286386728286743, 1.5110688209533691, 0.0, 0.0, 0.0, 0.0, 2.0, -3.103543996810913, -1.7910127639770508, 1.0033258199691772, -0.6388476490974426, -0.7112125158309937, -0.15465661883354187, 0.5636806488037109, 0.0, -1.433746099472046, -1.325577974319458, 1.5110688209533691, 0.0, 0.0, 0.0, 0.0, 2.0, -3.103543996810913, -1.7910127639770508, 1.0033258199691772, -0.6388476490974426, -0.7112125158309937, -0.15465661883354187, 0.5636806488037109, 0.0, -1.2998563051223755, -1.2605249881744385, 1.5110688209533691, 0.0, 0.0, 0.0, 0.0, 2.0, -3.103543996810913, -1.7910127639770508, 1.0033258199691772, -0.6388476490974426, -0.7112125158309937, -0.15465661883354187, 0.5636806488037109, 0.0, -1.1847705841064453, -1.2046083211898804, 1.5110688209533691, 0.0, 0.0, 0.0, 0.0, 2.0, -3.103543996810913, -1.7910127639770508, 1.0033258199691772, -0.6388476490974426, -0.7112125158309937, -0.15465661883354187, 0.5636806488037109, 0.0, -1.1596475839614868, -1.1924017667770386, 1.5110688209533691, 0.0, 0.0, 0.0, 0.0, 2.0, -3.103543996810913, -1.7910127639770508, 1.0033258199691772, -0.6388476490974426, -0.7112125158309937, -0.15465661883354187, 0.5636806488037109, 0.0, -1.127001404762268, -1.1765400171279907, 1.5110688209533691, 0.0, 0.0, 0.0, 0.0, 2.0, -3.103543996810913, -1.7910127639770508, 1.0033258199691772, -0.6388476490974426, -0.7112125158309937, -0.15465661883354187, 0.5636806488037109, 0.0, -1.0186275243759155, -1.1238844394683838, 1.5110688209533691, 0.0, 0.0, 0.0, 0.0, 2.0, -3.103543996810913, -1.7910127639770508, 1.0033258199691772, -0.6388476490974426, -0.7112125158309937, -0.15465661883354187, 0.5636806488037109, 0.0, -0.9362910985946655, -1.0838797092437744, 1.5110688209533691, 0.0, 0.0, 0.0, 0.0, 2.0, -3.103543996810913, -1.7910127639770508, 1.0033258199691772, -0.6388476490974426, -0.7112125158309937, -0.15465661883354187, 0.5636806488037109, 0.0, -0.8759098649024963, -1.0545423030853271, 1.5110688209533691, 0.0, 0.0, 0.0, 0.0, 2.0, -3.103543996810913, -1.7910127639770508, 1.0033258199691772, -0.6388476490974426, -0.7112125158309937, -0.15465661883354187, 0.5636806488037109, 0.0, -0.7843354940414429, -1.0100491046905518, 1.5110688209533691, 0.0, 0.0, 0.0, 0.0, 2.0, -3.103543996810913, -1.7910127639770508, 1.0033258199691772, -0.6388476490974426, -0.7112125158309937, -0.15465661883354187, 0.5636806488037109, 0.0, -0.7284261584281921, -0.9828844666481018, 1.5110688209533691, 0.0, 0.0, 0.0, 0.0, 2.0, -3.103543996810913, -1.7910127639770508, 1.0033258199691772, -0.6388476490974426, -0.7112125158309937, -0.15465661883354187, 0.5636806488037109, 0.0, -0.6938065886497498, -0.9660638570785522, 1.5110688209533691, 0.0, 0.0, 0.0, 0.0, 2.0, -3.103543996810913, -1.7910127639770508, 1.0033258199691772, -0.6388476490974426, -0.7112125158309937, -0.15465661883354187, 0.5636806488037109, 0.0, -0.5713728070259094, -0.9065770506858826, 1.5110688209533691, 0.0, 0.0, 0.0, 0.0, 2.0, -3.103543996810913, -1.7910127639770508, 1.0033258199691772, -0.6388476490974426, -0.7112125158309937, -0.15465661883354187, 0.5636806488037109, 0.0, -0.4533759653568268, -0.8492460250854492, 1.5110688209533691, 0.0, 0.0, 0.0, 0.0, 2.0, -3.103543996810913, -1.7910127639770508, 1.0033258199691772, -0.6388476490974426, -0.7112125158309937, -0.15465661883354187, 0.5636806488037109, 0.0, -0.4080967605113983, -0.8272461891174316, 1.5110688209533691, 0.0, 0.0, 0.0, 0.0, 2.0, -3.103543996810913, -1.7910127639770508, 1.0033258199691772, -0.6388476490974426, -0.7112125158309937, -0.15465661883354187, 0.5636806488037109, 0.0, -0.33116695284843445, -0.7898684144020081, 1.5110688209533691, 0.0, 0.0, 0.0, 0.0, 2.0, -3.103543996810913, -1.7910127639770508, 1.0033258199691772, -0.6388476490974426, -0.7112125158309937, -0.15465661883354187, 0.5636806488037109, 0.0, -0.2636919915676117, -0.7419347763061523, 1.5110688209533691, 0.0, 0.0, 0.0, 0.0, 2.0, -3.103543996810913, -1.7910127639770508, 1.0033258199691772, -0.6388476490974426, -0.7112125158309937, -0.15465661883354187, 0.5636806488037109, 0.0, 1.9434033632278442, 1.8555917739868164, 1.5232317447662354, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20874252915382385, -0.5604393482208252, 1.0033258199691772, 0.0275876522064209, -0.7112125158309937, 0.010014861822128296, 0.5636806488037109, 0.0, 1.9921700954437256, 1.944657325744629, 1.5232317447662354, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20874252915382385, -0.5604393482208252, 1.0033258199691772, 0.0275876522064209, -0.7112125158309937, 0.010014861822128296, 0.5636806488037109, 0.0, 2.0347840785980225, 2.0224854946136475, 1.5232317447662354, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20874252915382385, -0.5604393482208252, 1.0033258199691772, 0.0275876522064209, -0.7112125158309937, 0.010014861822128296, 0.5636806488037109, 0.0, 2.08168363571167, 2.1081409454345703, 1.5232317447662354, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20874252915382385, -0.5604393482208252, 1.0033258199691772, 0.0275876522064209, -0.7112125158309937, 0.010014861822128296, 0.5636806488037109, 0.0, 2.0869383811950684, 2.2052245140075684, 1.5232317447662354, 0.0, 0.0, 0.0, 0.0, 2.0, -0.20874252915382385, -0.5604393482208252, 1.0033258199691772, 0.0275876522064209, -0.7112125158309937, 0.010014861822128296, 0.5636806488037109, 0.0], "max": [-0.3049732446670532, -0.7649853229522705, 1.5232317447662354, 0.0, 0.0, 0.0, 0.0, 2.0, 2.312983274459839, 3.052690029144287, 1.3731155395507812, 0.6404660940170288, 0.0530332550406456, 0.5121050477027893, 0.9587254524230957, 1.0, -0.25067535042762756, -0.7542458176612854, 1.5232317447662354, 0.0, 0.0, 0.0, 0.0, 2.0, 2.312983274459839, 2.6650900840759277, 1.3730812072753906, 0.4199290871620178, -0.05134696885943413, 0.41043946146965027, 0.9587254524230957, 0.0, -0.21726752817630768, -0.7476381063461304, 1.5232317447662354, 0.0, 0.0, 0.0, 0.0, 2.0, 2.312983274459839, 2.6650900840759277, 1.3730812072753906, 0.4199290871620178, -0.05134696885943413, 0.41043946146965027, 0.9587254524230957, 0.0, -0.08303862065076828, -0.7210891246795654, 1.5232317447662354, 0.0, 0.0, 0.0, 0.0, 2.0, 2.312983274459839, 2.6650900840759277, 1.3730812072753906, 0.4199290871620178, -0.05134696885943413, 0.41043946146965027, 0.9587254524230957, 0.0, -0.01169005036354065, -0.7069771885871887, 1.5232317447662354, 0.0, 0.0, 0.0, 0.0, 2.0, 2.312983274459839, 2.6650900840759277, 1.3730812072753906, 0.4199290871620178, -0.05134696885943413, 0.41043946146965027, 0.9587254524230957, 0.0, 0.08251723647117615, -0.6883440613746643, 1.5232317447662354, 0.0, 0.0, 0.0, 0.0, 2.0, 2.312983274459839, 2.6650900840759277, 1.3730812072753906, 0.4199290871620178, -0.05134696885943413, 0.41043946146965027, 0.9587254524230957, 0.0, 0.18844151496887207, -0.6673934459686279, 1.5232317447662354, 0.0, 0.0, 0.0, 0.0, 2.0, 2.312983274459839, 2.6650900840759277, 1.3730812072753906, 0.4199290871620178, -0.05134696885943413, 0.41043946146965027, 0.9587254524230957, 0.0, 0.24209943413734436, -0.656780481338501, 1.5232317447662354, 0.0, 0.0, 0.0, 0.0, 2.0, 2.312983274459839, 2.6650900840759277, 1.3730812072753906, 0.4199290871620178, -0.05134696885943413, 0.41043946146965027, 0.9587254524230957, 0.0, 0.3422057330608368, -0.6369805932044983, 1.5232317447662354, 0.0, 0.0, 0.0, 0.0, 2.0, 2.312983274459839, 2.6650900840759277, 1.3730812072753906, 0.4199290871620178, -0.05134696885943413, 0.41043946146965027, 0.9587254524230957, 0.0, 0.38176578283309937, -0.6291561126708984, 1.5232317447662354, 0.0, 0.0, 0.0, 0.0, 2.0, 2.312983274459839, 2.6650900840759277, 1.3730812072753906, 0.4199290871620178, -0.05134696885943413, 0.41043946146965027, 0.9587254524230957, 0.0, 0.4290817975997925, -0.6197975277900696, 1.5232317447662354, 0.0, 0.0, 0.0, 0.0, 2.0, 2.312983274459839, 2.6650900840759277, 1.3730812072753906, 0.4199290871620178, -0.05134696885943413, 0.41043946146965027, 0.9587254524230957, 0.0, 0.528640866279602, -0.600105881690979, 1.5232317447662354, 0.0, 0.0, 0.0, 0.0, 2.0, 2.312983274459839, 2.6650900840759277, 1.3730812072753906, 0.4199290871620178, -0.05134696885943413, 0.41043946146965027, 0.9587254524230957, 0.0, 0.6073383092880249, -0.5845403671264648, 1.5232317447662354, 0.0, 0.0, 0.0, 0.0, 2.0, 2.312983274459839, 2.6650900840759277, 1.3730812072753906, 0.4199290871620178, -0.05134696885943413, 0.41043946146965027, 0.9587254524230957, 0.0, 0.6512196063995361, -0.5043973922729492, 1.5232317447662354, 0.0, 0.0, 0.0, 0.0, 2.0, 2.312983274459839, 2.6650900840759277, 1.3730812072753906, 0.4199290871620178, -0.05134696885943413, 0.41043946146965027, 0.9587254524230957, 0.0, 0.693925142288208, -0.4264017939567566, 1.5232317447662354, 0.0, 0.0, 0.0, 0.0, 2.0, 2.312983274459839, 2.6650900840759277, 1.3730812072753906, 0.4199290871620178, -0.05134696885943413, 0.41043946146965027, 0.9587254524230957, 0.0, 0.7328754663467407, -0.3552645146846771, 1.5232317447662354, 0.0, 0.0, 0.0, 0.0, 2.0, 2.312983274459839, 2.6650900840759277, 1.3730812072753906, 0.4199290871620178, -0.05134696885943413, 0.41043946146965027, 0.9587254524230957, 0.0, 0.7601185441017151, -0.30550897121429443, 1.5232317447662354, 0.0, 0.0, 0.0, 0.0, 2.0, 2.312983274459839, 2.6650900840759277, 1.3730812072753906, 0.4199290871620178, -0.05134696885943413, 0.41043946146965027, 0.9587254524230957, 0.0, 0.8021780252456665, -0.2286933958530426, 1.5232317447662354, 0.0, 0.0, 0.0, 0.0, 2.0, 2.312983274459839, 2.6650900840759277, 1.3730812072753906, 0.4199290871620178, -0.05134696885943413, 0.41043946146965027, 0.9587254524230957, 0.0, 0.8606476783752441, -0.12190690636634827, 1.5232317447662354, 0.0, 0.0, 0.0, 0.0, 2.0, 2.312983274459839, 2.6650900840759277, 1.3730812072753906, 0.4199290871620178, -0.05134696885943413, 0.41043946146965027, 0.9587254524230957, 0.0, 0.8836413621902466, -0.07991217821836472, 1.5232317447662354, 0.0, 0.0, 0.0, 0.0, 2.0, 2.312983274459839, 2.6650900840759277, 1.3730812072753906, 0.4199290871620178, -0.05134696885943413, 0.41043946146965027, 0.9587254524230957, 0.0, 0.9557784795761108, 0.05183599889278412, 1.5232317447662354, 0.0, 0.0, 0.0, 0.0, 2.0, 2.312983274459839, 2.6650900840759277, 1.3730812072753906, 0.4199290871620178, -0.05134696885943413, 0.41043946146965027, 0.9587254524230957, 0.0, 0.9671406745910645, 0.07258749008178711, 1.5232317447662354, 0.0, 0.0, 0.0, 0.0, 2.0, 2.312983274459839, 2.6650900840759277, 1.3730812072753906, 0.4199290871620178, -0.05134696885943413, 0.41043946146965027, 0.9587254524230957, 0.0, 1.0369272232055664, 0.20004254579544067, 1.5232317447662354, 0.0, 0.0, 0.0, 0.0, 2.0, 2.312983274459839, 2.6650900840759277, 1.3730812072753906, 0.4199290871620178, -0.05134696885943413, 0.41043946146965027, 0.9587254524230957, 0.0, 1.0513787269592285, 0.2264360785484314, 1.5232317447662354, 0.0, 0.0, 0.0, 0.0, 2.0, 2.312983274459839, 2.6650900840759277, 1.3730812072753906, 0.4199290871620178, -0.05134696885943413, 0.41043946146965027, 0.9587254524230957, 0.0, 1.0537949800491333, 0.23084896802902222, 1.5232317447662354, 0.0, 0.0, 0.0, 0.0, 2.0, 2.312983274459839, 2.6650900840759277, 1.3730812072753906, 0.4199290871620178, -0.05134696885943413, 0.41043946146965027, 0.9587254524230957, 0.0, 1.1361478567123413, 0.38125479221343994, 1.5232317447662354, 0.0, 0.0, 0.0, 0.0, 2.0, 2.312983274459839, 2.6650900840759277, 1.3730812072753906, 0.4199290871620178, -0.05134696885943413, 0.41043946146965027, 0.9587254524230957, 0.0, 1.1472787857055664, 0.40158385038375854, 1.5232317447662354, 0.0, 0.0, 0.0, 0.0, 2.0, 2.312983274459839, 2.6650900840759277, 1.3730812072753906, 0.4199290871620178, -0.05134696885943413, 0.41043946146965027, 0.9587254524230957, 0.0, 1.2214750051498413, 0.5370925664901733, 1.5232317447662354, 0.0, 0.0, 0.0, 0.0, 2.0, 2.312983274459839, 2.6650900840759277, 1.3730812072753906, 0.4199290871620178, -0.05134696885943413, 0.41043946146965027, 0.9587254524230957, 0.0, 1.2394161224365234, 0.5698594450950623, 1.5232317447662354, 0.0, 0.0, 0.0, 0.0, 2.0, 2.312983274459839, 2.6650900840759277, 1.3730812072753906, 0.4199290871620178, -0.05134696885943413, 0.41043946146965027, 0.9587254524230957, 0.0, 1.3071378469467163, 0.693543553352356, 1.5232317447662354, 0.0, 0.0, 0.0, 0.0, 2.0, 2.312983274459839, 2.6650900840759277, 1.3730812072753906, 0.4199290871620178, -0.05134696885943413, 0.41043946146965027, 0.9587254524230957, 0.0, 1.3284491300582886, 0.7324655652046204, 1.5232317447662354, 0.0, 0.0, 0.0, 0.0, 2.0, 2.312983274459839, 2.6650900840759277, 1.3730812072753906, 0.4199290871620178, -0.05134696885943413, 0.41043946146965027, 0.9587254524230957, 0.0, 1.392659306526184, 0.8497362732887268, 1.5232317447662354, 0.0, 0.0, 0.0, 0.0, 2.0, 2.312983274459839, 2.6650900840759277, 1.3730812072753906, 0.4199290871620178, -0.05134696885943413, 0.41043946146965027, 0.9587254524230957, 0.0, 1.4166685342788696, 0.8935856819152832, 1.5232317447662354, 0.0, 0.0, 0.0, 0.0, 2.0, 2.312983274459839, 2.6650900840759277, 1.3730812072753906, 0.4199290871620178, -0.05134696885943413, 0.41043946146965027, 0.9587254524230957, 0.0, 1.4780476093292236, 1.0056856870651245, 1.5232317447662354, 0.0, 0.0, 0.0, 0.0, 2.0, 2.312983274459839, 2.6650900840759277, 1.3730812072753906, 0.4199290871620178, -0.05134696885943413, 0.41043946146965027, 0.9587254524230957, 0.0, 1.5040591955184937, 1.0531922578811646, 1.5232317447662354, 0.0, 0.0, 0.0, 0.0, 2.0, 2.312983274459839, 2.6650900840759277, 1.3730812072753906, 0.4199290871620178, -0.05134696885943413, 0.41043946146965027, 0.9587254524230957, 0.0, 1.5634002685546875, 1.1615701913833618, 1.5232317447662354, 0.0, 0.0, 0.0, 0.0, 2.0, 2.312983274459839, 2.6650900840759277, 1.3730812072753906, 0.4199290871620178, -0.05134696885943413, 0.41043946146965027, 0.9587254524230957, 0.0, 1.591869592666626, 1.213565468788147, 1.5232317447662354, 0.0, 0.0, 0.0, 0.0, 2.0, 2.312983274459839, 2.6650900840759277, 1.3730812072753906, 0.4199290871620178, -0.05134696885943413, 0.41043946146965027, 0.9587254524230957, 0.0, 1.6487529277801514, 1.3174546957015991, 1.5232317447662354, 0.0, 0.0, 0.0, 0.0, 2.0, 2.312983274459839, 2.6650900840759277, 1.3730812072753906, 0.4199290871620178, -0.05134696885943413, 0.41043946146965027, 0.9587254524230957, 0.0, 1.679317593574524, 1.3732768297195435, 1.5232317447662354, 0.0, 0.0, 0.0, 0.0, 2.0, 2.312983274459839, 2.6650900840759277, 1.3730812072753906, 0.4199290871620178, -0.05134696885943413, 0.41043946146965027, 0.9587254524230957, 0.0, 1.7341054677963257, 1.4733390808105469, 1.5232317447662354, 0.0, 0.0, 0.0, 0.0, 2.0, 2.312983274459839, 2.6650900840759277, 1.3730812072753906, 0.4199290871620178, -0.05134696885943413, 0.41043946146965027, 0.9587254524230957, 0.0, 1.7670706510543823, 1.5335452556610107, 1.5232317447662354, 0.0, 0.0, 0.0, 0.0, 2.0, 2.312983274459839, 2.6650900840759277, 1.3730812072753906, 0.4199290871620178, -0.05134696885943413, 0.41043946146965027, 0.9587254524230957, 0.0, 1.819458246231079, 1.6292238235473633, 1.5232317447662354, 0.0, 0.0, 0.0, 0.0, 2.0, 2.312983274459839, 2.6650900840759277, 1.3730812072753906, 0.4199290871620178, -0.05134696885943413, 0.41043946146965027, 0.9587254524230957, 0.0, 1.8546714782714844, 1.6935358047485352, 1.5232317447662354, 0.0, 0.0, 0.0, 0.0, 2.0, 2.312983274459839, 2.6650900840759277, 1.3730812072753906, 0.4199290871620178, -0.05134696885943413, 0.41043946146965027, 0.9587254524230957, 0.0, 1.9051744937896729, 1.7857722043991089, 1.5232317447662354, 0.0, 0.0, 0.0, 0.0, 2.0, 2.312983274459839, 2.6650900840759277, 1.3730812072753906, 0.4199290871620178, -0.05134696885943413, 0.41043946146965027, 0.9587254524230957, 0.0, 1.9434033632278442, 1.8555917739868164, 1.5232317447662354, 0.0, 0.0, 0.0, 0.0, 2.0, 2.312983274459839, 2.6650900840759277, 1.0033258199691772, 0.4199290871620178, -0.580915629863739, 0.41043946146965027, 0.7023639678955078, 0.0, 1.9921700954437256, 1.944657325744629, 1.5232317447662354, 0.0, 0.0, 0.0, 0.0, 2.0, 2.312983274459839, 2.6650900840759277, 1.0033258199691772, 0.4199290871620178, -0.580915629863739, 0.41043946146965027, 0.7023639678955078, 0.0, 2.0347840785980225, 2.0224854946136475, 1.5232317447662354, 0.0, 0.0, 0.0, 0.0, 2.0, 2.312983274459839, 2.6650900840759277, 1.0033258199691772, 0.4199290871620178, -0.580915629863739, 0.41043946146965027, 0.7023639678955078, 0.0, 2.08168363571167, 2.1081409454345703, 1.5232317447662354, 0.0, 0.0, 0.0, 0.0, 2.0, 2.312983274459839, 2.6650900840759277, 1.0033258199691772, 0.4199290871620178, -0.580915629863739, 0.41043946146965027, 0.7023639678955078, 0.0, 2.0869383811950684, 2.2052245140075684, 1.5232317447662354, 0.0, 0.0, 0.0, 0.0, 2.0, 2.312983274459839, 2.6650900840759277, 1.0033258199691772, 0.4199290871620178, -0.580915629863739, 0.41043946146965027, 0.7023639678955078, 0.0], "count": [2179]}, "action.applied": {"mean": [0.08376105970003397, 0.0006007830334118661, 0.006514531384764377, 0.6365435129386743, -0.7669045837513676, -1.031686296700759, 1.098939506749923, -1.7294867980041593, -1.6844671124873658, -1.2436839979613787, -0.0012999845949908143, 0.0012999845949908143], "std": [0.13090115777501354, 0.011657443901265578, 0.15543634325126957, 0.4275103252578014, 0.5012249732209856, 0.5553261020847872, 0.33971042168993615, 0.8817110469574873, 0.4292843581167805, 0.7804786751544444, 0.01260947546528575, 0.01260947546528575], "min": [0.0, -0.06555059552192688, -0.800000011920929, -0.09698297083377838, -1.6057072877883911, -1.64614737033844, 0.4984630048274994, -2.466644287109375, -2.7245845794677734, -2.00178861618042, -0.009999999776482582, -0.020833000540733337], "max": [0.30000001192092896, 0.15204200148582458, 0.800000011920929, 1.2241886854171753, 0.015313182957470417, 0.0004018837062176317, 1.4925132989883423, 0.005773414392024279, -1.1379404067993164, 0.1389046162366867, 0.020833000540733337, 0.009999999776482582], "count": [2179]}, "extra.reward": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [2179]}, "next.truncated": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [2179]}, "sim_step_idx": {"mean": [2279.0], "std": [1258.04610408363], "min": [101.0], "max": [4457.0], "count": [2179]}, "timestamp": {"mean": [43.560000002514116], "std": [25.160922082421177], "min": [0.0], "max": [87.12000274658203], "count": [2179]}, "frame_index": {"mean": [1089.0], "std": [629.023052041815], "min": [0.0], "max": [2178.0], "count": [2179]}, "episode_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [2179]}, "index": {"mean": [1089.0], "std": [629.023052041815], "min": [0.0], "max": [2178.0], "count": [2179]}, "task_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [2179]}, "next.done": {"mean": [0.0004589261128958238], "std": [0.021417644588486526], "min": [0.0], "max": [1.0], "count": [2179]}, "observation.images.head": {"mean": [[[0.5369198343017166]], [[0.47411855137427555]], [[0.41001274664894766]]], "std": [[[0.12488208811215973]], [[0.14167806912635364]], [[0.13531576026168896]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9254901960784314]], [[0.9098039215686274]], [[0.8823529411764706]]], "count": [100]}, "observation.images.wrist": {"mean": [[[0.5443023868781842]], [[0.4558293124447845]], [[0.37633813165053637]]], "std": [[[0.1500708391926123]], [[0.16170340320412416]], [[0.15879723557123987]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9568627450980393]], [[0.9058823529411765]], [[0.8941176470588236]]], "count": [100]}}} diff --git a/N034/sawyer_umi/dr_off/seed_1023/rec/stationbookendxr/000/lerobot_v21/meta/extra/episode_000000.json b/N034/sawyer_umi/dr_off/seed_1023/rec/stationbookendxr/000/lerobot_v21/meta/extra/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..7c910df14c592e4e665c104afee56d4a0cdedbe6 --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1023/rec/stationbookendxr/000/lerobot_v21/meta/extra/episode_000000.json @@ -0,0 +1,414 @@ +{ + "episode_index": 0, + "trajectory_id": 0, + "env_id": 0, + "task_type": "BookendXRCommand", + "subsample_every": 2, + "control_steps": 4358, + "language": { + "scene": { + "objects": [ + { + "id": "table_A_1", + "cat_name": "table_A", + "inst_id": 1, + "noun": "table A", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 3.7976758664531447, + -0.6934575386704341, + 0.1299999191760687 + ], + "bbox": { + "extent": [ + 0.9595864420352123, + 0.6072556357374223, + 0.30000001192092896 + ], + "center": [ + 0.0, + -5.551115123125783e-17, + 0.0 + ] + } + }, + { + "id": "table_B_1", + "cat_name": "table_B", + "inst_id": 1, + "noun": "table B", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 7.614981392188913, + -0.39601290168292463, + 0.12999985407290718 + ], + "bbox": { + "extent": [ + 0.947491099432382, + 0.5854840196290794, + 0.30000001192092896 + ], + "center": [ + -1.942890293094024e-16, + 2.220446049250313e-16, + 0.0 + ] + } + }, + { + "id": "slot_left_1", + "cat_name": "slot_left", + "inst_id": 1, + "noun": "slot left", + "color": "brown", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.6875302044603773, + -0.7479569217211923, + 0.29749992034401407 + ], + "bbox": { + "extent": [ + 0.024300751267332683, + 0.12119172660869518, + 0.03500000014901161 + ], + "center": [ + 1.734723475976807e-18, + 3.469446951953614e-18, + 0.0 + ] + } + }, + { + "id": "slot_right_1", + "cat_name": "slot_right", + "inst_id": 1, + "noun": "slot right", + "color": "brown", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.7207249698948033, + -0.7892740797521294, + 0.29749991909847845 + ], + "bbox": { + "extent": [ + 0.024300751267332683, + 0.12119172660869518, + 0.03500000014901161 + ], + "center": [ + -8.673617379884035e-18, + 3.469446951953614e-18, + 0.0 + ] + } + }, + { + "id": "book_1", + "cat_name": "book", + "inst_id": 1, + "noun": "book", + "color": "red", + "size": "small", + "material": null, + "category": "rigid", + "pos": [ + 3.713396308797091, + -0.7611681988612057, + 0.3499997766160935 + ], + "bbox": { + "extent": [ + 0.10417138238304945, + 0.04691877578923345, + 0.14000066279734724 + ], + "center": [ + -6.938893903907228e-18, + 1.214306433183765e-17, + 0.0 + ] + } + }, + { + "id": "plate_1", + "cat_name": "plate", + "inst_id": 1, + "noun": "plate", + "color": "gray", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 7.519673104518902, + -0.4375890953934659, + 0.3204998551698996 + ], + "bbox": { + "extent": [ + 0.025297514677708632, + 0.14113978756453482, + 0.07999999821186066 + ], + "center": [ + 2.7755575615628914e-16, + 2.220446049250313e-16, + 0.0 + ] + } + }, + { + "id": "bookend_1", + "cat_name": "bookend", + "inst_id": 1, + "noun": "bookend", + "color": null, + "size": "small", + "material": null, + "category": "rigid", + "pos": [ + 7.591394739789897, + -0.5215109879919553, + 0.2799998954768803 + ], + "bbox": { + "extent": [ + 0.12683925189691433, + 0.08339843139659664, + 0.060000472424412477 + ], + "center": [ + -4.4208246785526484e-10, + -0.029999990351408393, + 0.029999999569725627 + ] + } + } + ], + "relations": [ + { + "subject": "table_A_1", + "relation": "left_of", + "object": "slot_left_1" + }, + { + "subject": "table_B_1", + "relation": "left_of", + "object": "bookend_1" + }, + { + "subject": "book_1", + "relation": "on_top_of", + "object": "slot_left_1" + }, + { + "subject": "plate_1", + "relation": "on_top_of", + "object": "bookend_1" + }, + { + "subject": "plate_1", + "relation": "left_of", + "object": "bookend_1" + }, + { + "subject": "bookend_1", + "relation": "right_of", + "object": "plate_1" + } + ], + "cameras": [ + { + "name": "head", + "intrinsics": { + "K": [ + [ + 355.55555555555554, + 0.0, + 320.0 + ], + [ + 0.0, + 355.55555555555554, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 83.97442499163331, + "resolution": [ + 640, + 480 + ] + }, + "pos_robot": [ + 3.9916987146723995, + -1.0957667754763254, + -0.09500009238074951 + ], + "viewpoint": "front, at table height", + "extrinsics": { + "R": [ + [ + -8.039232568535226e-08, + -0.9999999999999964, + 2.5347603738179458e-08 + ], + [ + 0.8191520331270514, + -8.039232568535226e-08, + -0.5735764522919431 + ], + [ + 0.5735764522919431, + -2.5347603738179458e-08, + 0.819152033127055 + ] + ], + "t": [ + 1.855362002599171e-08, + -0.2032392724571752, + -0.08737481710326404 + ] + } + }, + { + "name": "wrist", + "intrinsics": { + "K": [ + [ + 320.0, + 0.0, + 320.0 + ], + [ + 0.0, + 320.0, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 90.0, + "resolution": [ + 640, + 480 + ] + }, + "pos_robot": [ + 3.886370899873133, + -0.9796104521242422, + -0.02000008754230535 + ], + "viewpoint": "front, at table height", + "extrinsics": { + "R": [ + [ + 0.0, + 1.0, + -1.4782795217992896e-16 + ], + [ + 1.0, + 0.0, + 2.5363269588459423e-17 + ], + [ + 2.5363269588459423e-17, + -1.4782795217992896e-16, + -1.0 + ] + ], + "t": [ + 4.4348384662715026e-18, + -0.05979999899864197, + 0.029999999329447746 + ] + } + } + ], + "robots": [ + { + "name": "RidgebackSawyerUmi", + "model": "ridgebacksawyer_umi", + "type": "mobilemanip", + "noun": "Ridgeback-Sawyer mobile manipulator with a UMI gripper", + "arms": 1, + "arm_layout": null, + "mobile": true, + "dexterous": false, + "base_pose": { + "pos": [ + -3.4, + -2.2, + 0.05 + ], + "ori": [ + 0.9396926164627075, + 0.0, + 0.0, + 0.3420201539993286 + ] + }, + "facing_yaw_deg": 40.000001288448495, + "gripper": "parallel gripper" + } + ], + "lighting": [], + "background": { + "name": null, + "kind": "background", + "type": "dome", + "pose": null, + "setting": null, + "time_of_day": null, + "indoor": false, + "intensity": 1000.0, + "ambient": "dim" + }, + "effects": [], + "caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the brown slot left. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is to the left of the brown slot left. The gray table B is to the left of the bookend. The red book is on top of the brown slot left. The gray plate is on top of the bookend. The gray plate is to the left of the bookend. The bookend is to the right of the gray plate. The scene is viewed from front, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n [t[pl[bookend]\n\n\n\n [slot [book]\n\n\n\n[robot]" + }, + "task": { + "task_type": "StationBookendXR", + "instruction": "Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.", + "template_id": -1, + "slots": { + "obj": 1.5110688603198486, + "support": null + }, + "generic_instruction": "Stationbookendxr the 1.5110688603198486.", + "task_id": "N034", + "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 +} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_off/seed_1023/rec/stationbookendxr/000/lerobot_v21/meta/info.json b/N034/sawyer_umi/dr_off/seed_1023/rec/stationbookendxr/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..c2d9b429b806657ca1307d44c61ed4a56b2915b3 --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1023/rec/stationbookendxr/000/lerobot_v21/meta/info.json @@ -0,0 +1,296 @@ +{ + "codebase_version": "v2.1", + "robot_type": "RidgebackSawyerUmiCfg", + "total_episodes": 1, + "total_frames": 2179, + "total_tasks": 1, + "total_videos": 2, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 25, + "splits": { + "train": "0:1" + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", + "features": { + "action": { + "dtype": "float32", + "shape": [ + 11 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "frame0.pos_x", + "frame0.pos_y", + "frame0.pos_z", + "frame0.quat_w", + "frame0.quat_x", + "frame0.quat_y", + "frame0.quat_z", + "gripper" + ] + }, + "action_is_hold": { + "dtype": "bool", + "shape": [ + 11 + ], + "names": null + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 15 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint", + "gripper_0", + "gripper_1" + ] + }, + "observation.joint_vel": { + "dtype": "float32", + "shape": [ + 13 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ] + }, + "observation.eef_pose": { + "dtype": "float32", + "shape": [ + 7 + ], + "names": null + }, + "observation.environment_state": { + "dtype": "float32", + "shape": [ + 49 + ], + "names": [ + "object_pose.book.0", + "object_pose.book.1", + "object_pose.book.2", + "object_pose.book.3", + "object_pose.book.4", + "object_pose.book.5", + "object_pose.book.6", + "object_pose.bookend.0", + "object_pose.bookend.1", + "object_pose.bookend.2", + "object_pose.bookend.3", + "object_pose.bookend.4", + "object_pose.bookend.5", + "object_pose.bookend.6", + "object_pose.plate.0", + "object_pose.plate.1", + "object_pose.plate.2", + "object_pose.plate.3", + "object_pose.plate.4", + "object_pose.plate.5", + "object_pose.plate.6", + "object_pose.slot_left.0", + "object_pose.slot_left.1", + "object_pose.slot_left.2", + "object_pose.slot_left.3", + "object_pose.slot_left.4", + "object_pose.slot_left.5", + "object_pose.slot_left.6", + "object_pose.slot_right.0", + "object_pose.slot_right.1", + "object_pose.slot_right.2", + "object_pose.slot_right.3", + "object_pose.slot_right.4", + "object_pose.slot_right.5", + "object_pose.slot_right.6", + "object_pose.table_A.0", + "object_pose.table_A.1", + "object_pose.table_A.2", + "object_pose.table_A.3", + "object_pose.table_A.4", + "object_pose.table_A.5", + "object_pose.table_A.6", + "object_pose.table_B.0", + "object_pose.table_B.1", + "object_pose.table_B.2", + "object_pose.table_B.3", + "object_pose.table_B.4", + "object_pose.table_B.5", + "object_pose.table_B.6" + ] + }, + "action.command": { + "dtype": "float32", + "shape": [ + 784 + ], + "names": null + }, + "action.applied": { + "dtype": "float32", + "shape": [ + 12 + ], + "names": null + }, + "narration": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "collect_info": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "extra.reward": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "extra.action_info": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "next.truncated": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "sim_step_idx": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "next.done": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "observation.images.head": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25, + "video.codec": "libsvtav1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.wrist": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25, + "video.codec": "libsvtav1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + } + } +} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_off/seed_1023/rec/stationbookendxr/000/lerobot_v21/meta/magicsim_manifest.json b/N034/sawyer_umi/dr_off/seed_1023/rec/stationbookendxr/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..2d7cdb1cc1d9516392a9c335010fee409cd5ef1e --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1023/rec/stationbookendxr/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,264 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 03:02:16" + }, + "embodiment": { + "robots": [ + { + "name": "RidgebackSawyerUmi", + "cfg": "RidgebackSawyerUmiCfg", + "type": "mobilemanip", + "joint_names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 11, + "nan_policy": "from_raw", + "segments": [ + { + "name": "RidgebackSawyerUmi.base_action", + "start": 0, + "end": 3, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint" + ], + "source": "HolonomicAction", + "names_source": "_joint_names" + }, + { + "name": "RidgebackSawyerUmi.arm_action", + "start": 3, + "end": 10, + "names": [ + "frame0.pos_x", + "frame0.pos_y", + "frame0.pos_z", + "frame0.quat_w", + "frame0.quat_x", + "frame0.quat_y", + "frame0.quat_z" + ], + "source": "PinkInverseKinematicsAction", + "names_source": "pink_layout" + }, + { + "name": "RidgebackSawyerUmi.eef_action", + "start": 10, + "end": 11, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 15, + "segments": [ + { + "name": "RidgebackSawyerUmi.joint_pos", + "start": 0, + "end": 13, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ], + "source": "ObservationManager", + "names_source": "joint_names" + }, + { + "name": "RidgebackSawyerUmi.gripper_pos", + "start": 13, + "end": 15, + "names": [ + "gripper_0", + "gripper_1" + ], + "source": "ObservationManager", + "names_source": "generated" + } + ] + }, + "joint_vel_layout": { + "dim": 13, + "segments": [ + { + "name": "RidgebackSawyerUmi.joint_vel", + "start": 0, + "end": 13, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "action_levels": { + "L0": "task command list (collect.auto_collect_info.current_action)", + "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)", + "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)", + "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy", + "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)" + }, + "cameras": { + "head": { + "intrinsics": { + "K": [ + [ + 355.55555555555554, + 0.0, + 320.0 + ], + [ + 0.0, + 355.55555555555554, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 83.97442499163331, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.21660000085830688, + 0.0, + -0.04500000178813934 + ], + "quat": [ + -0.6743797063827515, + 0.21263112127780914, + -0.21263112127780914, + 0.6743797659873962 + ] + }, + "wrist": { + "intrinsics": { + "K": [ + [ + 320.0, + 0.0, + 320.0 + ], + [ + 0.0, + 320.0, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 90.0, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.05979999899864197, + 0.0, + 0.029999999329447746 + ], + "quat": [ + 6.123234262925839e-17, + 0.7071067690849304, + 0.7071067690849304, + -4.329780301713277e-17 + ] + } + }, + "lerobot": { + "codebase_version": "v2.1", + "video_keys": [ + "observation.images.head", + "observation.images.wrist" + ], + "columns": [ + "action", + "action.applied", + "action.command", + "action_is_hold", + "collect_info", + "episode_index", + "extra.action_info", + "extra.reward", + "frame_index", + "index", + "narration", + "next.done", + "next.truncated", + "observation.eef_pose", + "observation.environment_state", + "observation.images.head", + "observation.images.wrist", + "observation.joint_vel", + "observation.state", + "sim_step_idx", + "task_index", + "timestamp" + ] + }, + "generated_run": { + "run_id": "stationbookendxr/000", + "task_type": "BookendXRCommand" + } +} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_off/seed_1023/rec/stationbookendxr/000/lerobot_v21/meta/stats.json b/N034/sawyer_umi/dr_off/seed_1023/rec/stationbookendxr/000/lerobot_v21/meta/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..62bc492aca682f527c731bb32c8f9bc502a62362 --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1023/rec/stationbookendxr/000/lerobot_v21/meta/stats.json @@ -0,0 +1,4013 @@ +{ + "action": { + "mean": [ + 0.08376105970003397, + 0.0006007830334118661, + 0.006514531384764377, + 0.779005412280751, + 1.0861618841787566, + 0.9315776327379585, + 0.05591161402704014, + -0.53841904167833, + 0.1078546329471101, + 0.7208519213486286, + 0.6089949518127582 + ], + "std": [ + 0.13090115777501354, + 0.011657443901265578, + 0.15543634325126957, + 1.3975916854560428, + 1.6404345330814463, + 0.2523016204801685, + 0.2512123466312633, + 0.23077162217599165, + 0.19177266807387316, + 0.15026185939344575, + 0.48797551217179236 + ], + "min": [ + 0.0, + -0.06555059552192688, + -0.800000011920929, + -3.103543996810913, + -1.7910127639770508, + 0.5874999761581421, + -0.640278160572052, + -0.7345939874649048, + -0.15475410223007202, + -0.754358172416687, + 0.0 + ], + "max": [ + 0.30000001192092896, + 0.15204200148582458, + 0.800000011920929, + 2.312983274459839, + 3.052690029144287, + 1.3731155395507812, + 0.6404660940170288, + 0.0530332550406456, + 0.5121050477027893, + 0.9587254524230957, + 1.0 + ], + "count": [ + 2179 + ] + }, + "action_is_hold": { + "mean": [ + 0.11289582377237264, + 0.11289582377237264, + 0.11289582377237264, + 0.13217072051399725, + 0.13217072051399725, + 0.13217072051399725, + 0.13217072051399725, + 0.13217072051399725, + 0.13217072051399725, + 0.13217072051399725, + 0.9885268471776044 + ], + "std": [ + 0.316465411612594, + 0.316465411612594, + 0.316465411612594, + 0.33867627781232396, + 0.33867627781232396, + 0.33867627781232396, + 0.33867627781232396, + 0.33867627781232396, + 0.33867627781232396, + 0.33867627781232396, + 0.10649657077441191 + ], + "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": [ + 2179 + ] + }, + "observation.state": { + "mean": [ + 1.3199605027050423, + -3.3192210975400127, + 1.164877439472532, + 0.6360827806391265, + -0.6357197564002605, + -0.7678742207646242, + -1.0304238949431797, + 1.0985207575184865, + -1.7280351501660929, + -1.6847991885368623, + -1.243347466662361, + 0.013318342229860884, + -0.01293069440138917, + -0.01293069440138917, + -0.013318342229860884 + ], + "std": [ + 2.056055931622416, + 0.2809782080627687, + 0.373434520286028, + 0.42792786536570787, + 0.42818008718450346, + 0.5015314565684587, + 0.5557972050315405, + 0.3399515303145562, + 0.8829458265025331, + 0.4296643239291566, + 0.7809458139673743, + 0.009272306056383966, + 0.009039009840560715, + 0.009039009840560715, + 0.009272306056383966 + ], + "min": [ + -3.2767372131347656, + -3.9415504932403564, + 0.19883322715759277, + -0.09413588792085648, + -1.2216013669967651, + -1.6114765405654907, + -1.6397945880889893, + 0.49694323539733887, + -2.467434883117676, + -2.723059892654419, + -2.0007429122924805, + 0.0, + -0.020833000540733337, + -0.020833000540733337, + -0.020833000540733337 + ], + "max": [ + 3.5593204498291016, + -2.221036672592163, + 1.4045741558074951, + 1.2237533330917358, + 0.09359993785619736, + 0.015711618587374687, + 0.0007996564381755888, + 1.4923194646835327, + 0.005647606216371059, + -1.1386032104492188, + 0.13587287068367004, + 0.020833000540733337, + 0.0, + 0.0, + -0.0 + ], + "count": [ + 2179 + ] + }, + "observation.joint_vel": { + "mean": [ + 0.07847292172978916, + -0.011719580683196925, + 0.007012894376261398, + 0.0051741692143276756, + -0.004032634296584563, + 0.015567258754677087, + -0.016471380778124038, + 0.00485394893277578, + -0.02150648836506084, + 0.009247876313972498, + -0.00540026513381487, + 0.0005202368598261757, + 0.002195246765868005 + ], + "std": [ + 0.12284768817209799, + 0.05355947898380851, + 0.16073169118385863, + 0.06295940547565748, + 0.05010532769638381, + 0.0618733457832961, + 0.06978960938787666, + 0.051793467883977394, + 0.10106923374361208, + 0.08696691439069532, + 0.10855330111611904, + 0.010361281388431967, + 0.010039709384026851 + ], + "min": [ + -0.00030644761864095926, + -0.20883557200431824, + -0.8000221252441406, + -0.5994086265563965, + -0.14097842574119568, + -0.3751143217086792, + -0.20108799636363983, + -0.17687729001045227, + -0.33101770281791687, + -0.32129302620887756, + -0.38319703936576843, + -0.10001534968614578, + -0.10008682310581207 + ], + "max": [ + 0.3353573977947235, + 0.09789226204156876, + 1.9392452239990234, + 0.21689258515834808, + 0.14213822782039642, + 0.18955568969249725, + 0.1988062560558319, + 0.19046516716480255, + 0.322202205657959, + 0.32285720109939575, + 0.41187843680381775, + 0.10001006722450256, + 0.10007402300834656 + ], + "count": [ + 2179 + ] + }, + "observation.eef_pose": { + "mean": [ + 0.7794284170777497, + 1.0851922724849044, + 0.9340332886285331, + 0.047223774459599396, + -0.5352997314142163, + 0.10686854636228245, + 0.7257434865541007 + ], + "std": [ + 1.397232209533432, + 1.6379706027375178, + 0.2533822553063941, + 0.2547932094442125, + 0.23277696323933453, + 0.19136781398576103, + 0.13180737945045096 + ], + "min": [ + -3.103543996810913, + -1.7935374975204468, + 0.5884256362915039, + -0.6425536274909973, + -0.7471877336502075, + -0.15534421801567078, + 0.4838383197784424 + ], + "max": [ + 2.3129913806915283, + 3.0527963638305664, + 1.3740735054016113, + 0.5159462690353394, + -0.050790369510650635, + 0.5127299427986145, + 0.9590060114860535 + ], + "count": [ + 2179 + ] + }, + "observation.environment_state": { + "mean": [ + 0.9364974852997558, + 1.261408619504838, + 0.5118051393691856, + 0.7521741643801038, + -3.7427186256847415e-05, + -0.006019151528988224, + 0.6477980490546535, + 2.206343423340943, + 3.0523696470939004, + 0.3300000430521149, + 0.7238649823021156, + -4.869992169417526e-07, + 6.857748257368319e-07, + 0.6899411027833047, + 2.0988852977752686, + 3.0556182861328125, + 0.37049999833106995, + 0.9997172355651855, + 0.0, + 0.0, + -0.023779170587658882, + -0.24537524580955505, + 0.008309667930006981, + 0.3474999964237213, + 0.9995540976524353, + 0.0, + 0.0, + -0.029859770089387894, + -0.1924697607755661, + 0.0051459940150380135, + 0.3474999964237213, + 0.9995540976524353, + 0.0, + 0.0, + -0.029859770089387894, + -0.21175947785377502, + 0.12651385366916656, + 0.18000000715255737, + 0.9995540976524353, + 0.0, + 0.0, + -0.029859770089387894, + 2.132107734680176, + 3.1541500091552734, + 0.18000000715255737, + 0.9997172355651855, + 0.0, + 0.0, + -0.023779170587658882 + ], + "std": [ + 1.1130525861682092, + 1.4427551855736302, + 0.15186236914957074, + 0.060738278386383834, + 0.006283209302432422, + 0.010634149987683344, + 0.10350742343887324, + 0.012201004475684559, + 9.417976256732123e-05, + 9.294850562049832e-09, + 0.00057702421586119, + 1.466863583262734e-07, + 2.3394480952903692e-07, + 0.0006073319764530944, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 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": [ + -0.21902614831924438, + -0.5618458390235901, + 0.39999982714653015, + 0.7010292410850525, + -0.03362613171339035, + -0.05663973465561867, + 0.1574195921421051, + 2.1510796546936035, + 3.051398754119873, + 0.3299999237060547, + 0.7233635783195496, + -3.188848722857074e-06, + -2.9802324661432067e-06, + 0.6870598793029785, + 2.0988852977752686, + 3.0556182861328125, + 0.37049999833106995, + 0.9997172355651855, + 0.0, + 0.0, + -0.023779170587658882, + -0.24537524580955505, + 0.008309667930006981, + 0.3474999964237213, + 0.9995540976524353, + 0.0, + 0.0, + -0.029859770089387894, + -0.1924697607755661, + 0.0051459940150380135, + 0.3474999964237213, + 0.9995540976524353, + 0.0, + 0.0, + -0.029859770089387894, + -0.21175947785377502, + 0.12651385366916656, + 0.18000000715255737, + 0.9995540976524353, + 0.0, + 0.0, + -0.029859770089387894, + 2.132107734680176, + 3.1541500091552734, + 0.18000000715255737, + 0.9997172355651855, + 0.0, + 0.0, + -0.023779170587658882 + ], + "max": [ + 2.318765163421631, + 3.054259777069092, + 0.7526980638504028, + 0.9873980283737183, + 0.018740534782409668, + 0.0051626903004944324, + 0.7130579948425293, + 2.2092318534851074, + 3.0524981021881104, + 0.33000028133392334, + 0.7266008257865906, + 1.2516975402832031e-06, + 1.2367964927761932e-06, + 0.690467357635498, + 2.0988852977752686, + 3.0556182861328125, + 0.37049999833106995, + 0.9997172355651855, + 0.0, + 0.0, + -0.023779170587658882, + -0.24537524580955505, + 0.008309667930006981, + 0.3474999964237213, + 0.9995540976524353, + 0.0, + 0.0, + -0.029859770089387894, + -0.1924697607755661, + 0.0051459940150380135, + 0.3474999964237213, + 0.9995540976524353, + 0.0, + 0.0, + -0.029859770089387894, + -0.21175947785377502, + 0.12651385366916656, + 0.18000000715255737, + 0.9995540976524353, + 0.0, + 0.0, + -0.029859770089387894, + 2.132107734680176, + 3.1541500091552734, + 0.18000000715255737, + 0.9997172355651855, + 0.0, + 0.0, + -0.023779170587658882 + ], + "count": [ + 2179 + ] + }, + "action.command": { + "mean": [ + -1.6684862894170425, + -1.4330524416530834, + 1.5176511091344498, + 0.0, + 0.0, + 0.0, + 0.0, + 0.21364357482813326, + 0.6681664244152137, + 0.927568825239553, + 0.9493348970733453, + 0.054498178877491976, + -0.5247340562804107, + 0.11027197675441605, + 0.7282181277059487, + 0.6, + -1.635565776684705, + -1.4255225812687593, + 1.5176511091344498, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19694572278097564, + 0.0645224536361258, + 1.1729782917920282, + -0.017242589476061804, + -0.4171059579436296, + 0.04470659340518752, + 0.7924448251724243, + 0.0, + -1.5764075640369863, + -1.4019877349629122, + 1.5176511091344498, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19694572278097564, + 0.0645224536361258, + 1.1729782917920282, + -0.017242589476061804, + -0.4171059579436296, + 0.04470659340518752, + 0.7924448251724243, + 0.0, + -1.4796634675825344, + -1.3759094126084273, + 1.5176511091344498, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19694572278097564, + 0.0645224536361258, + 1.1729782917920282, + -0.017242589476061804, + -0.4171059579436296, + 0.04470659340518752, + 0.7924448251724243, + 0.0, + -1.4080550467266757, + -1.3522404123755063, + 1.5176511091344498, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19694572278097564, + 0.0645224536361258, + 1.1729782917920282, + -0.017242589476061804, + -0.4171059579436296, + 0.04470659340518752, + 0.7924448251724243, + 0.0, + -1.3256336597835316, + -1.3268815335105448, + 1.5176511091344498, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19694572278097564, + 0.0645224536361258, + 1.1729782917920282, + -0.017242589476061804, + -0.4171059579436296, + 0.04470659340518752, + 0.7924448251724243, + 0.0, + -1.2441108787761015, + -1.3037859860588523, + 1.5176511091344498, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19694572278097564, + 0.0645224536361258, + 1.1729782917920282, + -0.017242589476061804, + -0.4171059579436296, + 0.04470659340518752, + 0.7924448251724243, + 0.0, + -1.1747119489838096, + -1.2784325515522676, + 1.5176511091344498, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19694572278097564, + 0.0645224536361258, + 1.1729782917920282, + -0.017242589476061804, + -0.4171059579436296, + 0.04470659340518752, + 0.7924448251724243, + 0.0, + -1.0680864579537335, + -1.2422332356957828, + 1.5176511091344498, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19694572278097564, + 0.0645224536361258, + 1.1729782917920282, + -0.017242589476061804, + -0.4171059579436296, + 0.04470659340518752, + 0.7924448251724243, + 0.0, + -1.034610561763539, + -1.2321358891094432, + 1.5176511091344498, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19694572278097564, + 0.0645224536361258, + 1.1729782917920282, + -0.017242589476061804, + -0.4171059579436296, + 0.04470659340518752, + 0.7924448251724243, + 0.0, + -0.999639959896312, + -1.2225214088664336, + 1.5176511091344498, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19694572278097564, + 0.0645224536361258, + 1.1729782917920282, + -0.017242589476061804, + -0.4171059579436296, + 0.04470659340518752, + 0.7924448251724243, + 0.0, + -0.8908033511217903, + -1.185162535835715, + 1.5176511091344498, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19694572278097564, + 0.0645224536361258, + 1.1729782917920282, + -0.017242589476061804, + -0.4171059579436296, + 0.04470659340518752, + 0.7924448251724243, + 0.0, + -0.7889334987191593, + -1.1479361912783455, + 1.5176511091344498, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19694572278097564, + 0.0645224536361258, + 1.1729782917920282, + -0.017242589476061804, + -0.4171059579436296, + 0.04470659340518752, + 0.7924448251724243, + 0.0, + -0.76014464041766, + -1.1021152468288646, + 1.5176511091344498, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19694572278097564, + 0.0645224536361258, + 1.1729782917920282, + -0.017242589476061804, + -0.4171059579436296, + 0.04470659340518752, + 0.7924448251724243, + 0.0, + -0.7305371621075798, + -1.0567495205823112, + 1.5176511091344498, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19694572278097564, + 0.0645224536361258, + 1.1729782917920282, + -0.017242589476061804, + -0.4171059579436296, + 0.04470659340518752, + 0.7924448251724243, + 0.0, + -0.6513186931610108, + -0.9900034981615403, + 1.5176511091344498, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19694572278097564, + 0.0645224536361258, + 1.1729782917920282, + -0.017242589476061804, + -0.4171059579436296, + 0.04470659340518752, + 0.7924448251724243, + 0.0, + -0.5910203723346485, + -0.9409431822159711, + 1.5176511091344498, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19694572278097564, + 0.0645224536361258, + 1.1729782917920282, + -0.017242589476061804, + -0.4171059579436296, + 0.04470659340518752, + 0.7924448251724243, + 0.0, + -0.5491428375244141, + -0.8900845773079816, + 1.5176511091344498, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19694572278097564, + 0.0645224536361258, + 1.1729782917920282, + -0.017242589476061804, + -0.4171059579436296, + 0.04470659340518752, + 0.7924448251724243, + 0.0, + -0.4931036023532643, + -0.8204405735520756, + 1.5176511091344498, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19694572278097564, + 0.0645224536361258, + 1.1729782917920282, + -0.017242589476061804, + -0.4171059579436296, + 0.04470659340518752, + 0.7924448251724243, + 0.0, + -0.44060310756458954, + -0.7782516369048287, + 1.5176511091344498, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19694572278097564, + 0.0645224536361258, + 1.1729782917920282, + -0.017242589476061804, + -0.4171059579436296, + 0.04470659340518752, + 0.7924448251724243, + 0.0, + -0.37047869457918053, + -0.6918491360019235, + 1.5176511091344498, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19694572278097564, + 0.0645224536361258, + 1.1729782917920282, + -0.017242589476061804, + -0.4171059579436296, + 0.04470659340518752, + 0.7924448251724243, + 0.0, + -0.33109309953801774, + -0.6644702434539795, + 1.5176511091344498, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19694572278097564, + 0.0645224536361258, + 1.1729782917920282, + -0.017242589476061804, + -0.4171059579436296, + 0.04470659340518752, + 0.7924448251724243, + 0.0, + -0.2504976861617144, + -0.5746854627833647, + 1.5176511091344498, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19694572278097564, + 0.0645224536361258, + 1.1729782917920282, + -0.017242589476061804, + -0.4171059579436296, + 0.04470659340518752, + 0.7924448251724243, + 0.0, + -0.2210668549818151, + -0.5499022357604083, + 1.5176511091344498, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19694572278097564, + 0.0645224536361258, + 1.1729782917920282, + -0.017242589476061804, + -0.4171059579436296, + 0.04470659340518752, + 0.7924448251724243, + 0.0, + -0.20282682250527775, + -0.5392871449975406, + 1.5176511091344498, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19694572278097564, + 0.0645224536361258, + 1.1729782917920282, + -0.017242589476061804, + -0.4171059579436296, + 0.04470659340518752, + 0.7924448251724243, + 0.0, + -0.11052090981427361, + -0.43469638123231774, + 1.5176511091344498, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19694572278097564, + 0.0645224536361258, + 1.1729782917920282, + -0.017242589476061804, + -0.4171059579436296, + 0.04470659340518752, + 0.7924448251724243, + 0.0, + -0.04357077093685374, + -0.39409251774058623, + 1.5176511091344498, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19694572278097564, + 0.0645224536361258, + 1.1729782917920282, + -0.017242589476061804, + -0.4171059579436296, + 0.04470659340518752, + 0.7924448251724243, + 0.0, + 0.00030678440542782054, + -0.3189488256678862, + 1.5176511091344498, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19694572278097564, + 0.0645224536361258, + 1.1729782917920282, + -0.017242589476061804, + -0.4171059579436296, + 0.04470659340518752, + 0.7924448251724243, + 0.0, + 0.012906397090238683, + -0.2998118414598353, + 1.5176511091344498, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19694572278097564, + 0.0645224536361258, + 1.1729782917920282, + -0.017242589476061804, + -0.4171059579436296, + 0.04470659340518752, + 0.7924448251724243, + 0.0, + 0.11098758893854478, + -0.20302907158346736, + 1.5176511091344498, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19694572278097564, + 0.0645224536361258, + 1.1729782917920282, + -0.017242589476061804, + -0.4171059579436296, + 0.04470659340518752, + 0.7924448251724243, + 0.0, + 0.1753247906179989, + -0.1563095120822682, + 1.5176511091344498, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19694572278097564, + 0.0645224536361258, + 1.1729782917920282, + -0.017242589476061804, + -0.4171059579436296, + 0.04470659340518752, + 0.7924448251724243, + 0.0, + 0.2216008508906645, + -0.08724470980027142, + 1.5176511091344498, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19694572278097564, + 0.0645224536361258, + 1.1729782917920282, + -0.017242589476061804, + -0.4171059579436296, + 0.04470659340518752, + 0.7924448251724243, + 0.0, + 0.24957291518940644, + -0.05623669764574836, + 1.5176511091344498, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19694572278097564, + 0.0645224536361258, + 1.1729782917920282, + -0.017242589476061804, + -0.4171059579436296, + 0.04470659340518752, + 0.7924448251724243, + 0.0, + 0.33251431268804216, + 0.02858880547916188, + 1.5176511091344498, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19694572278097564, + 0.0645224536361258, + 1.1729782917920282, + -0.017242589476061804, + -0.4171059579436296, + 0.04470659340518752, + 0.7924448251724243, + 0.0, + 0.3843690605724559, + 0.07265335531795726, + 1.5176511091344498, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19694572278097564, + 0.0645224536361258, + 1.1729782917920282, + -0.017242589476061804, + -0.4171059579436296, + 0.04470659340518752, + 0.7924448251724243, + 0.0, + 0.44418738379197964, + 0.14476563509772805, + 1.5176511091344498, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19694572278097564, + 0.0645224536361258, + 1.1729782917920282, + -0.017242589476061804, + -0.4171059579436296, + 0.04470659340518752, + 0.7924448251724243, + 0.0, + 0.5016107881770414, + 0.1933187821332146, + 1.5176511091344498, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19694572278097564, + 0.0645224536361258, + 1.1729782917920282, + -0.017242589476061804, + -0.4171059579436296, + 0.04470659340518752, + 0.7924448251724243, + 0.0, + 0.5580472294022055, + 0.2620049623882069, + 1.5176511091344498, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19694572278097564, + 0.0645224536361258, + 1.1729782917920282, + -0.017242589476061804, + -0.4171059579436296, + 0.04470659340518752, + 0.7924448251724243, + 0.0, + 0.5904723805539748, + 0.29993227930629957, + 1.5176511091344498, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19694572278097564, + 0.0645224536361258, + 1.1729782917920282, + -0.017242589476061804, + -0.4171059579436296, + 0.04470659340518752, + 0.7924448251724243, + 0.0, + 0.6762977887602414, + 0.3813775616533616, + 1.5176511091344498, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19694572278097564, + 0.0645224536361258, + 1.1729782917920282, + -0.017242589476061804, + -0.4171059579436296, + 0.04470659340518752, + 0.7924448251724243, + 0.0, + 0.7482774976421805, + 0.44026455037734086, + 1.5176511091344498, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19694572278097564, + 0.0645224536361258, + 1.1729782917920282, + -0.017242589476061804, + -0.4171059579436296, + 0.04470659340518752, + 0.7924448251724243, + 0.0, + 0.7974035960786483, + 0.5021375824423397, + 1.5176511091344498, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19694572278097564, + 0.0645224536361258, + 1.1729782917920282, + -0.017242589476061804, + -0.4171059579436296, + 0.04470659340518752, + 0.7924448251724243, + 0.0, + 0.8517573745811686, + 0.5540915159618154, + 1.5176511091344498, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19694572278097564, + 0.0645224536361258, + 1.1729782917920282, + -0.017242589476061804, + -0.4171059579436296, + 0.04470659340518752, + 0.7924448251724243, + 0.0, + 0.9100475181551541, + 0.6260007661931655, + 1.5176511091344498, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.19694572278097564, + 0.0645224536361258, + 1.1729782917920282, + -0.017242589476061804, + -0.4171059579436296, + 0.04470659340518752, + 0.7924448251724243, + 0.0, + 1.9434033632278442, + 1.8555917739868164, + 1.5232317447662354, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.404670186664747, + 0.9726177562334112, + 1.0033258199691772, + 0.19829262436732, + -0.6776311704214069, + 0.18365476831145908, + 0.6648688139258951, + 0.0, + 1.9921700954437256, + 1.944657325744629, + 1.5232317447662354, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.404670186664747, + 0.9726177562334112, + 1.0033258199691772, + 0.19829262436732, + -0.6776311704214069, + 0.18365476831145908, + 0.6648688139258951, + 0.0, + 2.0347840785980225, + 2.0224854946136475, + 1.5232317447662354, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.404670186664747, + 0.9726177562334112, + 1.0033258199691772, + 0.19829262436732, + -0.6776311704214069, + 0.18365476831145908, + 0.6648688139258951, + 0.0, + 2.08168363571167, + 2.1081409454345703, + 1.5232317447662354, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.404670186664747, + 0.9726177562334112, + 1.0033258199691772, + 0.19829262436732, + -0.6776311704214069, + 0.18365476831145908, + 0.6648688139258951, + 0.0, + 2.0869383811950684, + 2.2052245140075684, + 1.5232317447662354, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.404670186664747, + 0.9726177562334112, + 1.0033258199691772, + 0.19829262436732, + -0.6776311704214069, + 0.18365476831145908, + 0.6648688139258951, + 0.0 + ], + "std": [ + 1.480832405096349, + 0.7255489354947164, + 0.006060804563918925, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4724129847847764, + 1.4088014636829609, + 1.6237527546979633, + 0.2543988102619698, + 0.25011808549273834, + 0.23573257074299198, + 0.1912090970756993, + 0.15662883403048086, + 0.4898979485566357, + 1.5040491388076358, + 0.7290347446000535, + 0.006060804563918925, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.552430327958666, + 1.3347255059024357, + 0.18424970618893988, + 0.2544361039093894, + 0.2846547594351941, + 0.17021642720474695, + 0.14497514789121246, + 0.0, + 1.4760831338693583, + 0.7106511654211295, + 0.006060804563918925, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.552430327958666, + 1.3347255059024357, + 0.18424970618893988, + 0.2544361039093894, + 0.2846547594351941, + 0.17021642720474695, + 0.14497514789121246, + 0.0, + 1.5167932122560015, + 0.7111623211917247, + 0.006060804563918925, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.552430327958666, + 1.3347255059024357, + 0.18424970618893988, + 0.2544361039093894, + 0.2846547594351941, + 0.17021642720474695, + 0.14497514789121246, + 0.0, + 1.516511003630288, + 0.7007829483420058, + 0.006060804563918925, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.552430327958666, + 1.3347255059024357, + 0.18424970618893988, + 0.2544361039093894, + 0.2846547594351941, + 0.17021642720474695, + 0.14497514789121246, + 0.0, + 1.529310985669245, + 0.6934784997091895, + 0.006060804563918925, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.552430327958666, + 1.3347255059024357, + 0.18424970618893988, + 0.2544361039093894, + 0.2846547594351941, + 0.17021642720474695, + 0.14497514789121246, + 0.0, + 1.5558120362866579, + 0.6911490134661582, + 0.006060804563918925, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.552430327958666, + 1.3347255059024357, + 0.18424970618893988, + 0.2544361039093894, + 0.2846547594351941, + 0.17021642720474695, + 0.14497514789121246, + 0.0, + 1.5387166379621091, + 0.6751402443946338, + 0.006060804563918925, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.552430327958666, + 1.3347255059024357, + 0.18424970618893988, + 0.2544361039093894, + 0.2846547594351941, + 0.17021642720474695, + 0.14497514789121246, + 0.0, + 1.5316365216671899, + 0.6573297774614584, + 0.006060804563918925, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.552430327958666, + 1.3347255059024357, + 0.18424970618893988, + 0.2544361039093894, + 0.2846547594351941, + 0.17021642720474695, + 0.14497514789121246, + 0.0, + 1.5382441678621357, + 0.654861349516222, + 0.006060804563918925, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.552430327958666, + 1.3347255059024357, + 0.18424970618893988, + 0.2544361039093894, + 0.2846547594351941, + 0.17021642720474695, + 0.14497514789121246, + 0.0, + 1.551651804515293, + 0.6545834364107476, + 0.006060804563918925, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.552430327958666, + 1.3347255059024357, + 0.18424970618893988, + 0.2544361039093894, + 0.2846547594351941, + 0.17021642720474695, + 0.14497514789121246, + 0.0, + 1.5415760065133957, + 0.6353960863158684, + 0.006060804563918925, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.552430327958666, + 1.3347255059024357, + 0.18424970618893988, + 0.2544361039093894, + 0.2846547594351941, + 0.17021642720474695, + 0.14497514789121246, + 0.0, + 1.5164097971637975, + 0.6118715156502553, + 0.006060804563918925, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.552430327958666, + 1.3347255059024357, + 0.18424970618893988, + 0.2544361039093894, + 0.2846547594351941, + 0.17021642720474695, + 0.14497514789121246, + 0.0, + 1.532800819272333, + 0.6491466814630795, + 0.006060804563918925, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.552430327958666, + 1.3347255059024357, + 0.18424970618893988, + 0.2544361039093894, + 0.2846547594351941, + 0.17021642720474695, + 0.14497514789121246, + 0.0, + 1.5470258596420805, + 0.6845840922901408, + 0.006060804563918925, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.552430327958666, + 1.3347255059024357, + 0.18424970618893988, + 0.2544361039093894, + 0.2846547594351941, + 0.17021642720474695, + 0.14497514789121246, + 0.0, + 1.5032929638895076, + 0.6893531815698951, + 0.006060804563918925, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.552430327958666, + 1.3347255059024357, + 0.18424970618893988, + 0.2544361039093894, + 0.2846547594351941, + 0.17021642720474695, + 0.14497514789121246, + 0.0, + 1.467393582297998, + 0.6901082278465926, + 0.006060804563918925, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.552430327958666, + 1.3347255059024357, + 0.18424970618893988, + 0.2544361039093894, + 0.2846547594351941, + 0.17021642720474695, + 0.14497514789121246, + 0.0, + 1.4675911836543085, + 0.7182985873985772, + 0.006060804563918925, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.552430327958666, + 1.3347255059024357, + 0.18424970618893988, + 0.2544361039093894, + 0.2846547594351941, + 0.17021642720474695, + 0.14497514789121246, + 0.0, + 1.4702307195829216, + 0.7586368860952726, + 0.006060804563918925, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.552430327958666, + 1.3347255059024357, + 0.18424970618893988, + 0.2544361039093894, + 0.2846547594351941, + 0.17021642720474695, + 0.14497514789121246, + 0.0, + 1.4381850842080999, + 0.7584259675124633, + 0.006060804563918925, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.552430327958666, + 1.3347255059024357, + 0.18424970618893988, + 0.2544361039093894, + 0.2846547594351941, + 0.17021642720474695, + 0.14497514789121246, + 0.0, + 1.4403709656777113, + 0.8076732754269075, + 0.006060804563918925, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.552430327958666, + 1.3347255059024357, + 0.18424970618893988, + 0.2544361039093894, + 0.2846547594351941, + 0.17021642720474695, + 0.14497514789121246, + 0.0, + 1.4099363768634778, + 0.8004756393414496, + 0.006060804563918925, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.552430327958666, + 1.3347255059024357, + 0.18424970618893988, + 0.2544361039093894, + 0.2846547594351941, + 0.17021642720474695, + 0.14497514789121246, + 0.0, + 1.39819749599014, + 0.8413871393871567, + 0.006060804563918925, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.552430327958666, + 1.3347255059024357, + 0.18424970618893988, + 0.2544361039093894, + 0.2846547594351941, + 0.17021642720474695, + 0.14497514789121246, + 0.0, + 1.3819293175926248, + 0.8431359990085097, + 0.006060804563918925, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.552430327958666, + 1.3347255059024357, + 0.18424970618893988, + 0.2544361039093894, + 0.2846547594351941, + 0.17021642720474695, + 0.14497514789121246, + 0.0, + 1.364744028917142, + 0.8364001480556377, + 0.006060804563918925, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.552430327958666, + 1.3347255059024357, + 0.18424970618893988, + 0.2544361039093894, + 0.2846547594351941, + 0.17021642720474695, + 0.14497514789121246, + 0.0, + 1.353934613975488, + 0.8861572269273219, + 0.006060804563918925, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.552430327958666, + 1.3347255059024357, + 0.18424970618893988, + 0.2544361039093894, + 0.2846547594351941, + 0.17021642720474695, + 0.14497514789121246, + 0.0, + 1.2933126088236848, + 0.8641379372384023, + 0.006060804563918925, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.552430327958666, + 1.3347255059024357, + 0.18424970618893988, + 0.2544361039093894, + 0.2846547594351941, + 0.17021642720474695, + 0.14497514789121246, + 0.0, + 1.3262399507764002, + 0.9296968873839396, + 0.006060804563918925, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.552430327958666, + 1.3347255059024357, + 0.18424970618893988, + 0.2544361039093894, + 0.2846547594351941, + 0.17021642720474695, + 0.14497514789121246, + 0.0, + 1.3320410490034178, + 0.9444995248640746, + 0.006060804563918925, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.552430327958666, + 1.3347255059024357, + 0.18424970618893988, + 0.2544361039093894, + 0.2846547594351941, + 0.17021642720474695, + 0.14497514789121246, + 0.0, + 1.299069393023413, + 0.9737155076288269, + 0.006060804563918925, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.552430327958666, + 1.3347255059024357, + 0.18424970618893988, + 0.2544361039093894, + 0.2846547594351941, + 0.17021642720474695, + 0.14497514789121246, + 0.0, + 1.2523414392868017, + 0.9652470435512206, + 0.006060804563918925, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.552430327958666, + 1.3347255059024357, + 0.18424970618893988, + 0.2544361039093894, + 0.2846547594351941, + 0.17021642720474695, + 0.14497514789121246, + 0.0, + 1.271818642325601, + 1.0176006808733187, + 0.006060804563918925, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.552430327958666, + 1.3347255059024357, + 0.18424970618893988, + 0.2544361039093894, + 0.2846547594351941, + 0.17021642720474695, + 0.14497514789121246, + 0.0, + 1.2675148354818813, + 1.0315469765070138, + 0.006060804563918925, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.552430327958666, + 1.3347255059024357, + 0.18424970618893988, + 0.2544361039093894, + 0.2846547594351941, + 0.17021642720474695, + 0.14497514789121246, + 0.0, + 1.2440972481448895, + 1.0611682306540786, + 0.006060804563918925, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.552430327958666, + 1.3347255059024357, + 0.18424970618893988, + 0.2544361039093894, + 0.2846547594351941, + 0.17021642720474695, + 0.14497514789121246, + 0.0, + 1.2160304896817724, + 1.0649064099269074, + 0.006060804563918925, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.552430327958666, + 1.3347255059024357, + 0.18424970618893988, + 0.2544361039093894, + 0.2846547594351941, + 0.17021642720474695, + 0.14497514789121246, + 0.0, + 1.2155121759483398, + 1.1042924322542653, + 0.006060804563918925, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.552430327958666, + 1.3347255059024357, + 0.18424970618893988, + 0.2544361039093894, + 0.2846547594351941, + 0.17021642720474695, + 0.14497514789121246, + 0.0, + 1.1840668293172234, + 1.108030730331469, + 0.006060804563918925, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.552430327958666, + 1.3347255059024357, + 0.18424970618893988, + 0.2544361039093894, + 0.2846547594351941, + 0.17021642720474695, + 0.14497514789121246, + 0.0, + 1.1845521748399983, + 1.1462627167804988, + 0.006060804563918925, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.552430327958666, + 1.3347255059024357, + 0.18424970618893988, + 0.2544361039093894, + 0.2846547594351941, + 0.17021642720474695, + 0.14497514789121246, + 0.0, + 1.182531609641135, + 1.1656972393520064, + 0.006060804563918925, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.552430327958666, + 1.3347255059024357, + 0.18424970618893988, + 0.2544361039093894, + 0.2846547594351941, + 0.17021642720474695, + 0.14497514789121246, + 0.0, + 1.1488235448188278, + 1.1859160489239828, + 0.006060804563918925, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.552430327958666, + 1.3347255059024357, + 0.18424970618893988, + 0.2544361039093894, + 0.2846547594351941, + 0.17021642720474695, + 0.14497514789121246, + 0.0, + 1.1064521322124505, + 1.1873487404350467, + 0.006060804563918925, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.552430327958666, + 1.3347255059024357, + 0.18424970618893988, + 0.2544361039093894, + 0.2846547594351941, + 0.17021642720474695, + 0.14497514789121246, + 0.0, + 1.1099942545857084, + 1.224062971449313, + 0.006060804563918925, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.552430327958666, + 1.3347255059024357, + 0.18424970618893988, + 0.2544361039093894, + 0.2846547594351941, + 0.17021642720474695, + 0.14497514789121246, + 0.0, + 1.089206817632677, + 1.2374843300063338, + 0.006060804563918925, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.552430327958666, + 1.3347255059024357, + 0.18424970618893988, + 0.2544361039093894, + 0.2846547594351941, + 0.17021642720474695, + 0.14497514789121246, + 0.0, + 1.0807496696706274, + 1.2595604675828334, + 0.006060804563918925, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.552430327958666, + 1.3347255059024357, + 0.18424970618893988, + 0.2544361039093894, + 0.2846547594351941, + 0.17021642720474695, + 0.14497514789121246, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.6962769669460469, + 1.139587816672744, + 0.0, + 0.10440506377058968, + 0.04036365117069762, + 0.10668260567589416, + 0.04248905587799403, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.6962769669460469, + 1.139587816672744, + 0.0, + 0.10440506377058968, + 0.04036365117069762, + 0.10668260567589416, + 0.04248905587799403, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.6962769669460469, + 1.139587816672744, + 0.0, + 0.10440506377058968, + 0.04036365117069762, + 0.10668260567589416, + 0.04248905587799403, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.6962769669460469, + 1.139587816672744, + 0.0, + 0.10440506377058968, + 0.04036365117069762, + 0.10668260567589416, + 0.04248905587799403, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.6962769669460469, + 1.139587816672744, + 0.0, + 0.10440506377058968, + 0.04036365117069762, + 0.10668260567589416, + 0.04248905587799403, + 0.0 + ], + "min": [ + -3.2767324447631836, + -2.221029043197632, + 1.5110688209533691, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0, + -3.103543996810913, + -1.7910127639770508, + 0.5874999761581421, + -0.6388476490974426, + -0.7345939874649048, + -0.15465661883354187, + -0.754358172416687, + 0.0, + -3.269026279449463, + -2.217284917831421, + 1.5110688209533691, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.103543996810913, + -1.7910127639770508, + 1.0033258199691772, + -0.6388476490974426, + -0.7112125158309937, + -0.15465661883354187, + 0.5636806488037109, + 0.0, + -3.1794958114624023, + -2.1737847328186035, + 1.5110688209533691, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.103543996810913, + -1.7910127639770508, + 1.0033258199691772, + -0.6388476490974426, + -0.7112125158309937, + -0.15465661883354187, + 0.5636806488037109, + 0.0, + -3.126964569091797, + -2.148261547088623, + 1.5110688209533691, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.103543996810913, + -1.7910127639770508, + 1.0033258199691772, + -0.6388476490974426, + -0.7112125158309937, + -0.15465661883354187, + 0.5636806488037109, + 0.0, + -3.0550496578216553, + -2.1133201122283936, + 1.5110688209533691, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.103543996810913, + -1.7910127639770508, + 1.0033258199691772, + -0.6388476490974426, + -0.7112125158309937, + -0.15465661883354187, + 0.5636806488037109, + 0.0, + -2.986529588699341, + -2.0800282955169678, + 1.5110688209533691, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.103543996810913, + -1.7910127639770508, + 1.0033258199691772, + -0.6388476490974426, + -0.7112125158309937, + -0.15465661883354187, + 0.5636806488037109, + 0.0, + -2.9337880611419678, + -2.0544028282165527, + 1.5110688209533691, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.103543996810913, + -1.7910127639770508, + 1.0033258199691772, + -0.6388476490974426, + -0.7112125158309937, + -0.15465661883354187, + 0.5636806488037109, + 0.0, + -2.845822811126709, + -2.0116631984710693, + 1.5110688209533691, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.103543996810913, + -1.7910127639770508, + 1.0033258199691772, + -0.6388476490974426, + -0.7112125158309937, + -0.15465661883354187, + 0.5636806488037109, + 0.0, + -2.7315080165863037, + -1.9561209678649902, + 1.5110688209533691, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.103543996810913, + -1.7910127639770508, + 1.0033258199691772, + -0.6388476490974426, + -0.7112125158309937, + -0.15465661883354187, + 0.5636806488037109, + 0.0, + -2.7052083015441895, + -1.9433428049087524, + 1.5110688209533691, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.103543996810913, + -1.7910127639770508, + 1.0033258199691772, + -0.6388476490974426, + -0.7112125158309937, + -0.15465661883354187, + 0.5636806488037109, + 0.0, + -2.6847989559173584, + -1.9334264993667603, + 1.5110688209533691, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.103543996810913, + -1.7910127639770508, + 1.0033258199691772, + -0.6388476490974426, + -0.7112125158309937, + -0.15465661883354187, + 0.5636806488037109, + 0.0, + -2.5650196075439453, + -1.8752293586730957, + 1.5110688209533691, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.103543996810913, + -1.7910127639770508, + 1.0033258199691772, + -0.6388476490974426, + -0.7112125158309937, + -0.15465661883354187, + 0.5636806488037109, + 0.0, + -2.4358181953430176, + -1.812454342842102, + 1.5110688209533691, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.103543996810913, + -1.7910127639770508, + 1.0033258199691772, + -0.6388476490974426, + -0.7112125158309937, + -0.15465661883354187, + 0.5636806488037109, + 0.0, + -2.424830675125122, + -1.8071157932281494, + 1.5110688209533691, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.103543996810913, + -1.7910127639770508, + 1.0033258199691772, + -0.6388476490974426, + -0.7112125158309937, + -0.15465661883354187, + 0.5636806488037109, + 0.0, + -2.410672187805176, + -1.8002365827560425, + 1.5110688209533691, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.103543996810913, + -1.7910127639770508, + 1.0033258199691772, + -0.6388476490974426, + -0.7112125158309937, + -0.15465661883354187, + 0.5636806488037109, + 0.0, + -2.2839579582214355, + -1.738669991493225, + 1.5110688209533691, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.103543996810913, + -1.7910127639770508, + 1.0033258199691772, + -0.6388476490974426, + -0.7112125158309937, + -0.15465661883354187, + 0.5636806488037109, + 0.0, + -2.184671401977539, + -1.6904296875, + 1.5110688209533691, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.103543996810913, + -1.7910127639770508, + 1.0033258199691772, + -0.6388476490974426, + -0.7112125158309937, + -0.15465661883354187, + 0.5636806488037109, + 0.0, + -2.1430084705352783, + -1.670186996459961, + 1.5110688209533691, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.103543996810913, + -1.7910127639770508, + 1.0033258199691772, + -0.6388476490974426, + -0.7112125158309937, + -0.15465661883354187, + 0.5636806488037109, + 0.0, + -2.0898358821868896, + -1.6443520784378052, + 1.5110688209533691, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.103543996810913, + -1.7910127639770508, + 1.0033258199691772, + -0.6388476490974426, + -0.7112125158309937, + -0.15465661883354187, + 0.5636806488037109, + 0.0, + -2.002532482147217, + -1.6019340753555298, + 1.5110688209533691, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.103543996810913, + -1.7910127639770508, + 1.0033258199691772, + -0.6388476490974426, + -0.7112125158309937, + -0.15465661883354187, + 0.5636806488037109, + 0.0, + -1.9347820281982422, + -1.5690162181854248, + 1.5110688209533691, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.103543996810913, + -1.7910127639770508, + 1.0033258199691772, + -0.6388476490974426, + -0.7112125158309937, + -0.15465661883354187, + 0.5636806488037109, + 0.0, + -1.862343192100525, + -1.533820390701294, + 1.5110688209533691, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.103543996810913, + -1.7910127639770508, + 1.0033258199691772, + -0.6388476490974426, + -0.7112125158309937, + -0.15465661883354187, + 0.5636806488037109, + 0.0, + -1.7689988613128662, + -1.4884672164916992, + 1.5110688209533691, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.103543996810913, + -1.7910127639770508, + 1.0033258199691772, + -0.6388476490974426, + -0.7112125158309937, + -0.15465661883354187, + 0.5636806488037109, + 0.0, + -1.7219001054763794, + -1.465583324432373, + 1.5110688209533691, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.103543996810913, + -1.7910127639770508, + 1.0033258199691772, + -0.6388476490974426, + -0.7112125158309937, + -0.15465661883354187, + 0.5636806488037109, + 0.0, + -1.6849961280822754, + -1.447652816772461, + 1.5110688209533691, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.103543996810913, + -1.7910127639770508, + 1.0033258199691772, + -0.6388476490974426, + -0.7112125158309937, + -0.15465661883354187, + 0.5636806488037109, + 0.0, + -1.5809507369995117, + -1.3971003293991089, + 1.5110688209533691, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.103543996810913, + -1.7910127639770508, + 1.0033258199691772, + -0.6388476490974426, + -0.7112125158309937, + -0.15465661883354187, + 0.5636806488037109, + 0.0, + -1.44816255569458, + -1.3325825929641724, + 1.5110688209533691, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.103543996810913, + -1.7910127639770508, + 1.0033258199691772, + -0.6388476490974426, + -0.7112125158309937, + -0.15465661883354187, + 0.5636806488037109, + 0.0, + -1.4400454759597778, + -1.3286386728286743, + 1.5110688209533691, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.103543996810913, + -1.7910127639770508, + 1.0033258199691772, + -0.6388476490974426, + -0.7112125158309937, + -0.15465661883354187, + 0.5636806488037109, + 0.0, + -1.433746099472046, + -1.325577974319458, + 1.5110688209533691, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.103543996810913, + -1.7910127639770508, + 1.0033258199691772, + -0.6388476490974426, + -0.7112125158309937, + -0.15465661883354187, + 0.5636806488037109, + 0.0, + -1.2998563051223755, + -1.2605249881744385, + 1.5110688209533691, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.103543996810913, + -1.7910127639770508, + 1.0033258199691772, + -0.6388476490974426, + -0.7112125158309937, + -0.15465661883354187, + 0.5636806488037109, + 0.0, + -1.1847705841064453, + -1.2046083211898804, + 1.5110688209533691, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.103543996810913, + -1.7910127639770508, + 1.0033258199691772, + -0.6388476490974426, + -0.7112125158309937, + -0.15465661883354187, + 0.5636806488037109, + 0.0, + -1.1596475839614868, + -1.1924017667770386, + 1.5110688209533691, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.103543996810913, + -1.7910127639770508, + 1.0033258199691772, + -0.6388476490974426, + -0.7112125158309937, + -0.15465661883354187, + 0.5636806488037109, + 0.0, + -1.127001404762268, + -1.1765400171279907, + 1.5110688209533691, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.103543996810913, + -1.7910127639770508, + 1.0033258199691772, + -0.6388476490974426, + -0.7112125158309937, + -0.15465661883354187, + 0.5636806488037109, + 0.0, + -1.0186275243759155, + -1.1238844394683838, + 1.5110688209533691, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.103543996810913, + -1.7910127639770508, + 1.0033258199691772, + -0.6388476490974426, + -0.7112125158309937, + -0.15465661883354187, + 0.5636806488037109, + 0.0, + -0.9362910985946655, + -1.0838797092437744, + 1.5110688209533691, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.103543996810913, + -1.7910127639770508, + 1.0033258199691772, + -0.6388476490974426, + -0.7112125158309937, + -0.15465661883354187, + 0.5636806488037109, + 0.0, + -0.8759098649024963, + -1.0545423030853271, + 1.5110688209533691, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.103543996810913, + -1.7910127639770508, + 1.0033258199691772, + -0.6388476490974426, + -0.7112125158309937, + -0.15465661883354187, + 0.5636806488037109, + 0.0, + -0.7843354940414429, + -1.0100491046905518, + 1.5110688209533691, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.103543996810913, + -1.7910127639770508, + 1.0033258199691772, + -0.6388476490974426, + -0.7112125158309937, + -0.15465661883354187, + 0.5636806488037109, + 0.0, + -0.7284261584281921, + -0.9828844666481018, + 1.5110688209533691, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.103543996810913, + -1.7910127639770508, + 1.0033258199691772, + -0.6388476490974426, + -0.7112125158309937, + -0.15465661883354187, + 0.5636806488037109, + 0.0, + -0.6938065886497498, + -0.9660638570785522, + 1.5110688209533691, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.103543996810913, + -1.7910127639770508, + 1.0033258199691772, + -0.6388476490974426, + -0.7112125158309937, + -0.15465661883354187, + 0.5636806488037109, + 0.0, + -0.5713728070259094, + -0.9065770506858826, + 1.5110688209533691, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.103543996810913, + -1.7910127639770508, + 1.0033258199691772, + -0.6388476490974426, + -0.7112125158309937, + -0.15465661883354187, + 0.5636806488037109, + 0.0, + -0.4533759653568268, + -0.8492460250854492, + 1.5110688209533691, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.103543996810913, + -1.7910127639770508, + 1.0033258199691772, + -0.6388476490974426, + -0.7112125158309937, + -0.15465661883354187, + 0.5636806488037109, + 0.0, + -0.4080967605113983, + -0.8272461891174316, + 1.5110688209533691, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.103543996810913, + -1.7910127639770508, + 1.0033258199691772, + -0.6388476490974426, + -0.7112125158309937, + -0.15465661883354187, + 0.5636806488037109, + 0.0, + -0.33116695284843445, + -0.7898684144020081, + 1.5110688209533691, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.103543996810913, + -1.7910127639770508, + 1.0033258199691772, + -0.6388476490974426, + -0.7112125158309937, + -0.15465661883354187, + 0.5636806488037109, + 0.0, + -0.2636919915676117, + -0.7419347763061523, + 1.5110688209533691, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.103543996810913, + -1.7910127639770508, + 1.0033258199691772, + -0.6388476490974426, + -0.7112125158309937, + -0.15465661883354187, + 0.5636806488037109, + 0.0, + 1.9434033632278442, + 1.8555917739868164, + 1.5232317447662354, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20874252915382385, + -0.5604393482208252, + 1.0033258199691772, + 0.0275876522064209, + -0.7112125158309937, + 0.010014861822128296, + 0.5636806488037109, + 0.0, + 1.9921700954437256, + 1.944657325744629, + 1.5232317447662354, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20874252915382385, + -0.5604393482208252, + 1.0033258199691772, + 0.0275876522064209, + -0.7112125158309937, + 0.010014861822128296, + 0.5636806488037109, + 0.0, + 2.0347840785980225, + 2.0224854946136475, + 1.5232317447662354, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20874252915382385, + -0.5604393482208252, + 1.0033258199691772, + 0.0275876522064209, + -0.7112125158309937, + 0.010014861822128296, + 0.5636806488037109, + 0.0, + 2.08168363571167, + 2.1081409454345703, + 1.5232317447662354, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20874252915382385, + -0.5604393482208252, + 1.0033258199691772, + 0.0275876522064209, + -0.7112125158309937, + 0.010014861822128296, + 0.5636806488037109, + 0.0, + 2.0869383811950684, + 2.2052245140075684, + 1.5232317447662354, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.20874252915382385, + -0.5604393482208252, + 1.0033258199691772, + 0.0275876522064209, + -0.7112125158309937, + 0.010014861822128296, + 0.5636806488037109, + 0.0 + ], + "max": [ + -0.3049732446670532, + -0.7649853229522705, + 1.5232317447662354, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.312983274459839, + 3.052690029144287, + 1.3731155395507812, + 0.6404660940170288, + 0.0530332550406456, + 0.5121050477027893, + 0.9587254524230957, + 1.0, + -0.25067535042762756, + -0.7542458176612854, + 1.5232317447662354, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.312983274459839, + 2.6650900840759277, + 1.3730812072753906, + 0.4199290871620178, + -0.05134696885943413, + 0.41043946146965027, + 0.9587254524230957, + 0.0, + -0.21726752817630768, + -0.7476381063461304, + 1.5232317447662354, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.312983274459839, + 2.6650900840759277, + 1.3730812072753906, + 0.4199290871620178, + -0.05134696885943413, + 0.41043946146965027, + 0.9587254524230957, + 0.0, + -0.08303862065076828, + -0.7210891246795654, + 1.5232317447662354, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.312983274459839, + 2.6650900840759277, + 1.3730812072753906, + 0.4199290871620178, + -0.05134696885943413, + 0.41043946146965027, + 0.9587254524230957, + 0.0, + -0.01169005036354065, + -0.7069771885871887, + 1.5232317447662354, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.312983274459839, + 2.6650900840759277, + 1.3730812072753906, + 0.4199290871620178, + -0.05134696885943413, + 0.41043946146965027, + 0.9587254524230957, + 0.0, + 0.08251723647117615, + -0.6883440613746643, + 1.5232317447662354, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.312983274459839, + 2.6650900840759277, + 1.3730812072753906, + 0.4199290871620178, + -0.05134696885943413, + 0.41043946146965027, + 0.9587254524230957, + 0.0, + 0.18844151496887207, + -0.6673934459686279, + 1.5232317447662354, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.312983274459839, + 2.6650900840759277, + 1.3730812072753906, + 0.4199290871620178, + -0.05134696885943413, + 0.41043946146965027, + 0.9587254524230957, + 0.0, + 0.24209943413734436, + -0.656780481338501, + 1.5232317447662354, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.312983274459839, + 2.6650900840759277, + 1.3730812072753906, + 0.4199290871620178, + -0.05134696885943413, + 0.41043946146965027, + 0.9587254524230957, + 0.0, + 0.3422057330608368, + -0.6369805932044983, + 1.5232317447662354, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.312983274459839, + 2.6650900840759277, + 1.3730812072753906, + 0.4199290871620178, + -0.05134696885943413, + 0.41043946146965027, + 0.9587254524230957, + 0.0, + 0.38176578283309937, + -0.6291561126708984, + 1.5232317447662354, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.312983274459839, + 2.6650900840759277, + 1.3730812072753906, + 0.4199290871620178, + -0.05134696885943413, + 0.41043946146965027, + 0.9587254524230957, + 0.0, + 0.4290817975997925, + -0.6197975277900696, + 1.5232317447662354, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.312983274459839, + 2.6650900840759277, + 1.3730812072753906, + 0.4199290871620178, + -0.05134696885943413, + 0.41043946146965027, + 0.9587254524230957, + 0.0, + 0.528640866279602, + -0.600105881690979, + 1.5232317447662354, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.312983274459839, + 2.6650900840759277, + 1.3730812072753906, + 0.4199290871620178, + -0.05134696885943413, + 0.41043946146965027, + 0.9587254524230957, + 0.0, + 0.6073383092880249, + -0.5845403671264648, + 1.5232317447662354, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.312983274459839, + 2.6650900840759277, + 1.3730812072753906, + 0.4199290871620178, + -0.05134696885943413, + 0.41043946146965027, + 0.9587254524230957, + 0.0, + 0.6512196063995361, + -0.5043973922729492, + 1.5232317447662354, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.312983274459839, + 2.6650900840759277, + 1.3730812072753906, + 0.4199290871620178, + -0.05134696885943413, + 0.41043946146965027, + 0.9587254524230957, + 0.0, + 0.693925142288208, + -0.4264017939567566, + 1.5232317447662354, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.312983274459839, + 2.6650900840759277, + 1.3730812072753906, + 0.4199290871620178, + -0.05134696885943413, + 0.41043946146965027, + 0.9587254524230957, + 0.0, + 0.7328754663467407, + -0.3552645146846771, + 1.5232317447662354, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.312983274459839, + 2.6650900840759277, + 1.3730812072753906, + 0.4199290871620178, + -0.05134696885943413, + 0.41043946146965027, + 0.9587254524230957, + 0.0, + 0.7601185441017151, + -0.30550897121429443, + 1.5232317447662354, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.312983274459839, + 2.6650900840759277, + 1.3730812072753906, + 0.4199290871620178, + -0.05134696885943413, + 0.41043946146965027, + 0.9587254524230957, + 0.0, + 0.8021780252456665, + -0.2286933958530426, + 1.5232317447662354, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.312983274459839, + 2.6650900840759277, + 1.3730812072753906, + 0.4199290871620178, + -0.05134696885943413, + 0.41043946146965027, + 0.9587254524230957, + 0.0, + 0.8606476783752441, + -0.12190690636634827, + 1.5232317447662354, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.312983274459839, + 2.6650900840759277, + 1.3730812072753906, + 0.4199290871620178, + -0.05134696885943413, + 0.41043946146965027, + 0.9587254524230957, + 0.0, + 0.8836413621902466, + -0.07991217821836472, + 1.5232317447662354, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.312983274459839, + 2.6650900840759277, + 1.3730812072753906, + 0.4199290871620178, + -0.05134696885943413, + 0.41043946146965027, + 0.9587254524230957, + 0.0, + 0.9557784795761108, + 0.05183599889278412, + 1.5232317447662354, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.312983274459839, + 2.6650900840759277, + 1.3730812072753906, + 0.4199290871620178, + -0.05134696885943413, + 0.41043946146965027, + 0.9587254524230957, + 0.0, + 0.9671406745910645, + 0.07258749008178711, + 1.5232317447662354, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.312983274459839, + 2.6650900840759277, + 1.3730812072753906, + 0.4199290871620178, + -0.05134696885943413, + 0.41043946146965027, + 0.9587254524230957, + 0.0, + 1.0369272232055664, + 0.20004254579544067, + 1.5232317447662354, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.312983274459839, + 2.6650900840759277, + 1.3730812072753906, + 0.4199290871620178, + -0.05134696885943413, + 0.41043946146965027, + 0.9587254524230957, + 0.0, + 1.0513787269592285, + 0.2264360785484314, + 1.5232317447662354, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.312983274459839, + 2.6650900840759277, + 1.3730812072753906, + 0.4199290871620178, + -0.05134696885943413, + 0.41043946146965027, + 0.9587254524230957, + 0.0, + 1.0537949800491333, + 0.23084896802902222, + 1.5232317447662354, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.312983274459839, + 2.6650900840759277, + 1.3730812072753906, + 0.4199290871620178, + -0.05134696885943413, + 0.41043946146965027, + 0.9587254524230957, + 0.0, + 1.1361478567123413, + 0.38125479221343994, + 1.5232317447662354, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.312983274459839, + 2.6650900840759277, + 1.3730812072753906, + 0.4199290871620178, + -0.05134696885943413, + 0.41043946146965027, + 0.9587254524230957, + 0.0, + 1.1472787857055664, + 0.40158385038375854, + 1.5232317447662354, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.312983274459839, + 2.6650900840759277, + 1.3730812072753906, + 0.4199290871620178, + -0.05134696885943413, + 0.41043946146965027, + 0.9587254524230957, + 0.0, + 1.2214750051498413, + 0.5370925664901733, + 1.5232317447662354, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.312983274459839, + 2.6650900840759277, + 1.3730812072753906, + 0.4199290871620178, + -0.05134696885943413, + 0.41043946146965027, + 0.9587254524230957, + 0.0, + 1.2394161224365234, + 0.5698594450950623, + 1.5232317447662354, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.312983274459839, + 2.6650900840759277, + 1.3730812072753906, + 0.4199290871620178, + -0.05134696885943413, + 0.41043946146965027, + 0.9587254524230957, + 0.0, + 1.3071378469467163, + 0.693543553352356, + 1.5232317447662354, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.312983274459839, + 2.6650900840759277, + 1.3730812072753906, + 0.4199290871620178, + -0.05134696885943413, + 0.41043946146965027, + 0.9587254524230957, + 0.0, + 1.3284491300582886, + 0.7324655652046204, + 1.5232317447662354, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.312983274459839, + 2.6650900840759277, + 1.3730812072753906, + 0.4199290871620178, + -0.05134696885943413, + 0.41043946146965027, + 0.9587254524230957, + 0.0, + 1.392659306526184, + 0.8497362732887268, + 1.5232317447662354, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.312983274459839, + 2.6650900840759277, + 1.3730812072753906, + 0.4199290871620178, + -0.05134696885943413, + 0.41043946146965027, + 0.9587254524230957, + 0.0, + 1.4166685342788696, + 0.8935856819152832, + 1.5232317447662354, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.312983274459839, + 2.6650900840759277, + 1.3730812072753906, + 0.4199290871620178, + -0.05134696885943413, + 0.41043946146965027, + 0.9587254524230957, + 0.0, + 1.4780476093292236, + 1.0056856870651245, + 1.5232317447662354, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.312983274459839, + 2.6650900840759277, + 1.3730812072753906, + 0.4199290871620178, + -0.05134696885943413, + 0.41043946146965027, + 0.9587254524230957, + 0.0, + 1.5040591955184937, + 1.0531922578811646, + 1.5232317447662354, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.312983274459839, + 2.6650900840759277, + 1.3730812072753906, + 0.4199290871620178, + -0.05134696885943413, + 0.41043946146965027, + 0.9587254524230957, + 0.0, + 1.5634002685546875, + 1.1615701913833618, + 1.5232317447662354, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.312983274459839, + 2.6650900840759277, + 1.3730812072753906, + 0.4199290871620178, + -0.05134696885943413, + 0.41043946146965027, + 0.9587254524230957, + 0.0, + 1.591869592666626, + 1.213565468788147, + 1.5232317447662354, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.312983274459839, + 2.6650900840759277, + 1.3730812072753906, + 0.4199290871620178, + -0.05134696885943413, + 0.41043946146965027, + 0.9587254524230957, + 0.0, + 1.6487529277801514, + 1.3174546957015991, + 1.5232317447662354, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.312983274459839, + 2.6650900840759277, + 1.3730812072753906, + 0.4199290871620178, + -0.05134696885943413, + 0.41043946146965027, + 0.9587254524230957, + 0.0, + 1.679317593574524, + 1.3732768297195435, + 1.5232317447662354, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.312983274459839, + 2.6650900840759277, + 1.3730812072753906, + 0.4199290871620178, + -0.05134696885943413, + 0.41043946146965027, + 0.9587254524230957, + 0.0, + 1.7341054677963257, + 1.4733390808105469, + 1.5232317447662354, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.312983274459839, + 2.6650900840759277, + 1.3730812072753906, + 0.4199290871620178, + -0.05134696885943413, + 0.41043946146965027, + 0.9587254524230957, + 0.0, + 1.7670706510543823, + 1.5335452556610107, + 1.5232317447662354, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.312983274459839, + 2.6650900840759277, + 1.3730812072753906, + 0.4199290871620178, + -0.05134696885943413, + 0.41043946146965027, + 0.9587254524230957, + 0.0, + 1.819458246231079, + 1.6292238235473633, + 1.5232317447662354, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.312983274459839, + 2.6650900840759277, + 1.3730812072753906, + 0.4199290871620178, + -0.05134696885943413, + 0.41043946146965027, + 0.9587254524230957, + 0.0, + 1.8546714782714844, + 1.6935358047485352, + 1.5232317447662354, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.312983274459839, + 2.6650900840759277, + 1.3730812072753906, + 0.4199290871620178, + -0.05134696885943413, + 0.41043946146965027, + 0.9587254524230957, + 0.0, + 1.9051744937896729, + 1.7857722043991089, + 1.5232317447662354, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.312983274459839, + 2.6650900840759277, + 1.3730812072753906, + 0.4199290871620178, + -0.05134696885943413, + 0.41043946146965027, + 0.9587254524230957, + 0.0, + 1.9434033632278442, + 1.8555917739868164, + 1.5232317447662354, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.312983274459839, + 2.6650900840759277, + 1.0033258199691772, + 0.4199290871620178, + -0.580915629863739, + 0.41043946146965027, + 0.7023639678955078, + 0.0, + 1.9921700954437256, + 1.944657325744629, + 1.5232317447662354, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.312983274459839, + 2.6650900840759277, + 1.0033258199691772, + 0.4199290871620178, + -0.580915629863739, + 0.41043946146965027, + 0.7023639678955078, + 0.0, + 2.0347840785980225, + 2.0224854946136475, + 1.5232317447662354, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.312983274459839, + 2.6650900840759277, + 1.0033258199691772, + 0.4199290871620178, + -0.580915629863739, + 0.41043946146965027, + 0.7023639678955078, + 0.0, + 2.08168363571167, + 2.1081409454345703, + 1.5232317447662354, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.312983274459839, + 2.6650900840759277, + 1.0033258199691772, + 0.4199290871620178, + -0.580915629863739, + 0.41043946146965027, + 0.7023639678955078, + 0.0, + 2.0869383811950684, + 2.2052245140075684, + 1.5232317447662354, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.312983274459839, + 2.6650900840759277, + 1.0033258199691772, + 0.4199290871620178, + -0.580915629863739, + 0.41043946146965027, + 0.7023639678955078, + 0.0 + ], + "count": [ + 2179 + ] + }, + "action.applied": { + "mean": [ + 0.08376105970003397, + 0.0006007830334118661, + 0.006514531384764377, + 0.6365435129386743, + -0.7669045837513676, + -1.031686296700759, + 1.098939506749923, + -1.7294867980041593, + -1.6844671124873658, + -1.2436839979613787, + -0.0012999845949908143, + 0.0012999845949908143 + ], + "std": [ + 0.13090115777501354, + 0.011657443901265578, + 0.15543634325126957, + 0.4275103252578014, + 0.5012249732209856, + 0.5553261020847872, + 0.33971042168993615, + 0.8817110469574873, + 0.4292843581167805, + 0.7804786751544444, + 0.01260947546528575, + 0.01260947546528575 + ], + "min": [ + 0.0, + -0.06555059552192688, + -0.800000011920929, + -0.09698297083377838, + -1.6057072877883911, + -1.64614737033844, + 0.4984630048274994, + -2.466644287109375, + -2.7245845794677734, + -2.00178861618042, + -0.009999999776482582, + -0.020833000540733337 + ], + "max": [ + 0.30000001192092896, + 0.15204200148582458, + 0.800000011920929, + 1.2241886854171753, + 0.015313182957470417, + 0.0004018837062176317, + 1.4925132989883423, + 0.005773414392024279, + -1.1379404067993164, + 0.1389046162366867, + 0.020833000540733337, + 0.009999999776482582 + ], + "count": [ + 2179 + ] + }, + "extra.reward": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 2179 + ] + }, + "next.truncated": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 2179 + ] + }, + "sim_step_idx": { + "mean": [ + 2279.0 + ], + "std": [ + 1258.04610408363 + ], + "min": [ + 101.0 + ], + "max": [ + 4457.0 + ], + "count": [ + 2179 + ] + }, + "timestamp": { + "mean": [ + 43.560000002514116 + ], + "std": [ + 25.160922082421177 + ], + "min": [ + 0.0 + ], + "max": [ + 87.12000274658203 + ], + "count": [ + 2179 + ] + }, + "frame_index": { + "mean": [ + 1089.0 + ], + "std": [ + 629.023052041815 + ], + "min": [ + 0.0 + ], + "max": [ + 2178.0 + ], + "count": [ + 2179 + ] + }, + "episode_index": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 2179 + ] + }, + "index": { + "mean": [ + 1089.0 + ], + "std": [ + 629.023052041815 + ], + "min": [ + 0.0 + ], + "max": [ + 2178.0 + ], + "count": [ + 2179 + ] + }, + "task_index": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 2179 + ] + }, + "next.done": { + "mean": [ + 0.0004589261128958238 + ], + "std": [ + 0.021417644588486526 + ], + "min": [ + 0.0 + ], + "max": [ + 1.0 + ], + "count": [ + 2179 + ] + }, + "observation.images.head": { + "mean": [ + [ + [ + 0.5369198343017166 + ] + ], + [ + [ + 0.47411855137427555 + ] + ], + [ + [ + 0.41001274664894766 + ] + ] + ], + "std": [ + [ + [ + 0.12488208811215973 + ] + ], + [ + [ + 0.14167806912635364 + ] + ], + [ + [ + 0.13531576026168896 + ] + ] + ], + "min": [ + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ] + ], + "max": [ + [ + [ + 0.9254901960784314 + ] + ], + [ + [ + 0.9098039215686274 + ] + ], + [ + [ + 0.8823529411764706 + ] + ] + ], + "count": [ + 100 + ] + }, + "observation.images.wrist": { + "mean": [ + [ + [ + 0.5443023868781842 + ] + ], + [ + [ + 0.4558293124447845 + ] + ], + [ + [ + 0.37633813165053637 + ] + ] + ], + "std": [ + [ + [ + 0.1500708391926123 + ] + ], + [ + [ + 0.16170340320412416 + ] + ], + [ + [ + 0.15879723557123987 + ] + ] + ], + "min": [ + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ] + ], + "max": [ + [ + [ + 0.9568627450980393 + ] + ], + [ + [ + 0.9058823529411765 + ] + ], + [ + [ + 0.8941176470588236 + ] + ] + ], + "count": [ + 100 + ] + } +} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_off/seed_1023/rec/stationbookendxr/000/lerobot_v21/meta/tasks.jsonl b/N034/sawyer_umi/dr_off/seed_1023/rec/stationbookendxr/000/lerobot_v21/meta/tasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e639892eae0aca859cb3ed9b82a48465787b6b4a --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1023/rec/stationbookendxr/000/lerobot_v21/meta/tasks.jsonl @@ -0,0 +1 @@ +{"task_index": 0, "task": "Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it."} diff --git a/N034/sawyer_umi/dr_off/seed_1023/rec/stationbookendxr/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 b/N034/sawyer_umi/dr_off/seed_1023/rec/stationbookendxr/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..bf054a203a0f157fbcbdb773b9690a87b404f22b --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1023/rec/stationbookendxr/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:b9b17d03fdcb7f4f2d1583c31ed8760b6c519f64267b4d30a946b43c876df73c +size 24413405 diff --git a/N034/sawyer_umi/dr_off/seed_1023/rec/stationbookendxr/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 b/N034/sawyer_umi/dr_off/seed_1023/rec/stationbookendxr/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..fd0c046322597098cf8e50ee3ea464a5d53aca92 --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1023/rec/stationbookendxr/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 sha256:450658dbef19a457938c5e8e5bef7ce1c7f03dbd4df65794a99df08237298e24 +size 38203943 diff --git a/N034/sawyer_umi/dr_off/seed_1023/rec/stationbookendxr/000/run_meta.json b/N034/sawyer_umi/dr_off/seed_1023/rec/stationbookendxr/000/run_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f401ad363982ec6b0bcfa05bafe0273ae1141b42 --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1023/rec/stationbookendxr/000/run_meta.json @@ -0,0 +1,1215 @@ +{ + "run_id": "stationbookendxr/000", + "created": "2026-11-08 02:42:06", + "num_envs": 1, + "session_id": null, + "record_config": { + "output_dir": "/mnt/scratch/xc536_atomic/n034_saw_off_1023/out/rec", + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "json_round": null, + "schema": { + "source": "robot_manager", + "nan_policy": "from_raw" + }, + "lerobot": { + "subsample_every": 2 + } + }, + "config": { + "env_string": "StationBookendXREnv-V0", + "env": { + "sim": { + "device": "cpu", + "use_fabric": false, + "decimation": 4, + "dt": 0.005, + "seed": 1023, + "soft_resets": 2, + "enable_scene_query_support": true, + "scene": { + "num_envs": 1, + "env_spacing": 16 + }, + "render": { + "rendering_mode": "performance", + "enable_reflections": false, + "enable_global_illumination": false, + "enable_translucency": false, + "enable_dl_denoiser": false + } + }, + "nav": { + "navmesh": { + "enabled": true, + "visualize": false, + "bake_timeout_s": 180, + "agent_height_cm": 150, + "min_agent_radius_cm": 45.0, + "max_agent_radius_cm": 45.0, + "max_step_height_cm": 20, + "max_floor_slope_deg": 30, + "agent_island_radius_cm": 5, + "auto_exclude_rigid_bodies": true, + "validate_path_clearance": true, + "validate_path_window": true, + "navmesh_offset_z_m": 0, + "verbose": false, + "validate_path_reroute": true + }, + "occupancymap": { + "cell_size": 0.05 + } + }, + "scene": { + "background": { + "intensity": [ + 1000, + 1000 + ] + }, + "terrain": { + "type": "nav_room", + "collision": true, + "hide_top_walls": true, + "usd": [ + "$MAGICSIM_ASSETS/Room/Collected_SimpleRoom" + ], + "annotation": "Annotation", + "random": false, + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0, + "friction_combine_mode": "multiply", + "restitution_combine_mode": "multiply" + } + }, + "objects": { + "table_A": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "table_A_1": { + "pos": [ + -0.21175947105022364, + 0.12651385249292363, + 0.18 + ], + "ori": [ + 0.0, + 0.0, + -3.422131750029365 + ], + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.45, + 0.35 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "table_B": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "table_B_1": { + "pos": [ + 2.132107713500667, + 3.1541501268942826, + 0.18 + ], + "ori": [ + 0.0, + 0.0, + -2.7252471094510184 + ], + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.45, + 0.35 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "slot_left": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "slot_left_1": { + "pos": [ + -0.24537525278178787, + 0.008309668055248867, + 0.3475 + ], + "ori": [ + 0.0, + 0.0, + -3.422131750029365 + ], + "primitive_params": { + "size": [ + 0.01, + 0.12, + 0.035 + ] + }, + "visual": { + "color": [ + [ + 0.4, + 0.3, + 0.2 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "slot_right": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "slot_right_1": { + "pos": [ + -0.1924697599932568, + 0.005145994114608601, + 0.3475 + ], + "ori": [ + 0.0, + 0.0, + -3.422131750029365 + ], + "primitive_params": { + "size": [ + 0.01, + 0.12, + 0.035 + ] + }, + "visual": { + "color": [ + [ + 0.4, + 0.3, + 0.2 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "book": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "book_1": { + "pos": [ + -0.2182127711350647, + 0.01859659315876762, + 0.40149999999999997 + ], + "ori": [ + 0.0, + 0.0, + 86.57786824997063 + ], + "primitive_params": { + "size": [ + 0.1, + 0.035, + 0.14 + ] + }, + "visual": { + "color": [ + [ + 0.78, + 0.12, + 0.12 + ] + ] + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.05, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + } + } + } + }, + "plate": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "plate_1": { + "pos": [ + 2.098885286195394, + 3.0556183029796413, + 0.37049999999999994 + ], + "ori": [ + 0.0, + 0.0, + -2.7252471094510184 + ], + "primitive_params": { + "size": [ + 0.012, + 0.14, + 0.08 + ] + }, + "visual": { + "color": [ + [ + 0.35, + 0.35, + 0.4 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "bookend": { + "usd": [ + "$MAGICSIM_ASSETS/Object/MMB_A07/bookend_l/Object.usda" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "bookend_1": { + "pos": [ + 2.2092317472577574, + 3.052376063787455, + 0.33099999999999996 + ], + "ori": [ + 0.0, + 0.0, + 87.27475289054898 + ], + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.6, + "physics_material": { + "static_friction": 0.2, + "dynamic_friction": 0.15, + "restitution": 0.0 + } + } + } + } + } + }, + "robot": { + "RidgebackSawyerUmi": { + "name": "ridgebacksawyer_umi", + "type": "mobilemanip", + "common": { + "pos": [ + [ + -3.4, + -2.2, + 0.05 + ], + [ + -3.4, + -2.2, + 0.05 + ] + ], + "ori": [ + [ + 0, + 0, + 40.0 + ], + [ + 0, + 0, + 40.0 + ] + ], + "initial_joint_pos": { + "dummy_base_.*": 0.0, + "head_pan": 0.0, + "right_j0": 0.0, + "right_j1": -1.6, + "right_j2": 0.0, + "right_j3": 0.5, + "right_j4": 0.0, + "right_j5": -2.32, + "right_j6": 0.0, + "right_gripper_l_finger_joint": 0.0, + "right_gripper_r_finger_joint": 0.0 + } + }, + "action": { + "base_action": "holonomic_action", + "arm_action": "ik_pink", + "eef_action": "binary" + }, + "planner": { + "dual_mode": true, + "base_joint_names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint" + ], + "ik": { + "type": "ridgebacksawyer_umi", + "model_tuning": "ridgeback_sawyer_umi", + "enable": true, + "ik_num_instances": 1, + "ik_batch_size": 1, + "ik_num_seeds": 32, + "ik_position_threshold": 0.005, + "ik_rotation_threshold": 0.05, + "microbatch_wait_ms": 20.0, + "relative_to_world_frame": false + }, + "motiongen": { + "type": "ridgebacksawyer_umi", + "model_tuning": "ridgeback_sawyer_umi", + "enable": true, + "motiongen_num_instances": 1, + "batch_size": 1, + "microbatch_wait_ms": 20.0, + "mode": "position", + "relative_to_world_frame": false, + "start_state_limit_inset": 0.002 + }, + "body": { + "type": "nav", + "dwb_type": "dwb_holonomic", + "dwb_holonomic": { + "device": "cpu", + "dt": 0.02, + "debug": false, + "num_rollout_steps": 60, + "num_speed_samples": 11, + "num_steer_samples": 11, + "num_vx_samples": 7, + "num_vy_samples": 7, + "num_yaw_samples": 7, + "max_accel": 1.5, + "max_steer_rate": 1.5, + "max_accel_vx": 1.5, + "max_accel_vy": 1.5, + "max_yaw_accel": 1.5, + "w_goal": 6.0, + "w_path": 8.0, + "w_vel": 0.2, + "w_vy": 0.0, + "goal_cost_mode": "path", + "dilate_radius": 0.36, + "room_size": 12.0, + "occupancy_update_interval": 25, + "scan_height": 0.35, + "scan_min_z": 0.12, + "scan_max_z": 1.65, + "goal_pos_threshold": 0.05, + "goal_yaw_threshold": 0.05, + "kp_goal_yaw": 1.5, + "heading_reference": "path", + "turn_yaw_threshold": 0.8, + "heading_lookahead": 0.8, + "heading_min_leg": 0.35, + "route_yaw_gain": 2.0, + "goal_yaw_hysteresis": 0.02, + "min_vx": -0.3, + "max_vx": 0.3, + "min_vy": -0.3, + "max_vy": 0.3, + "min_yaw_rate": -0.8, + "max_yaw_rate": 0.8, + "safety_enabled": true, + "safety_deceleration": 0.5, + "safety_reaction_time": 0.5, + "scan_type": "3d" + }, + "p_controller": { + "kp_angular_turning_only": 2.0, + "kd_angular_turning_only": 1.0, + "kp_linear_x": 3.0, + "kp_linear_y": 3.0, + "kp_angular": 2.0, + "kd_linear_x": 1.0, + "kd_linear_y": 1.0, + "min_vel": -0.4, + "max_vel": 0.5, + "linear_dead_zone": 0.01, + "angular_dead_zone": 0.05, + "nav_heading_target": -1, + "nav_upgrade_distance": 0.03 + } + }, + "arm": { + "type": "default" + }, + "eef": { + "type": "default" + } + }, + "physics": { + "robot_radius": 0.66, + "wheel_base": 0.01 + }, + "reset": "default" + } + }, + "camera": { + "enable_tiled": false, + "colorize_depth": false, + "head": { + "camera": { + "type": "camera", + "mesh": "pinhole", + "resolution": [ + 640, + 480 + ], + "frequency": 25, + "focal_length": 2.0, + "horizontal_aperture": 3.6, + "vertical_aperture": 2.7, + "clipping_range": [ + 0.05, + 30.0 + ], + "focus_distance": 3.0, + "mode": "RGB", + "mount_link": "Robot_0/head", + "pos": [ + 0.2166, + 0.0, + -0.045 + ], + "ori": [ + -0.0, + 35.0, + -90.0 + ] + }, + "annotator": { + "enabled": true, + "rgb_capture": { + "type": "rgb", + "device": "cpu" + } + } + }, + "wrist": { + "camera": { + "type": "camera", + "mesh": "pinhole", + "resolution": [ + 640, + 480 + ], + "frequency": 25, + "focal_length": 1.8, + "horizontal_aperture": 3.6, + "vertical_aperture": 2.7, + "clipping_range": [ + 0.05, + 30.0 + ], + "focus_distance": 3.0, + "mode": "RGB", + "mount_link": "Robot_0/right_electric_gripper_base", + "pos": [ + 0.0598, + 0.0, + 0.03 + ], + "ori": [ + 180.0, + 0.0, + -90.0 + ] + }, + "annotator": { + "enabled": true, + "rgb_capture": { + "type": "rgb", + "device": "cpu" + } + } + } + } + }, + "task": { + "new_seed_per_episode": true, + "observation": {}, + "reward": {}, + "termination": { + "timeout_steps": 30000, + "success_hold_frames": 10, + "fall_height": 0.02, + "fall_tilt": 1.0, + "lift_height": 0.12, + "grasp_distance": 0.25 + }, + "station": { + "robot": { + "key": "RidgebackSawyerUmi", + "embodiment": "sawyer_umi", + "base_link": "torso", + "tcp_in_wrist": [ + 0.17174, + 0.00789, + 0.0, + 0.5, + 0.5, + 0.5, + 0.5 + ], + "wrist_ref_back": 0.0, + "spawn_dz": 0.02, + "finger_joints": [ + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ], + "dwb": { + "key": "dwb_holonomic", + "add_floor": false + } + }, + "task_id": "N034", + "task_version": "EXT60-MobileAvatar-v3", + "family_id": "bookend_support", + "primary_category": "C2", + "stage": "full", + "layout": { + "floor_z": 0.03, + "start": { + "x": -3.4, + "y": -2.2, + "yaw_deg": 40.0, + "radius": 0.3, + "yaw_spread_deg": 20.0 + }, + "stations": { + "A": { + "center": [ + -0.21175947105022364, + 0.12651385249292363 + ], + "facing_deg": 86.57786824997063, + "standoff": 0.62, + "table": { + "width": 0.9, + "depth": 0.5, + "height": 0.3 + } + }, + "B": { + "center": [ + 2.132107713500667, + 3.1541501268942826 + ], + "facing_deg": 87.27475289054898, + "standoff": 0.7, + "table": { + "width": 0.9, + "depth": 0.5, + "height": 0.3 + } + } + } + }, + "route": [ + "A", + "B" + ], + "book": "book", + "bookend": "bookend", + "plate": "plate", + "dr": { + "enabled": true, + "stations": { + "center_m": 0.25, + "facing_deg": 8.0 + }, + "objects": { + "across_m": 0.025, + "along_m": 0.02, + "yaw_deg": 8.0 + } + }, + "book_slot": { + "across": -0.001 + }, + "push": { + "height": 0.025, + "overshoot": -0.002 + }, + "place_check": { + "book": { + "at": { + "station": "B", + "across": -0.001, + "along": -0.1, + "z": 0.0725 + }, + "yaw_deg": 90.0, + "clearance": 0.004 + } + }, + "success": { + "upright_deg": 15.0, + "rest_z_tol": 0.02, + "contact_gap": 0.006, + "max_penetration": 0.01, + "min_push": 0.04, + "release_dist": 0.15, + "rest_speed": 0.03, + "lift": 0.08 + }, + "objects": { + "slot_left": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.01, + 0.12, + 0.035 + ], + "at": { + "station": "A", + "across": -0.0265, + "along": -0.12, + "z": 0.0175 + }, + "color": [ + 0.4, + 0.3, + 0.2 + ], + "pos": [ + -0.24537525278178787, + 0.008309668055248867, + 0.3475 + ], + "yaw_deg": -3.422131750029365 + }, + "slot_right": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.01, + 0.12, + 0.035 + ], + "at": { + "station": "A", + "across": 0.0265, + "along": -0.12, + "z": 0.0175 + }, + "color": [ + 0.4, + 0.3, + 0.2 + ], + "pos": [ + -0.1924697599932568, + 0.005145994114608601, + 0.3475 + ], + "yaw_deg": -3.422131750029365 + }, + "book": { + "jitter": { + "across_m": 0.0, + "yaw_deg": 0.0 + }, + "asset": "Cube", + "type": "rigid", + "size": [ + 0.1, + 0.035, + 0.14 + ], + "yaw_deg": 86.57786824997063, + "at": { + "station": "A", + "across": 0.0, + "along": -0.10811003627869381, + "z": 0.0715 + }, + "mass": 0.05, + "color": [ + 0.78, + 0.12, + 0.12 + ], + "friction": { + "static": 1.5, + "dynamic": 1.5 + }, + "grasp": { + "part": "body", + "thin_axis": 1, + "min_elevation_deg": 60.0, + "approach_deg": [ + 0, + 15, + 30, + 45, + 60, + 75, + 90, + 105, + 120, + 135, + 150, + 165, + 180, + 195, + 210, + 225, + 240, + 255, + 270, + 285, + 300, + 315, + 330, + 345 + ], + "inset": 0.012 + }, + "pos": [ + -0.2182127711350647, + 0.01859659315876762, + 0.40149999999999997 + ] + }, + "plate": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.012, + 0.14, + 0.08 + ], + "at": { + "station": "B", + "across": -0.0285, + "along": -0.1, + "z": 0.0405 + }, + "color": [ + 0.35, + 0.35, + 0.4 + ], + "pos": [ + 2.098885286195394, + 3.0556183029796413, + 0.37049999999999994 + ], + "yaw_deg": -2.7252471094510184 + }, + "bookend": { + "jitter": { + "across_m": 0.01, + "yaw_deg": 0.0 + }, + "catalog": "bookend_l", + "type": "rigid", + "yaw_deg": 87.27475289054898, + "at": { + "station": "B", + "across": 0.08187581896211055, + "along": -0.09799197300555326, + "z": 0.001 + }, + "friction": { + "static": 0.2, + "dynamic": 0.15 + }, + "asset": "$MAGICSIM_ASSETS/Object/MMB_A07/bookend_l/Object.usda", + "parts": [ + { + "name": "wall", + "center": [ + 0.0, + 0.0, + 0.03 + ], + "half": [ + 0.06, + 0.006, + 0.03 + ], + "rpy_deg": [ + 0.0, + 0.0, + 0.0 + ] + }, + { + "name": "foot", + "center": [ + 0.0, + -0.036, + 0.004 + ], + "half": [ + 0.06, + 0.03, + 0.004 + ], + "rpy_deg": [ + 0.0, + 0.0, + 0.0 + ] + } + ], + "mass": 0.6, + "com": [ + 0.0, + -0.01, + 0.03 + ], + "pos": [ + 2.2092317472577574, + 3.052376063787455, + 0.33099999999999996 + ] + } + }, + "report_jsonl": "/mnt/scratch/xc536_atomic/n034_saw_off_1023/out/report.episodes.jsonl", + "dr_applied": true, + "level": "easy" + }, + "command": { + "StationBookend": { + "obj_type": "rigid", + "obj_name": "book", + "obj_id": 0, + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.05, + "settle_ticks": 120 + }, + "StationBookendXR": { + "obj_type": "rigid", + "obj_name": "book", + "grasp_part": "body", + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.015, + "lift": 0.03, + "over_top": 0.005, + "pre_clear": 0.1, + "carry_ahead": 0.5, + "carry_z": 0.8, + "settle_ticks": 120, + "hover": 0.09, + "remeasure_lower": true, + "recenter_clear": 0.02, + "recenter_passes": 2, + "push_lead": 0.012, + "push_over": 0.06, + "withdraw_up": 0.2 + } + } + }, + "collect": { + "global_planner": { + "NavTo": { + "use_navmesh": true, + "use_absolute": true, + "translation_threshold": 0.12, + "rotation_threshold": 0.12, + "num_path_segments": 30, + "start_forward_offset": 0.0, + "visualize_path": false, + "carry_arm": true + }, + "RetractMoveL": { + "translation_threshold": 0.02, + "rotation_threshold": 0.2, + "motiongen_distance_threshold": 0.05, + "timeout_steps": 1800, + "base_pos_threshold": 0.12, + "base_rot_threshold": 0.5, + "eef_pos_threshold": 0.03, + "eef_rot_threshold": 0.3, + "base_waypoint_max_steps": 20, + "arm_waypoint_max_steps": 8, + "move_strategy_distance_threshold": 0.1, + "debug": false, + "debug_viz": false + }, + "MobileMoveL": { + "translation_threshold": 0.006, + "rotation_threshold": 0.08, + "motiongen_distance_threshold": 0.05, + "timeout_steps": 1800, + "stall_release_ticks": 100, + "stall_release_factor": 5.0, + "reactive": false, + "base_pos_threshold": 0.12, + "base_rot_threshold": 0.5, + "eef_pos_threshold": 0.03, + "eef_rot_threshold": 0.3, + "waypoint_max_steps": 20, + "interp_steps": 100, + "interp_validate_target": true, + "retry_mobile_on_locked_plan_failure": true, + "debug": false, + "debug_viz": false + }, + "MobileServoL": { + "base_pos_threshold": 0.12, + "waypoint_max_steps": 20, + "translation_threshold": 0.05, + "timeout_steps": 300 + }, + "ParallelGripper": { + "gripper_threshold": 0.0005, + "timeout_steps": 60 + } + }, + "atomic_skill": { + "NavToPose": { + "robot_id": 0, + "show_marker": false + }, + "Move": { + "arm_planner": "MobileMoveL", + "hand_planner": "ParallelGripper", + "obstacle_avoid_paths": [ + "dynamic/table_A", + "dynamic/table_B" + ], + "obstacle_ignore_paths": [], + "close_value": 1.0, + "open_value": 0.0, + "hold_steps": 10 + }, + "StationNavXR": { + "robot_id": 0, + "show_marker": false + }, + "ReachStance": { + "max_walks": 4 + } + }, + "command": { + "StationBookend": { + "obj_type": "rigid", + "obj_name": "book", + "obj_id": 0, + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.05, + "settle_ticks": 120 + }, + "StationBookendXR": { + "obj_type": "rigid", + "obj_name": "book", + "grasp_part": "body", + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.015, + "lift": 0.03, + "over_top": 0.005, + "pre_clear": 0.1, + "carry_ahead": 0.5, + "carry_z": 0.8, + "settle_ticks": 120, + "hover": 0.09, + "remeasure_lower": true, + "recenter_clear": 0.02, + "recenter_passes": 2, + "push_lead": 0.012, + "push_over": 0.06, + "withdraw_up": 0.2 + } + }, + "auto_collect": {}, + "record": { + "output_dir": "/mnt/scratch/xc536_atomic/n034_saw_off_1023/out/rec", + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "json_round": null, + "schema": { + "source": "robot_manager", + "nan_policy": "from_raw" + }, + "lerobot": { + "subsample_every": 2 + } + } + }, + "visual_dr": { + "keep": [ + "book", + "book_other", + "bookend" + ] + } + }, + "git_sha": null, + "collect_runtime": { + "max_trajectories": 1 + } +} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_off/seed_1023/rec/stationbookendxr/000/sim_info/0/actions.npz b/N034/sawyer_umi/dr_off/seed_1023/rec/stationbookendxr/000/sim_info/0/actions.npz new file mode 100644 index 0000000000000000000000000000000000000000..fec929636187148bedcab6c82203aa1e3ecadf73 --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1023/rec/stationbookendxr/000/sim_info/0/actions.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:896a084bf849bef6d9e0012093e2c95b3db55eb3faaa17fff66cd2f6a515bde4 +size 510038 diff --git a/N034/sawyer_umi/dr_off/seed_1023/rec/stationbookendxr/000/sim_info/0/device_commands.jsonl b/N034/sawyer_umi/dr_off/seed_1023/rec/stationbookendxr/000/sim_info/0/device_commands.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N034/sawyer_umi/dr_off/seed_1023/rec/stationbookendxr/000/sim_info/0/device_events.jsonl b/N034/sawyer_umi/dr_off/seed_1023/rec/stationbookendxr/000/sim_info/0/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N034/sawyer_umi/dr_off/seed_1023/rec/stationbookendxr/000/sim_info/0/scene_snapshot.json b/N034/sawyer_umi/dr_off/seed_1023/rec/stationbookendxr/000/sim_info/0/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..8ff281e2582151301e8a352facce36a11f5df79d --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1023/rec/stationbookendxr/000/sim_info/0/scene_snapshot.json @@ -0,0 +1,509 @@ +{ + "trajectory_id": 0, + "env_id": 0, + "run_id": "stationbookendxr/000", + "task_type": "BookendXRCommand", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])", + "avatars": "avatar_manager.set_avatars_state(snapshot['avatars'], env_ids=[env_id]) (present when the scene has animated avatars)" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "table_A": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.21175947105022364, + 0.12651385249292363, + 0.18 + ], + "ori": [ + 0.9995540976524353, + 0.0, + 0.0, + -0.02985929511487484 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.45, + 0.35 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + } + }, + "type_specific": {} + } + ], + "table_B": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 2.132107713500667, + 3.1541501268942826, + 0.18 + ], + "ori": [ + 0.9997172355651855, + 0.0, + 0.0, + -0.02378002554178238 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.45, + 0.35 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + } + }, + "type_specific": {} + } + ], + "slot_left": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.24537525278178787, + 0.008309668055248867, + 0.3475 + ], + "ori": [ + 0.9995540976524353, + 0.0, + 0.0, + -0.02985929511487484 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.4, + 0.3, + 0.2 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.01, + 0.12, + 0.035 + ] + } + }, + "type_specific": {} + } + ], + "slot_right": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.1924697599932568, + 0.005145994114608601, + 0.3475 + ], + "ori": [ + 0.9995540976524353, + 0.0, + 0.0, + -0.02985929511487484 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.4, + 0.3, + 0.2 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.01, + 0.12, + 0.035 + ] + } + }, + "type_specific": {} + } + ], + "book": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.21821328997612, + 0.01859663799405098, + 0.3999998867511749 + ], + "ori": [ + 0.7279051542282104, + -2.300646883668378e-06, + -1.620761281628802e-06, + 0.685677707195282 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.78, + 0.12, + 0.12 + ], + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.05, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.1, + 0.035, + 0.14 + ] + } + }, + "type_specific": { + "linear_velocity": [ + -0.00019789894577115774, + 1.7748205209500156e-05, + -6.0540845879586414e-05 + ], + "angular_velocity": [ + -0.00024328063591383398, + -0.003409536788240075, + 0.00011924190766876563 + ] + } + } + ], + "plate": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 2.098885286195394, + 3.0556183029796413, + 0.37049999999999994 + ], + "ori": [ + 0.9997172355651855, + 0.0, + 0.0, + -0.02378002554178238 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.35, + 0.35, + 0.4 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.012, + 0.14, + 0.08 + ] + } + }, + "type_specific": {} + } + ], + "bookend": [ + { + "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MMB_A07/bookend_l/Object.usda", + "pose": { + "pos": [ + 2.2092318534851074, + 3.0523760318756104, + 0.33000004291534424 + ], + "ori": [ + 0.723721981048584, + -5.066394805908203e-07, + 7.301568984985352e-07, + 0.690091609954834 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.6, + "physics_material": { + "static_friction": 0.2, + "dynamic_friction": 0.15, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.5199849201508187e-07, + 4.5867699327573064e-07, + -3.854501755995443e-06 + ], + "angular_velocity": [ + -0.00010210696927970275, + -5.277128002489917e-05, + 9.82803430815693e-06 + ] + } + } + ] + } + ], + "artifacts": [ + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1000.0, + "texture": null, + "color": [ + 0.85, + 0.85, + 0.85 + ] + } + } + }, + "robots": { + "RidgebackSawyerUmi": { + "root_pose": [ + [ + -3.2767372131347656, + -2.221036672592163, + 0.05000000074505806, + 0.914135754108429, + 0.0, + 0.0, + 0.40540820360183716 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.600000023841858, + 0.0, + 0.5, + 0.0, + -2.319999933242798, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "head": [ + [ + 0.21660000085830688, + 0.0, + -0.04500000178813934, + -0.6743797063827515, + 0.21263112127780914, + -0.21263112127780914, + 0.6743797659873962 + ] + ], + "wrist": [ + [ + 0.05979999899864197, + 0.0, + 0.029999999329447746, + 6.123234262925839e-17, + 0.7071067690849304, + 0.7071067690849304, + -4.329780301713277e-17 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_off/seed_1023/rec/stationbookendxr/000/sim_info/0/sim_states.npz b/N034/sawyer_umi/dr_off/seed_1023/rec/stationbookendxr/000/sim_info/0/sim_states.npz new file mode 100644 index 0000000000000000000000000000000000000000..89cde336d41a307809eefa86a9ffcb3679933760 --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1023/rec/stationbookendxr/000/sim_info/0/sim_states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1015ee22ca502484901fd4c78fba375806508ea45b0fae4c1d3702ef7a19a531 +size 562478 diff --git a/N034/sawyer_umi/dr_off/seed_1023/rec/stationbookendxr/000/sim_info/magicsim_manifest.json b/N034/sawyer_umi/dr_off/seed_1023/rec/stationbookendxr/000/sim_info/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..870c5abca01e9015f5a47470022e2ba33a8814ee --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1023/rec/stationbookendxr/000/sim_info/magicsim_manifest.json @@ -0,0 +1,233 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 03:02:42" + }, + "embodiment": { + "robots": [ + { + "name": "RidgebackSawyerUmi", + "cfg": "RidgebackSawyerUmiCfg", + "type": "mobilemanip", + "joint_names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 11, + "nan_policy": "from_raw", + "segments": [ + { + "name": "RidgebackSawyerUmi.base_action", + "start": 0, + "end": 3, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint" + ], + "source": "HolonomicAction", + "names_source": "_joint_names" + }, + { + "name": "RidgebackSawyerUmi.arm_action", + "start": 3, + "end": 10, + "names": [ + "frame0.pos_x", + "frame0.pos_y", + "frame0.pos_z", + "frame0.quat_w", + "frame0.quat_x", + "frame0.quat_y", + "frame0.quat_z" + ], + "source": "PinkInverseKinematicsAction", + "names_source": "pink_layout" + }, + { + "name": "RidgebackSawyerUmi.eef_action", + "start": 10, + "end": 11, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 15, + "segments": [ + { + "name": "RidgebackSawyerUmi.joint_pos", + "start": 0, + "end": 13, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ], + "source": "ObservationManager", + "names_source": "joint_names" + }, + { + "name": "RidgebackSawyerUmi.gripper_pos", + "start": 13, + "end": 15, + "names": [ + "gripper_0", + "gripper_1" + ], + "source": "ObservationManager", + "names_source": "generated" + } + ] + }, + "joint_vel_layout": { + "dim": 13, + "segments": [ + { + "name": "RidgebackSawyerUmi.joint_vel", + "start": 0, + "end": 13, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "action_levels": { + "L0": "task command list (collect.auto_collect_info.current_action)", + "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)", + "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)", + "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy", + "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)" + }, + "cameras": { + "head": { + "intrinsics": { + "K": [ + [ + 355.55555555555554, + 0.0, + 320.0 + ], + [ + 0.0, + 355.55555555555554, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 83.97442499163331, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.21660000085830688, + 0.0, + -0.04500000178813934 + ], + "quat": [ + -0.6743797063827515, + 0.21263112127780914, + -0.21263112127780914, + 0.6743797659873962 + ] + }, + "wrist": { + "intrinsics": { + "K": [ + [ + 320.0, + 0.0, + 320.0 + ], + [ + 0.0, + 320.0, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 90.0, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.05979999899864197, + 0.0, + 0.029999999329447746 + ], + "quat": [ + 6.123234262925839e-17, + 0.7071067690849304, + 0.7071067690849304, + -4.329780301713277e-17 + ] + } + }, + "generated_run": { + "run_id": "stationbookendxr/000", + "task_type": "BookendXRCommand" + } +} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_off/seed_1023/report.episodes.jsonl b/N034/sawyer_umi/dr_off/seed_1023/report.episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..23e7e1b31bbbac910c292297b88b205ca8a17601 --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1023/report.episodes.jsonl @@ -0,0 +1 @@ +{"task_id": "N034", "task_version": "EXT60-MobileAvatar-v3", "instruction": null, "agent_id": "a07", "family_id": "bookend_support", "primary_category": "C2", "level": "easy", "embodiment": "sawyer_umi", "scene_seed": 1023, "execution_mode": "expert_privileged_command", "station_layout": {"A": {"center": [-0.21175947105022364, 0.12651385249292363], "facing": 1.511, "stand": [-0.264, -0.742, 1.511]}, "B": {"center": [2.132107713500667, 3.1541501268942826], "facing": 1.523, "stand": [2.087, 2.205, 1.523]}}, "spawn_pose": [-3.277, -2.221, 0.835], "base_path": [[-3.277, -2.221, 0.835], [-3.277, -2.221, 0.835], [-3.277, -2.221, 0.835], [-3.277, -2.221, 0.835], [-3.276, -2.221, 0.834], [-3.188, -2.154, 0.654], [-3.057, -2.08, 0.525], [-2.92, -2.019, 0.478], [-2.781, -1.961, 0.462], [-2.644, -1.9, 0.456], [-2.506, -1.839, 0.454], [-2.371, -1.776, 0.453], [-2.235, -1.711, 0.452], [-2.1, -1.646, 0.452], [-1.965, -1.581, 0.452], [-1.829, -1.517, 0.452], [-1.694, -1.452, 0.452], [-1.558, -1.387, 0.452], [-1.423, -1.322, 0.452], [-1.288, -1.258, 0.452], [-1.153, -1.191, 0.452], [-1.018, -1.126, 0.452], [-0.883, -1.06, 0.452], [-0.748, -0.995, 0.452], [-0.614, -0.929, 0.452], [-0.492, -0.866, 0.452], [-0.411, -0.823, 0.452], [-0.359, -0.794, 0.452], [-0.324, -0.776, 0.452], [-0.305, -0.765, 0.547], [-0.305, -0.765, 0.947], [-0.305, -0.765, 1.247], [-0.305, -0.765, 1.388], [-0.305, -0.765, 1.392], [-0.305, -0.765, 1.392], [-0.305, -0.765, 1.392], [-0.305, -0.765, 1.392], [-0.305, -0.765, 1.392], [-0.305, -0.765, 1.392], [-0.305, -0.765, 1.392], [-0.305, -0.765, 1.392], [-0.305, -0.765, 1.392], [-0.305, -0.765, 1.392], [-0.305, -0.765, 1.392], [-0.305, -0.765, 1.392], [-0.305, -0.765, 1.392], [-0.305, -0.765, 1.392], [-0.305, -0.765, 1.392], [-0.305, -0.765, 1.392], [-0.305, -0.765, 1.392], [-0.305, -0.765, 1.392], [-0.305, -0.765, 1.392], [-0.305, -0.765, 1.392], [-0.305, -0.765, 1.392], [-0.305, -0.765, 1.392], [-0.305, -0.765, 1.392], [-0.305, -0.765, 1.392], [-0.305, -0.765, 1.392], [-0.305, -0.765, 1.392], [-0.305, -0.765, 1.392], [-0.305, -0.765, 1.392], [-0.305, -0.765, 1.392], [-0.305, -0.765, 1.392], [-0.305, -0.765, 1.392], [-0.305, -0.765, 1.392], [-0.305, -0.765, 1.392], [-0.305, -0.765, 1.392], [-0.305, -0.765, 1.392], [-0.305, -0.765, 1.392], [-0.305, -0.765, 1.392], [-0.305, -0.765, 1.392], [-0.305, -0.765, 1.392], [-0.305, -0.765, 1.392], [-0.305, -0.765, 1.392], [-0.305, -0.765, 1.392], [-0.305, -0.765, 1.392], [-0.305, -0.765, 1.392], [-0.305, -0.765, 1.392], [-0.305, -0.765, 1.392], [-0.305, -0.765, 1.392], [-0.305, -0.765, 1.392], [-0.305, -0.765, 1.392], [-0.305, -0.765, 1.392], [-0.304, -0.765, 1.152], [-0.304, -0.765, 0.752], [-0.268, -0.747, 0.424], [-0.125, -0.702, 0.278], [0.023, -0.676, 0.225], [0.171, -0.653, 0.206], [0.318, -0.624, 0.199], [0.458, -0.582, 0.428], [0.572, -0.471, 0.429], [0.697, -0.384, 0.704], [0.799, -0.276, 0.938], [0.874, -0.146, 1.022], [0.943, -0.012, 1.053], [1.01, 0.122, 1.064], [1.078, 0.257, 1.068], [1.147, 0.389, 1.069], [1.217, 0.521, 1.07], [1.287, 0.653, 1.07], [1.358, 0.785, 1.07], [1.428, 0.917, 1.07], [1.5, 1.049, 1.07], [1.573, 1.18, 1.07], [1.645, 1.311, 1.07], [1.716, 1.443, 1.07], [1.788, 1.574, 1.07], [1.86, 1.705, 1.07], [1.931, 1.837, 1.07], [1.986, 1.963, 1.07], [2.023, 2.048, 1.07], [2.046, 2.104, 1.07], [2.062, 2.14, 1.07], [2.07, 2.16, 1.145], [2.07, 2.16, 1.347], [2.07, 2.16, 1.405], [2.07, 2.16, 1.405], [2.07, 2.16, 1.405], [2.07, 2.16, 1.405], [2.07, 2.16, 1.405], [2.07, 2.16, 1.405], [2.07, 2.16, 1.405], [2.07, 2.16, 1.405], [2.07, 2.16, 1.405], [2.07, 2.16, 1.405], [2.07, 2.16, 1.405], [2.07, 2.16, 1.405], [2.07, 2.16, 1.405], [2.07, 2.16, 1.405], [2.07, 2.16, 1.405], [2.07, 2.16, 1.405], [2.07, 2.16, 1.405], [2.07, 2.16, 1.405], [2.07, 2.16, 1.405], [2.07, 2.16, 1.405], [2.07, 2.16, 1.405], [2.07, 2.16, 1.405], [2.07, 2.16, 1.405], [2.07, 2.16, 1.405], [2.07, 2.16, 1.405], [2.07, 2.16, 1.405], [2.07, 2.16, 1.405], [2.07, 2.16, 1.405], [2.07, 2.16, 1.405], [2.07, 2.16, 1.405], [2.07, 2.16, 1.405], [2.07, 2.16, 1.405], [2.07, 2.16, 1.405], [2.07, 2.16, 1.405], [2.07, 2.16, 1.405], [2.07, 2.16, 1.405], [2.07, 2.16, 1.405], [2.07, 2.16, 1.405], [2.07, 2.16, 1.405], [2.07, 2.16, 1.405], [2.07, 2.16, 1.405], [2.07, 2.16, 1.405], [2.07, 2.16, 1.405], [2.07, 2.16, 1.405], [2.07, 2.16, 1.405], [2.07, 2.16, 1.405], [2.07, 2.16, 1.405], [2.07, 2.16, 1.405], [2.07, 2.16, 1.405], [2.07, 2.16, 1.405], [2.07, 2.16, 1.405], [2.07, 2.16, 1.405], [2.07, 2.16, 1.405], [2.07, 2.16, 1.405], [2.07, 2.16, 1.405], [2.07, 2.16, 1.405], [2.07, 2.16, 1.405], [2.07, 2.16, 1.405], [2.07, 2.16, 1.405], [2.07, 2.16, 1.405], [2.07, 2.16, 1.405], [2.07, 2.16, 1.405], [2.07, 2.16, 1.405]], "stage_events": [{"tick": 534, "event": "enter_station", "station": "A", "xy": [-0.975, -1.106]}, {"tick": 2468, "event": "leave_station", "station": "A", "xy": [1.195, 0.479]}, {"tick": 2706, "event": "enter_station", "station": "B", "xy": [1.874, 1.731]}], "transport_state": {"book": {"held": false, "grasps": 1}}, "manipulation_success": true, "mobile_success": true, "full_success": true, "failure_reason": null, "fail_class_hint": null, "distance_to_first_interaction": 2.562, "interstation_path_lengths": [4.282], "station_transition_order": ["A", "B"], "final_approach_pose": [2.07, 2.16, 1.405], "regrasp_events": 0, "control_ticks": 3868, "wall_s": 1029.8, "phase": "done", "state": "success: task sequence complete", "check": {"book": [2.126, 3.054, 0.4], "dist_wrist": 0.219, "held": false, "upright_deg": 0.0, "rest_z": true, "gaps": {"plate": 0.0033, "bookend": 0.0015}, "pushed": true, "released": true, "at_rest": true, "manipulation_success": true}, "route": ["A", "B"], "total_path_m": 7.32, "planner_seeds": "default"} diff --git a/N034/sawyer_umi/dr_off/seed_1023/report.json b/N034/sawyer_umi/dr_off/seed_1023/report.json new file mode 100644 index 0000000000000000000000000000000000000000..bd564131c9182f0edd9bb50b81c3b66551ad57e1 --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1023/report.json @@ -0,0 +1,1121 @@ +{ + "task_id": "N034", + "robot": "sawyer_umi", + "level": "easy", + "seed": 1023, + "episodes_requested": 1, + "episodes": [ + { + "task_id": "N034", + "task_version": "EXT60-MobileAvatar-v3", + "instruction": null, + "agent_id": "a07", + "family_id": "bookend_support", + "primary_category": "C2", + "level": "easy", + "embodiment": "sawyer_umi", + "scene_seed": 1023, + "execution_mode": "expert_privileged_command", + "station_layout": { + "A": { + "center": [ + -0.21175947105022364, + 0.12651385249292363 + ], + "facing": 1.511, + "stand": [ + -0.264, + -0.742, + 1.511 + ] + }, + "B": { + "center": [ + 2.132107713500667, + 3.1541501268942826 + ], + "facing": 1.523, + "stand": [ + 2.087, + 2.205, + 1.523 + ] + } + }, + "spawn_pose": [ + -3.277, + -2.221, + 0.835 + ], + "base_path": [ + [ + -3.277, + -2.221, + 0.835 + ], + [ + -3.277, + -2.221, + 0.835 + ], + [ + -3.277, + -2.221, + 0.835 + ], + [ + -3.277, + -2.221, + 0.835 + ], + [ + -3.276, + -2.221, + 0.834 + ], + [ + -3.188, + -2.154, + 0.654 + ], + [ + -3.057, + -2.08, + 0.525 + ], + [ + -2.92, + -2.019, + 0.478 + ], + [ + -2.781, + -1.961, + 0.462 + ], + [ + -2.644, + -1.9, + 0.456 + ], + [ + -2.506, + -1.839, + 0.454 + ], + [ + -2.371, + -1.776, + 0.453 + ], + [ + -2.235, + -1.711, + 0.452 + ], + [ + -2.1, + -1.646, + 0.452 + ], + [ + -1.965, + -1.581, + 0.452 + ], + [ + -1.829, + -1.517, + 0.452 + ], + [ + -1.694, + -1.452, + 0.452 + ], + [ + -1.558, + -1.387, + 0.452 + ], + [ + -1.423, + -1.322, + 0.452 + ], + [ + -1.288, + -1.258, + 0.452 + ], + [ + -1.153, + -1.191, + 0.452 + ], + [ + -1.018, + -1.126, + 0.452 + ], + [ + -0.883, + -1.06, + 0.452 + ], + [ + -0.748, + -0.995, + 0.452 + ], + [ + -0.614, + -0.929, + 0.452 + ], + [ + -0.492, + -0.866, + 0.452 + ], + [ + -0.411, + -0.823, + 0.452 + ], + [ + -0.359, + -0.794, + 0.452 + ], + [ + -0.324, + -0.776, + 0.452 + ], + [ + -0.305, + -0.765, + 0.547 + ], + [ + -0.305, + -0.765, + 0.947 + ], + [ + -0.305, + -0.765, + 1.247 + ], + [ + -0.305, + -0.765, + 1.388 + ], + [ + -0.305, + -0.765, + 1.392 + ], + [ + -0.305, + -0.765, + 1.392 + ], + [ + -0.305, + -0.765, + 1.392 + ], + [ + -0.305, + -0.765, + 1.392 + ], + [ + -0.305, + -0.765, + 1.392 + ], + [ + -0.305, + -0.765, + 1.392 + ], + [ + -0.305, + -0.765, + 1.392 + ], + [ + -0.305, + -0.765, + 1.392 + ], + [ + -0.305, + -0.765, + 1.392 + ], + [ + -0.305, + -0.765, + 1.392 + ], + [ + -0.305, + -0.765, + 1.392 + ], + [ + -0.305, + -0.765, + 1.392 + ], + [ + -0.305, + -0.765, + 1.392 + ], + [ + -0.305, + -0.765, + 1.392 + ], + [ + -0.305, + -0.765, + 1.392 + ], + [ + -0.305, + -0.765, + 1.392 + ], + [ + -0.305, + -0.765, + 1.392 + ], + [ + -0.305, + -0.765, + 1.392 + ], + [ + -0.305, + -0.765, + 1.392 + ], + [ + -0.305, + -0.765, + 1.392 + ], + [ + -0.305, + -0.765, + 1.392 + ], + [ + -0.305, + -0.765, + 1.392 + ], + [ + -0.305, + -0.765, + 1.392 + ], + [ + -0.305, + -0.765, + 1.392 + ], + [ + -0.305, + -0.765, + 1.392 + ], + [ + -0.305, + -0.765, + 1.392 + ], + [ + -0.305, + -0.765, + 1.392 + ], + [ + -0.305, + -0.765, + 1.392 + ], + [ + -0.305, + -0.765, + 1.392 + ], + [ + -0.305, + -0.765, + 1.392 + ], + [ + -0.305, + -0.765, + 1.392 + ], + [ + -0.305, + -0.765, + 1.392 + ], + [ + -0.305, + -0.765, + 1.392 + ], + [ + -0.305, + -0.765, + 1.392 + ], + [ + -0.305, + -0.765, + 1.392 + ], + [ + -0.305, + -0.765, + 1.392 + ], + [ + -0.305, + -0.765, + 1.392 + ], + [ + -0.305, + -0.765, + 1.392 + ], + [ + -0.305, + -0.765, + 1.392 + ], + [ + -0.305, + -0.765, + 1.392 + ], + [ + -0.305, + -0.765, + 1.392 + ], + [ + -0.305, + -0.765, + 1.392 + ], + [ + -0.305, + -0.765, + 1.392 + ], + [ + -0.305, + -0.765, + 1.392 + ], + [ + -0.305, + -0.765, + 1.392 + ], + [ + -0.305, + -0.765, + 1.392 + ], + [ + -0.305, + -0.765, + 1.392 + ], + [ + -0.305, + -0.765, + 1.392 + ], + [ + -0.305, + -0.765, + 1.392 + ], + [ + -0.305, + -0.765, + 1.392 + ], + [ + -0.304, + -0.765, + 1.152 + ], + [ + -0.304, + -0.765, + 0.752 + ], + [ + -0.268, + -0.747, + 0.424 + ], + [ + -0.125, + -0.702, + 0.278 + ], + [ + 0.023, + -0.676, + 0.225 + ], + [ + 0.171, + -0.653, + 0.206 + ], + [ + 0.318, + -0.624, + 0.199 + ], + [ + 0.458, + -0.582, + 0.428 + ], + [ + 0.572, + -0.471, + 0.429 + ], + [ + 0.697, + -0.384, + 0.704 + ], + [ + 0.799, + -0.276, + 0.938 + ], + [ + 0.874, + -0.146, + 1.022 + ], + [ + 0.943, + -0.012, + 1.053 + ], + [ + 1.01, + 0.122, + 1.064 + ], + [ + 1.078, + 0.257, + 1.068 + ], + [ + 1.147, + 0.389, + 1.069 + ], + [ + 1.217, + 0.521, + 1.07 + ], + [ + 1.287, + 0.653, + 1.07 + ], + [ + 1.358, + 0.785, + 1.07 + ], + [ + 1.428, + 0.917, + 1.07 + ], + [ + 1.5, + 1.049, + 1.07 + ], + [ + 1.573, + 1.18, + 1.07 + ], + [ + 1.645, + 1.311, + 1.07 + ], + [ + 1.716, + 1.443, + 1.07 + ], + [ + 1.788, + 1.574, + 1.07 + ], + [ + 1.86, + 1.705, + 1.07 + ], + [ + 1.931, + 1.837, + 1.07 + ], + [ + 1.986, + 1.963, + 1.07 + ], + [ + 2.023, + 2.048, + 1.07 + ], + [ + 2.046, + 2.104, + 1.07 + ], + [ + 2.062, + 2.14, + 1.07 + ], + [ + 2.07, + 2.16, + 1.145 + ], + [ + 2.07, + 2.16, + 1.347 + ], + [ + 2.07, + 2.16, + 1.405 + ], + [ + 2.07, + 2.16, + 1.405 + ], + [ + 2.07, + 2.16, + 1.405 + ], + [ + 2.07, + 2.16, + 1.405 + ], + [ + 2.07, + 2.16, + 1.405 + ], + [ + 2.07, + 2.16, + 1.405 + ], + [ + 2.07, + 2.16, + 1.405 + ], + [ + 2.07, + 2.16, + 1.405 + ], + [ + 2.07, + 2.16, + 1.405 + ], + [ + 2.07, + 2.16, + 1.405 + ], + [ + 2.07, + 2.16, + 1.405 + ], + [ + 2.07, + 2.16, + 1.405 + ], + [ + 2.07, + 2.16, + 1.405 + ], + [ + 2.07, + 2.16, + 1.405 + ], + [ + 2.07, + 2.16, + 1.405 + ], + [ + 2.07, + 2.16, + 1.405 + ], + [ + 2.07, + 2.16, + 1.405 + ], + [ + 2.07, + 2.16, + 1.405 + ], + [ + 2.07, + 2.16, + 1.405 + ], + [ + 2.07, + 2.16, + 1.405 + ], + [ + 2.07, + 2.16, + 1.405 + ], + [ + 2.07, + 2.16, + 1.405 + ], + [ + 2.07, + 2.16, + 1.405 + ], + [ + 2.07, + 2.16, + 1.405 + ], + [ + 2.07, + 2.16, + 1.405 + ], + [ + 2.07, + 2.16, + 1.405 + ], + [ + 2.07, + 2.16, + 1.405 + ], + [ + 2.07, + 2.16, + 1.405 + ], + [ + 2.07, + 2.16, + 1.405 + ], + [ + 2.07, + 2.16, + 1.405 + ], + [ + 2.07, + 2.16, + 1.405 + ], + [ + 2.07, + 2.16, + 1.405 + ], + [ + 2.07, + 2.16, + 1.405 + ], + [ + 2.07, + 2.16, + 1.405 + ], + [ + 2.07, + 2.16, + 1.405 + ], + [ + 2.07, + 2.16, + 1.405 + ], + [ + 2.07, + 2.16, + 1.405 + ], + [ + 2.07, + 2.16, + 1.405 + ], + [ + 2.07, + 2.16, + 1.405 + ], + [ + 2.07, + 2.16, + 1.405 + ], + [ + 2.07, + 2.16, + 1.405 + ], + [ + 2.07, + 2.16, + 1.405 + ], + [ + 2.07, + 2.16, + 1.405 + ], + [ + 2.07, + 2.16, + 1.405 + ], + [ + 2.07, + 2.16, + 1.405 + ], + [ + 2.07, + 2.16, + 1.405 + ], + [ + 2.07, + 2.16, + 1.405 + ], + [ + 2.07, + 2.16, + 1.405 + ], + [ + 2.07, + 2.16, + 1.405 + ], + [ + 2.07, + 2.16, + 1.405 + ], + [ + 2.07, + 2.16, + 1.405 + ], + [ + 2.07, + 2.16, + 1.405 + ], + [ + 2.07, + 2.16, + 1.405 + ], + [ + 2.07, + 2.16, + 1.405 + ], + [ + 2.07, + 2.16, + 1.405 + ], + [ + 2.07, + 2.16, + 1.405 + ], + [ + 2.07, + 2.16, + 1.405 + ], + [ + 2.07, + 2.16, + 1.405 + ], + [ + 2.07, + 2.16, + 1.405 + ], + [ + 2.07, + 2.16, + 1.405 + ], + [ + 2.07, + 2.16, + 1.405 + ], + [ + 2.07, + 2.16, + 1.405 + ], + [ + 2.07, + 2.16, + 1.405 + ] + ], + "stage_events": [ + { + "tick": 534, + "event": "enter_station", + "station": "A", + "xy": [ + -0.975, + -1.106 + ] + }, + { + "tick": 2468, + "event": "leave_station", + "station": "A", + "xy": [ + 1.195, + 0.479 + ] + }, + { + "tick": 2706, + "event": "enter_station", + "station": "B", + "xy": [ + 1.874, + 1.731 + ] + } + ], + "transport_state": { + "book": { + "held": false, + "grasps": 1 + } + }, + "manipulation_success": true, + "mobile_success": true, + "full_success": true, + "failure_reason": null, + "fail_class_hint": null, + "distance_to_first_interaction": 2.562, + "interstation_path_lengths": [ + 4.282 + ], + "station_transition_order": [ + "A", + "B" + ], + "final_approach_pose": [ + 2.07, + 2.16, + 1.405 + ], + "regrasp_events": 0, + "control_ticks": 3868, + "wall_s": 1029.8, + "phase": "done", + "state": "success: task sequence complete", + "check": { + "book": [ + 2.126, + 3.054, + 0.4 + ], + "dist_wrist": 0.219, + "held": false, + "upright_deg": 0.0, + "rest_z": true, + "gaps": { + "plate": 0.0033, + "bookend": 0.0015 + }, + "pushed": true, + "released": true, + "at_rest": true, + "manipulation_success": true + }, + "route": [ + "A", + "B" + ], + "total_path_m": 7.32, + "planner_seeds": "default" + } + ], + "error": null, + "collect": { + "task": "N034", + "robot": "sawyer_umi", + "visual_dr": false, + "env": { + "MMB_COLLECT": "1", + "MMB_TASK_ID": "N034", + "MMB_CLEAN_VIEW": "1", + "MMB_REAL_ROBOT_LOOK": "1", + "MMB_VISUAL_DR": "0" + }, + "cameras": { + "head": { + "link": "Robot_0/head", + "pos": [ + 0.2166, + 0.0, + -0.045 + ], + "ori": [ + -0.0, + 35.0, + -90.0 + ], + "focal_length": 2.0, + "horizontal_aperture": 3.6, + "vertical_aperture": 2.7 + }, + "wrist": { + "link": "Robot_0/right_electric_gripper_base", + "pos": [ + 0.0598, + 0.0, + 0.03 + ], + "ori": [ + 180.0, + 0.0, + -90.0 + ], + "focal_length": 1.8, + "horizontal_aperture": 3.6, + "vertical_aperture": 2.7 + } + }, + "resolution": [ + 640, + 480 + ], + "camera_hz": 25, + "record": { + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + } + }, + "review_cameras": [], + "policy_obs_signature": [ + "/camera_info[0]/rgb[0]:(480, 640, 4):uint8", + "/camera_info[1]/rgb[0]:(480, 640, 4):uint8", + "/robot_state[0]/RidgebackSawyerUmi/base_ang_vel:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/base_heading_quat:(1, 4):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/base_lin_vel:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/base_pos:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/base_quat:(1, 4):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/eef_pos:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/eef_quat:(1, 4):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/eef_relative_pos:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/eef_relative_quat:(1, 4):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/eef_relatvie_pos_arm_base:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/gripper_pos:(1, 2):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/joint_effort:(1, 13):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/joint_pos:(1, 13):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/joint_vel:(1, 13):torch.float32" + ], + "n_success": 1, + "elapsed_s": 1266.8, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 32.3 + } +} diff --git a/N034/sawyer_umi/dr_off/seed_1024/check.json b/N034/sawyer_umi/dr_off/seed_1024/check.json new file mode 100644 index 0000000000000000000000000000000000000000..2aa7230fe929751818a715ae085f44a40ea88044 --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1024/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'; expected 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "2741 rows vs ceil(5481/2) = 2741" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..5581, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "30.76 MB, 2741 frames at 25 fps, mean luma 84..149, std 31, new picture 2740x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2741 vs 2741" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "47.49 MB, 2741 frames at 25 fps, mean luma 90..151, std 29, new picture 2740x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2741 vs 2741" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationbookendxr/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_off/seed_1024/check.txt b/N034/sawyer_umi/dr_off/seed_1024/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..c5ae8b61c91f21610818ff09c3b2e6d16add95a0 --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1024/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n034_saw_off_1024/out task=N034 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n034_saw_off_1024/out/rec/stationbookendxr/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2741 videos 2 robot_type RidgebackSawyerUmiCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 2741 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1'] +[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z'] +[PASS] task text = MobileBench instruction: task_index 0: 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'; expected 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.' +rows 2741 at dataset fps 25 = 109.64 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2741 rows vs ceil(5481/2) = 2741 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..5581, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 30.76 MB, 2741 frames at 25 fps, mean luma 84..149, std 31, new picture 2740x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2741 vs 2741 +[PASS] video observation.images.wrist decodes, 640x480, not black: 47.49 MB, 2741 frames at 25 fps, mean luma 90..151, std 29, new picture 2740x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2741 vs 2741 +parquet size 2.73 MB +[PASS] sim_info present: rec/stationbookendxr/000/sim_info +dataset size 81.18 MB; whole cell dir 82.6 MB +RESULT: ALL PASS diff --git a/N034/sawyer_umi/dr_off/seed_1024/rec/stationbookendxr/000/completed/0.json b/N034/sawyer_umi/dr_off/seed_1024/rec/stationbookendxr/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..2218f14552b5319a4951e60bfd54adf3df3cac5e --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1024/rec/stationbookendxr/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationbookendxr/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_off/seed_1024/rec/stationbookendxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N034/sawyer_umi/dr_off/seed_1024/rec/stationbookendxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..9c5f5861b44124a2b13f6e8ae2218c0419098880 --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1024/rec/stationbookendxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e5c0a213d9ebbd5d0208cc79d20c3ab9a92cee40ab917e363864b7fa5ad412e5 +size 2731016 diff --git a/N034/sawyer_umi/dr_off/seed_1024/rec/stationbookendxr/000/lerobot_v21/meta/episodes.jsonl b/N034/sawyer_umi/dr_off/seed_1024/rec/stationbookendxr/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2fab1aa431e3c7ed2814fdc505274ab5d3d9ce53 --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1024/rec/stationbookendxr/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it."], "length": 2741, "magicsim/control_steps": 5481, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the brown slot left. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is to the left of the brown slot right. The gray table B is to the left of the bookend. The red book is on top of the brown slot left. The gray plate is on top of the bookend. The gray plate is to the left of the bookend. The bookend is to the right of the gray plate. The scene is viewed from front, at table height."} diff --git a/N034/sawyer_umi/dr_off/seed_1024/rec/stationbookendxr/000/lerobot_v21/meta/episodes_stats.jsonl b/N034/sawyer_umi/dr_off/seed_1024/rec/stationbookendxr/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e6b856a1e9eee1c550f5dd0ee5c4557eb82c1b6a --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1024/rec/stationbookendxr/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.06803077580499, -0.0007688785430529134, 0.008506715688822178, 0.5888789000736454, 1.1624204426849603, 0.9209516726893606, 0.004051109487771857, -0.12303828682637659, 0.0037375179833402284, 0.1965221521444279, 0.6107260124042321], "std": [0.12246739040035118, 0.006538626985704265, 0.13818538177011896, 1.4161737560484173, 1.6587256822882204, 0.24260680127300438, 0.2786437522989211, 0.6130662126447454, 0.1797615215828957, 0.6785303389961937, 0.48758563368608243], "min": [0.0, -0.06438123434782028, -0.800000011920929, -3.293297290802002, -1.9501625299453735, 0.5874999761581421, -0.628014326095581, -0.8811519742012024, -0.40053316950798035, -0.7863109111785889, 0.0], "max": [0.30000001192092896, 0.07714982330799103, 0.800000011920929, 2.273106575012207, 3.1115760803222656, 1.373114824295044, 0.696350634098053, 0.7645360231399536, 0.46632206439971924, 0.9519479274749756, 1.0], "count": [2741]}, "action_is_hold": {"mean": [0.09047792776358993, 0.09047792776358993, 0.09047792776358993, 0.10507114191900765, 0.10507114191900765, 0.10507114191900765, 0.10507114191900765, 0.10507114191900765, 0.10507114191900765, 0.10507114191900765, 0.990879241152864], "std": [0.28686525120899076, 0.28686525120899076, 0.28686525120899076, 0.30664506690120485, 0.30664506690120485, 0.30664506690120485, 0.30664506690120485, 0.30664506690120485, 0.30664506690120485, 0.30664506690120485, 0.09506613805761163], "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": [2741]}, "observation.state": {"mean": [1.4003027651876223, -2.4603785370788795, 1.2747374818256327, 1.803210640079229, -1.8015415160024635, -2.509720081919434, -0.5575572694236727, 1.4057745155801915, 1.6101384730034216, -2.1548378107018036, -0.2497331475793178, 0.013896520088010038, -0.01476831007135418, -0.01476831007135418, -0.013896520088010038], "std": [2.102460015874863, 0.3727894589281978, 0.3814228266456569, 1.06465911919203, 1.0650912893635909, 0.5613131398955846, 0.33195889552362606, 0.4699377301099513, 0.9863957487501619, 0.23976573854817287, 0.40174126574112196, 0.008405108091697026, 0.008840192263561409, 0.008840192263561409, 0.008405108091697026], "min": [-3.5439064502716064, -3.140397548675537, 0.17718762159347534, -0.029038967564702034, -3.0404441356658936, -3.380265712738037, -1.0566561222076416, 0.4971333146095276, -0.06923390924930573, -2.509843349456787, -0.9378266930580139, 0.0, -0.020833000540733337, -0.020833000540733337, -0.020833000540733337], "max": [3.624433755874634, -2.0494587421417236, 1.5895028114318848, 3.0405750274658203, 0.028180178254842758, -1.572211742401123, 0.000794632884208113, 2.152111530303955, 2.893148422241211, -1.3072185516357422, 0.8892302513122559, 0.020833000540733337, 0.0, 0.0, -0.0], "count": [2741]}, "observation.joint_vel": {"mean": [0.06531557343952356, 0.002666197707589841, 0.008865811925511143, 0.027533715506298302, -0.0225528265959448, -0.013404153180666283, -0.005079994338714213, 0.005170077499506679, 0.010028055716502253, -0.0018438614862322244, 0.00779517507114523, -0.0018928260027444562, -0.00040276176755099614], "std": [0.1175680443651942, 0.039379003537479744, 0.13829555496985024, 0.09249887001710279, 0.07710567990675014, 0.0659591766626347, 0.06315749298385966, 0.06904708987459192, 0.11230040668671463, 0.0822353641827591, 0.08259863227818114, 0.008109988518206497, 0.00796966955262254], "min": [-0.00031035987194627523, -0.1711219996213913, -0.8000205159187317, -0.20606830716133118, -0.14375507831573486, -0.15175969898700714, -0.47446727752685547, -0.22762638330459595, -0.38413095474243164, -0.40172529220581055, -0.35640451312065125, -0.1000148206949234, -0.10008683800697327], "max": [0.30419474840164185, 0.11561189591884613, 0.8431165218353271, 0.1792995184659958, 0.39277875423431396, 0.18896052241325378, 0.18526141345500946, 0.205412358045578, 0.33155474066734314, 0.32487156987190247, 0.4117802381515503, 0.10001003742218018, 0.1000906452536583], "count": [2741]}, "observation.eef_pose": {"mean": [0.5902202042035108, 1.1576115248455716, 0.9232934484600107, -0.08941923810046103, 0.40328339789306017, -0.001786862448026385, -0.22322097061346674], "std": [1.4176749466721708, 1.6557608235452494, 0.24542535104369953, 0.2624538035725059, 0.47638073003638787, 0.17980960679838348, 0.671850961249007], "min": [-3.293297290802002, -1.952885627746582, 0.5884453654289246, -0.6908090710639954, -0.7051279544830322, -0.46787434816360474, -0.7945346236228943], "max": [2.2731597423553467, 3.1227965354919434, 1.3740143775939941, 0.46904879808425903, 0.8850075006484985, 0.46769073605537415, 0.9522656202316284], "count": [2741]}, "observation.environment_state": {"mean": [0.7040388269616825, 1.3253491152548842, 0.5124595840018146, 0.7238720247494135, 0.012448768491467026, 0.0012767155806254894, 0.676442727321519, 1.998371411265791, 3.0885619144725, 0.33000005528858134, 0.657765499347755, 2.881291576806762e-09, 1.8846354429921693e-07, 0.7532220715286522, 1.8933826684951782, 3.0837602615356445, 0.37049999833106995, 0.9977030158042908, 0.0, 0.0, 0.06773988902568817, -0.5474535226821899, 0.022812828421592712, 0.3474999964237213, 0.9988847970962524, 0.0, 0.0, -0.04721400514245033, -0.49468982219696045, 0.017813727259635925, 0.3474999964237213, 0.9988847970962524, 0.0, 0.0, -0.04721400514245033, -0.5097529888153076, 0.1397782862186432, 0.18000000715255737, 0.9988847970962524, 0.0, 0.0, -0.04721400514245033, 1.9081041812896729, 3.186694860458374, 0.18000000715255737, 0.9977030158042908, 0.0, 0.0, 0.06773988902568817], "std": [1.1889457465151996, 1.4619750642608929, 0.14642524379842248, 0.07535411188958224, 0.021983146572477935, 0.03324570401116533, 0.10493404927736266, 0.011219501339068757, 0.0001818931523629895, 4.039411762645025e-08, 0.000777552593771737, 8.089614925327227e-07, 8.880091348865395e-07, 0.0006819180500049366, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 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": [-0.5347460508346558, -0.560421347618103, 0.39999979734420776, 0.6258622407913208, -0.0014994123484939337, -0.08311031013727188, 0.15630917251110077, 1.9453442096710205, 3.0884945392608643, 0.3299998342990875, 0.6570504307746887, -2.3081900508259423e-05, -2.259016218886245e-05, 0.7500249147415161, 1.8933826684951782, 3.0837602615356445, 0.37049999833106995, 0.9977030158042908, 0.0, 0.0, 0.06773988902568817, -0.5474535226821899, 0.022812828421592712, 0.3474999964237213, 0.9988847970962524, 0.0, 0.0, -0.04721400514245033, -0.49468982219696045, 0.017813727259635925, 0.3474999964237213, 0.9988847970962524, 0.0, 0.0, -0.04721400514245033, -0.5097529888153076, 0.1397782862186432, 0.18000000715255737, 0.9988847970962524, 0.0, 0.0, -0.04721400514245033, 1.9081041812896729, 3.186694860458374, 0.18000000715255737, 0.9977030158042908, 0.0, 0.0, 0.06773988902568817], "max": [2.281654119491577, 3.086902379989624, 0.7592175602912903, 0.9873196482658386, 0.10364717245101929, 0.12237775325775146, 0.7762128710746765, 2.000886917114258, 3.0894269943237305, 0.3300004303455353, 0.6614095568656921, 9.387732120558212e-07, 1.087784767150879e-06, 0.7538466453552246, 1.8933826684951782, 3.0837602615356445, 0.37049999833106995, 0.9977030158042908, 0.0, 0.0, 0.06773988902568817, -0.5474535226821899, 0.022812828421592712, 0.3474999964237213, 0.9988847970962524, 0.0, 0.0, -0.04721400514245033, -0.49468982219696045, 0.017813727259635925, 0.3474999964237213, 0.9988847970962524, 0.0, 0.0, -0.04721400514245033, -0.5097529888153076, 0.1397782862186432, 0.18000000715255737, 0.9988847970962524, 0.0, 0.0, -0.04721400514245033, 1.9081041812896729, 3.186694860458374, 0.18000000715255737, 0.9977030158042908, 0.0, 0.0, 0.06773988902568817], "count": [2741]}, "action.command": {"mean": [-1.9305498829605627, -1.4547137378581934, 1.6039740612008133, 0.0, 0.0, 0.0, 0.0, -0.0411740725642071, 0.506227573629695, 1.0442059265139836, 0.9334675715837584, -0.001124096394976304, -0.15954937503695538, -0.005908131940580587, 0.23653287035054302, 0.6, -1.8416415612612451, -1.4194973298177427, 1.6039740612008133, 0.0, 0.0, 0.0, 0.0, 2.0, -0.03667982705697721, 0.12866482571983823, 1.1679499670863152, -0.2408129430889171, 0.33056545470917253, -0.14572479482740164, 0.04915172903209317, 0.0, -1.7699699700638956, -1.4065557907582547, 1.6039740612008133, 0.0, 0.0, 0.0, 0.0, 2.0, -0.03667982705697721, 0.12866482571983823, 1.1679499670863152, -0.2408129430889171, 0.33056545470917253, -0.14572479482740164, 0.04915172903209317, 0.0, -1.7257616621803265, -1.3983612990348924, 1.6039740612008133, 0.0, 0.0, 0.0, 0.0, 2.0, -0.03667982705697721, 0.12866482571983823, 1.1679499670863152, -0.2408129430889171, 0.33056545470917253, -0.14572479482740164, 0.04915172903209317, 0.0, -1.6131955736069654, -1.3552264297495082, 1.6039740612008133, 0.0, 0.0, 0.0, 0.0, 2.0, -0.03667982705697721, 0.12866482571983823, 1.1679499670863152, -0.2408129430889171, 0.33056545470917253, -0.14572479482740164, 0.04915172903209317, 0.0, -1.4923115693108768, -1.312087887555969, 1.6039740612008133, 0.0, 0.0, 0.0, 0.0, 2.0, -0.03667982705697721, 0.12866482571983823, 1.1679499670863152, -0.2408129430889171, 0.33056545470917253, -0.14572479482740164, 0.04915172903209317, 0.0, -1.4609021298891427, -1.3053206366543868, 1.6039740612008133, 0.0, 0.0, 0.0, 0.0, 2.0, -0.03667982705697721, 0.12866482571983823, 1.1679499670863152, -0.2408129430889171, 0.33056545470917253, -0.14572479482740164, 0.04915172903209317, 0.0, -1.3959177125397386, -1.29255008796344, 1.6039740612008133, 0.0, 0.0, 0.0, 0.0, 2.0, -0.03667982705697721, 0.12866482571983823, 1.1679499670863152, -0.2408129430889171, 0.33056545470917253, -0.14572479482740164, 0.04915172903209317, 0.0, -1.3217147573334527, -1.2579303573893041, 1.6039740612008133, 0.0, 0.0, 0.0, 0.0, 2.0, -0.03667982705697721, 0.12866482571983823, 1.1679499670863152, -0.2408129430889171, 0.33056545470917253, -0.14572479482740164, 0.04915172903209317, 0.0, -1.247780622277713, -1.2248329728537677, 1.6039740612008133, 0.0, 0.0, 0.0, 0.0, 2.0, -0.03667982705697721, 0.12866482571983823, 1.1679499670863152, -0.2408129430889171, 0.33056545470917253, -0.14572479482740164, 0.04915172903209317, 0.0, -1.1743784102098065, -1.2091544520642077, 1.6039740612008133, 0.0, 0.0, 0.0, 0.0, 2.0, -0.03667982705697721, 0.12866482571983823, 1.1679499670863152, -0.2408129430889171, 0.33056545470917253, -0.14572479482740164, 0.04915172903209317, 0.0, -1.1467386693978796, -1.1736924829227584, 1.6039740612008133, 0.0, 0.0, 0.0, 0.0, 2.0, -0.03667982705697721, 0.12866482571983823, 1.1679499670863152, -0.2408129430889171, 0.33056545470917253, -0.14572479482740164, 0.04915172903209317, 0.0, -1.0828916142523592, -1.1261446548967946, 1.6039740612008133, 0.0, 0.0, 0.0, 0.0, 2.0, -0.03667982705697721, 0.12866482571983823, 1.1679499670863152, -0.2408129430889171, 0.33056545470917253, -0.14572479482740164, 0.04915172903209317, 0.0, -0.9858155641704798, -1.022370211513979, 1.6039740612008133, 0.0, 0.0, 0.0, 0.0, 2.0, -0.03667982705697721, 0.12866482571983823, 1.1679499670863152, -0.2408129430889171, 0.33056545470917253, -0.14572479482740164, 0.04915172903209317, 0.0, -0.968054290100628, -1.0058809535920012, 1.6039740612008133, 0.0, 0.0, 0.0, 0.0, 2.0, -0.03667982705697721, 0.12866482571983823, 1.1679499670863152, -0.2408129430889171, 0.33056545470917253, -0.14572479482740164, 0.04915172903209317, 0.0, -0.9260430685339534, -0.9514966893713085, 1.6039740612008133, 0.0, 0.0, 0.0, 0.0, 2.0, -0.03667982705697721, 0.12866482571983823, 1.1679499670863152, -0.2408129430889171, 0.33056545470917253, -0.14572479482740164, 0.04915172903209317, 0.0, -0.8644404631032019, -0.9038084187944021, 1.6039740612008133, 0.0, 0.0, 0.0, 0.0, 2.0, -0.03667982705697721, 0.12866482571983823, 1.1679499670863152, -0.2408129430889171, 0.33056545470917253, -0.14572479482740164, 0.04915172903209317, 0.0, -0.7670118045441958, -0.7965352361337567, 1.6039740612008133, 0.0, 0.0, 0.0, 0.0, 2.0, -0.03667982705697721, 0.12866482571983823, 1.1679499670863152, -0.2408129430889171, 0.33056545470917253, -0.14572479482740164, 0.04915172903209317, 0.0, -0.7509634078917454, -0.7860907744901369, 1.6039740612008133, 0.0, 0.0, 0.0, 0.0, 2.0, -0.03667982705697721, 0.12866482571983823, 1.1679499670863152, -0.2408129430889171, 0.33056545470917253, -0.14572479482740164, 0.04915172903209317, 0.0, -0.6824458421645115, -0.6927982707869034, 1.6039740612008133, 0.0, 0.0, 0.0, 0.0, 2.0, -0.03667982705697721, 0.12866482571983823, 1.1679499670863152, -0.2408129430889171, 0.33056545470917253, -0.14572479482740164, 0.04915172903209317, 0.0, -0.6369302094134749, -0.6672040735447438, 1.6039740612008133, 0.0, 0.0, 0.0, 0.0, 2.0, -0.03667982705697721, 0.12866482571983823, 1.1679499670863152, -0.2408129430889171, 0.33056545470917253, -0.14572479482740164, 0.04915172903209317, 0.0, -0.587143459870499, -0.6319764481895432, 1.6039740612008133, 0.0, 0.0, 0.0, 0.0, 2.0, -0.03667982705697721, 0.12866482571983823, 1.1679499670863152, -0.2408129430889171, 0.33056545470917253, -0.14572479482740164, 0.04915172903209317, 0.0, -0.5227165977109451, -0.5479346331284971, 1.6039740612008133, 0.0, 0.0, 0.0, 0.0, 2.0, -0.03667982705697721, 0.12866482571983823, 1.1679499670863152, -0.2408129430889171, 0.33056545470917253, -0.14572479482740164, 0.04915172903209317, 0.0, -0.5018402950800195, -0.5345018535510314, 1.6039740612008133, 0.0, 0.0, 0.0, 0.0, 2.0, -0.03667982705697721, 0.12866482571983823, 1.1679499670863152, -0.2408129430889171, 0.33056545470917253, -0.14572479482740164, 0.04915172903209317, 0.0, -0.4081768497672616, -0.42840370296367575, 1.6039740612008133, 0.0, 0.0, 0.0, 0.0, 2.0, -0.03667982705697721, 0.12866482571983823, 1.1679499670863152, -0.2408129430889171, 0.33056545470917253, -0.14572479482740164, 0.04915172903209317, 0.0, -0.36820538060701624, -0.40576198510825634, 1.6039740612008133, 0.0, 0.0, 0.0, 0.0, 2.0, -0.03667982705697721, 0.12866482571983823, 1.1679499670863152, -0.2408129430889171, 0.33056545470917253, -0.14572479482740164, 0.04915172903209317, 0.0, -0.329216657168403, -0.365702196993694, 1.6039740612008133, 0.0, 0.0, 0.0, 0.0, 2.0, -0.03667982705697721, 0.12866482571983823, 1.1679499670863152, -0.2408129430889171, 0.33056545470917253, -0.14572479482740164, 0.04915172903209317, 0.0, -0.2715856644267939, -0.29707005870889647, 1.6039740612008133, 0.0, 0.0, 0.0, 0.0, 2.0, -0.03667982705697721, 0.12866482571983823, 1.1679499670863152, -0.2408129430889171, 0.33056545470917253, -0.14572479482740164, 0.04915172903209317, 0.0, -0.23250458526368045, -0.27446712211382635, 1.6039740612008133, 0.0, 0.0, 0.0, 0.0, 2.0, -0.03667982705697721, 0.12866482571983823, 1.1679499670863152, -0.2408129430889171, 0.33056545470917253, -0.14572479482740164, 0.04915172903209317, 0.0, -0.14486328573251256, -0.17207355782085534, 1.6039740612008133, 0.0, 0.0, 0.0, 0.0, 2.0, -0.03667982705697721, 0.12866482571983823, 1.1679499670863152, -0.2408129430889171, 0.33056545470917253, -0.14572479482740164, 0.04915172903209317, 0.0, -0.1174228707594531, -0.15383212291160409, 1.6039740612008133, 0.0, 0.0, 0.0, 0.0, 2.0, -0.03667982705697721, 0.12866482571983823, 1.1679499670863152, -0.2408129430889171, 0.33056545470917253, -0.14572479482740164, 0.04915172903209317, 0.0, -0.04130058218629993, -0.05971890725955671, 1.6039740612008133, 0.0, 0.0, 0.0, 0.0, 2.0, -0.03667982705697721, 0.12866482571983823, 1.1679499670863152, -0.2408129430889171, 0.33056545470917253, -0.14572479482740164, 0.04915172903209317, 0.0, -0.0020784303850057174, -0.03311118924496125, 1.6039740612008133, 0.0, 0.0, 0.0, 0.0, 2.0, -0.03667982705697721, 0.12866482571983823, 1.1679499670863152, -0.2408129430889171, 0.33056545470917253, -0.14572479482740164, 0.04915172903209317, 0.0, 0.07733511179685593, 0.06007006179009165, 1.6039740612008133, 0.0, 0.0, 0.0, 0.0, 2.0, -0.03667982705697721, 0.12866482571983823, 1.1679499670863152, -0.2408129430889171, 0.33056545470917253, -0.14572479482740164, 0.04915172903209317, 0.0, 0.11327985689348104, 0.08741501505885806, 1.6039740612008133, 0.0, 0.0, 0.0, 0.0, 2.0, -0.03667982705697721, 0.12866482571983823, 1.1679499670863152, -0.2408129430889171, 0.33056545470917253, -0.14572479482740164, 0.04915172903209317, 0.0, 0.18992425546962388, 0.1768789908715657, 1.6039740612008133, 0.0, 0.0, 0.0, 0.0, 2.0, -0.03667982705697721, 0.12866482571983823, 1.1679499670863152, -0.2408129430889171, 0.33056545470917253, -0.14572479482740164, 0.04915172903209317, 0.0, 0.22849977320554304, 0.2077924594739262, 1.6039740612008133, 0.0, 0.0, 0.0, 0.0, 2.0, -0.03667982705697721, 0.12866482571983823, 1.1679499670863152, -0.2408129430889171, 0.33056545470917253, -0.14572479482740164, 0.04915172903209317, 0.0, 0.2956231908530605, 0.2894177981177155, 1.6039740612008133, 0.0, 0.0, 0.0, 0.0, 2.0, -0.03667982705697721, 0.12866482571983823, 1.1679499670863152, -0.2408129430889171, 0.33056545470917253, -0.14572479482740164, 0.04915172903209317, 0.0, 0.34370229682143855, 0.3281601927414232, 1.6039740612008133, 0.0, 0.0, 0.0, 0.0, 2.0, -0.03667982705697721, 0.12866482571983823, 1.1679499670863152, -0.2408129430889171, 0.33056545470917253, -0.14572479482740164, 0.04915172903209317, 0.0, 0.43168495511826205, 0.4192198306626203, 1.6039740612008133, 0.0, 0.0, 0.0, 0.0, 2.0, -0.03667982705697721, 0.12866482571983823, 1.1679499670863152, -0.2408129430889171, 0.33056545470917253, -0.14572479482740164, 0.04915172903209317, 0.0, 0.46063239682389767, 0.4494883082807064, 1.6039740612008133, 0.0, 0.0, 0.0, 0.0, 2.0, -0.03667982705697721, 0.12866482571983823, 1.1679499670863152, -0.2408129430889171, 0.33056545470917253, -0.14572479482740164, 0.04915172903209317, 0.0, 0.5108437812602034, 0.5170601870940656, 1.6039740612008133, 0.0, 0.0, 0.0, 0.0, 2.0, -0.03667982705697721, 0.12866482571983823, 1.1679499670863152, -0.2408129430889171, 0.33056545470917253, -0.14572479482740164, 0.04915172903209317, 0.0, 0.5828195835406683, 0.5737389878046756, 1.6039740612008133, 0.0, 0.0, 0.0, 0.0, 2.0, -0.03667982705697721, 0.12866482571983823, 1.1679499670863152, -0.2408129430889171, 0.33056545470917253, -0.14572479482740164, 0.04915172903209317, 0.0, 0.6532436819861129, 0.6382116685260315, 1.6039740612008133, 0.0, 0.0, 0.0, 0.0, 2.0, -0.03667982705697721, 0.12866482571983823, 1.1679499670863152, -0.2408129430889171, 0.33056545470917253, -0.14572479482740164, 0.04915172903209317, 0.0, 1.6852362155914307, 1.7857252359390259, 1.7063801288604736, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1829275073676273, 1.0562108454348027, 1.0033735036849976, -0.20344418283851667, 0.682413231915441, -0.1654463361392076, -0.6652452959411446, 0.0, 1.7470067739486694, 1.8841809034347534, 1.7063801288604736, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1829275073676273, 1.0562108454348027, 1.0033735036849976, -0.20344418283851667, 0.682413231915441, -0.1654463361392076, -0.6652452959411446, 0.0, 1.7855080366134644, 1.9455479383468628, 1.7063801288604736, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1829275073676273, 1.0562108454348027, 1.0033735036849976, -0.20344418283851667, 0.682413231915441, -0.1654463361392076, -0.6652452959411446, 0.0, 1.8452186584472656, 2.0407204627990723, 1.7063801288604736, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1829275073676273, 1.0562108454348027, 1.0033735036849976, -0.20344418283851667, 0.682413231915441, -0.1654463361392076, -0.6652452959411446, 0.0, 1.891759991645813, 2.1149022579193115, 1.7063801288604736, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1829275073676273, 1.0562108454348027, 1.0033735036849976, -0.20344418283851667, 0.682413231915441, -0.1654463361392076, -0.6652452959411446, 0.0, 1.9491024017333984, 2.2063000202178955, 1.7063801288604736, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1829275073676273, 1.0562108454348027, 1.0033735036849976, -0.20344418283851667, 0.682413231915441, -0.1654463361392076, -0.6652452959411446, 0.0, 2.0365145206451416, 2.2454135417938232, 1.7063801288604736, 0.0, 0.0, 0.0, 0.0, 2.0, 1.1829275073676273, 1.0562108454348027, 1.0033735036849976, -0.20344418283851667, 0.682413231915441, -0.1654463361392076, -0.6652452959411446, 0.0], "std": [1.4450983973369942, 0.7930371288451443, 0.1143293158773991, 0.0, 0.0, 0.0, 0.0, 1.3989748472307608, 1.424956839301776, 1.6512204870620737, 0.24381069210747305, 0.281615194722051, 0.6007142173859977, 0.17696664265403808, 0.6686389455642872, 0.4898979485566357, 1.420578213565813, 0.7666799071103714, 0.1143293158773991, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6074170315449943, 1.3915028914233412, 0.18373827743027815, 0.10033712443846607, 0.3937722457386216, 0.07917210815488883, 0.7985558572796797, 0.0, 1.4820712487222945, 0.7767685825024958, 0.1143293158773991, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6074170315449943, 1.3915028914233412, 0.18373827743027815, 0.10033712443846607, 0.3937722457386216, 0.07917210815488883, 0.7985558572796797, 0.0, 1.5188860938107172, 0.7825614950249254, 0.1143293158773991, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6074170315449943, 1.3915028914233412, 0.18373827743027815, 0.10033712443846607, 0.3937722457386216, 0.07917210815488883, 0.7985558572796797, 0.0, 1.4954821294384428, 0.7521372255719332, 0.1143293158773991, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6074170315449943, 1.3915028914233412, 0.18373827743027815, 0.10033712443846607, 0.3937722457386216, 0.07917210815488883, 0.7985558572796797, 0.0, 1.4870961244504017, 0.7259230507826706, 0.1143293158773991, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6074170315449943, 1.3915028914233412, 0.18373827743027815, 0.10033712443846607, 0.3937722457386216, 0.07917210815488883, 0.7985558572796797, 0.0, 1.5082808616499461, 0.7281215718433878, 0.1143293158773991, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6074170315449943, 1.3915028914233412, 0.18373827743027815, 0.10033712443846607, 0.3937722457386216, 0.07917210815488883, 0.7985558572796797, 0.0, 1.5585842872139395, 0.7351664191470064, 0.1143293158773991, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6074170315449943, 1.3915028914233412, 0.18373827743027815, 0.10033712443846607, 0.3937722457386216, 0.07917210815488883, 0.7985558572796797, 0.0, 1.5106182454811887, 0.7025632387136252, 0.1143293158773991, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6074170315449943, 1.3915028914233412, 0.18373827743027815, 0.10033712443846607, 0.3937722457386216, 0.07917210815488883, 0.7985558572796797, 0.0, 1.4701749690011245, 0.6729120863099065, 0.1143293158773991, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6074170315449943, 1.3915028914233412, 0.18373827743027815, 0.10033712443846607, 0.3937722457386216, 0.07917210815488883, 0.7985558572796797, 0.0, 1.5203991211116086, 0.6783262162081427, 0.1143293158773991, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6074170315449943, 1.3915028914233412, 0.18373827743027815, 0.10033712443846607, 0.3937722457386216, 0.07917210815488883, 0.7985558572796797, 0.0, 1.5284991210760879, 0.7008300867798616, 0.1143293158773991, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6074170315449943, 1.3915028914233412, 0.18373827743027815, 0.10033712443846607, 0.3937722457386216, 0.07917210815488883, 0.7985558572796797, 0.0, 1.4805867256506928, 0.6849930214494983, 0.1143293158773991, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6074170315449943, 1.3915028914233412, 0.18373827743027815, 0.10033712443846607, 0.3937722457386216, 0.07917210815488883, 0.7985558572796797, 0.0, 1.4687633949840522, 0.7230350517388724, 0.1143293158773991, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6074170315449943, 1.3915028914233412, 0.18373827743027815, 0.10033712443846607, 0.3937722457386216, 0.07917210815488883, 0.7985558572796797, 0.0, 1.4617586417041983, 0.7250667982493155, 0.1143293158773991, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6074170315449943, 1.3915028914233412, 0.18373827743027815, 0.10033712443846607, 0.3937722457386216, 0.07917210815488883, 0.7985558572796797, 0.0, 1.4750077244463886, 0.760225968994803, 0.1143293158773991, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6074170315449943, 1.3915028914233412, 0.18373827743027815, 0.10033712443846607, 0.3937722457386216, 0.07917210815488883, 0.7985558572796797, 0.0, 1.43229197809251, 0.7485210838058332, 0.1143293158773991, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6074170315449943, 1.3915028914233412, 0.18373827743027815, 0.10033712443846607, 0.3937722457386216, 0.07917210815488883, 0.7985558572796797, 0.0, 1.4264774115387435, 0.7928617415594469, 0.1143293158773991, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6074170315449943, 1.3915028914233412, 0.18373827743027815, 0.10033712443846607, 0.3937722457386216, 0.07917210815488883, 0.7985558572796797, 0.0, 1.4115129947832428, 0.7859071872711093, 0.1143293158773991, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6074170315449943, 1.3915028914233412, 0.18373827743027815, 0.10033712443846607, 0.3937722457386216, 0.07917210815488883, 0.7985558572796797, 0.0, 1.442029360519862, 0.8523174537740159, 0.1143293158773991, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6074170315449943, 1.3915028914233412, 0.18373827743027815, 0.10033712443846607, 0.3937722457386216, 0.07917210815488883, 0.7985558572796797, 0.0, 1.3917799219217128, 0.8246448496133524, 0.1143293158773991, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6074170315449943, 1.3915028914233412, 0.18373827743027815, 0.10033712443846607, 0.3937722457386216, 0.07917210815488883, 0.7985558572796797, 0.0, 1.3508338372055293, 0.8086460862848516, 0.1143293158773991, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6074170315449943, 1.3915028914233412, 0.18373827743027815, 0.10033712443846607, 0.3937722457386216, 0.07917210815488883, 0.7985558572796797, 0.0, 1.3723929580913348, 0.8638279488577455, 0.1143293158773991, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6074170315449943, 1.3915028914233412, 0.18373827743027815, 0.10033712443846607, 0.3937722457386216, 0.07917210815488883, 0.7985558572796797, 0.0, 1.3526286335157114, 0.8544777248102201, 0.1143293158773991, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6074170315449943, 1.3915028914233412, 0.18373827743027815, 0.10033712443846607, 0.3937722457386216, 0.07917210815488883, 0.7985558572796797, 0.0, 1.352797333527041, 0.9029668995017303, 0.1143293158773991, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6074170315449943, 1.3915028914233412, 0.18373827743027815, 0.10033712443846607, 0.3937722457386216, 0.07917210815488883, 0.7985558572796797, 0.0, 1.3089887102867621, 0.8789907917811157, 0.1143293158773991, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6074170315449943, 1.3915028914233412, 0.18373827743027815, 0.10033712443846607, 0.3937722457386216, 0.07917210815488883, 0.7985558572796797, 0.0, 1.301101310845797, 0.891074422566193, 0.1143293158773991, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6074170315449943, 1.3915028914233412, 0.18373827743027815, 0.10033712443846607, 0.3937722457386216, 0.07917210815488883, 0.7985558572796797, 0.0, 1.3076991549587416, 0.9275204529942406, 0.1143293158773991, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6074170315449943, 1.3915028914233412, 0.18373827743027815, 0.10033712443846607, 0.3937722457386216, 0.07917210815488883, 0.7985558572796797, 0.0, 1.2657688337936874, 0.9049971204545708, 0.1143293158773991, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6074170315449943, 1.3915028914233412, 0.18373827743027815, 0.10033712443846607, 0.3937722457386216, 0.07917210815488883, 0.7985558572796797, 0.0, 1.271969114631445, 0.9565195850381059, 0.1143293158773991, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6074170315449943, 1.3915028914233412, 0.18373827743027815, 0.10033712443846607, 0.3937722457386216, 0.07917210815488883, 0.7985558572796797, 0.0, 1.2471244166154603, 0.9453839327890361, 0.1143293158773991, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6074170315449943, 1.3915028914233412, 0.18373827743027815, 0.10033712443846607, 0.3937722457386216, 0.07917210815488883, 0.7985558572796797, 0.0, 1.2625465598986412, 1.000351817393201, 0.1143293158773991, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6074170315449943, 1.3915028914233412, 0.18373827743027815, 0.10033712443846607, 0.3937722457386216, 0.07917210815488883, 0.7985558572796797, 0.0, 1.2280699650988998, 0.9854889464917421, 0.1143293158773991, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6074170315449943, 1.3915028914233412, 0.18373827743027815, 0.10033712443846607, 0.3937722457386216, 0.07917210815488883, 0.7985558572796797, 0.0, 1.2344642139216033, 1.0329645066419757, 0.1143293158773991, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6074170315449943, 1.3915028914233412, 0.18373827743027815, 0.10033712443846607, 0.3937722457386216, 0.07917210815488883, 0.7985558572796797, 0.0, 1.2086076416848972, 1.0251859105621433, 0.1143293158773991, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6074170315449943, 1.3915028914233412, 0.18373827743027815, 0.10033712443846607, 0.3937722457386216, 0.07917210815488883, 0.7985558572796797, 0.0, 1.2138717337328389, 1.0700825081686935, 0.1143293158773991, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6074170315449943, 1.3915028914233412, 0.18373827743027815, 0.10033712443846607, 0.3937722457386216, 0.07917210815488883, 0.7985558572796797, 0.0, 1.1891607219593707, 1.0648270955067525, 0.1143293158773991, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6074170315449943, 1.3915028914233412, 0.18373827743027815, 0.10033712443846607, 0.3937722457386216, 0.07917210815488883, 0.7985558572796797, 0.0, 1.2001192614134104, 1.1106089016187424, 0.1143293158773991, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6074170315449943, 1.3915028914233412, 0.18373827743027815, 0.10033712443846607, 0.3937722457386216, 0.07917210815488883, 0.7985558572796797, 0.0, 1.1697333530692042, 1.1044791222782455, 0.1143293158773991, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6074170315449943, 1.3915028914233412, 0.18373827743027815, 0.10033712443846607, 0.3937722457386216, 0.07917210815488883, 0.7985558572796797, 0.0, 1.153213815471781, 1.1330496466901911, 0.1143293158773991, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6074170315449943, 1.3915028914233412, 0.18373827743027815, 0.10033712443846607, 0.3937722457386216, 0.07917210815488883, 0.7985558572796797, 0.0, 1.1483769980442566, 1.143058815351774, 0.1143293158773991, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6074170315449943, 1.3915028914233412, 0.18373827743027815, 0.10033712443846607, 0.3937722457386216, 0.07917210815488883, 0.7985558572796797, 0.0, 1.169198815456496, 1.1901568666443472, 0.1143293158773991, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6074170315449943, 1.3915028914233412, 0.18373827743027815, 0.10033712443846607, 0.3937722457386216, 0.07917210815488883, 0.7985558572796797, 0.0, 1.1211518673311054, 1.1783760664502672, 0.1143293158773991, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6074170315449943, 1.3915028914233412, 0.18373827743027815, 0.10033712443846607, 0.3937722457386216, 0.07917210815488883, 0.7985558572796797, 0.0, 1.1152120865635153, 1.2222471042513527, 0.1143293158773991, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6074170315449943, 1.3915028914233412, 0.18373827743027815, 0.10033712443846607, 0.3937722457386216, 0.07917210815488883, 0.7985558572796797, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7851612757639383, 1.1523507621389542, 0.0, 0.09877032248441577, 0.03516322131913872, 0.10183416309731523, 0.040452448730275946, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7851612757639383, 1.1523507621389542, 0.0, 0.09877032248441577, 0.03516322131913872, 0.10183416309731523, 0.040452448730275946, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7851612757639383, 1.1523507621389542, 0.0, 0.09877032248441577, 0.03516322131913872, 0.10183416309731523, 0.040452448730275946, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7851612757639383, 1.1523507621389542, 0.0, 0.09877032248441577, 0.03516322131913872, 0.10183416309731523, 0.040452448730275946, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7851612757639383, 1.1523507621389542, 0.0, 0.09877032248441577, 0.03516322131913872, 0.10183416309731523, 0.040452448730275946, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7851612757639383, 1.1523507621389542, 0.0, 0.09877032248441577, 0.03516322131913872, 0.10183416309731523, 0.040452448730275946, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7851612757639383, 1.1523507621389542, 0.0, 0.09877032248441577, 0.03516322131913872, 0.10183416309731523, 0.040452448730275946, 0.0], "min": [-3.543902635574341, -2.340085029602051, 1.4763332605361938, 0.0, 0.0, 0.0, 0.0, -1.0, -3.293297290802002, -1.9501625299453735, 0.5874999761581421, -0.6265907287597656, -0.8811519742012024, -0.40053316950798035, -0.7863109111785889, 0.0, -3.427619218826294, -2.275442600250244, 1.4763332605361938, 0.0, 0.0, 0.0, 0.0, 2.0, -3.293297290802002, -1.9501625299453735, 1.0033735036849976, -0.6265907287597656, -0.11213694512844086, -0.40053316950798035, -0.7037985324859619, 0.0, -3.42460036277771, -2.2737643718719482, 1.4763332605361938, 0.0, 0.0, 0.0, 0.0, 2.0, -3.293297290802002, -1.9501625299453735, 1.0033735036849976, -0.6265907287597656, -0.11213694512844086, -0.40053316950798035, -0.7037985324859619, 0.0, -3.4214932918548584, -2.2720372676849365, 1.4763332605361938, 0.0, 0.0, 0.0, 0.0, 2.0, -3.293297290802002, -1.9501625299453735, 1.0033735036849976, -0.6265907287597656, -0.11213694512844086, -0.40053316950798035, -0.7037985324859619, 0.0, -3.2827982902526855, -2.1949357986450195, 1.4763332605361938, 0.0, 0.0, 0.0, 0.0, 2.0, -3.293297290802002, -1.9501625299453735, 1.0033735036849976, -0.6265907287597656, -0.11213694512844086, -0.40053316950798035, -0.7037985324859619, 0.0, -3.1525518894195557, -2.122530937194824, 1.4763332605361938, 0.0, 0.0, 0.0, 0.0, 2.0, -3.293297290802002, -1.9501625299453735, 1.0033735036849976, -0.6265907287597656, -0.11213694512844086, -0.40053316950798035, -0.7037985324859619, 0.0, -3.144793748855591, -2.118218183517456, 1.4763332605361938, 0.0, 0.0, 0.0, 0.0, 2.0, -3.293297290802002, -1.9501625299453735, 1.0033735036849976, -0.6265907287597656, -0.11213694512844086, -0.40053316950798035, -0.7037985324859619, 0.0, -3.135969638824463, -2.1133127212524414, 1.4763332605361938, 0.0, 0.0, 0.0, 0.0, 2.0, -3.293297290802002, -1.9501625299453735, 1.0033735036849976, -0.6265907287597656, -0.11213694512844086, -0.40053316950798035, -0.7037985324859619, 0.0, -3.00821590423584, -2.0422937870025635, 1.4763332605361938, 0.0, 0.0, 0.0, 0.0, 2.0, -3.293297290802002, -1.9501625299453735, 1.0033735036849976, -0.6265907287597656, -0.11213694512844086, -0.40053316950798035, -0.7037985324859619, 0.0, -2.889129638671875, -1.9760929346084595, 1.4763332605361938, 0.0, 0.0, 0.0, 0.0, 2.0, -3.293297290802002, -1.9501625299453735, 1.0033735036849976, -0.6265907287597656, -0.11213694512844086, -0.40053316950798035, -0.7037985324859619, 0.0, -2.8717992305755615, -1.9664589166641235, 1.4763332605361938, 0.0, 0.0, 0.0, 0.0, 2.0, -3.293297290802002, -1.9501625299453735, 1.0033735036849976, -0.6265907287597656, -0.11213694512844086, -0.40053316950798035, -0.7037985324859619, 0.0, -2.8532025814056396, -1.9561209678649902, 1.4763332605361938, 0.0, 0.0, 0.0, 0.0, 2.0, -3.293297290802002, -1.9501625299453735, 1.0033735036849976, -0.6265907287597656, -0.11213694512844086, -0.40053316950798035, -0.7037985324859619, 0.0, -2.7358646392822266, -1.8908921480178833, 1.4763332605361938, 0.0, 0.0, 0.0, 0.0, 2.0, -3.293297290802002, -1.9501625299453735, 1.0033735036849976, -0.6265907287597656, -0.11213694512844086, -0.40053316950798035, -0.7037985324859619, 0.0, -2.6255886554718018, -1.8295890092849731, 1.4763332605361938, 0.0, 0.0, 0.0, 0.0, 2.0, -3.293297290802002, -1.9501625299453735, 1.0033735036849976, -0.6265907287597656, -0.11213694512844086, -0.40053316950798035, -0.7037985324859619, 0.0, -2.6000070571899414, -1.8153680562973022, 1.4763332605361938, 0.0, 0.0, 0.0, 0.0, 2.0, -3.293297290802002, -1.9501625299453735, 1.0033735036849976, -0.6265907287597656, -0.11213694512844086, -0.40053316950798035, -0.7037985324859619, 0.0, -2.5727875232696533, -1.8002365827560425, 1.4763332605361938, 0.0, 0.0, 0.0, 0.0, 2.0, -3.293297290802002, -1.9501625299453735, 1.0033735036849976, -0.6265907287597656, -0.11213694512844086, -0.40053316950798035, -0.7037985324859619, 0.0, -2.4634957313537598, -1.7394806146621704, 1.4763332605361938, 0.0, 0.0, 0.0, 0.0, 2.0, -3.293297290802002, -1.9501625299453735, 1.0033735036849976, -0.6265907287597656, -0.11213694512844086, -0.40053316950798035, -0.7037985324859619, 0.0, -2.3595755100250244, -1.6817107200622559, 1.4763332605361938, 0.0, 0.0, 0.0, 0.0, 2.0, -3.293297290802002, -1.9501625299453735, 1.0033735036849976, -0.6265907287597656, -0.11213694512844086, -0.40053316950798035, -0.7037985324859619, 0.0, -2.3268203735351562, -1.6635019779205322, 1.4763332605361938, 0.0, 0.0, 0.0, 0.0, 2.0, -3.293297290802002, -1.9501625299453735, 1.0033735036849976, -0.6265907287597656, -0.11213694512844086, -0.40053316950798035, -0.7037985324859619, 0.0, -2.292372226715088, -1.6443519592285156, 1.4763332605361938, 0.0, 0.0, 0.0, 0.0, 2.0, -3.293297290802002, -1.9501625299453735, 1.0033735036849976, -0.6265907287597656, -0.11213694512844086, -0.40053316950798035, -0.7037985324859619, 0.0, -2.1907565593719482, -1.5878632068634033, 1.4763332605361938, 0.0, 0.0, 0.0, 0.0, 2.0, -3.293297290802002, -1.9501625299453735, 1.0033735036849976, -0.6265907287597656, -0.11213694512844086, -0.40053316950798035, -0.7037985324859619, 0.0, -2.0952563285827637, -1.5347740650177002, 1.4763332605361938, 0.0, 0.0, 0.0, 0.0, 2.0, -3.293297290802002, -1.9501625299453735, 1.0033735036849976, -0.6265907287597656, -0.11213694512844086, -0.40053316950798035, -0.7037985324859619, 0.0, -2.054898738861084, -1.5123389959335327, 1.4763332605361938, 0.0, 0.0, 0.0, 0.0, 2.0, -3.293297290802002, -1.9501625299453735, 1.0033735036849976, -0.6265907287597656, -0.11213694512844086, -0.40053316950798035, -0.7037985324859619, 0.0, -2.0119569301605225, -1.4884673357009888, 1.4763332605361938, 0.0, 0.0, 0.0, 0.0, 2.0, -3.293297290802002, -1.9501625299453735, 1.0033735036849976, -0.6265907287597656, -0.11213694512844086, -0.40053316950798035, -0.7037985324859619, 0.0, -1.9184818267822266, -1.4365040063858032, 1.4763332605361938, 0.0, 0.0, 0.0, 0.0, 2.0, -3.293297290802002, -1.9501625299453735, 1.0033735036849976, -0.6265907287597656, -0.11213694512844086, -0.40053316950798035, -0.7037985324859619, 0.0, -1.8296010494232178, -1.3870946168899536, 1.4763332605361938, 0.0, 0.0, 0.0, 0.0, 2.0, -3.293297290802002, -1.9501625299453735, 1.0033735036849976, -0.6265907287597656, -0.11213694512844086, -0.40053316950798035, -0.7037985324859619, 0.0, -1.7818065881729126, -1.360525369644165, 1.4763332605361938, 0.0, 0.0, 0.0, 0.0, 2.0, -3.293297290802002, -1.9501625299453735, 1.0033735036849976, -0.6265907287597656, -0.11213694512844086, -0.40053316950798035, -0.7037985324859619, 0.0, -1.731541633605957, -1.332582712173462, 1.4763332605361938, 0.0, 0.0, 0.0, 0.0, 2.0, -3.293297290802002, -1.9501625299453735, 1.0033735036849976, -0.6265907287597656, -0.11213694512844086, -0.40053316950798035, -0.7037985324859619, 0.0, -1.6456482410430908, -1.2848340272903442, 1.4763332605361938, 0.0, 0.0, 0.0, 0.0, 2.0, -3.293297290802002, -1.9501625299453735, 1.0033735036849976, -0.6265907287597656, -0.11213694512844086, -0.40053316950798035, -0.7037985324859619, 0.0, -1.5649291276931763, -1.2399617433547974, 1.4763332605361938, 0.0, 0.0, 0.0, 0.0, 2.0, -3.293297290802002, -1.9501625299453735, 1.0033735036849976, -0.6265907287597656, -0.11213694512844086, -0.40053316950798035, -0.7037985324859619, 0.0, -1.509751319885254, -1.2092881202697754, 1.4763332605361938, 0.0, 0.0, 0.0, 0.0, 2.0, -3.293297290802002, -1.9501625299453735, 1.0033735036849976, -0.6265907287597656, -0.11213694512844086, -0.40053316950798035, -0.7037985324859619, 0.0, -1.450846791267395, -1.1765427589416504, 1.4763332605361938, 0.0, 0.0, 0.0, 0.0, 2.0, -3.293297290802002, -1.9501625299453735, 1.0033735036849976, -0.6265907287597656, -0.11213694512844086, -0.40053316950798035, -0.7037985324859619, 0.0, -1.373133897781372, -1.133341670036316, 1.4763332605361938, 0.0, 0.0, 0.0, 0.0, 2.0, -3.293297290802002, -1.9501625299453735, 1.0033735036849976, -0.6265907287597656, -0.11213694512844086, -0.40053316950798035, -0.7037985324859619, 0.0, -1.3008590936660767, -1.0931636095046997, 1.4763332605361938, 0.0, 0.0, 0.0, 0.0, 2.0, -3.293297290802002, -1.9501625299453735, 1.0033735036849976, -0.6265907287597656, -0.11213694512844086, -0.40053316950798035, -0.7037985324859619, 0.0, -1.2360472679138184, -1.0571343898773193, 1.4763332605361938, 0.0, 0.0, 0.0, 0.0, 2.0, -3.293297290802002, -1.9501625299453735, 1.0033735036849976, -0.6265907287597656, -0.11213694512844086, -0.40053316950798035, -0.7037985324859619, 0.0, -1.1652798652648926, -1.0177943706512451, 1.4763332605361938, 0.0, 0.0, 0.0, 0.0, 2.0, -3.293297290802002, -1.9501625299453735, 1.0033735036849976, -0.6265907287597656, -0.11213694512844086, -0.40053316950798035, -0.7037985324859619, 0.0, -1.0991162061691284, -0.9810135960578918, 1.4763332605361938, 0.0, 0.0, 0.0, 0.0, 2.0, -3.293297290802002, -1.9501625299453735, 1.0033735036849976, -0.6265907287597656, -0.11213694512844086, -0.40053316950798035, -0.7037985324859619, 0.0, -1.0442272424697876, -0.95050048828125, 1.4763332605361938, 0.0, 0.0, 0.0, 0.0, 2.0, -3.293297290802002, -1.9501625299453735, 1.0033735036849976, -0.6265907287597656, -0.11213694512844086, -0.40053316950798035, -0.7037985324859619, 0.0, -0.9622243642807007, -0.9049146175384521, 1.4763332605361938, 0.0, 0.0, 0.0, 0.0, 2.0, -3.293297290802002, -1.9501625299453735, 1.0033735036849976, -0.6265907287597656, -0.11213694512844086, -0.40053316950798035, -0.7037985324859619, 0.0, -0.8557987809181213, -0.8457520008087158, 1.4763332605361938, 0.0, 0.0, 0.0, 0.0, 2.0, -3.293297290802002, -1.9501625299453735, 1.0033735036849976, -0.6265907287597656, -0.11213694512844086, -0.40053316950798035, -0.7037985324859619, 0.0, -0.8214513659477234, -0.8266580700874329, 1.4763332605361938, 0.0, 0.0, 0.0, 0.0, 2.0, -3.293297290802002, -1.9501625299453735, 1.0033735036849976, -0.6265907287597656, -0.11213694512844086, -0.40053316950798035, -0.7037985324859619, 0.0, -0.7944861054420471, -0.8116679191589355, 1.4763332605361938, 0.0, 0.0, 0.0, 0.0, 2.0, -3.293297290802002, -1.9501625299453735, 1.0033735036849976, -0.6265907287597656, -0.11213694512844086, -0.40053316950798035, -0.7037985324859619, 0.0, -0.6688691973686218, -0.741836667060852, 1.4763332605361938, 0.0, 0.0, 0.0, 0.0, 2.0, -3.293297290802002, -1.9501625299453735, 1.0033735036849976, -0.6265907287597656, -0.11213694512844086, -0.40053316950798035, -0.7037985324859619, 0.0, -0.5918137431144714, -0.7263429760932922, 1.4763332605361938, 0.0, 0.0, 0.0, 0.0, 2.0, -3.293297290802002, -1.9501625299453735, 1.0033735036849976, -0.6265907287597656, -0.11213694512844086, -0.40053316950798035, -0.7037985324859619, 0.0, 1.6852362155914307, 1.7857252359390259, 1.7063801288604736, 0.0, 0.0, 0.0, 0.0, 2.0, -0.5309063196182251, -0.5597453117370605, 1.0033735036849976, -0.4303587079048157, 0.5867198705673218, -0.40053316950798035, -0.7037985324859619, 0.0, 1.7470067739486694, 1.8841809034347534, 1.7063801288604736, 0.0, 0.0, 0.0, 0.0, 2.0, -0.5309063196182251, -0.5597453117370605, 1.0033735036849976, -0.4303587079048157, 0.5867198705673218, -0.40053316950798035, -0.7037985324859619, 0.0, 1.7855080366134644, 1.9455479383468628, 1.7063801288604736, 0.0, 0.0, 0.0, 0.0, 2.0, -0.5309063196182251, -0.5597453117370605, 1.0033735036849976, -0.4303587079048157, 0.5867198705673218, -0.40053316950798035, -0.7037985324859619, 0.0, 1.8452186584472656, 2.0407204627990723, 1.7063801288604736, 0.0, 0.0, 0.0, 0.0, 2.0, -0.5309063196182251, -0.5597453117370605, 1.0033735036849976, -0.4303587079048157, 0.5867198705673218, -0.40053316950798035, -0.7037985324859619, 0.0, 1.891759991645813, 2.1149022579193115, 1.7063801288604736, 0.0, 0.0, 0.0, 0.0, 2.0, -0.5309063196182251, -0.5597453117370605, 1.0033735036849976, -0.4303587079048157, 0.5867198705673218, -0.40053316950798035, -0.7037985324859619, 0.0, 1.9491024017333984, 2.2063000202178955, 1.7063801288604736, 0.0, 0.0, 0.0, 0.0, 2.0, -0.5309063196182251, -0.5597453117370605, 1.0033735036849976, -0.4303587079048157, 0.5867198705673218, -0.40053316950798035, -0.7037985324859619, 0.0, 2.0365145206451416, 2.2454135417938232, 1.7063801288604736, 0.0, 0.0, 0.0, 0.0, 2.0, -0.5309063196182251, -0.5597453117370605, 1.0033735036849976, -0.4303587079048157, 0.5867198705673218, -0.40053316950798035, -0.7037985324859619, 0.0], "max": [-0.63615882396698, -0.7443813681602478, 1.7063801288604736, 0.0, 0.0, 0.0, 0.0, 2.0, 2.273106575012207, 3.1115760803222656, 1.373114824295044, 0.696350634098053, 0.7645360231399536, 0.46632206439971924, 0.9519479274749756, 1.0, -0.5692135095596313, -0.7327734231948853, 1.7063801288604736, 0.0, 0.0, 0.0, 0.0, 2.0, 2.273106575012207, 2.7229230403900146, 1.3730812072753906, 0.031339436769485474, 0.7103988528251648, 0.07337826490402222, 0.9519479274749756, 0.0, -0.44246190786361694, -0.7107953429222107, 1.7063801288604736, 0.0, 0.0, 0.0, 0.0, 2.0, 2.273106575012207, 2.7229230403900146, 1.3730812072753906, 0.031339436769485474, 0.7103988528251648, 0.07337826490402222, 0.9519479274749756, 0.0, -0.36527812480926514, -0.6974120736122131, 1.7063801288604736, 0.0, 0.0, 0.0, 0.0, 2.0, 2.273106575012207, 2.7229230403900146, 1.3730812072753906, 0.031339436769485474, 0.7103988528251648, 0.07337826490402222, 0.9519479274749756, 0.0, -0.27367523312568665, -0.6815285682678223, 1.7063801288604736, 0.0, 0.0, 0.0, 0.0, 2.0, 2.273106575012207, 2.7229230403900146, 1.3730812072753906, 0.031339436769485474, 0.7103988528251648, 0.07337826490402222, 0.9519479274749756, 0.0, -0.16030266880989075, -0.6618703603744507, 1.7063801288604736, 0.0, 0.0, 0.0, 0.0, 2.0, 2.273106575012207, 2.7229230403900146, 1.3730812072753906, 0.031339436769485474, 0.7103988528251648, 0.07337826490402222, 0.9519479274749756, 0.0, -0.10991781949996948, -0.6531338691711426, 1.7063801288604736, 0.0, 0.0, 0.0, 0.0, 2.0, 2.273106575012207, 2.7229230403900146, 1.3730812072753906, 0.031339436769485474, 0.7103988528251648, 0.07337826490402222, 0.9519479274749756, 0.0, 0.0001239478588104248, -0.6340531706809998, 1.7063801288604736, 0.0, 0.0, 0.0, 0.0, 2.0, 2.273106575012207, 2.7229230403900146, 1.3730812072753906, 0.031339436769485474, 0.7103988528251648, 0.07337826490402222, 0.9519479274749756, 0.0, 0.03136317431926727, -0.6286364793777466, 1.7063801288604736, 0.0, 0.0, 0.0, 0.0, 2.0, 2.273106575012207, 2.7229230403900146, 1.3730812072753906, 0.031339436769485474, 0.7103988528251648, 0.07337826490402222, 0.9519479274749756, 0.0, 0.06907180696725845, -0.6220979690551758, 1.7063801288604736, 0.0, 0.0, 0.0, 0.0, 2.0, 2.273106575012207, 2.7229230403900146, 1.3730812072753906, 0.031339436769485474, 0.7103988528251648, 0.07337826490402222, 0.9519479274749756, 0.0, 0.18746036291122437, -0.6015699505805969, 1.7063801288604736, 0.0, 0.0, 0.0, 0.0, 2.0, 2.273106575012207, 2.7229230403900146, 1.3730812072753906, 0.031339436769485474, 0.7103988528251648, 0.07337826490402222, 0.9519479274749756, 0.0, 0.22235536575317383, -0.5459510087966919, 1.7063801288604736, 0.0, 0.0, 0.0, 0.0, 2.0, 2.273106575012207, 2.7229230403900146, 1.3730812072753906, 0.031339436769485474, 0.7103988528251648, 0.07337826490402222, 0.9519479274749756, 0.0, 0.24328674376010895, -0.512588620185852, 1.7063801288604736, 0.0, 0.0, 0.0, 0.0, 2.0, 2.273106575012207, 2.7229230403900146, 1.3730812072753906, 0.031339436769485474, 0.7103988528251648, 0.07337826490402222, 0.9519479274749756, 0.0, 0.3297725021839142, -0.37473949790000916, 1.7063801288604736, 0.0, 0.0, 0.0, 0.0, 2.0, 2.273106575012207, 2.7229230403900146, 1.3730812072753906, 0.031339436769485474, 0.7103988528251648, 0.07337826490402222, 0.9519479274749756, 0.0, 0.34125953912734985, -0.35643038153648376, 1.7063801288604736, 0.0, 0.0, 0.0, 0.0, 2.0, 2.273106575012207, 2.7229230403900146, 1.3730812072753906, 0.031339436769485474, 0.7103988528251648, 0.07337826490402222, 0.9519479274749756, 0.0, 0.39513811469078064, -0.2705536484718323, 1.7063801288604736, 0.0, 0.0, 0.0, 0.0, 2.0, 2.273106575012207, 2.7229230403900146, 1.3730812072753906, 0.031339436769485474, 0.7103988528251648, 0.07337826490402222, 0.9519479274749756, 0.0, 0.4184797406196594, -0.23334957659244537, 1.7063801288604736, 0.0, 0.0, 0.0, 0.0, 2.0, 2.273106575012207, 2.7229230403900146, 1.3730812072753906, 0.031339436769485474, 0.7103988528251648, 0.07337826490402222, 0.9519479274749756, 0.0, 0.5107002258300781, -0.08635996282100677, 1.7063801288604736, 0.0, 0.0, 0.0, 0.0, 2.0, 2.273106575012207, 2.7229230403900146, 1.3730812072753906, 0.031339436769485474, 0.7103988528251648, 0.07337826490402222, 0.9519479274749756, 0.0, 0.5133448243141174, -0.08214477449655533, 1.7063801288604736, 0.0, 0.0, 0.0, 0.0, 2.0, 2.273106575012207, 2.7229230403900146, 1.3730812072753906, 0.031339436769485474, 0.7103988528251648, 0.07337826490402222, 0.9519479274749756, 0.0, 0.6091962456703186, 0.07063215970993042, 1.7063801288604736, 0.0, 0.0, 0.0, 0.0, 2.0, 2.273106575012207, 2.7229230403900146, 1.3730812072753906, 0.031339436769485474, 0.7103988528251648, 0.07337826490402222, 0.9519479274749756, 0.0, 0.6097028851509094, 0.07143969088792801, 1.7063801288604736, 0.0, 0.0, 0.0, 0.0, 2.0, 2.273106575012207, 2.7229230403900146, 1.3730812072753906, 0.031339436769485474, 0.7103988528251648, 0.07337826490402222, 0.9519479274749756, 0.0, 0.6228137612342834, 0.09233704209327698, 1.7063801288604736, 0.0, 0.0, 0.0, 0.0, 2.0, 2.273106575012207, 2.7229230403900146, 1.3730812072753906, 0.031339436769485474, 0.7103988528251648, 0.07337826490402222, 0.9519479274749756, 0.0, 0.7065513730049133, 0.2258058786392212, 1.7063801288604736, 0.0, 0.0, 0.0, 0.0, 2.0, 2.273106575012207, 2.7229230403900146, 1.3730812072753906, 0.031339436769485474, 0.7103988528251648, 0.07337826490402222, 0.9519479274749756, 0.0, 0.7097245454788208, 0.230863556265831, 1.7063801288604736, 0.0, 0.0, 0.0, 0.0, 2.0, 2.273106575012207, 2.7229230403900146, 1.3730812072753906, 0.031339436769485474, 0.7103988528251648, 0.07337826490402222, 0.9519479274749756, 0.0, 0.8035390973091125, 0.38039401173591614, 1.7063801288604736, 0.0, 0.0, 0.0, 0.0, 2.0, 2.273106575012207, 2.7229230403900146, 1.3730812072753906, 0.031339436769485474, 0.7103988528251648, 0.07337826490402222, 0.9519479274749756, 0.0, 0.8042706847190857, 0.3815600574016571, 1.7063801288604736, 0.0, 0.0, 0.0, 0.0, 2.0, 2.273106575012207, 2.7229230403900146, 1.3730812072753906, 0.031339436769485474, 0.7103988528251648, 0.07337826490402222, 0.9519479274749756, 0.0, 0.8361945748329163, 0.4324432909488678, 1.7063801288604736, 0.0, 0.0, 0.0, 0.0, 2.0, 2.273106575012207, 2.7229230403900146, 1.3730812072753906, 0.031339436769485474, 0.7103988528251648, 0.07337826490402222, 0.9519479274749756, 0.0, 0.8997353315353394, 0.5337205529212952, 1.7063801288604736, 0.0, 0.0, 0.0, 0.0, 2.0, 2.273106575012207, 2.7229230403900146, 1.3730812072753906, 0.031339436769485474, 0.7103988528251648, 0.07337826490402222, 0.9519479274749756, 0.0, 0.9012589454650879, 0.5361490845680237, 1.7063801288604736, 0.0, 0.0, 0.0, 0.0, 2.0, 2.273106575012207, 2.7229230403900146, 1.3730812072753906, 0.031339436769485474, 0.7103988528251648, 0.07337826490402222, 0.9519479274749756, 0.0, 0.9944539070129395, 0.6846919059753418, 1.7063801288604736, 0.0, 0.0, 0.0, 0.0, 2.0, 2.273106575012207, 2.7229230403900146, 1.3730812072753906, 0.031339436769485474, 0.7103988528251648, 0.07337826490402222, 0.9519479274749756, 0.0, 0.9996406435966492, 0.6929590106010437, 1.7063801288604736, 0.0, 0.0, 0.0, 0.0, 2.0, 2.273106575012207, 2.7229230403900146, 1.3730812072753906, 0.031339436769485474, 0.7103988528251648, 0.07337826490402222, 0.9519479274749756, 0.0, 1.0895767211914062, 0.8363075852394104, 1.7063801288604736, 0.0, 0.0, 0.0, 0.0, 2.0, 2.273106575012207, 2.7229230403900146, 1.3730812072753906, 0.031339436769485474, 0.7103988528251648, 0.07337826490402222, 0.9519479274749756, 0.0, 1.0979177951812744, 0.849602460861206, 1.7063801288604736, 0.0, 0.0, 0.0, 0.0, 2.0, 2.273106575012207, 2.7229230403900146, 1.3730812072753906, 0.031339436769485474, 0.7103988528251648, 0.07337826490402222, 0.9519479274749756, 0.0, 1.183058738708496, 0.9853081107139587, 1.7063801288604736, 0.0, 0.0, 0.0, 0.0, 2.0, 2.273106575012207, 2.7229230403900146, 1.3730812072753906, 0.031339436769485474, 0.7103988528251648, 0.07337826490402222, 0.9519479274749756, 0.0, 1.1958434581756592, 1.0056856870651245, 1.7063801288604736, 0.0, 0.0, 0.0, 0.0, 2.0, 2.273106575012207, 2.7229230403900146, 1.3730812072753906, 0.031339436769485474, 0.7103988528251648, 0.07337826490402222, 0.9519479274749756, 0.0, 1.2772029638290405, 1.135364055633545, 1.7063801288604736, 0.0, 0.0, 0.0, 0.0, 2.0, 2.273106575012207, 2.7229230403900146, 1.3730812072753906, 0.031339436769485474, 0.7103988528251648, 0.07337826490402222, 0.9519479274749756, 0.0, 1.2936445474624634, 1.1615701913833618, 1.7063801288604736, 0.0, 0.0, 0.0, 0.0, 2.0, 2.273106575012207, 2.7229230403900146, 1.3730812072753906, 0.031339436769485474, 0.7103988528251648, 0.07337826490402222, 0.9519479274749756, 0.0, 1.3705836534500122, 1.2842028141021729, 1.7063801288604736, 0.0, 0.0, 0.0, 0.0, 2.0, 2.273106575012207, 2.7229230403900146, 1.3730812072753906, 0.031339436769485474, 0.7103988528251648, 0.07337826490402222, 0.9519479274749756, 0.0, 1.3914457559585571, 1.3174546957015991, 1.7063801288604736, 0.0, 0.0, 0.0, 0.0, 2.0, 2.273106575012207, 2.7229230403900146, 1.3730812072753906, 0.031339436769485474, 0.7103988528251648, 0.07337826490402222, 0.9519479274749756, 0.0, 1.4646316766738892, 1.4341052770614624, 1.7063801288604736, 0.0, 0.0, 0.0, 0.0, 2.0, 2.273106575012207, 2.7229230403900146, 1.3730812072753906, 0.031339436769485474, 0.7103988528251648, 0.07337826490402222, 0.9519479274749756, 0.0, 1.4892467260360718, 1.4733390808105469, 1.7063801288604736, 0.0, 0.0, 0.0, 0.0, 2.0, 2.273106575012207, 2.7229230403900146, 1.3730812072753906, 0.031339436769485474, 0.7103988528251648, 0.07337826490402222, 0.9519479274749756, 0.0, 1.5581084489822388, 1.583097219467163, 1.7063801288604736, 0.0, 0.0, 0.0, 0.0, 2.0, 2.273106575012207, 2.7229230403900146, 1.3730812072753906, 0.031339436769485474, 0.7103988528251648, 0.07337826490402222, 0.9519479274749756, 0.0, 1.587048053741455, 1.6292238235473633, 1.7063801288604736, 0.0, 0.0, 0.0, 0.0, 2.0, 2.273106575012207, 2.7229230403900146, 1.3730812072753906, 0.031339436769485474, 0.7103988528251648, 0.07337826490402222, 0.9519479274749756, 0.0, 1.6521518230438232, 1.7329922914505005, 1.7063801288604736, 0.0, 0.0, 0.0, 0.0, 2.0, 2.273106575012207, 2.7229230403900146, 1.3730812072753906, 0.031339436769485474, 0.7103988528251648, 0.07337826490402222, 0.9519479274749756, 0.0, 1.6852362155914307, 1.7857252359390259, 1.7063801288604736, 0.0, 0.0, 0.0, 0.0, 2.0, 2.273106575012207, 2.7229230403900146, 1.0033735036849976, 0.031339436769485474, 0.7103988528251648, 0.07337826490402222, -0.5568879842758179, 0.0, 1.7470067739486694, 1.8841809034347534, 1.7063801288604736, 0.0, 0.0, 0.0, 0.0, 2.0, 2.273106575012207, 2.7229230403900146, 1.0033735036849976, 0.031339436769485474, 0.7103988528251648, 0.07337826490402222, -0.5568879842758179, 0.0, 1.7855080366134644, 1.9455479383468628, 1.7063801288604736, 0.0, 0.0, 0.0, 0.0, 2.0, 2.273106575012207, 2.7229230403900146, 1.0033735036849976, 0.031339436769485474, 0.7103988528251648, 0.07337826490402222, -0.5568879842758179, 0.0, 1.8452186584472656, 2.0407204627990723, 1.7063801288604736, 0.0, 0.0, 0.0, 0.0, 2.0, 2.273106575012207, 2.7229230403900146, 1.0033735036849976, 0.031339436769485474, 0.7103988528251648, 0.07337826490402222, -0.5568879842758179, 0.0, 1.891759991645813, 2.1149022579193115, 1.7063801288604736, 0.0, 0.0, 0.0, 0.0, 2.0, 2.273106575012207, 2.7229230403900146, 1.0033735036849976, 0.031339436769485474, 0.7103988528251648, 0.07337826490402222, -0.5568879842758179, 0.0, 1.9491024017333984, 2.2063000202178955, 1.7063801288604736, 0.0, 0.0, 0.0, 0.0, 2.0, 2.273106575012207, 2.7229230403900146, 1.0033735036849976, 0.031339436769485474, 0.7103988528251648, 0.07337826490402222, -0.5568879842758179, 0.0, 2.0365145206451416, 2.2454135417938232, 1.7063801288604736, 0.0, 0.0, 0.0, 0.0, 2.0, 2.273106575012207, 2.7229230403900146, 1.0033735036849976, 0.031339436769485474, 0.7103988528251648, 0.07337826490402222, -0.5568879842758179, 0.0], "count": [2741]}, "action.applied": {"mean": [0.06803077580499, -0.0007688785430529134, 0.008506715688822178, 1.805162931203687, -2.510571202367207, -0.5578371430814828, 1.406129508297272, 1.6108423957205182, -2.155043463383396, -0.24909264326773436, -0.0006500931184185721, 0.0006500931184185721], "std": [0.12246739040035118, 0.006538626985704265, 0.13818538177011896, 1.064244322156177, 0.5610078684536075, 0.3316759666136208, 0.4694193200175375, 0.985716193799556, 0.23979643548975862, 0.4026964425021617, 0.01320375468504375, 0.01320375468504375], "min": [0.0, -0.06438123434782028, -0.800000011920929, -0.02922244928777218, -3.379702568054199, -1.0566445589065552, 0.498563289642334, -0.07042562961578369, -2.511049747467041, -0.9383270740509033, -0.009999999776482582, -0.020833000540733337], "max": [0.30000001192092896, 0.07714982330799103, 0.800000011920929, 3.0403707027435303, -1.573870062828064, 0.0004017958708573133, 2.1537113189697266, 2.893873929977417, -1.3048181533813477, 0.8892390131950378, 0.020833000540733337, 0.009999999776482582], "count": [2741]}, "extra.reward": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [2741]}, "next.truncated": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [2741]}, "sim_step_idx": {"mean": [2841.0], "std": [1582.5169825313092], "min": [101.0], "max": [5581.0], "count": [2741]}, "timestamp": {"mean": [54.80000000110794], "std": [31.650339649156606], "min": [0.0], "max": [109.5999984741211], "count": [2741]}, "frame_index": {"mean": [1370.0], "std": [791.2584912656546], "min": [0.0], "max": [2740.0], "count": [2741]}, "episode_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [2741]}, "index": {"mean": [1370.0], "std": [791.2584912656546], "min": [0.0], "max": [2740.0], "count": [2741]}, "task_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [2741]}, "next.done": {"mean": [0.00036483035388544326], "std": [0.019097048271875083], "min": [0.0], "max": [1.0], "count": [2741]}, "observation.images.head": {"mean": [[[0.5278039700966054]], [[0.44563393282146935]], [[0.38955813026479846]]], "std": [[[0.14266803445149437]], [[0.16720684041534947]], [[0.15451919113493728]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9137254901960784]], [[0.8823529411764706]], [[0.8274509803921568]]], "count": [100]}, "observation.images.wrist": {"mean": [[[0.5403489175965072]], [[0.45835463464124876]], [[0.37784514297926447]]], "std": [[[0.14212401799054084]], [[0.15540157735184007]], [[0.1593367655526279]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9176470588235294]], [[0.9098039215686274]], [[0.9019607843137255]]], "count": [100]}}} diff --git a/N034/sawyer_umi/dr_off/seed_1024/rec/stationbookendxr/000/lerobot_v21/meta/extra/episode_000000.json b/N034/sawyer_umi/dr_off/seed_1024/rec/stationbookendxr/000/lerobot_v21/meta/extra/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..d9259c47dd2161de43a52f92b433468aafff5acd --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1024/rec/stationbookendxr/000/lerobot_v21/meta/extra/episode_000000.json @@ -0,0 +1,414 @@ +{ + "episode_index": 0, + "trajectory_id": 0, + "env_id": 0, + "task_type": "BookendXRCommand", + "subsample_every": 2, + "control_steps": 5481, + "language": { + "scene": { + "objects": [ + { + "id": "table_A_1", + "cat_name": "table_A", + "inst_id": 1, + "noun": "table A", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 3.9154301991948794, + 0.15364168860009986, + 0.1300000999341882 + ], + "bbox": { + "extent": [ + 0.9939021556594443, + 0.6690239186247393, + 0.30000001192092896 + ], + "center": [ + 2.7755575615628914e-17, + -2.7755575615628914e-17, + 0.0 + ] + } + }, + { + "id": "table_B_1", + "cat_name": "table_B", + "inst_id": 1, + "noun": "table B", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 7.680321959201904, + 1.1310485801630061, + 0.13000019126487397 + ], + "bbox": { + "extent": [ + 1.033928060712642, + 0.7410705458119105, + 0.30000001192092896 + ], + "center": [ + 2.220446049250313e-16, + -2.220446049250313e-16, + 0.0 + ] + } + }, + { + "id": "slot_left_1", + "cat_name": "slot_left", + "inst_id": 1, + "noun": "slot left", + "color": "brown", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.814913344037793, + 0.08294082102010886, + 0.2975000974051312 + ], + "bbox": { + "extent": [ + 0.0325365223530648, + 0.1218780408658395, + 0.03500000014901161 + ], + "center": [ + -8.500145032286355e-17, + 0.0, + 0.0 + ] + } + }, + { + "id": "slot_right_1", + "cat_name": "slot_right", + "inst_id": 1, + "noun": "slot right", + "color": "brown", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.854035556498104, + 0.047185366999634104, + 0.29750009826085533 + ], + "bbox": { + "extent": [ + 0.032536522353064576, + 0.12187804086583948, + 0.03500000014901161 + ], + "center": [ + 8.673617379884035e-18, + 0.0, + 0.0 + ] + } + }, + { + "id": "book_1", + "cat_name": "book", + "inst_id": 1, + "noun": "book", + "color": "red", + "size": "small", + "material": null, + "category": "rigid", + "pos": [ + 3.8250202447848505, + 0.05471870667552756, + 0.3500000737457529 + ], + "bbox": { + "extent": [ + 0.10657321965026843, + 0.05378074232512792, + 0.14000008910456985 + ], + "center": [ + 6.938893903907228e-18, + -8.326672684688674e-17, + 0.0 + ] + } + }, + { + "id": "plate_1", + "cat_name": "plate", + "inst_id": 1, + "noun": "plate", + "color": "gray", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 7.606600346376837, + 1.0577179963264494, + 0.3205001893663448 + ], + "bbox": { + "extent": [ + 0.04949986393922229, + 0.1432142746532934, + 0.07999999821186066 + ], + "center": [ + -2.7755575615628914e-17, + 0.0, + 0.0 + ] + } + }, + { + "id": "bookend_1", + "cat_name": "bookend", + "inst_id": 1, + "noun": "bookend", + "color": null, + "size": "small", + "material": null, + "category": "rigid", + "pos": [ + 7.695308253067305, + 0.9968021269006467, + 0.28000026406530254 + ], + "bbox": { + "extent": [ + 0.13928566292728234, + 0.10414267175552226, + 0.060000310742185425 + ], + "center": [ + 2.771760189423933e-09, + -0.02999997932080977, + 0.029999999569712804 + ] + } + } + ], + "relations": [ + { + "subject": "table_A_1", + "relation": "left_of", + "object": "slot_right_1" + }, + { + "subject": "table_B_1", + "relation": "left_of", + "object": "bookend_1" + }, + { + "subject": "book_1", + "relation": "on_top_of", + "object": "slot_left_1" + }, + { + "subject": "plate_1", + "relation": "on_top_of", + "object": "bookend_1" + }, + { + "subject": "plate_1", + "relation": "left_of", + "object": "bookend_1" + }, + { + "subject": "bookend_1", + "relation": "right_of", + "object": "plate_1" + } + ], + "cameras": [ + { + "name": "head", + "intrinsics": { + "K": [ + [ + 355.55555555555554, + 0.0, + 320.0 + ], + [ + 0.0, + 355.55555555555554, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 83.97442499163331, + "resolution": [ + 640, + 480 + ] + }, + "pos_robot": [ + 4.411274537837038, + -0.3952344241072465, + -0.09499989120282798 + ], + "viewpoint": "front, at table height", + "extrinsics": { + "R": [ + [ + -8.039232568535226e-08, + -0.9999999999999964, + 2.5347603738179458e-08 + ], + [ + 0.8191520331270514, + -8.039232568535226e-08, + -0.5735764522919431 + ], + [ + 0.5735764522919431, + -2.5347603738179458e-08, + 0.819152033127055 + ] + ], + "t": [ + 1.855362002599171e-08, + -0.2032392724571752, + -0.08737481710326404 + ] + } + }, + { + "name": "wrist", + "intrinsics": { + "K": [ + [ + 320.0, + 0.0, + 320.0 + ], + [ + 0.0, + 320.0, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 90.0, + "resolution": [ + 640, + 480 + ] + }, + "pos_robot": [ + 4.286070200176036, + -0.3008410195126405, + -0.01999989286457429 + ], + "viewpoint": "front, at table height", + "extrinsics": { + "R": [ + [ + 0.0, + 1.0, + -1.4782795217992896e-16 + ], + [ + 1.0, + 0.0, + 2.5363269588459423e-17 + ], + [ + 2.5363269588459423e-17, + -1.4782795217992896e-16, + -1.0 + ] + ], + "t": [ + 4.4348384662715026e-18, + -0.05979999899864197, + 0.029999999329447746 + ] + } + } + ], + "robots": [ + { + "name": "RidgebackSawyerUmi", + "model": "ridgebacksawyer_umi", + "type": "mobilemanip", + "noun": "Ridgeback-Sawyer mobile manipulator with a UMI gripper", + "arms": 1, + "arm_layout": null, + "mobile": true, + "dexterous": false, + "base_pose": { + "pos": [ + -3.4, + -2.2, + 0.05 + ], + "ori": [ + 0.9396926164627075, + 0.0, + 0.0, + 0.3420201539993286 + ] + }, + "facing_yaw_deg": 40.000001288448495, + "gripper": "parallel gripper" + } + ], + "lighting": [], + "background": { + "name": null, + "kind": "background", + "type": "dome", + "pose": null, + "setting": null, + "time_of_day": null, + "indoor": false, + "intensity": 1000.0, + "ambient": "dim" + }, + "effects": [], + "caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the brown slot left. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is to the left of the brown slot right. The gray table B is to the left of the bookend. The red book is on top of the brown slot left. The gray plate is on top of the bookend. The gray plate is to the left of the bookend. The bookend is to the right of the gray plate. The scene is viewed from front, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n[t[p[bookend]\n\n\n\n [slot [book]\n\n\n\n [robot]" + }, + "task": { + "task_type": "StationBookendXR", + "instruction": "Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.", + "template_id": -1, + "slots": { + "obj": 1.4763332432249763, + "support": null + }, + "generic_instruction": "Stationbookendxr the 1.4763332432249763.", + "task_id": "N034", + "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 +} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_off/seed_1024/rec/stationbookendxr/000/lerobot_v21/meta/info.json b/N034/sawyer_umi/dr_off/seed_1024/rec/stationbookendxr/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..75d8f013089a6bf9d011b49edcdfcd5ebae9698a --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1024/rec/stationbookendxr/000/lerobot_v21/meta/info.json @@ -0,0 +1,296 @@ +{ + "codebase_version": "v2.1", + "robot_type": "RidgebackSawyerUmiCfg", + "total_episodes": 1, + "total_frames": 2741, + "total_tasks": 1, + "total_videos": 2, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 25, + "splits": { + "train": "0:1" + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", + "features": { + "action": { + "dtype": "float32", + "shape": [ + 11 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "frame0.pos_x", + "frame0.pos_y", + "frame0.pos_z", + "frame0.quat_w", + "frame0.quat_x", + "frame0.quat_y", + "frame0.quat_z", + "gripper" + ] + }, + "action_is_hold": { + "dtype": "bool", + "shape": [ + 11 + ], + "names": null + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 15 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint", + "gripper_0", + "gripper_1" + ] + }, + "observation.joint_vel": { + "dtype": "float32", + "shape": [ + 13 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ] + }, + "observation.eef_pose": { + "dtype": "float32", + "shape": [ + 7 + ], + "names": null + }, + "observation.environment_state": { + "dtype": "float32", + "shape": [ + 49 + ], + "names": [ + "object_pose.book.0", + "object_pose.book.1", + "object_pose.book.2", + "object_pose.book.3", + "object_pose.book.4", + "object_pose.book.5", + "object_pose.book.6", + "object_pose.bookend.0", + "object_pose.bookend.1", + "object_pose.bookend.2", + "object_pose.bookend.3", + "object_pose.bookend.4", + "object_pose.bookend.5", + "object_pose.bookend.6", + "object_pose.plate.0", + "object_pose.plate.1", + "object_pose.plate.2", + "object_pose.plate.3", + "object_pose.plate.4", + "object_pose.plate.5", + "object_pose.plate.6", + "object_pose.slot_left.0", + "object_pose.slot_left.1", + "object_pose.slot_left.2", + "object_pose.slot_left.3", + "object_pose.slot_left.4", + "object_pose.slot_left.5", + "object_pose.slot_left.6", + "object_pose.slot_right.0", + "object_pose.slot_right.1", + "object_pose.slot_right.2", + "object_pose.slot_right.3", + "object_pose.slot_right.4", + "object_pose.slot_right.5", + "object_pose.slot_right.6", + "object_pose.table_A.0", + "object_pose.table_A.1", + "object_pose.table_A.2", + "object_pose.table_A.3", + "object_pose.table_A.4", + "object_pose.table_A.5", + "object_pose.table_A.6", + "object_pose.table_B.0", + "object_pose.table_B.1", + "object_pose.table_B.2", + "object_pose.table_B.3", + "object_pose.table_B.4", + "object_pose.table_B.5", + "object_pose.table_B.6" + ] + }, + "action.command": { + "dtype": "float32", + "shape": [ + 816 + ], + "names": null + }, + "action.applied": { + "dtype": "float32", + "shape": [ + 12 + ], + "names": null + }, + "narration": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "collect_info": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "extra.reward": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "extra.action_info": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "next.truncated": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "sim_step_idx": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "next.done": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "observation.images.head": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25, + "video.codec": "libsvtav1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.wrist": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25, + "video.codec": "libsvtav1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + } + } +} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_off/seed_1024/rec/stationbookendxr/000/lerobot_v21/meta/magicsim_manifest.json b/N034/sawyer_umi/dr_off/seed_1024/rec/stationbookendxr/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..7f0ef12ca7b63151fc0cefc5b01902dc9abeb64f --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1024/rec/stationbookendxr/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,264 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 03:13:18" + }, + "embodiment": { + "robots": [ + { + "name": "RidgebackSawyerUmi", + "cfg": "RidgebackSawyerUmiCfg", + "type": "mobilemanip", + "joint_names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 11, + "nan_policy": "from_raw", + "segments": [ + { + "name": "RidgebackSawyerUmi.base_action", + "start": 0, + "end": 3, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint" + ], + "source": "HolonomicAction", + "names_source": "_joint_names" + }, + { + "name": "RidgebackSawyerUmi.arm_action", + "start": 3, + "end": 10, + "names": [ + "frame0.pos_x", + "frame0.pos_y", + "frame0.pos_z", + "frame0.quat_w", + "frame0.quat_x", + "frame0.quat_y", + "frame0.quat_z" + ], + "source": "PinkInverseKinematicsAction", + "names_source": "pink_layout" + }, + { + "name": "RidgebackSawyerUmi.eef_action", + "start": 10, + "end": 11, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 15, + "segments": [ + { + "name": "RidgebackSawyerUmi.joint_pos", + "start": 0, + "end": 13, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ], + "source": "ObservationManager", + "names_source": "joint_names" + }, + { + "name": "RidgebackSawyerUmi.gripper_pos", + "start": 13, + "end": 15, + "names": [ + "gripper_0", + "gripper_1" + ], + "source": "ObservationManager", + "names_source": "generated" + } + ] + }, + "joint_vel_layout": { + "dim": 13, + "segments": [ + { + "name": "RidgebackSawyerUmi.joint_vel", + "start": 0, + "end": 13, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "action_levels": { + "L0": "task command list (collect.auto_collect_info.current_action)", + "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)", + "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)", + "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy", + "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)" + }, + "cameras": { + "head": { + "intrinsics": { + "K": [ + [ + 355.55555555555554, + 0.0, + 320.0 + ], + [ + 0.0, + 355.55555555555554, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 83.97442499163331, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.21660000085830688, + 0.0, + -0.04500000178813934 + ], + "quat": [ + -0.6743797063827515, + 0.21263112127780914, + -0.21263112127780914, + 0.6743797659873962 + ] + }, + "wrist": { + "intrinsics": { + "K": [ + [ + 320.0, + 0.0, + 320.0 + ], + [ + 0.0, + 320.0, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 90.0, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.05979999899864197, + 0.0, + 0.029999999329447746 + ], + "quat": [ + 6.123234262925839e-17, + 0.7071067690849304, + 0.7071067690849304, + -4.329780301713277e-17 + ] + } + }, + "lerobot": { + "codebase_version": "v2.1", + "video_keys": [ + "observation.images.head", + "observation.images.wrist" + ], + "columns": [ + "action", + "action.applied", + "action.command", + "action_is_hold", + "collect_info", + "episode_index", + "extra.action_info", + "extra.reward", + "frame_index", + "index", + "narration", + "next.done", + "next.truncated", + "observation.eef_pose", + "observation.environment_state", + "observation.images.head", + "observation.images.wrist", + "observation.joint_vel", + "observation.state", + "sim_step_idx", + "task_index", + "timestamp" + ] + }, + "generated_run": { + "run_id": "stationbookendxr/000", + "task_type": "BookendXRCommand" + } +} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_off/seed_1024/rec/stationbookendxr/000/lerobot_v21/meta/stats.json b/N034/sawyer_umi/dr_off/seed_1024/rec/stationbookendxr/000/lerobot_v21/meta/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..8bded82bc01dcd441cfdca63d4888be67c569cf8 --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1024/rec/stationbookendxr/000/lerobot_v21/meta/stats.json @@ -0,0 +1,4141 @@ +{ + "action": { + "mean": [ + 0.06803077580499, + -0.0007688785430529134, + 0.008506715688822178, + 0.5888789000736454, + 1.1624204426849603, + 0.9209516726893606, + 0.004051109487771857, + -0.12303828682637659, + 0.0037375179833402284, + 0.1965221521444279, + 0.6107260124042321 + ], + "std": [ + 0.12246739040035118, + 0.006538626985704265, + 0.13818538177011896, + 1.4161737560484173, + 1.6587256822882204, + 0.24260680127300438, + 0.2786437522989211, + 0.6130662126447454, + 0.1797615215828957, + 0.6785303389961937, + 0.48758563368608243 + ], + "min": [ + 0.0, + -0.06438123434782028, + -0.800000011920929, + -3.293297290802002, + -1.9501625299453735, + 0.5874999761581421, + -0.628014326095581, + -0.8811519742012024, + -0.40053316950798035, + -0.7863109111785889, + 0.0 + ], + "max": [ + 0.30000001192092896, + 0.07714982330799103, + 0.800000011920929, + 2.273106575012207, + 3.1115760803222656, + 1.373114824295044, + 0.696350634098053, + 0.7645360231399536, + 0.46632206439971924, + 0.9519479274749756, + 1.0 + ], + "count": [ + 2741 + ] + }, + "action_is_hold": { + "mean": [ + 0.09047792776358993, + 0.09047792776358993, + 0.09047792776358993, + 0.10507114191900765, + 0.10507114191900765, + 0.10507114191900765, + 0.10507114191900765, + 0.10507114191900765, + 0.10507114191900765, + 0.10507114191900765, + 0.990879241152864 + ], + "std": [ + 0.28686525120899076, + 0.28686525120899076, + 0.28686525120899076, + 0.30664506690120485, + 0.30664506690120485, + 0.30664506690120485, + 0.30664506690120485, + 0.30664506690120485, + 0.30664506690120485, + 0.30664506690120485, + 0.09506613805761163 + ], + "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": [ + 2741 + ] + }, + "observation.state": { + "mean": [ + 1.4003027651876223, + -2.4603785370788795, + 1.2747374818256327, + 1.803210640079229, + -1.8015415160024635, + -2.509720081919434, + -0.5575572694236727, + 1.4057745155801915, + 1.6101384730034216, + -2.1548378107018036, + -0.2497331475793178, + 0.013896520088010038, + -0.01476831007135418, + -0.01476831007135418, + -0.013896520088010038 + ], + "std": [ + 2.102460015874863, + 0.3727894589281978, + 0.3814228266456569, + 1.06465911919203, + 1.0650912893635909, + 0.5613131398955846, + 0.33195889552362606, + 0.4699377301099513, + 0.9863957487501619, + 0.23976573854817287, + 0.40174126574112196, + 0.008405108091697026, + 0.008840192263561409, + 0.008840192263561409, + 0.008405108091697026 + ], + "min": [ + -3.5439064502716064, + -3.140397548675537, + 0.17718762159347534, + -0.029038967564702034, + -3.0404441356658936, + -3.380265712738037, + -1.0566561222076416, + 0.4971333146095276, + -0.06923390924930573, + -2.509843349456787, + -0.9378266930580139, + 0.0, + -0.020833000540733337, + -0.020833000540733337, + -0.020833000540733337 + ], + "max": [ + 3.624433755874634, + -2.0494587421417236, + 1.5895028114318848, + 3.0405750274658203, + 0.028180178254842758, + -1.572211742401123, + 0.000794632884208113, + 2.152111530303955, + 2.893148422241211, + -1.3072185516357422, + 0.8892302513122559, + 0.020833000540733337, + 0.0, + 0.0, + -0.0 + ], + "count": [ + 2741 + ] + }, + "observation.joint_vel": { + "mean": [ + 0.06531557343952356, + 0.002666197707589841, + 0.008865811925511143, + 0.027533715506298302, + -0.0225528265959448, + -0.013404153180666283, + -0.005079994338714213, + 0.005170077499506679, + 0.010028055716502253, + -0.0018438614862322244, + 0.00779517507114523, + -0.0018928260027444562, + -0.00040276176755099614 + ], + "std": [ + 0.11756804436519422, + 0.039379003537479744, + 0.13829555496985024, + 0.09249887001710279, + 0.07710567990675014, + 0.0659591766626347, + 0.06315749298385966, + 0.06904708987459192, + 0.11230040668671463, + 0.0822353641827591, + 0.08259863227818114, + 0.008109988518206497, + 0.00796966955262254 + ], + "min": [ + -0.00031035987194627523, + -0.1711219996213913, + -0.8000205159187317, + -0.20606830716133118, + -0.14375507831573486, + -0.15175969898700714, + -0.47446727752685547, + -0.22762638330459595, + -0.38413095474243164, + -0.40172529220581055, + -0.35640451312065125, + -0.1000148206949234, + -0.10008683800697327 + ], + "max": [ + 0.30419474840164185, + 0.11561189591884613, + 0.8431165218353271, + 0.1792995184659958, + 0.39277875423431396, + 0.18896052241325378, + 0.18526141345500946, + 0.205412358045578, + 0.33155474066734314, + 0.32487156987190247, + 0.4117802381515503, + 0.10001003742218018, + 0.1000906452536583 + ], + "count": [ + 2741 + ] + }, + "observation.eef_pose": { + "mean": [ + 0.5902202042035108, + 1.1576115248455716, + 0.9232934484600107, + -0.08941923810046103, + 0.40328339789306017, + -0.001786862448026385, + -0.22322097061346674 + ], + "std": [ + 1.4176749466721708, + 1.6557608235452494, + 0.24542535104369953, + 0.2624538035725059, + 0.47638073003638787, + 0.17980960679838348, + 0.671850961249007 + ], + "min": [ + -3.293297290802002, + -1.952885627746582, + 0.5884453654289246, + -0.6908090710639954, + -0.7051279544830322, + -0.46787434816360474, + -0.7945346236228943 + ], + "max": [ + 2.2731597423553467, + 3.1227965354919434, + 1.3740143775939941, + 0.46904879808425903, + 0.8850075006484985, + 0.46769073605537415, + 0.9522656202316284 + ], + "count": [ + 2741 + ] + }, + "observation.environment_state": { + "mean": [ + 0.7040388269616825, + 1.3253491152548842, + 0.5124595840018146, + 0.7238720247494135, + 0.012448768491467026, + 0.0012767155806254894, + 0.676442727321519, + 1.998371411265791, + 3.0885619144725, + 0.33000005528858134, + 0.657765499347755, + 2.881291576806762e-09, + 1.8846354429921693e-07, + 0.7532220715286522, + 1.8933826684951782, + 3.0837602615356445, + 0.37049999833106995, + 0.9977030158042908, + 0.0, + 0.0, + 0.06773988902568817, + -0.5474535226821899, + 0.022812828421592712, + 0.3474999964237213, + 0.9988847970962524, + 0.0, + 0.0, + -0.04721400514245033, + -0.49468982219696045, + 0.017813727259635925, + 0.3474999964237213, + 0.9988847970962524, + 0.0, + 0.0, + -0.04721400514245033, + -0.5097529888153076, + 0.1397782862186432, + 0.18000000715255737, + 0.9988847970962524, + 0.0, + 0.0, + -0.04721400514245033, + 1.9081041812896729, + 3.186694860458374, + 0.18000000715255737, + 0.9977030158042908, + 0.0, + 0.0, + 0.06773988902568817 + ], + "std": [ + 1.1889457465151996, + 1.4619750642608929, + 0.14642524379842248, + 0.07535411188958224, + 0.021983146572477935, + 0.03324570401116533, + 0.10493404927736266, + 0.011219501339068757, + 0.0001818931523629895, + 4.039411762645025e-08, + 0.000777552593771737, + 8.089614925327227e-07, + 8.880091348865395e-07, + 0.0006819180500049366, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 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": [ + -0.5347460508346558, + -0.560421347618103, + 0.39999979734420776, + 0.6258622407913208, + -0.0014994123484939337, + -0.08311031013727188, + 0.15630917251110077, + 1.9453442096710205, + 3.0884945392608643, + 0.3299998342990875, + 0.6570504307746887, + -2.3081900508259423e-05, + -2.259016218886245e-05, + 0.7500249147415161, + 1.8933826684951782, + 3.0837602615356445, + 0.37049999833106995, + 0.9977030158042908, + 0.0, + 0.0, + 0.06773988902568817, + -0.5474535226821899, + 0.022812828421592712, + 0.3474999964237213, + 0.9988847970962524, + 0.0, + 0.0, + -0.04721400514245033, + -0.49468982219696045, + 0.017813727259635925, + 0.3474999964237213, + 0.9988847970962524, + 0.0, + 0.0, + -0.04721400514245033, + -0.5097529888153076, + 0.1397782862186432, + 0.18000000715255737, + 0.9988847970962524, + 0.0, + 0.0, + -0.04721400514245033, + 1.9081041812896729, + 3.186694860458374, + 0.18000000715255737, + 0.9977030158042908, + 0.0, + 0.0, + 0.06773988902568817 + ], + "max": [ + 2.281654119491577, + 3.086902379989624, + 0.7592175602912903, + 0.9873196482658386, + 0.10364717245101929, + 0.12237775325775146, + 0.7762128710746765, + 2.000886917114258, + 3.0894269943237305, + 0.3300004303455353, + 0.6614095568656921, + 9.387732120558212e-07, + 1.087784767150879e-06, + 0.7538466453552246, + 1.8933826684951782, + 3.0837602615356445, + 0.37049999833106995, + 0.9977030158042908, + 0.0, + 0.0, + 0.06773988902568817, + -0.5474535226821899, + 0.022812828421592712, + 0.3474999964237213, + 0.9988847970962524, + 0.0, + 0.0, + -0.04721400514245033, + -0.49468982219696045, + 0.017813727259635925, + 0.3474999964237213, + 0.9988847970962524, + 0.0, + 0.0, + -0.04721400514245033, + -0.5097529888153076, + 0.1397782862186432, + 0.18000000715255737, + 0.9988847970962524, + 0.0, + 0.0, + -0.04721400514245033, + 1.9081041812896729, + 3.186694860458374, + 0.18000000715255737, + 0.9977030158042908, + 0.0, + 0.0, + 0.06773988902568817 + ], + "count": [ + 2741 + ] + }, + "action.command": { + "mean": [ + -1.9305498829605627, + -1.4547137378581934, + 1.6039740612008133, + 0.0, + 0.0, + 0.0, + 0.0, + -0.0411740725642071, + 0.506227573629695, + 1.0442059265139836, + 0.9334675715837584, + -0.001124096394976304, + -0.15954937503695538, + -0.005908131940580587, + 0.23653287035054302, + 0.6, + -1.8416415612612451, + -1.4194973298177427, + 1.6039740612008133, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.03667982705697721, + 0.12866482571983823, + 1.1679499670863152, + -0.2408129430889171, + 0.33056545470917253, + -0.14572479482740164, + 0.04915172903209317, + 0.0, + -1.7699699700638956, + -1.4065557907582547, + 1.6039740612008133, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.03667982705697721, + 0.12866482571983823, + 1.1679499670863152, + -0.2408129430889171, + 0.33056545470917253, + -0.14572479482740164, + 0.04915172903209317, + 0.0, + -1.7257616621803265, + -1.3983612990348924, + 1.6039740612008133, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.03667982705697721, + 0.12866482571983823, + 1.1679499670863152, + -0.2408129430889171, + 0.33056545470917253, + -0.14572479482740164, + 0.04915172903209317, + 0.0, + -1.6131955736069654, + -1.3552264297495082, + 1.6039740612008133, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.03667982705697721, + 0.12866482571983823, + 1.1679499670863152, + -0.2408129430889171, + 0.33056545470917253, + -0.14572479482740164, + 0.04915172903209317, + 0.0, + -1.4923115693108768, + -1.312087887555969, + 1.6039740612008133, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.03667982705697721, + 0.12866482571983823, + 1.1679499670863152, + -0.2408129430889171, + 0.33056545470917253, + -0.14572479482740164, + 0.04915172903209317, + 0.0, + -1.4609021298891427, + -1.3053206366543868, + 1.6039740612008133, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.03667982705697721, + 0.12866482571983823, + 1.1679499670863152, + -0.2408129430889171, + 0.33056545470917253, + -0.14572479482740164, + 0.04915172903209317, + 0.0, + -1.3959177125397386, + -1.29255008796344, + 1.6039740612008133, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.03667982705697721, + 0.12866482571983823, + 1.1679499670863152, + -0.2408129430889171, + 0.33056545470917253, + -0.14572479482740164, + 0.04915172903209317, + 0.0, + -1.3217147573334527, + -1.2579303573893041, + 1.6039740612008133, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.03667982705697721, + 0.12866482571983823, + 1.1679499670863152, + -0.2408129430889171, + 0.33056545470917253, + -0.14572479482740164, + 0.04915172903209317, + 0.0, + -1.247780622277713, + -1.2248329728537677, + 1.6039740612008133, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.03667982705697721, + 0.12866482571983823, + 1.1679499670863152, + -0.2408129430889171, + 0.33056545470917253, + -0.14572479482740164, + 0.04915172903209317, + 0.0, + -1.1743784102098065, + -1.2091544520642077, + 1.6039740612008133, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.03667982705697721, + 0.12866482571983823, + 1.1679499670863152, + -0.2408129430889171, + 0.33056545470917253, + -0.14572479482740164, + 0.04915172903209317, + 0.0, + -1.1467386693978796, + -1.1736924829227584, + 1.6039740612008133, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.03667982705697721, + 0.12866482571983823, + 1.1679499670863152, + -0.2408129430889171, + 0.33056545470917253, + -0.14572479482740164, + 0.04915172903209317, + 0.0, + -1.0828916142523592, + -1.1261446548967946, + 1.6039740612008133, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.03667982705697721, + 0.12866482571983823, + 1.1679499670863152, + -0.2408129430889171, + 0.33056545470917253, + -0.14572479482740164, + 0.04915172903209317, + 0.0, + -0.9858155641704798, + -1.022370211513979, + 1.6039740612008133, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.03667982705697721, + 0.12866482571983823, + 1.1679499670863152, + -0.2408129430889171, + 0.33056545470917253, + -0.14572479482740164, + 0.04915172903209317, + 0.0, + -0.968054290100628, + -1.0058809535920012, + 1.6039740612008133, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.03667982705697721, + 0.12866482571983823, + 1.1679499670863152, + -0.2408129430889171, + 0.33056545470917253, + -0.14572479482740164, + 0.04915172903209317, + 0.0, + -0.9260430685339534, + -0.9514966893713085, + 1.6039740612008133, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.03667982705697721, + 0.12866482571983823, + 1.1679499670863152, + -0.2408129430889171, + 0.33056545470917253, + -0.14572479482740164, + 0.04915172903209317, + 0.0, + -0.8644404631032019, + -0.9038084187944021, + 1.6039740612008133, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.03667982705697721, + 0.12866482571983823, + 1.1679499670863152, + -0.2408129430889171, + 0.33056545470917253, + -0.14572479482740164, + 0.04915172903209317, + 0.0, + -0.7670118045441958, + -0.7965352361337567, + 1.6039740612008133, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.03667982705697721, + 0.12866482571983823, + 1.1679499670863152, + -0.2408129430889171, + 0.33056545470917253, + -0.14572479482740164, + 0.04915172903209317, + 0.0, + -0.7509634078917454, + -0.7860907744901369, + 1.6039740612008133, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.03667982705697721, + 0.12866482571983823, + 1.1679499670863152, + -0.2408129430889171, + 0.33056545470917253, + -0.14572479482740164, + 0.04915172903209317, + 0.0, + -0.6824458421645115, + -0.6927982707869034, + 1.6039740612008133, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.03667982705697721, + 0.12866482571983823, + 1.1679499670863152, + -0.2408129430889171, + 0.33056545470917253, + -0.14572479482740164, + 0.04915172903209317, + 0.0, + -0.6369302094134749, + -0.6672040735447438, + 1.6039740612008133, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.03667982705697721, + 0.12866482571983823, + 1.1679499670863152, + -0.2408129430889171, + 0.33056545470917253, + -0.14572479482740164, + 0.04915172903209317, + 0.0, + -0.587143459870499, + -0.6319764481895432, + 1.6039740612008133, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.03667982705697721, + 0.12866482571983823, + 1.1679499670863152, + -0.2408129430889171, + 0.33056545470917253, + -0.14572479482740164, + 0.04915172903209317, + 0.0, + -0.5227165977109451, + -0.5479346331284971, + 1.6039740612008133, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.03667982705697721, + 0.12866482571983823, + 1.1679499670863152, + -0.2408129430889171, + 0.33056545470917253, + -0.14572479482740164, + 0.04915172903209317, + 0.0, + -0.5018402950800195, + -0.5345018535510314, + 1.6039740612008133, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.03667982705697721, + 0.12866482571983823, + 1.1679499670863152, + -0.2408129430889171, + 0.33056545470917253, + -0.14572479482740164, + 0.04915172903209317, + 0.0, + -0.4081768497672616, + -0.42840370296367575, + 1.6039740612008133, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.03667982705697721, + 0.12866482571983823, + 1.1679499670863152, + -0.2408129430889171, + 0.33056545470917253, + -0.14572479482740164, + 0.04915172903209317, + 0.0, + -0.36820538060701624, + -0.40576198510825634, + 1.6039740612008133, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.03667982705697721, + 0.12866482571983823, + 1.1679499670863152, + -0.2408129430889171, + 0.33056545470917253, + -0.14572479482740164, + 0.04915172903209317, + 0.0, + -0.329216657168403, + -0.365702196993694, + 1.6039740612008133, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.03667982705697721, + 0.12866482571983823, + 1.1679499670863152, + -0.2408129430889171, + 0.33056545470917253, + -0.14572479482740164, + 0.04915172903209317, + 0.0, + -0.2715856644267939, + -0.29707005870889647, + 1.6039740612008133, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.03667982705697721, + 0.12866482571983823, + 1.1679499670863152, + -0.2408129430889171, + 0.33056545470917253, + -0.14572479482740164, + 0.04915172903209317, + 0.0, + -0.23250458526368045, + -0.27446712211382635, + 1.6039740612008133, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.03667982705697721, + 0.12866482571983823, + 1.1679499670863152, + -0.2408129430889171, + 0.33056545470917253, + -0.14572479482740164, + 0.04915172903209317, + 0.0, + -0.14486328573251256, + -0.17207355782085534, + 1.6039740612008133, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.03667982705697721, + 0.12866482571983823, + 1.1679499670863152, + -0.2408129430889171, + 0.33056545470917253, + -0.14572479482740164, + 0.04915172903209317, + 0.0, + -0.1174228707594531, + -0.15383212291160409, + 1.6039740612008133, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.03667982705697721, + 0.12866482571983823, + 1.1679499670863152, + -0.2408129430889171, + 0.33056545470917253, + -0.14572479482740164, + 0.04915172903209317, + 0.0, + -0.04130058218629993, + -0.05971890725955671, + 1.6039740612008133, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.03667982705697721, + 0.12866482571983823, + 1.1679499670863152, + -0.2408129430889171, + 0.33056545470917253, + -0.14572479482740164, + 0.04915172903209317, + 0.0, + -0.0020784303850057174, + -0.03311118924496125, + 1.6039740612008133, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.03667982705697721, + 0.12866482571983823, + 1.1679499670863152, + -0.2408129430889171, + 0.33056545470917253, + -0.14572479482740164, + 0.04915172903209317, + 0.0, + 0.07733511179685593, + 0.06007006179009165, + 1.6039740612008133, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.03667982705697721, + 0.12866482571983823, + 1.1679499670863152, + -0.2408129430889171, + 0.33056545470917253, + -0.14572479482740164, + 0.04915172903209317, + 0.0, + 0.11327985689348104, + 0.08741501505885806, + 1.6039740612008133, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.03667982705697721, + 0.12866482571983823, + 1.1679499670863152, + -0.2408129430889171, + 0.33056545470917253, + -0.14572479482740164, + 0.04915172903209317, + 0.0, + 0.18992425546962388, + 0.1768789908715657, + 1.6039740612008133, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.03667982705697721, + 0.12866482571983823, + 1.1679499670863152, + -0.2408129430889171, + 0.33056545470917253, + -0.14572479482740164, + 0.04915172903209317, + 0.0, + 0.22849977320554304, + 0.2077924594739262, + 1.6039740612008133, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.03667982705697721, + 0.12866482571983823, + 1.1679499670863152, + -0.2408129430889171, + 0.33056545470917253, + -0.14572479482740164, + 0.04915172903209317, + 0.0, + 0.2956231908530605, + 0.2894177981177155, + 1.6039740612008133, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.03667982705697721, + 0.12866482571983823, + 1.1679499670863152, + -0.2408129430889171, + 0.33056545470917253, + -0.14572479482740164, + 0.04915172903209317, + 0.0, + 0.34370229682143855, + 0.3281601927414232, + 1.6039740612008133, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.03667982705697721, + 0.12866482571983823, + 1.1679499670863152, + -0.2408129430889171, + 0.33056545470917253, + -0.14572479482740164, + 0.04915172903209317, + 0.0, + 0.43168495511826205, + 0.4192198306626203, + 1.6039740612008133, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.03667982705697721, + 0.12866482571983823, + 1.1679499670863152, + -0.2408129430889171, + 0.33056545470917253, + -0.14572479482740164, + 0.04915172903209317, + 0.0, + 0.46063239682389767, + 0.4494883082807064, + 1.6039740612008133, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.03667982705697721, + 0.12866482571983823, + 1.1679499670863152, + -0.2408129430889171, + 0.33056545470917253, + -0.14572479482740164, + 0.04915172903209317, + 0.0, + 0.5108437812602034, + 0.5170601870940656, + 1.6039740612008133, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.03667982705697721, + 0.12866482571983823, + 1.1679499670863152, + -0.2408129430889171, + 0.33056545470917253, + -0.14572479482740164, + 0.04915172903209317, + 0.0, + 0.5828195835406683, + 0.5737389878046756, + 1.6039740612008133, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.03667982705697721, + 0.12866482571983823, + 1.1679499670863152, + -0.2408129430889171, + 0.33056545470917253, + -0.14572479482740164, + 0.04915172903209317, + 0.0, + 0.6532436819861129, + 0.6382116685260315, + 1.6039740612008133, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.03667982705697721, + 0.12866482571983823, + 1.1679499670863152, + -0.2408129430889171, + 0.33056545470917253, + -0.14572479482740164, + 0.04915172903209317, + 0.0, + 1.6852362155914307, + 1.7857252359390259, + 1.7063801288604736, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1829275073676273, + 1.0562108454348027, + 1.0033735036849976, + -0.20344418283851667, + 0.682413231915441, + -0.1654463361392076, + -0.6652452959411446, + 0.0, + 1.7470067739486694, + 1.8841809034347534, + 1.7063801288604736, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1829275073676273, + 1.0562108454348027, + 1.0033735036849976, + -0.20344418283851667, + 0.682413231915441, + -0.1654463361392076, + -0.6652452959411446, + 0.0, + 1.7855080366134644, + 1.9455479383468628, + 1.7063801288604736, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1829275073676273, + 1.0562108454348027, + 1.0033735036849976, + -0.20344418283851667, + 0.682413231915441, + -0.1654463361392076, + -0.6652452959411446, + 0.0, + 1.8452186584472656, + 2.0407204627990723, + 1.7063801288604736, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1829275073676273, + 1.0562108454348027, + 1.0033735036849976, + -0.20344418283851667, + 0.682413231915441, + -0.1654463361392076, + -0.6652452959411446, + 0.0, + 1.891759991645813, + 2.1149022579193115, + 1.7063801288604736, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1829275073676273, + 1.0562108454348027, + 1.0033735036849976, + -0.20344418283851667, + 0.682413231915441, + -0.1654463361392076, + -0.6652452959411446, + 0.0, + 1.9491024017333984, + 2.2063000202178955, + 1.7063801288604736, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1829275073676273, + 1.0562108454348027, + 1.0033735036849976, + -0.20344418283851667, + 0.682413231915441, + -0.1654463361392076, + -0.6652452959411446, + 0.0, + 2.0365145206451416, + 2.2454135417938232, + 1.7063801288604736, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.1829275073676273, + 1.0562108454348027, + 1.0033735036849976, + -0.20344418283851667, + 0.682413231915441, + -0.1654463361392076, + -0.6652452959411446, + 0.0 + ], + "std": [ + 1.4450983973369942, + 0.7930371288451443, + 0.1143293158773991, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3989748472307608, + 1.424956839301776, + 1.6512204870620737, + 0.24381069210747305, + 0.281615194722051, + 0.6007142173859977, + 0.17696664265403808, + 0.6686389455642872, + 0.4898979485566357, + 1.420578213565813, + 0.7666799071103714, + 0.1143293158773991, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6074170315449943, + 1.3915028914233412, + 0.18373827743027815, + 0.10033712443846607, + 0.3937722457386216, + 0.07917210815488883, + 0.7985558572796797, + 0.0, + 1.4820712487222945, + 0.7767685825024958, + 0.1143293158773991, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6074170315449943, + 1.3915028914233412, + 0.18373827743027815, + 0.10033712443846607, + 0.3937722457386216, + 0.07917210815488883, + 0.7985558572796797, + 0.0, + 1.5188860938107172, + 0.7825614950249254, + 0.1143293158773991, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6074170315449943, + 1.3915028914233412, + 0.18373827743027815, + 0.10033712443846607, + 0.3937722457386216, + 0.07917210815488883, + 0.7985558572796797, + 0.0, + 1.4954821294384428, + 0.7521372255719332, + 0.1143293158773991, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6074170315449943, + 1.3915028914233412, + 0.18373827743027815, + 0.10033712443846607, + 0.3937722457386216, + 0.07917210815488883, + 0.7985558572796797, + 0.0, + 1.4870961244504017, + 0.7259230507826706, + 0.1143293158773991, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6074170315449943, + 1.3915028914233412, + 0.18373827743027815, + 0.10033712443846607, + 0.3937722457386216, + 0.07917210815488883, + 0.7985558572796797, + 0.0, + 1.5082808616499461, + 0.7281215718433878, + 0.1143293158773991, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6074170315449943, + 1.3915028914233412, + 0.18373827743027815, + 0.10033712443846607, + 0.3937722457386216, + 0.07917210815488883, + 0.7985558572796797, + 0.0, + 1.5585842872139395, + 0.7351664191470064, + 0.1143293158773991, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6074170315449943, + 1.3915028914233412, + 0.18373827743027815, + 0.10033712443846607, + 0.3937722457386216, + 0.07917210815488883, + 0.7985558572796797, + 0.0, + 1.5106182454811887, + 0.7025632387136252, + 0.1143293158773991, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6074170315449943, + 1.3915028914233412, + 0.18373827743027815, + 0.10033712443846607, + 0.3937722457386216, + 0.07917210815488883, + 0.7985558572796797, + 0.0, + 1.4701749690011245, + 0.6729120863099065, + 0.1143293158773991, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6074170315449943, + 1.3915028914233412, + 0.18373827743027815, + 0.10033712443846607, + 0.3937722457386216, + 0.07917210815488883, + 0.7985558572796797, + 0.0, + 1.5203991211116086, + 0.6783262162081426, + 0.1143293158773991, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6074170315449943, + 1.3915028914233412, + 0.18373827743027815, + 0.10033712443846607, + 0.3937722457386216, + 0.07917210815488883, + 0.7985558572796797, + 0.0, + 1.5284991210760879, + 0.7008300867798616, + 0.1143293158773991, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6074170315449943, + 1.3915028914233412, + 0.18373827743027815, + 0.10033712443846607, + 0.3937722457386216, + 0.07917210815488883, + 0.7985558572796797, + 0.0, + 1.4805867256506928, + 0.6849930214494983, + 0.1143293158773991, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6074170315449943, + 1.3915028914233412, + 0.18373827743027815, + 0.10033712443846607, + 0.3937722457386216, + 0.07917210815488883, + 0.7985558572796797, + 0.0, + 1.4687633949840522, + 0.7230350517388724, + 0.1143293158773991, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6074170315449943, + 1.3915028914233412, + 0.18373827743027815, + 0.10033712443846607, + 0.3937722457386216, + 0.07917210815488883, + 0.7985558572796797, + 0.0, + 1.4617586417041983, + 0.7250667982493155, + 0.1143293158773991, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6074170315449943, + 1.3915028914233412, + 0.18373827743027815, + 0.10033712443846607, + 0.3937722457386216, + 0.07917210815488883, + 0.7985558572796797, + 0.0, + 1.4750077244463886, + 0.760225968994803, + 0.1143293158773991, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6074170315449943, + 1.3915028914233412, + 0.18373827743027815, + 0.10033712443846607, + 0.3937722457386216, + 0.07917210815488883, + 0.7985558572796797, + 0.0, + 1.43229197809251, + 0.7485210838058332, + 0.1143293158773991, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6074170315449943, + 1.3915028914233412, + 0.18373827743027815, + 0.10033712443846607, + 0.3937722457386216, + 0.07917210815488883, + 0.7985558572796797, + 0.0, + 1.4264774115387435, + 0.7928617415594469, + 0.1143293158773991, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6074170315449943, + 1.3915028914233412, + 0.18373827743027815, + 0.10033712443846607, + 0.3937722457386216, + 0.07917210815488883, + 0.7985558572796797, + 0.0, + 1.4115129947832428, + 0.7859071872711093, + 0.1143293158773991, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6074170315449943, + 1.3915028914233412, + 0.18373827743027815, + 0.10033712443846607, + 0.3937722457386216, + 0.07917210815488883, + 0.7985558572796797, + 0.0, + 1.442029360519862, + 0.8523174537740159, + 0.1143293158773991, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6074170315449943, + 1.3915028914233412, + 0.18373827743027815, + 0.10033712443846607, + 0.3937722457386216, + 0.07917210815488883, + 0.7985558572796797, + 0.0, + 1.3917799219217128, + 0.8246448496133524, + 0.1143293158773991, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6074170315449943, + 1.3915028914233412, + 0.18373827743027815, + 0.10033712443846607, + 0.3937722457386216, + 0.07917210815488883, + 0.7985558572796797, + 0.0, + 1.3508338372055293, + 0.8086460862848516, + 0.1143293158773991, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6074170315449943, + 1.3915028914233412, + 0.18373827743027815, + 0.10033712443846607, + 0.3937722457386216, + 0.07917210815488883, + 0.7985558572796797, + 0.0, + 1.3723929580913348, + 0.8638279488577455, + 0.1143293158773991, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6074170315449943, + 1.3915028914233412, + 0.18373827743027815, + 0.10033712443846607, + 0.3937722457386216, + 0.07917210815488883, + 0.7985558572796797, + 0.0, + 1.3526286335157114, + 0.8544777248102201, + 0.1143293158773991, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6074170315449943, + 1.3915028914233412, + 0.18373827743027815, + 0.10033712443846607, + 0.3937722457386216, + 0.07917210815488883, + 0.7985558572796797, + 0.0, + 1.352797333527041, + 0.9029668995017303, + 0.1143293158773991, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6074170315449943, + 1.3915028914233412, + 0.18373827743027815, + 0.10033712443846607, + 0.3937722457386216, + 0.07917210815488883, + 0.7985558572796797, + 0.0, + 1.3089887102867621, + 0.8789907917811158, + 0.1143293158773991, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6074170315449943, + 1.3915028914233412, + 0.18373827743027815, + 0.10033712443846607, + 0.3937722457386216, + 0.07917210815488883, + 0.7985558572796797, + 0.0, + 1.301101310845797, + 0.891074422566193, + 0.1143293158773991, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6074170315449943, + 1.3915028914233412, + 0.18373827743027815, + 0.10033712443846607, + 0.3937722457386216, + 0.07917210815488883, + 0.7985558572796797, + 0.0, + 1.3076991549587416, + 0.9275204529942406, + 0.1143293158773991, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6074170315449943, + 1.3915028914233412, + 0.18373827743027815, + 0.10033712443846607, + 0.3937722457386216, + 0.07917210815488883, + 0.7985558572796797, + 0.0, + 1.2657688337936874, + 0.9049971204545707, + 0.1143293158773991, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6074170315449943, + 1.3915028914233412, + 0.18373827743027815, + 0.10033712443846607, + 0.3937722457386216, + 0.07917210815488883, + 0.7985558572796797, + 0.0, + 1.271969114631445, + 0.9565195850381059, + 0.1143293158773991, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6074170315449943, + 1.3915028914233412, + 0.18373827743027815, + 0.10033712443846607, + 0.3937722457386216, + 0.07917210815488883, + 0.7985558572796797, + 0.0, + 1.2471244166154603, + 0.9453839327890361, + 0.1143293158773991, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6074170315449943, + 1.3915028914233412, + 0.18373827743027815, + 0.10033712443846607, + 0.3937722457386216, + 0.07917210815488883, + 0.7985558572796797, + 0.0, + 1.2625465598986412, + 1.000351817393201, + 0.1143293158773991, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6074170315449943, + 1.3915028914233412, + 0.18373827743027815, + 0.10033712443846607, + 0.3937722457386216, + 0.07917210815488883, + 0.7985558572796797, + 0.0, + 1.2280699650988998, + 0.9854889464917421, + 0.1143293158773991, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6074170315449943, + 1.3915028914233412, + 0.18373827743027815, + 0.10033712443846607, + 0.3937722457386216, + 0.07917210815488883, + 0.7985558572796797, + 0.0, + 1.2344642139216033, + 1.0329645066419757, + 0.1143293158773991, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6074170315449943, + 1.3915028914233412, + 0.18373827743027815, + 0.10033712443846607, + 0.3937722457386216, + 0.07917210815488883, + 0.7985558572796797, + 0.0, + 1.2086076416848972, + 1.0251859105621433, + 0.1143293158773991, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6074170315449943, + 1.3915028914233412, + 0.18373827743027815, + 0.10033712443846607, + 0.3937722457386216, + 0.07917210815488883, + 0.7985558572796797, + 0.0, + 1.2138717337328389, + 1.0700825081686935, + 0.1143293158773991, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6074170315449943, + 1.3915028914233412, + 0.18373827743027815, + 0.10033712443846607, + 0.3937722457386216, + 0.07917210815488883, + 0.7985558572796797, + 0.0, + 1.1891607219593707, + 1.0648270955067525, + 0.1143293158773991, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6074170315449943, + 1.3915028914233412, + 0.18373827743027815, + 0.10033712443846607, + 0.3937722457386216, + 0.07917210815488883, + 0.7985558572796797, + 0.0, + 1.2001192614134104, + 1.1106089016187424, + 0.1143293158773991, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6074170315449943, + 1.3915028914233412, + 0.18373827743027815, + 0.10033712443846607, + 0.3937722457386216, + 0.07917210815488883, + 0.7985558572796797, + 0.0, + 1.1697333530692042, + 1.1044791222782455, + 0.1143293158773991, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6074170315449943, + 1.3915028914233412, + 0.18373827743027815, + 0.10033712443846607, + 0.3937722457386216, + 0.07917210815488883, + 0.7985558572796797, + 0.0, + 1.153213815471781, + 1.1330496466901911, + 0.1143293158773991, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6074170315449943, + 1.3915028914233412, + 0.18373827743027815, + 0.10033712443846607, + 0.3937722457386216, + 0.07917210815488883, + 0.7985558572796797, + 0.0, + 1.1483769980442566, + 1.143058815351774, + 0.1143293158773991, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6074170315449943, + 1.3915028914233412, + 0.18373827743027815, + 0.10033712443846607, + 0.3937722457386216, + 0.07917210815488883, + 0.7985558572796797, + 0.0, + 1.169198815456496, + 1.1901568666443472, + 0.1143293158773991, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6074170315449943, + 1.3915028914233412, + 0.18373827743027815, + 0.10033712443846607, + 0.3937722457386216, + 0.07917210815488883, + 0.7985558572796797, + 0.0, + 1.1211518673311054, + 1.1783760664502672, + 0.1143293158773991, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6074170315449943, + 1.3915028914233412, + 0.18373827743027815, + 0.10033712443846607, + 0.3937722457386216, + 0.07917210815488883, + 0.7985558572796797, + 0.0, + 1.1152120865635153, + 1.2222471042513527, + 0.1143293158773991, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.6074170315449943, + 1.3915028914233412, + 0.18373827743027815, + 0.10033712443846607, + 0.3937722457386216, + 0.07917210815488883, + 0.7985558572796797, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.7851612757639383, + 1.1523507621389542, + 0.0, + 0.09877032248441577, + 0.03516322131913872, + 0.10183416309731523, + 0.040452448730275946, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.7851612757639383, + 1.1523507621389542, + 0.0, + 0.09877032248441577, + 0.03516322131913872, + 0.10183416309731523, + 0.040452448730275946, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.7851612757639383, + 1.1523507621389542, + 0.0, + 0.09877032248441577, + 0.03516322131913872, + 0.10183416309731523, + 0.040452448730275946, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.7851612757639383, + 1.1523507621389542, + 0.0, + 0.09877032248441577, + 0.03516322131913872, + 0.10183416309731523, + 0.040452448730275946, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.7851612757639383, + 1.1523507621389542, + 0.0, + 0.09877032248441577, + 0.03516322131913872, + 0.10183416309731523, + 0.040452448730275946, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.7851612757639383, + 1.1523507621389542, + 0.0, + 0.09877032248441577, + 0.03516322131913872, + 0.10183416309731523, + 0.040452448730275946, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.7851612757639383, + 1.1523507621389542, + 0.0, + 0.09877032248441577, + 0.03516322131913872, + 0.10183416309731523, + 0.040452448730275946, + 0.0 + ], + "min": [ + -3.543902635574341, + -2.340085029602051, + 1.4763332605361938, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0, + -3.293297290802002, + -1.9501625299453735, + 0.5874999761581421, + -0.6265907287597656, + -0.8811519742012024, + -0.40053316950798035, + -0.7863109111785889, + 0.0, + -3.427619218826294, + -2.275442600250244, + 1.4763332605361938, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.293297290802002, + -1.9501625299453735, + 1.0033735036849976, + -0.6265907287597656, + -0.11213694512844086, + -0.40053316950798035, + -0.7037985324859619, + 0.0, + -3.42460036277771, + -2.2737643718719482, + 1.4763332605361938, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.293297290802002, + -1.9501625299453735, + 1.0033735036849976, + -0.6265907287597656, + -0.11213694512844086, + -0.40053316950798035, + -0.7037985324859619, + 0.0, + -3.4214932918548584, + -2.2720372676849365, + 1.4763332605361938, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.293297290802002, + -1.9501625299453735, + 1.0033735036849976, + -0.6265907287597656, + -0.11213694512844086, + -0.40053316950798035, + -0.7037985324859619, + 0.0, + -3.2827982902526855, + -2.1949357986450195, + 1.4763332605361938, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.293297290802002, + -1.9501625299453735, + 1.0033735036849976, + -0.6265907287597656, + -0.11213694512844086, + -0.40053316950798035, + -0.7037985324859619, + 0.0, + -3.1525518894195557, + -2.122530937194824, + 1.4763332605361938, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.293297290802002, + -1.9501625299453735, + 1.0033735036849976, + -0.6265907287597656, + -0.11213694512844086, + -0.40053316950798035, + -0.7037985324859619, + 0.0, + -3.144793748855591, + -2.118218183517456, + 1.4763332605361938, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.293297290802002, + -1.9501625299453735, + 1.0033735036849976, + -0.6265907287597656, + -0.11213694512844086, + -0.40053316950798035, + -0.7037985324859619, + 0.0, + -3.135969638824463, + -2.1133127212524414, + 1.4763332605361938, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.293297290802002, + -1.9501625299453735, + 1.0033735036849976, + -0.6265907287597656, + -0.11213694512844086, + -0.40053316950798035, + -0.7037985324859619, + 0.0, + -3.00821590423584, + -2.0422937870025635, + 1.4763332605361938, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.293297290802002, + -1.9501625299453735, + 1.0033735036849976, + -0.6265907287597656, + -0.11213694512844086, + -0.40053316950798035, + -0.7037985324859619, + 0.0, + -2.889129638671875, + -1.9760929346084595, + 1.4763332605361938, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.293297290802002, + -1.9501625299453735, + 1.0033735036849976, + -0.6265907287597656, + -0.11213694512844086, + -0.40053316950798035, + -0.7037985324859619, + 0.0, + -2.8717992305755615, + -1.9664589166641235, + 1.4763332605361938, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.293297290802002, + -1.9501625299453735, + 1.0033735036849976, + -0.6265907287597656, + -0.11213694512844086, + -0.40053316950798035, + -0.7037985324859619, + 0.0, + -2.8532025814056396, + -1.9561209678649902, + 1.4763332605361938, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.293297290802002, + -1.9501625299453735, + 1.0033735036849976, + -0.6265907287597656, + -0.11213694512844086, + -0.40053316950798035, + -0.7037985324859619, + 0.0, + -2.7358646392822266, + -1.8908921480178833, + 1.4763332605361938, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.293297290802002, + -1.9501625299453735, + 1.0033735036849976, + -0.6265907287597656, + -0.11213694512844086, + -0.40053316950798035, + -0.7037985324859619, + 0.0, + -2.6255886554718018, + -1.8295890092849731, + 1.4763332605361938, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.293297290802002, + -1.9501625299453735, + 1.0033735036849976, + -0.6265907287597656, + -0.11213694512844086, + -0.40053316950798035, + -0.7037985324859619, + 0.0, + -2.6000070571899414, + -1.8153680562973022, + 1.4763332605361938, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.293297290802002, + -1.9501625299453735, + 1.0033735036849976, + -0.6265907287597656, + -0.11213694512844086, + -0.40053316950798035, + -0.7037985324859619, + 0.0, + -2.5727875232696533, + -1.8002365827560425, + 1.4763332605361938, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.293297290802002, + -1.9501625299453735, + 1.0033735036849976, + -0.6265907287597656, + -0.11213694512844086, + -0.40053316950798035, + -0.7037985324859619, + 0.0, + -2.4634957313537598, + -1.7394806146621704, + 1.4763332605361938, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.293297290802002, + -1.9501625299453735, + 1.0033735036849976, + -0.6265907287597656, + -0.11213694512844086, + -0.40053316950798035, + -0.7037985324859619, + 0.0, + -2.3595755100250244, + -1.6817107200622559, + 1.4763332605361938, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.293297290802002, + -1.9501625299453735, + 1.0033735036849976, + -0.6265907287597656, + -0.11213694512844086, + -0.40053316950798035, + -0.7037985324859619, + 0.0, + -2.3268203735351562, + -1.6635019779205322, + 1.4763332605361938, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.293297290802002, + -1.9501625299453735, + 1.0033735036849976, + -0.6265907287597656, + -0.11213694512844086, + -0.40053316950798035, + -0.7037985324859619, + 0.0, + -2.292372226715088, + -1.6443519592285156, + 1.4763332605361938, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.293297290802002, + -1.9501625299453735, + 1.0033735036849976, + -0.6265907287597656, + -0.11213694512844086, + -0.40053316950798035, + -0.7037985324859619, + 0.0, + -2.1907565593719482, + -1.5878632068634033, + 1.4763332605361938, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.293297290802002, + -1.9501625299453735, + 1.0033735036849976, + -0.6265907287597656, + -0.11213694512844086, + -0.40053316950798035, + -0.7037985324859619, + 0.0, + -2.0952563285827637, + -1.5347740650177002, + 1.4763332605361938, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.293297290802002, + -1.9501625299453735, + 1.0033735036849976, + -0.6265907287597656, + -0.11213694512844086, + -0.40053316950798035, + -0.7037985324859619, + 0.0, + -2.054898738861084, + -1.5123389959335327, + 1.4763332605361938, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.293297290802002, + -1.9501625299453735, + 1.0033735036849976, + -0.6265907287597656, + -0.11213694512844086, + -0.40053316950798035, + -0.7037985324859619, + 0.0, + -2.0119569301605225, + -1.4884673357009888, + 1.4763332605361938, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.293297290802002, + -1.9501625299453735, + 1.0033735036849976, + -0.6265907287597656, + -0.11213694512844086, + -0.40053316950798035, + -0.7037985324859619, + 0.0, + -1.9184818267822266, + -1.4365040063858032, + 1.4763332605361938, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.293297290802002, + -1.9501625299453735, + 1.0033735036849976, + -0.6265907287597656, + -0.11213694512844086, + -0.40053316950798035, + -0.7037985324859619, + 0.0, + -1.8296010494232178, + -1.3870946168899536, + 1.4763332605361938, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.293297290802002, + -1.9501625299453735, + 1.0033735036849976, + -0.6265907287597656, + -0.11213694512844086, + -0.40053316950798035, + -0.7037985324859619, + 0.0, + -1.7818065881729126, + -1.360525369644165, + 1.4763332605361938, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.293297290802002, + -1.9501625299453735, + 1.0033735036849976, + -0.6265907287597656, + -0.11213694512844086, + -0.40053316950798035, + -0.7037985324859619, + 0.0, + -1.731541633605957, + -1.332582712173462, + 1.4763332605361938, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.293297290802002, + -1.9501625299453735, + 1.0033735036849976, + -0.6265907287597656, + -0.11213694512844086, + -0.40053316950798035, + -0.7037985324859619, + 0.0, + -1.6456482410430908, + -1.2848340272903442, + 1.4763332605361938, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.293297290802002, + -1.9501625299453735, + 1.0033735036849976, + -0.6265907287597656, + -0.11213694512844086, + -0.40053316950798035, + -0.7037985324859619, + 0.0, + -1.5649291276931763, + -1.2399617433547974, + 1.4763332605361938, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.293297290802002, + -1.9501625299453735, + 1.0033735036849976, + -0.6265907287597656, + -0.11213694512844086, + -0.40053316950798035, + -0.7037985324859619, + 0.0, + -1.509751319885254, + -1.2092881202697754, + 1.4763332605361938, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.293297290802002, + -1.9501625299453735, + 1.0033735036849976, + -0.6265907287597656, + -0.11213694512844086, + -0.40053316950798035, + -0.7037985324859619, + 0.0, + -1.450846791267395, + -1.1765427589416504, + 1.4763332605361938, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.293297290802002, + -1.9501625299453735, + 1.0033735036849976, + -0.6265907287597656, + -0.11213694512844086, + -0.40053316950798035, + -0.7037985324859619, + 0.0, + -1.373133897781372, + -1.133341670036316, + 1.4763332605361938, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.293297290802002, + -1.9501625299453735, + 1.0033735036849976, + -0.6265907287597656, + -0.11213694512844086, + -0.40053316950798035, + -0.7037985324859619, + 0.0, + -1.3008590936660767, + -1.0931636095046997, + 1.4763332605361938, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.293297290802002, + -1.9501625299453735, + 1.0033735036849976, + -0.6265907287597656, + -0.11213694512844086, + -0.40053316950798035, + -0.7037985324859619, + 0.0, + -1.2360472679138184, + -1.0571343898773193, + 1.4763332605361938, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.293297290802002, + -1.9501625299453735, + 1.0033735036849976, + -0.6265907287597656, + -0.11213694512844086, + -0.40053316950798035, + -0.7037985324859619, + 0.0, + -1.1652798652648926, + -1.0177943706512451, + 1.4763332605361938, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.293297290802002, + -1.9501625299453735, + 1.0033735036849976, + -0.6265907287597656, + -0.11213694512844086, + -0.40053316950798035, + -0.7037985324859619, + 0.0, + -1.0991162061691284, + -0.9810135960578918, + 1.4763332605361938, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.293297290802002, + -1.9501625299453735, + 1.0033735036849976, + -0.6265907287597656, + -0.11213694512844086, + -0.40053316950798035, + -0.7037985324859619, + 0.0, + -1.0442272424697876, + -0.95050048828125, + 1.4763332605361938, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.293297290802002, + -1.9501625299453735, + 1.0033735036849976, + -0.6265907287597656, + -0.11213694512844086, + -0.40053316950798035, + -0.7037985324859619, + 0.0, + -0.9622243642807007, + -0.9049146175384521, + 1.4763332605361938, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.293297290802002, + -1.9501625299453735, + 1.0033735036849976, + -0.6265907287597656, + -0.11213694512844086, + -0.40053316950798035, + -0.7037985324859619, + 0.0, + -0.8557987809181213, + -0.8457520008087158, + 1.4763332605361938, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.293297290802002, + -1.9501625299453735, + 1.0033735036849976, + -0.6265907287597656, + -0.11213694512844086, + -0.40053316950798035, + -0.7037985324859619, + 0.0, + -0.8214513659477234, + -0.8266580700874329, + 1.4763332605361938, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.293297290802002, + -1.9501625299453735, + 1.0033735036849976, + -0.6265907287597656, + -0.11213694512844086, + -0.40053316950798035, + -0.7037985324859619, + 0.0, + -0.7944861054420471, + -0.8116679191589355, + 1.4763332605361938, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.293297290802002, + -1.9501625299453735, + 1.0033735036849976, + -0.6265907287597656, + -0.11213694512844086, + -0.40053316950798035, + -0.7037985324859619, + 0.0, + -0.6688691973686218, + -0.741836667060852, + 1.4763332605361938, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.293297290802002, + -1.9501625299453735, + 1.0033735036849976, + -0.6265907287597656, + -0.11213694512844086, + -0.40053316950798035, + -0.7037985324859619, + 0.0, + -0.5918137431144714, + -0.7263429760932922, + 1.4763332605361938, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.293297290802002, + -1.9501625299453735, + 1.0033735036849976, + -0.6265907287597656, + -0.11213694512844086, + -0.40053316950798035, + -0.7037985324859619, + 0.0, + 1.6852362155914307, + 1.7857252359390259, + 1.7063801288604736, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.5309063196182251, + -0.5597453117370605, + 1.0033735036849976, + -0.4303587079048157, + 0.5867198705673218, + -0.40053316950798035, + -0.7037985324859619, + 0.0, + 1.7470067739486694, + 1.8841809034347534, + 1.7063801288604736, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.5309063196182251, + -0.5597453117370605, + 1.0033735036849976, + -0.4303587079048157, + 0.5867198705673218, + -0.40053316950798035, + -0.7037985324859619, + 0.0, + 1.7855080366134644, + 1.9455479383468628, + 1.7063801288604736, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.5309063196182251, + -0.5597453117370605, + 1.0033735036849976, + -0.4303587079048157, + 0.5867198705673218, + -0.40053316950798035, + -0.7037985324859619, + 0.0, + 1.8452186584472656, + 2.0407204627990723, + 1.7063801288604736, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.5309063196182251, + -0.5597453117370605, + 1.0033735036849976, + -0.4303587079048157, + 0.5867198705673218, + -0.40053316950798035, + -0.7037985324859619, + 0.0, + 1.891759991645813, + 2.1149022579193115, + 1.7063801288604736, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.5309063196182251, + -0.5597453117370605, + 1.0033735036849976, + -0.4303587079048157, + 0.5867198705673218, + -0.40053316950798035, + -0.7037985324859619, + 0.0, + 1.9491024017333984, + 2.2063000202178955, + 1.7063801288604736, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.5309063196182251, + -0.5597453117370605, + 1.0033735036849976, + -0.4303587079048157, + 0.5867198705673218, + -0.40053316950798035, + -0.7037985324859619, + 0.0, + 2.0365145206451416, + 2.2454135417938232, + 1.7063801288604736, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.5309063196182251, + -0.5597453117370605, + 1.0033735036849976, + -0.4303587079048157, + 0.5867198705673218, + -0.40053316950798035, + -0.7037985324859619, + 0.0 + ], + "max": [ + -0.63615882396698, + -0.7443813681602478, + 1.7063801288604736, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.273106575012207, + 3.1115760803222656, + 1.373114824295044, + 0.696350634098053, + 0.7645360231399536, + 0.46632206439971924, + 0.9519479274749756, + 1.0, + -0.5692135095596313, + -0.7327734231948853, + 1.7063801288604736, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.273106575012207, + 2.7229230403900146, + 1.3730812072753906, + 0.031339436769485474, + 0.7103988528251648, + 0.07337826490402222, + 0.9519479274749756, + 0.0, + -0.44246190786361694, + -0.7107953429222107, + 1.7063801288604736, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.273106575012207, + 2.7229230403900146, + 1.3730812072753906, + 0.031339436769485474, + 0.7103988528251648, + 0.07337826490402222, + 0.9519479274749756, + 0.0, + -0.36527812480926514, + -0.6974120736122131, + 1.7063801288604736, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.273106575012207, + 2.7229230403900146, + 1.3730812072753906, + 0.031339436769485474, + 0.7103988528251648, + 0.07337826490402222, + 0.9519479274749756, + 0.0, + -0.27367523312568665, + -0.6815285682678223, + 1.7063801288604736, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.273106575012207, + 2.7229230403900146, + 1.3730812072753906, + 0.031339436769485474, + 0.7103988528251648, + 0.07337826490402222, + 0.9519479274749756, + 0.0, + -0.16030266880989075, + -0.6618703603744507, + 1.7063801288604736, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.273106575012207, + 2.7229230403900146, + 1.3730812072753906, + 0.031339436769485474, + 0.7103988528251648, + 0.07337826490402222, + 0.9519479274749756, + 0.0, + -0.10991781949996948, + -0.6531338691711426, + 1.7063801288604736, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.273106575012207, + 2.7229230403900146, + 1.3730812072753906, + 0.031339436769485474, + 0.7103988528251648, + 0.07337826490402222, + 0.9519479274749756, + 0.0, + 0.0001239478588104248, + -0.6340531706809998, + 1.7063801288604736, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.273106575012207, + 2.7229230403900146, + 1.3730812072753906, + 0.031339436769485474, + 0.7103988528251648, + 0.07337826490402222, + 0.9519479274749756, + 0.0, + 0.03136317431926727, + -0.6286364793777466, + 1.7063801288604736, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.273106575012207, + 2.7229230403900146, + 1.3730812072753906, + 0.031339436769485474, + 0.7103988528251648, + 0.07337826490402222, + 0.9519479274749756, + 0.0, + 0.06907180696725845, + -0.6220979690551758, + 1.7063801288604736, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.273106575012207, + 2.7229230403900146, + 1.3730812072753906, + 0.031339436769485474, + 0.7103988528251648, + 0.07337826490402222, + 0.9519479274749756, + 0.0, + 0.18746036291122437, + -0.6015699505805969, + 1.7063801288604736, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.273106575012207, + 2.7229230403900146, + 1.3730812072753906, + 0.031339436769485474, + 0.7103988528251648, + 0.07337826490402222, + 0.9519479274749756, + 0.0, + 0.22235536575317383, + -0.5459510087966919, + 1.7063801288604736, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.273106575012207, + 2.7229230403900146, + 1.3730812072753906, + 0.031339436769485474, + 0.7103988528251648, + 0.07337826490402222, + 0.9519479274749756, + 0.0, + 0.24328674376010895, + -0.512588620185852, + 1.7063801288604736, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.273106575012207, + 2.7229230403900146, + 1.3730812072753906, + 0.031339436769485474, + 0.7103988528251648, + 0.07337826490402222, + 0.9519479274749756, + 0.0, + 0.3297725021839142, + -0.37473949790000916, + 1.7063801288604736, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.273106575012207, + 2.7229230403900146, + 1.3730812072753906, + 0.031339436769485474, + 0.7103988528251648, + 0.07337826490402222, + 0.9519479274749756, + 0.0, + 0.34125953912734985, + -0.35643038153648376, + 1.7063801288604736, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.273106575012207, + 2.7229230403900146, + 1.3730812072753906, + 0.031339436769485474, + 0.7103988528251648, + 0.07337826490402222, + 0.9519479274749756, + 0.0, + 0.39513811469078064, + -0.2705536484718323, + 1.7063801288604736, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.273106575012207, + 2.7229230403900146, + 1.3730812072753906, + 0.031339436769485474, + 0.7103988528251648, + 0.07337826490402222, + 0.9519479274749756, + 0.0, + 0.4184797406196594, + -0.23334957659244537, + 1.7063801288604736, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.273106575012207, + 2.7229230403900146, + 1.3730812072753906, + 0.031339436769485474, + 0.7103988528251648, + 0.07337826490402222, + 0.9519479274749756, + 0.0, + 0.5107002258300781, + -0.08635996282100677, + 1.7063801288604736, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.273106575012207, + 2.7229230403900146, + 1.3730812072753906, + 0.031339436769485474, + 0.7103988528251648, + 0.07337826490402222, + 0.9519479274749756, + 0.0, + 0.5133448243141174, + -0.08214477449655533, + 1.7063801288604736, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.273106575012207, + 2.7229230403900146, + 1.3730812072753906, + 0.031339436769485474, + 0.7103988528251648, + 0.07337826490402222, + 0.9519479274749756, + 0.0, + 0.6091962456703186, + 0.07063215970993042, + 1.7063801288604736, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.273106575012207, + 2.7229230403900146, + 1.3730812072753906, + 0.031339436769485474, + 0.7103988528251648, + 0.07337826490402222, + 0.9519479274749756, + 0.0, + 0.6097028851509094, + 0.07143969088792801, + 1.7063801288604736, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.273106575012207, + 2.7229230403900146, + 1.3730812072753906, + 0.031339436769485474, + 0.7103988528251648, + 0.07337826490402222, + 0.9519479274749756, + 0.0, + 0.6228137612342834, + 0.09233704209327698, + 1.7063801288604736, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.273106575012207, + 2.7229230403900146, + 1.3730812072753906, + 0.031339436769485474, + 0.7103988528251648, + 0.07337826490402222, + 0.9519479274749756, + 0.0, + 0.7065513730049133, + 0.2258058786392212, + 1.7063801288604736, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.273106575012207, + 2.7229230403900146, + 1.3730812072753906, + 0.031339436769485474, + 0.7103988528251648, + 0.07337826490402222, + 0.9519479274749756, + 0.0, + 0.7097245454788208, + 0.230863556265831, + 1.7063801288604736, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.273106575012207, + 2.7229230403900146, + 1.3730812072753906, + 0.031339436769485474, + 0.7103988528251648, + 0.07337826490402222, + 0.9519479274749756, + 0.0, + 0.8035390973091125, + 0.38039401173591614, + 1.7063801288604736, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.273106575012207, + 2.7229230403900146, + 1.3730812072753906, + 0.031339436769485474, + 0.7103988528251648, + 0.07337826490402222, + 0.9519479274749756, + 0.0, + 0.8042706847190857, + 0.3815600574016571, + 1.7063801288604736, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.273106575012207, + 2.7229230403900146, + 1.3730812072753906, + 0.031339436769485474, + 0.7103988528251648, + 0.07337826490402222, + 0.9519479274749756, + 0.0, + 0.8361945748329163, + 0.4324432909488678, + 1.7063801288604736, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.273106575012207, + 2.7229230403900146, + 1.3730812072753906, + 0.031339436769485474, + 0.7103988528251648, + 0.07337826490402222, + 0.9519479274749756, + 0.0, + 0.8997353315353394, + 0.5337205529212952, + 1.7063801288604736, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.273106575012207, + 2.7229230403900146, + 1.3730812072753906, + 0.031339436769485474, + 0.7103988528251648, + 0.07337826490402222, + 0.9519479274749756, + 0.0, + 0.9012589454650879, + 0.5361490845680237, + 1.7063801288604736, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.273106575012207, + 2.7229230403900146, + 1.3730812072753906, + 0.031339436769485474, + 0.7103988528251648, + 0.07337826490402222, + 0.9519479274749756, + 0.0, + 0.9944539070129395, + 0.6846919059753418, + 1.7063801288604736, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.273106575012207, + 2.7229230403900146, + 1.3730812072753906, + 0.031339436769485474, + 0.7103988528251648, + 0.07337826490402222, + 0.9519479274749756, + 0.0, + 0.9996406435966492, + 0.6929590106010437, + 1.7063801288604736, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.273106575012207, + 2.7229230403900146, + 1.3730812072753906, + 0.031339436769485474, + 0.7103988528251648, + 0.07337826490402222, + 0.9519479274749756, + 0.0, + 1.0895767211914062, + 0.8363075852394104, + 1.7063801288604736, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.273106575012207, + 2.7229230403900146, + 1.3730812072753906, + 0.031339436769485474, + 0.7103988528251648, + 0.07337826490402222, + 0.9519479274749756, + 0.0, + 1.0979177951812744, + 0.849602460861206, + 1.7063801288604736, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.273106575012207, + 2.7229230403900146, + 1.3730812072753906, + 0.031339436769485474, + 0.7103988528251648, + 0.07337826490402222, + 0.9519479274749756, + 0.0, + 1.183058738708496, + 0.9853081107139587, + 1.7063801288604736, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.273106575012207, + 2.7229230403900146, + 1.3730812072753906, + 0.031339436769485474, + 0.7103988528251648, + 0.07337826490402222, + 0.9519479274749756, + 0.0, + 1.1958434581756592, + 1.0056856870651245, + 1.7063801288604736, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.273106575012207, + 2.7229230403900146, + 1.3730812072753906, + 0.031339436769485474, + 0.7103988528251648, + 0.07337826490402222, + 0.9519479274749756, + 0.0, + 1.2772029638290405, + 1.135364055633545, + 1.7063801288604736, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.273106575012207, + 2.7229230403900146, + 1.3730812072753906, + 0.031339436769485474, + 0.7103988528251648, + 0.07337826490402222, + 0.9519479274749756, + 0.0, + 1.2936445474624634, + 1.1615701913833618, + 1.7063801288604736, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.273106575012207, + 2.7229230403900146, + 1.3730812072753906, + 0.031339436769485474, + 0.7103988528251648, + 0.07337826490402222, + 0.9519479274749756, + 0.0, + 1.3705836534500122, + 1.2842028141021729, + 1.7063801288604736, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.273106575012207, + 2.7229230403900146, + 1.3730812072753906, + 0.031339436769485474, + 0.7103988528251648, + 0.07337826490402222, + 0.9519479274749756, + 0.0, + 1.3914457559585571, + 1.3174546957015991, + 1.7063801288604736, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.273106575012207, + 2.7229230403900146, + 1.3730812072753906, + 0.031339436769485474, + 0.7103988528251648, + 0.07337826490402222, + 0.9519479274749756, + 0.0, + 1.4646316766738892, + 1.4341052770614624, + 1.7063801288604736, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.273106575012207, + 2.7229230403900146, + 1.3730812072753906, + 0.031339436769485474, + 0.7103988528251648, + 0.07337826490402222, + 0.9519479274749756, + 0.0, + 1.4892467260360718, + 1.4733390808105469, + 1.7063801288604736, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.273106575012207, + 2.7229230403900146, + 1.3730812072753906, + 0.031339436769485474, + 0.7103988528251648, + 0.07337826490402222, + 0.9519479274749756, + 0.0, + 1.5581084489822388, + 1.583097219467163, + 1.7063801288604736, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.273106575012207, + 2.7229230403900146, + 1.3730812072753906, + 0.031339436769485474, + 0.7103988528251648, + 0.07337826490402222, + 0.9519479274749756, + 0.0, + 1.587048053741455, + 1.6292238235473633, + 1.7063801288604736, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.273106575012207, + 2.7229230403900146, + 1.3730812072753906, + 0.031339436769485474, + 0.7103988528251648, + 0.07337826490402222, + 0.9519479274749756, + 0.0, + 1.6521518230438232, + 1.7329922914505005, + 1.7063801288604736, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.273106575012207, + 2.7229230403900146, + 1.3730812072753906, + 0.031339436769485474, + 0.7103988528251648, + 0.07337826490402222, + 0.9519479274749756, + 0.0, + 1.6852362155914307, + 1.7857252359390259, + 1.7063801288604736, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.273106575012207, + 2.7229230403900146, + 1.0033735036849976, + 0.031339436769485474, + 0.7103988528251648, + 0.07337826490402222, + -0.5568879842758179, + 0.0, + 1.7470067739486694, + 1.8841809034347534, + 1.7063801288604736, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.273106575012207, + 2.7229230403900146, + 1.0033735036849976, + 0.031339436769485474, + 0.7103988528251648, + 0.07337826490402222, + -0.5568879842758179, + 0.0, + 1.7855080366134644, + 1.9455479383468628, + 1.7063801288604736, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.273106575012207, + 2.7229230403900146, + 1.0033735036849976, + 0.031339436769485474, + 0.7103988528251648, + 0.07337826490402222, + -0.5568879842758179, + 0.0, + 1.8452186584472656, + 2.0407204627990723, + 1.7063801288604736, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.273106575012207, + 2.7229230403900146, + 1.0033735036849976, + 0.031339436769485474, + 0.7103988528251648, + 0.07337826490402222, + -0.5568879842758179, + 0.0, + 1.891759991645813, + 2.1149022579193115, + 1.7063801288604736, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.273106575012207, + 2.7229230403900146, + 1.0033735036849976, + 0.031339436769485474, + 0.7103988528251648, + 0.07337826490402222, + -0.5568879842758179, + 0.0, + 1.9491024017333984, + 2.2063000202178955, + 1.7063801288604736, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.273106575012207, + 2.7229230403900146, + 1.0033735036849976, + 0.031339436769485474, + 0.7103988528251648, + 0.07337826490402222, + -0.5568879842758179, + 0.0, + 2.0365145206451416, + 2.2454135417938232, + 1.7063801288604736, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.273106575012207, + 2.7229230403900146, + 1.0033735036849976, + 0.031339436769485474, + 0.7103988528251648, + 0.07337826490402222, + -0.5568879842758179, + 0.0 + ], + "count": [ + 2741 + ] + }, + "action.applied": { + "mean": [ + 0.06803077580499, + -0.0007688785430529134, + 0.008506715688822178, + 1.805162931203687, + -2.510571202367207, + -0.5578371430814828, + 1.406129508297272, + 1.6108423957205182, + -2.155043463383396, + -0.24909264326773436, + -0.0006500931184185721, + 0.0006500931184185721 + ], + "std": [ + 0.12246739040035118, + 0.006538626985704265, + 0.13818538177011896, + 1.064244322156177, + 0.5610078684536075, + 0.3316759666136208, + 0.4694193200175375, + 0.9857161937995559, + 0.2397964354897586, + 0.4026964425021617, + 0.01320375468504375, + 0.01320375468504375 + ], + "min": [ + 0.0, + -0.06438123434782028, + -0.800000011920929, + -0.02922244928777218, + -3.379702568054199, + -1.0566445589065552, + 0.498563289642334, + -0.07042562961578369, + -2.511049747467041, + -0.9383270740509033, + -0.009999999776482582, + -0.020833000540733337 + ], + "max": [ + 0.30000001192092896, + 0.07714982330799103, + 0.800000011920929, + 3.0403707027435303, + -1.573870062828064, + 0.0004017958708573133, + 2.1537113189697266, + 2.893873929977417, + -1.3048181533813477, + 0.8892390131950378, + 0.020833000540733337, + 0.009999999776482582 + ], + "count": [ + 2741 + ] + }, + "extra.reward": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 2741 + ] + }, + "next.truncated": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 2741 + ] + }, + "sim_step_idx": { + "mean": [ + 2841.0 + ], + "std": [ + 1582.5169825313092 + ], + "min": [ + 101.0 + ], + "max": [ + 5581.0 + ], + "count": [ + 2741 + ] + }, + "timestamp": { + "mean": [ + 54.80000000110794 + ], + "std": [ + 31.650339649156606 + ], + "min": [ + 0.0 + ], + "max": [ + 109.5999984741211 + ], + "count": [ + 2741 + ] + }, + "frame_index": { + "mean": [ + 1370.0 + ], + "std": [ + 791.2584912656546 + ], + "min": [ + 0.0 + ], + "max": [ + 2740.0 + ], + "count": [ + 2741 + ] + }, + "episode_index": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 2741 + ] + }, + "index": { + "mean": [ + 1370.0 + ], + "std": [ + 791.2584912656546 + ], + "min": [ + 0.0 + ], + "max": [ + 2740.0 + ], + "count": [ + 2741 + ] + }, + "task_index": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 2741 + ] + }, + "next.done": { + "mean": [ + 0.00036483035388544326 + ], + "std": [ + 0.019097048271875083 + ], + "min": [ + 0.0 + ], + "max": [ + 1.0 + ], + "count": [ + 2741 + ] + }, + "observation.images.head": { + "mean": [ + [ + [ + 0.5278039700966054 + ] + ], + [ + [ + 0.44563393282146935 + ] + ], + [ + [ + 0.38955813026479846 + ] + ] + ], + "std": [ + [ + [ + 0.14266803445149437 + ] + ], + [ + [ + 0.16720684041534947 + ] + ], + [ + [ + 0.15451919113493728 + ] + ] + ], + "min": [ + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ] + ], + "max": [ + [ + [ + 0.9137254901960784 + ] + ], + [ + [ + 0.8823529411764706 + ] + ], + [ + [ + 0.8274509803921568 + ] + ] + ], + "count": [ + 100 + ] + }, + "observation.images.wrist": { + "mean": [ + [ + [ + 0.5403489175965072 + ] + ], + [ + [ + 0.45835463464124876 + ] + ], + [ + [ + 0.37784514297926447 + ] + ] + ], + "std": [ + [ + [ + 0.14212401799054084 + ] + ], + [ + [ + 0.15540157735184007 + ] + ], + [ + [ + 0.1593367655526279 + ] + ] + ], + "min": [ + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ] + ], + "max": [ + [ + [ + 0.9176470588235294 + ] + ], + [ + [ + 0.9098039215686274 + ] + ], + [ + [ + 0.9019607843137255 + ] + ] + ], + "count": [ + 100 + ] + } +} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_off/seed_1024/rec/stationbookendxr/000/lerobot_v21/meta/tasks.jsonl b/N034/sawyer_umi/dr_off/seed_1024/rec/stationbookendxr/000/lerobot_v21/meta/tasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e639892eae0aca859cb3ed9b82a48465787b6b4a --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1024/rec/stationbookendxr/000/lerobot_v21/meta/tasks.jsonl @@ -0,0 +1 @@ +{"task_index": 0, "task": "Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it."} diff --git a/N034/sawyer_umi/dr_off/seed_1024/rec/stationbookendxr/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 b/N034/sawyer_umi/dr_off/seed_1024/rec/stationbookendxr/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c520e56963921e0817aea48959f01be4907e7acc --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1024/rec/stationbookendxr/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:f03375a731af7cd1e83460115539eab23cf9ecaa4847ca9ba2b812056bce3ada +size 30759309 diff --git a/N034/sawyer_umi/dr_off/seed_1024/rec/stationbookendxr/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 b/N034/sawyer_umi/dr_off/seed_1024/rec/stationbookendxr/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..65d32ddd8220e3fb1d47e1912b656d64fd4c14db --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1024/rec/stationbookendxr/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 sha256:150314fb66622bf3cd751bae00d281f811da437d2c4f0b7e89c65ce19222fdd5 +size 47493131 diff --git a/N034/sawyer_umi/dr_off/seed_1024/rec/stationbookendxr/000/run_meta.json b/N034/sawyer_umi/dr_off/seed_1024/rec/stationbookendxr/000/run_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9e503095ab2d9212c3062dee515fd00bde8bb7bc --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1024/rec/stationbookendxr/000/run_meta.json @@ -0,0 +1,1215 @@ +{ + "run_id": "stationbookendxr/000", + "created": "2026-11-08 02:52:49", + "num_envs": 1, + "session_id": null, + "record_config": { + "output_dir": "/mnt/scratch/xc536_atomic/n034_saw_off_1024/out/rec", + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "json_round": null, + "schema": { + "source": "robot_manager", + "nan_policy": "from_raw" + }, + "lerobot": { + "subsample_every": 2 + } + }, + "config": { + "env_string": "StationBookendXREnv-V0", + "env": { + "sim": { + "device": "cpu", + "use_fabric": false, + "decimation": 4, + "dt": 0.005, + "seed": 1024, + "soft_resets": 2, + "enable_scene_query_support": true, + "scene": { + "num_envs": 1, + "env_spacing": 16 + }, + "render": { + "rendering_mode": "performance", + "enable_reflections": false, + "enable_global_illumination": false, + "enable_translucency": false, + "enable_dl_denoiser": false + } + }, + "nav": { + "navmesh": { + "enabled": true, + "visualize": false, + "bake_timeout_s": 180, + "agent_height_cm": 150, + "min_agent_radius_cm": 45.0, + "max_agent_radius_cm": 45.0, + "max_step_height_cm": 20, + "max_floor_slope_deg": 30, + "agent_island_radius_cm": 5, + "auto_exclude_rigid_bodies": true, + "validate_path_clearance": true, + "validate_path_window": true, + "navmesh_offset_z_m": 0, + "verbose": false, + "validate_path_reroute": true + }, + "occupancymap": { + "cell_size": 0.05 + } + }, + "scene": { + "background": { + "intensity": [ + 1000, + 1000 + ] + }, + "terrain": { + "type": "nav_room", + "collision": true, + "hide_top_walls": true, + "usd": [ + "$MAGICSIM_ASSETS/Room/Collected_SimpleRoom" + ], + "annotation": "Annotation", + "random": false, + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0, + "friction_combine_mode": "multiply", + "restitution_combine_mode": "multiply" + } + }, + "objects": { + "table_A": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "table_A_1": { + "pos": [ + -0.5097529596441825, + 0.1397782788578793, + 0.18 + ], + "ori": [ + 0.0, + 0.0, + -5.412336008348021 + ], + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.45, + 0.35 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "table_B": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "table_B_1": { + "pos": [ + 1.9081042065674236, + 3.1866949039138808, + 0.18 + ], + "ori": [ + 0.0, + 0.0, + 7.768379636824903 + ], + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.45, + 0.35 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "slot_left": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "slot_left_1": { + "pos": [ + -0.547453533303072, + 0.022812827780261308, + 0.3475 + ], + "ori": [ + 0.0, + 0.0, + -5.412336008348021 + ], + "primitive_params": { + "size": [ + 0.01, + 0.12, + 0.035 + ] + }, + "visual": { + "color": [ + [ + 0.4, + 0.3, + 0.2 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "slot_right": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "slot_right_1": { + "pos": [ + -0.4946898242823923, + 0.017813726822985237, + 0.3475 + ], + "ori": [ + 0.0, + 0.0, + -5.412336008348021 + ], + "primitive_params": { + "size": [ + 0.01, + 0.12, + 0.035 + ] + }, + "visual": { + "color": [ + [ + 0.4, + 0.3, + 0.2 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "book": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "book_1": { + "pos": [ + -0.5223935021168264, + 0.006361908476444494, + 0.40149999999999997 + ], + "ori": [ + 0.0, + 0.0, + 84.58766399165198 + ], + "primitive_params": { + "size": [ + 0.1, + 0.035, + 0.14 + ] + }, + "visual": { + "color": [ + [ + 0.78, + 0.12, + 0.12 + ] + ] + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.05, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + } + } + } + }, + "plate": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "plate_1": { + "pos": [ + 1.8933826406452887, + 3.0837603349061844, + 0.37049999999999994 + ], + "ori": [ + 0.0, + 0.0, + 7.768379636824903 + ], + "primitive_params": { + "size": [ + 0.012, + 0.14, + 0.08 + ] + }, + "visual": { + "color": [ + [ + 0.35, + 0.35, + 0.4 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "bookend": { + "usd": [ + "$MAGICSIM_ASSETS/Object/MMB_A07/bookend_l/Object.usda" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "bookend_1": { + "pos": [ + 2.0008869014501767, + 3.0885212937668074, + 0.33099999999999996 + ], + "ori": [ + 0.0, + 0.0, + 97.7683796368249 + ], + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.6, + "physics_material": { + "static_friction": 0.2, + "dynamic_friction": 0.15, + "restitution": 0.0 + } + } + } + } + } + }, + "robot": { + "RidgebackSawyerUmi": { + "name": "ridgebacksawyer_umi", + "type": "mobilemanip", + "common": { + "pos": [ + [ + -3.4, + -2.2, + 0.05 + ], + [ + -3.4, + -2.2, + 0.05 + ] + ], + "ori": [ + [ + 0, + 0, + 40.0 + ], + [ + 0, + 0, + 40.0 + ] + ], + "initial_joint_pos": { + "dummy_base_.*": 0.0, + "head_pan": 0.0, + "right_j0": 0.0, + "right_j1": -1.6, + "right_j2": 0.0, + "right_j3": 0.5, + "right_j4": 0.0, + "right_j5": -2.32, + "right_j6": 0.0, + "right_gripper_l_finger_joint": 0.0, + "right_gripper_r_finger_joint": 0.0 + } + }, + "action": { + "base_action": "holonomic_action", + "arm_action": "ik_pink", + "eef_action": "binary" + }, + "planner": { + "dual_mode": true, + "base_joint_names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint" + ], + "ik": { + "type": "ridgebacksawyer_umi", + "model_tuning": "ridgeback_sawyer_umi", + "enable": true, + "ik_num_instances": 1, + "ik_batch_size": 1, + "ik_num_seeds": 32, + "ik_position_threshold": 0.005, + "ik_rotation_threshold": 0.05, + "microbatch_wait_ms": 20.0, + "relative_to_world_frame": false + }, + "motiongen": { + "type": "ridgebacksawyer_umi", + "model_tuning": "ridgeback_sawyer_umi", + "enable": true, + "motiongen_num_instances": 1, + "batch_size": 1, + "microbatch_wait_ms": 20.0, + "mode": "position", + "relative_to_world_frame": false, + "start_state_limit_inset": 0.002 + }, + "body": { + "type": "nav", + "dwb_type": "dwb_holonomic", + "dwb_holonomic": { + "device": "cpu", + "dt": 0.02, + "debug": false, + "num_rollout_steps": 60, + "num_speed_samples": 11, + "num_steer_samples": 11, + "num_vx_samples": 7, + "num_vy_samples": 7, + "num_yaw_samples": 7, + "max_accel": 1.5, + "max_steer_rate": 1.5, + "max_accel_vx": 1.5, + "max_accel_vy": 1.5, + "max_yaw_accel": 1.5, + "w_goal": 6.0, + "w_path": 8.0, + "w_vel": 0.2, + "w_vy": 0.0, + "goal_cost_mode": "path", + "dilate_radius": 0.36, + "room_size": 12.0, + "occupancy_update_interval": 25, + "scan_height": 0.35, + "scan_min_z": 0.12, + "scan_max_z": 1.65, + "goal_pos_threshold": 0.05, + "goal_yaw_threshold": 0.05, + "kp_goal_yaw": 1.5, + "heading_reference": "path", + "turn_yaw_threshold": 0.8, + "heading_lookahead": 0.8, + "heading_min_leg": 0.35, + "route_yaw_gain": 2.0, + "goal_yaw_hysteresis": 0.02, + "min_vx": -0.3, + "max_vx": 0.3, + "min_vy": -0.3, + "max_vy": 0.3, + "min_yaw_rate": -0.8, + "max_yaw_rate": 0.8, + "safety_enabled": true, + "safety_deceleration": 0.5, + "safety_reaction_time": 0.5, + "scan_type": "3d" + }, + "p_controller": { + "kp_angular_turning_only": 2.0, + "kd_angular_turning_only": 1.0, + "kp_linear_x": 3.0, + "kp_linear_y": 3.0, + "kp_angular": 2.0, + "kd_linear_x": 1.0, + "kd_linear_y": 1.0, + "min_vel": -0.4, + "max_vel": 0.5, + "linear_dead_zone": 0.01, + "angular_dead_zone": 0.05, + "nav_heading_target": -1, + "nav_upgrade_distance": 0.03 + } + }, + "arm": { + "type": "default" + }, + "eef": { + "type": "default" + } + }, + "physics": { + "robot_radius": 0.66, + "wheel_base": 0.01 + }, + "reset": "default" + } + }, + "camera": { + "enable_tiled": false, + "colorize_depth": false, + "head": { + "camera": { + "type": "camera", + "mesh": "pinhole", + "resolution": [ + 640, + 480 + ], + "frequency": 25, + "focal_length": 2.0, + "horizontal_aperture": 3.6, + "vertical_aperture": 2.7, + "clipping_range": [ + 0.05, + 30.0 + ], + "focus_distance": 3.0, + "mode": "RGB", + "mount_link": "Robot_0/head", + "pos": [ + 0.2166, + 0.0, + -0.045 + ], + "ori": [ + -0.0, + 35.0, + -90.0 + ] + }, + "annotator": { + "enabled": true, + "rgb_capture": { + "type": "rgb", + "device": "cpu" + } + } + }, + "wrist": { + "camera": { + "type": "camera", + "mesh": "pinhole", + "resolution": [ + 640, + 480 + ], + "frequency": 25, + "focal_length": 1.8, + "horizontal_aperture": 3.6, + "vertical_aperture": 2.7, + "clipping_range": [ + 0.05, + 30.0 + ], + "focus_distance": 3.0, + "mode": "RGB", + "mount_link": "Robot_0/right_electric_gripper_base", + "pos": [ + 0.0598, + 0.0, + 0.03 + ], + "ori": [ + 180.0, + 0.0, + -90.0 + ] + }, + "annotator": { + "enabled": true, + "rgb_capture": { + "type": "rgb", + "device": "cpu" + } + } + } + } + }, + "task": { + "new_seed_per_episode": true, + "observation": {}, + "reward": {}, + "termination": { + "timeout_steps": 30000, + "success_hold_frames": 10, + "fall_height": 0.02, + "fall_tilt": 1.0, + "lift_height": 0.12, + "grasp_distance": 0.25 + }, + "station": { + "robot": { + "key": "RidgebackSawyerUmi", + "embodiment": "sawyer_umi", + "base_link": "torso", + "tcp_in_wrist": [ + 0.17174, + 0.00789, + 0.0, + 0.5, + 0.5, + 0.5, + 0.5 + ], + "wrist_ref_back": 0.0, + "spawn_dz": 0.02, + "finger_joints": [ + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ], + "dwb": { + "key": "dwb_holonomic", + "add_floor": false + } + }, + "task_id": "N034", + "task_version": "EXT60-MobileAvatar-v3", + "family_id": "bookend_support", + "primary_category": "C2", + "stage": "full", + "layout": { + "floor_z": 0.03, + "start": { + "x": -3.4, + "y": -2.2, + "yaw_deg": 40.0, + "radius": 0.3, + "yaw_spread_deg": 20.0 + }, + "stations": { + "A": { + "center": [ + -0.5097529596441825, + 0.1397782788578793 + ], + "facing_deg": 84.58766399165198, + "standoff": 0.62, + "table": { + "width": 0.9, + "depth": 0.5, + "height": 0.3 + } + }, + "B": { + "center": [ + 1.9081042065674236, + 3.1866949039138808 + ], + "facing_deg": 97.7683796368249, + "standoff": 0.7, + "table": { + "width": 0.9, + "depth": 0.5, + "height": 0.3 + } + } + } + }, + "route": [ + "A", + "B" + ], + "book": "book", + "bookend": "bookend", + "plate": "plate", + "dr": { + "enabled": true, + "stations": { + "center_m": 0.25, + "facing_deg": 8.0 + }, + "objects": { + "across_m": 0.025, + "along_m": 0.02, + "yaw_deg": 8.0 + } + }, + "book_slot": { + "across": -0.001 + }, + "push": { + "height": 0.025, + "overshoot": -0.002 + }, + "place_check": { + "book": { + "at": { + "station": "B", + "across": -0.001, + "along": -0.1, + "z": 0.0725 + }, + "yaw_deg": 90.0, + "clearance": 0.004 + } + }, + "success": { + "upright_deg": 15.0, + "rest_z_tol": 0.02, + "contact_gap": 0.006, + "max_penetration": 0.01, + "min_push": 0.04, + "release_dist": 0.15, + "rest_speed": 0.03, + "lift": 0.08 + }, + "objects": { + "slot_left": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.01, + 0.12, + 0.035 + ], + "at": { + "station": "A", + "across": -0.0265, + "along": -0.12, + "z": 0.0175 + }, + "color": [ + 0.4, + 0.3, + 0.2 + ], + "pos": [ + -0.547453533303072, + 0.022812827780261308, + 0.3475 + ], + "yaw_deg": -5.412336008348021 + }, + "slot_right": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.01, + 0.12, + 0.035 + ], + "at": { + "station": "A", + "across": 0.0265, + "along": -0.12, + "z": 0.0175 + }, + "color": [ + 0.4, + 0.3, + 0.2 + ], + "pos": [ + -0.4946898242823923, + 0.017813726822985237, + 0.3475 + ], + "yaw_deg": -5.412336008348021 + }, + "book": { + "jitter": { + "across_m": 0.0, + "yaw_deg": 0.0 + }, + "asset": "Cube", + "type": "rigid", + "size": [ + 0.1, + 0.035, + 0.14 + ], + "yaw_deg": 84.58766399165198, + "at": { + "station": "A", + "across": 0.0, + "along": -0.13401384704484426, + "z": 0.0715 + }, + "mass": 0.05, + "color": [ + 0.78, + 0.12, + 0.12 + ], + "friction": { + "static": 1.5, + "dynamic": 1.5 + }, + "grasp": { + "part": "body", + "thin_axis": 1, + "min_elevation_deg": 60.0, + "approach_deg": [ + 0, + 15, + 30, + 45, + 60, + 75, + 90, + 105, + 120, + 135, + 150, + 165, + 180, + 195, + 210, + 225, + 240, + 255, + 270, + 285, + 300, + 315, + 330, + 345 + ], + "inset": 0.012 + }, + "pos": [ + -0.5223935021168264, + 0.006361908476444494, + 0.40149999999999997 + ] + }, + "plate": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.012, + 0.14, + 0.08 + ], + "at": { + "station": "B", + "across": -0.0285, + "along": -0.1, + "z": 0.0405 + }, + "color": [ + 0.35, + 0.35, + 0.4 + ], + "pos": [ + 1.8933826406452887, + 3.0837603349061844, + 0.37049999999999994 + ], + "yaw_deg": 7.768379636824903 + }, + "bookend": { + "jitter": { + "across_m": 0.01, + "yaw_deg": 0.0 + }, + "catalog": "bookend_l", + "type": "rigid", + "yaw_deg": 97.7683796368249, + "at": { + "station": "B", + "across": 0.07866118292937443, + "along": -0.10981395402756035, + "z": 0.001 + }, + "friction": { + "static": 0.2, + "dynamic": 0.15 + }, + "asset": "$MAGICSIM_ASSETS/Object/MMB_A07/bookend_l/Object.usda", + "parts": [ + { + "name": "wall", + "center": [ + 0.0, + 0.0, + 0.03 + ], + "half": [ + 0.06, + 0.006, + 0.03 + ], + "rpy_deg": [ + 0.0, + 0.0, + 0.0 + ] + }, + { + "name": "foot", + "center": [ + 0.0, + -0.036, + 0.004 + ], + "half": [ + 0.06, + 0.03, + 0.004 + ], + "rpy_deg": [ + 0.0, + 0.0, + 0.0 + ] + } + ], + "mass": 0.6, + "com": [ + 0.0, + -0.01, + 0.03 + ], + "pos": [ + 2.0008869014501767, + 3.0885212937668074, + 0.33099999999999996 + ] + } + }, + "report_jsonl": "/mnt/scratch/xc536_atomic/n034_saw_off_1024/out/report.episodes.jsonl", + "dr_applied": true, + "level": "easy" + }, + "command": { + "StationBookend": { + "obj_type": "rigid", + "obj_name": "book", + "obj_id": 0, + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.05, + "settle_ticks": 120 + }, + "StationBookendXR": { + "obj_type": "rigid", + "obj_name": "book", + "grasp_part": "body", + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.015, + "lift": 0.03, + "over_top": 0.005, + "pre_clear": 0.1, + "carry_ahead": 0.5, + "carry_z": 0.8, + "settle_ticks": 120, + "hover": 0.09, + "remeasure_lower": true, + "recenter_clear": 0.02, + "recenter_passes": 2, + "push_lead": 0.012, + "push_over": 0.06, + "withdraw_up": 0.2 + } + } + }, + "collect": { + "global_planner": { + "NavTo": { + "use_navmesh": true, + "use_absolute": true, + "translation_threshold": 0.12, + "rotation_threshold": 0.12, + "num_path_segments": 30, + "start_forward_offset": 0.0, + "visualize_path": false, + "carry_arm": true + }, + "RetractMoveL": { + "translation_threshold": 0.02, + "rotation_threshold": 0.2, + "motiongen_distance_threshold": 0.05, + "timeout_steps": 1800, + "base_pos_threshold": 0.12, + "base_rot_threshold": 0.5, + "eef_pos_threshold": 0.03, + "eef_rot_threshold": 0.3, + "base_waypoint_max_steps": 20, + "arm_waypoint_max_steps": 8, + "move_strategy_distance_threshold": 0.1, + "debug": false, + "debug_viz": false + }, + "MobileMoveL": { + "translation_threshold": 0.006, + "rotation_threshold": 0.08, + "motiongen_distance_threshold": 0.05, + "timeout_steps": 1800, + "stall_release_ticks": 100, + "stall_release_factor": 5.0, + "reactive": false, + "base_pos_threshold": 0.12, + "base_rot_threshold": 0.5, + "eef_pos_threshold": 0.03, + "eef_rot_threshold": 0.3, + "waypoint_max_steps": 20, + "interp_steps": 100, + "interp_validate_target": true, + "retry_mobile_on_locked_plan_failure": true, + "debug": false, + "debug_viz": false + }, + "MobileServoL": { + "base_pos_threshold": 0.12, + "waypoint_max_steps": 20, + "translation_threshold": 0.05, + "timeout_steps": 300 + }, + "ParallelGripper": { + "gripper_threshold": 0.0005, + "timeout_steps": 60 + } + }, + "atomic_skill": { + "NavToPose": { + "robot_id": 0, + "show_marker": false + }, + "Move": { + "arm_planner": "MobileMoveL", + "hand_planner": "ParallelGripper", + "obstacle_avoid_paths": [ + "dynamic/table_A", + "dynamic/table_B" + ], + "obstacle_ignore_paths": [], + "close_value": 1.0, + "open_value": 0.0, + "hold_steps": 10 + }, + "StationNavXR": { + "robot_id": 0, + "show_marker": false + }, + "ReachStance": { + "max_walks": 4 + } + }, + "command": { + "StationBookend": { + "obj_type": "rigid", + "obj_name": "book", + "obj_id": 0, + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.05, + "settle_ticks": 120 + }, + "StationBookendXR": { + "obj_type": "rigid", + "obj_name": "book", + "grasp_part": "body", + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.015, + "lift": 0.03, + "over_top": 0.005, + "pre_clear": 0.1, + "carry_ahead": 0.5, + "carry_z": 0.8, + "settle_ticks": 120, + "hover": 0.09, + "remeasure_lower": true, + "recenter_clear": 0.02, + "recenter_passes": 2, + "push_lead": 0.012, + "push_over": 0.06, + "withdraw_up": 0.2 + } + }, + "auto_collect": {}, + "record": { + "output_dir": "/mnt/scratch/xc536_atomic/n034_saw_off_1024/out/rec", + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "json_round": null, + "schema": { + "source": "robot_manager", + "nan_policy": "from_raw" + }, + "lerobot": { + "subsample_every": 2 + } + } + }, + "visual_dr": { + "keep": [ + "book", + "book_other", + "bookend" + ] + } + }, + "git_sha": null, + "collect_runtime": { + "max_trajectories": 1 + } +} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_off/seed_1024/rec/stationbookendxr/000/sim_info/0/actions.npz b/N034/sawyer_umi/dr_off/seed_1024/rec/stationbookendxr/000/sim_info/0/actions.npz new file mode 100644 index 0000000000000000000000000000000000000000..b4b0b921937a85a75dc8d6ef82081c4741307528 --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1024/rec/stationbookendxr/000/sim_info/0/actions.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e3dbe5ee26b39f10618b92c527efd5726d5c53d434f885615050ef7225a3e474 +size 564116 diff --git a/N034/sawyer_umi/dr_off/seed_1024/rec/stationbookendxr/000/sim_info/0/device_commands.jsonl b/N034/sawyer_umi/dr_off/seed_1024/rec/stationbookendxr/000/sim_info/0/device_commands.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N034/sawyer_umi/dr_off/seed_1024/rec/stationbookendxr/000/sim_info/0/device_events.jsonl b/N034/sawyer_umi/dr_off/seed_1024/rec/stationbookendxr/000/sim_info/0/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N034/sawyer_umi/dr_off/seed_1024/rec/stationbookendxr/000/sim_info/0/scene_snapshot.json b/N034/sawyer_umi/dr_off/seed_1024/rec/stationbookendxr/000/sim_info/0/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..fe6ab36d0df66418b728c73d96716c279ba6cc93 --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1024/rec/stationbookendxr/000/sim_info/0/scene_snapshot.json @@ -0,0 +1,509 @@ +{ + "trajectory_id": 0, + "env_id": 0, + "run_id": "stationbookendxr/000", + "task_type": "BookendXRCommand", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])", + "avatars": "avatar_manager.set_avatars_state(snapshot['avatars'], env_ids=[env_id]) (present when the scene has animated avatars)" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "table_A": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.5097529596441825, + 0.1397782788578793, + 0.18 + ], + "ori": [ + 0.9988847970962524, + 0.0, + 0.0, + -0.04721398279070854 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.45, + 0.35 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + } + }, + "type_specific": {} + } + ], + "table_B": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 1.9081042065674236, + 3.1866949039138808, + 0.18 + ], + "ori": [ + 0.9977030158042908, + 0.0, + 0.0, + 0.06773998588323593 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.45, + 0.35 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + } + }, + "type_specific": {} + } + ], + "slot_left": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.547453533303072, + 0.022812827780261308, + 0.3475 + ], + "ori": [ + 0.9988847970962524, + 0.0, + 0.0, + -0.04721398279070854 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.4, + 0.3, + 0.2 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.01, + 0.12, + 0.035 + ] + } + }, + "type_specific": {} + } + ], + "slot_right": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.4946898242823923, + 0.017813726822985237, + 0.3475 + ], + "ori": [ + 0.9988847970962524, + 0.0, + 0.0, + -0.04721398279070854 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.4, + 0.3, + 0.2 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.01, + 0.12, + 0.035 + ] + } + }, + "type_specific": {} + } + ], + "book": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.5223935842514038, + 0.006361912004649639, + 0.3999999761581421 + ], + "ori": [ + 0.7397034764289856, + 4.095282690741442e-08, + -4.5645347768186184e-07, + 0.6729328632354736 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.78, + 0.12, + 0.12 + ], + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.05, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.1, + 0.035, + 0.14 + ] + } + }, + "type_specific": { + "linear_velocity": [ + 0.00025073770666494966, + -2.7275174943497404e-05, + 4.812752376892604e-05 + ], + "angular_velocity": [ + 0.00040415042894892395, + 0.003153951372951269, + 0.00016481640341226012 + ] + } + } + ], + "plate": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 1.8933826406452887, + 3.0837603349061844, + 0.37049999999999994 + ], + "ori": [ + 0.9977030158042908, + 0.0, + 0.0, + 0.06773998588323593 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.35, + 0.35, + 0.4 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.012, + 0.14, + 0.08 + ] + } + }, + "type_specific": {} + } + ], + "bookend": [ + { + "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MMB_A07/bookend_l/Object.usda", + "pose": { + "pos": [ + 2.000886917114258, + 3.0885212421417236, + 0.3300001621246338 + ], + "ori": [ + 0.6575838327407837, + 7.152557373046875e-07, + 1.087784767150879e-06, + 0.7533813714981079 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.6, + "physics_material": { + "static_friction": 0.2, + "dynamic_friction": 0.15, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.0285173175361706e-06, + 5.050961817687494e-07, + -8.214573426812422e-06 + ], + "angular_velocity": [ + -4.76629393233452e-05, + 0.00015613864525221288, + -1.2222943041706458e-05 + ] + } + } + ] + } + ], + "artifacts": [ + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1000.0, + "texture": null, + "color": [ + 0.85, + 0.85, + 0.85 + ] + } + } + }, + "robots": { + "RidgebackSawyerUmi": { + "root_pose": [ + [ + -3.5439064502716064, + -2.340108871459961, + 0.05000000074505806, + 0.9481925964355469, + 0.0, + 0.0, + 0.31769609451293945 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.600000023841858, + 0.0, + 0.5, + 0.0, + -2.319999933242798, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "head": [ + [ + 0.21660000085830688, + 0.0, + -0.04500000178813934, + -0.6743797063827515, + 0.21263112127780914, + -0.21263112127780914, + 0.6743797659873962 + ] + ], + "wrist": [ + [ + 0.05979999899864197, + 0.0, + 0.029999999329447746, + 6.123234262925839e-17, + 0.7071067690849304, + 0.7071067690849304, + -4.329780301713277e-17 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_off/seed_1024/rec/stationbookendxr/000/sim_info/0/sim_states.npz b/N034/sawyer_umi/dr_off/seed_1024/rec/stationbookendxr/000/sim_info/0/sim_states.npz new file mode 100644 index 0000000000000000000000000000000000000000..a3ae672c75c1b7c53fcce699fe123c4abd7bba4e --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1024/rec/stationbookendxr/000/sim_info/0/sim_states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c4eba6be39e7ab1107856c3faf74c3a9819045651b797f313df13e158d5888ab +size 709832 diff --git a/N034/sawyer_umi/dr_off/seed_1024/rec/stationbookendxr/000/sim_info/magicsim_manifest.json b/N034/sawyer_umi/dr_off/seed_1024/rec/stationbookendxr/000/sim_info/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..b43d28dd7784bd2eba6ad3c9207aaa192c3e6216 --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1024/rec/stationbookendxr/000/sim_info/magicsim_manifest.json @@ -0,0 +1,233 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 03:13:54" + }, + "embodiment": { + "robots": [ + { + "name": "RidgebackSawyerUmi", + "cfg": "RidgebackSawyerUmiCfg", + "type": "mobilemanip", + "joint_names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 11, + "nan_policy": "from_raw", + "segments": [ + { + "name": "RidgebackSawyerUmi.base_action", + "start": 0, + "end": 3, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint" + ], + "source": "HolonomicAction", + "names_source": "_joint_names" + }, + { + "name": "RidgebackSawyerUmi.arm_action", + "start": 3, + "end": 10, + "names": [ + "frame0.pos_x", + "frame0.pos_y", + "frame0.pos_z", + "frame0.quat_w", + "frame0.quat_x", + "frame0.quat_y", + "frame0.quat_z" + ], + "source": "PinkInverseKinematicsAction", + "names_source": "pink_layout" + }, + { + "name": "RidgebackSawyerUmi.eef_action", + "start": 10, + "end": 11, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 15, + "segments": [ + { + "name": "RidgebackSawyerUmi.joint_pos", + "start": 0, + "end": 13, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ], + "source": "ObservationManager", + "names_source": "joint_names" + }, + { + "name": "RidgebackSawyerUmi.gripper_pos", + "start": 13, + "end": 15, + "names": [ + "gripper_0", + "gripper_1" + ], + "source": "ObservationManager", + "names_source": "generated" + } + ] + }, + "joint_vel_layout": { + "dim": 13, + "segments": [ + { + "name": "RidgebackSawyerUmi.joint_vel", + "start": 0, + "end": 13, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "action_levels": { + "L0": "task command list (collect.auto_collect_info.current_action)", + "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)", + "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)", + "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy", + "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)" + }, + "cameras": { + "head": { + "intrinsics": { + "K": [ + [ + 355.55555555555554, + 0.0, + 320.0 + ], + [ + 0.0, + 355.55555555555554, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 83.97442499163331, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.21660000085830688, + 0.0, + -0.04500000178813934 + ], + "quat": [ + -0.6743797063827515, + 0.21263112127780914, + -0.21263112127780914, + 0.6743797659873962 + ] + }, + "wrist": { + "intrinsics": { + "K": [ + [ + 320.0, + 0.0, + 320.0 + ], + [ + 0.0, + 320.0, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 90.0, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.05979999899864197, + 0.0, + 0.029999999329447746 + ], + "quat": [ + 6.123234262925839e-17, + 0.7071067690849304, + 0.7071067690849304, + -4.329780301713277e-17 + ] + } + }, + "generated_run": { + "run_id": "stationbookendxr/000", + "task_type": "BookendXRCommand" + } +} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_off/seed_1024/report.episodes.jsonl b/N034/sawyer_umi/dr_off/seed_1024/report.episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5504f5591209681905944980585766914a73c8cf --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1024/report.episodes.jsonl @@ -0,0 +1 @@ +{"task_id": "N034", "task_version": "EXT60-MobileAvatar-v3", "instruction": null, "agent_id": "a07", "family_id": "bookend_support", "primary_category": "C2", "level": "easy", "embodiment": "sawyer_umi", "scene_seed": 1024, "execution_mode": "expert_privileged_command", "station_layout": {"A": {"center": [-0.5097529596441825, 0.1397782788578793], "facing": 1.476, "stand": [-0.592, -0.726, 1.476]}, "B": {"center": [1.9081042065674236, 3.1866949039138808], "facing": 1.706, "stand": [2.037, 2.245, 1.706]}}, "spawn_pose": [-3.544, -2.34, 0.647], "base_path": [[-3.544, -2.34, 0.647], [-3.544, -2.34, 0.647], [-3.544, -2.34, 0.647], [-3.544, -2.34, 0.647], [-3.544, -2.34, 0.646], [-3.452, -2.28, 0.564], [-3.321, -2.205, 0.528], [-3.189, -2.135, 0.515], [-3.056, -2.065, 0.51], [-2.925, -1.992, 0.508], [-2.794, -1.919, 0.508], [-2.662, -1.847, 0.507], [-2.531, -1.774, 0.507], [-2.4, -1.7, 0.507], [-2.269, -1.627, 0.507], [-2.138, -1.555, 0.507], [-2.007, -1.482, 0.507], [-1.876, -1.409, 0.507], [-1.744, -1.336, 0.507], [-1.613, -1.263, 0.507], [-1.482, -1.19, 0.507], [-1.351, -1.117, 0.507], [-1.219, -1.045, 0.507], [-1.088, -0.972, 0.507], [-0.957, -0.899, 0.507], [-0.832, -0.838, 0.507], [-0.748, -0.797, 0.507], [-0.693, -0.771, 0.507], [-0.657, -0.755, 0.507], [-0.637, -0.744, 0.587], [-0.636, -0.744, 0.985], [-0.636, -0.744, 1.247], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.636, -0.744, 1.359], [-0.635, -0.745, 1.152], [-0.635, -0.745, 0.752], [-0.61, -0.732, 0.416], [-0.469, -0.689, 0.26], [-0.32, -0.666, 0.203], [-0.171, -0.647, 0.183], [-0.029, -0.617, 0.259], [0.108, -0.558, 0.448], [0.24, -0.486, 0.765], [0.341, -0.376, 0.922], [0.424, -0.251, 0.979], [0.501, -0.122, 0.999], [0.577, 0.008, 1.006], [0.656, 0.136, 1.009], [0.735, 0.264, 1.01], [0.815, 0.391, 1.01], [0.894, 0.519, 1.01], [0.974, 0.647, 1.01], [1.054, 0.774, 1.01], [1.133, 0.902, 1.01], [1.213, 1.03, 1.01], [1.292, 1.157, 1.01], [1.372, 1.285, 1.01], [1.451, 1.413, 1.01], [1.531, 1.54, 1.01], [1.61, 1.668, 1.01], [1.69, 1.796, 1.01], [1.769, 1.923, 1.01], [1.858, 2.035, 1.01], [1.92, 2.109, 1.01], [1.961, 2.159, 1.01], [1.987, 2.19, 1.01], [2.002, 2.211, 1.058], [2.002, 2.21, 1.396], [2.002, 2.21, 1.562], [2.003, 2.21, 1.59], [2.003, 2.21, 1.59], [2.003, 2.21, 1.59], [2.003, 2.21, 1.59], [2.003, 2.21, 1.59], [2.003, 2.21, 1.59], [2.003, 2.21, 1.59], [2.003, 2.21, 1.59], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589], [2.003, 2.21, 1.589]], "stage_events": [{"tick": 538, "event": "enter_station", "station": "A", "xy": [-1.288, -1.081]}, {"tick": 3000, "event": "leave_station", "station": "A", "xy": [0.891, 0.514]}, {"tick": 3244, "event": "enter_station", "station": "B", "xy": [1.667, 1.76]}], "transport_state": {"book": {"held": false, "grasps": 1}}, "manipulation_success": true, "mobile_success": true, "full_success": true, "failure_reason": null, "fail_class_hint": null, "distance_to_first_interaction": 2.584, "interstation_path_lengths": [4.326], "station_transition_order": ["A", "B"], "final_approach_pose": [2.003, 2.21, 1.589], "regrasp_events": 0, "control_ticks": 4991, "wall_s": 1024.7, "phase": "done", "state": "success: task sequence complete", "check": {"book": [1.92, 3.087, 0.4], "dist_wrist": 0.221, "held": false, "upright_deg": 0.0, "rest_z": true, "gaps": {"plate": 0.003, "bookend": 0.0017}, "pushed": true, "released": true, "at_rest": true, "manipulation_success": true}, "route": ["A", "B"], "total_path_m": 7.47, "planner_seeds": "default"} diff --git a/N034/sawyer_umi/dr_off/seed_1024/report.json b/N034/sawyer_umi/dr_off/seed_1024/report.json new file mode 100644 index 0000000000000000000000000000000000000000..c9bed3cc147de38ec1c2ef1e566c1b75698da667 --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1024/report.json @@ -0,0 +1,1346 @@ +{ + "task_id": "N034", + "robot": "sawyer_umi", + "level": "easy", + "seed": 1024, + "episodes_requested": 1, + "episodes": [ + { + "task_id": "N034", + "task_version": "EXT60-MobileAvatar-v3", + "instruction": null, + "agent_id": "a07", + "family_id": "bookend_support", + "primary_category": "C2", + "level": "easy", + "embodiment": "sawyer_umi", + "scene_seed": 1024, + "execution_mode": "expert_privileged_command", + "station_layout": { + "A": { + "center": [ + -0.5097529596441825, + 0.1397782788578793 + ], + "facing": 1.476, + "stand": [ + -0.592, + -0.726, + 1.476 + ] + }, + "B": { + "center": [ + 1.9081042065674236, + 3.1866949039138808 + ], + "facing": 1.706, + "stand": [ + 2.037, + 2.245, + 1.706 + ] + } + }, + "spawn_pose": [ + -3.544, + -2.34, + 0.647 + ], + "base_path": [ + [ + -3.544, + -2.34, + 0.647 + ], + [ + -3.544, + -2.34, + 0.647 + ], + [ + -3.544, + -2.34, + 0.647 + ], + [ + -3.544, + -2.34, + 0.647 + ], + [ + -3.544, + -2.34, + 0.646 + ], + [ + -3.452, + -2.28, + 0.564 + ], + [ + -3.321, + -2.205, + 0.528 + ], + [ + -3.189, + -2.135, + 0.515 + ], + [ + -3.056, + -2.065, + 0.51 + ], + [ + -2.925, + -1.992, + 0.508 + ], + [ + -2.794, + -1.919, + 0.508 + ], + [ + -2.662, + -1.847, + 0.507 + ], + [ + -2.531, + -1.774, + 0.507 + ], + [ + -2.4, + -1.7, + 0.507 + ], + [ + -2.269, + -1.627, + 0.507 + ], + [ + -2.138, + -1.555, + 0.507 + ], + [ + -2.007, + -1.482, + 0.507 + ], + [ + -1.876, + -1.409, + 0.507 + ], + [ + -1.744, + -1.336, + 0.507 + ], + [ + -1.613, + -1.263, + 0.507 + ], + [ + -1.482, + -1.19, + 0.507 + ], + [ + -1.351, + -1.117, + 0.507 + ], + [ + -1.219, + -1.045, + 0.507 + ], + [ + -1.088, + -0.972, + 0.507 + ], + [ + -0.957, + -0.899, + 0.507 + ], + [ + -0.832, + -0.838, + 0.507 + ], + [ + -0.748, + -0.797, + 0.507 + ], + [ + -0.693, + -0.771, + 0.507 + ], + [ + -0.657, + -0.755, + 0.507 + ], + [ + -0.637, + -0.744, + 0.587 + ], + [ + -0.636, + -0.744, + 0.985 + ], + [ + -0.636, + -0.744, + 1.247 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.636, + -0.744, + 1.359 + ], + [ + -0.635, + -0.745, + 1.152 + ], + [ + -0.635, + -0.745, + 0.752 + ], + [ + -0.61, + -0.732, + 0.416 + ], + [ + -0.469, + -0.689, + 0.26 + ], + [ + -0.32, + -0.666, + 0.203 + ], + [ + -0.171, + -0.647, + 0.183 + ], + [ + -0.029, + -0.617, + 0.259 + ], + [ + 0.108, + -0.558, + 0.448 + ], + [ + 0.24, + -0.486, + 0.765 + ], + [ + 0.341, + -0.376, + 0.922 + ], + [ + 0.424, + -0.251, + 0.979 + ], + [ + 0.501, + -0.122, + 0.999 + ], + [ + 0.577, + 0.008, + 1.006 + ], + [ + 0.656, + 0.136, + 1.009 + ], + [ + 0.735, + 0.264, + 1.01 + ], + [ + 0.815, + 0.391, + 1.01 + ], + [ + 0.894, + 0.519, + 1.01 + ], + [ + 0.974, + 0.647, + 1.01 + ], + [ + 1.054, + 0.774, + 1.01 + ], + [ + 1.133, + 0.902, + 1.01 + ], + [ + 1.213, + 1.03, + 1.01 + ], + [ + 1.292, + 1.157, + 1.01 + ], + [ + 1.372, + 1.285, + 1.01 + ], + [ + 1.451, + 1.413, + 1.01 + ], + [ + 1.531, + 1.54, + 1.01 + ], + [ + 1.61, + 1.668, + 1.01 + ], + [ + 1.69, + 1.796, + 1.01 + ], + [ + 1.769, + 1.923, + 1.01 + ], + [ + 1.858, + 2.035, + 1.01 + ], + [ + 1.92, + 2.109, + 1.01 + ], + [ + 1.961, + 2.159, + 1.01 + ], + [ + 1.987, + 2.19, + 1.01 + ], + [ + 2.002, + 2.211, + 1.058 + ], + [ + 2.002, + 2.21, + 1.396 + ], + [ + 2.002, + 2.21, + 1.562 + ], + [ + 2.003, + 2.21, + 1.59 + ], + [ + 2.003, + 2.21, + 1.59 + ], + [ + 2.003, + 2.21, + 1.59 + ], + [ + 2.003, + 2.21, + 1.59 + ], + [ + 2.003, + 2.21, + 1.59 + ], + [ + 2.003, + 2.21, + 1.59 + ], + [ + 2.003, + 2.21, + 1.59 + ], + [ + 2.003, + 2.21, + 1.59 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ], + [ + 2.003, + 2.21, + 1.589 + ] + ], + "stage_events": [ + { + "tick": 538, + "event": "enter_station", + "station": "A", + "xy": [ + -1.288, + -1.081 + ] + }, + { + "tick": 3000, + "event": "leave_station", + "station": "A", + "xy": [ + 0.891, + 0.514 + ] + }, + { + "tick": 3244, + "event": "enter_station", + "station": "B", + "xy": [ + 1.667, + 1.76 + ] + } + ], + "transport_state": { + "book": { + "held": false, + "grasps": 1 + } + }, + "manipulation_success": true, + "mobile_success": true, + "full_success": true, + "failure_reason": null, + "fail_class_hint": null, + "distance_to_first_interaction": 2.584, + "interstation_path_lengths": [ + 4.326 + ], + "station_transition_order": [ + "A", + "B" + ], + "final_approach_pose": [ + 2.003, + 2.21, + 1.589 + ], + "regrasp_events": 0, + "control_ticks": 4991, + "wall_s": 1024.7, + "phase": "done", + "state": "success: task sequence complete", + "check": { + "book": [ + 1.92, + 3.087, + 0.4 + ], + "dist_wrist": 0.221, + "held": false, + "upright_deg": 0.0, + "rest_z": true, + "gaps": { + "plate": 0.003, + "bookend": 0.0017 + }, + "pushed": true, + "released": true, + "at_rest": true, + "manipulation_success": true + }, + "route": [ + "A", + "B" + ], + "total_path_m": 7.47, + "planner_seeds": "default" + } + ], + "error": null, + "collect": { + "task": "N034", + "robot": "sawyer_umi", + "visual_dr": false, + "env": { + "MMB_COLLECT": "1", + "MMB_TASK_ID": "N034", + "MMB_CLEAN_VIEW": "1", + "MMB_REAL_ROBOT_LOOK": "1", + "MMB_VISUAL_DR": "0" + }, + "cameras": { + "head": { + "link": "Robot_0/head", + "pos": [ + 0.2166, + 0.0, + -0.045 + ], + "ori": [ + -0.0, + 35.0, + -90.0 + ], + "focal_length": 2.0, + "horizontal_aperture": 3.6, + "vertical_aperture": 2.7 + }, + "wrist": { + "link": "Robot_0/right_electric_gripper_base", + "pos": [ + 0.0598, + 0.0, + 0.03 + ], + "ori": [ + 180.0, + 0.0, + -90.0 + ], + "focal_length": 1.8, + "horizontal_aperture": 3.6, + "vertical_aperture": 2.7 + } + }, + "resolution": [ + 640, + 480 + ], + "camera_hz": 25, + "record": { + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + } + }, + "review_cameras": [], + "policy_obs_signature": [ + "/camera_info[0]/rgb[0]:(480, 640, 4):uint8", + "/camera_info[1]/rgb[0]:(480, 640, 4):uint8", + "/robot_state[0]/RidgebackSawyerUmi/base_ang_vel:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/base_heading_quat:(1, 4):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/base_lin_vel:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/base_pos:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/base_quat:(1, 4):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/eef_pos:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/eef_quat:(1, 4):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/eef_relative_pos:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/eef_relative_quat:(1, 4):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/eef_relatvie_pos_arm_base:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/gripper_pos:(1, 2):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/joint_effort:(1, 13):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/joint_pos:(1, 13):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/joint_vel:(1, 13):torch.float32" + ], + "n_success": 1, + "elapsed_s": 1292.5, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 40.4 + } +} diff --git a/N034/sawyer_umi/dr_off/seed_1025/check.json b/N034/sawyer_umi/dr_off/seed_1025/check.json new file mode 100644 index 0000000000000000000000000000000000000000..703f37e5a1268d8d55cb2266ad5efa78f154d7d1 --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1025/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'; expected 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "2717 rows vs ceil(5434/2) = 2717" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..5533, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "29.79 MB, 2717 frames at 25 fps, mean luma 84..149, std 31, new picture 2716x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2717 vs 2717" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "48.04 MB, 2717 frames at 25 fps, mean luma 91..152, std 29, new picture 2716x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2717 vs 2717" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationbookendxr/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_off/seed_1025/check.txt b/N034/sawyer_umi/dr_off/seed_1025/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..e8496a3633d5928896d41bdadb54f82cdd95dfa9 --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1025/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n034_saw_off_1025/out task=N034 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n034_saw_off_1025/out/rec/stationbookendxr/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2717 videos 2 robot_type RidgebackSawyerUmiCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 2717 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1'] +[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z'] +[PASS] task text = MobileBench instruction: task_index 0: 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'; expected 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.' +rows 2717 at dataset fps 25 = 108.68 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2717 rows vs ceil(5434/2) = 2717 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..5533, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 29.79 MB, 2717 frames at 25 fps, mean luma 84..149, std 31, new picture 2716x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2717 vs 2717 +[PASS] video observation.images.wrist decodes, 640x480, not black: 48.04 MB, 2717 frames at 25 fps, mean luma 91..152, std 29, new picture 2716x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2717 vs 2717 +parquet size 2.68 MB +[PASS] sim_info present: rec/stationbookendxr/000/sim_info +dataset size 80.70 MB; whole cell dir 82.1 MB +RESULT: ALL PASS diff --git a/N034/sawyer_umi/dr_off/seed_1025/rec/stationbookendxr/000/completed/0.json b/N034/sawyer_umi/dr_off/seed_1025/rec/stationbookendxr/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..2218f14552b5319a4951e60bfd54adf3df3cac5e --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1025/rec/stationbookendxr/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationbookendxr/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_off/seed_1025/rec/stationbookendxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N034/sawyer_umi/dr_off/seed_1025/rec/stationbookendxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..c4e53b0f173fb167528d24c7b1ac06e3afebbce1 --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1025/rec/stationbookendxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:feea66140a3826492b9c58a13f4b732e2d7a56bcbea539e57f663194427c5e49 +size 2683805 diff --git a/N034/sawyer_umi/dr_off/seed_1025/rec/stationbookendxr/000/lerobot_v21/meta/episodes.jsonl b/N034/sawyer_umi/dr_off/seed_1025/rec/stationbookendxr/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..da7adddac4471ab135f4eda96329759d0e8e0aa7 --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1025/rec/stationbookendxr/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it."], "length": 2717, "magicsim/control_steps": 5434, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the brown slot left. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is to the left of the brown slot left. The gray table B is to the left of the bookend. The red book is on top of the brown slot left. The gray plate is to the left of the bookend. The bookend is to the right of the gray plate. The scene is viewed from front, at table height."} diff --git a/N034/sawyer_umi/dr_off/seed_1025/rec/stationbookendxr/000/lerobot_v21/meta/episodes_stats.jsonl b/N034/sawyer_umi/dr_off/seed_1025/rec/stationbookendxr/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..90b9c643185970c01ff27133eda1b4ca33019172 --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1025/rec/stationbookendxr/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.06583578083259703, -0.0007956880609236485, 0.005977765191496371, 0.7008025161880845, 1.0880535305931858, 0.9216552977619866, 0.011276443898170518, -0.12461414414378795, 0.002699551928472127, 0.20378159289308273, 0.6061832903938167], "std": [0.12076373131247907, 0.00821390891380588, 0.14691741509251247, 1.4083827759448184, 1.5692475850041963, 0.24375173928124505, 0.28207712939469093, 0.6096819629544838, 0.18463039153099456, 0.6763444699667852, 0.48859503562882384], "min": [0.0, -0.06251794099807739, -0.800000011920929, -3.3108062744140625, -1.5115833282470703, 0.5874999761581421, -0.6789171099662781, -0.8820143938064575, -0.3592422902584076, -0.7878236770629883, 0.0], "max": [0.30000001192092896, 0.06541302055120468, 0.800000011920929, 2.334974765777588, 2.9464428424835205, 1.3731156587600708, 0.7312080264091492, 0.7584224939346313, 0.48759689927101135, 0.9694313406944275, 1.0], "count": [2717]}, "action_is_hold": {"mean": [0.09054103790945896, 0.09054103790945896, 0.09054103790945896, 0.10526315789473684, 0.10526315789473684, 0.10526315789473684, 0.10526315789473684, 0.10526315789473684, 0.10526315789473684, 0.10526315789473684, 0.9907986750092014], "std": [0.28695532468267254, 0.28695532468267254, 0.28695532468267254, 0.3068922049918535, 0.3068922049918535, 0.3068922049918535, 0.3068922049918535, 0.3068922049918535, 0.3068922049918535, 0.3068922049918535, 0.09548120552868977], "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": [2717]}, "observation.state": {"mean": [1.0377110745216231, -3.3270247061988822, 1.2770640629045131, 1.8045017679970556, -1.8028167517607967, -2.5057165874555616, -0.5575208241357021, 1.3969822904951308, 1.5990414965489257, -2.1516151343543255, -0.2483589943656619, 0.014038365541412627, -0.014576211335116681, -0.014576211335116681, -0.014038365541412627], "std": [2.0166751621376915, 0.27354245749191214, 0.40366634082951736, 1.0720275460802402, 1.0724625093338604, 0.5605903798185439, 0.3326941194258588, 0.4772082743405383, 0.988422336732484, 0.23829621688586686, 0.39840659316170235, 0.00852243577641249, 0.008791290821686788, 0.008791290821686788, 0.00852243577641249], "min": [-3.4854512214660645, -3.781740427017212, 0.3124735951423645, -0.029336581006646156, -3.0405545234680176, -3.3762335777282715, -1.0538434982299805, 0.4969417154788971, -0.0676102563738823, -2.5091538429260254, -0.9367517828941345, 0.0, -0.020833000540733337, -0.020833000540733337, -0.020833000540733337], "max": [3.1942977905273438, -1.940857172012329, 1.5077494382858276, 3.0406835079193115, 0.028484340757131577, -1.572554111480713, 0.0007895747548900545, 2.159686326980591, 2.8939669132232666, -1.303775668144226, 0.8946154117584229, 0.020833000540733337, 0.0, 0.0, -0.0], "count": [2717]}, "observation.joint_vel": {"mean": [0.0614620959159327, -0.012945878062169158, 0.006544577912161412, 0.027827268793205566, -0.02244871077948315, -0.013289247927562963, -0.005634497567648699, 0.005265167315419493, 0.009393865190765384, -0.00266276659288792, 0.008907134257478721, -0.0015349317324388162, 0.0001745402479115483], "std": [0.11278626548138397, 0.04784143092537117, 0.14878658813202378, 0.09270775556702339, 0.08106780764404584, 0.06661062922779248, 0.06832652334626735, 0.07053309980227188, 0.11534247601257722, 0.08567078095604504, 0.08159366856438643, 0.008556845448498681, 0.008811926101910193], "min": [-0.00031051572295837104, -0.1653924137353897, -0.8000154495239258, -0.19666296243667603, -0.2853206992149353, -0.3979945182800293, -1.1827478408813477, -0.5361782312393188, -1.2112787961959839, -1.3954708576202393, -0.3568671643733978, -0.10001514106988907, -0.10008682310581207], "max": [0.3022250831127167, 0.05266283452510834, 1.4468127489089966, 0.25984376668930054, 1.2841277122497559, 0.18747715651988983, 0.612526535987854, 0.2052394449710846, 0.33116912841796875, 0.32530876994132996, 0.41181695461273193, 0.10001005232334137, 0.10009238868951797], "count": [2717]}, "observation.eef_pose": {"mean": [0.7021121569963314, 1.0830417431021684, 0.9239878093314425, -0.08228440959497403, 0.4078293314335932, 0.008146941841620764, -0.2284046648413678], "std": [1.4095509048743762, 1.5659938733032432, 0.24662540396877203, 0.26864420481241036, 0.46832383601480426, 0.1846252143073373, 0.6701387599744972], "min": [-3.3108062744140625, -1.5152288675308228, 0.5884575247764587, -0.7257572412490845, -0.7067545056343079, -0.48909685015678406, -0.7957733273506165], "max": [2.335019826889038, 2.9586055278778076, 1.3740719556808472, 0.49040353298187256, 0.884806215763092, 0.48887231945991516, 0.9697084426879883], "count": [2717]}, "observation.environment_state": {"mean": [0.7961337760608077, 1.2365915793467919, 0.5106914233626098, 0.7123387123145818, 0.013175666909874666, 0.001539969172019641, 0.6909132513341371, 2.125948984130674, 2.9387333694081734, 0.3300000415332711, 0.6879962825318843, -2.959172184915757e-07, 4.793380924506995e-08, 0.7257134309357302, 2.0168514251708984, 2.9269614219665527, 0.37049999833106995, 0.9996374845504761, 0.0, 0.0, 0.026923958212137222, -0.4663628041744232, -0.008511291816830635, 0.3474999964237213, 0.9997389912605286, 0.0, 0.0, 0.02284621074795723, -0.41341814398765564, -0.006090178620070219, 0.3474999964237213, 0.9997389912605286, 0.0, 0.0, 0.02284621074795723, -0.44537225365638733, 0.11257398873567581, 0.18000000715255737, 0.9997389912605286, 0.0, 0.0, 0.02284621074795723, 2.0399272441864014, 3.028350591659546, 0.18000000715255737, 0.9996374845504761, 0.0, 0.0, 0.026923958212137222], "std": [1.2017312757934597, 1.396105558207316, 0.14542705516514548, 0.06684177568399174, 0.023527029128339337, 0.03172536486176442, 0.09491379697549918, 0.012351601844118125, 0.0017178338982073939, 6.346709998766069e-08, 0.0007731582589693736, 2.348385197829454e-06, 2.604494347927257e-06, 0.0007361326722224314, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 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": [-0.4391592741012573, -0.4999171197414398, 0.39999979734420776, 0.6565617322921753, -0.0014224188635125756, -0.0761418268084526, 0.2237827628850937, 2.0688118934631348, 2.930849552154541, 0.32999974489212036, 0.687220573425293, -4.1112303733825684e-05, -4.534423351287842e-05, 0.7223841547966003, 2.0168514251708984, 2.9269614219665527, 0.37049999833106995, 0.9996374845504761, 0.0, 0.0, 0.026923958212137222, -0.4663628041744232, -0.008511291816830635, 0.3474999964237213, 0.9997389912605286, 0.0, 0.0, 0.02284621074795723, -0.41341814398765564, -0.006090178620070219, 0.3474999964237213, 0.9997389912605286, 0.0, 0.0, 0.02284621074795723, -0.44537225365638733, 0.11257398873567581, 0.18000000715255737, 0.9997389912605286, 0.0, 0.0, 0.02284621074795723, 2.0399272441864014, 3.028350591659546, 0.18000000715255737, 0.9996374845504761, 0.0, 0.0, 0.026923958212137222], "max": [2.341615915298462, 2.9278976917266846, 0.7586067914962769, 0.9742740392684937, 0.1088651567697525, 0.11809173971414566, 0.7503665089607239, 2.1287779808044434, 2.939131498336792, 0.33000078797340393, 0.6914919018745422, 1.0579824447631836e-06, 1.564621925354004e-06, 0.7264487743377686, 2.0168514251708984, 2.9269614219665527, 0.37049999833106995, 0.9996374845504761, 0.0, 0.0, 0.026923958212137222, -0.4663628041744232, -0.008511291816830635, 0.3474999964237213, 0.9997389912605286, 0.0, 0.0, 0.02284621074795723, -0.41341814398765564, -0.006090178620070219, 0.3474999964237213, 0.9997389912605286, 0.0, 0.0, 0.02284621074795723, -0.44537225365638733, 0.11257398873567581, 0.18000000715255737, 0.9997389912605286, 0.0, 0.0, 0.02284621074795723, 2.0399272441864014, 3.028350591659546, 0.18000000715255737, 0.9996374845504761, 0.0, 0.0, 0.026923958212137222], "count": [2717]}, "action.command": {"mean": [-1.8438800524842616, -1.312883701408282, 1.6209016667368512, 0.0, 0.0, 0.0, 0.0, -0.052241875771287534, 0.6187704820500044, 0.9766074460864079, 0.9341460938367369, 0.007471713915556142, -0.1625350060739031, -0.00687465795348318, 0.2460445523053616, 0.6, -1.8208016584782551, -1.3048010067238163, 1.6209016667368512, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07215943565825, 0.10807484741477917, 1.1733242915943265, -0.21713727877552932, 0.3179801454777286, -0.1405709873555073, 0.07477264230449994, 0.0, -1.7876192308807124, -1.2932516210712492, 1.6209016667368512, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07215943565825, 0.10807484741477917, 1.1733242915943265, -0.21713727877552932, 0.3179801454777286, -0.1405709873555073, 0.07477264230449994, 0.0, -1.6598057582741603, -1.250318295167138, 1.6209016667368512, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07215943565825, 0.10807484741477917, 1.1733242915943265, -0.21713727877552932, 0.3179801454777286, -0.1405709873555073, 0.07477264230449994, 0.0, -1.5631302753463387, -1.21684740902856, 1.6209016667368512, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07215943565825, 0.10807484741477917, 1.1733242915943265, -0.21713727877552932, 0.3179801454777286, -0.1405709873555073, 0.07477264230449994, 0.0, -1.5020851472509094, -1.197017550856496, 1.6209016667368512, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07215943565825, 0.10807484741477917, 1.1733242915943265, -0.21713727877552932, 0.3179801454777286, -0.1405709873555073, 0.07477264230449994, 0.0, -1.4212113340715102, -1.1704923742605995, 1.6209016667368512, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07215943565825, 0.10807484741477917, 1.1733242915943265, -0.21713727877552932, 0.3179801454777286, -0.1405709873555073, 0.07477264230449994, 0.0, -1.3463294345807906, -1.1443947971177597, 1.6209016667368512, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07215943565825, 0.10807484741477917, 1.1733242915943265, -0.21713727877552932, 0.3179801454777286, -0.1405709873555073, 0.07477264230449994, 0.0, -1.2992453365489685, -1.1282074411865324, 1.6209016667368512, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07215943565825, 0.10807484741477917, 1.1733242915943265, -0.21713727877552932, 0.3179801454777286, -0.1405709873555073, 0.07477264230449994, 0.0, -1.194520077202469, -1.0930242167475324, 1.6209016667368512, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07215943565825, 0.10807484741477917, 1.1733242915943265, -0.21713727877552932, 0.3179801454777286, -0.1405709873555073, 0.07477264230449994, 0.0, -1.1124344339283805, -1.0640031839720905, 1.6209016667368512, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07215943565825, 0.10807484741477917, 1.1733242915943265, -0.21713727877552932, 0.3179801454777286, -0.1405709873555073, 0.07477264230449994, 0.0, -1.062884524348192, -1.0480478736571968, 1.6209016667368512, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07215943565825, 0.10807484741477917, 1.1733242915943265, -0.21713727877552932, 0.3179801454777286, -0.1405709873555073, 0.07477264230449994, 0.0, -1.0141296110038336, -0.9848241125776743, 1.6209016667368512, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07215943565825, 0.10807484741477917, 1.1733242915943265, -0.21713727877552932, 0.3179801454777286, -0.1405709873555073, 0.07477264230449994, 0.0, -0.9436682019537935, -0.9450612427511563, 1.6209016667368512, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07215943565825, 0.10807484741477917, 1.1733242915943265, -0.21713727877552932, 0.3179801454777286, -0.1405709873555073, 0.07477264230449994, 0.0, -0.8795532724276806, -0.8830428922083229, 1.6209016667368512, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07215943565825, 0.10807484741477917, 1.1733242915943265, -0.21713727877552932, 0.3179801454777286, -0.1405709873555073, 0.07477264230449994, 0.0, -0.827999843362098, -0.8474628935800865, 1.6209016667368512, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07215943565825, 0.10807484741477917, 1.1733242915943265, -0.21713727877552932, 0.3179801454777286, -0.1405709873555073, 0.07477264230449994, 0.0, -0.7477830483888587, -0.803092169497783, 1.6209016667368512, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07215943565825, 0.10807484741477917, 1.1733242915943265, -0.21713727877552932, 0.3179801454777286, -0.1405709873555073, 0.07477264230449994, 0.0, -0.7023707969735066, -0.7345989784710886, 1.6209016667368512, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07215943565825, 0.10807484741477917, 1.1733242915943265, -0.21713727877552932, 0.3179801454777286, -0.1405709873555073, 0.07477264230449994, 0.0, -0.6969796028764298, -0.7284168398182373, 1.6209016667368512, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07215943565825, 0.10807484741477917, 1.1733242915943265, -0.21713727877552932, 0.3179801454777286, -0.1405709873555073, 0.07477264230449994, 0.0, -0.6287607465249797, -0.7017925615849284, 1.6209016667368512, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07215943565825, 0.10807484741477917, 1.1733242915943265, -0.21713727877552932, 0.3179801454777286, -0.1405709873555073, 0.07477264230449994, 0.0, -0.5413656162563711, -0.6095223284210078, 1.6209016667368512, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07215943565825, 0.10807484741477917, 1.1733242915943265, -0.21713727877552932, 0.3179801454777286, -0.1405709873555073, 0.07477264230449994, 0.0, -0.5034826878303041, -0.5898091617370179, 1.6209016667368512, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07215943565825, 0.10807484741477917, 1.1733242915943265, -0.21713727877552932, 0.3179801454777286, -0.1405709873555073, 0.07477264230449994, 0.0, -0.39245727301264804, -0.4913624012454723, 1.6209016667368512, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07215943565825, 0.10807484741477917, 1.1733242915943265, -0.21713727877552932, 0.3179801454777286, -0.1405709873555073, 0.07477264230449994, 0.0, -0.3751423170324415, -0.47309713647700846, 1.6209016667368512, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07215943565825, 0.10807484741477917, 1.1733242915943265, -0.21713727877552932, 0.3179801454777286, -0.1405709873555073, 0.07477264230449994, 0.0, -0.3266619599889964, -0.40319070146263886, 1.6209016667368512, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07215943565825, 0.10807484741477917, 1.1733242915943265, -0.21713727877552932, 0.3179801454777286, -0.1405709873555073, 0.07477264230449994, 0.0, -0.24838368586885431, -0.35850195850556094, 1.6209016667368512, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07215943565825, 0.10807484741477917, 1.1733242915943265, -0.21713727877552932, 0.3179801454777286, -0.1405709873555073, 0.07477264230449994, 0.0, -0.16710811760276556, -0.28062037704512477, 1.6209016667368512, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07215943565825, 0.10807484741477917, 1.1733242915943265, -0.21713727877552932, 0.3179801454777286, -0.1405709873555073, 0.07477264230449994, 0.0, -0.12369450864692529, -0.24720495993581912, 1.6209016667368512, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07215943565825, 0.10807484741477917, 1.1733242915943265, -0.21713727877552932, 0.3179801454777286, -0.1405709873555073, 0.07477264230449994, 0.0, -0.028329061965147655, -0.16540561453439295, 1.6209016667368512, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07215943565825, 0.10807484741477917, 1.1733242915943265, -0.21713727877552932, 0.3179801454777286, -0.1405709873555073, 0.07477264230449994, 0.0, -0.0014447296659151714, -0.14039410759384433, 1.6209016667368512, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07215943565825, 0.10807484741477917, 1.1733242915943265, -0.21713727877552932, 0.3179801454777286, -0.1405709873555073, 0.07477264230449994, 0.0, 0.047749350468317665, -0.07328484882600605, 1.6209016667368512, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07215943565825, 0.10807484741477917, 1.1733242915943265, -0.21713727877552932, 0.3179801454777286, -0.1405709873555073, 0.07477264230449994, 0.0, 0.12129347103958328, -0.0347097460180521, 1.6209016667368512, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07215943565825, 0.10807484741477917, 1.1733242915943265, -0.21713727877552932, 0.3179801454777286, -0.1405709873555073, 0.07477264230449994, 0.0, 0.20708734076470137, 0.04901656818886598, 1.6209016667368512, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07215943565825, 0.10807484741477917, 1.1733242915943265, -0.21713727877552932, 0.3179801454777286, -0.1405709873555073, 0.07477264230449994, 0.0, 0.24461177736520767, 0.07025425058479111, 1.6209016667368512, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07215943565825, 0.10807484741477917, 1.1733242915943265, -0.21713727877552932, 0.3179801454777286, -0.1405709873555073, 0.07477264230449994, 0.0, 0.3630639890519281, 0.17006583030646047, 1.6209016667368512, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07215943565825, 0.10807484741477917, 1.1733242915943265, -0.21713727877552932, 0.3179801454777286, -0.1405709873555073, 0.07477264230449994, 0.0, 0.3678763643062363, 0.17576426671197018, 1.6209016667368512, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07215943565825, 0.10807484741477917, 1.1733242915943265, -0.21713727877552932, 0.3179801454777286, -0.1405709873555073, 0.07477264230449994, 0.0, 0.41581584691690904, 0.24859999973947802, 1.6209016667368512, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07215943565825, 0.10807484741477917, 1.1733242915943265, -0.21713727877552932, 0.3179801454777286, -0.1405709873555073, 0.07477264230449994, 0.0, 0.491138678509742, 0.28062058954189223, 1.6209016667368512, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07215943565825, 0.10807484741477917, 1.1733242915943265, -0.21713727877552932, 0.3179801454777286, -0.1405709873555073, 0.07477264230449994, 0.0, 0.5211493031432232, 0.2918835616049667, 1.6209016667368512, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07215943565825, 0.10807484741477917, 1.1733242915943265, -0.21713727877552932, 0.3179801454777286, -0.1405709873555073, 0.07477264230449994, 0.0, 0.6152996228386959, 0.3864994364945839, 1.6209016667368512, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07215943565825, 0.10807484741477917, 1.1733242915943265, -0.21713727877552932, 0.3179801454777286, -0.1405709873555073, 0.07477264230449994, 0.0, 0.6771452658964942, 0.4129397727859517, 1.6209016667368512, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07215943565825, 0.10807484741477917, 1.1733242915943265, -0.21713727877552932, 0.3179801454777286, -0.1405709873555073, 0.07477264230449994, 0.0, 0.7394016428928202, 0.49183129519224167, 1.6209016667368512, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07215943565825, 0.10807484741477917, 1.1733242915943265, -0.21713727877552932, 0.3179801454777286, -0.1405709873555073, 0.07477264230449994, 0.0, 0.7828327840737378, 0.5159561031032354, 1.6209016667368512, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07215943565825, 0.10807484741477917, 1.1733242915943265, -0.21713727877552932, 0.3179801454777286, -0.1405709873555073, 0.07477264230449994, 0.0, 0.7963568702495346, 0.6015683333389461, 1.6209016667368512, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07215943565825, 0.10807484741477917, 1.1733242915943265, -0.21713727877552932, 0.3179801454777286, -0.1405709873555073, 0.07477264230449994, 0.0, 1.840306043624878, 1.7897664308547974, 1.6246511936187744, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2761225193379873, 0.9902814619512443, 1.0034105777740479, -0.20070821219180005, 0.6851127434925861, -0.1625494263258325, -0.6685695388230932, 0.0, 1.9138034582138062, 1.9024076461791992, 1.6246511936187744, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2761225193379873, 0.9902814619512443, 1.0034105777740479, -0.20070821219180005, 0.6851127434925861, -0.1625494263258325, -0.6685695388230932, 0.0, 1.9499754905700684, 1.9578444957733154, 1.6246511936187744, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2761225193379873, 0.9902814619512443, 1.0034105777740479, -0.20070821219180005, 0.6851127434925861, -0.1625494263258325, -0.6685695388230932, 0.0, 2.0085713863372803, 2.047647714614868, 1.6246511936187744, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2761225193379873, 0.9902814619512443, 1.0034105777740479, -0.20070821219180005, 0.6851127434925861, -0.1625494263258325, -0.6685695388230932, 0.0, 2.091064691543579, 2.0797278881073, 1.6246511936187744, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2761225193379873, 0.9902814619512443, 1.0034105777740479, -0.20070821219180005, 0.6851127434925861, -0.1625494263258325, -0.6685695388230932, 0.0], "std": [1.5139799327431045, 0.5791672875755363, 0.004065492528371446, 0.0, 0.0, 0.0, 0.0, 1.3946429330279155, 1.4157235131124917, 1.560616825564204, 0.24510557830318339, 0.2843805827807157, 0.5965094813508871, 0.1821668808441017, 0.6656279789040492, 0.4898979485566357, 1.5028266816551206, 0.5747996946904977, 0.004065492528371446, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5718008917935793, 1.2689764130237469, 0.18423202600160032, 0.1049668145506983, 0.3987658468948102, 0.06962218376728943, 0.8071611632470275, 0.0, 1.4898323858419713, 0.5695621894215042, 0.004065492528371446, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5718008917935793, 1.2689764130237469, 0.18423202600160032, 0.1049668145506983, 0.3987658468948102, 0.06962218376728943, 0.8071611632470275, 0.0, 1.5053966883028687, 0.5718697965116759, 0.004065492528371446, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5718008917935793, 1.2689764130237469, 0.18423202600160032, 0.1049668145506983, 0.3987658468948102, 0.06962218376728943, 0.8071611632470275, 0.0, 1.4750457170277682, 0.5591827697338464, 0.004065492528371446, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5718008917935793, 1.2689764130237469, 0.18423202600160032, 0.1049668145506983, 0.3987658468948102, 0.06962218376728943, 0.8071611632470275, 0.0, 1.5110221489487787, 0.5700642938786051, 0.004065492528371446, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5718008917935793, 1.2689764130237469, 0.18423202600160032, 0.1049668145506983, 0.3987658468948102, 0.06962218376728943, 0.8071611632470275, 0.0, 1.547945759801437, 0.5808010653155918, 0.004065492528371446, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5718008917935793, 1.2689764130237469, 0.18423202600160032, 0.1049668145506983, 0.3987658468948102, 0.06962218376728943, 0.8071611632470275, 0.0, 1.5171695421725078, 0.5684841337534688, 0.004065492528371446, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5718008917935793, 1.2689764130237469, 0.18423202600160032, 0.1049668145506983, 0.3987658468948102, 0.06962218376728943, 0.8071611632470275, 0.0, 1.507206598422723, 0.5639562227145496, 0.004065492528371446, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5718008917935793, 1.2689764130237469, 0.18423202600160032, 0.1049668145506983, 0.3987658468948102, 0.06962218376728943, 0.8071611632470275, 0.0, 1.5197335781052528, 0.5657695674807801, 0.004065492528371446, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5718008917935793, 1.2689764130237469, 0.18423202600160032, 0.1049668145506983, 0.3987658468948102, 0.06962218376728943, 0.8071611632470275, 0.0, 1.4685537972099483, 0.5462913722132561, 0.004065492528371446, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5718008917935793, 1.2689764130237469, 0.18423202600160032, 0.1049668145506983, 0.3987658468948102, 0.06962218376728943, 0.8071611632470275, 0.0, 1.5036919154937451, 0.557157717077565, 0.004065492528371446, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5718008917935793, 1.2689764130237469, 0.18423202600160032, 0.1049668145506983, 0.3987658468948102, 0.06962218376728943, 0.8071611632470275, 0.0, 1.5289083243499995, 0.6082701714774392, 0.004065492528371446, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5718008917935793, 1.2689764130237469, 0.18423202600160032, 0.1049668145506983, 0.3987658468948102, 0.06962218376728943, 0.8071611632470275, 0.0, 1.4767004368279422, 0.6022315952774457, 0.004065492528371446, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5718008917935793, 1.2689764130237469, 0.18423202600160032, 0.1049668145506983, 0.3987658468948102, 0.06962218376728943, 0.8071611632470275, 0.0, 1.473575926015221, 0.6367404863434416, 0.004065492528371446, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5718008917935793, 1.2689764130237469, 0.18423202600160032, 0.1049668145506983, 0.3987658468948102, 0.06962218376728943, 0.8071611632470275, 0.0, 1.4465211755933023, 0.6423666376317478, 0.004065492528371446, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5718008917935793, 1.2689764130237469, 0.18423202600160032, 0.1049668145506983, 0.3987658468948102, 0.06962218376728943, 0.8071611632470275, 0.0, 1.3855436890009454, 0.634102618509388, 0.004065492528371446, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5718008917935793, 1.2689764130237469, 0.18423202600160032, 0.1049668145506983, 0.3987658468948102, 0.06962218376728943, 0.8071611632470275, 0.0, 1.4255284683607583, 0.696580822784264, 0.004065492528371446, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5718008917935793, 1.2689764130237469, 0.18423202600160032, 0.1049668145506983, 0.3987658468948102, 0.06962218376728943, 0.8071611632470275, 0.0, 1.4269272494516998, 0.7009802000726045, 0.004065492528371446, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5718008917935793, 1.2689764130237469, 0.18423202600160032, 0.1049668145506983, 0.3987658468948102, 0.06962218376728943, 0.8071611632470275, 0.0, 1.355986154459044, 0.6767505966844706, 0.004065492528371446, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5718008917935793, 1.2689764130237469, 0.18423202600160032, 0.1049668145506983, 0.3987658468948102, 0.06962218376728943, 0.8071611632470275, 0.0, 1.3650103406587923, 0.7357627229181449, 0.004065492528371446, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5718008917935793, 1.2689764130237469, 0.18423202600160032, 0.1049668145506983, 0.3987658468948102, 0.06962218376728943, 0.8071611632470275, 0.0, 1.3340812051465405, 0.7299381975940235, 0.004065492528371446, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5718008917935793, 1.2689764130237469, 0.18423202600160032, 0.1049668145506983, 0.3987658468948102, 0.06962218376728943, 0.8071611632470275, 0.0, 1.3133002355090946, 0.7758415855969805, 0.004065492528371446, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5718008917935793, 1.2689764130237469, 0.18423202600160032, 0.1049668145506983, 0.3987658468948102, 0.06962218376728943, 0.8071611632470275, 0.0, 1.3150614776179215, 0.7875092390326914, 0.004065492528371446, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5718008917935793, 1.2689764130237469, 0.18423202600160032, 0.1049668145506983, 0.3987658468948102, 0.06962218376728943, 0.8071611632470275, 0.0, 1.3522264160084543, 0.8492319213573257, 0.004065492528371446, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5718008917935793, 1.2689764130237469, 0.18423202600160032, 0.1049668145506983, 0.3987658468948102, 0.06962218376728943, 0.8071611632470275, 0.0, 1.295110675007779, 0.8433202451301631, 0.004065492528371446, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5718008917935793, 1.2689764130237469, 0.18423202600160032, 0.1049668145506983, 0.3987658468948102, 0.06962218376728943, 0.8071611632470275, 0.0, 1.2898851111688083, 0.8859256039850201, 0.004065492528371446, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5718008917935793, 1.2689764130237469, 0.18423202600160032, 0.1049668145506983, 0.3987658468948102, 0.06962218376728943, 0.8071611632470275, 0.0, 1.2730336740466957, 0.8960100228229253, 0.004065492528371446, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5718008917935793, 1.2689764130237469, 0.18423202600160032, 0.1049668145506983, 0.3987658468948102, 0.06962218376728943, 0.8071611632470275, 0.0, 1.2504400131541311, 0.9311628599589084, 0.004065492528371446, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5718008917935793, 1.2689764130237469, 0.18423202600160032, 0.1049668145506983, 0.3987658468948102, 0.06962218376728943, 0.8071611632470275, 0.0, 1.2474229306540927, 0.9440943890018016, 0.004065492528371446, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5718008917935793, 1.2689764130237469, 0.18423202600160032, 0.1049668145506983, 0.3987658468948102, 0.06962218376728943, 0.8071611632470275, 0.0, 1.2785623779190687, 1.000801358811924, 0.004065492528371446, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5718008917935793, 1.2689764130237469, 0.18423202600160032, 0.1049668145506983, 0.3987658468948102, 0.06962218376728943, 0.8071611632470275, 0.0, 1.2190417160850113, 0.9899659369044865, 0.004065492528371446, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5718008917935793, 1.2689764130237469, 0.18423202600160032, 0.1049668145506983, 0.3987658468948102, 0.06962218376728943, 0.8071611632470275, 0.0, 1.2161284230290332, 1.0372858436262615, 0.004065492528371446, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5718008917935793, 1.2689764130237469, 0.18423202600160032, 0.1049668145506983, 0.3987658468948102, 0.06962218376728943, 0.8071611632470275, 0.0, 1.188431078116901, 1.0341656846033218, 0.004065492528371446, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5718008917935793, 1.2689764130237469, 0.18423202600160032, 0.1049668145506983, 0.3987658468948102, 0.06962218376728943, 0.8071611632470275, 0.0, 1.157292403183208, 1.0750565868028041, 0.004065492528371446, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5718008917935793, 1.2689764130237469, 0.18423202600160032, 0.1049668145506983, 0.3987658468948102, 0.06962218376728943, 0.8071611632470275, 0.0, 1.1588501657007813, 1.079262287166317, 0.004065492528371446, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5718008917935793, 1.2689764130237469, 0.18423202600160032, 0.1049668145506983, 0.3987658468948102, 0.06962218376728943, 0.8071611632470275, 0.0, 1.2019720953719888, 1.1460394173904602, 0.004065492528371446, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5718008917935793, 1.2689764130237469, 0.18423202600160032, 0.1049668145506983, 0.3987658468948102, 0.06962218376728943, 0.8071611632470275, 0.0, 1.1281505611084517, 1.1233490962657828, 0.004065492528371446, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5718008917935793, 1.2689764130237469, 0.18423202600160032, 0.1049668145506983, 0.3987658468948102, 0.06962218376728943, 0.8071611632470275, 0.0, 1.096170282703291, 1.111994103331942, 0.004065492528371446, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5718008917935793, 1.2689764130237469, 0.18423202600160032, 0.1049668145506983, 0.3987658468948102, 0.06962218376728943, 0.8071611632470275, 0.0, 1.0976702688989615, 1.1681568172192849, 0.004065492528371446, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5718008917935793, 1.2689764130237469, 0.18423202600160032, 0.1049668145506983, 0.3987658468948102, 0.06962218376728943, 0.8071611632470275, 0.0, 1.0373133207973302, 1.1497571826056463, 0.004065492528371446, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5718008917935793, 1.2689764130237469, 0.18423202600160032, 0.1049668145506983, 0.3987658468948102, 0.06962218376728943, 0.8071611632470275, 0.0, 1.066351150640145, 1.21217420561729, 0.004065492528371446, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5718008917935793, 1.2689764130237469, 0.18423202600160032, 0.1049668145506983, 0.3987658468948102, 0.06962218376728943, 0.8071611632470275, 0.0, 1.0335108813376332, 1.2078570222017957, 0.004065492528371446, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5718008917935793, 1.2689764130237469, 0.18423202600160032, 0.1049668145506983, 0.3987658468948102, 0.06962218376728943, 0.8071611632470275, 0.0, 1.1085692596130274, 1.2525371302612747, 0.004065492528371446, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5718008917935793, 1.2689764130237469, 0.18423202600160032, 0.1049668145506983, 0.3987658468948102, 0.06962218376728943, 0.8071611632470275, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7668945044417405, 1.0766514048842588, 0.0, 0.08581684688054145, 0.027423000925856825, 0.08823773172948902, 0.03203824038316239, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7668945044417405, 1.0766514048842588, 0.0, 0.08581684688054145, 0.027423000925856825, 0.08823773172948902, 0.03203824038316239, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7668945044417405, 1.0766514048842588, 0.0, 0.08581684688054145, 0.027423000925856825, 0.08823773172948902, 0.03203824038316239, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7668945044417405, 1.0766514048842588, 0.0, 0.08581684688054145, 0.027423000925856825, 0.08823773172948902, 0.03203824038316239, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.7668945044417405, 1.0766514048842588, 0.0, 0.08581684688054145, 0.027423000925856825, 0.08823773172948902, 0.03203824038316239, 0.0], "min": [-3.485440254211426, -1.9408563375473022, 1.616493582725525, 0.0, 0.0, 0.0, 0.0, -1.0, -3.3108062744140625, -1.5115833282470703, 0.5874999761581421, -0.6775502562522888, -0.8820143938064575, -0.3592422902584076, -0.7878236770629883, 0.0, -3.4502687454223633, -1.9280380010604858, 1.616493582725525, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3108062744140625, -1.5115833282470703, 1.0034105777740479, -0.6775502562522888, -0.12111160159111023, -0.3592422902584076, -0.7040308713912964, 0.0, -3.4029970169067383, -1.9108097553253174, 1.616493582725525, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3108062744140625, -1.5115833282470703, 1.0034105777740479, -0.6775502562522888, -0.12111160159111023, -0.3592422902584076, -0.7040308713912964, 0.0, -3.2920594215393066, -1.8703784942626953, 1.616493582725525, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3108062744140625, -1.5115833282470703, 1.0034105777740479, -0.6775502562522888, -0.12111160159111023, -0.3592422902584076, -0.7040308713912964, 0.0, -3.162475347518921, -1.8231514692306519, 1.616493582725525, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3108062744140625, -1.5115833282470703, 1.0034105777740479, -0.6775502562522888, -0.12111160159111023, -0.3592422902584076, -0.7040308713912964, 0.0, -3.1404383182525635, -1.8151201009750366, 1.616493582725525, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3108062744140625, -1.5115833282470703, 1.0034105777740479, -0.6775502562522888, -0.12111160159111023, -0.3592422902584076, -0.7040308713912964, 0.0, -3.099599599838257, -1.800236463546753, 1.616493582725525, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3108062744140625, -1.5115833282470703, 1.0034105777740479, -0.6775502562522888, -0.12111160159111023, -0.3592422902584076, -0.7040308713912964, 0.0, -2.9913480281829834, -1.7607840299606323, 1.616493582725525, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3108062744140625, -1.5115833282470703, 1.0034105777740479, -0.6775502562522888, -0.12111160159111023, -0.3592422902584076, -0.7040308713912964, 0.0, -2.9334614276885986, -1.739687204360962, 1.616493582725525, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3108062744140625, -1.5115833282470703, 1.0034105777740479, -0.6775502562522888, -0.12111160159111023, -0.3592422902584076, -0.7040308713912964, 0.0, -2.8423187732696533, -1.7064701318740845, 1.616493582725525, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3108062744140625, -1.5115833282470703, 1.0034105777740479, -0.6775502562522888, -0.12111160159111023, -0.3592422902584076, -0.7040308713912964, 0.0, -2.704740524291992, -1.6563295125961304, 1.616493582725525, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3108062744140625, -1.5115833282470703, 1.0034105777740479, -0.6775502562522888, -0.12111160159111023, -0.3592422902584076, -0.7040308713912964, 0.0, -2.6932897567749023, -1.6521562337875366, 1.616493582725525, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3108062744140625, -1.5115833282470703, 1.0034105777740479, -0.6775502562522888, -0.12111160159111023, -0.3592422902584076, -0.7040308713912964, 0.0, -2.6718761920928955, -1.6443520784378052, 1.616493582725525, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3108062744140625, -1.5115833282470703, 1.0034105777740479, -0.6775502562522888, -0.12111160159111023, -0.3592422902584076, -0.7040308713912964, 0.0, -2.5448074340820312, -1.5980417728424072, 1.616493582725525, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3108062744140625, -1.5115833282470703, 1.0034105777740479, -0.6775502562522888, -0.12111160159111023, -0.3592422902584076, -0.7040308713912964, 0.0, -2.477304697036743, -1.5734403133392334, 1.616493582725525, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3108062744140625, -1.5115833282470703, 1.0034105777740479, -0.6775502562522888, -0.12111160159111023, -0.3592422902584076, -0.7040308713912964, 0.0, -2.396416664123535, -1.5439605712890625, 1.616493582725525, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3108062744140625, -1.5115833282470703, 1.0034105777740479, -0.6775502562522888, -0.12111160159111023, -0.3592422902584076, -0.7040308713912964, 0.0, -2.2500839233398438, -1.4906294345855713, 1.616493582725525, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3108062744140625, -1.5115833282470703, 1.0034105777740479, -0.6775502562522888, -0.12111160159111023, -0.3592422902584076, -0.7040308713912964, 0.0, -2.248025894165039, -1.4898793697357178, 1.616493582725525, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3108062744140625, -1.5115833282470703, 1.0034105777740479, -0.6775502562522888, -0.12111160159111023, -0.3592422902584076, -0.7040308713912964, 0.0, -2.2441513538360596, -1.4884673357009888, 1.616493582725525, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3108062744140625, -1.5115833282470703, 1.0034105777740479, -0.6775502562522888, -0.12111160159111023, -0.3592422902584076, -0.7040308713912964, 0.0, -2.099013328552246, -1.4355716705322266, 1.616493582725525, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3108062744140625, -1.5115833282470703, 1.0034105777740479, -0.6775502562522888, -0.12111160159111023, -0.3592422902584076, -0.7040308713912964, 0.0, -2.0214028358459473, -1.4072864055633545, 1.616493582725525, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3108062744140625, -1.5115833282470703, 1.0034105777740479, -0.6775502562522888, -0.12111160159111023, -0.3592422902584076, -0.7040308713912964, 0.0, -1.9499844312667847, -1.3812578916549683, 1.616493582725525, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3108062744140625, -1.5115833282470703, 1.0034105777740479, -0.6775502562522888, -0.12111160159111023, -0.3592422902584076, -0.7040308713912964, 0.0, -1.8164268732070923, -1.332582712173462, 1.616493582725525, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3108062744140625, -1.5115833282470703, 1.0034105777740479, -0.6775502562522888, -0.12111160159111023, -0.3592422902584076, -0.7040308713912964, 0.0, -1.8010215759277344, -1.3269683122634888, 1.616493582725525, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3108062744140625, -1.5115833282470703, 1.0034105777740479, -0.6775502562522888, -0.12111160159111023, -0.3592422902584076, -0.7040308713912964, 0.0, -1.7928379774093628, -1.3239858150482178, 1.616493582725525, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3108062744140625, -1.5115833282470703, 1.0034105777740479, -0.6775502562522888, -0.12111160159111023, -0.3592422902584076, -0.7040308713912964, 0.0, -1.6526309251785278, -1.2728872299194336, 1.616493582725525, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3108062744140625, -1.5115833282470703, 1.0034105777740479, -0.6775502562522888, -0.12111160159111023, -0.3592422902584076, -0.7040308713912964, 0.0, -1.5656894445419312, -1.2412012815475464, 1.616493582725525, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3108062744140625, -1.5115833282470703, 1.0034105777740479, -0.6775502562522888, -0.12111160159111023, -0.3592422902584076, -0.7040308713912964, 0.0, -1.5040043592453003, -1.2187200784683228, 1.616493582725525, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3108062744140625, -1.5115833282470703, 1.0034105777740479, -0.6775502562522888, -0.12111160159111023, -0.3592422902584076, -0.7040308713912964, 0.0, -1.3841413259506226, -1.175035834312439, 1.616493582725525, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3108062744140625, -1.5115833282470703, 1.0034105777740479, -0.6775502562522888, -0.12111160159111023, -0.3592422902584076, -0.7040308713912964, 0.0, -1.3539856672286987, -1.1640455722808838, 1.616493582725525, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3108062744140625, -1.5115833282470703, 1.0034105777740479, -0.6775502562522888, -0.12111160159111023, -0.3592422902584076, -0.7040308713912964, 0.0, -1.338555097579956, -1.1584218740463257, 1.616493582725525, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3108062744140625, -1.5115833282470703, 1.0034105777740479, -0.6775502562522888, -0.12111160159111023, -0.3592422902584076, -0.7040308713912964, 0.0, -1.2004746198654175, -1.1080982685089111, 1.616493582725525, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3108062744140625, -1.5115833282470703, 1.0034105777740479, -0.6775502562522888, -0.12111160159111023, -0.3592422902584076, -0.7040308713912964, 0.0, -1.1115219593048096, -1.0756794214248657, 1.616493582725525, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3108062744140625, -1.5115833282470703, 1.0034105777740479, -0.6775502562522888, -0.12111160159111023, -0.3592422902584076, -0.7040308713912964, 0.0, -1.0439661741256714, -1.0510586500167847, 1.616493582725525, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3108062744140625, -1.5115833282470703, 1.0034105777740479, -0.6775502562522888, -0.12111160159111023, -0.3592422902584076, -0.7040308713912964, 0.0, -0.8917512893676758, -0.9955837726593018, 1.616493582725525, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3108062744140625, -1.5115833282470703, 1.0034105777740479, -0.6775502562522888, -0.12111160159111023, -0.3592422902584076, -0.7040308713912964, 0.0, -0.8886279463768005, -0.9944454431533813, 1.616493582725525, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3108062744140625, -1.5115833282470703, 1.0034105777740479, -0.6775502562522888, -0.12111160159111023, -0.3592422902584076, -0.7040308713912964, 0.0, -0.8874441981315613, -0.9940140247344971, 1.616493582725525, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3108062744140625, -1.5115833282470703, 1.0034105777740479, -0.6775502562522888, -0.12111160159111023, -0.3592422902584076, -0.7040308713912964, 0.0, -0.732079029083252, -0.9373910427093506, 1.616493582725525, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3108062744140625, -1.5115833282470703, 1.0034105777740479, -0.6775502562522888, -0.12111160159111023, -0.3592422902584076, -0.7040308713912964, 0.0, -0.6673932075500488, -0.9138162136077881, 1.616493582725525, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3108062744140625, -1.5115833282470703, 1.0034105777740479, -0.6775502562522888, -0.12111160159111023, -0.3592422902584076, -0.7040308713912964, 0.0, -0.5748692750930786, -0.8800957798957825, 1.616493582725525, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3108062744140625, -1.5115833282470703, 1.0034105777740479, -0.6775502562522888, -0.12111160159111023, -0.3592422902584076, -0.7040308713912964, 0.0, -0.4475805163383484, -0.8337053060531616, 1.616493582725525, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3108062744140625, -1.5115833282470703, 1.0034105777740479, -0.6775502562522888, -0.12111160159111023, -0.3592422902584076, -0.7040308713912964, 0.0, -0.41680893301963806, -0.8224905729293823, 1.616493582725525, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3108062744140625, -1.5115833282470703, 1.0034105777740479, -0.6775502562522888, -0.12111160159111023, -0.3592422902584076, -0.7040308713912964, 0.0, -0.33777013421058655, -0.7936847805976868, 1.616493582725525, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3108062744140625, -1.5115833282470703, 1.0034105777740479, -0.6775502562522888, -0.12111160159111023, -0.3592422902584076, -0.7040308713912964, 0.0, -0.4056294560432434, -0.756517767906189, 1.616493582725525, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3108062744140625, -1.5115833282470703, 1.0034105777740479, -0.6775502562522888, -0.12111160159111023, -0.3592422902584076, -0.7040308713912964, 0.0, 1.840306043624878, 1.7897664308547974, 1.6246511936187744, 0.0, 0.0, 0.0, 0.0, 2.0, -0.41236454248428345, -0.5018776059150696, 1.0034105777740479, -0.3911488950252533, 0.6126048564910889, -0.3592422902584076, -0.7040308713912964, 0.0, 1.9138034582138062, 1.9024076461791992, 1.6246511936187744, 0.0, 0.0, 0.0, 0.0, 2.0, -0.41236454248428345, -0.5018776059150696, 1.0034105777740479, -0.3911488950252533, 0.6126048564910889, -0.3592422902584076, -0.7040308713912964, 0.0, 1.9499754905700684, 1.9578444957733154, 1.6246511936187744, 0.0, 0.0, 0.0, 0.0, 2.0, -0.41236454248428345, -0.5018776059150696, 1.0034105777740479, -0.3911488950252533, 0.6126048564910889, -0.3592422902584076, -0.7040308713912964, 0.0, 2.0085713863372803, 2.047647714614868, 1.6246511936187744, 0.0, 0.0, 0.0, 0.0, 2.0, -0.41236454248428345, -0.5018776059150696, 1.0034105777740479, -0.3911488950252533, 0.6126048564910889, -0.3592422902584076, -0.7040308713912964, 0.0, 2.091064691543579, 2.0797278881073, 1.6246511936187744, 0.0, 0.0, 0.0, 0.0, 2.0, -0.41236454248428345, -0.5018776059150696, 1.0034105777740479, -0.3911488950252533, 0.6126048564910889, -0.3592422902584076, -0.7040308713912964, 0.0], "max": [-0.4475649893283844, -0.7787286639213562, 1.6246511936187744, 0.0, 0.0, 0.0, 0.0, 2.0, 2.334974765777588, 2.9464428424835205, 1.3731156587600708, 0.7312080264091492, 0.7584224939346313, 0.48759689927101135, 0.9694313406944275, 1.0, -0.4347730278968811, -0.774674117565155, 1.6246511936187744, 0.0, 0.0, 0.0, 0.0, 2.0, 2.334974765777588, 2.55674147605896, 1.3730812072753906, 0.0034407079219818115, 0.7101675868034363, 0.0451224148273468, 0.9694313406944275, 0.0, -0.4135749936103821, -0.7679551839828491, 1.6246511936187744, 0.0, 0.0, 0.0, 0.0, 2.0, 2.334974765777588, 2.55674147605896, 1.3730812072753906, 0.0034407079219818115, 0.7101675868034363, 0.0451224148273468, 0.9694313406944275, 0.0, -0.2714068591594696, -0.7228935956954956, 1.6246511936187744, 0.0, 0.0, 0.0, 0.0, 2.0, 2.334974765777588, 2.55674147605896, 1.3730812072753906, 0.0034407079219818115, 0.7101675868034363, 0.0451224148273468, 0.9694313406944275, 0.0, -0.20272350311279297, -0.7011237144470215, 1.6246511936187744, 0.0, 0.0, 0.0, 0.0, 2.0, 2.334974765777588, 2.55674147605896, 1.3730812072753906, 0.0034407079219818115, 0.7101675868034363, 0.0451224148273468, 0.9694313406944275, 0.0, -0.1084979921579361, -0.6712580323219299, 1.6246511936187744, 0.0, 0.0, 0.0, 0.0, 2.0, 2.334974765777588, 2.55674147605896, 1.3730812072753906, 0.0034407079219818115, 0.7101675868034363, 0.0451224148273468, 0.9694313406944275, 0.0, 0.0064297690987586975, -0.6348305344581604, 1.6246511936187744, 0.0, 0.0, 0.0, 0.0, 2.0, 2.334974765777588, 2.55674147605896, 1.3730812072753906, 0.0034407079219818115, 0.7101675868034363, 0.0451224148273468, 0.9694313406944275, 0.0, 0.05292734503746033, -0.6200926303863525, 1.6246511936187744, 0.0, 0.0, 0.0, 0.0, 2.0, 2.334974765777588, 2.55674147605896, 1.3730812072753906, 0.0034407079219818115, 0.7101675868034363, 0.0451224148273468, 0.9694313406944275, 0.0, 0.09082280844449997, -0.6080812811851501, 1.6246511936187744, 0.0, 0.0, 0.0, 0.0, 2.0, 2.334974765777588, 2.55674147605896, 1.3730812072753906, 0.0034407079219818115, 0.7101675868034363, 0.0451224148273468, 0.9694313406944275, 0.0, 0.2071014642715454, -0.571225643157959, 1.6246511936187744, 0.0, 0.0, 0.0, 0.0, 2.0, 2.334974765777588, 2.55674147605896, 1.3730812072753906, 0.0034407079219818115, 0.7101675868034363, 0.0451224148273468, 0.9694313406944275, 0.0, 0.24198496341705322, -0.560168981552124, 1.6246511936187744, 0.0, 0.0, 0.0, 0.0, 2.0, 2.334974765777588, 2.55674147605896, 1.3730812072753906, 0.0034407079219818115, 0.7101675868034363, 0.0451224148273468, 0.9694313406944275, 0.0, 0.323942095041275, -0.5341918468475342, 1.6246511936187744, 0.0, 0.0, 0.0, 0.0, 2.0, 2.334974765777588, 2.55674147605896, 1.3730812072753906, 0.0034407079219818115, 0.7101675868034363, 0.0451224148273468, 0.9694313406944275, 0.0, 0.39595362544059753, -0.42382803559303284, 1.6246511936187744, 0.0, 0.0, 0.0, 0.0, 2.0, 2.334974765777588, 2.55674147605896, 1.3730812072753906, 0.0034407079219818115, 0.7101675868034363, 0.0451224148273468, 0.9694313406944275, 0.0, 0.4182646870613098, -0.3896344304084778, 1.6246511936187744, 0.0, 0.0, 0.0, 0.0, 2.0, 2.334974765777588, 2.55674147605896, 1.3730812072753906, 0.0034407079219818115, 0.7101675868034363, 0.0451224148273468, 0.9694313406944275, 0.0, 0.4794979393482208, -0.2957891821861267, 1.6246511936187744, 0.0, 0.0, 0.0, 0.0, 2.0, 2.334974765777588, 2.55674147605896, 1.3730812072753906, 0.0034407079219818115, 0.7101675868034363, 0.0451224148273468, 0.9694313406944275, 0.0, 0.506099283695221, -0.25502029061317444, 1.6246511936187744, 0.0, 0.0, 0.0, 0.0, 2.0, 2.334974765777588, 2.55674147605896, 1.3730812072753906, 0.0034407079219818115, 0.7101675868034363, 0.0451224148273468, 0.9694313406944275, 0.0, 0.5300776958465576, -0.21827131509780884, 1.6246511936187744, 0.0, 0.0, 0.0, 0.0, 2.0, 2.334974765777588, 2.55674147605896, 1.3730812072753906, 0.0034407079219818115, 0.7101675868034363, 0.0451224148273468, 0.9694313406944275, 0.0, 0.6123671531677246, -0.09215565770864487, 1.6246511936187744, 0.0, 0.0, 0.0, 0.0, 2.0, 2.334974765777588, 2.55674147605896, 1.3730812072753906, 0.0034407079219818115, 0.7101675868034363, 0.0451224148273468, 0.9694313406944275, 0.0, 0.6190484166145325, -0.08191605657339096, 1.6246511936187744, 0.0, 0.0, 0.0, 0.0, 2.0, 2.334974765777588, 2.55674147605896, 1.3730812072753906, 0.0034407079219818115, 0.7101675868034363, 0.0451224148273468, 0.9694313406944275, 0.0, 0.6218396425247192, -0.07763828337192535, 1.6246511936187744, 0.0, 0.0, 0.0, 0.0, 2.0, 2.334974765777588, 2.55674147605896, 1.3730812072753906, 0.0034407079219818115, 0.7101675868034363, 0.0451224148273468, 0.9694313406944275, 0.0, 0.7175576090812683, 0.06905771791934967, 1.6246511936187744, 0.0, 0.0, 0.0, 0.0, 2.0, 2.334974765777588, 2.55674147605896, 1.3730812072753906, 0.0034407079219818115, 0.7101675868034363, 0.0451224148273468, 0.9694313406944275, 0.0, 0.726915180683136, 0.08339903503656387, 1.6246511936187744, 0.0, 0.0, 0.0, 0.0, 2.0, 2.334974765777588, 2.55674147605896, 1.3730812072753906, 0.0034407079219818115, 0.7101675868034363, 0.0451224148273468, 0.9694313406944275, 0.0, 0.8187747001647949, 0.2241816222667694, 1.6246511936187744, 0.0, 0.0, 0.0, 0.0, 2.0, 2.334974765777588, 2.55674147605896, 1.3730812072753906, 0.0034407079219818115, 0.7101675868034363, 0.0451224148273468, 0.9694313406944275, 0.0, 0.8377140164375305, 0.2532077431678772, 1.6246511936187744, 0.0, 0.0, 0.0, 0.0, 2.0, 2.334974765777588, 2.55674147605896, 1.3730812072753906, 0.0034407079219818115, 0.7101675868034363, 0.0451224148273468, 0.9694313406944275, 0.0, 0.9204708933830261, 0.38003984093666077, 1.6246511936187744, 0.0, 0.0, 0.0, 0.0, 2.0, 2.334974765777588, 2.55674147605896, 1.3730812072753906, 0.0034407079219818115, 0.7101675868034363, 0.0451224148273468, 0.9694313406944275, 0.0, 0.9460723996162415, 0.4192763566970825, 1.6246511936187744, 0.0, 0.0, 0.0, 0.0, 2.0, 2.334974765777588, 2.55674147605896, 1.3730812072753906, 0.0034407079219818115, 0.7101675868034363, 0.0451224148273468, 0.9694313406944275, 0.0, 1.0225285291671753, 0.536452054977417, 1.6246511936187744, 0.0, 0.0, 0.0, 0.0, 2.0, 2.334974765777588, 2.55674147605896, 1.3730812072753906, 0.0034407079219818115, 0.7101675868034363, 0.0451224148273468, 0.9694313406944275, 0.0, 1.0504003763198853, 0.5791681408882141, 1.6246511936187744, 0.0, 0.0, 0.0, 0.0, 2.0, 2.334974765777588, 2.55674147605896, 1.3730812072753906, 0.0034407079219818115, 0.7101675868034363, 0.0451224148273468, 0.9694313406944275, 0.0, 1.1249281167984009, 0.6933882832527161, 1.6246511936187744, 0.0, 0.0, 0.0, 0.0, 2.0, 2.334974765777588, 2.55674147605896, 1.3730812072753906, 0.0034407079219818115, 0.7101675868034363, 0.0451224148273468, 0.9694313406944275, 0.0, 1.1490298509597778, 0.7303262948989868, 1.6246511936187744, 0.0, 0.0, 0.0, 0.0, 2.0, 2.334974765777588, 2.55674147605896, 1.3730812072753906, 0.0034407079219818115, 0.7101675868034363, 0.0451224148273468, 0.9694313406944275, 0.0, 1.2269432544708252, 0.8497353196144104, 1.6246511936187744, 0.0, 0.0, 0.0, 0.0, 2.0, 2.334974765777588, 2.55674147605896, 1.3730812072753906, 0.0034407079219818115, 0.7101675868034363, 0.0451224148273468, 0.9694313406944275, 0.0, 1.2455925941467285, 0.87831711769104, 1.6246511936187744, 0.0, 0.0, 0.0, 0.0, 2.0, 2.334974765777588, 2.55674147605896, 1.3730812072753906, 0.0034407079219818115, 0.7101675868034363, 0.0451224148273468, 0.9694313406944275, 0.0, 1.3286995887756348, 1.0056856870651245, 1.6246511936187744, 0.0, 0.0, 0.0, 0.0, 2.0, 2.334974765777588, 2.55674147605896, 1.3730812072753906, 0.0034407079219818115, 0.7101675868034363, 0.0451224148273468, 0.9694313406944275, 0.0, 1.3406792879104614, 1.024045705795288, 1.6246511936187744, 0.0, 0.0, 0.0, 0.0, 2.0, 2.334974765777588, 2.55674147605896, 1.3730812072753906, 0.0034407079219818115, 0.7101675868034363, 0.0451224148273468, 0.9694313406944275, 0.0, 1.4304128885269165, 1.1615701913833618, 1.6246511936187744, 0.0, 0.0, 0.0, 0.0, 2.0, 2.334974765777588, 2.55674147605896, 1.3730812072753906, 0.0034407079219818115, 0.7101675868034363, 0.0451224148273468, 0.9694313406944275, 0.0, 1.436661958694458, 1.1711474657058716, 1.6246511936187744, 0.0, 0.0, 0.0, 0.0, 2.0, 2.334974765777588, 2.55674147605896, 1.3730812072753906, 0.0034407079219818115, 0.7101675868034363, 0.0451224148273468, 0.9694313406944275, 0.0, 1.5243719816207886, 1.3055704832077026, 1.6246511936187744, 0.0, 0.0, 0.0, 0.0, 2.0, 2.334974765777588, 2.55674147605896, 1.3730812072753906, 0.0034407079219818115, 0.7101675868034363, 0.0451224148273468, 0.9694313406944275, 0.0, 1.5316106081008911, 1.316664218902588, 1.6246511936187744, 0.0, 0.0, 0.0, 0.0, 2.0, 2.334974765777588, 2.55674147605896, 1.3730812072753906, 0.0034407079219818115, 0.7101675868034363, 0.0451224148273468, 0.9694313406944275, 0.0, 1.5321264266967773, 1.3174546957015991, 1.6246511936187744, 0.0, 0.0, 0.0, 0.0, 2.0, 2.334974765777588, 2.55674147605896, 1.3730812072753906, 0.0034407079219818115, 0.7101675868034363, 0.0451224148273468, 0.9694313406944275, 0.0, 1.6276601552963257, 1.4638683795928955, 1.6246511936187744, 0.0, 0.0, 0.0, 0.0, 2.0, 2.334974765777588, 2.55674147605896, 1.3730812072753906, 0.0034407079219818115, 0.7101675868034363, 0.0451224148273468, 0.9694313406944275, 0.0, 1.633839726448059, 1.4733390808105469, 1.6246511936187744, 0.0, 0.0, 0.0, 0.0, 2.0, 2.334974765777588, 2.55674147605896, 1.3730812072753906, 0.0034407079219818115, 0.7101675868034363, 0.0451224148273468, 0.9694313406944275, 0.0, 1.7228771448135376, 1.6097966432571411, 1.6246511936187744, 0.0, 0.0, 0.0, 0.0, 2.0, 2.334974765777588, 2.55674147605896, 1.3730812072753906, 0.0034407079219818115, 0.7101675868034363, 0.0451224148273468, 0.9694313406944275, 0.0, 1.7360203266143799, 1.6299397945404053, 1.6246511936187744, 0.0, 0.0, 0.0, 0.0, 2.0, 2.334974765777588, 2.55674147605896, 1.3730812072753906, 0.0034407079219818115, 0.7101675868034363, 0.0451224148273468, 0.9694313406944275, 0.0, 1.8187693357467651, 1.7567596435546875, 1.6246511936187744, 0.0, 0.0, 0.0, 0.0, 2.0, 2.334974765777588, 2.55674147605896, 1.3730812072753906, 0.0034407079219818115, 0.7101675868034363, 0.0451224148273468, 0.9694313406944275, 0.0, 1.840306043624878, 1.7897664308547974, 1.6246511936187744, 0.0, 0.0, 0.0, 0.0, 2.0, 2.334974765777588, 2.55674147605896, 1.0034105777740479, 0.0034407079219818115, 0.7101675868034363, 0.0451224148273468, -0.5853738188743591, 0.0, 1.9138034582138062, 1.9024076461791992, 1.6246511936187744, 0.0, 0.0, 0.0, 0.0, 2.0, 2.334974765777588, 2.55674147605896, 1.0034105777740479, 0.0034407079219818115, 0.7101675868034363, 0.0451224148273468, -0.5853738188743591, 0.0, 1.9499754905700684, 1.9578444957733154, 1.6246511936187744, 0.0, 0.0, 0.0, 0.0, 2.0, 2.334974765777588, 2.55674147605896, 1.0034105777740479, 0.0034407079219818115, 0.7101675868034363, 0.0451224148273468, -0.5853738188743591, 0.0, 2.0085713863372803, 2.047647714614868, 1.6246511936187744, 0.0, 0.0, 0.0, 0.0, 2.0, 2.334974765777588, 2.55674147605896, 1.0034105777740479, 0.0034407079219818115, 0.7101675868034363, 0.0451224148273468, -0.5853738188743591, 0.0, 2.091064691543579, 2.0797278881073, 1.6246511936187744, 0.0, 0.0, 0.0, 0.0, 2.0, 2.334974765777588, 2.55674147605896, 1.0034105777740479, 0.0034407079219818115, 0.7101675868034363, 0.0451224148273468, -0.5853738188743591, 0.0], "count": [2717]}, "action.applied": {"mean": [0.06583578083259703, -0.0007956880609236485, 0.005977765191496371, 1.8064709589385817, -2.5065831970018984, -0.557807522217392, 1.397315037812123, 1.599769708165064, -2.1517811602514194, -0.247761209028079, -0.0005641289084140633, 0.0005641289084140633], "std": [0.12076373131247907, 0.00821390891380588, 0.14691741509251247, 1.0716057355184145, 0.5602612648409708, 0.332394939840009, 0.4766986286343516, 0.9877224090160953, 0.23834435632748316, 0.3993761713923743, 0.013222471493372127, 0.013222471493372127], "min": [0.0, -0.06251794099807739, -0.800000011920929, -0.029561709612607956, -3.377451181411743, -1.053839921951294, 0.49846744537353516, -0.06879658997058868, -2.5120646953582764, -0.9372118711471558, -0.009999999776482582, -0.020833000540733337], "max": [0.30000001192092896, 0.06541302055120468, 0.800000011920929, 3.0403707027435303, -1.5742156505584717, 0.0003954528656322509, 2.1613221168518066, 2.8950188159942627, -1.301982045173645, 0.8946241140365601, 0.020833000540733337, 0.009999999776482582], "count": [2717]}, "extra.reward": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [2717]}, "next.truncated": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [2717]}, "sim_step_idx": {"mean": [2817.0], "std": [1568.6605751404604], "min": [101.0], "max": [5533.0], "count": [2717]}, "timestamp": {"mean": [54.32000000089308], "std": [31.373211500956025], "min": [0.0], "max": [108.63999938964844], "count": [2717]}, "frame_index": {"mean": [1358.0], "std": [784.3302875702302], "min": [0.0], "max": [2716.0], "count": [2717]}, "episode_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [2717]}, "index": {"mean": [1358.0], "std": [784.3302875702302], "min": [0.0], "max": [2716.0], "count": [2717]}, "task_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [2717]}, "next.done": {"mean": [0.000368052999631947], "std": [0.019181176622444437], "min": [0.0], "max": [1.0], "count": [2717]}, "observation.images.head": {"mean": [[[0.5287405022067684]], [[0.4460197459777802]], [[0.38977962893352186]]], "std": [[[0.14281411097841176]], [[0.16699587944184233]], [[0.15414396117762952]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9215686274509803]], [[0.8862745098039215]], [[0.8274509803921568]]], "count": [100]}, "observation.images.wrist": {"mean": [[[0.5425471337406415]], [[0.46132184244237373]], [[0.38037258107075933]]], "std": [[[0.14100875752467448]], [[0.15384426682630997]], [[0.1585962346561722]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9411764705882353]], [[0.9372549019607843]], [[0.9294117647058824]]], "count": [100]}}} diff --git a/N034/sawyer_umi/dr_off/seed_1025/rec/stationbookendxr/000/lerobot_v21/meta/extra/episode_000000.json b/N034/sawyer_umi/dr_off/seed_1025/rec/stationbookendxr/000/lerobot_v21/meta/extra/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..beb93fe7df580b8b4ed6019c4cc7529e721aae35 --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1025/rec/stationbookendxr/000/lerobot_v21/meta/extra/episode_000000.json @@ -0,0 +1,409 @@ +{ + "episode_index": 0, + "trajectory_id": 0, + "env_id": 0, + "task_type": "BookendXRCommand", + "subsample_every": 2, + "control_steps": 5434, + "language": { + "scene": { + "objects": [ + { + "id": "table_A_1", + "cat_name": "table_A", + "inst_id": 1, + "noun": "table A", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 3.5660014023717053, + -0.860428096392522, + 0.12999996888036575 + ], + "bbox": { + "extent": [ + 0.9456327860654203, + 0.5821390556571591, + 0.30000001192092896 + ], + "center": [ + -2.7755575615628914e-17, + 0.0, + 0.0 + ] + } + }, + { + "id": "table_B_1", + "cat_name": "table_B", + "inst_id": 1, + "noun": "table B", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 7.395027330120441, + -0.7299386008699306, + 0.12999994976610452 + ], + "bbox": { + "extent": [ + 0.9537503298893407, + 0.5967506341531408, + 0.30000001192092896 + ], + "center": [ + 3.3306690738754696e-16, + 0.0, + 0.0 + ] + } + }, + { + "id": "slot_left_1", + "cat_name": "slot_left", + "inst_id": 1, + "noun": "slot left", + "color": "brown", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.4624254143969972, + -0.9265663208231845, + 0.29749996883326885 + ], + "bbox": { + "extent": [ + 0.020951873909435925, + 0.1209126534955371, + 0.03500000014901161 + ], + "center": [ + 3.469446951953614e-18, + 0.0, + 0.0 + ] + } + }, + { + "id": "slot_right_1", + "cat_name": "slot_right", + "inst_id": 1, + "noun": "slot right", + "color": "brown", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.499910661571231, + -0.9640343904863871, + 0.2974999682970231 + ], + "bbox": { + "extent": [ + 0.020951873909435925, + 0.12091265349553709, + 0.03500000014901161 + ], + "center": [ + 2.2551405187698492e-17, + 3.469446951953614e-18, + 0.0 + ] + } + }, + { + "id": "book_1", + "cat_name": "book", + "inst_id": 1, + "noun": "book", + "color": "red", + "size": "small", + "material": null, + "category": "rigid", + "pos": [ + 3.469845089996511, + -0.9566284807140202, + 0.3499999446812149 + ], + "bbox": { + "extent": [ + 0.1031944576680604, + 0.04412681194265469, + 0.1400001394460299 + ], + "center": [ + -6.938893903907228e-18, + 3.2959746043559335e-17, + 8.326672684688674e-17 + ] + } + }, + { + "id": "plate_1", + "cat_name": "plate", + "inst_id": 1, + "noun": "plate", + "color": "gray", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 7.304591318255274, + -0.781256996709225, + 0.32049994978291474 + ], + "bbox": { + "extent": [ + 0.027050099213119627, + 0.14129000909680878, + 0.07999999821186066 + ], + "center": [ + -2.220446049250313e-16, + 2.220446049250313e-16, + 0.0 + ] + } + }, + { + "id": "bookend_1", + "cat_name": "bookend", + "inst_id": 1, + "noun": "bookend", + "color": null, + "size": "small", + "material": null, + "category": "rigid", + "pos": [ + 7.38904379622941, + -0.8557110995676706, + 0.279999931975221 + ], + "bbox": { + "extent": [ + 0.1277400697265201, + 0.08490003391665425, + 0.06000028384774392 + ], + "center": [ + -2.713958283107054e-08, + -0.029999998175653526, + 0.029999992003406306 + ] + } + } + ], + "relations": [ + { + "subject": "table_A_1", + "relation": "left_of", + "object": "slot_left_1" + }, + { + "subject": "table_B_1", + "relation": "left_of", + "object": "bookend_1" + }, + { + "subject": "book_1", + "relation": "on_top_of", + "object": "slot_left_1" + }, + { + "subject": "plate_1", + "relation": "left_of", + "object": "bookend_1" + }, + { + "subject": "bookend_1", + "relation": "right_of", + "object": "plate_1" + } + ], + "cameras": [ + { + "name": "head", + "intrinsics": { + "K": [ + [ + 355.55555555555554, + 0.0, + 320.0 + ], + [ + 0.0, + 355.55555555555554, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 83.97442499163331, + "resolution": [ + 640, + 480 + ] + }, + "pos_robot": [ + 3.9291894322186103, + -1.42520647246938, + -0.09500003992132204 + ], + "viewpoint": "front, at table height", + "extrinsics": { + "R": [ + [ + -8.039232568535226e-08, + -0.9999999999999964, + 2.5347603738179458e-08 + ], + [ + 0.8191520331270514, + -8.039232568535226e-08, + -0.5735764522919431 + ], + [ + 0.5735764522919431, + -2.5347603738179458e-08, + 0.819152033127055 + ] + ], + "t": [ + 1.855362002599171e-08, + -0.2032392724571752, + -0.08737481710326404 + ] + } + }, + { + "name": "wrist", + "intrinsics": { + "K": [ + [ + 320.0, + 0.0, + 320.0 + ], + [ + 0.0, + 320.0, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 90.0, + "resolution": [ + 640, + 480 + ] + }, + "pos_robot": [ + 3.823469185737056, + -1.309407207244921, + -0.0200000372000974 + ], + "viewpoint": "front, at table height", + "extrinsics": { + "R": [ + [ + 0.0, + 1.0, + -1.4782795217992896e-16 + ], + [ + 1.0, + 0.0, + 2.5363269588459423e-17 + ], + [ + 2.5363269588459423e-17, + -1.4782795217992896e-16, + -1.0 + ] + ], + "t": [ + 4.4348384662715026e-18, + -0.05979999899864197, + 0.029999999329447746 + ] + } + } + ], + "robots": [ + { + "name": "RidgebackSawyerUmi", + "model": "ridgebacksawyer_umi", + "type": "mobilemanip", + "noun": "Ridgeback-Sawyer mobile manipulator with a UMI gripper", + "arms": 1, + "arm_layout": null, + "mobile": true, + "dexterous": false, + "base_pose": { + "pos": [ + -3.4, + -2.2, + 0.05 + ], + "ori": [ + 0.9396926164627075, + 0.0, + 0.0, + 0.3420201539993286 + ] + }, + "facing_yaw_deg": 40.000001288448495, + "gripper": "parallel gripper" + } + ], + "lighting": [], + "background": { + "name": null, + "kind": "background", + "type": "dome", + "pose": null, + "setting": null, + "time_of_day": null, + "indoor": false, + "intensity": 1000.0, + "ambient": "dim" + }, + "effects": [], + "caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the brown slot left. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is to the left of the brown slot left. The gray table B is to the left of the bookend. The red book is on top of the brown slot left. The gray plate is to the left of the bookend. The bookend is to the right of the gray plate. The scene is viewed from front, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n [bookend]\n\n\n\n [slot [book]\n\n\n\n[robot]" + }, + "task": { + "task_type": "StationBookendXR", + "instruction": "Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.", + "template_id": -1, + "slots": { + "obj": 1.6164936078391883, + "support": null + }, + "generic_instruction": "Stationbookendxr the 1.6164936078391883.", + "task_id": "N034", + "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 +} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_off/seed_1025/rec/stationbookendxr/000/lerobot_v21/meta/info.json b/N034/sawyer_umi/dr_off/seed_1025/rec/stationbookendxr/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..bcfdaead8388b43a0e03eb3917daf3368b298798 --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1025/rec/stationbookendxr/000/lerobot_v21/meta/info.json @@ -0,0 +1,296 @@ +{ + "codebase_version": "v2.1", + "robot_type": "RidgebackSawyerUmiCfg", + "total_episodes": 1, + "total_frames": 2717, + "total_tasks": 1, + "total_videos": 2, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 25, + "splits": { + "train": "0:1" + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", + "features": { + "action": { + "dtype": "float32", + "shape": [ + 11 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "frame0.pos_x", + "frame0.pos_y", + "frame0.pos_z", + "frame0.quat_w", + "frame0.quat_x", + "frame0.quat_y", + "frame0.quat_z", + "gripper" + ] + }, + "action_is_hold": { + "dtype": "bool", + "shape": [ + 11 + ], + "names": null + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 15 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint", + "gripper_0", + "gripper_1" + ] + }, + "observation.joint_vel": { + "dtype": "float32", + "shape": [ + 13 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ] + }, + "observation.eef_pose": { + "dtype": "float32", + "shape": [ + 7 + ], + "names": null + }, + "observation.environment_state": { + "dtype": "float32", + "shape": [ + 49 + ], + "names": [ + "object_pose.book.0", + "object_pose.book.1", + "object_pose.book.2", + "object_pose.book.3", + "object_pose.book.4", + "object_pose.book.5", + "object_pose.book.6", + "object_pose.bookend.0", + "object_pose.bookend.1", + "object_pose.bookend.2", + "object_pose.bookend.3", + "object_pose.bookend.4", + "object_pose.bookend.5", + "object_pose.bookend.6", + "object_pose.plate.0", + "object_pose.plate.1", + "object_pose.plate.2", + "object_pose.plate.3", + "object_pose.plate.4", + "object_pose.plate.5", + "object_pose.plate.6", + "object_pose.slot_left.0", + "object_pose.slot_left.1", + "object_pose.slot_left.2", + "object_pose.slot_left.3", + "object_pose.slot_left.4", + "object_pose.slot_left.5", + "object_pose.slot_left.6", + "object_pose.slot_right.0", + "object_pose.slot_right.1", + "object_pose.slot_right.2", + "object_pose.slot_right.3", + "object_pose.slot_right.4", + "object_pose.slot_right.5", + "object_pose.slot_right.6", + "object_pose.table_A.0", + "object_pose.table_A.1", + "object_pose.table_A.2", + "object_pose.table_A.3", + "object_pose.table_A.4", + "object_pose.table_A.5", + "object_pose.table_A.6", + "object_pose.table_B.0", + "object_pose.table_B.1", + "object_pose.table_B.2", + "object_pose.table_B.3", + "object_pose.table_B.4", + "object_pose.table_B.5", + "object_pose.table_B.6" + ] + }, + "action.command": { + "dtype": "float32", + "shape": [ + 784 + ], + "names": null + }, + "action.applied": { + "dtype": "float32", + "shape": [ + 12 + ], + "names": null + }, + "narration": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "collect_info": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "extra.reward": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "extra.action_info": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "next.truncated": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "sim_step_idx": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "next.done": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "observation.images.head": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25, + "video.codec": "libsvtav1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.wrist": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25, + "video.codec": "libsvtav1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + } + } +} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_off/seed_1025/rec/stationbookendxr/000/lerobot_v21/meta/magicsim_manifest.json b/N034/sawyer_umi/dr_off/seed_1025/rec/stationbookendxr/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..0b783fc25f775767adae08202dc2aa98b35dbaf7 --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1025/rec/stationbookendxr/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,264 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 03:12:12" + }, + "embodiment": { + "robots": [ + { + "name": "RidgebackSawyerUmi", + "cfg": "RidgebackSawyerUmiCfg", + "type": "mobilemanip", + "joint_names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 11, + "nan_policy": "from_raw", + "segments": [ + { + "name": "RidgebackSawyerUmi.base_action", + "start": 0, + "end": 3, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint" + ], + "source": "HolonomicAction", + "names_source": "_joint_names" + }, + { + "name": "RidgebackSawyerUmi.arm_action", + "start": 3, + "end": 10, + "names": [ + "frame0.pos_x", + "frame0.pos_y", + "frame0.pos_z", + "frame0.quat_w", + "frame0.quat_x", + "frame0.quat_y", + "frame0.quat_z" + ], + "source": "PinkInverseKinematicsAction", + "names_source": "pink_layout" + }, + { + "name": "RidgebackSawyerUmi.eef_action", + "start": 10, + "end": 11, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 15, + "segments": [ + { + "name": "RidgebackSawyerUmi.joint_pos", + "start": 0, + "end": 13, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ], + "source": "ObservationManager", + "names_source": "joint_names" + }, + { + "name": "RidgebackSawyerUmi.gripper_pos", + "start": 13, + "end": 15, + "names": [ + "gripper_0", + "gripper_1" + ], + "source": "ObservationManager", + "names_source": "generated" + } + ] + }, + "joint_vel_layout": { + "dim": 13, + "segments": [ + { + "name": "RidgebackSawyerUmi.joint_vel", + "start": 0, + "end": 13, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "action_levels": { + "L0": "task command list (collect.auto_collect_info.current_action)", + "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)", + "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)", + "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy", + "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)" + }, + "cameras": { + "head": { + "intrinsics": { + "K": [ + [ + 355.55555555555554, + 0.0, + 320.0 + ], + [ + 0.0, + 355.55555555555554, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 83.97442499163331, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.21660000085830688, + 0.0, + -0.04500000178813934 + ], + "quat": [ + -0.6743797063827515, + 0.21263112127780914, + -0.21263112127780914, + 0.6743797659873962 + ] + }, + "wrist": { + "intrinsics": { + "K": [ + [ + 320.0, + 0.0, + 320.0 + ], + [ + 0.0, + 320.0, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 90.0, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.05979999899864197, + 0.0, + 0.029999999329447746 + ], + "quat": [ + 6.123234262925839e-17, + 0.7071067690849304, + 0.7071067690849304, + -4.329780301713277e-17 + ] + } + }, + "lerobot": { + "codebase_version": "v2.1", + "video_keys": [ + "observation.images.head", + "observation.images.wrist" + ], + "columns": [ + "action", + "action.applied", + "action.command", + "action_is_hold", + "collect_info", + "episode_index", + "extra.action_info", + "extra.reward", + "frame_index", + "index", + "narration", + "next.done", + "next.truncated", + "observation.eef_pose", + "observation.environment_state", + "observation.images.head", + "observation.images.wrist", + "observation.joint_vel", + "observation.state", + "sim_step_idx", + "task_index", + "timestamp" + ] + }, + "generated_run": { + "run_id": "stationbookendxr/000", + "task_type": "BookendXRCommand" + } +} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_off/seed_1025/rec/stationbookendxr/000/lerobot_v21/meta/stats.json b/N034/sawyer_umi/dr_off/seed_1025/rec/stationbookendxr/000/lerobot_v21/meta/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..a5d4825bf05d385b545a24bfc7fa672700dae4f4 --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1025/rec/stationbookendxr/000/lerobot_v21/meta/stats.json @@ -0,0 +1,4013 @@ +{ + "action": { + "mean": [ + 0.06583578083259703, + -0.0007956880609236485, + 0.005977765191496371, + 0.7008025161880845, + 1.0880535305931858, + 0.9216552977619866, + 0.011276443898170518, + -0.12461414414378795, + 0.002699551928472127, + 0.20378159289308273, + 0.6061832903938167 + ], + "std": [ + 0.12076373131247907, + 0.00821390891380588, + 0.14691741509251247, + 1.4083827759448184, + 1.5692475850041963, + 0.24375173928124505, + 0.28207712939469093, + 0.6096819629544838, + 0.18463039153099456, + 0.6763444699667852, + 0.48859503562882384 + ], + "min": [ + 0.0, + -0.06251794099807739, + -0.800000011920929, + -3.3108062744140625, + -1.5115833282470703, + 0.5874999761581421, + -0.6789171099662781, + -0.8820143938064575, + -0.3592422902584076, + -0.7878236770629883, + 0.0 + ], + "max": [ + 0.30000001192092896, + 0.06541302055120468, + 0.800000011920929, + 2.334974765777588, + 2.9464428424835205, + 1.3731156587600708, + 0.7312080264091492, + 0.7584224939346313, + 0.48759689927101135, + 0.9694313406944275, + 1.0 + ], + "count": [ + 2717 + ] + }, + "action_is_hold": { + "mean": [ + 0.09054103790945896, + 0.09054103790945896, + 0.09054103790945896, + 0.10526315789473684, + 0.10526315789473684, + 0.10526315789473684, + 0.10526315789473684, + 0.10526315789473684, + 0.10526315789473684, + 0.10526315789473684, + 0.9907986750092014 + ], + "std": [ + 0.28695532468267254, + 0.28695532468267254, + 0.28695532468267254, + 0.3068922049918535, + 0.3068922049918535, + 0.3068922049918535, + 0.3068922049918535, + 0.3068922049918535, + 0.3068922049918535, + 0.3068922049918535, + 0.09548120552868977 + ], + "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": [ + 2717 + ] + }, + "observation.state": { + "mean": [ + 1.0377110745216231, + -3.3270247061988822, + 1.2770640629045131, + 1.8045017679970556, + -1.8028167517607967, + -2.5057165874555616, + -0.5575208241357021, + 1.3969822904951308, + 1.5990414965489257, + -2.1516151343543255, + -0.2483589943656619, + 0.014038365541412627, + -0.014576211335116681, + -0.014576211335116681, + -0.014038365541412627 + ], + "std": [ + 2.0166751621376915, + 0.27354245749191214, + 0.40366634082951736, + 1.0720275460802402, + 1.0724625093338604, + 0.5605903798185439, + 0.3326941194258588, + 0.4772082743405383, + 0.988422336732484, + 0.23829621688586686, + 0.39840659316170235, + 0.00852243577641249, + 0.008791290821686788, + 0.008791290821686788, + 0.00852243577641249 + ], + "min": [ + -3.4854512214660645, + -3.781740427017212, + 0.3124735951423645, + -0.029336581006646156, + -3.0405545234680176, + -3.3762335777282715, + -1.0538434982299805, + 0.4969417154788971, + -0.0676102563738823, + -2.5091538429260254, + -0.9367517828941345, + 0.0, + -0.020833000540733337, + -0.020833000540733337, + -0.020833000540733337 + ], + "max": [ + 3.1942977905273438, + -1.940857172012329, + 1.5077494382858276, + 3.0406835079193115, + 0.028484340757131577, + -1.572554111480713, + 0.0007895747548900545, + 2.159686326980591, + 2.8939669132232666, + -1.303775668144226, + 0.8946154117584229, + 0.020833000540733337, + 0.0, + 0.0, + -0.0 + ], + "count": [ + 2717 + ] + }, + "observation.joint_vel": { + "mean": [ + 0.0614620959159327, + -0.012945878062169158, + 0.006544577912161412, + 0.027827268793205566, + -0.02244871077948315, + -0.013289247927562963, + -0.005634497567648699, + 0.005265167315419493, + 0.009393865190765384, + -0.00266276659288792, + 0.008907134257478721, + -0.0015349317324388162, + 0.0001745402479115483 + ], + "std": [ + 0.11278626548138397, + 0.04784143092537117, + 0.14878658813202378, + 0.09270775556702339, + 0.08106780764404584, + 0.06661062922779248, + 0.06832652334626735, + 0.07053309980227188, + 0.11534247601257723, + 0.08567078095604504, + 0.08159366856438643, + 0.008556845448498681, + 0.008811926101910193 + ], + "min": [ + -0.00031051572295837104, + -0.1653924137353897, + -0.8000154495239258, + -0.19666296243667603, + -0.2853206992149353, + -0.3979945182800293, + -1.1827478408813477, + -0.5361782312393188, + -1.2112787961959839, + -1.3954708576202393, + -0.3568671643733978, + -0.10001514106988907, + -0.10008682310581207 + ], + "max": [ + 0.3022250831127167, + 0.05266283452510834, + 1.4468127489089966, + 0.25984376668930054, + 1.2841277122497559, + 0.18747715651988983, + 0.612526535987854, + 0.2052394449710846, + 0.33116912841796875, + 0.32530876994132996, + 0.41181695461273193, + 0.10001005232334137, + 0.10009238868951797 + ], + "count": [ + 2717 + ] + }, + "observation.eef_pose": { + "mean": [ + 0.7021121569963314, + 1.0830417431021684, + 0.9239878093314425, + -0.08228440959497403, + 0.4078293314335932, + 0.008146941841620764, + -0.2284046648413678 + ], + "std": [ + 1.4095509048743762, + 1.5659938733032432, + 0.24662540396877203, + 0.26864420481241036, + 0.46832383601480426, + 0.1846252143073373, + 0.6701387599744972 + ], + "min": [ + -3.3108062744140625, + -1.5152288675308228, + 0.5884575247764587, + -0.7257572412490845, + -0.7067545056343079, + -0.48909685015678406, + -0.7957733273506165 + ], + "max": [ + 2.335019826889038, + 2.9586055278778076, + 1.3740719556808472, + 0.49040353298187256, + 0.884806215763092, + 0.48887231945991516, + 0.9697084426879883 + ], + "count": [ + 2717 + ] + }, + "observation.environment_state": { + "mean": [ + 0.7961337760608077, + 1.2365915793467919, + 0.5106914233626098, + 0.7123387123145818, + 0.013175666909874666, + 0.001539969172019641, + 0.6909132513341371, + 2.125948984130674, + 2.9387333694081734, + 0.3300000415332711, + 0.6879962825318843, + -2.959172184915757e-07, + 4.793380924506995e-08, + 0.7257134309357302, + 2.0168514251708984, + 2.9269614219665527, + 0.37049999833106995, + 0.9996374845504761, + 0.0, + 0.0, + 0.026923958212137222, + -0.4663628041744232, + -0.008511291816830635, + 0.3474999964237213, + 0.9997389912605286, + 0.0, + 0.0, + 0.02284621074795723, + -0.41341814398765564, + -0.006090178620070219, + 0.3474999964237213, + 0.9997389912605286, + 0.0, + 0.0, + 0.02284621074795723, + -0.44537225365638733, + 0.11257398873567581, + 0.18000000715255737, + 0.9997389912605286, + 0.0, + 0.0, + 0.02284621074795723, + 2.0399272441864014, + 3.028350591659546, + 0.18000000715255737, + 0.9996374845504761, + 0.0, + 0.0, + 0.026923958212137222 + ], + "std": [ + 1.2017312757934597, + 1.396105558207316, + 0.14542705516514548, + 0.06684177568399174, + 0.023527029128339337, + 0.03172536486176442, + 0.09491379697549918, + 0.012351601844118125, + 0.0017178338982073939, + 6.346709998766069e-08, + 0.0007731582589693736, + 2.348385197829454e-06, + 2.604494347927257e-06, + 0.0007361326722224314, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 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": [ + -0.4391592741012573, + -0.4999171197414398, + 0.39999979734420776, + 0.6565617322921753, + -0.0014224188635125756, + -0.0761418268084526, + 0.2237827628850937, + 2.0688118934631348, + 2.930849552154541, + 0.32999974489212036, + 0.687220573425293, + -4.1112303733825684e-05, + -4.534423351287842e-05, + 0.7223841547966003, + 2.0168514251708984, + 2.9269614219665527, + 0.37049999833106995, + 0.9996374845504761, + 0.0, + 0.0, + 0.026923958212137222, + -0.4663628041744232, + -0.008511291816830635, + 0.3474999964237213, + 0.9997389912605286, + 0.0, + 0.0, + 0.02284621074795723, + -0.41341814398765564, + -0.006090178620070219, + 0.3474999964237213, + 0.9997389912605286, + 0.0, + 0.0, + 0.02284621074795723, + -0.44537225365638733, + 0.11257398873567581, + 0.18000000715255737, + 0.9997389912605286, + 0.0, + 0.0, + 0.02284621074795723, + 2.0399272441864014, + 3.028350591659546, + 0.18000000715255737, + 0.9996374845504761, + 0.0, + 0.0, + 0.026923958212137222 + ], + "max": [ + 2.341615915298462, + 2.9278976917266846, + 0.7586067914962769, + 0.9742740392684937, + 0.1088651567697525, + 0.11809173971414566, + 0.7503665089607239, + 2.1287779808044434, + 2.939131498336792, + 0.33000078797340393, + 0.6914919018745422, + 1.0579824447631836e-06, + 1.564621925354004e-06, + 0.7264487743377686, + 2.0168514251708984, + 2.9269614219665527, + 0.37049999833106995, + 0.9996374845504761, + 0.0, + 0.0, + 0.026923958212137222, + -0.4663628041744232, + -0.008511291816830635, + 0.3474999964237213, + 0.9997389912605286, + 0.0, + 0.0, + 0.02284621074795723, + -0.41341814398765564, + -0.006090178620070219, + 0.3474999964237213, + 0.9997389912605286, + 0.0, + 0.0, + 0.02284621074795723, + -0.44537225365638733, + 0.11257398873567581, + 0.18000000715255737, + 0.9997389912605286, + 0.0, + 0.0, + 0.02284621074795723, + 2.0399272441864014, + 3.028350591659546, + 0.18000000715255737, + 0.9996374845504761, + 0.0, + 0.0, + 0.026923958212137222 + ], + "count": [ + 2717 + ] + }, + "action.command": { + "mean": [ + -1.8438800524842616, + -1.312883701408282, + 1.6209016667368512, + 0.0, + 0.0, + 0.0, + 0.0, + -0.052241875771287534, + 0.6187704820500044, + 0.9766074460864079, + 0.9341460938367369, + 0.007471713915556142, + -0.1625350060739031, + -0.00687465795348318, + 0.2460445523053616, + 0.6, + -1.8208016584782551, + -1.3048010067238163, + 1.6209016667368512, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07215943565825, + 0.10807484741477917, + 1.1733242915943265, + -0.21713727877552932, + 0.3179801454777286, + -0.1405709873555073, + 0.07477264230449994, + 0.0, + -1.7876192308807124, + -1.2932516210712492, + 1.6209016667368512, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07215943565825, + 0.10807484741477917, + 1.1733242915943265, + -0.21713727877552932, + 0.3179801454777286, + -0.1405709873555073, + 0.07477264230449994, + 0.0, + -1.6598057582741603, + -1.250318295167138, + 1.6209016667368512, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07215943565825, + 0.10807484741477917, + 1.1733242915943265, + -0.21713727877552932, + 0.3179801454777286, + -0.1405709873555073, + 0.07477264230449994, + 0.0, + -1.5631302753463387, + -1.21684740902856, + 1.6209016667368512, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07215943565825, + 0.10807484741477917, + 1.1733242915943265, + -0.21713727877552932, + 0.3179801454777286, + -0.1405709873555073, + 0.07477264230449994, + 0.0, + -1.5020851472509094, + -1.197017550856496, + 1.6209016667368512, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07215943565825, + 0.10807484741477917, + 1.1733242915943265, + -0.21713727877552932, + 0.3179801454777286, + -0.1405709873555073, + 0.07477264230449994, + 0.0, + -1.4212113340715102, + -1.1704923742605995, + 1.6209016667368512, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07215943565825, + 0.10807484741477917, + 1.1733242915943265, + -0.21713727877552932, + 0.3179801454777286, + -0.1405709873555073, + 0.07477264230449994, + 0.0, + -1.3463294345807906, + -1.1443947971177597, + 1.6209016667368512, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07215943565825, + 0.10807484741477917, + 1.1733242915943265, + -0.21713727877552932, + 0.3179801454777286, + -0.1405709873555073, + 0.07477264230449994, + 0.0, + -1.2992453365489685, + -1.1282074411865324, + 1.6209016667368512, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07215943565825, + 0.10807484741477917, + 1.1733242915943265, + -0.21713727877552932, + 0.3179801454777286, + -0.1405709873555073, + 0.07477264230449994, + 0.0, + -1.194520077202469, + -1.0930242167475324, + 1.6209016667368512, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07215943565825, + 0.10807484741477917, + 1.1733242915943265, + -0.21713727877552932, + 0.3179801454777286, + -0.1405709873555073, + 0.07477264230449994, + 0.0, + -1.1124344339283805, + -1.0640031839720905, + 1.6209016667368512, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07215943565825, + 0.10807484741477917, + 1.1733242915943265, + -0.21713727877552932, + 0.3179801454777286, + -0.1405709873555073, + 0.07477264230449994, + 0.0, + -1.062884524348192, + -1.0480478736571968, + 1.6209016667368512, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07215943565825, + 0.10807484741477917, + 1.1733242915943265, + -0.21713727877552932, + 0.3179801454777286, + -0.1405709873555073, + 0.07477264230449994, + 0.0, + -1.0141296110038336, + -0.9848241125776743, + 1.6209016667368512, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07215943565825, + 0.10807484741477917, + 1.1733242915943265, + -0.21713727877552932, + 0.3179801454777286, + -0.1405709873555073, + 0.07477264230449994, + 0.0, + -0.9436682019537935, + -0.9450612427511563, + 1.6209016667368512, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07215943565825, + 0.10807484741477917, + 1.1733242915943265, + -0.21713727877552932, + 0.3179801454777286, + -0.1405709873555073, + 0.07477264230449994, + 0.0, + -0.8795532724276806, + -0.8830428922083229, + 1.6209016667368512, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07215943565825, + 0.10807484741477917, + 1.1733242915943265, + -0.21713727877552932, + 0.3179801454777286, + -0.1405709873555073, + 0.07477264230449994, + 0.0, + -0.827999843362098, + -0.8474628935800865, + 1.6209016667368512, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07215943565825, + 0.10807484741477917, + 1.1733242915943265, + -0.21713727877552932, + 0.3179801454777286, + -0.1405709873555073, + 0.07477264230449994, + 0.0, + -0.7477830483888587, + -0.803092169497783, + 1.6209016667368512, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07215943565825, + 0.10807484741477917, + 1.1733242915943265, + -0.21713727877552932, + 0.3179801454777286, + -0.1405709873555073, + 0.07477264230449994, + 0.0, + -0.7023707969735066, + -0.7345989784710886, + 1.6209016667368512, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07215943565825, + 0.10807484741477917, + 1.1733242915943265, + -0.21713727877552932, + 0.3179801454777286, + -0.1405709873555073, + 0.07477264230449994, + 0.0, + -0.6969796028764298, + -0.7284168398182373, + 1.6209016667368512, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07215943565825, + 0.10807484741477917, + 1.1733242915943265, + -0.21713727877552932, + 0.3179801454777286, + -0.1405709873555073, + 0.07477264230449994, + 0.0, + -0.6287607465249797, + -0.7017925615849284, + 1.6209016667368512, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07215943565825, + 0.10807484741477917, + 1.1733242915943265, + -0.21713727877552932, + 0.3179801454777286, + -0.1405709873555073, + 0.07477264230449994, + 0.0, + -0.5413656162563711, + -0.6095223284210078, + 1.6209016667368512, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07215943565825, + 0.10807484741477917, + 1.1733242915943265, + -0.21713727877552932, + 0.3179801454777286, + -0.1405709873555073, + 0.07477264230449994, + 0.0, + -0.5034826878303041, + -0.5898091617370179, + 1.6209016667368512, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07215943565825, + 0.10807484741477917, + 1.1733242915943265, + -0.21713727877552932, + 0.3179801454777286, + -0.1405709873555073, + 0.07477264230449994, + 0.0, + -0.39245727301264804, + -0.4913624012454723, + 1.6209016667368512, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07215943565825, + 0.10807484741477917, + 1.1733242915943265, + -0.21713727877552932, + 0.3179801454777286, + -0.1405709873555073, + 0.07477264230449994, + 0.0, + -0.3751423170324415, + -0.47309713647700846, + 1.6209016667368512, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07215943565825, + 0.10807484741477917, + 1.1733242915943265, + -0.21713727877552932, + 0.3179801454777286, + -0.1405709873555073, + 0.07477264230449994, + 0.0, + -0.3266619599889964, + -0.40319070146263886, + 1.6209016667368512, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07215943565825, + 0.10807484741477917, + 1.1733242915943265, + -0.21713727877552932, + 0.3179801454777286, + -0.1405709873555073, + 0.07477264230449994, + 0.0, + -0.24838368586885431, + -0.35850195850556094, + 1.6209016667368512, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07215943565825, + 0.10807484741477917, + 1.1733242915943265, + -0.21713727877552932, + 0.3179801454777286, + -0.1405709873555073, + 0.07477264230449994, + 0.0, + -0.16710811760276556, + -0.28062037704512477, + 1.6209016667368512, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07215943565825, + 0.10807484741477917, + 1.1733242915943265, + -0.21713727877552932, + 0.3179801454777286, + -0.1405709873555073, + 0.07477264230449994, + 0.0, + -0.12369450864692529, + -0.24720495993581912, + 1.6209016667368512, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07215943565825, + 0.10807484741477917, + 1.1733242915943265, + -0.21713727877552932, + 0.3179801454777286, + -0.1405709873555073, + 0.07477264230449994, + 0.0, + -0.028329061965147655, + -0.16540561453439295, + 1.6209016667368512, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07215943565825, + 0.10807484741477917, + 1.1733242915943265, + -0.21713727877552932, + 0.3179801454777286, + -0.1405709873555073, + 0.07477264230449994, + 0.0, + -0.0014447296659151714, + -0.14039410759384433, + 1.6209016667368512, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07215943565825, + 0.10807484741477917, + 1.1733242915943265, + -0.21713727877552932, + 0.3179801454777286, + -0.1405709873555073, + 0.07477264230449994, + 0.0, + 0.047749350468317665, + -0.07328484882600605, + 1.6209016667368512, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07215943565825, + 0.10807484741477917, + 1.1733242915943265, + -0.21713727877552932, + 0.3179801454777286, + -0.1405709873555073, + 0.07477264230449994, + 0.0, + 0.12129347103958328, + -0.0347097460180521, + 1.6209016667368512, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07215943565825, + 0.10807484741477917, + 1.1733242915943265, + -0.21713727877552932, + 0.3179801454777286, + -0.1405709873555073, + 0.07477264230449994, + 0.0, + 0.20708734076470137, + 0.04901656818886598, + 1.6209016667368512, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07215943565825, + 0.10807484741477917, + 1.1733242915943265, + -0.21713727877552932, + 0.3179801454777286, + -0.1405709873555073, + 0.07477264230449994, + 0.0, + 0.24461177736520767, + 0.07025425058479111, + 1.6209016667368512, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07215943565825, + 0.10807484741477917, + 1.1733242915943265, + -0.21713727877552932, + 0.3179801454777286, + -0.1405709873555073, + 0.07477264230449994, + 0.0, + 0.3630639890519281, + 0.17006583030646047, + 1.6209016667368512, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07215943565825, + 0.10807484741477917, + 1.1733242915943265, + -0.21713727877552932, + 0.3179801454777286, + -0.1405709873555073, + 0.07477264230449994, + 0.0, + 0.3678763643062363, + 0.17576426671197018, + 1.6209016667368512, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07215943565825, + 0.10807484741477917, + 1.1733242915943265, + -0.21713727877552932, + 0.3179801454777286, + -0.1405709873555073, + 0.07477264230449994, + 0.0, + 0.41581584691690904, + 0.24859999973947802, + 1.6209016667368512, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07215943565825, + 0.10807484741477917, + 1.1733242915943265, + -0.21713727877552932, + 0.3179801454777286, + -0.1405709873555073, + 0.07477264230449994, + 0.0, + 0.491138678509742, + 0.28062058954189223, + 1.6209016667368512, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07215943565825, + 0.10807484741477917, + 1.1733242915943265, + -0.21713727877552932, + 0.3179801454777286, + -0.1405709873555073, + 0.07477264230449994, + 0.0, + 0.5211493031432232, + 0.2918835616049667, + 1.6209016667368512, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07215943565825, + 0.10807484741477917, + 1.1733242915943265, + -0.21713727877552932, + 0.3179801454777286, + -0.1405709873555073, + 0.07477264230449994, + 0.0, + 0.6152996228386959, + 0.3864994364945839, + 1.6209016667368512, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07215943565825, + 0.10807484741477917, + 1.1733242915943265, + -0.21713727877552932, + 0.3179801454777286, + -0.1405709873555073, + 0.07477264230449994, + 0.0, + 0.6771452658964942, + 0.4129397727859517, + 1.6209016667368512, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07215943565825, + 0.10807484741477917, + 1.1733242915943265, + -0.21713727877552932, + 0.3179801454777286, + -0.1405709873555073, + 0.07477264230449994, + 0.0, + 0.7394016428928202, + 0.49183129519224167, + 1.6209016667368512, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07215943565825, + 0.10807484741477917, + 1.1733242915943265, + -0.21713727877552932, + 0.3179801454777286, + -0.1405709873555073, + 0.07477264230449994, + 0.0, + 0.7828327840737378, + 0.5159561031032354, + 1.6209016667368512, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07215943565825, + 0.10807484741477917, + 1.1733242915943265, + -0.21713727877552932, + 0.3179801454777286, + -0.1405709873555073, + 0.07477264230449994, + 0.0, + 0.7963568702495346, + 0.6015683333389461, + 1.6209016667368512, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07215943565825, + 0.10807484741477917, + 1.1733242915943265, + -0.21713727877552932, + 0.3179801454777286, + -0.1405709873555073, + 0.07477264230449994, + 0.0, + 1.840306043624878, + 1.7897664308547974, + 1.6246511936187744, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2761225193379873, + 0.9902814619512443, + 1.0034105777740479, + -0.20070821219180005, + 0.6851127434925861, + -0.1625494263258325, + -0.6685695388230932, + 0.0, + 1.9138034582138062, + 1.9024076461791992, + 1.6246511936187744, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2761225193379873, + 0.9902814619512443, + 1.0034105777740479, + -0.20070821219180005, + 0.6851127434925861, + -0.1625494263258325, + -0.6685695388230932, + 0.0, + 1.9499754905700684, + 1.9578444957733154, + 1.6246511936187744, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2761225193379873, + 0.9902814619512443, + 1.0034105777740479, + -0.20070821219180005, + 0.6851127434925861, + -0.1625494263258325, + -0.6685695388230932, + 0.0, + 2.0085713863372803, + 2.047647714614868, + 1.6246511936187744, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2761225193379873, + 0.9902814619512443, + 1.0034105777740479, + -0.20070821219180005, + 0.6851127434925861, + -0.1625494263258325, + -0.6685695388230932, + 0.0, + 2.091064691543579, + 2.0797278881073, + 1.6246511936187744, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2761225193379873, + 0.9902814619512443, + 1.0034105777740479, + -0.20070821219180005, + 0.6851127434925861, + -0.1625494263258325, + -0.6685695388230932, + 0.0 + ], + "std": [ + 1.5139799327431045, + 0.5791672875755363, + 0.004065492528371446, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3946429330279155, + 1.4157235131124917, + 1.560616825564204, + 0.24510557830318339, + 0.2843805827807157, + 0.5965094813508871, + 0.1821668808441017, + 0.6656279789040492, + 0.48989794855663565, + 1.5028266816551206, + 0.5747996946904977, + 0.004065492528371446, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5718008917935793, + 1.2689764130237469, + 0.18423202600160032, + 0.1049668145506983, + 0.3987658468948102, + 0.06962218376728943, + 0.8071611632470275, + 0.0, + 1.4898323858419713, + 0.5695621894215042, + 0.004065492528371446, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5718008917935793, + 1.2689764130237469, + 0.18423202600160032, + 0.1049668145506983, + 0.3987658468948102, + 0.06962218376728943, + 0.8071611632470275, + 0.0, + 1.5053966883028687, + 0.5718697965116759, + 0.004065492528371446, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5718008917935793, + 1.2689764130237469, + 0.18423202600160032, + 0.1049668145506983, + 0.3987658468948102, + 0.06962218376728943, + 0.8071611632470275, + 0.0, + 1.4750457170277682, + 0.5591827697338464, + 0.004065492528371446, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5718008917935793, + 1.2689764130237469, + 0.18423202600160032, + 0.1049668145506983, + 0.3987658468948102, + 0.06962218376728943, + 0.8071611632470275, + 0.0, + 1.5110221489487787, + 0.5700642938786051, + 0.004065492528371446, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5718008917935793, + 1.2689764130237469, + 0.18423202600160032, + 0.1049668145506983, + 0.3987658468948102, + 0.06962218376728943, + 0.8071611632470275, + 0.0, + 1.547945759801437, + 0.5808010653155918, + 0.004065492528371446, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5718008917935793, + 1.2689764130237469, + 0.18423202600160032, + 0.1049668145506983, + 0.3987658468948102, + 0.06962218376728943, + 0.8071611632470275, + 0.0, + 1.5171695421725078, + 0.5684841337534688, + 0.004065492528371446, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5718008917935793, + 1.2689764130237469, + 0.18423202600160032, + 0.1049668145506983, + 0.3987658468948102, + 0.06962218376728943, + 0.8071611632470275, + 0.0, + 1.507206598422723, + 0.5639562227145496, + 0.004065492528371446, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5718008917935793, + 1.2689764130237469, + 0.18423202600160032, + 0.1049668145506983, + 0.3987658468948102, + 0.06962218376728943, + 0.8071611632470275, + 0.0, + 1.5197335781052528, + 0.5657695674807801, + 0.004065492528371446, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5718008917935793, + 1.2689764130237469, + 0.18423202600160032, + 0.1049668145506983, + 0.3987658468948102, + 0.06962218376728943, + 0.8071611632470275, + 0.0, + 1.4685537972099483, + 0.5462913722132561, + 0.004065492528371446, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5718008917935793, + 1.2689764130237469, + 0.18423202600160032, + 0.1049668145506983, + 0.3987658468948102, + 0.06962218376728943, + 0.8071611632470275, + 0.0, + 1.5036919154937451, + 0.557157717077565, + 0.004065492528371446, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5718008917935793, + 1.2689764130237469, + 0.18423202600160032, + 0.1049668145506983, + 0.3987658468948102, + 0.06962218376728943, + 0.8071611632470275, + 0.0, + 1.5289083243499995, + 0.6082701714774392, + 0.004065492528371446, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5718008917935793, + 1.2689764130237469, + 0.18423202600160032, + 0.1049668145506983, + 0.3987658468948102, + 0.06962218376728943, + 0.8071611632470275, + 0.0, + 1.4767004368279422, + 0.6022315952774457, + 0.004065492528371446, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5718008917935793, + 1.2689764130237469, + 0.18423202600160032, + 0.1049668145506983, + 0.3987658468948102, + 0.06962218376728943, + 0.8071611632470275, + 0.0, + 1.473575926015221, + 0.6367404863434416, + 0.004065492528371446, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5718008917935793, + 1.2689764130237469, + 0.18423202600160032, + 0.1049668145506983, + 0.3987658468948102, + 0.06962218376728943, + 0.8071611632470275, + 0.0, + 1.4465211755933023, + 0.6423666376317477, + 0.004065492528371446, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5718008917935793, + 1.2689764130237469, + 0.18423202600160032, + 0.1049668145506983, + 0.3987658468948102, + 0.06962218376728943, + 0.8071611632470275, + 0.0, + 1.3855436890009454, + 0.634102618509388, + 0.004065492528371446, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5718008917935793, + 1.2689764130237469, + 0.18423202600160032, + 0.1049668145506983, + 0.3987658468948102, + 0.06962218376728943, + 0.8071611632470275, + 0.0, + 1.4255284683607583, + 0.696580822784264, + 0.004065492528371446, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5718008917935793, + 1.2689764130237469, + 0.18423202600160032, + 0.1049668145506983, + 0.3987658468948102, + 0.06962218376728943, + 0.8071611632470275, + 0.0, + 1.4269272494516998, + 0.7009802000726045, + 0.004065492528371446, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5718008917935793, + 1.2689764130237469, + 0.18423202600160032, + 0.1049668145506983, + 0.3987658468948102, + 0.06962218376728943, + 0.8071611632470275, + 0.0, + 1.355986154459044, + 0.6767505966844706, + 0.004065492528371446, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5718008917935793, + 1.2689764130237469, + 0.18423202600160032, + 0.1049668145506983, + 0.3987658468948102, + 0.06962218376728943, + 0.8071611632470275, + 0.0, + 1.3650103406587923, + 0.7357627229181449, + 0.004065492528371446, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5718008917935793, + 1.2689764130237469, + 0.18423202600160032, + 0.1049668145506983, + 0.3987658468948102, + 0.06962218376728943, + 0.8071611632470275, + 0.0, + 1.3340812051465405, + 0.7299381975940235, + 0.004065492528371446, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5718008917935793, + 1.2689764130237469, + 0.18423202600160032, + 0.1049668145506983, + 0.3987658468948102, + 0.06962218376728943, + 0.8071611632470275, + 0.0, + 1.3133002355090948, + 0.7758415855969805, + 0.004065492528371446, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5718008917935793, + 1.2689764130237469, + 0.18423202600160032, + 0.1049668145506983, + 0.3987658468948102, + 0.06962218376728943, + 0.8071611632470275, + 0.0, + 1.3150614776179215, + 0.7875092390326914, + 0.004065492528371446, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5718008917935793, + 1.2689764130237469, + 0.18423202600160032, + 0.1049668145506983, + 0.3987658468948102, + 0.06962218376728943, + 0.8071611632470275, + 0.0, + 1.3522264160084543, + 0.8492319213573257, + 0.004065492528371446, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5718008917935793, + 1.2689764130237469, + 0.18423202600160032, + 0.1049668145506983, + 0.3987658468948102, + 0.06962218376728943, + 0.8071611632470275, + 0.0, + 1.295110675007779, + 0.8433202451301631, + 0.004065492528371446, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5718008917935793, + 1.2689764130237469, + 0.18423202600160032, + 0.1049668145506983, + 0.3987658468948102, + 0.06962218376728943, + 0.8071611632470275, + 0.0, + 1.2898851111688083, + 0.8859256039850201, + 0.004065492528371446, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5718008917935793, + 1.2689764130237469, + 0.18423202600160032, + 0.1049668145506983, + 0.3987658468948102, + 0.06962218376728943, + 0.8071611632470275, + 0.0, + 1.2730336740466957, + 0.8960100228229254, + 0.004065492528371446, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5718008917935793, + 1.2689764130237469, + 0.18423202600160032, + 0.1049668145506983, + 0.3987658468948102, + 0.06962218376728943, + 0.8071611632470275, + 0.0, + 1.2504400131541311, + 0.9311628599589084, + 0.004065492528371446, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5718008917935793, + 1.2689764130237469, + 0.18423202600160032, + 0.1049668145506983, + 0.3987658468948102, + 0.06962218376728943, + 0.8071611632470275, + 0.0, + 1.2474229306540927, + 0.9440943890018016, + 0.004065492528371446, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5718008917935793, + 1.2689764130237469, + 0.18423202600160032, + 0.1049668145506983, + 0.3987658468948102, + 0.06962218376728943, + 0.8071611632470275, + 0.0, + 1.2785623779190687, + 1.000801358811924, + 0.004065492528371446, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5718008917935793, + 1.2689764130237469, + 0.18423202600160032, + 0.1049668145506983, + 0.3987658468948102, + 0.06962218376728943, + 0.8071611632470275, + 0.0, + 1.2190417160850113, + 0.9899659369044865, + 0.004065492528371446, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5718008917935793, + 1.2689764130237469, + 0.18423202600160032, + 0.1049668145506983, + 0.3987658468948102, + 0.06962218376728943, + 0.8071611632470275, + 0.0, + 1.2161284230290332, + 1.0372858436262615, + 0.004065492528371446, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5718008917935793, + 1.2689764130237469, + 0.18423202600160032, + 0.1049668145506983, + 0.3987658468948102, + 0.06962218376728943, + 0.8071611632470275, + 0.0, + 1.188431078116901, + 1.0341656846033218, + 0.004065492528371446, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5718008917935793, + 1.2689764130237469, + 0.18423202600160032, + 0.1049668145506983, + 0.3987658468948102, + 0.06962218376728943, + 0.8071611632470275, + 0.0, + 1.157292403183208, + 1.0750565868028041, + 0.004065492528371446, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5718008917935793, + 1.2689764130237469, + 0.18423202600160032, + 0.1049668145506983, + 0.3987658468948102, + 0.06962218376728943, + 0.8071611632470275, + 0.0, + 1.1588501657007813, + 1.079262287166317, + 0.004065492528371446, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5718008917935793, + 1.2689764130237469, + 0.18423202600160032, + 0.1049668145506983, + 0.3987658468948102, + 0.06962218376728943, + 0.8071611632470275, + 0.0, + 1.2019720953719888, + 1.1460394173904602, + 0.004065492528371446, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5718008917935793, + 1.2689764130237469, + 0.18423202600160032, + 0.1049668145506983, + 0.3987658468948102, + 0.06962218376728943, + 0.8071611632470275, + 0.0, + 1.1281505611084517, + 1.1233490962657828, + 0.004065492528371446, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5718008917935793, + 1.2689764130237469, + 0.18423202600160032, + 0.1049668145506983, + 0.3987658468948102, + 0.06962218376728943, + 0.8071611632470275, + 0.0, + 1.096170282703291, + 1.111994103331942, + 0.004065492528371446, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5718008917935793, + 1.2689764130237469, + 0.18423202600160032, + 0.1049668145506983, + 0.3987658468948102, + 0.06962218376728943, + 0.8071611632470275, + 0.0, + 1.0976702688989615, + 1.1681568172192849, + 0.004065492528371446, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5718008917935793, + 1.2689764130237469, + 0.18423202600160032, + 0.1049668145506983, + 0.3987658468948102, + 0.06962218376728943, + 0.8071611632470275, + 0.0, + 1.0373133207973302, + 1.1497571826056463, + 0.004065492528371446, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5718008917935793, + 1.2689764130237469, + 0.18423202600160032, + 0.1049668145506983, + 0.3987658468948102, + 0.06962218376728943, + 0.8071611632470275, + 0.0, + 1.066351150640145, + 1.21217420561729, + 0.004065492528371446, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5718008917935793, + 1.2689764130237469, + 0.18423202600160032, + 0.1049668145506983, + 0.3987658468948102, + 0.06962218376728943, + 0.8071611632470275, + 0.0, + 1.0335108813376332, + 1.2078570222017957, + 0.004065492528371446, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5718008917935793, + 1.2689764130237469, + 0.18423202600160032, + 0.1049668145506983, + 0.3987658468948102, + 0.06962218376728943, + 0.8071611632470275, + 0.0, + 1.1085692596130274, + 1.2525371302612747, + 0.004065492528371446, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5718008917935793, + 1.2689764130237469, + 0.18423202600160032, + 0.1049668145506983, + 0.3987658468948102, + 0.06962218376728943, + 0.8071611632470275, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.7668945044417405, + 1.0766514048842588, + 0.0, + 0.08581684688054145, + 0.027423000925856825, + 0.08823773172948902, + 0.03203824038316239, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.7668945044417405, + 1.0766514048842588, + 0.0, + 0.08581684688054145, + 0.027423000925856825, + 0.08823773172948902, + 0.03203824038316239, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.7668945044417405, + 1.0766514048842588, + 0.0, + 0.08581684688054145, + 0.027423000925856825, + 0.08823773172948902, + 0.03203824038316239, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.7668945044417405, + 1.0766514048842588, + 0.0, + 0.08581684688054145, + 0.027423000925856825, + 0.08823773172948902, + 0.03203824038316239, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.7668945044417405, + 1.0766514048842588, + 0.0, + 0.08581684688054145, + 0.027423000925856825, + 0.08823773172948902, + 0.03203824038316239, + 0.0 + ], + "min": [ + -3.485440254211426, + -1.9408563375473022, + 1.616493582725525, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0, + -3.3108062744140625, + -1.5115833282470703, + 0.5874999761581421, + -0.6775502562522888, + -0.8820143938064575, + -0.3592422902584076, + -0.7878236770629883, + 0.0, + -3.4502687454223633, + -1.9280380010604858, + 1.616493582725525, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3108062744140625, + -1.5115833282470703, + 1.0034105777740479, + -0.6775502562522888, + -0.12111160159111023, + -0.3592422902584076, + -0.7040308713912964, + 0.0, + -3.4029970169067383, + -1.9108097553253174, + 1.616493582725525, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3108062744140625, + -1.5115833282470703, + 1.0034105777740479, + -0.6775502562522888, + -0.12111160159111023, + -0.3592422902584076, + -0.7040308713912964, + 0.0, + -3.2920594215393066, + -1.8703784942626953, + 1.616493582725525, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3108062744140625, + -1.5115833282470703, + 1.0034105777740479, + -0.6775502562522888, + -0.12111160159111023, + -0.3592422902584076, + -0.7040308713912964, + 0.0, + -3.162475347518921, + -1.8231514692306519, + 1.616493582725525, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3108062744140625, + -1.5115833282470703, + 1.0034105777740479, + -0.6775502562522888, + -0.12111160159111023, + -0.3592422902584076, + -0.7040308713912964, + 0.0, + -3.1404383182525635, + -1.8151201009750366, + 1.616493582725525, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3108062744140625, + -1.5115833282470703, + 1.0034105777740479, + -0.6775502562522888, + -0.12111160159111023, + -0.3592422902584076, + -0.7040308713912964, + 0.0, + -3.099599599838257, + -1.800236463546753, + 1.616493582725525, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3108062744140625, + -1.5115833282470703, + 1.0034105777740479, + -0.6775502562522888, + -0.12111160159111023, + -0.3592422902584076, + -0.7040308713912964, + 0.0, + -2.9913480281829834, + -1.7607840299606323, + 1.616493582725525, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3108062744140625, + -1.5115833282470703, + 1.0034105777740479, + -0.6775502562522888, + -0.12111160159111023, + -0.3592422902584076, + -0.7040308713912964, + 0.0, + -2.9334614276885986, + -1.739687204360962, + 1.616493582725525, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3108062744140625, + -1.5115833282470703, + 1.0034105777740479, + -0.6775502562522888, + -0.12111160159111023, + -0.3592422902584076, + -0.7040308713912964, + 0.0, + -2.8423187732696533, + -1.7064701318740845, + 1.616493582725525, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3108062744140625, + -1.5115833282470703, + 1.0034105777740479, + -0.6775502562522888, + -0.12111160159111023, + -0.3592422902584076, + -0.7040308713912964, + 0.0, + -2.704740524291992, + -1.6563295125961304, + 1.616493582725525, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3108062744140625, + -1.5115833282470703, + 1.0034105777740479, + -0.6775502562522888, + -0.12111160159111023, + -0.3592422902584076, + -0.7040308713912964, + 0.0, + -2.6932897567749023, + -1.6521562337875366, + 1.616493582725525, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3108062744140625, + -1.5115833282470703, + 1.0034105777740479, + -0.6775502562522888, + -0.12111160159111023, + -0.3592422902584076, + -0.7040308713912964, + 0.0, + -2.6718761920928955, + -1.6443520784378052, + 1.616493582725525, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3108062744140625, + -1.5115833282470703, + 1.0034105777740479, + -0.6775502562522888, + -0.12111160159111023, + -0.3592422902584076, + -0.7040308713912964, + 0.0, + -2.5448074340820312, + -1.5980417728424072, + 1.616493582725525, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3108062744140625, + -1.5115833282470703, + 1.0034105777740479, + -0.6775502562522888, + -0.12111160159111023, + -0.3592422902584076, + -0.7040308713912964, + 0.0, + -2.477304697036743, + -1.5734403133392334, + 1.616493582725525, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3108062744140625, + -1.5115833282470703, + 1.0034105777740479, + -0.6775502562522888, + -0.12111160159111023, + -0.3592422902584076, + -0.7040308713912964, + 0.0, + -2.396416664123535, + -1.5439605712890625, + 1.616493582725525, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3108062744140625, + -1.5115833282470703, + 1.0034105777740479, + -0.6775502562522888, + -0.12111160159111023, + -0.3592422902584076, + -0.7040308713912964, + 0.0, + -2.2500839233398438, + -1.4906294345855713, + 1.616493582725525, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3108062744140625, + -1.5115833282470703, + 1.0034105777740479, + -0.6775502562522888, + -0.12111160159111023, + -0.3592422902584076, + -0.7040308713912964, + 0.0, + -2.248025894165039, + -1.4898793697357178, + 1.616493582725525, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3108062744140625, + -1.5115833282470703, + 1.0034105777740479, + -0.6775502562522888, + -0.12111160159111023, + -0.3592422902584076, + -0.7040308713912964, + 0.0, + -2.2441513538360596, + -1.4884673357009888, + 1.616493582725525, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3108062744140625, + -1.5115833282470703, + 1.0034105777740479, + -0.6775502562522888, + -0.12111160159111023, + -0.3592422902584076, + -0.7040308713912964, + 0.0, + -2.099013328552246, + -1.4355716705322266, + 1.616493582725525, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3108062744140625, + -1.5115833282470703, + 1.0034105777740479, + -0.6775502562522888, + -0.12111160159111023, + -0.3592422902584076, + -0.7040308713912964, + 0.0, + -2.0214028358459473, + -1.4072864055633545, + 1.616493582725525, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3108062744140625, + -1.5115833282470703, + 1.0034105777740479, + -0.6775502562522888, + -0.12111160159111023, + -0.3592422902584076, + -0.7040308713912964, + 0.0, + -1.9499844312667847, + -1.3812578916549683, + 1.616493582725525, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3108062744140625, + -1.5115833282470703, + 1.0034105777740479, + -0.6775502562522888, + -0.12111160159111023, + -0.3592422902584076, + -0.7040308713912964, + 0.0, + -1.8164268732070923, + -1.332582712173462, + 1.616493582725525, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3108062744140625, + -1.5115833282470703, + 1.0034105777740479, + -0.6775502562522888, + -0.12111160159111023, + -0.3592422902584076, + -0.7040308713912964, + 0.0, + -1.8010215759277344, + -1.3269683122634888, + 1.616493582725525, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3108062744140625, + -1.5115833282470703, + 1.0034105777740479, + -0.6775502562522888, + -0.12111160159111023, + -0.3592422902584076, + -0.7040308713912964, + 0.0, + -1.7928379774093628, + -1.3239858150482178, + 1.616493582725525, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3108062744140625, + -1.5115833282470703, + 1.0034105777740479, + -0.6775502562522888, + -0.12111160159111023, + -0.3592422902584076, + -0.7040308713912964, + 0.0, + -1.6526309251785278, + -1.2728872299194336, + 1.616493582725525, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3108062744140625, + -1.5115833282470703, + 1.0034105777740479, + -0.6775502562522888, + -0.12111160159111023, + -0.3592422902584076, + -0.7040308713912964, + 0.0, + -1.5656894445419312, + -1.2412012815475464, + 1.616493582725525, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3108062744140625, + -1.5115833282470703, + 1.0034105777740479, + -0.6775502562522888, + -0.12111160159111023, + -0.3592422902584076, + -0.7040308713912964, + 0.0, + -1.5040043592453003, + -1.2187200784683228, + 1.616493582725525, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3108062744140625, + -1.5115833282470703, + 1.0034105777740479, + -0.6775502562522888, + -0.12111160159111023, + -0.3592422902584076, + -0.7040308713912964, + 0.0, + -1.3841413259506226, + -1.175035834312439, + 1.616493582725525, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3108062744140625, + -1.5115833282470703, + 1.0034105777740479, + -0.6775502562522888, + -0.12111160159111023, + -0.3592422902584076, + -0.7040308713912964, + 0.0, + -1.3539856672286987, + -1.1640455722808838, + 1.616493582725525, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3108062744140625, + -1.5115833282470703, + 1.0034105777740479, + -0.6775502562522888, + -0.12111160159111023, + -0.3592422902584076, + -0.7040308713912964, + 0.0, + -1.338555097579956, + -1.1584218740463257, + 1.616493582725525, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3108062744140625, + -1.5115833282470703, + 1.0034105777740479, + -0.6775502562522888, + -0.12111160159111023, + -0.3592422902584076, + -0.7040308713912964, + 0.0, + -1.2004746198654175, + -1.1080982685089111, + 1.616493582725525, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3108062744140625, + -1.5115833282470703, + 1.0034105777740479, + -0.6775502562522888, + -0.12111160159111023, + -0.3592422902584076, + -0.7040308713912964, + 0.0, + -1.1115219593048096, + -1.0756794214248657, + 1.616493582725525, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3108062744140625, + -1.5115833282470703, + 1.0034105777740479, + -0.6775502562522888, + -0.12111160159111023, + -0.3592422902584076, + -0.7040308713912964, + 0.0, + -1.0439661741256714, + -1.0510586500167847, + 1.616493582725525, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3108062744140625, + -1.5115833282470703, + 1.0034105777740479, + -0.6775502562522888, + -0.12111160159111023, + -0.3592422902584076, + -0.7040308713912964, + 0.0, + -0.8917512893676758, + -0.9955837726593018, + 1.616493582725525, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3108062744140625, + -1.5115833282470703, + 1.0034105777740479, + -0.6775502562522888, + -0.12111160159111023, + -0.3592422902584076, + -0.7040308713912964, + 0.0, + -0.8886279463768005, + -0.9944454431533813, + 1.616493582725525, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3108062744140625, + -1.5115833282470703, + 1.0034105777740479, + -0.6775502562522888, + -0.12111160159111023, + -0.3592422902584076, + -0.7040308713912964, + 0.0, + -0.8874441981315613, + -0.9940140247344971, + 1.616493582725525, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3108062744140625, + -1.5115833282470703, + 1.0034105777740479, + -0.6775502562522888, + -0.12111160159111023, + -0.3592422902584076, + -0.7040308713912964, + 0.0, + -0.732079029083252, + -0.9373910427093506, + 1.616493582725525, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3108062744140625, + -1.5115833282470703, + 1.0034105777740479, + -0.6775502562522888, + -0.12111160159111023, + -0.3592422902584076, + -0.7040308713912964, + 0.0, + -0.6673932075500488, + -0.9138162136077881, + 1.616493582725525, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3108062744140625, + -1.5115833282470703, + 1.0034105777740479, + -0.6775502562522888, + -0.12111160159111023, + -0.3592422902584076, + -0.7040308713912964, + 0.0, + -0.5748692750930786, + -0.8800957798957825, + 1.616493582725525, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3108062744140625, + -1.5115833282470703, + 1.0034105777740479, + -0.6775502562522888, + -0.12111160159111023, + -0.3592422902584076, + -0.7040308713912964, + 0.0, + -0.4475805163383484, + -0.8337053060531616, + 1.616493582725525, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3108062744140625, + -1.5115833282470703, + 1.0034105777740479, + -0.6775502562522888, + -0.12111160159111023, + -0.3592422902584076, + -0.7040308713912964, + 0.0, + -0.41680893301963806, + -0.8224905729293823, + 1.616493582725525, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3108062744140625, + -1.5115833282470703, + 1.0034105777740479, + -0.6775502562522888, + -0.12111160159111023, + -0.3592422902584076, + -0.7040308713912964, + 0.0, + -0.33777013421058655, + -0.7936847805976868, + 1.616493582725525, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3108062744140625, + -1.5115833282470703, + 1.0034105777740479, + -0.6775502562522888, + -0.12111160159111023, + -0.3592422902584076, + -0.7040308713912964, + 0.0, + -0.4056294560432434, + -0.756517767906189, + 1.616493582725525, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.3108062744140625, + -1.5115833282470703, + 1.0034105777740479, + -0.6775502562522888, + -0.12111160159111023, + -0.3592422902584076, + -0.7040308713912964, + 0.0, + 1.840306043624878, + 1.7897664308547974, + 1.6246511936187744, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.41236454248428345, + -0.5018776059150696, + 1.0034105777740479, + -0.3911488950252533, + 0.6126048564910889, + -0.3592422902584076, + -0.7040308713912964, + 0.0, + 1.9138034582138062, + 1.9024076461791992, + 1.6246511936187744, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.41236454248428345, + -0.5018776059150696, + 1.0034105777740479, + -0.3911488950252533, + 0.6126048564910889, + -0.3592422902584076, + -0.7040308713912964, + 0.0, + 1.9499754905700684, + 1.9578444957733154, + 1.6246511936187744, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.41236454248428345, + -0.5018776059150696, + 1.0034105777740479, + -0.3911488950252533, + 0.6126048564910889, + -0.3592422902584076, + -0.7040308713912964, + 0.0, + 2.0085713863372803, + 2.047647714614868, + 1.6246511936187744, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.41236454248428345, + -0.5018776059150696, + 1.0034105777740479, + -0.3911488950252533, + 0.6126048564910889, + -0.3592422902584076, + -0.7040308713912964, + 0.0, + 2.091064691543579, + 2.0797278881073, + 1.6246511936187744, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.41236454248428345, + -0.5018776059150696, + 1.0034105777740479, + -0.3911488950252533, + 0.6126048564910889, + -0.3592422902584076, + -0.7040308713912964, + 0.0 + ], + "max": [ + -0.4475649893283844, + -0.7787286639213562, + 1.6246511936187744, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.334974765777588, + 2.9464428424835205, + 1.3731156587600708, + 0.7312080264091492, + 0.7584224939346313, + 0.48759689927101135, + 0.9694313406944275, + 1.0, + -0.4347730278968811, + -0.774674117565155, + 1.6246511936187744, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.334974765777588, + 2.55674147605896, + 1.3730812072753906, + 0.0034407079219818115, + 0.7101675868034363, + 0.0451224148273468, + 0.9694313406944275, + 0.0, + -0.4135749936103821, + -0.7679551839828491, + 1.6246511936187744, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.334974765777588, + 2.55674147605896, + 1.3730812072753906, + 0.0034407079219818115, + 0.7101675868034363, + 0.0451224148273468, + 0.9694313406944275, + 0.0, + -0.2714068591594696, + -0.7228935956954956, + 1.6246511936187744, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.334974765777588, + 2.55674147605896, + 1.3730812072753906, + 0.0034407079219818115, + 0.7101675868034363, + 0.0451224148273468, + 0.9694313406944275, + 0.0, + -0.20272350311279297, + -0.7011237144470215, + 1.6246511936187744, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.334974765777588, + 2.55674147605896, + 1.3730812072753906, + 0.0034407079219818115, + 0.7101675868034363, + 0.0451224148273468, + 0.9694313406944275, + 0.0, + -0.1084979921579361, + -0.6712580323219299, + 1.6246511936187744, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.334974765777588, + 2.55674147605896, + 1.3730812072753906, + 0.0034407079219818115, + 0.7101675868034363, + 0.0451224148273468, + 0.9694313406944275, + 0.0, + 0.0064297690987586975, + -0.6348305344581604, + 1.6246511936187744, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.334974765777588, + 2.55674147605896, + 1.3730812072753906, + 0.0034407079219818115, + 0.7101675868034363, + 0.0451224148273468, + 0.9694313406944275, + 0.0, + 0.05292734503746033, + -0.6200926303863525, + 1.6246511936187744, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.334974765777588, + 2.55674147605896, + 1.3730812072753906, + 0.0034407079219818115, + 0.7101675868034363, + 0.0451224148273468, + 0.9694313406944275, + 0.0, + 0.09082280844449997, + -0.6080812811851501, + 1.6246511936187744, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.334974765777588, + 2.55674147605896, + 1.3730812072753906, + 0.0034407079219818115, + 0.7101675868034363, + 0.0451224148273468, + 0.9694313406944275, + 0.0, + 0.2071014642715454, + -0.571225643157959, + 1.6246511936187744, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.334974765777588, + 2.55674147605896, + 1.3730812072753906, + 0.0034407079219818115, + 0.7101675868034363, + 0.0451224148273468, + 0.9694313406944275, + 0.0, + 0.24198496341705322, + -0.560168981552124, + 1.6246511936187744, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.334974765777588, + 2.55674147605896, + 1.3730812072753906, + 0.0034407079219818115, + 0.7101675868034363, + 0.0451224148273468, + 0.9694313406944275, + 0.0, + 0.323942095041275, + -0.5341918468475342, + 1.6246511936187744, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.334974765777588, + 2.55674147605896, + 1.3730812072753906, + 0.0034407079219818115, + 0.7101675868034363, + 0.0451224148273468, + 0.9694313406944275, + 0.0, + 0.39595362544059753, + -0.42382803559303284, + 1.6246511936187744, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.334974765777588, + 2.55674147605896, + 1.3730812072753906, + 0.0034407079219818115, + 0.7101675868034363, + 0.0451224148273468, + 0.9694313406944275, + 0.0, + 0.4182646870613098, + -0.3896344304084778, + 1.6246511936187744, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.334974765777588, + 2.55674147605896, + 1.3730812072753906, + 0.0034407079219818115, + 0.7101675868034363, + 0.0451224148273468, + 0.9694313406944275, + 0.0, + 0.4794979393482208, + -0.2957891821861267, + 1.6246511936187744, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.334974765777588, + 2.55674147605896, + 1.3730812072753906, + 0.0034407079219818115, + 0.7101675868034363, + 0.0451224148273468, + 0.9694313406944275, + 0.0, + 0.506099283695221, + -0.25502029061317444, + 1.6246511936187744, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.334974765777588, + 2.55674147605896, + 1.3730812072753906, + 0.0034407079219818115, + 0.7101675868034363, + 0.0451224148273468, + 0.9694313406944275, + 0.0, + 0.5300776958465576, + -0.21827131509780884, + 1.6246511936187744, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.334974765777588, + 2.55674147605896, + 1.3730812072753906, + 0.0034407079219818115, + 0.7101675868034363, + 0.0451224148273468, + 0.9694313406944275, + 0.0, + 0.6123671531677246, + -0.09215565770864487, + 1.6246511936187744, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.334974765777588, + 2.55674147605896, + 1.3730812072753906, + 0.0034407079219818115, + 0.7101675868034363, + 0.0451224148273468, + 0.9694313406944275, + 0.0, + 0.6190484166145325, + -0.08191605657339096, + 1.6246511936187744, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.334974765777588, + 2.55674147605896, + 1.3730812072753906, + 0.0034407079219818115, + 0.7101675868034363, + 0.0451224148273468, + 0.9694313406944275, + 0.0, + 0.6218396425247192, + -0.07763828337192535, + 1.6246511936187744, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.334974765777588, + 2.55674147605896, + 1.3730812072753906, + 0.0034407079219818115, + 0.7101675868034363, + 0.0451224148273468, + 0.9694313406944275, + 0.0, + 0.7175576090812683, + 0.06905771791934967, + 1.6246511936187744, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.334974765777588, + 2.55674147605896, + 1.3730812072753906, + 0.0034407079219818115, + 0.7101675868034363, + 0.0451224148273468, + 0.9694313406944275, + 0.0, + 0.726915180683136, + 0.08339903503656387, + 1.6246511936187744, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.334974765777588, + 2.55674147605896, + 1.3730812072753906, + 0.0034407079219818115, + 0.7101675868034363, + 0.0451224148273468, + 0.9694313406944275, + 0.0, + 0.8187747001647949, + 0.2241816222667694, + 1.6246511936187744, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.334974765777588, + 2.55674147605896, + 1.3730812072753906, + 0.0034407079219818115, + 0.7101675868034363, + 0.0451224148273468, + 0.9694313406944275, + 0.0, + 0.8377140164375305, + 0.2532077431678772, + 1.6246511936187744, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.334974765777588, + 2.55674147605896, + 1.3730812072753906, + 0.0034407079219818115, + 0.7101675868034363, + 0.0451224148273468, + 0.9694313406944275, + 0.0, + 0.9204708933830261, + 0.38003984093666077, + 1.6246511936187744, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.334974765777588, + 2.55674147605896, + 1.3730812072753906, + 0.0034407079219818115, + 0.7101675868034363, + 0.0451224148273468, + 0.9694313406944275, + 0.0, + 0.9460723996162415, + 0.4192763566970825, + 1.6246511936187744, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.334974765777588, + 2.55674147605896, + 1.3730812072753906, + 0.0034407079219818115, + 0.7101675868034363, + 0.0451224148273468, + 0.9694313406944275, + 0.0, + 1.0225285291671753, + 0.536452054977417, + 1.6246511936187744, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.334974765777588, + 2.55674147605896, + 1.3730812072753906, + 0.0034407079219818115, + 0.7101675868034363, + 0.0451224148273468, + 0.9694313406944275, + 0.0, + 1.0504003763198853, + 0.5791681408882141, + 1.6246511936187744, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.334974765777588, + 2.55674147605896, + 1.3730812072753906, + 0.0034407079219818115, + 0.7101675868034363, + 0.0451224148273468, + 0.9694313406944275, + 0.0, + 1.1249281167984009, + 0.6933882832527161, + 1.6246511936187744, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.334974765777588, + 2.55674147605896, + 1.3730812072753906, + 0.0034407079219818115, + 0.7101675868034363, + 0.0451224148273468, + 0.9694313406944275, + 0.0, + 1.1490298509597778, + 0.7303262948989868, + 1.6246511936187744, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.334974765777588, + 2.55674147605896, + 1.3730812072753906, + 0.0034407079219818115, + 0.7101675868034363, + 0.0451224148273468, + 0.9694313406944275, + 0.0, + 1.2269432544708252, + 0.8497353196144104, + 1.6246511936187744, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.334974765777588, + 2.55674147605896, + 1.3730812072753906, + 0.0034407079219818115, + 0.7101675868034363, + 0.0451224148273468, + 0.9694313406944275, + 0.0, + 1.2455925941467285, + 0.87831711769104, + 1.6246511936187744, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.334974765777588, + 2.55674147605896, + 1.3730812072753906, + 0.0034407079219818115, + 0.7101675868034363, + 0.0451224148273468, + 0.9694313406944275, + 0.0, + 1.3286995887756348, + 1.0056856870651245, + 1.6246511936187744, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.334974765777588, + 2.55674147605896, + 1.3730812072753906, + 0.0034407079219818115, + 0.7101675868034363, + 0.0451224148273468, + 0.9694313406944275, + 0.0, + 1.3406792879104614, + 1.024045705795288, + 1.6246511936187744, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.334974765777588, + 2.55674147605896, + 1.3730812072753906, + 0.0034407079219818115, + 0.7101675868034363, + 0.0451224148273468, + 0.9694313406944275, + 0.0, + 1.4304128885269165, + 1.1615701913833618, + 1.6246511936187744, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.334974765777588, + 2.55674147605896, + 1.3730812072753906, + 0.0034407079219818115, + 0.7101675868034363, + 0.0451224148273468, + 0.9694313406944275, + 0.0, + 1.436661958694458, + 1.1711474657058716, + 1.6246511936187744, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.334974765777588, + 2.55674147605896, + 1.3730812072753906, + 0.0034407079219818115, + 0.7101675868034363, + 0.0451224148273468, + 0.9694313406944275, + 0.0, + 1.5243719816207886, + 1.3055704832077026, + 1.6246511936187744, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.334974765777588, + 2.55674147605896, + 1.3730812072753906, + 0.0034407079219818115, + 0.7101675868034363, + 0.0451224148273468, + 0.9694313406944275, + 0.0, + 1.5316106081008911, + 1.316664218902588, + 1.6246511936187744, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.334974765777588, + 2.55674147605896, + 1.3730812072753906, + 0.0034407079219818115, + 0.7101675868034363, + 0.0451224148273468, + 0.9694313406944275, + 0.0, + 1.5321264266967773, + 1.3174546957015991, + 1.6246511936187744, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.334974765777588, + 2.55674147605896, + 1.3730812072753906, + 0.0034407079219818115, + 0.7101675868034363, + 0.0451224148273468, + 0.9694313406944275, + 0.0, + 1.6276601552963257, + 1.4638683795928955, + 1.6246511936187744, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.334974765777588, + 2.55674147605896, + 1.3730812072753906, + 0.0034407079219818115, + 0.7101675868034363, + 0.0451224148273468, + 0.9694313406944275, + 0.0, + 1.633839726448059, + 1.4733390808105469, + 1.6246511936187744, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.334974765777588, + 2.55674147605896, + 1.3730812072753906, + 0.0034407079219818115, + 0.7101675868034363, + 0.0451224148273468, + 0.9694313406944275, + 0.0, + 1.7228771448135376, + 1.6097966432571411, + 1.6246511936187744, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.334974765777588, + 2.55674147605896, + 1.3730812072753906, + 0.0034407079219818115, + 0.7101675868034363, + 0.0451224148273468, + 0.9694313406944275, + 0.0, + 1.7360203266143799, + 1.6299397945404053, + 1.6246511936187744, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.334974765777588, + 2.55674147605896, + 1.3730812072753906, + 0.0034407079219818115, + 0.7101675868034363, + 0.0451224148273468, + 0.9694313406944275, + 0.0, + 1.8187693357467651, + 1.7567596435546875, + 1.6246511936187744, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.334974765777588, + 2.55674147605896, + 1.3730812072753906, + 0.0034407079219818115, + 0.7101675868034363, + 0.0451224148273468, + 0.9694313406944275, + 0.0, + 1.840306043624878, + 1.7897664308547974, + 1.6246511936187744, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.334974765777588, + 2.55674147605896, + 1.0034105777740479, + 0.0034407079219818115, + 0.7101675868034363, + 0.0451224148273468, + -0.5853738188743591, + 0.0, + 1.9138034582138062, + 1.9024076461791992, + 1.6246511936187744, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.334974765777588, + 2.55674147605896, + 1.0034105777740479, + 0.0034407079219818115, + 0.7101675868034363, + 0.0451224148273468, + -0.5853738188743591, + 0.0, + 1.9499754905700684, + 1.9578444957733154, + 1.6246511936187744, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.334974765777588, + 2.55674147605896, + 1.0034105777740479, + 0.0034407079219818115, + 0.7101675868034363, + 0.0451224148273468, + -0.5853738188743591, + 0.0, + 2.0085713863372803, + 2.047647714614868, + 1.6246511936187744, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.334974765777588, + 2.55674147605896, + 1.0034105777740479, + 0.0034407079219818115, + 0.7101675868034363, + 0.0451224148273468, + -0.5853738188743591, + 0.0, + 2.091064691543579, + 2.0797278881073, + 1.6246511936187744, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.334974765777588, + 2.55674147605896, + 1.0034105777740479, + 0.0034407079219818115, + 0.7101675868034363, + 0.0451224148273468, + -0.5853738188743591, + 0.0 + ], + "count": [ + 2717 + ] + }, + "action.applied": { + "mean": [ + 0.06583578083259703, + -0.0007956880609236485, + 0.005977765191496371, + 1.8064709589385817, + -2.5065831970018984, + -0.557807522217392, + 1.397315037812123, + 1.599769708165064, + -2.1517811602514194, + -0.247761209028079, + -0.0005641289084140633, + 0.0005641289084140633 + ], + "std": [ + 0.12076373131247907, + 0.00821390891380588, + 0.14691741509251247, + 1.0716057355184145, + 0.5602612648409708, + 0.332394939840009, + 0.4766986286343516, + 0.9877224090160953, + 0.23834435632748316, + 0.3993761713923743, + 0.013222471493372127, + 0.013222471493372127 + ], + "min": [ + 0.0, + -0.06251794099807739, + -0.800000011920929, + -0.029561709612607956, + -3.377451181411743, + -1.053839921951294, + 0.49846744537353516, + -0.06879658997058868, + -2.5120646953582764, + -0.9372118711471558, + -0.009999999776482582, + -0.020833000540733337 + ], + "max": [ + 0.30000001192092896, + 0.06541302055120468, + 0.800000011920929, + 3.0403707027435303, + -1.5742156505584717, + 0.0003954528656322509, + 2.1613221168518066, + 2.8950188159942627, + -1.301982045173645, + 0.8946241140365601, + 0.020833000540733337, + 0.009999999776482582 + ], + "count": [ + 2717 + ] + }, + "extra.reward": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 2717 + ] + }, + "next.truncated": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 2717 + ] + }, + "sim_step_idx": { + "mean": [ + 2817.0 + ], + "std": [ + 1568.6605751404604 + ], + "min": [ + 101.0 + ], + "max": [ + 5533.0 + ], + "count": [ + 2717 + ] + }, + "timestamp": { + "mean": [ + 54.32000000089308 + ], + "std": [ + 31.373211500956025 + ], + "min": [ + 0.0 + ], + "max": [ + 108.63999938964844 + ], + "count": [ + 2717 + ] + }, + "frame_index": { + "mean": [ + 1358.0 + ], + "std": [ + 784.3302875702302 + ], + "min": [ + 0.0 + ], + "max": [ + 2716.0 + ], + "count": [ + 2717 + ] + }, + "episode_index": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 2717 + ] + }, + "index": { + "mean": [ + 1358.0 + ], + "std": [ + 784.3302875702302 + ], + "min": [ + 0.0 + ], + "max": [ + 2716.0 + ], + "count": [ + 2717 + ] + }, + "task_index": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 2717 + ] + }, + "next.done": { + "mean": [ + 0.000368052999631947 + ], + "std": [ + 0.019181176622444437 + ], + "min": [ + 0.0 + ], + "max": [ + 1.0 + ], + "count": [ + 2717 + ] + }, + "observation.images.head": { + "mean": [ + [ + [ + 0.5287405022067684 + ] + ], + [ + [ + 0.4460197459777802 + ] + ], + [ + [ + 0.38977962893352186 + ] + ] + ], + "std": [ + [ + [ + 0.14281411097841176 + ] + ], + [ + [ + 0.16699587944184233 + ] + ], + [ + [ + 0.15414396117762955 + ] + ] + ], + "min": [ + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ] + ], + "max": [ + [ + [ + 0.9215686274509803 + ] + ], + [ + [ + 0.8862745098039215 + ] + ], + [ + [ + 0.8274509803921568 + ] + ] + ], + "count": [ + 100 + ] + }, + "observation.images.wrist": { + "mean": [ + [ + [ + 0.5425471337406415 + ] + ], + [ + [ + 0.46132184244237373 + ] + ], + [ + [ + 0.38037258107075933 + ] + ] + ], + "std": [ + [ + [ + 0.14100875752467448 + ] + ], + [ + [ + 0.15384426682630997 + ] + ], + [ + [ + 0.1585962346561722 + ] + ] + ], + "min": [ + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ] + ], + "max": [ + [ + [ + 0.9411764705882353 + ] + ], + [ + [ + 0.9372549019607843 + ] + ], + [ + [ + 0.9294117647058824 + ] + ] + ], + "count": [ + 100 + ] + } +} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_off/seed_1025/rec/stationbookendxr/000/lerobot_v21/meta/tasks.jsonl b/N034/sawyer_umi/dr_off/seed_1025/rec/stationbookendxr/000/lerobot_v21/meta/tasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e639892eae0aca859cb3ed9b82a48465787b6b4a --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1025/rec/stationbookendxr/000/lerobot_v21/meta/tasks.jsonl @@ -0,0 +1 @@ +{"task_index": 0, "task": "Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it."} diff --git a/N034/sawyer_umi/dr_off/seed_1025/rec/stationbookendxr/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 b/N034/sawyer_umi/dr_off/seed_1025/rec/stationbookendxr/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d4e15321caa08c1a4800163f7ca2ca7f6c2396dc --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1025/rec/stationbookendxr/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 sha256:0285ffafe9f5cf8a5f7232a5466f9681db5ba3eb38c8903af33b04241ebccbf8 +size 29788154 diff --git a/N034/sawyer_umi/dr_off/seed_1025/rec/stationbookendxr/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 b/N034/sawyer_umi/dr_off/seed_1025/rec/stationbookendxr/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..833b370c80d7089fca045d12f06ad0ec3d349cc9 --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1025/rec/stationbookendxr/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 sha256:953655b10468c4e946bff686dea57ff0cfc2a60a3465b01c40d9c8eace0f388c +size 48039679 diff --git a/N034/sawyer_umi/dr_off/seed_1025/rec/stationbookendxr/000/run_meta.json b/N034/sawyer_umi/dr_off/seed_1025/rec/stationbookendxr/000/run_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2390de83191d1821900f6262f5539884468f7340 --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1025/rec/stationbookendxr/000/run_meta.json @@ -0,0 +1,1215 @@ +{ + "run_id": "stationbookendxr/000", + "created": "2026-11-08 02:53:46", + "num_envs": 1, + "session_id": null, + "record_config": { + "output_dir": "/mnt/scratch/xc536_atomic/n034_saw_off_1025/out/rec", + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "json_round": null, + "schema": { + "source": "robot_manager", + "nan_policy": "from_raw" + }, + "lerobot": { + "subsample_every": 2 + } + }, + "config": { + "env_string": "StationBookendXREnv-V0", + "env": { + "sim": { + "device": "cpu", + "use_fabric": false, + "decimation": 4, + "dt": 0.005, + "seed": 1025, + "soft_resets": 2, + "enable_scene_query_support": true, + "scene": { + "num_envs": 1, + "env_spacing": 16 + }, + "render": { + "rendering_mode": "performance", + "enable_reflections": false, + "enable_global_illumination": false, + "enable_translucency": false, + "enable_dl_denoiser": false + } + }, + "nav": { + "navmesh": { + "enabled": true, + "visualize": false, + "bake_timeout_s": 180, + "agent_height_cm": 150, + "min_agent_radius_cm": 45.0, + "max_agent_radius_cm": 45.0, + "max_step_height_cm": 20, + "max_floor_slope_deg": 30, + "agent_island_radius_cm": 5, + "auto_exclude_rigid_bodies": true, + "validate_path_clearance": true, + "validate_path_window": true, + "navmesh_offset_z_m": 0, + "verbose": false, + "validate_path_reroute": true + }, + "occupancymap": { + "cell_size": 0.05 + } + }, + "scene": { + "background": { + "intensity": [ + 1000, + 1000 + ] + }, + "terrain": { + "type": "nav_room", + "collision": true, + "hide_top_walls": true, + "usd": [ + "$MAGICSIM_ASSETS/Room/Collected_SimpleRoom" + ], + "annotation": "Annotation", + "random": false, + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0, + "friction_combine_mode": "multiply", + "restitution_combine_mode": "multiply" + } + }, + "objects": { + "table_A": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "table_A_1": { + "pos": [ + -0.44537224821514043, + 0.11257399220436569, + 0.18 + ], + "ori": [ + 0.0, + 0.0, + 2.6182613390610925 + ], + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.45, + 0.35 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "table_B": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "table_B_1": { + "pos": [ + 2.039927330717118, + 3.0283505725981645, + 0.18 + ], + "ori": [ + 0.0, + 0.0, + 3.0856553465758623 + ], + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.45, + 0.35 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "slot_left": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "slot_left_1": { + "pos": [ + -0.46636281844458616, + -0.008511291630800277, + 0.3475 + ], + "ori": [ + 0.0, + 0.0, + 2.6182613390610925 + ], + "primitive_params": { + "size": [ + 0.01, + 0.12, + 0.035 + ] + }, + "visual": { + "color": [ + [ + 0.4, + 0.3, + 0.2 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "slot_right": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "slot_right_1": { + "pos": [ + -0.4134181472148746, + -0.006090178585577505, + 0.3475 + ], + "ori": [ + 0.0, + 0.0, + 2.6182613390610925 + ], + "primitive_params": { + "size": [ + 0.01, + 0.12, + 0.035 + ] + }, + "visual": { + "color": [ + [ + 0.4, + 0.3, + 0.2 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "book": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "book_1": { + "pos": [ + -0.43915881640759474, + -0.02330074727045743, + 0.40149999999999997 + ], + "ori": [ + 0.0, + 0.0, + 92.61826133906109 + ], + "primitive_params": { + "size": [ + 0.1, + 0.035, + 0.14 + ] + }, + "visual": { + "color": [ + [ + 0.78, + 0.12, + 0.12 + ] + ] + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.05, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + } + } + } + }, + "plate": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "plate_1": { + "pos": [ + 2.0168515322582756, + 2.9269614335077923, + 0.37049999999999994 + ], + "ori": [ + 0.0, + 0.0, + 3.0856553465758623 + ], + "primitive_params": { + "size": [ + 0.012, + 0.14, + 0.08 + ] + }, + "visual": { + "color": [ + [ + 0.35, + 0.35, + 0.4 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "bookend": { + "usd": [ + "$MAGICSIM_ASSETS/Object/MMB_A07/bookend_l/Object.usda" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "bookend_1": { + "pos": [ + 2.128777916921216, + 2.9391312274634416, + 0.33099999999999996 + ], + "ori": [ + 0.0, + 0.0, + 93.08565534657586 + ], + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.6, + "physics_material": { + "static_friction": 0.2, + "dynamic_friction": 0.15, + "restitution": 0.0 + } + } + } + } + } + }, + "robot": { + "RidgebackSawyerUmi": { + "name": "ridgebacksawyer_umi", + "type": "mobilemanip", + "common": { + "pos": [ + [ + -3.4, + -2.2, + 0.05 + ], + [ + -3.4, + -2.2, + 0.05 + ] + ], + "ori": [ + [ + 0, + 0, + 40.0 + ], + [ + 0, + 0, + 40.0 + ] + ], + "initial_joint_pos": { + "dummy_base_.*": 0.0, + "head_pan": 0.0, + "right_j0": 0.0, + "right_j1": -1.6, + "right_j2": 0.0, + "right_j3": 0.5, + "right_j4": 0.0, + "right_j5": -2.32, + "right_j6": 0.0, + "right_gripper_l_finger_joint": 0.0, + "right_gripper_r_finger_joint": 0.0 + } + }, + "action": { + "base_action": "holonomic_action", + "arm_action": "ik_pink", + "eef_action": "binary" + }, + "planner": { + "dual_mode": true, + "base_joint_names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint" + ], + "ik": { + "type": "ridgebacksawyer_umi", + "model_tuning": "ridgeback_sawyer_umi", + "enable": true, + "ik_num_instances": 1, + "ik_batch_size": 1, + "ik_num_seeds": 32, + "ik_position_threshold": 0.005, + "ik_rotation_threshold": 0.05, + "microbatch_wait_ms": 20.0, + "relative_to_world_frame": false + }, + "motiongen": { + "type": "ridgebacksawyer_umi", + "model_tuning": "ridgeback_sawyer_umi", + "enable": true, + "motiongen_num_instances": 1, + "batch_size": 1, + "microbatch_wait_ms": 20.0, + "mode": "position", + "relative_to_world_frame": false, + "start_state_limit_inset": 0.002 + }, + "body": { + "type": "nav", + "dwb_type": "dwb_holonomic", + "dwb_holonomic": { + "device": "cpu", + "dt": 0.02, + "debug": false, + "num_rollout_steps": 60, + "num_speed_samples": 11, + "num_steer_samples": 11, + "num_vx_samples": 7, + "num_vy_samples": 7, + "num_yaw_samples": 7, + "max_accel": 1.5, + "max_steer_rate": 1.5, + "max_accel_vx": 1.5, + "max_accel_vy": 1.5, + "max_yaw_accel": 1.5, + "w_goal": 6.0, + "w_path": 8.0, + "w_vel": 0.2, + "w_vy": 0.0, + "goal_cost_mode": "path", + "dilate_radius": 0.36, + "room_size": 12.0, + "occupancy_update_interval": 25, + "scan_height": 0.35, + "scan_min_z": 0.12, + "scan_max_z": 1.65, + "goal_pos_threshold": 0.05, + "goal_yaw_threshold": 0.05, + "kp_goal_yaw": 1.5, + "heading_reference": "path", + "turn_yaw_threshold": 0.8, + "heading_lookahead": 0.8, + "heading_min_leg": 0.35, + "route_yaw_gain": 2.0, + "goal_yaw_hysteresis": 0.02, + "min_vx": -0.3, + "max_vx": 0.3, + "min_vy": -0.3, + "max_vy": 0.3, + "min_yaw_rate": -0.8, + "max_yaw_rate": 0.8, + "safety_enabled": true, + "safety_deceleration": 0.5, + "safety_reaction_time": 0.5, + "scan_type": "3d" + }, + "p_controller": { + "kp_angular_turning_only": 2.0, + "kd_angular_turning_only": 1.0, + "kp_linear_x": 3.0, + "kp_linear_y": 3.0, + "kp_angular": 2.0, + "kd_linear_x": 1.0, + "kd_linear_y": 1.0, + "min_vel": -0.4, + "max_vel": 0.5, + "linear_dead_zone": 0.01, + "angular_dead_zone": 0.05, + "nav_heading_target": -1, + "nav_upgrade_distance": 0.03 + } + }, + "arm": { + "type": "default" + }, + "eef": { + "type": "default" + } + }, + "physics": { + "robot_radius": 0.66, + "wheel_base": 0.01 + }, + "reset": "default" + } + }, + "camera": { + "enable_tiled": false, + "colorize_depth": false, + "head": { + "camera": { + "type": "camera", + "mesh": "pinhole", + "resolution": [ + 640, + 480 + ], + "frequency": 25, + "focal_length": 2.0, + "horizontal_aperture": 3.6, + "vertical_aperture": 2.7, + "clipping_range": [ + 0.05, + 30.0 + ], + "focus_distance": 3.0, + "mode": "RGB", + "mount_link": "Robot_0/head", + "pos": [ + 0.2166, + 0.0, + -0.045 + ], + "ori": [ + -0.0, + 35.0, + -90.0 + ] + }, + "annotator": { + "enabled": true, + "rgb_capture": { + "type": "rgb", + "device": "cpu" + } + } + }, + "wrist": { + "camera": { + "type": "camera", + "mesh": "pinhole", + "resolution": [ + 640, + 480 + ], + "frequency": 25, + "focal_length": 1.8, + "horizontal_aperture": 3.6, + "vertical_aperture": 2.7, + "clipping_range": [ + 0.05, + 30.0 + ], + "focus_distance": 3.0, + "mode": "RGB", + "mount_link": "Robot_0/right_electric_gripper_base", + "pos": [ + 0.0598, + 0.0, + 0.03 + ], + "ori": [ + 180.0, + 0.0, + -90.0 + ] + }, + "annotator": { + "enabled": true, + "rgb_capture": { + "type": "rgb", + "device": "cpu" + } + } + } + } + }, + "task": { + "new_seed_per_episode": true, + "observation": {}, + "reward": {}, + "termination": { + "timeout_steps": 30000, + "success_hold_frames": 10, + "fall_height": 0.02, + "fall_tilt": 1.0, + "lift_height": 0.12, + "grasp_distance": 0.25 + }, + "station": { + "robot": { + "key": "RidgebackSawyerUmi", + "embodiment": "sawyer_umi", + "base_link": "torso", + "tcp_in_wrist": [ + 0.17174, + 0.00789, + 0.0, + 0.5, + 0.5, + 0.5, + 0.5 + ], + "wrist_ref_back": 0.0, + "spawn_dz": 0.02, + "finger_joints": [ + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ], + "dwb": { + "key": "dwb_holonomic", + "add_floor": false + } + }, + "task_id": "N034", + "task_version": "EXT60-MobileAvatar-v3", + "family_id": "bookend_support", + "primary_category": "C2", + "stage": "full", + "layout": { + "floor_z": 0.03, + "start": { + "x": -3.4, + "y": -2.2, + "yaw_deg": 40.0, + "radius": 0.3, + "yaw_spread_deg": 20.0 + }, + "stations": { + "A": { + "center": [ + -0.44537224821514043, + 0.11257399220436569 + ], + "facing_deg": 92.61826133906109, + "standoff": 0.62, + "table": { + "width": 0.9, + "depth": 0.5, + "height": 0.3 + } + }, + "B": { + "center": [ + 2.039927330717118, + 3.0283505725981645 + ], + "facing_deg": 93.08565534657586, + "standoff": 0.7, + "table": { + "width": 0.9, + "depth": 0.5, + "height": 0.3 + } + } + } + }, + "route": [ + "A", + "B" + ], + "book": "book", + "bookend": "bookend", + "plate": "plate", + "dr": { + "enabled": true, + "stations": { + "center_m": 0.25, + "facing_deg": 8.0 + }, + "objects": { + "across_m": 0.025, + "along_m": 0.02, + "yaw_deg": 8.0 + } + }, + "book_slot": { + "across": -0.001 + }, + "push": { + "height": 0.025, + "overshoot": -0.002 + }, + "place_check": { + "book": { + "at": { + "station": "B", + "across": -0.001, + "along": -0.1, + "z": 0.0725 + }, + "yaw_deg": 90.0, + "clearance": 0.004 + } + }, + "success": { + "upright_deg": 15.0, + "rest_z_tol": 0.02, + "contact_gap": 0.006, + "max_penetration": 0.01, + "min_push": 0.04, + "release_dist": 0.15, + "rest_speed": 0.03, + "lift": 0.08 + }, + "objects": { + "slot_left": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.01, + 0.12, + 0.035 + ], + "at": { + "station": "A", + "across": -0.0265, + "along": -0.12, + "z": 0.0175 + }, + "color": [ + 0.4, + 0.3, + 0.2 + ], + "pos": [ + -0.46636281844458616, + -0.008511291630800277, + 0.3475 + ], + "yaw_deg": 2.6182613390610925 + }, + "slot_right": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.01, + 0.12, + 0.035 + ], + "at": { + "station": "A", + "across": 0.0265, + "along": -0.12, + "z": 0.0175 + }, + "color": [ + 0.4, + 0.3, + 0.2 + ], + "pos": [ + -0.4134181472148746, + -0.006090178585577505, + 0.3475 + ], + "yaw_deg": 2.6182613390610925 + }, + "book": { + "jitter": { + "across_m": 0.0, + "yaw_deg": 0.0 + }, + "asset": "Cube", + "type": "rigid", + "size": [ + 0.1, + 0.035, + 0.14 + ], + "yaw_deg": 92.61826133906109, + "at": { + "station": "A", + "across": 0.0, + "along": -0.13601673265513356, + "z": 0.0715 + }, + "mass": 0.05, + "color": [ + 0.78, + 0.12, + 0.12 + ], + "friction": { + "static": 1.5, + "dynamic": 1.5 + }, + "grasp": { + "part": "body", + "thin_axis": 1, + "min_elevation_deg": 60.0, + "approach_deg": [ + 0, + 15, + 30, + 45, + 60, + 75, + 90, + 105, + 120, + 135, + 150, + 165, + 180, + 195, + 210, + 225, + 240, + 255, + 270, + 285, + 300, + 315, + 330, + 345 + ], + "inset": 0.012 + }, + "pos": [ + -0.43915881640759474, + -0.02330074727045743, + 0.40149999999999997 + ] + }, + "plate": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.012, + 0.14, + 0.08 + ], + "at": { + "station": "B", + "across": -0.0285, + "along": -0.1, + "z": 0.0405 + }, + "color": [ + 0.35, + 0.35, + 0.4 + ], + "pos": [ + 2.0168515322582756, + 2.9269614335077923, + 0.37049999999999994 + ], + "yaw_deg": 3.0856553465758623 + }, + "bookend": { + "jitter": { + "across_m": 0.01, + "yaw_deg": 0.0 + }, + "catalog": "bookend_l", + "type": "rigid", + "yaw_deg": 93.08565534657586, + "at": { + "station": "B", + "across": 0.08391919696177351, + "along": -0.09387271486631085, + "z": 0.001 + }, + "friction": { + "static": 0.2, + "dynamic": 0.15 + }, + "asset": "$MAGICSIM_ASSETS/Object/MMB_A07/bookend_l/Object.usda", + "parts": [ + { + "name": "wall", + "center": [ + 0.0, + 0.0, + 0.03 + ], + "half": [ + 0.06, + 0.006, + 0.03 + ], + "rpy_deg": [ + 0.0, + 0.0, + 0.0 + ] + }, + { + "name": "foot", + "center": [ + 0.0, + -0.036, + 0.004 + ], + "half": [ + 0.06, + 0.03, + 0.004 + ], + "rpy_deg": [ + 0.0, + 0.0, + 0.0 + ] + } + ], + "mass": 0.6, + "com": [ + 0.0, + -0.01, + 0.03 + ], + "pos": [ + 2.128777916921216, + 2.9391312274634416, + 0.33099999999999996 + ] + } + }, + "report_jsonl": "/mnt/scratch/xc536_atomic/n034_saw_off_1025/out/report.episodes.jsonl", + "dr_applied": true, + "level": "easy" + }, + "command": { + "StationBookend": { + "obj_type": "rigid", + "obj_name": "book", + "obj_id": 0, + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.05, + "settle_ticks": 120 + }, + "StationBookendXR": { + "obj_type": "rigid", + "obj_name": "book", + "grasp_part": "body", + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.015, + "lift": 0.03, + "over_top": 0.005, + "pre_clear": 0.1, + "carry_ahead": 0.5, + "carry_z": 0.8, + "settle_ticks": 120, + "hover": 0.09, + "remeasure_lower": true, + "recenter_clear": 0.02, + "recenter_passes": 2, + "push_lead": 0.012, + "push_over": 0.06, + "withdraw_up": 0.2 + } + } + }, + "collect": { + "global_planner": { + "NavTo": { + "use_navmesh": true, + "use_absolute": true, + "translation_threshold": 0.12, + "rotation_threshold": 0.12, + "num_path_segments": 30, + "start_forward_offset": 0.0, + "visualize_path": false, + "carry_arm": true + }, + "RetractMoveL": { + "translation_threshold": 0.02, + "rotation_threshold": 0.2, + "motiongen_distance_threshold": 0.05, + "timeout_steps": 1800, + "base_pos_threshold": 0.12, + "base_rot_threshold": 0.5, + "eef_pos_threshold": 0.03, + "eef_rot_threshold": 0.3, + "base_waypoint_max_steps": 20, + "arm_waypoint_max_steps": 8, + "move_strategy_distance_threshold": 0.1, + "debug": false, + "debug_viz": false + }, + "MobileMoveL": { + "translation_threshold": 0.006, + "rotation_threshold": 0.08, + "motiongen_distance_threshold": 0.05, + "timeout_steps": 1800, + "stall_release_ticks": 100, + "stall_release_factor": 5.0, + "reactive": false, + "base_pos_threshold": 0.12, + "base_rot_threshold": 0.5, + "eef_pos_threshold": 0.03, + "eef_rot_threshold": 0.3, + "waypoint_max_steps": 20, + "interp_steps": 100, + "interp_validate_target": true, + "retry_mobile_on_locked_plan_failure": true, + "debug": false, + "debug_viz": false + }, + "MobileServoL": { + "base_pos_threshold": 0.12, + "waypoint_max_steps": 20, + "translation_threshold": 0.05, + "timeout_steps": 300 + }, + "ParallelGripper": { + "gripper_threshold": 0.0005, + "timeout_steps": 60 + } + }, + "atomic_skill": { + "NavToPose": { + "robot_id": 0, + "show_marker": false + }, + "Move": { + "arm_planner": "MobileMoveL", + "hand_planner": "ParallelGripper", + "obstacle_avoid_paths": [ + "dynamic/table_A", + "dynamic/table_B" + ], + "obstacle_ignore_paths": [], + "close_value": 1.0, + "open_value": 0.0, + "hold_steps": 10 + }, + "StationNavXR": { + "robot_id": 0, + "show_marker": false + }, + "ReachStance": { + "max_walks": 4 + } + }, + "command": { + "StationBookend": { + "obj_type": "rigid", + "obj_name": "book", + "obj_id": 0, + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.05, + "settle_ticks": 120 + }, + "StationBookendXR": { + "obj_type": "rigid", + "obj_name": "book", + "grasp_part": "body", + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.015, + "lift": 0.03, + "over_top": 0.005, + "pre_clear": 0.1, + "carry_ahead": 0.5, + "carry_z": 0.8, + "settle_ticks": 120, + "hover": 0.09, + "remeasure_lower": true, + "recenter_clear": 0.02, + "recenter_passes": 2, + "push_lead": 0.012, + "push_over": 0.06, + "withdraw_up": 0.2 + } + }, + "auto_collect": {}, + "record": { + "output_dir": "/mnt/scratch/xc536_atomic/n034_saw_off_1025/out/rec", + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "json_round": null, + "schema": { + "source": "robot_manager", + "nan_policy": "from_raw" + }, + "lerobot": { + "subsample_every": 2 + } + } + }, + "visual_dr": { + "keep": [ + "book", + "book_other", + "bookend" + ] + } + }, + "git_sha": null, + "collect_runtime": { + "max_trajectories": 1 + } +} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_off/seed_1025/rec/stationbookendxr/000/sim_info/0/actions.npz b/N034/sawyer_umi/dr_off/seed_1025/rec/stationbookendxr/000/sim_info/0/actions.npz new file mode 100644 index 0000000000000000000000000000000000000000..91b5b052208878362945db3dc5ef954e49bd7a40 --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1025/rec/stationbookendxr/000/sim_info/0/actions.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3ce589a199a15e027cdf8202ebb78ce93844c2a4be30c0da076495f9a564c8df +size 554506 diff --git a/N034/sawyer_umi/dr_off/seed_1025/rec/stationbookendxr/000/sim_info/0/device_commands.jsonl b/N034/sawyer_umi/dr_off/seed_1025/rec/stationbookendxr/000/sim_info/0/device_commands.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N034/sawyer_umi/dr_off/seed_1025/rec/stationbookendxr/000/sim_info/0/device_events.jsonl b/N034/sawyer_umi/dr_off/seed_1025/rec/stationbookendxr/000/sim_info/0/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N034/sawyer_umi/dr_off/seed_1025/rec/stationbookendxr/000/sim_info/0/scene_snapshot.json b/N034/sawyer_umi/dr_off/seed_1025/rec/stationbookendxr/000/sim_info/0/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..df86611d46aa8695051bea63744e52bcf444c31f --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1025/rec/stationbookendxr/000/sim_info/0/scene_snapshot.json @@ -0,0 +1,509 @@ +{ + "trajectory_id": 0, + "env_id": 0, + "run_id": "stationbookendxr/000", + "task_type": "BookendXRCommand", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])", + "avatars": "avatar_manager.set_avatars_state(snapshot['avatars'], env_ids=[env_id]) (present when the scene has animated avatars)" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "table_A": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.44537224821514043, + 0.11257399220436569, + 0.18 + ], + "ori": [ + 0.9997389912605286, + 0.0, + 0.0, + 0.022846652194857597 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.45, + 0.35 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + } + }, + "type_specific": {} + } + ], + "table_B": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 2.039927330717118, + 3.0283505725981645, + 0.18 + ], + "ori": [ + 0.9996374845504761, + 0.0, + 0.0, + 0.026924168691039085 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.45, + 0.35 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + } + }, + "type_specific": {} + } + ], + "slot_left": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.46636281844458616, + -0.008511291630800277, + 0.3475 + ], + "ori": [ + 0.9997389912605286, + 0.0, + 0.0, + 0.022846652194857597 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.4, + 0.3, + 0.2 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.01, + 0.12, + 0.035 + ] + } + }, + "type_specific": {} + } + ], + "slot_right": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.4134181472148746, + -0.006090178585577505, + 0.3475 + ], + "ori": [ + 0.9997389912605286, + 0.0, + 0.0, + 0.022846652194857597 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.4, + 0.3, + 0.2 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.01, + 0.12, + 0.035 + ] + } + }, + "type_specific": {} + } + ], + "book": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.4391588270664215, + -0.02330075018107891, + 0.3999999761581421 + ], + "ori": [ + 0.6907672882080078, + 7.385705202977988e-07, + 4.529735875280494e-08, + 0.7230770587921143 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.78, + 0.12, + 0.12 + ], + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.05, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.1, + 0.035, + 0.14 + ] + } + }, + "type_specific": { + "linear_velocity": [ + -9.814767690841109e-05, + 3.206063047400676e-05, + -7.819566235411912e-06 + ], + "angular_velocity": [ + -0.00031326262978836894, + -0.00141637003980577, + -0.00011533972428878769 + ] + } + } + ], + "plate": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 2.0168515322582756, + 2.9269614335077923, + 0.37049999999999994 + ], + "ori": [ + 0.9996374845504761, + 0.0, + 0.0, + 0.026924168691039085 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.35, + 0.35, + 0.4 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.012, + 0.14, + 0.08 + ] + } + }, + "type_specific": {} + } + ], + "bookend": [ + { + "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MMB_A07/bookend_l/Object.usda", + "pose": { + "pos": [ + 2.1287779808044434, + 2.939131259918213, + 0.3300001621246338 + ], + "ori": [ + 0.6878125071525574, + 9.387731552124023e-07, + 1.1026859283447266e-06, + 0.7258883714675903 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.6, + "physics_material": { + "static_friction": 0.2, + "dynamic_friction": 0.15, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.4862827413253399e-08, + -1.4238724865833774e-08, + -2.956375908524933e-07 + ], + "angular_velocity": [ + 1.4389979696716182e-06, + -8.734835319046397e-06, + 4.256217494003067e-07 + ] + } + } + ] + } + ], + "artifacts": [ + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1000.0, + "texture": null, + "color": [ + 0.85, + 0.85, + 0.85 + ] + } + } + }, + "robots": { + "RidgebackSawyerUmi": { + "root_pose": [ + [ + -3.4854512214660645, + -1.940857172012329, + 0.05000000074505806, + 0.9148194193840027, + 0.0, + 0.0, + 0.4038631319999695 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.600000023841858, + 0.0, + 0.5, + 0.0, + -2.319999933242798, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "head": [ + [ + 0.21660000085830688, + 0.0, + -0.04500000178813934, + -0.6743797063827515, + 0.21263112127780914, + -0.21263112127780914, + 0.6743797659873962 + ] + ], + "wrist": [ + [ + 0.05979999899864197, + 0.0, + 0.029999999329447746, + 6.123234262925839e-17, + 0.7071067690849304, + 0.7071067690849304, + -4.329780301713277e-17 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_off/seed_1025/rec/stationbookendxr/000/sim_info/0/sim_states.npz b/N034/sawyer_umi/dr_off/seed_1025/rec/stationbookendxr/000/sim_info/0/sim_states.npz new file mode 100644 index 0000000000000000000000000000000000000000..a2bf20bccc61501d800670b091143195d24e982b --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1025/rec/stationbookendxr/000/sim_info/0/sim_states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cd4387513870f77f639aa65d5646ed0c65a51b93473d987aa039e245280483c2 +size 709164 diff --git a/N034/sawyer_umi/dr_off/seed_1025/rec/stationbookendxr/000/sim_info/magicsim_manifest.json b/N034/sawyer_umi/dr_off/seed_1025/rec/stationbookendxr/000/sim_info/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..19207f3f75e4f7ee2ab0f3db4cf1ca5e48562b09 --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1025/rec/stationbookendxr/000/sim_info/magicsim_manifest.json @@ -0,0 +1,233 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 03:12:49" + }, + "embodiment": { + "robots": [ + { + "name": "RidgebackSawyerUmi", + "cfg": "RidgebackSawyerUmiCfg", + "type": "mobilemanip", + "joint_names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 11, + "nan_policy": "from_raw", + "segments": [ + { + "name": "RidgebackSawyerUmi.base_action", + "start": 0, + "end": 3, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint" + ], + "source": "HolonomicAction", + "names_source": "_joint_names" + }, + { + "name": "RidgebackSawyerUmi.arm_action", + "start": 3, + "end": 10, + "names": [ + "frame0.pos_x", + "frame0.pos_y", + "frame0.pos_z", + "frame0.quat_w", + "frame0.quat_x", + "frame0.quat_y", + "frame0.quat_z" + ], + "source": "PinkInverseKinematicsAction", + "names_source": "pink_layout" + }, + { + "name": "RidgebackSawyerUmi.eef_action", + "start": 10, + "end": 11, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 15, + "segments": [ + { + "name": "RidgebackSawyerUmi.joint_pos", + "start": 0, + "end": 13, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ], + "source": "ObservationManager", + "names_source": "joint_names" + }, + { + "name": "RidgebackSawyerUmi.gripper_pos", + "start": 13, + "end": 15, + "names": [ + "gripper_0", + "gripper_1" + ], + "source": "ObservationManager", + "names_source": "generated" + } + ] + }, + "joint_vel_layout": { + "dim": 13, + "segments": [ + { + "name": "RidgebackSawyerUmi.joint_vel", + "start": 0, + "end": 13, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "action_levels": { + "L0": "task command list (collect.auto_collect_info.current_action)", + "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)", + "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)", + "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy", + "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)" + }, + "cameras": { + "head": { + "intrinsics": { + "K": [ + [ + 355.55555555555554, + 0.0, + 320.0 + ], + [ + 0.0, + 355.55555555555554, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 83.97442499163331, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.21660000085830688, + 0.0, + -0.04500000178813934 + ], + "quat": [ + -0.6743797063827515, + 0.21263112127780914, + -0.21263112127780914, + 0.6743797659873962 + ] + }, + "wrist": { + "intrinsics": { + "K": [ + [ + 320.0, + 0.0, + 320.0 + ], + [ + 0.0, + 320.0, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 90.0, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.05979999899864197, + 0.0, + 0.029999999329447746 + ], + "quat": [ + 6.123234262925839e-17, + 0.7071067690849304, + 0.7071067690849304, + -4.329780301713277e-17 + ] + } + }, + "generated_run": { + "run_id": "stationbookendxr/000", + "task_type": "BookendXRCommand" + } +} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_off/seed_1025/report.episodes.jsonl b/N034/sawyer_umi/dr_off/seed_1025/report.episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7c96c2cdd9702df9e4a89bee31c4511c192f6291 --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1025/report.episodes.jsonl @@ -0,0 +1 @@ +{"task_id": "N034", "task_version": "EXT60-MobileAvatar-v3", "instruction": null, "agent_id": "a07", "family_id": "bookend_support", "primary_category": "C2", "level": "easy", "embodiment": "sawyer_umi", "scene_seed": 1025, "execution_mode": "expert_privileged_command", "station_layout": {"A": {"center": [-0.44537224821514043, 0.11257399220436569], "facing": 1.616, "stand": [-0.406, -0.757, 1.616]}, "B": {"center": [2.039927330717118, 3.0283505725981645], "facing": 1.625, "stand": [2.091, 2.08, 1.625]}}, "spawn_pose": [-3.485, -1.941, 0.831], "base_path": [[-3.485, -1.941, 0.831], [-3.485, -1.941, 0.831], [-3.485, -1.941, 0.831], [-3.485, -1.941, 0.831], [-3.485, -1.941, 0.831], [-3.39, -1.88, 0.63], [-3.256, -1.814, 0.451], [-3.112, -1.768, 0.386], [-2.968, -1.726, 0.363], [-2.824, -1.683, 0.354], [-2.681, -1.636, 0.351], [-2.538, -1.59, 0.35], [-2.397, -1.54, 0.35], [-2.255, -1.489, 0.35], [-2.114, -1.438, 0.35], [-1.973, -1.387, 0.35], [-1.831, -1.336, 0.35], [-1.69, -1.286, 0.35], [-1.549, -1.235, 0.35], [-1.407, -1.184, 0.35], [-1.266, -1.133, 0.35], [-1.125, -1.082, 0.35], [-0.984, -1.032, 0.35], [-0.842, -0.981, 0.35], [-0.704, -0.922, 0.35], [-0.6, -0.864, 0.35], [-0.531, -0.827, 0.35], [-0.486, -0.802, 0.35], [-0.457, -0.785, 0.35], [-0.448, -0.778, 0.589], [-0.448, -0.778, 0.989], [-0.448, -0.779, 1.318], [-0.448, -0.779, 1.477], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.448, -0.779, 1.497], [-0.447, -0.779, 1.354], [-0.447, -0.779, 0.954], [-0.437, -0.771, 0.596], [-0.312, -0.709, 0.411], [-0.168, -0.664, 0.344], [-0.023, -0.626, 0.32], [0.114, -0.574, 0.315], [0.227, -0.536, 0.519], [0.353, -0.453, 0.745], [0.457, -0.345, 0.903], [0.542, -0.222, 0.961], [0.624, -0.096, 0.981], [0.704, 0.031, 0.989], [0.785, 0.158, 0.991], [0.865, 0.285, 0.992], [0.945, 0.412, 0.992], [1.025, 0.539, 0.993], [1.107, 0.665, 0.993], [1.188, 0.791, 0.993], [1.271, 0.916, 0.993], [1.353, 1.042, 0.993], [1.434, 1.168, 0.993], [1.516, 1.293, 0.993], [1.599, 1.418, 0.993], [1.681, 1.544, 0.993], [1.762, 1.67, 0.993], [1.847, 1.794, 0.993], [1.932, 1.895, 0.993], [1.987, 1.961, 0.993], [2.023, 2.004, 0.993], [2.048, 2.032, 0.993], [2.057, 2.045, 1.15], [2.057, 2.045, 1.403], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508], [2.057, 2.045, 1.508]], "stage_events": [{"tick": 510, "event": "enter_station", "station": "A", "xy": [-1.215, -1.115]}, {"tick": 2983, "event": "leave_station", "station": "A", "xy": [0.968, 0.448]}, {"tick": 3215, "event": "enter_station", "station": "B", "xy": [1.726, 1.615]}], "transport_state": {"book": {"held": false, "grasps": 1}}, "manipulation_success": true, "mobile_success": true, "full_success": true, "failure_reason": null, "fail_class_hint": null, "distance_to_first_interaction": 2.421, "interstation_path_lengths": [4.201], "station_transition_order": ["A", "B"], "final_approach_pose": [2.057, 2.045, 1.508], "regrasp_events": 0, "control_ticks": 4944, "wall_s": 913.5, "phase": "done", "state": "success: task sequence complete", "check": {"book": [2.043, 2.928, 0.4], "dist_wrist": 0.221, "held": false, "upright_deg": 0.0, "rest_z": true, "gaps": {"plate": 0.0031, "bookend": 0.0013}, "pushed": true, "released": true, "at_rest": true, "manipulation_success": true}, "route": ["A", "B"], "total_path_m": 7.17, "planner_seeds": "default"} diff --git a/N034/sawyer_umi/dr_off/seed_1025/report.json b/N034/sawyer_umi/dr_off/seed_1025/report.json new file mode 100644 index 0000000000000000000000000000000000000000..551061c4c0643f00516776fdd7a32ce52c795cd9 --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1025/report.json @@ -0,0 +1,1336 @@ +{ + "task_id": "N034", + "robot": "sawyer_umi", + "level": "easy", + "seed": 1025, + "episodes_requested": 1, + "episodes": [ + { + "task_id": "N034", + "task_version": "EXT60-MobileAvatar-v3", + "instruction": null, + "agent_id": "a07", + "family_id": "bookend_support", + "primary_category": "C2", + "level": "easy", + "embodiment": "sawyer_umi", + "scene_seed": 1025, + "execution_mode": "expert_privileged_command", + "station_layout": { + "A": { + "center": [ + -0.44537224821514043, + 0.11257399220436569 + ], + "facing": 1.616, + "stand": [ + -0.406, + -0.757, + 1.616 + ] + }, + "B": { + "center": [ + 2.039927330717118, + 3.0283505725981645 + ], + "facing": 1.625, + "stand": [ + 2.091, + 2.08, + 1.625 + ] + } + }, + "spawn_pose": [ + -3.485, + -1.941, + 0.831 + ], + "base_path": [ + [ + -3.485, + -1.941, + 0.831 + ], + [ + -3.485, + -1.941, + 0.831 + ], + [ + -3.485, + -1.941, + 0.831 + ], + [ + -3.485, + -1.941, + 0.831 + ], + [ + -3.485, + -1.941, + 0.831 + ], + [ + -3.39, + -1.88, + 0.63 + ], + [ + -3.256, + -1.814, + 0.451 + ], + [ + -3.112, + -1.768, + 0.386 + ], + [ + -2.968, + -1.726, + 0.363 + ], + [ + -2.824, + -1.683, + 0.354 + ], + [ + -2.681, + -1.636, + 0.351 + ], + [ + -2.538, + -1.59, + 0.35 + ], + [ + -2.397, + -1.54, + 0.35 + ], + [ + -2.255, + -1.489, + 0.35 + ], + [ + -2.114, + -1.438, + 0.35 + ], + [ + -1.973, + -1.387, + 0.35 + ], + [ + -1.831, + -1.336, + 0.35 + ], + [ + -1.69, + -1.286, + 0.35 + ], + [ + -1.549, + -1.235, + 0.35 + ], + [ + -1.407, + -1.184, + 0.35 + ], + [ + -1.266, + -1.133, + 0.35 + ], + [ + -1.125, + -1.082, + 0.35 + ], + [ + -0.984, + -1.032, + 0.35 + ], + [ + -0.842, + -0.981, + 0.35 + ], + [ + -0.704, + -0.922, + 0.35 + ], + [ + -0.6, + -0.864, + 0.35 + ], + [ + -0.531, + -0.827, + 0.35 + ], + [ + -0.486, + -0.802, + 0.35 + ], + [ + -0.457, + -0.785, + 0.35 + ], + [ + -0.448, + -0.778, + 0.589 + ], + [ + -0.448, + -0.778, + 0.989 + ], + [ + -0.448, + -0.779, + 1.318 + ], + [ + -0.448, + -0.779, + 1.477 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.448, + -0.779, + 1.497 + ], + [ + -0.447, + -0.779, + 1.354 + ], + [ + -0.447, + -0.779, + 0.954 + ], + [ + -0.437, + -0.771, + 0.596 + ], + [ + -0.312, + -0.709, + 0.411 + ], + [ + -0.168, + -0.664, + 0.344 + ], + [ + -0.023, + -0.626, + 0.32 + ], + [ + 0.114, + -0.574, + 0.315 + ], + [ + 0.227, + -0.536, + 0.519 + ], + [ + 0.353, + -0.453, + 0.745 + ], + [ + 0.457, + -0.345, + 0.903 + ], + [ + 0.542, + -0.222, + 0.961 + ], + [ + 0.624, + -0.096, + 0.981 + ], + [ + 0.704, + 0.031, + 0.989 + ], + [ + 0.785, + 0.158, + 0.991 + ], + [ + 0.865, + 0.285, + 0.992 + ], + [ + 0.945, + 0.412, + 0.992 + ], + [ + 1.025, + 0.539, + 0.993 + ], + [ + 1.107, + 0.665, + 0.993 + ], + [ + 1.188, + 0.791, + 0.993 + ], + [ + 1.271, + 0.916, + 0.993 + ], + [ + 1.353, + 1.042, + 0.993 + ], + [ + 1.434, + 1.168, + 0.993 + ], + [ + 1.516, + 1.293, + 0.993 + ], + [ + 1.599, + 1.418, + 0.993 + ], + [ + 1.681, + 1.544, + 0.993 + ], + [ + 1.762, + 1.67, + 0.993 + ], + [ + 1.847, + 1.794, + 0.993 + ], + [ + 1.932, + 1.895, + 0.993 + ], + [ + 1.987, + 1.961, + 0.993 + ], + [ + 2.023, + 2.004, + 0.993 + ], + [ + 2.048, + 2.032, + 0.993 + ], + [ + 2.057, + 2.045, + 1.15 + ], + [ + 2.057, + 2.045, + 1.403 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ], + [ + 2.057, + 2.045, + 1.508 + ] + ], + "stage_events": [ + { + "tick": 510, + "event": "enter_station", + "station": "A", + "xy": [ + -1.215, + -1.115 + ] + }, + { + "tick": 2983, + "event": "leave_station", + "station": "A", + "xy": [ + 0.968, + 0.448 + ] + }, + { + "tick": 3215, + "event": "enter_station", + "station": "B", + "xy": [ + 1.726, + 1.615 + ] + } + ], + "transport_state": { + "book": { + "held": false, + "grasps": 1 + } + }, + "manipulation_success": true, + "mobile_success": true, + "full_success": true, + "failure_reason": null, + "fail_class_hint": null, + "distance_to_first_interaction": 2.421, + "interstation_path_lengths": [ + 4.201 + ], + "station_transition_order": [ + "A", + "B" + ], + "final_approach_pose": [ + 2.057, + 2.045, + 1.508 + ], + "regrasp_events": 0, + "control_ticks": 4944, + "wall_s": 913.5, + "phase": "done", + "state": "success: task sequence complete", + "check": { + "book": [ + 2.043, + 2.928, + 0.4 + ], + "dist_wrist": 0.221, + "held": false, + "upright_deg": 0.0, + "rest_z": true, + "gaps": { + "plate": 0.0031, + "bookend": 0.0013 + }, + "pushed": true, + "released": true, + "at_rest": true, + "manipulation_success": true + }, + "route": [ + "A", + "B" + ], + "total_path_m": 7.17, + "planner_seeds": "default" + } + ], + "error": null, + "collect": { + "task": "N034", + "robot": "sawyer_umi", + "visual_dr": false, + "env": { + "MMB_COLLECT": "1", + "MMB_TASK_ID": "N034", + "MMB_CLEAN_VIEW": "1", + "MMB_REAL_ROBOT_LOOK": "1", + "MMB_VISUAL_DR": "0" + }, + "cameras": { + "head": { + "link": "Robot_0/head", + "pos": [ + 0.2166, + 0.0, + -0.045 + ], + "ori": [ + -0.0, + 35.0, + -90.0 + ], + "focal_length": 2.0, + "horizontal_aperture": 3.6, + "vertical_aperture": 2.7 + }, + "wrist": { + "link": "Robot_0/right_electric_gripper_base", + "pos": [ + 0.0598, + 0.0, + 0.03 + ], + "ori": [ + 180.0, + 0.0, + -90.0 + ], + "focal_length": 1.8, + "horizontal_aperture": 3.6, + "vertical_aperture": 2.7 + } + }, + "resolution": [ + 640, + 480 + ], + "camera_hz": 25, + "record": { + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + } + }, + "review_cameras": [], + "policy_obs_signature": [ + "/camera_info[0]/rgb[0]:(480, 640, 4):uint8", + "/camera_info[1]/rgb[0]:(480, 640, 4):uint8", + "/robot_state[0]/RidgebackSawyerUmi/base_ang_vel:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/base_heading_quat:(1, 4):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/base_lin_vel:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/base_pos:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/base_quat:(1, 4):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/eef_pos:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/eef_quat:(1, 4):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/eef_relative_pos:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/eef_relative_quat:(1, 4):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/eef_relatvie_pos_arm_base:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/gripper_pos:(1, 2):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/joint_effort:(1, 13):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/joint_pos:(1, 13):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/joint_vel:(1, 13):torch.float32" + ], + "n_success": 1, + "elapsed_s": 1164.3, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 41.5 + } +} diff --git a/N034/sawyer_umi/dr_off/seed_1026/check.json b/N034/sawyer_umi/dr_off/seed_1026/check.json new file mode 100644 index 0000000000000000000000000000000000000000..cf50717b113a7eebe1f1c67aa2473f0e90d5b3fe --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1026/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'; expected 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "2120 rows vs ceil(4239/2) = 2120" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..4339, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "23.77 MB, 2120 frames at 25 fps, mean luma 103..149, std 27, new picture 2119x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2120 vs 2120" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "37.64 MB, 2120 frames at 25 fps, mean luma 91..150, std 29, new picture 2119x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2120 vs 2120" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationbookendxr/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_off/seed_1026/check.txt b/N034/sawyer_umi/dr_off/seed_1026/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..aab545286206ac6b712b055b44cdd8f91c2192e9 --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1026/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n034_saw_off_1026/out task=N034 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n034_saw_off_1026/out/rec/stationbookendxr/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2120 videos 2 robot_type RidgebackSawyerUmiCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 2120 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1'] +[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z'] +[PASS] task text = MobileBench instruction: task_index 0: 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'; expected 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.' +rows 2120 at dataset fps 25 = 84.80 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2120 rows vs ceil(4239/2) = 2120 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..4339, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 23.77 MB, 2120 frames at 25 fps, mean luma 103..149, std 27, new picture 2119x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2120 vs 2120 +[PASS] video observation.images.wrist decodes, 640x480, not black: 37.64 MB, 2120 frames at 25 fps, mean luma 91..150, std 29, new picture 2119x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2120 vs 2120 +parquet size 2.32 MB +[PASS] sim_info present: rec/stationbookendxr/000/sim_info +dataset size 63.92 MB; whole cell dir 65.1 MB +RESULT: ALL PASS diff --git a/N034/sawyer_umi/dr_off/seed_1026/rec/stationbookendxr/000/completed/0.json b/N034/sawyer_umi/dr_off/seed_1026/rec/stationbookendxr/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..2218f14552b5319a4951e60bfd54adf3df3cac5e --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1026/rec/stationbookendxr/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationbookendxr/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_off/seed_1026/rec/stationbookendxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N034/sawyer_umi/dr_off/seed_1026/rec/stationbookendxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..d3886f5c51bea943c335d775c9b9a3d5bdbe9599 --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1026/rec/stationbookendxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bc92ca853cc8cb985c5bd349972f764f0ee5382a2def6a2eb842733ee20074fd +size 2318469 diff --git a/N034/sawyer_umi/dr_off/seed_1026/rec/stationbookendxr/000/lerobot_v21/meta/episodes.jsonl b/N034/sawyer_umi/dr_off/seed_1026/rec/stationbookendxr/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7ba7e7bdbd143f093da969fff138d3b209b4ba77 --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1026/rec/stationbookendxr/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it."], "length": 2120, "magicsim/control_steps": 4239, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the brown slot left. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is to the left of the brown slot right. The gray table B is to the left of the bookend. The red book is on top of the brown slot left. The gray plate is to the left of the bookend. The bookend is to the right of the gray plate. The scene is viewed from front, at table height."} diff --git a/N034/sawyer_umi/dr_off/seed_1026/rec/stationbookendxr/000/lerobot_v21/meta/episodes_stats.jsonl b/N034/sawyer_umi/dr_off/seed_1026/rec/stationbookendxr/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bb061f490555c03e5f9c3e3549dbd381d50343ec --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1026/rec/stationbookendxr/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.08212567028273249, 0.00024571900238405984, 0.01096545709126831, 0.4678981232896166, 0.9771208808107196, 0.9312249435568756, 0.024344494173145097, -0.5476870350926271, 0.08491549181262084, 0.7172848545155435, 0.625], "std": [0.12994411819158844, 0.008560483884323124, 0.1609686234854481, 1.2718289297788956, 1.708790051305385, 0.2513247841181921, 0.2554339697179681, 0.23108510895810627, 0.1941020839610657, 0.1463401749558366, 0.4841229182759271], "min": [0.0, -0.061918310821056366, -0.800000011920929, -2.9699935913085938, -1.9358844757080078, 0.5874999761581421, -0.7061036825180054, -0.7338628172874451, -0.1587669849395752, -0.6922522187232971, 0.0], "max": [0.30000001192092896, 0.10284006595611572, 0.800000011920929, 1.8904337882995605, 2.9743800163269043, 1.3731156587600708, 0.7062728404998779, 0.03839254751801491, 0.4961909055709839, 0.9633506536483765, 1.0], "count": [2120]}, "action_is_hold": {"mean": [0.1160377358490566, 0.1160377358490566, 0.1160377358490566, 0.1349056603773585, 0.1349056603773585, 0.1349056603773585, 0.1349056603773585, 0.1349056603773585, 0.1349056603773585, 0.1349056603773585, 0.9882075471698113], "std": [0.32027016674688846, 0.32027016674688846, 0.32027016674688846, 0.3416227790641361, 0.3416227790641361, 0.3416227790641361, 0.3416227790641361, 0.3416227790641361, 0.3416227790641361, 0.3416227790641361, 0.10795087255986613], "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": [2120]}, "observation.state": {"mean": [1.197528589615282, -1.8390648728271701, 1.258403717164161, 0.6351287483003039, -0.6347635390066394, -0.7665855208165185, -1.0338437534540905, 1.1082155145423593, -1.739367164155264, -1.6896147901719472, -1.2476723099134204, 0.013263750770580505, -0.012868865934946495, -0.012868865934946495, -0.013263750770580505], "std": [1.8967722757699779, 0.7583547505500527, 0.4117442683075843, 0.43074977376928525, 0.4309978751273855, 0.49805245775825807, 0.5550639216016993, 0.3394140549077364, 0.8835319645165362, 0.4395550523579805, 0.7847320208953252, 0.009272161323479819, 0.009031956807112553, 0.009031956807112553, 0.009272161323479819], "min": [-3.2661492824554443, -2.6495304107666016, 0.36818796396255493, -0.09474483132362366, -1.2207070589065552, -1.6104211807250977, -1.637966275215149, 0.49718475341796875, -2.466813325881958, -2.753696918487549, -1.9931566715240479, 0.0, -0.020833000540733337, -0.020833000540733337, -0.020833000540733337], "max": [3.1882870197296143, -0.9736748933792114, 1.5743682384490967, 1.22318696975708, 0.09406566619873047, 0.009667887352406979, 0.0007839974132366478, 1.4969524145126343, 0.005678099114447832, -1.13155996799469, 0.13932457566261292, 0.020833000540733337, 0.0, 0.0, -0.0], "count": [2120]}, "observation.joint_vel": {"mean": [0.07609590365115904, 0.015564265659967007, 0.0113253150374779, 0.005327934486445792, -0.0038598965280014514, 0.015983940048229044, -0.01668686610319864, 0.005163833849264166, -0.02182123458340513, 0.00869613325877639, -0.0060197026363008515, -0.00017660484685575159, 0.002657512407167897], "std": [0.12095713655395594, 0.05486593054019553, 0.16276726714375683, 0.06177108746170395, 0.0502094854357004, 0.06286590484625483, 0.07055364149884465, 0.052216822504584, 0.10366301288619513, 0.09024544280027584, 0.11236124777186521, 0.010538612610496946, 0.010247956786212611], "min": [-0.0003335515793878585, -0.0813874825835228, -0.8000237345695496, -0.21678118407726288, -0.1415879726409912, -0.18343201279640198, -0.2016383409500122, -0.1739170253276825, -0.33098098635673523, -0.3229401111602783, -0.41178131103515625, -0.10001537948846817, -0.10010935366153717], "max": [0.3123575747013092, 0.211704283952713, 0.8000924587249756, 0.2266700565814972, 0.13929320871829987, 0.18286322057247162, 0.2107650637626648, 0.19040052592754364, 0.3224976360797882, 0.32231640815734863, 0.41187718510627747, 0.1000126376748085, 0.10007467120885849], "count": [2120]}, "observation.eef_pose": {"mean": [0.46795490121025207, 0.9759274047658831, 0.9338982987235177, 0.014286134961359906, -0.5440147977954937, 0.08472002004910226, 0.722416504528725], "std": [1.2718410546720107, 1.7064867936203523, 0.25226357519074843, 0.2595547304551797, 0.23286339172050477, 0.1940052954222057, 0.12469380343057787], "min": [-2.9699935913085938, -1.9388175010681152, 0.5886485576629639, -0.7083020210266113, -0.7474198937416077, -0.15938687324523926, 0.499675989151001], "max": [1.8904476165771484, 2.973132371902466, 1.3740003108978271, 0.4998084306716919, -0.03646928071975708, 0.49680790305137634, 0.9636332988739014], "count": [2120]}, "observation.environment_state": {"mean": [0.5753686519269392, 1.138316055124061, 0.5142533185628225, 0.7111119012506503, 0.0006350924317090706, -0.006934355949015483, 0.6927126968736356, 1.7416738302077888, 2.9572709207264882, 0.3300000104701744, 0.7005324564733595, -2.7445550668195685e-07, 4.607973555572924e-07, 0.7136198163313686, 1.6407697200775146, 2.9729576110839844, 0.37049999833106995, 0.9999547600746155, 0.0, 0.0, 0.009511982090771198, -0.5911920070648193, -0.26766955852508545, 0.3474999964237213, 0.9981072545051575, 0.0, 0.0, 0.061497222632169724, -0.5385929346084595, -0.2611631751060486, 0.3474999964237213, 0.9981072545051575, 0.0, 0.0, 0.061497222632169724, -0.5796238780021667, -0.14532402157783508, 0.18000000715255737, 0.9981072545051575, 0.0, 0.0, 0.061497222632169724, 1.6673617362976074, 3.073481798171997, 0.18000000715255737, 0.9999547600746155, 0.0, 0.0, 0.009511982090771198], "std": [1.059026366745615, 1.5268370242878018, 0.1525686439714257, 0.07012028614240343, 0.006329513832431435, 0.011596848042339418, 0.09658719949907106, 0.010929433103209965, 0.002743148455974407, 3.082047888856335e-08, 0.0007286227965607639, 5.244616902613121e-07, 4.514746711441661e-07, 0.0007179906152249886, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 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": [-0.566076934337616, -0.7260064482688904, 0.39999982714653015, 0.6602306365966797, -0.02878759056329727, -0.05921662226319313, 0.2404598742723465, 1.693608283996582, 2.9566094875335693, 0.3299996852874756, 0.7000181674957275, -1.4200806617736816e-05, -1.5035271644592285e-05, 0.7104840874671936, 1.6407697200775146, 2.9729576110839844, 0.37049999833106995, 0.9999547600746155, 0.0, 0.0, 0.009511982090771198, -0.5911920070648193, -0.26766955852508545, 0.3474999964237213, 0.9981072545051575, 0.0, 0.0, 0.061497222632169724, -0.5385929346084595, -0.2611631751060486, 0.3474999964237213, 0.9981072545051575, 0.0, 0.0, 0.061497222632169724, -0.5796238780021667, -0.14532402157783508, 0.18000000715255737, 0.9981072545051575, 0.0, 0.0, 0.061497222632169724, 1.6673617362976074, 3.073481798171997, 0.18000000715255737, 0.9999547600746155, 0.0, 0.0, 0.009511982090771198], "max": [1.896418571472168, 2.9734199047088623, 0.7529670000076294, 0.9704568982124329, 0.023207327350974083, 0.002865785965695977, 0.7503814101219177, 1.7443281412124634, 2.969386339187622, 0.33000048995018005, 0.7037132978439331, 1.1026860420315643e-06, 1.1324883644192596e-06, 0.7141250371932983, 1.6407697200775146, 2.9729576110839844, 0.37049999833106995, 0.9999547600746155, 0.0, 0.0, 0.009511982090771198, -0.5911920070648193, -0.26766955852508545, 0.3474999964237213, 0.9981072545051575, 0.0, 0.0, 0.061497222632169724, -0.5385929346084595, -0.2611631751060486, 0.3474999964237213, 0.9981072545051575, 0.0, 0.0, 0.061497222632169724, -0.5796238780021667, -0.14532402157783508, 0.18000000715255737, 0.9981072545051575, 0.0, 0.0, 0.061497222632169724, 1.6673617362976074, 3.073481798171997, 0.18000000715255737, 0.9999547600746155, 0.0, 0.0, 0.009511982090771198], "count": [2120]}, "action.command": {"mean": [-1.7488382270125218, -1.600553513691828, 1.6365474871591972, 0.0, 0.0, 0.0, 0.0, 0.2202835332606325, 0.3696676292004736, 0.8158183244250983, 0.9493816899239302, 0.022719462888646413, -0.5344009708507533, 0.08810647935560836, 0.7247526300512457, 0.6, -1.684933266195471, -1.5754795374883084, 1.6365474871591972, 0.0, 0.0, 0.0, 0.0, 2.0, -0.021130702011387087, -0.04168379414656846, 1.1694977126875767, -0.026264997274083043, -0.42984232487751234, 0.029042528557713485, 0.796146662321551, 0.0, -1.666539310969552, -1.5684367737086145, 1.6365474871591972, 0.0, 0.0, 0.0, 0.0, 2.0, -0.021130702011387087, -0.04168379414656846, 1.1694977126875767, -0.026264997274083043, -0.42984232487751234, 0.029042528557713485, 0.796146662321551, 0.0, -1.6582424155668662, -1.5651885360559255, 1.6365474871591972, 0.0, 0.0, 0.0, 0.0, 2.0, -0.021130702011387087, -0.04168379414656846, 1.1694977126875767, -0.026264997274083043, -0.42984232487751234, 0.029042528557713485, 0.796146662321551, 0.0, -1.5201520914206876, -1.5092131592153544, 1.6365474871591972, 0.0, 0.0, 0.0, 0.0, 2.0, -0.021130702011387087, -0.04168379414656846, 1.1694977126875767, -0.026264997274083043, -0.42984232487751234, 0.029042528557713485, 0.796146662321551, 0.0, -1.4464389926906245, -1.479014780981611, 1.6365474871591972, 0.0, 0.0, 0.0, 0.0, 2.0, -0.021130702011387087, -0.04168379414656846, 1.1694977126875767, -0.026264997274083043, -0.42984232487751234, 0.029042528557713485, 0.796146662321551, 0.0, -1.3730610436572626, -1.449751659788331, 1.6365474871591972, 0.0, 0.0, 0.0, 0.0, 2.0, -0.021130702011387087, -0.04168379414656846, 1.1694977126875767, -0.026264997274083043, -0.42984232487751234, 0.029042528557713485, 0.796146662321551, 0.0, -1.2802144199854446, -1.4122555184779793, 1.6365474871591972, 0.0, 0.0, 0.0, 0.0, 2.0, -0.021130702011387087, -0.04168379414656846, 1.1694977126875767, -0.026264997274083043, -0.42984232487751234, 0.029042528557713485, 0.796146662321551, 0.0, -1.2287657168411696, -1.391345952615022, 1.6365474871591972, 0.0, 0.0, 0.0, 0.0, 2.0, -0.021130702011387087, -0.04168379414656846, 1.1694977126875767, -0.026264997274083043, -0.42984232487751234, 0.029042528557713485, 0.796146662321551, 0.0, -1.1782882879950085, -1.3712646138252587, 1.6365474871591972, 0.0, 0.0, 0.0, 0.0, 2.0, -0.021130702011387087, -0.04168379414656846, 1.1694977126875767, -0.026264997274083043, -0.42984232487751234, 0.029042528557713485, 0.796146662321551, 0.0, -1.06924796432017, -1.3271447376974785, 1.6365474871591972, 0.0, 0.0, 0.0, 0.0, 2.0, -0.021130702011387087, -0.04168379414656846, 1.1694977126875767, -0.026264997274083043, -0.42984232487751234, 0.029042528557713485, 0.796146662321551, 0.0, -0.9948232342506541, -1.2653513095334132, 1.6365474871591972, 0.0, 0.0, 0.0, 0.0, 2.0, -0.021130702011387087, -0.04168379414656846, 1.1694977126875767, -0.026264997274083043, -0.42984232487751234, 0.029042528557713485, 0.796146662321551, 0.0, -0.9542092651368466, -1.180078445746496, 1.6365474871591972, 0.0, 0.0, 0.0, 0.0, 2.0, -0.021130702011387087, -0.04168379414656846, 1.1694977126875767, -0.026264997274083043, -0.42984232487751234, 0.029042528557713485, 0.796146662321551, 0.0, -0.9420332314581398, -1.1672640376532046, 1.6365474871591972, 0.0, 0.0, 0.0, 0.0, 2.0, -0.021130702011387087, -0.04168379414656846, 1.1694977126875767, -0.026264997274083043, -0.42984232487751234, 0.029042528557713485, 0.796146662321551, 0.0, -0.8836613640628616, -1.1376225144549925, 1.6365474871591972, 0.0, 0.0, 0.0, 0.0, 2.0, -0.021130702011387087, -0.04168379414656846, 1.1694977126875767, -0.026264997274083043, -0.42984232487751234, 0.029042528557713485, 0.796146662321551, 0.0, -0.841666179032492, -1.1108770047291994, 1.6365474871591972, 0.0, 0.0, 0.0, 0.0, 2.0, -0.021130702011387087, -0.04168379414656846, 1.1694977126875767, -0.026264997274083043, -0.42984232487751234, 0.029042528557713485, 0.796146662321551, 0.0, -0.7900193148260142, -1.0406180586635907, 1.6365474871591972, 0.0, 0.0, 0.0, 0.0, 2.0, -0.021130702011387087, -0.04168379414656846, 1.1694977126875767, -0.026264997274083043, -0.42984232487751234, 0.029042528557713485, 0.796146662321551, 0.0, -0.7334826825531174, -0.9843211686962731, 1.6365474871591972, 0.0, 0.0, 0.0, 0.0, 2.0, -0.021130702011387087, -0.04168379414656846, 1.1694977126875767, -0.026264997274083043, -0.42984232487751234, 0.029042528557713485, 0.796146662321551, 0.0, -0.6807663696780601, -0.9332874687763065, 1.6365474871591972, 0.0, 0.0, 0.0, 0.0, 2.0, -0.021130702011387087, -0.04168379414656846, 1.1694977126875767, -0.026264997274083043, -0.42984232487751234, 0.029042528557713485, 0.796146662321551, 0.0, -0.6359742506739281, -0.87100167045165, 1.6365474871591972, 0.0, 0.0, 0.0, 0.0, 2.0, -0.021130702011387087, -0.04168379414656846, 1.1694977126875767, -0.026264997274083043, -0.42984232487751234, 0.029042528557713485, 0.796146662321551, 0.0, -0.5721115977291128, -0.8195389454070748, 1.6365474871591972, 0.0, 0.0, 0.0, 0.0, 2.0, -0.021130702011387087, -0.04168379414656846, 1.1694977126875767, -0.026264997274083043, -0.42984232487751234, 0.029042528557713485, 0.796146662321551, 0.0, -0.47743000405723224, -0.7261513495772838, 1.6365474871591972, 0.0, 0.0, 0.0, 0.0, 2.0, -0.021130702011387087, -0.04168379414656846, 1.1694977126875767, -0.026264997274083043, -0.42984232487751234, 0.029042528557713485, 0.796146662321551, 0.0, -0.4630450925942081, -0.7049884282691709, 1.6365474871591972, 0.0, 0.0, 0.0, 0.0, 2.0, -0.021130702011387087, -0.04168379414656846, 1.1694977126875767, -0.026264997274083043, -0.42984232487751234, 0.029042528557713485, 0.796146662321551, 0.0, -0.4121816923726979, -0.6160629151573769, 1.6365474871591972, 0.0, 0.0, 0.0, 0.0, 2.0, -0.021130702011387087, -0.04168379414656846, 1.1694977126875767, -0.026264997274083043, -0.42984232487751234, 0.029042528557713485, 0.796146662321551, 0.0, -0.35397245073765915, -0.5899913024367021, 1.6365474871591972, 0.0, 0.0, 0.0, 0.0, 2.0, -0.021130702011387087, -0.04168379414656846, 1.1694977126875767, -0.026264997274083043, -0.42984232487751234, 0.029042528557713485, 0.796146662321551, 0.0, -0.3118630612503747, -0.5663006820843303, 1.6365474871591972, 0.0, 0.0, 0.0, 0.0, 2.0, -0.021130702011387087, -0.04168379414656846, 1.1694977126875767, -0.026264997274083043, -0.42984232487751234, 0.029042528557713485, 0.796146662321551, 0.0, -0.24499607693413947, -0.47524740417105904, 1.6365474871591972, 0.0, 0.0, 0.0, 0.0, 2.0, -0.021130702011387087, -0.04168379414656846, 1.1694977126875767, -0.026264997274083043, -0.42984232487751234, 0.029042528557713485, 0.796146662321551, 0.0, -0.19935541250430866, -0.4466938319698416, 1.6365474871591972, 0.0, 0.0, 0.0, 0.0, 2.0, -0.021130702011387087, -0.04168379414656846, 1.1694977126875767, -0.026264997274083043, -0.42984232487751234, 0.029042528557713485, 0.796146662321551, 0.0, -0.1356306725628574, -0.360629011974258, 1.6365474871591972, 0.0, 0.0, 0.0, 0.0, 2.0, -0.021130702011387087, -0.04168379414656846, 1.1694977126875767, -0.026264997274083043, -0.42984232487751234, 0.029042528557713485, 0.796146662321551, 0.0, -0.10985834173478645, -0.3347417219234855, 1.6365474871591972, 0.0, 0.0, 0.0, 0.0, 2.0, -0.021130702011387087, -0.04168379414656846, 1.1694977126875767, -0.026264997274083043, -0.42984232487751234, 0.029042528557713485, 0.796146662321551, 0.0, -0.02488447466101148, -0.24555467328820726, 1.6365474871591972, 0.0, 0.0, 0.0, 0.0, 2.0, -0.021130702011387087, -0.04168379414656846, 1.1694977126875767, -0.026264997274083043, -0.42984232487751234, 0.029042528557713485, 0.796146662321551, 0.0, 0.042957006047302536, -0.19739603628741512, 1.6365474871591972, 0.0, 0.0, 0.0, 0.0, 2.0, -0.021130702011387087, -0.04168379414656846, 1.1694977126875767, -0.026264997274083043, -0.42984232487751234, 0.029042528557713485, 0.796146662321551, 0.0, 0.08722225814338663, -0.1299985583282348, 1.6365474871591972, 0.0, 0.0, 0.0, 0.0, 2.0, -0.021130702011387087, -0.04168379414656846, 1.1694977126875767, -0.026264997274083043, -0.42984232487751234, 0.029042528557713485, 0.796146662321551, 0.0, 0.12257642784323194, -0.0919489666380128, 1.6365474871591972, 0.0, 0.0, 0.0, 0.0, 2.0, -0.021130702011387087, -0.04168379414656846, 1.1694977126875767, -0.026264997274083043, -0.42984232487751234, 0.029042528557713485, 0.796146662321551, 0.0, 0.19929860536278732, -0.014494917507785254, 1.6365474871591972, 0.0, 0.0, 0.0, 0.0, 2.0, -0.021130702011387087, -0.04168379414656846, 1.1694977126875767, -0.026264997274083043, -0.42984232487751234, 0.029042528557713485, 0.796146662321551, 0.0, 0.24260158585159772, 0.030819136399685858, 1.6365474871591972, 0.0, 0.0, 0.0, 0.0, 2.0, -0.021130702011387087, -0.04168379414656846, 1.1694977126875767, -0.026264997274083043, -0.42984232487751234, 0.029042528557713485, 0.796146662321551, 0.0, 0.307321232141822, 0.09924278693927836, 1.6365474871591972, 0.0, 0.0, 0.0, 0.0, 2.0, -0.021130702011387087, -0.04168379414656846, 1.1694977126875767, -0.026264997274083043, -0.42984232487751234, 0.029042528557713485, 0.796146662321551, 0.0, 0.37268035932776117, 0.15814610077292926, 1.6365474871591972, 0.0, 0.0, 0.0, 0.0, 2.0, -0.021130702011387087, -0.04168379414656846, 1.1694977126875767, -0.026264997274083043, -0.42984232487751234, 0.029042528557713485, 0.796146662321551, 0.0, 0.410070577271822, 0.21068320533225748, 1.6365474871591972, 0.0, 0.0, 0.0, 0.0, 2.0, -0.021130702011387087, -0.04168379414656846, 1.1694977126875767, -0.026264997274083043, -0.42984232487751234, 0.029042528557713485, 0.796146662321551, 0.0, 0.44329400124882246, 0.2594908984033416, 1.6365474871591972, 0.0, 0.0, 0.0, 0.0, 2.0, -0.021130702011387087, -0.04168379414656846, 1.1694977126875767, -0.026264997274083043, -0.42984232487751234, 0.029042528557713485, 0.796146662321551, 0.0, 0.5133051393658482, 0.32233495718672195, 1.6365474871591972, 0.0, 0.0, 0.0, 0.0, 2.0, -0.021130702011387087, -0.04168379414656846, 1.1694977126875767, -0.026264997274083043, -0.42984232487751234, 0.029042528557713485, 0.796146662321551, 0.0, 0.5536254532934833, 0.40818707632954576, 1.6365474871591972, 0.0, 0.0, 0.0, 0.0, 2.0, -0.021130702011387087, -0.04168379414656846, 1.1694977126875767, -0.026264997274083043, -0.42984232487751234, 0.029042528557713485, 0.796146662321551, 0.0, 1.4249179363250732, 1.6306136846542358, 1.5898258686065674, 0.0, 0.0, 0.0, 0.0, 2.0, 1.014326939400095, 0.9070166163055856, 1.0035598278045654, 0.16389507718764953, -0.6899509847599224, 0.1484308714124118, 0.6771858153261987, 0.0, 1.475786566734314, 1.7297171354293823, 1.5898258686065674, 0.0, 0.0, 0.0, 0.0, 2.0, 1.014326939400095, 0.9070166163055856, 1.0035598278045654, 0.16389507718764953, -0.6899509847599224, 0.1484308714124118, 0.6771858153261987, 0.0, 1.5086112022399902, 1.7936668395996094, 1.5898258686065674, 0.0, 0.0, 0.0, 0.0, 2.0, 1.014326939400095, 0.9070166163055856, 1.0035598278045654, 0.16389507718764953, -0.6899509847599224, 0.1484308714124118, 0.6771858153261987, 0.0, 1.562089204788208, 1.8978538513183594, 1.5898258686065674, 0.0, 0.0, 0.0, 0.0, 2.0, 1.014326939400095, 0.9070166163055856, 1.0035598278045654, 0.16389507718764953, -0.6899509847599224, 0.1484308714124118, 0.6771858153261987, 0.0, 1.5992320775985718, 1.9702162742614746, 1.5898258686065674, 0.0, 0.0, 0.0, 0.0, 2.0, 1.014326939400095, 0.9070166163055856, 1.0035598278045654, 0.16389507718764953, -0.6899509847599224, 0.1484308714124118, 0.6771858153261987, 0.0, 1.6491985321044922, 2.0675621032714844, 1.5898258686065674, 0.0, 0.0, 0.0, 0.0, 2.0, 1.014326939400095, 0.9070166163055856, 1.0035598278045654, 0.16389507718764953, -0.6899509847599224, 0.1484308714124118, 0.6771858153261987, 0.0, 1.6854387521743774, 2.1236536502838135, 1.5898258686065674, 0.0, 0.0, 0.0, 0.0, 2.0, 1.014326939400095, 0.9070166163055856, 1.0035598278045654, 0.16389507718764953, -0.6899509847599224, 0.1484308714124118, 0.6771858153261987, 0.0], "std": [1.3698554753038465, 0.6244246430589439, 0.05175071885326505, 0.0, 0.0, 0.0, 0.0, 1.473688806442792, 1.2809294850426738, 1.6936860853679132, 0.2535825113581066, 0.2534415418596903, 0.23670969973483416, 0.19273356774384198, 0.15316597553152111, 0.4898979485566357, 1.3987679298948903, 0.634523034139773, 0.05175071885326505, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3765886420499969, 1.3884119307279477, 0.18379938653051736, 0.23458788844505474, 0.2891110603804253, 0.1474316799555905, 0.13964085771925602, 0.0, 1.4133787973088983, 0.6400117799862939, 0.05175071885326505, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3765886420499969, 1.3884119307279477, 0.18379938653051736, 0.23458788844505474, 0.2891110603804253, 0.1474316799555905, 0.13964085771925602, 0.0, 1.4173892565549777, 0.6414283558109238, 0.05175071885326505, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3765886420499969, 1.3884119307279477, 0.18379938653051736, 0.23458788844505474, 0.2891110603804253, 0.1474316799555905, 0.13964085771925602, 0.0, 1.4152027116894923, 0.636699706467027, 0.05175071885326505, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3765886420499969, 1.3884119307279477, 0.18379938653051736, 0.23458788844505474, 0.2891110603804253, 0.1474316799555905, 0.13964085771925602, 0.0, 1.4025508241698341, 0.6294600526225358, 0.05175071885326505, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3765886420499969, 1.3884119307279477, 0.18379938653051736, 0.23458788844505474, 0.2891110603804253, 0.1474316799555905, 0.13964085771925602, 0.0, 1.418720437147361, 0.6340636794626673, 0.05175071885326505, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3765886420499969, 1.3884119307279477, 0.18379938653051736, 0.23458788844505474, 0.2891110603804253, 0.1474316799555905, 0.13964085771925602, 0.0, 1.4222780687463799, 0.6329487348814152, 0.05175071885326505, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3765886420499969, 1.3884119307279477, 0.18379938653051736, 0.23458788844505474, 0.2891110603804253, 0.1474316799555905, 0.13964085771925602, 0.0, 1.419490484012307, 0.6303769534937679, 0.05175071885326505, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3765886420499969, 1.3884119307279477, 0.18379938653051736, 0.23458788844505474, 0.2891110603804253, 0.1474316799555905, 0.13964085771925602, 0.0, 1.4323819065851113, 0.6342697872279428, 0.05175071885326505, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3765886420499969, 1.3884119307279477, 0.18379938653051736, 0.23458788844505474, 0.2891110603804253, 0.1474316799555905, 0.13964085771925602, 0.0, 1.4335387131002923, 0.6317197669305902, 0.05175071885326505, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3765886420499969, 1.3884119307279477, 0.18379938653051736, 0.23458788844505474, 0.2891110603804253, 0.1474316799555905, 0.13964085771925602, 0.0, 1.3817938644048862, 0.6356942195770007, 0.05175071885326505, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3765886420499969, 1.3884119307279477, 0.18379938653051736, 0.23458788844505474, 0.2891110603804253, 0.1474316799555905, 0.13964085771925602, 0.0, 1.407425167570916, 0.7078727320572623, 0.05175071885326505, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3765886420499969, 1.3884119307279477, 0.18379938653051736, 0.23458788844505474, 0.2891110603804253, 0.1474316799555905, 0.13964085771925602, 0.0, 1.4017860656352648, 0.7121963405080078, 0.05175071885326505, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3765886420499969, 1.3884119307279477, 0.18379938653051736, 0.23458788844505474, 0.2891110603804253, 0.1474316799555905, 0.13964085771925602, 0.0, 1.3415327195772058, 0.6897504874053388, 0.05175071885326505, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3765886420499969, 1.3884119307279477, 0.18379938653051736, 0.23458788844505474, 0.2891110603804253, 0.1474316799555905, 0.13964085771925602, 0.0, 1.3038476549901357, 0.6809627869529834, 0.05175071885326505, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3765886420499969, 1.3884119307279477, 0.18379938653051736, 0.23458788844505474, 0.2891110603804253, 0.1474316799555905, 0.13964085771925602, 0.0, 1.2965474021421635, 0.7209007469778358, 0.05175071885326505, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3765886420499969, 1.3884119307279477, 0.18379938653051736, 0.23458788844505474, 0.2891110603804253, 0.1474316799555905, 0.13964085771925602, 0.0, 1.2670156014247411, 0.7366252989644572, 0.05175071885326505, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3765886420499969, 1.3884119307279477, 0.18379938653051736, 0.23458788844505474, 0.2891110603804253, 0.1474316799555905, 0.13964085771925602, 0.0, 1.2654126925585747, 0.7612676435890099, 0.05175071885326505, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3765886420499969, 1.3884119307279477, 0.18379938653051736, 0.23458788844505474, 0.2891110603804253, 0.1474316799555905, 0.13964085771925602, 0.0, 1.2726506120382302, 0.8030366629845866, 0.05175071885326505, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3765886420499969, 1.3884119307279477, 0.18379938653051736, 0.23458788844505474, 0.2891110603804253, 0.1474316799555905, 0.13964085771925602, 0.0, 1.2333370381742976, 0.8072540008247631, 0.05175071885326505, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3765886420499969, 1.3884119307279477, 0.18379938653051736, 0.23458788844505474, 0.2891110603804253, 0.1474316799555905, 0.13964085771925602, 0.0, 1.197766757255105, 0.8388314848541855, 0.05175071885326505, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3765886420499969, 1.3884119307279477, 0.18379938653051736, 0.23458788844505474, 0.2891110603804253, 0.1474316799555905, 0.13964085771925602, 0.0, 1.2016329973953033, 0.8539644146102928, 0.05175071885326505, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3765886420499969, 1.3884119307279477, 0.18379938653051736, 0.23458788844505474, 0.2891110603804253, 0.1474316799555905, 0.13964085771925602, 0.0, 1.2340389963961798, 0.9283607090524635, 0.05175071885326505, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3765886420499969, 1.3884119307279477, 0.18379938653051736, 0.23458788844505474, 0.2891110603804253, 0.1474316799555905, 0.13964085771925602, 0.0, 1.1705121182594231, 0.9013296622947976, 0.05175071885326505, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3765886420499969, 1.3884119307279477, 0.18379938653051736, 0.23458788844505474, 0.2891110603804253, 0.1474316799555905, 0.13964085771925602, 0.0, 1.1309758045162168, 0.8889325262855178, 0.05175071885326505, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3765886420499969, 1.3884119307279477, 0.18379938653051736, 0.23458788844505474, 0.2891110603804253, 0.1474316799555905, 0.13964085771925602, 0.0, 1.1392171504012027, 0.948428407035455, 0.05175071885326505, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3765886420499969, 1.3884119307279477, 0.18379938653051736, 0.23458788844505474, 0.2891110603804253, 0.1474316799555905, 0.13964085771925602, 0.0, 1.1001883384885824, 0.9392538098142672, 0.05175071885326505, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3765886420499969, 1.3884119307279477, 0.18379938653051736, 0.23458788844505474, 0.2891110603804253, 0.1474316799555905, 0.13964085771925602, 0.0, 1.1070991152559329, 0.9949021949054103, 0.05175071885326505, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3765886420499969, 1.3884119307279477, 0.18379938653051736, 0.23458788844505474, 0.2891110603804253, 0.1474316799555905, 0.13964085771925602, 0.0, 1.0980378743409078, 1.0041899112546946, 0.05175071885326505, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3765886420499969, 1.3884119307279477, 0.18379938653051736, 0.23458788844505474, 0.2891110603804253, 0.1474316799555905, 0.13964085771925602, 0.0, 1.0732582184224984, 1.0404940804969065, 0.05175071885326505, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3765886420499969, 1.3884119307279477, 0.18379938653051736, 0.23458788844505474, 0.2891110603804253, 0.1474316799555905, 0.13964085771925602, 0.0, 1.0228420710672326, 1.0353267999120326, 0.05175071885326505, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3765886420499969, 1.3884119307279477, 0.18379938653051736, 0.23458788844505474, 0.2891110603804253, 0.1474316799555905, 0.13964085771925602, 0.0, 1.0377629154288677, 1.0852649444624143, 0.05175071885326505, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3765886420499969, 1.3884119307279477, 0.18379938653051736, 0.23458788844505474, 0.2891110603804253, 0.1474316799555905, 0.13964085771925602, 0.0, 1.0287057954832626, 1.1017662843601441, 0.05175071885326505, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3765886420499969, 1.3884119307279477, 0.18379938653051736, 0.23458788844505474, 0.2891110603804253, 0.1474316799555905, 0.13964085771925602, 0.0, 1.0022491125437447, 1.1299925234254116, 0.05175071885326505, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3765886420499969, 1.3884119307279477, 0.18379938653051736, 0.23458788844505474, 0.2891110603804253, 0.1474316799555905, 0.13964085771925602, 0.0, 0.9894405170090794, 1.14829170293684, 0.05175071885326505, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3765886420499969, 1.3884119307279477, 0.18379938653051736, 0.23458788844505474, 0.2891110603804253, 0.1474316799555905, 0.13964085771925602, 0.0, 0.9712252392490576, 1.1766759915557232, 0.05175071885326505, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3765886420499969, 1.3884119307279477, 0.18379938653051736, 0.23458788844505474, 0.2891110603804253, 0.1474316799555905, 0.13964085771925602, 0.0, 0.9392772607984896, 1.1902310754997567, 0.05175071885326505, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3765886420499969, 1.3884119307279477, 0.18379938653051736, 0.23458788844505474, 0.2891110603804253, 0.1474316799555905, 0.13964085771925602, 0.0, 0.9460422619786969, 1.2259040248871862, 0.05175071885326505, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3765886420499969, 1.3884119307279477, 0.18379938653051736, 0.23458788844505474, 0.2891110603804253, 0.1474316799555905, 0.13964085771925602, 0.0, 0.9548782726444569, 1.2607510015558665, 0.05175071885326505, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3765886420499969, 1.3884119307279477, 0.18379938653051736, 0.23458788844505474, 0.2891110603804253, 0.1474316799555905, 0.13964085771925602, 0.0, 0.9203218391431739, 1.274897844848991, 0.05175071885326505, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3765886420499969, 1.3884119307279477, 0.18379938653051736, 0.23458788844505474, 0.2891110603804253, 0.1474316799555905, 0.13964085771925602, 0.0, 0.9266975273026907, 1.2792342312696547, 0.05175071885326505, 0.0, 0.0, 0.0, 0.0, 0.0, 1.3765886420499969, 1.3884119307279477, 0.18379938653051736, 0.23458788844505474, 0.2891110603804253, 0.1474316799555905, 0.13964085771925602, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6497841243085212, 1.1584389736489844, 0.0, 0.08533267468074378, 0.027539149051065845, 0.08714376895224396, 0.029310563258881678, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6497841243085212, 1.1584389736489844, 0.0, 0.08533267468074378, 0.027539149051065845, 0.08714376895224396, 0.029310563258881678, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6497841243085212, 1.1584389736489844, 0.0, 0.08533267468074378, 0.027539149051065845, 0.08714376895224396, 0.029310563258881678, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6497841243085212, 1.1584389736489844, 0.0, 0.08533267468074378, 0.027539149051065845, 0.08714376895224396, 0.029310563258881678, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6497841243085212, 1.1584389736489844, 0.0, 0.08533267468074378, 0.027539149051065845, 0.08714376895224396, 0.029310563258881678, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6497841243085212, 1.1584389736489844, 0.0, 0.08533267468074378, 0.027539149051065845, 0.08714376895224396, 0.029310563258881678, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6497841243085212, 1.1584389736489844, 0.0, 0.08533267468074378, 0.027539149051065845, 0.08714376895224396, 0.029310563258881678, 0.0], "min": [-3.2661445140838623, -2.2921910285949707, 1.5898258686065674, 0.0, 0.0, 0.0, 0.0, -1.0, -2.9699935913085938, -1.9358844757080078, 0.5874999761581421, -0.7061036825180054, -0.7338628172874451, -0.1587669849395752, -0.6922522187232971, 0.0, -3.2342641353607178, -2.2783024311065674, 1.5898258686065674, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9699935913085938, -1.9358844757080078, 1.0035598278045654, -0.7061036825180054, -0.7116292119026184, -0.1587669849395752, 0.596879243850708, 0.0, -3.232053756713867, -2.277339220046997, 1.5898258686065674, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9699935913085938, -1.9358844757080078, 1.0035598278045654, -0.7061036825180054, -0.7116292119026184, -0.1587669849395752, 0.596879243850708, 0.0, -3.228199005126953, -2.2756600379943848, 1.5898258686065674, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9699935913085938, -1.9358844757080078, 1.0035598278045654, -0.7061036825180054, -0.7116292119026184, -0.1587669849395752, 0.596879243850708, 0.0, -3.087686777114868, -2.214447021484375, 1.5898258686065674, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9699935913085938, -1.9358844757080078, 1.0035598278045654, -0.7061036825180054, -0.7116292119026184, -0.1587669849395752, 0.596879243850708, 0.0, -2.999959945678711, -2.17622971534729, 1.5898258686065674, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9699935913085938, -1.9358844757080078, 1.0035598278045654, -0.7061036825180054, -0.7116292119026184, -0.1587669849395752, 0.596879243850708, 0.0, -2.9444921016693115, -2.1520657539367676, 1.5898258686065674, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9699935913085938, -1.9358844757080078, 1.0035598278045654, -0.7061036825180054, -0.7116292119026184, -0.1587669849395752, 0.596879243850708, 0.0, -2.855586051940918, -2.1133346557617188, 1.5898258686065674, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9699935913085938, -1.9358844757080078, 1.0035598278045654, -0.7061036825180054, -0.7116292119026184, -0.1587669849395752, 0.596879243850708, 0.0, -2.8010497093200684, -2.089576482772827, 1.5898258686065674, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9699935913085938, -1.9358844757080078, 1.0035598278045654, -0.7061036825180054, -0.7116292119026184, -0.1587669849395752, 0.596879243850708, 0.0, -2.7648513317108154, -2.0738070011138916, 1.5898258686065674, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9699935913085938, -1.9358844757080078, 1.0035598278045654, -0.7061036825180054, -0.7116292119026184, -0.1587669849395752, 0.596879243850708, 0.0, -2.657092332839966, -2.026862621307373, 1.5898258686065674, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9699935913085938, -1.9358844757080078, 1.0035598278045654, -0.7061036825180054, -0.7116292119026184, -0.1587669849395752, 0.596879243850708, 0.0, -2.525352954864502, -1.9694714546203613, 1.5898258686065674, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9699935913085938, -1.9358844757080078, 1.0035598278045654, -0.7061036825180054, -0.7116292119026184, -0.1587669849395752, 0.596879243850708, 0.0, -2.513129234313965, -1.964146375656128, 1.5898258686065674, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9699935913085938, -1.9358844757080078, 1.0035598278045654, -0.7061036825180054, -0.7116292119026184, -0.1587669849395752, 0.596879243850708, 0.0, -2.4947071075439453, -1.9561209678649902, 1.5898258686065674, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9699935913085938, -1.9358844757080078, 1.0035598278045654, -0.7061036825180054, -0.7116292119026184, -0.1587669849395752, 0.596879243850708, 0.0, -2.369596242904663, -1.9016175270080566, 1.5898258686065674, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9699935913085938, -1.9358844757080078, 1.0035598278045654, -0.7061036825180054, -0.7116292119026184, -0.1587669849395752, 0.596879243850708, 0.0, -2.2858595848083496, -1.8651384115219116, 1.5898258686065674, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9699935913085938, -1.9358844757080078, 1.0035598278045654, -0.7061036825180054, -0.7116292119026184, -0.1587669849395752, 0.596879243850708, 0.0, -2.2261266708374023, -1.8391163349151611, 1.5898258686065674, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9699935913085938, -1.9358844757080078, 1.0035598278045654, -0.7061036825180054, -0.7116292119026184, -0.1587669849395752, 0.596879243850708, 0.0, -2.1368794441223145, -1.8002365827560425, 1.5898258686065674, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9699935913085938, -1.9358844757080078, 1.0035598278045654, -0.7061036825180054, -0.7116292119026184, -0.1587669849395752, 0.596879243850708, 0.0, -2.082387685775757, -1.776497721672058, 1.5898258686065674, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9699935913085938, -1.9358844757080078, 1.0035598278045654, -0.7061036825180054, -0.7116292119026184, -0.1587669849395752, 0.596879243850708, 0.0, -2.0456125736236572, -1.7604769468307495, 1.5898258686065674, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9699935913085938, -1.9358844757080078, 1.0035598278045654, -0.7061036825180054, -0.7116292119026184, -0.1587669849395752, 0.596879243850708, 0.0, -1.9382046461105347, -1.7136855125427246, 1.5898258686065674, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9699935913085938, -1.9358844757080078, 1.0035598278045654, -0.7061036825180054, -0.7116292119026184, -0.1587669849395752, 0.596879243850708, 0.0, -1.8041239976882935, -1.6552743911743164, 1.5898258686065674, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9699935913085938, -1.9358844757080078, 1.0035598278045654, -0.7061036825180054, -0.7116292119026184, -0.1587669849395752, 0.596879243850708, 0.0, -1.794021487236023, -1.6508733034133911, 1.5898258686065674, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9699935913085938, -1.9358844757080078, 1.0035598278045654, -0.7061036825180054, -0.7116292119026184, -0.1587669849395752, 0.596879243850708, 0.0, -1.7790522575378418, -1.6443520784378052, 1.5898258686065674, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9699935913085938, -1.9358844757080078, 1.0035598278045654, -0.7061036825180054, -0.7116292119026184, -0.1587669849395752, 0.596879243850708, 0.0, -1.6504781246185303, -1.5883398056030273, 1.5898258686065674, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9699935913085938, -1.9358844757080078, 1.0035598278045654, -0.7061036825180054, -0.7116292119026184, -0.1587669849395752, 0.596879243850708, 0.0, -1.5645767450332642, -1.550917625427246, 1.5898258686065674, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9699935913085938, -1.9358844757080078, 1.0035598278045654, -0.7061036825180054, -0.7116292119026184, -0.1587669849395752, 0.596879243850708, 0.0, -1.5068382024765015, -1.5257643461227417, 1.5898258686065674, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9699935913085938, -1.9358844757080078, 1.0035598278045654, -0.7061036825180054, -0.7116292119026184, -0.1587669849395752, 0.596879243850708, 0.0, -1.417967677116394, -1.487048625946045, 1.5898258686065674, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9699935913085938, -1.9358844757080078, 1.0035598278045654, -0.7061036825180054, -0.7116292119026184, -0.1587669849395752, 0.596879243850708, 0.0, -1.361897587776184, -1.4626221656799316, 1.5898258686065674, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9699935913085938, -1.9358844757080078, 1.0035598278045654, -0.7061036825180054, -0.7116292119026184, -0.1587669849395752, 0.596879243850708, 0.0, -1.3260886669158936, -1.4470223188400269, 1.5898258686065674, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9699935913085938, -1.9358844757080078, 1.0035598278045654, -0.7061036825180054, -0.7116292119026184, -0.1587669849395752, 0.596879243850708, 0.0, -1.213667869567871, -1.3980472087860107, 1.5898258686065674, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9699935913085938, -1.9358844757080078, 1.0035598278045654, -0.7061036825180054, -0.7116292119026184, -0.1587669849395752, 0.596879243850708, 0.0, -1.0899834632873535, -1.3441650867462158, 1.5898258686065674, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9699935913085938, -1.9358844757080078, 1.0035598278045654, -0.7061036825180054, -0.7116292119026184, -0.1587669849395752, 0.596879243850708, 0.0, -1.0622451305389404, -1.3320810794830322, 1.5898258686065674, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9699935913085938, -1.9358844757080078, 1.0035598278045654, -0.7061036825180054, -0.7116292119026184, -0.1587669849395752, 0.596879243850708, 0.0, -1.0168589353561401, -1.3123090267181396, 1.5898258686065674, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9699935913085938, -1.9358844757080078, 1.0035598278045654, -0.7061036825180054, -0.7116292119026184, -0.1587669849395752, 0.596879243850708, 0.0, -0.9108322858810425, -1.2661194801330566, 1.5898258686065674, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9699935913085938, -1.9358844757080078, 1.0035598278045654, -0.7061036825180054, -0.7116292119026184, -0.1587669849395752, 0.596879243850708, 0.0, -0.8533419966697693, -1.2410743236541748, 1.5898258686065674, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9699935913085938, -1.9358844757080078, 1.0035598278045654, -0.7061036825180054, -0.7116292119026184, -0.1587669849395752, 0.596879243850708, 0.0, -0.7684463858604431, -1.2040902376174927, 1.5898258686065674, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9699935913085938, -1.9358844757080078, 1.0035598278045654, -0.7061036825180054, -0.7116292119026184, -0.1587669849395752, 0.596879243850708, 0.0, -0.6677004098892212, -1.160201072692871, 1.5898258686065674, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9699935913085938, -1.9358844757080078, 1.0035598278045654, -0.7061036825180054, -0.7116292119026184, -0.1587669849395752, 0.596879243850708, 0.0, -0.6378033757209778, -1.147176742553711, 1.5898258686065674, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9699935913085938, -1.9358844757080078, 1.0035598278045654, -0.7061036825180054, -0.7116292119026184, -0.1587669849395752, 0.596879243850708, 0.0, -0.6143670678138733, -1.1369669437408447, 1.5898258686065674, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9699935913085938, -1.9358844757080078, 1.0035598278045654, -0.7061036825180054, -0.7116292119026184, -0.1587669849395752, 0.596879243850708, 0.0, -0.5060798525810242, -1.0897924900054932, 1.5898258686065674, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9699935913085938, -1.9358844757080078, 1.0035598278045654, -0.7061036825180054, -0.7116292119026184, -0.1587669849395752, 0.596879243850708, 0.0, -0.47282150387763977, -1.0087435245513916, 1.5898258686065674, 0.0, 0.0, 0.0, 0.0, 2.0, -2.9699935913085938, -1.9358844757080078, 1.0035598278045654, -0.7061036825180054, -0.7116292119026184, -0.1587669849395752, 0.596879243850708, 0.0, 1.4249179363250732, 1.6306136846542358, 1.5898258686065674, 0.0, 0.0, 0.0, 0.0, 2.0, -0.508868396282196, -0.7273393869400024, 1.0035598278045654, -0.02790588140487671, -0.7116292119026184, -0.04642638564109802, 0.596879243850708, 0.0, 1.475786566734314, 1.7297171354293823, 1.5898258686065674, 0.0, 0.0, 0.0, 0.0, 2.0, -0.508868396282196, -0.7273393869400024, 1.0035598278045654, -0.02790588140487671, -0.7116292119026184, -0.04642638564109802, 0.596879243850708, 0.0, 1.5086112022399902, 1.7936668395996094, 1.5898258686065674, 0.0, 0.0, 0.0, 0.0, 2.0, -0.508868396282196, -0.7273393869400024, 1.0035598278045654, -0.02790588140487671, -0.7116292119026184, -0.04642638564109802, 0.596879243850708, 0.0, 1.562089204788208, 1.8978538513183594, 1.5898258686065674, 0.0, 0.0, 0.0, 0.0, 2.0, -0.508868396282196, -0.7273393869400024, 1.0035598278045654, -0.02790588140487671, -0.7116292119026184, -0.04642638564109802, 0.596879243850708, 0.0, 1.5992320775985718, 1.9702162742614746, 1.5898258686065674, 0.0, 0.0, 0.0, 0.0, 2.0, -0.508868396282196, -0.7273393869400024, 1.0035598278045654, -0.02790588140487671, -0.7116292119026184, -0.04642638564109802, 0.596879243850708, 0.0, 1.6491985321044922, 2.0675621032714844, 1.5898258686065674, 0.0, 0.0, 0.0, 0.0, 2.0, -0.508868396282196, -0.7273393869400024, 1.0035598278045654, -0.02790588140487671, -0.7116292119026184, -0.04642638564109802, 0.596879243850708, 0.0, 1.6854387521743774, 2.1236536502838135, 1.5898258686065674, 0.0, 0.0, 0.0, 0.0, 2.0, -0.508868396282196, -0.7273393869400024, 1.0035598278045654, -0.02790588140487671, -0.7116292119026184, -0.04642638564109802, 0.596879243850708, 0.0], "max": [-0.5121043920516968, -1.036810040473938, 1.693868637084961, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8904337882995605, 2.9743800163269043, 1.3731156587600708, 0.7062728404998779, 0.03839254751801491, 0.4961909055709839, 0.9633506536483765, 1.0, -0.4220966696739197, -1.0026190280914307, 1.693868637084961, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8904337882995605, 2.5921454429626465, 1.3730812072753906, 0.37056466937065125, -0.03671835735440254, 0.3597801625728607, 0.9633506536483765, 0.0, -0.39051172137260437, -0.9906209111213684, 1.693868637084961, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8904337882995605, 2.5921454429626465, 1.3730812072753906, 0.37056466937065125, -0.03671835735440254, 0.3597801625728607, 0.9633506536483765, 0.0, -0.3785941004753113, -0.9860937595367432, 1.693868637084961, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8904337882995605, 2.5921454429626465, 1.3730812072753906, 0.37056466937065125, -0.03671835735440254, 0.3597801625728607, 0.9633506536483765, 0.0, -0.24247783422470093, -0.9343875050544739, 1.693868637084961, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8904337882995605, 2.5921454429626465, 1.3730812072753906, 0.37056466937065125, -0.03671835735440254, 0.3597801625728607, 0.9633506536483765, 0.0, -0.18018712103366852, -0.9107252359390259, 1.693868637084961, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8904337882995605, 2.5921454429626465, 1.3730812072753906, 0.37056466937065125, -0.03671835735440254, 0.3597801625728607, 0.9633506536483765, 0.0, -0.09221091121435165, -0.8773058652877808, 1.693868637084961, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8904337882995605, 2.5921454429626465, 1.3730812072753906, 0.37056466937065125, -0.03671835735440254, 0.3597801625728607, 0.9633506536483765, 0.0, 0.0038476157933473587, -0.8408163189888, 1.693868637084961, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8904337882995605, 2.5921454429626465, 1.3730812072753906, 0.37056466937065125, -0.03671835735440254, 0.3597801625728607, 0.9633506536483765, 0.0, 0.052779629826545715, -0.8222286105155945, 1.693868637084961, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8904337882995605, 2.5921454429626465, 1.3730812072753906, 0.37056466937065125, -0.03671835735440254, 0.3597801625728607, 0.9633506536483765, 0.0, 0.11489570140838623, -0.7986327409744263, 1.693868637084961, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8904337882995605, 2.5921454429626465, 1.3730812072753906, 0.37056466937065125, -0.03671835735440254, 0.3597801625728607, 0.9633506536483765, 0.0, 0.2249804139137268, -0.7568150758743286, 1.693868637084961, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8904337882995605, 2.5921454429626465, 1.3730812072753906, 0.37056466937065125, -0.03671835735440254, 0.3597801625728607, 0.9633506536483765, 0.0, 0.25268882513046265, -0.6914334297180176, 1.693868637084961, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8904337882995605, 2.5921454429626465, 1.3730812072753906, 0.37056466937065125, -0.03671835735440254, 0.3597801625728607, 0.9633506536483765, 0.0, 0.3164432644844055, -0.5409963130950928, 1.693868637084961, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8904337882995605, 2.5921454429626465, 1.3730812072753906, 0.37056466937065125, -0.03671835735440254, 0.3597801625728607, 0.9633506536483765, 0.0, 0.3235282003879547, -0.524278461933136, 1.693868637084961, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8904337882995605, 2.5921454429626465, 1.3730812072753906, 0.37056466937065125, -0.03671835735440254, 0.3597801625728607, 0.9633506536483765, 0.0, 0.3275021016597748, -0.5149015188217163, 1.693868637084961, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8904337882995605, 2.5921454429626465, 1.3730812072753906, 0.37056466937065125, -0.03671835735440254, 0.3597801625728607, 0.9633506536483765, 0.0, 0.33547443151474, -0.49608972668647766, 1.693868637084961, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8904337882995605, 2.5921454429626465, 1.3730812072753906, 0.37056466937065125, -0.03671835735440254, 0.3597801625728607, 0.9633506536483765, 0.0, 0.3805304765701294, -0.389773964881897, 1.693868637084961, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8904337882995605, 2.5921454429626465, 1.3730812072753906, 0.37056466937065125, -0.03671835735440254, 0.3597801625728607, 0.9633506536483765, 0.0, 0.4104051887989044, -0.31928062438964844, 1.693868637084961, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8904337882995605, 2.5921454429626465, 1.3730812072753906, 0.37056466937065125, -0.03671835735440254, 0.3597801625728607, 0.9633506536483765, 0.0, 0.46167436242103577, -0.2459993064403534, 1.693868637084961, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8904337882995605, 2.5921454429626465, 1.3730812072753906, 0.37056466937065125, -0.03671835735440254, 0.3597801625728607, 0.9633506536483765, 0.0, 0.513001024723053, -0.1460035741329193, 1.693868637084961, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8904337882995605, 2.5921454429626465, 1.3730812072753906, 0.37056466937065125, -0.03671835735440254, 0.3597801625728607, 0.9633506536483765, 0.0, 0.5413705706596375, -0.0907333493232727, 1.693868637084961, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8904337882995605, 2.5921454429626465, 1.3730812072753906, 0.37056466937065125, -0.03671835735440254, 0.3597801625728607, 0.9633506536483765, 0.0, 0.6039385795593262, 0.0311630517244339, 1.693868637084961, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8904337882995605, 2.5921454429626465, 1.3730812072753906, 0.37056466937065125, -0.03671835735440254, 0.3597801625728607, 0.9633506536483765, 0.0, 0.6218140125274658, 0.06598829478025436, 1.693868637084961, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8904337882995605, 2.5921454429626465, 1.3730812072753906, 0.37056466937065125, -0.03671835735440254, 0.3597801625728607, 0.9633506536483765, 0.0, 0.7019342184066772, 0.2220803201198578, 1.693868637084961, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8904337882995605, 2.5921454429626465, 1.3730812072753906, 0.37056466937065125, -0.03671835735440254, 0.3597801625728607, 0.9633506536483765, 0.0, 0.7027900815010071, 0.22374774515628815, 1.693868637084961, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8904337882995605, 2.5921454429626465, 1.3730812072753906, 0.37056466937065125, -0.03671835735440254, 0.3597801625728607, 0.9633506536483765, 0.0, 0.7092052698135376, 0.23624597489833832, 1.693868637084961, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8904337882995605, 2.5921454429626465, 1.3730812072753906, 0.37056466937065125, -0.03671835735440254, 0.3597801625728607, 0.9633506536483765, 0.0, 0.7835127115249634, 0.3810133635997772, 1.693868637084961, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8904337882995605, 2.5921454429626465, 1.3730812072753906, 0.37056466937065125, -0.03671835735440254, 0.3597801625728607, 0.9633506536483765, 0.0, 0.7939173579216003, 0.4012839198112488, 1.693868637084961, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8904337882995605, 2.5921454429626465, 1.3730812072753906, 0.37056466937065125, -0.03671835735440254, 0.3597801625728607, 0.9633506536483765, 0.0, 0.8638812899589539, 0.5375892519950867, 1.693868637084961, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8904337882995605, 2.5921454429626465, 1.3730812072753906, 0.37056466937065125, -0.03671835735440254, 0.3597801625728607, 0.9633506536483765, 0.0, 0.8814729452133179, 0.5718616843223572, 1.693868637084961, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8904337882995605, 2.5921454429626465, 1.3730812072753906, 0.37056466937065125, -0.03671835735440254, 0.3597801625728607, 0.9633506536483765, 0.0, 0.9440752267837524, 0.6938248872756958, 1.693868637084961, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8904337882995605, 2.5921454429626465, 1.3730812072753906, 0.37056466937065125, -0.03671835735440254, 0.3597801625728607, 0.9633506536483765, 0.0, 0.9663999676704407, 0.7373183965682983, 1.693868637084961, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8904337882995605, 2.5921454429626465, 1.3730812072753906, 0.37056466937065125, -0.03671835735440254, 0.3597801625728607, 0.9633506536483765, 0.0, 1.0241360664367676, 0.8498010635375977, 1.693868637084961, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8904337882995605, 2.5921454429626465, 1.3730812072753906, 0.37056466937065125, -0.03671835735440254, 0.3597801625728607, 0.9633506536483765, 0.0, 1.0513132810592651, 0.9027484059333801, 1.693868637084961, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8904337882995605, 2.5921454429626465, 1.3730812072753906, 0.37056466937065125, -0.03671835735440254, 0.3597801625728607, 0.9633506536483765, 0.0, 1.1041498184204102, 1.0056856870651245, 1.693868637084961, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8904337882995605, 2.5921454429626465, 1.3730812072753906, 0.37056466937065125, -0.03671835735440254, 0.3597801625728607, 0.9633506536483765, 0.0, 1.135888934135437, 1.0675206184387207, 1.693868637084961, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8904337882995605, 2.5921454429626465, 1.3730812072753906, 0.37056466937065125, -0.03671835735440254, 0.3597801625728607, 0.9633506536483765, 0.0, 1.1841634511947632, 1.1615701913833618, 1.693868637084961, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8904337882995605, 2.5921454429626465, 1.3730812072753906, 0.37056466937065125, -0.03671835735440254, 0.3597801625728607, 0.9633506536483765, 0.0, 1.2206792831420898, 1.2327113151550293, 1.693868637084961, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8904337882995605, 2.5921454429626465, 1.3730812072753906, 0.37056466937065125, -0.03671835735440254, 0.3597801625728607, 0.9633506536483765, 0.0, 1.2641770839691162, 1.3174546957015991, 1.693868637084961, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8904337882995605, 2.5921454429626465, 1.3730812072753906, 0.37056466937065125, -0.03671835735440254, 0.3597801625728607, 0.9633506536483765, 0.0, 1.3053778409957886, 1.3977229595184326, 1.693868637084961, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8904337882995605, 2.5921454429626465, 1.3730812072753906, 0.37056466937065125, -0.03671835735440254, 0.3597801625728607, 0.9633506536483765, 0.0, 1.3441907167434692, 1.4733390808105469, 1.693868637084961, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8904337882995605, 2.5921454429626465, 1.3730812072753906, 0.37056466937065125, -0.03671835735440254, 0.3597801625728607, 0.9633506536483765, 0.0, 1.3902671337127686, 1.5631061792373657, 1.693868637084961, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8904337882995605, 2.5921454429626465, 1.3730812072753906, 0.37056466937065125, -0.03671835735440254, 0.3597801625728607, 0.9633506536483765, 0.0, 1.4249179363250732, 1.6306136846542358, 1.5898258686065674, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8904337882995605, 2.5921454429626465, 1.0035598278045654, 0.37056466937065125, -0.6139827370643616, 0.3597801625728607, 0.7025353908538818, 0.0, 1.475786566734314, 1.7297171354293823, 1.5898258686065674, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8904337882995605, 2.5921454429626465, 1.0035598278045654, 0.37056466937065125, -0.6139827370643616, 0.3597801625728607, 0.7025353908538818, 0.0, 1.5086112022399902, 1.7936668395996094, 1.5898258686065674, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8904337882995605, 2.5921454429626465, 1.0035598278045654, 0.37056466937065125, -0.6139827370643616, 0.3597801625728607, 0.7025353908538818, 0.0, 1.562089204788208, 1.8978538513183594, 1.5898258686065674, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8904337882995605, 2.5921454429626465, 1.0035598278045654, 0.37056466937065125, -0.6139827370643616, 0.3597801625728607, 0.7025353908538818, 0.0, 1.5992320775985718, 1.9702162742614746, 1.5898258686065674, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8904337882995605, 2.5921454429626465, 1.0035598278045654, 0.37056466937065125, -0.6139827370643616, 0.3597801625728607, 0.7025353908538818, 0.0, 1.6491985321044922, 2.0675621032714844, 1.5898258686065674, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8904337882995605, 2.5921454429626465, 1.0035598278045654, 0.37056466937065125, -0.6139827370643616, 0.3597801625728607, 0.7025353908538818, 0.0, 1.6854387521743774, 2.1236536502838135, 1.5898258686065674, 0.0, 0.0, 0.0, 0.0, 2.0, 1.8904337882995605, 2.5921454429626465, 1.0035598278045654, 0.37056466937065125, -0.6139827370643616, 0.3597801625728607, 0.7025353908538818, 0.0], "count": [2120]}, "action.applied": {"mean": [0.08212567028273249, 0.00024571900238405984, 0.01096545709126831, 0.6356166903098133, -0.7655871071258311, -1.0351395224644035, 1.1086535260784176, -1.7408631589085222, -1.6892576119809781, -1.2480595551695453, -0.0017296318184443801, 0.0017296318184443801], "std": [0.12994411819158844, 0.008560483884323124, 0.1609686234854481, 0.4303293778234028, 0.4977212436171031, 0.554567934102942, 0.3391770208723915, 0.8822475424617142, 0.4391559007338126, 0.7841990663032518, 0.012396822207282868, 0.012396822207282868], "min": [0.0, -0.061918310821056366, -0.800000011920929, -0.09734151512384415, -1.6051605939865112, -1.6439403295516968, 0.49858593940734863, -2.4669528007507324, -2.7546520233154297, -1.9942097663879395, -0.009999999776482582, -0.020833000540733337], "max": [0.30000001192092896, 0.10284006595611572, 0.800000011920929, 1.2232292890548706, 0.009195023216307163, 0.0003967906523030251, 1.4971799850463867, 0.005743229296058416, -1.1309155225753784, 0.1403605341911316, 0.020833000540733337, 0.009999999776482582], "count": [2120]}, "extra.reward": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [2120]}, "next.truncated": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [2120]}, "sim_step_idx": {"mean": [2220.0], "std": [1223.9824345144827], "min": [101.0], "max": [4339.0], "count": [2120]}, "timestamp": {"mean": [42.38000000287199], "std": [24.479648691639948], "min": [0.0], "max": [84.76000213623047], "count": [2120]}, "frame_index": {"mean": [1059.5], "std": [611.9912172572414], "min": [0.0], "max": [2119.0], "count": [2120]}, "episode_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [2120]}, "index": {"mean": [1059.5], "std": [611.9912172572414], "min": [0.0], "max": [2119.0], "count": [2120]}, "task_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [2120]}, "next.done": {"mean": [0.0004716981132075472], "std": [0.02171348921978095], "min": [0.0], "max": [1.0], "count": [2120]}, "observation.images.head": {"mean": [[[0.5404768328719518]], [[0.4772399313304306]], [[0.4122188354216917]]], "std": [[[0.12446114512621342]], [[0.14218668005108123]], [[0.1358380227492998]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9294117647058824]], [[0.8980392156862745]], [[0.8509803921568627]]], "count": [100]}, "observation.images.wrist": {"mean": [[[0.5442263856809562]], [[0.45484032590166357]], [[0.37615425501763694]]], "std": [[[0.1514695211449574]], [[0.16369911063575263]], [[0.1604609248764762]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9529411764705882]], [[0.8980392156862745]], [[0.8745098039215686]]], "count": [100]}}} diff --git a/N034/sawyer_umi/dr_off/seed_1026/rec/stationbookendxr/000/lerobot_v21/meta/extra/episode_000000.json b/N034/sawyer_umi/dr_off/seed_1026/rec/stationbookendxr/000/lerobot_v21/meta/extra/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..2352a7b9e62a14abcebc8cce336ba4c828e6be29 --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1026/rec/stationbookendxr/000/lerobot_v21/meta/extra/episode_000000.json @@ -0,0 +1,409 @@ +{ + "episode_index": 0, + "trajectory_id": 0, + "env_id": 0, + "task_type": "BookendXRCommand", + "subsample_every": 2, + "control_steps": 4239, + "language": { + "scene": { + "objects": [ + { + "id": "table_A_1", + "cat_name": "table_A", + "inst_id": 1, + "noun": "table A", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 3.400110131498418, + 0.5141231210617122, + 0.13000001444509013 + ], + "bbox": { + "extent": [ + 1.0218330794139776, + 0.7192995800510491, + 0.30000001192092896 + ], + "center": [ + 1.1102230246251565e-16, + -2.7755575615628914e-17, + 0.0 + ] + } + }, + { + "id": "table_B_1", + "cat_name": "table_B", + "inst_id": 1, + "noun": "table B", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 6.956385019119139, + 2.1762193436935924, + 0.13000001995920846 + ], + "bbox": { + "extent": [ + 0.9190196374462003, + 0.5342353894115766, + 0.30000001192092896 + ], + "center": [ + 1.1102230246251565e-16, + 0.0, + 0.0 + ] + } + }, + { + "id": "slot_left_1", + "cat_name": "slot_left", + "inst_id": 1, + "noun": "slot left", + "color": "brown", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.328863335939567, + 0.41399248623588136, + 0.2975000147196316 + ], + "bbox": { + "extent": [ + 0.03923994390431949, + 0.12243665932844405, + 0.03500000014901161 + ], + "center": [ + 4.5102810375396984e-17, + 0.0, + 0.0 + ] + } + }, + { + "id": "slot_right_1", + "cat_name": "slot_right", + "inst_id": 1, + "noun": "slot right", + "color": "brown", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.377657188974286, + 0.39330046105644934, + 0.2975000150458683 + ], + "bbox": { + "extent": [ + 0.03923994390431949, + 0.12243665932844403, + 0.03500000014901161 + ], + "center": [ + 3.122502256758253e-17, + -1.3877787807814457e-17, + 0.0 + ] + } + }, + { + "id": "book_1", + "cat_name": "book", + "inst_id": 1, + "noun": "book", + "color": "red", + "size": "small", + "material": null, + "category": "rigid", + "pos": [ + 3.356636569669622, + 0.41160929840566174, + 0.34999990160237765 + ], + "bbox": { + "extent": [ + 0.10852860962847424, + 0.05936810290871761, + 0.14000057778758257 + ], + "center": [ + -1.734723475976807e-17, + -1.3530843112619095e-16, + 0.0 + ] + } + }, + { + "id": "plate_1", + "cat_name": "plate", + "inst_id": 1, + "noun": "plate", + "color": "gray", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 6.883052539980001, + 2.102499621366059, + 0.32050002007274997 + ], + "bbox": { + "extent": [ + 0.01732550528763782, + 0.14045647247092852, + 0.07999999821186066 + ], + "center": [ + 5.551115123125783e-17, + 0.0, + 0.0 + ] + } + }, + { + "id": "bookend_1", + "cat_name": "bookend", + "inst_id": 1, + "noun": "bookend", + "color": null, + "size": "small", + "material": null, + "category": "rigid", + "pos": [ + 6.964526018897017, + 2.036517251513894, + 0.28000006371390335 + ], + "bbox": { + "extent": [ + 0.12273960585088252, + 0.07656591060126396, + 0.06000039911950372 + ], + "center": [ + -3.3269760016385597e-08, + -0.02999998343201102, + 0.02999999956967636 + ] + } + } + ], + "relations": [ + { + "subject": "table_A_1", + "relation": "left_of", + "object": "slot_right_1" + }, + { + "subject": "table_B_1", + "relation": "left_of", + "object": "bookend_1" + }, + { + "subject": "book_1", + "relation": "on_top_of", + "object": "slot_left_1" + }, + { + "subject": "plate_1", + "relation": "left_of", + "object": "bookend_1" + }, + { + "subject": "bookend_1", + "relation": "right_of", + "object": "plate_1" + } + ], + "cameras": [ + { + "name": "head", + "intrinsics": { + "K": [ + [ + 355.55555555555554, + 0.0, + 320.0 + ], + [ + 0.0, + 355.55555555555554, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 83.97442499163331, + "resolution": [ + 640, + 480 + ] + }, + "pos_robot": [ + 4.162170644870771, + 0.24144140656810467, + -0.09499998253873776 + ], + "viewpoint": "front, at table height", + "extrinsics": { + "R": [ + [ + -8.039232568535226e-08, + -0.9999999999999964, + 2.5347603738179458e-08 + ], + [ + 0.8191520331270514, + -8.039232568535226e-08, + -0.5735764522919431 + ], + [ + 0.5735764522919431, + -2.5347603738179458e-08, + 0.819152033127055 + ] + ], + "t": [ + 1.855362002599171e-08, + -0.2032392724571752, + -0.08737481710326404 + ] + } + }, + { + "name": "wrist", + "intrinsics": { + "K": [ + [ + 320.0, + 0.0, + 320.0 + ], + [ + 0.0, + 320.0, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 90.0, + "resolution": [ + 640, + 480 + ] + }, + "pos_robot": [ + 4.026421504079335, + 0.31991695379008106, + -0.01999998244922314 + ], + "viewpoint": "front, at table height", + "extrinsics": { + "R": [ + [ + 0.0, + 1.0, + -1.4782795217992896e-16 + ], + [ + 1.0, + 0.0, + 2.5363269588459423e-17 + ], + [ + 2.5363269588459423e-17, + -1.4782795217992896e-16, + -1.0 + ] + ], + "t": [ + 4.4348384662715026e-18, + -0.05979999899864197, + 0.029999999329447746 + ] + } + } + ], + "robots": [ + { + "name": "RidgebackSawyerUmi", + "model": "ridgebacksawyer_umi", + "type": "mobilemanip", + "noun": "Ridgeback-Sawyer mobile manipulator with a UMI gripper", + "arms": 1, + "arm_layout": null, + "mobile": true, + "dexterous": false, + "base_pose": { + "pos": [ + -3.4, + -2.2, + 0.05 + ], + "ori": [ + 0.9396926164627075, + 0.0, + 0.0, + 0.3420201539993286 + ] + }, + "facing_yaw_deg": 40.000001288448495, + "gripper": "parallel gripper" + } + ], + "lighting": [], + "background": { + "name": null, + "kind": "background", + "type": "dome", + "pose": null, + "setting": null, + "time_of_day": null, + "indoor": false, + "intensity": 1000.0, + "ambient": "dim" + }, + "effects": [], + "caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the brown slot left. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is to the left of the brown slot right. The gray table B is to the left of the bookend. The red book is on top of the brown slot left. The gray plate is to the left of the bookend. The bookend is to the right of the gray plate. The scene is viewed from front, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n[[[bookend]\n\n\n\n [slot[book]]\n\n\n\n [robot]" + }, + "task": { + "task_type": "StationBookendXR", + "instruction": "Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.", + "template_id": -1, + "slots": { + "obj": 1.6938685816877816, + "support": null + }, + "generic_instruction": "Stationbookendxr the 1.6938685816877816.", + "task_id": "N034", + "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 +} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_off/seed_1026/rec/stationbookendxr/000/lerobot_v21/meta/info.json b/N034/sawyer_umi/dr_off/seed_1026/rec/stationbookendxr/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..31d68e44a9f49dee037a08b26e8874eb94a23ec3 --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1026/rec/stationbookendxr/000/lerobot_v21/meta/info.json @@ -0,0 +1,296 @@ +{ + "codebase_version": "v2.1", + "robot_type": "RidgebackSawyerUmiCfg", + "total_episodes": 1, + "total_frames": 2120, + "total_tasks": 1, + "total_videos": 2, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 25, + "splits": { + "train": "0:1" + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", + "features": { + "action": { + "dtype": "float32", + "shape": [ + 11 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "frame0.pos_x", + "frame0.pos_y", + "frame0.pos_z", + "frame0.quat_w", + "frame0.quat_x", + "frame0.quat_y", + "frame0.quat_z", + "gripper" + ] + }, + "action_is_hold": { + "dtype": "bool", + "shape": [ + 11 + ], + "names": null + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 15 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint", + "gripper_0", + "gripper_1" + ] + }, + "observation.joint_vel": { + "dtype": "float32", + "shape": [ + 13 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ] + }, + "observation.eef_pose": { + "dtype": "float32", + "shape": [ + 7 + ], + "names": null + }, + "observation.environment_state": { + "dtype": "float32", + "shape": [ + 49 + ], + "names": [ + "object_pose.book.0", + "object_pose.book.1", + "object_pose.book.2", + "object_pose.book.3", + "object_pose.book.4", + "object_pose.book.5", + "object_pose.book.6", + "object_pose.bookend.0", + "object_pose.bookend.1", + "object_pose.bookend.2", + "object_pose.bookend.3", + "object_pose.bookend.4", + "object_pose.bookend.5", + "object_pose.bookend.6", + "object_pose.plate.0", + "object_pose.plate.1", + "object_pose.plate.2", + "object_pose.plate.3", + "object_pose.plate.4", + "object_pose.plate.5", + "object_pose.plate.6", + "object_pose.slot_left.0", + "object_pose.slot_left.1", + "object_pose.slot_left.2", + "object_pose.slot_left.3", + "object_pose.slot_left.4", + "object_pose.slot_left.5", + "object_pose.slot_left.6", + "object_pose.slot_right.0", + "object_pose.slot_right.1", + "object_pose.slot_right.2", + "object_pose.slot_right.3", + "object_pose.slot_right.4", + "object_pose.slot_right.5", + "object_pose.slot_right.6", + "object_pose.table_A.0", + "object_pose.table_A.1", + "object_pose.table_A.2", + "object_pose.table_A.3", + "object_pose.table_A.4", + "object_pose.table_A.5", + "object_pose.table_A.6", + "object_pose.table_B.0", + "object_pose.table_B.1", + "object_pose.table_B.2", + "object_pose.table_B.3", + "object_pose.table_B.4", + "object_pose.table_B.5", + "object_pose.table_B.6" + ] + }, + "action.command": { + "dtype": "float32", + "shape": [ + 784 + ], + "names": null + }, + "action.applied": { + "dtype": "float32", + "shape": [ + 12 + ], + "names": null + }, + "narration": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "collect_info": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "extra.reward": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "extra.action_info": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "next.truncated": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "sim_step_idx": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "next.done": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "observation.images.head": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25, + "video.codec": "libsvtav1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.wrist": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25, + "video.codec": "libsvtav1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + } + } +} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_off/seed_1026/rec/stationbookendxr/000/lerobot_v21/meta/magicsim_manifest.json b/N034/sawyer_umi/dr_off/seed_1026/rec/stationbookendxr/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..b3848391ec9261f12f1bc1cdfb1c437454cf32bf --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1026/rec/stationbookendxr/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,264 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 03:11:49" + }, + "embodiment": { + "robots": [ + { + "name": "RidgebackSawyerUmi", + "cfg": "RidgebackSawyerUmiCfg", + "type": "mobilemanip", + "joint_names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 11, + "nan_policy": "from_raw", + "segments": [ + { + "name": "RidgebackSawyerUmi.base_action", + "start": 0, + "end": 3, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint" + ], + "source": "HolonomicAction", + "names_source": "_joint_names" + }, + { + "name": "RidgebackSawyerUmi.arm_action", + "start": 3, + "end": 10, + "names": [ + "frame0.pos_x", + "frame0.pos_y", + "frame0.pos_z", + "frame0.quat_w", + "frame0.quat_x", + "frame0.quat_y", + "frame0.quat_z" + ], + "source": "PinkInverseKinematicsAction", + "names_source": "pink_layout" + }, + { + "name": "RidgebackSawyerUmi.eef_action", + "start": 10, + "end": 11, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 15, + "segments": [ + { + "name": "RidgebackSawyerUmi.joint_pos", + "start": 0, + "end": 13, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ], + "source": "ObservationManager", + "names_source": "joint_names" + }, + { + "name": "RidgebackSawyerUmi.gripper_pos", + "start": 13, + "end": 15, + "names": [ + "gripper_0", + "gripper_1" + ], + "source": "ObservationManager", + "names_source": "generated" + } + ] + }, + "joint_vel_layout": { + "dim": 13, + "segments": [ + { + "name": "RidgebackSawyerUmi.joint_vel", + "start": 0, + "end": 13, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "action_levels": { + "L0": "task command list (collect.auto_collect_info.current_action)", + "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)", + "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)", + "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy", + "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)" + }, + "cameras": { + "head": { + "intrinsics": { + "K": [ + [ + 355.55555555555554, + 0.0, + 320.0 + ], + [ + 0.0, + 355.55555555555554, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 83.97442499163331, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.21660000085830688, + 0.0, + -0.04500000178813934 + ], + "quat": [ + -0.6743797063827515, + 0.21263112127780914, + -0.21263112127780914, + 0.6743797659873962 + ] + }, + "wrist": { + "intrinsics": { + "K": [ + [ + 320.0, + 0.0, + 320.0 + ], + [ + 0.0, + 320.0, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 90.0, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.05979999899864197, + 0.0, + 0.029999999329447746 + ], + "quat": [ + 6.123234262925839e-17, + 0.7071067690849304, + 0.7071067690849304, + -4.329780301713277e-17 + ] + } + }, + "lerobot": { + "codebase_version": "v2.1", + "video_keys": [ + "observation.images.head", + "observation.images.wrist" + ], + "columns": [ + "action", + "action.applied", + "action.command", + "action_is_hold", + "collect_info", + "episode_index", + "extra.action_info", + "extra.reward", + "frame_index", + "index", + "narration", + "next.done", + "next.truncated", + "observation.eef_pose", + "observation.environment_state", + "observation.images.head", + "observation.images.wrist", + "observation.joint_vel", + "observation.state", + "sim_step_idx", + "task_index", + "timestamp" + ] + }, + "generated_run": { + "run_id": "stationbookendxr/000", + "task_type": "BookendXRCommand" + } +} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_off/seed_1026/rec/stationbookendxr/000/lerobot_v21/meta/stats.json b/N034/sawyer_umi/dr_off/seed_1026/rec/stationbookendxr/000/lerobot_v21/meta/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..0065eca2e9a7546eaf2f4502ebdb64ccfcda292f --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1026/rec/stationbookendxr/000/lerobot_v21/meta/stats.json @@ -0,0 +1,4013 @@ +{ + "action": { + "mean": [ + 0.08212567028273249, + 0.00024571900238405984, + 0.01096545709126831, + 0.4678981232896166, + 0.9771208808107196, + 0.9312249435568756, + 0.024344494173145097, + -0.5476870350926271, + 0.08491549181262084, + 0.7172848545155435, + 0.625 + ], + "std": [ + 0.12994411819158844, + 0.008560483884323124, + 0.1609686234854481, + 1.2718289297788956, + 1.708790051305385, + 0.2513247841181921, + 0.2554339697179681, + 0.23108510895810627, + 0.1941020839610657, + 0.1463401749558366, + 0.4841229182759271 + ], + "min": [ + 0.0, + -0.061918310821056366, + -0.800000011920929, + -2.9699935913085938, + -1.9358844757080078, + 0.5874999761581421, + -0.7061036825180054, + -0.7338628172874451, + -0.1587669849395752, + -0.6922522187232971, + 0.0 + ], + "max": [ + 0.30000001192092896, + 0.10284006595611572, + 0.800000011920929, + 1.8904337882995605, + 2.9743800163269043, + 1.3731156587600708, + 0.7062728404998779, + 0.03839254751801491, + 0.4961909055709839, + 0.9633506536483765, + 1.0 + ], + "count": [ + 2120 + ] + }, + "action_is_hold": { + "mean": [ + 0.1160377358490566, + 0.1160377358490566, + 0.1160377358490566, + 0.1349056603773585, + 0.1349056603773585, + 0.1349056603773585, + 0.1349056603773585, + 0.1349056603773585, + 0.1349056603773585, + 0.1349056603773585, + 0.9882075471698113 + ], + "std": [ + 0.32027016674688846, + 0.32027016674688846, + 0.32027016674688846, + 0.3416227790641361, + 0.3416227790641361, + 0.3416227790641361, + 0.3416227790641361, + 0.3416227790641361, + 0.3416227790641361, + 0.3416227790641361, + 0.10795087255986613 + ], + "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": [ + 2120 + ] + }, + "observation.state": { + "mean": [ + 1.197528589615282, + -1.8390648728271701, + 1.258403717164161, + 0.6351287483003039, + -0.6347635390066394, + -0.7665855208165185, + -1.0338437534540905, + 1.1082155145423593, + -1.739367164155264, + -1.6896147901719472, + -1.2476723099134204, + 0.013263750770580505, + -0.012868865934946495, + -0.012868865934946495, + -0.013263750770580505 + ], + "std": [ + 1.8967722757699779, + 0.7583547505500527, + 0.4117442683075843, + 0.43074977376928525, + 0.4309978751273855, + 0.49805245775825807, + 0.5550639216016993, + 0.3394140549077364, + 0.8835319645165362, + 0.4395550523579805, + 0.7847320208953252, + 0.009272161323479819, + 0.009031956807112553, + 0.009031956807112553, + 0.009272161323479819 + ], + "min": [ + -3.2661492824554443, + -2.6495304107666016, + 0.36818796396255493, + -0.09474483132362366, + -1.2207070589065552, + -1.6104211807250977, + -1.637966275215149, + 0.49718475341796875, + -2.466813325881958, + -2.753696918487549, + -1.9931566715240479, + 0.0, + -0.020833000540733337, + -0.020833000540733337, + -0.020833000540733337 + ], + "max": [ + 3.1882870197296143, + -0.9736748933792114, + 1.5743682384490967, + 1.22318696975708, + 0.09406566619873047, + 0.009667887352406979, + 0.0007839974132366478, + 1.4969524145126343, + 0.005678099114447832, + -1.13155996799469, + 0.13932457566261292, + 0.020833000540733337, + 0.0, + 0.0, + -0.0 + ], + "count": [ + 2120 + ] + }, + "observation.joint_vel": { + "mean": [ + 0.07609590365115904, + 0.015564265659967007, + 0.0113253150374779, + 0.005327934486445792, + -0.0038598965280014514, + 0.015983940048229044, + -0.01668686610319864, + 0.005163833849264166, + -0.02182123458340513, + 0.00869613325877639, + -0.0060197026363008515, + -0.00017660484685575159, + 0.002657512407167897 + ], + "std": [ + 0.12095713655395594, + 0.05486593054019553, + 0.16276726714375683, + 0.061771087461703955, + 0.0502094854357004, + 0.06286590484625483, + 0.07055364149884465, + 0.052216822504584, + 0.10366301288619513, + 0.09024544280027584, + 0.11236124777186521, + 0.010538612610496946, + 0.010247956786212611 + ], + "min": [ + -0.0003335515793878585, + -0.0813874825835228, + -0.8000237345695496, + -0.21678118407726288, + -0.1415879726409912, + -0.18343201279640198, + -0.2016383409500122, + -0.1739170253276825, + -0.33098098635673523, + -0.3229401111602783, + -0.41178131103515625, + -0.10001537948846817, + -0.10010935366153717 + ], + "max": [ + 0.3123575747013092, + 0.211704283952713, + 0.8000924587249756, + 0.2266700565814972, + 0.13929320871829987, + 0.18286322057247162, + 0.2107650637626648, + 0.19040052592754364, + 0.3224976360797882, + 0.32231640815734863, + 0.41187718510627747, + 0.1000126376748085, + 0.10007467120885849 + ], + "count": [ + 2120 + ] + }, + "observation.eef_pose": { + "mean": [ + 0.46795490121025207, + 0.9759274047658831, + 0.9338982987235177, + 0.014286134961359906, + -0.5440147977954937, + 0.08472002004910226, + 0.722416504528725 + ], + "std": [ + 1.2718410546720107, + 1.7064867936203523, + 0.25226357519074843, + 0.2595547304551797, + 0.23286339172050477, + 0.1940052954222057, + 0.12469380343057788 + ], + "min": [ + -2.9699935913085938, + -1.9388175010681152, + 0.5886485576629639, + -0.7083020210266113, + -0.7474198937416077, + -0.15938687324523926, + 0.499675989151001 + ], + "max": [ + 1.8904476165771484, + 2.973132371902466, + 1.3740003108978271, + 0.4998084306716919, + -0.03646928071975708, + 0.49680790305137634, + 0.9636332988739014 + ], + "count": [ + 2120 + ] + }, + "observation.environment_state": { + "mean": [ + 0.5753686519269392, + 1.138316055124061, + 0.5142533185628225, + 0.7111119012506503, + 0.0006350924317090706, + -0.006934355949015483, + 0.6927126968736356, + 1.7416738302077888, + 2.9572709207264882, + 0.3300000104701744, + 0.7005324564733595, + -2.7445550668195685e-07, + 4.607973555572924e-07, + 0.7136198163313686, + 1.6407697200775146, + 2.9729576110839844, + 0.37049999833106995, + 0.9999547600746155, + 0.0, + 0.0, + 0.009511982090771198, + -0.5911920070648193, + -0.26766955852508545, + 0.3474999964237213, + 0.9981072545051575, + 0.0, + 0.0, + 0.061497222632169724, + -0.5385929346084595, + -0.2611631751060486, + 0.3474999964237213, + 0.9981072545051575, + 0.0, + 0.0, + 0.061497222632169724, + -0.5796238780021667, + -0.14532402157783508, + 0.18000000715255737, + 0.9981072545051575, + 0.0, + 0.0, + 0.061497222632169724, + 1.6673617362976074, + 3.073481798171997, + 0.18000000715255737, + 0.9999547600746155, + 0.0, + 0.0, + 0.009511982090771198 + ], + "std": [ + 1.059026366745615, + 1.5268370242878018, + 0.1525686439714257, + 0.07012028614240343, + 0.006329513832431435, + 0.011596848042339418, + 0.09658719949907106, + 0.010929433103209965, + 0.002743148455974407, + 3.082047888856335e-08, + 0.0007286227965607639, + 5.244616902613121e-07, + 4.514746711441661e-07, + 0.0007179906152249886, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 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": [ + -0.566076934337616, + -0.7260064482688904, + 0.39999982714653015, + 0.6602306365966797, + -0.02878759056329727, + -0.05921662226319313, + 0.2404598742723465, + 1.693608283996582, + 2.9566094875335693, + 0.3299996852874756, + 0.7000181674957275, + -1.4200806617736816e-05, + -1.5035271644592285e-05, + 0.7104840874671936, + 1.6407697200775146, + 2.9729576110839844, + 0.37049999833106995, + 0.9999547600746155, + 0.0, + 0.0, + 0.009511982090771198, + -0.5911920070648193, + -0.26766955852508545, + 0.3474999964237213, + 0.9981072545051575, + 0.0, + 0.0, + 0.061497222632169724, + -0.5385929346084595, + -0.2611631751060486, + 0.3474999964237213, + 0.9981072545051575, + 0.0, + 0.0, + 0.061497222632169724, + -0.5796238780021667, + -0.14532402157783508, + 0.18000000715255737, + 0.9981072545051575, + 0.0, + 0.0, + 0.061497222632169724, + 1.6673617362976074, + 3.073481798171997, + 0.18000000715255737, + 0.9999547600746155, + 0.0, + 0.0, + 0.009511982090771198 + ], + "max": [ + 1.896418571472168, + 2.9734199047088623, + 0.7529670000076294, + 0.9704568982124329, + 0.023207327350974083, + 0.002865785965695977, + 0.7503814101219177, + 1.7443281412124634, + 2.969386339187622, + 0.33000048995018005, + 0.7037132978439331, + 1.1026860420315643e-06, + 1.1324883644192596e-06, + 0.7141250371932983, + 1.6407697200775146, + 2.9729576110839844, + 0.37049999833106995, + 0.9999547600746155, + 0.0, + 0.0, + 0.009511982090771198, + -0.5911920070648193, + -0.26766955852508545, + 0.3474999964237213, + 0.9981072545051575, + 0.0, + 0.0, + 0.061497222632169724, + -0.5385929346084595, + -0.2611631751060486, + 0.3474999964237213, + 0.9981072545051575, + 0.0, + 0.0, + 0.061497222632169724, + -0.5796238780021667, + -0.14532402157783508, + 0.18000000715255737, + 0.9981072545051575, + 0.0, + 0.0, + 0.061497222632169724, + 1.6673617362976074, + 3.073481798171997, + 0.18000000715255737, + 0.9999547600746155, + 0.0, + 0.0, + 0.009511982090771198 + ], + "count": [ + 2120 + ] + }, + "action.command": { + "mean": [ + -1.7488382270125218, + -1.600553513691828, + 1.6365474871591972, + 0.0, + 0.0, + 0.0, + 0.0, + 0.2202835332606325, + 0.3696676292004736, + 0.8158183244250983, + 0.9493816899239302, + 0.022719462888646413, + -0.5344009708507533, + 0.08810647935560836, + 0.7247526300512457, + 0.6, + -1.684933266195471, + -1.5754795374883084, + 1.6365474871591972, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.021130702011387087, + -0.04168379414656846, + 1.1694977126875767, + -0.026264997274083043, + -0.42984232487751234, + 0.029042528557713485, + 0.796146662321551, + 0.0, + -1.666539310969552, + -1.5684367737086145, + 1.6365474871591972, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.021130702011387087, + -0.04168379414656846, + 1.1694977126875767, + -0.026264997274083043, + -0.42984232487751234, + 0.029042528557713485, + 0.796146662321551, + 0.0, + -1.6582424155668662, + -1.5651885360559255, + 1.6365474871591972, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.021130702011387087, + -0.04168379414656846, + 1.1694977126875767, + -0.026264997274083043, + -0.42984232487751234, + 0.029042528557713485, + 0.796146662321551, + 0.0, + -1.5201520914206876, + -1.5092131592153544, + 1.6365474871591972, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.021130702011387087, + -0.04168379414656846, + 1.1694977126875767, + -0.026264997274083043, + -0.42984232487751234, + 0.029042528557713485, + 0.796146662321551, + 0.0, + -1.4464389926906245, + -1.479014780981611, + 1.6365474871591972, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.021130702011387087, + -0.04168379414656846, + 1.1694977126875767, + -0.026264997274083043, + -0.42984232487751234, + 0.029042528557713485, + 0.796146662321551, + 0.0, + -1.3730610436572626, + -1.449751659788331, + 1.6365474871591972, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.021130702011387087, + -0.04168379414656846, + 1.1694977126875767, + -0.026264997274083043, + -0.42984232487751234, + 0.029042528557713485, + 0.796146662321551, + 0.0, + -1.2802144199854446, + -1.4122555184779793, + 1.6365474871591972, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.021130702011387087, + -0.04168379414656846, + 1.1694977126875767, + -0.026264997274083043, + -0.42984232487751234, + 0.029042528557713485, + 0.796146662321551, + 0.0, + -1.2287657168411696, + -1.391345952615022, + 1.6365474871591972, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.021130702011387087, + -0.04168379414656846, + 1.1694977126875767, + -0.026264997274083043, + -0.42984232487751234, + 0.029042528557713485, + 0.796146662321551, + 0.0, + -1.1782882879950085, + -1.3712646138252587, + 1.6365474871591972, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.021130702011387087, + -0.04168379414656846, + 1.1694977126875767, + -0.026264997274083043, + -0.42984232487751234, + 0.029042528557713485, + 0.796146662321551, + 0.0, + -1.06924796432017, + -1.3271447376974785, + 1.6365474871591972, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.021130702011387087, + -0.04168379414656846, + 1.1694977126875767, + -0.026264997274083043, + -0.42984232487751234, + 0.029042528557713485, + 0.796146662321551, + 0.0, + -0.9948232342506541, + -1.2653513095334132, + 1.6365474871591972, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.021130702011387087, + -0.04168379414656846, + 1.1694977126875767, + -0.026264997274083043, + -0.42984232487751234, + 0.029042528557713485, + 0.796146662321551, + 0.0, + -0.9542092651368466, + -1.180078445746496, + 1.6365474871591972, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.021130702011387087, + -0.04168379414656846, + 1.1694977126875767, + -0.026264997274083043, + -0.42984232487751234, + 0.029042528557713485, + 0.796146662321551, + 0.0, + -0.9420332314581398, + -1.1672640376532046, + 1.6365474871591972, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.021130702011387087, + -0.04168379414656846, + 1.1694977126875767, + -0.026264997274083043, + -0.42984232487751234, + 0.029042528557713485, + 0.796146662321551, + 0.0, + -0.8836613640628616, + -1.1376225144549925, + 1.6365474871591972, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.021130702011387087, + -0.04168379414656846, + 1.1694977126875767, + -0.026264997274083043, + -0.42984232487751234, + 0.029042528557713485, + 0.796146662321551, + 0.0, + -0.841666179032492, + -1.1108770047291994, + 1.6365474871591972, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.021130702011387087, + -0.04168379414656846, + 1.1694977126875767, + -0.026264997274083043, + -0.42984232487751234, + 0.029042528557713485, + 0.796146662321551, + 0.0, + -0.7900193148260142, + -1.0406180586635907, + 1.6365474871591972, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.021130702011387087, + -0.04168379414656846, + 1.1694977126875767, + -0.026264997274083043, + -0.42984232487751234, + 0.029042528557713485, + 0.796146662321551, + 0.0, + -0.7334826825531174, + -0.9843211686962731, + 1.6365474871591972, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.021130702011387087, + -0.04168379414656846, + 1.1694977126875767, + -0.026264997274083043, + -0.42984232487751234, + 0.029042528557713485, + 0.796146662321551, + 0.0, + -0.6807663696780601, + -0.9332874687763065, + 1.6365474871591972, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.021130702011387087, + -0.04168379414656846, + 1.1694977126875767, + -0.026264997274083043, + -0.42984232487751234, + 0.029042528557713485, + 0.796146662321551, + 0.0, + -0.6359742506739281, + -0.87100167045165, + 1.6365474871591972, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.021130702011387087, + -0.04168379414656846, + 1.1694977126875767, + -0.026264997274083043, + -0.42984232487751234, + 0.029042528557713485, + 0.796146662321551, + 0.0, + -0.5721115977291128, + -0.8195389454070748, + 1.6365474871591972, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.021130702011387087, + -0.04168379414656846, + 1.1694977126875767, + -0.026264997274083043, + -0.42984232487751234, + 0.029042528557713485, + 0.796146662321551, + 0.0, + -0.47743000405723224, + -0.7261513495772838, + 1.6365474871591972, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.021130702011387087, + -0.04168379414656846, + 1.1694977126875767, + -0.026264997274083043, + -0.42984232487751234, + 0.029042528557713485, + 0.796146662321551, + 0.0, + -0.4630450925942081, + -0.7049884282691709, + 1.6365474871591972, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.021130702011387087, + -0.04168379414656846, + 1.1694977126875767, + -0.026264997274083043, + -0.42984232487751234, + 0.029042528557713485, + 0.796146662321551, + 0.0, + -0.4121816923726979, + -0.6160629151573769, + 1.6365474871591972, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.021130702011387087, + -0.04168379414656846, + 1.1694977126875767, + -0.026264997274083043, + -0.42984232487751234, + 0.029042528557713485, + 0.796146662321551, + 0.0, + -0.35397245073765915, + -0.5899913024367021, + 1.6365474871591972, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.021130702011387087, + -0.04168379414656846, + 1.1694977126875767, + -0.026264997274083043, + -0.42984232487751234, + 0.029042528557713485, + 0.796146662321551, + 0.0, + -0.3118630612503747, + -0.5663006820843303, + 1.6365474871591972, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.021130702011387087, + -0.04168379414656846, + 1.1694977126875767, + -0.026264997274083043, + -0.42984232487751234, + 0.029042528557713485, + 0.796146662321551, + 0.0, + -0.24499607693413947, + -0.47524740417105904, + 1.6365474871591972, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.021130702011387087, + -0.04168379414656846, + 1.1694977126875767, + -0.026264997274083043, + -0.42984232487751234, + 0.029042528557713485, + 0.796146662321551, + 0.0, + -0.19935541250430866, + -0.4466938319698416, + 1.6365474871591972, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.021130702011387087, + -0.04168379414656846, + 1.1694977126875767, + -0.026264997274083043, + -0.42984232487751234, + 0.029042528557713485, + 0.796146662321551, + 0.0, + -0.1356306725628574, + -0.360629011974258, + 1.6365474871591972, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.021130702011387087, + -0.04168379414656846, + 1.1694977126875767, + -0.026264997274083043, + -0.42984232487751234, + 0.029042528557713485, + 0.796146662321551, + 0.0, + -0.10985834173478645, + -0.3347417219234855, + 1.6365474871591972, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.021130702011387087, + -0.04168379414656846, + 1.1694977126875767, + -0.026264997274083043, + -0.42984232487751234, + 0.029042528557713485, + 0.796146662321551, + 0.0, + -0.02488447466101148, + -0.24555467328820726, + 1.6365474871591972, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.021130702011387087, + -0.04168379414656846, + 1.1694977126875767, + -0.026264997274083043, + -0.42984232487751234, + 0.029042528557713485, + 0.796146662321551, + 0.0, + 0.042957006047302536, + -0.19739603628741512, + 1.6365474871591972, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.021130702011387087, + -0.04168379414656846, + 1.1694977126875767, + -0.026264997274083043, + -0.42984232487751234, + 0.029042528557713485, + 0.796146662321551, + 0.0, + 0.08722225814338663, + -0.1299985583282348, + 1.6365474871591972, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.021130702011387087, + -0.04168379414656846, + 1.1694977126875767, + -0.026264997274083043, + -0.42984232487751234, + 0.029042528557713485, + 0.796146662321551, + 0.0, + 0.12257642784323194, + -0.0919489666380128, + 1.6365474871591972, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.021130702011387087, + -0.04168379414656846, + 1.1694977126875767, + -0.026264997274083043, + -0.42984232487751234, + 0.029042528557713485, + 0.796146662321551, + 0.0, + 0.19929860536278732, + -0.014494917507785254, + 1.6365474871591972, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.021130702011387087, + -0.04168379414656846, + 1.1694977126875767, + -0.026264997274083043, + -0.42984232487751234, + 0.029042528557713485, + 0.796146662321551, + 0.0, + 0.24260158585159772, + 0.030819136399685858, + 1.6365474871591972, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.021130702011387087, + -0.04168379414656846, + 1.1694977126875767, + -0.026264997274083043, + -0.42984232487751234, + 0.029042528557713485, + 0.796146662321551, + 0.0, + 0.307321232141822, + 0.09924278693927836, + 1.6365474871591972, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.021130702011387087, + -0.04168379414656846, + 1.1694977126875767, + -0.026264997274083043, + -0.42984232487751234, + 0.029042528557713485, + 0.796146662321551, + 0.0, + 0.37268035932776117, + 0.15814610077292926, + 1.6365474871591972, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.021130702011387087, + -0.04168379414656846, + 1.1694977126875767, + -0.026264997274083043, + -0.42984232487751234, + 0.029042528557713485, + 0.796146662321551, + 0.0, + 0.410070577271822, + 0.21068320533225748, + 1.6365474871591972, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.021130702011387087, + -0.04168379414656846, + 1.1694977126875767, + -0.026264997274083043, + -0.42984232487751234, + 0.029042528557713485, + 0.796146662321551, + 0.0, + 0.44329400124882246, + 0.2594908984033416, + 1.6365474871591972, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.021130702011387087, + -0.04168379414656846, + 1.1694977126875767, + -0.026264997274083043, + -0.42984232487751234, + 0.029042528557713485, + 0.796146662321551, + 0.0, + 0.5133051393658482, + 0.32233495718672195, + 1.6365474871591972, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.021130702011387087, + -0.04168379414656846, + 1.1694977126875767, + -0.026264997274083043, + -0.42984232487751234, + 0.029042528557713485, + 0.796146662321551, + 0.0, + 0.5536254532934833, + 0.40818707632954576, + 1.6365474871591972, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.021130702011387087, + -0.04168379414656846, + 1.1694977126875767, + -0.026264997274083043, + -0.42984232487751234, + 0.029042528557713485, + 0.796146662321551, + 0.0, + 1.4249179363250732, + 1.6306136846542358, + 1.5898258686065674, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.014326939400095, + 0.9070166163055856, + 1.0035598278045654, + 0.16389507718764953, + -0.6899509847599224, + 0.1484308714124118, + 0.6771858153261987, + 0.0, + 1.475786566734314, + 1.7297171354293823, + 1.5898258686065674, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.014326939400095, + 0.9070166163055856, + 1.0035598278045654, + 0.16389507718764953, + -0.6899509847599224, + 0.1484308714124118, + 0.6771858153261987, + 0.0, + 1.5086112022399902, + 1.7936668395996094, + 1.5898258686065674, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.014326939400095, + 0.9070166163055856, + 1.0035598278045654, + 0.16389507718764953, + -0.6899509847599224, + 0.1484308714124118, + 0.6771858153261987, + 0.0, + 1.562089204788208, + 1.8978538513183594, + 1.5898258686065674, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.014326939400095, + 0.9070166163055856, + 1.0035598278045654, + 0.16389507718764953, + -0.6899509847599224, + 0.1484308714124118, + 0.6771858153261987, + 0.0, + 1.5992320775985718, + 1.9702162742614746, + 1.5898258686065674, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.014326939400095, + 0.9070166163055856, + 1.0035598278045654, + 0.16389507718764953, + -0.6899509847599224, + 0.1484308714124118, + 0.6771858153261987, + 0.0, + 1.6491985321044922, + 2.0675621032714844, + 1.5898258686065674, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.014326939400095, + 0.9070166163055856, + 1.0035598278045654, + 0.16389507718764953, + -0.6899509847599224, + 0.1484308714124118, + 0.6771858153261987, + 0.0, + 1.6854387521743774, + 2.1236536502838135, + 1.5898258686065674, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.014326939400095, + 0.9070166163055856, + 1.0035598278045654, + 0.16389507718764953, + -0.6899509847599224, + 0.1484308714124118, + 0.6771858153261987, + 0.0 + ], + "std": [ + 1.3698554753038465, + 0.6244246430589439, + 0.05175071885326505, + 0.0, + 0.0, + 0.0, + 0.0, + 1.473688806442792, + 1.2809294850426738, + 1.6936860853679132, + 0.2535825113581066, + 0.2534415418596903, + 0.23670969973483416, + 0.19273356774384198, + 0.15316597553152111, + 0.4898979485566357, + 1.3987679298948903, + 0.634523034139773, + 0.05175071885326505, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3765886420499969, + 1.3884119307279477, + 0.18379938653051736, + 0.23458788844505474, + 0.2891110603804253, + 0.1474316799555905, + 0.13964085771925602, + 0.0, + 1.4133787973088983, + 0.6400117799862939, + 0.05175071885326505, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3765886420499969, + 1.3884119307279477, + 0.18379938653051736, + 0.23458788844505474, + 0.2891110603804253, + 0.1474316799555905, + 0.13964085771925602, + 0.0, + 1.4173892565549777, + 0.6414283558109238, + 0.05175071885326505, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3765886420499969, + 1.3884119307279477, + 0.18379938653051736, + 0.23458788844505474, + 0.2891110603804253, + 0.1474316799555905, + 0.13964085771925602, + 0.0, + 1.4152027116894923, + 0.636699706467027, + 0.05175071885326505, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3765886420499969, + 1.3884119307279477, + 0.18379938653051736, + 0.23458788844505474, + 0.2891110603804253, + 0.1474316799555905, + 0.13964085771925602, + 0.0, + 1.4025508241698341, + 0.6294600526225358, + 0.05175071885326505, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3765886420499969, + 1.3884119307279477, + 0.18379938653051736, + 0.23458788844505474, + 0.2891110603804253, + 0.1474316799555905, + 0.13964085771925602, + 0.0, + 1.418720437147361, + 0.6340636794626673, + 0.05175071885326505, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3765886420499969, + 1.3884119307279477, + 0.18379938653051736, + 0.23458788844505474, + 0.2891110603804253, + 0.1474316799555905, + 0.13964085771925602, + 0.0, + 1.4222780687463799, + 0.6329487348814152, + 0.05175071885326505, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3765886420499969, + 1.3884119307279477, + 0.18379938653051736, + 0.23458788844505474, + 0.2891110603804253, + 0.1474316799555905, + 0.13964085771925602, + 0.0, + 1.419490484012307, + 0.6303769534937679, + 0.05175071885326505, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3765886420499969, + 1.3884119307279477, + 0.18379938653051736, + 0.23458788844505474, + 0.2891110603804253, + 0.1474316799555905, + 0.13964085771925602, + 0.0, + 1.4323819065851113, + 0.6342697872279428, + 0.05175071885326505, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3765886420499969, + 1.3884119307279477, + 0.18379938653051736, + 0.23458788844505474, + 0.2891110603804253, + 0.1474316799555905, + 0.13964085771925602, + 0.0, + 1.4335387131002923, + 0.6317197669305902, + 0.05175071885326505, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3765886420499969, + 1.3884119307279477, + 0.18379938653051736, + 0.23458788844505474, + 0.2891110603804253, + 0.1474316799555905, + 0.13964085771925602, + 0.0, + 1.3817938644048862, + 0.6356942195770007, + 0.05175071885326505, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3765886420499969, + 1.3884119307279477, + 0.18379938653051736, + 0.23458788844505474, + 0.2891110603804253, + 0.1474316799555905, + 0.13964085771925602, + 0.0, + 1.407425167570916, + 0.7078727320572623, + 0.05175071885326505, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3765886420499969, + 1.3884119307279477, + 0.18379938653051736, + 0.23458788844505474, + 0.2891110603804253, + 0.1474316799555905, + 0.13964085771925602, + 0.0, + 1.4017860656352648, + 0.7121963405080078, + 0.05175071885326505, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3765886420499969, + 1.3884119307279477, + 0.18379938653051736, + 0.23458788844505474, + 0.2891110603804253, + 0.1474316799555905, + 0.13964085771925602, + 0.0, + 1.3415327195772058, + 0.6897504874053388, + 0.05175071885326505, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3765886420499969, + 1.3884119307279477, + 0.18379938653051736, + 0.23458788844505474, + 0.2891110603804253, + 0.1474316799555905, + 0.13964085771925602, + 0.0, + 1.3038476549901357, + 0.6809627869529834, + 0.05175071885326505, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3765886420499969, + 1.3884119307279477, + 0.18379938653051736, + 0.23458788844505474, + 0.2891110603804253, + 0.1474316799555905, + 0.13964085771925602, + 0.0, + 1.2965474021421635, + 0.7209007469778358, + 0.05175071885326505, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3765886420499969, + 1.3884119307279477, + 0.18379938653051736, + 0.23458788844505474, + 0.2891110603804253, + 0.1474316799555905, + 0.13964085771925602, + 0.0, + 1.2670156014247411, + 0.7366252989644572, + 0.05175071885326505, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3765886420499969, + 1.3884119307279477, + 0.18379938653051736, + 0.23458788844505474, + 0.2891110603804253, + 0.1474316799555905, + 0.13964085771925602, + 0.0, + 1.2654126925585747, + 0.7612676435890099, + 0.05175071885326505, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3765886420499969, + 1.3884119307279477, + 0.18379938653051736, + 0.23458788844505474, + 0.2891110603804253, + 0.1474316799555905, + 0.13964085771925602, + 0.0, + 1.2726506120382302, + 0.8030366629845866, + 0.05175071885326505, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3765886420499969, + 1.3884119307279477, + 0.18379938653051736, + 0.23458788844505474, + 0.2891110603804253, + 0.1474316799555905, + 0.13964085771925602, + 0.0, + 1.2333370381742976, + 0.8072540008247631, + 0.05175071885326505, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3765886420499969, + 1.3884119307279477, + 0.18379938653051736, + 0.23458788844505474, + 0.2891110603804253, + 0.1474316799555905, + 0.13964085771925602, + 0.0, + 1.197766757255105, + 0.8388314848541855, + 0.05175071885326505, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3765886420499969, + 1.3884119307279477, + 0.18379938653051736, + 0.23458788844505474, + 0.2891110603804253, + 0.1474316799555905, + 0.13964085771925602, + 0.0, + 1.2016329973953033, + 0.8539644146102928, + 0.05175071885326505, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3765886420499969, + 1.3884119307279477, + 0.18379938653051736, + 0.23458788844505474, + 0.2891110603804253, + 0.1474316799555905, + 0.13964085771925602, + 0.0, + 1.2340389963961798, + 0.9283607090524635, + 0.05175071885326505, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3765886420499969, + 1.3884119307279477, + 0.18379938653051736, + 0.23458788844505474, + 0.2891110603804253, + 0.1474316799555905, + 0.13964085771925602, + 0.0, + 1.1705121182594231, + 0.9013296622947976, + 0.05175071885326505, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3765886420499969, + 1.3884119307279477, + 0.18379938653051736, + 0.23458788844505474, + 0.2891110603804253, + 0.1474316799555905, + 0.13964085771925602, + 0.0, + 1.1309758045162168, + 0.8889325262855178, + 0.05175071885326505, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3765886420499969, + 1.3884119307279477, + 0.18379938653051736, + 0.23458788844505474, + 0.2891110603804253, + 0.1474316799555905, + 0.13964085771925602, + 0.0, + 1.1392171504012027, + 0.948428407035455, + 0.05175071885326505, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3765886420499969, + 1.3884119307279477, + 0.18379938653051736, + 0.23458788844505474, + 0.2891110603804253, + 0.1474316799555905, + 0.13964085771925602, + 0.0, + 1.1001883384885824, + 0.9392538098142672, + 0.05175071885326505, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3765886420499969, + 1.3884119307279477, + 0.18379938653051736, + 0.23458788844505474, + 0.2891110603804253, + 0.1474316799555905, + 0.13964085771925602, + 0.0, + 1.1070991152559329, + 0.9949021949054103, + 0.05175071885326505, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3765886420499969, + 1.3884119307279477, + 0.18379938653051736, + 0.23458788844505474, + 0.2891110603804253, + 0.1474316799555905, + 0.13964085771925602, + 0.0, + 1.0980378743409078, + 1.0041899112546946, + 0.05175071885326505, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3765886420499969, + 1.3884119307279477, + 0.18379938653051736, + 0.23458788844505474, + 0.2891110603804253, + 0.1474316799555905, + 0.13964085771925602, + 0.0, + 1.0732582184224984, + 1.0404940804969065, + 0.05175071885326505, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3765886420499969, + 1.3884119307279477, + 0.18379938653051736, + 0.23458788844505474, + 0.2891110603804253, + 0.1474316799555905, + 0.13964085771925602, + 0.0, + 1.0228420710672326, + 1.0353267999120326, + 0.05175071885326505, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3765886420499969, + 1.3884119307279477, + 0.18379938653051736, + 0.23458788844505474, + 0.2891110603804253, + 0.1474316799555905, + 0.13964085771925602, + 0.0, + 1.0377629154288677, + 1.0852649444624143, + 0.05175071885326505, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3765886420499969, + 1.3884119307279477, + 0.18379938653051736, + 0.23458788844505474, + 0.2891110603804253, + 0.1474316799555905, + 0.13964085771925602, + 0.0, + 1.0287057954832626, + 1.1017662843601441, + 0.05175071885326505, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3765886420499969, + 1.3884119307279477, + 0.18379938653051736, + 0.23458788844505474, + 0.2891110603804253, + 0.1474316799555905, + 0.13964085771925602, + 0.0, + 1.0022491125437447, + 1.1299925234254116, + 0.05175071885326505, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3765886420499969, + 1.3884119307279477, + 0.18379938653051736, + 0.23458788844505474, + 0.2891110603804253, + 0.1474316799555905, + 0.13964085771925602, + 0.0, + 0.9894405170090794, + 1.14829170293684, + 0.05175071885326505, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3765886420499969, + 1.3884119307279477, + 0.18379938653051736, + 0.23458788844505474, + 0.2891110603804253, + 0.1474316799555905, + 0.13964085771925602, + 0.0, + 0.9712252392490576, + 1.1766759915557232, + 0.05175071885326505, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3765886420499969, + 1.3884119307279477, + 0.18379938653051736, + 0.23458788844505474, + 0.2891110603804253, + 0.1474316799555905, + 0.13964085771925602, + 0.0, + 0.9392772607984896, + 1.1902310754997567, + 0.05175071885326505, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3765886420499969, + 1.3884119307279477, + 0.18379938653051736, + 0.23458788844505474, + 0.2891110603804253, + 0.1474316799555905, + 0.13964085771925602, + 0.0, + 0.9460422619786969, + 1.2259040248871862, + 0.05175071885326505, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3765886420499969, + 1.3884119307279477, + 0.18379938653051736, + 0.23458788844505474, + 0.2891110603804253, + 0.1474316799555905, + 0.13964085771925602, + 0.0, + 0.9548782726444569, + 1.2607510015558665, + 0.05175071885326505, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3765886420499969, + 1.3884119307279477, + 0.18379938653051736, + 0.23458788844505474, + 0.2891110603804253, + 0.1474316799555905, + 0.13964085771925602, + 0.0, + 0.9203218391431739, + 1.274897844848991, + 0.05175071885326505, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3765886420499969, + 1.3884119307279477, + 0.18379938653051736, + 0.23458788844505474, + 0.2891110603804253, + 0.1474316799555905, + 0.13964085771925602, + 0.0, + 0.9266975273026907, + 1.2792342312696547, + 0.05175071885326505, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3765886420499969, + 1.3884119307279477, + 0.18379938653051736, + 0.23458788844505474, + 0.2891110603804253, + 0.1474316799555905, + 0.13964085771925602, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.6497841243085212, + 1.1584389736489844, + 0.0, + 0.08533267468074378, + 0.027539149051065845, + 0.08714376895224396, + 0.029310563258881678, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.6497841243085212, + 1.1584389736489844, + 0.0, + 0.08533267468074378, + 0.027539149051065845, + 0.08714376895224396, + 0.029310563258881678, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.6497841243085212, + 1.1584389736489844, + 0.0, + 0.08533267468074378, + 0.027539149051065845, + 0.08714376895224396, + 0.029310563258881678, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.6497841243085212, + 1.1584389736489844, + 0.0, + 0.08533267468074378, + 0.027539149051065845, + 0.08714376895224396, + 0.029310563258881678, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.6497841243085212, + 1.1584389736489844, + 0.0, + 0.08533267468074378, + 0.027539149051065845, + 0.08714376895224396, + 0.029310563258881678, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.6497841243085212, + 1.1584389736489844, + 0.0, + 0.08533267468074378, + 0.027539149051065845, + 0.08714376895224396, + 0.029310563258881678, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.6497841243085212, + 1.1584389736489844, + 0.0, + 0.08533267468074378, + 0.027539149051065845, + 0.08714376895224396, + 0.029310563258881678, + 0.0 + ], + "min": [ + -3.2661445140838623, + -2.2921910285949707, + 1.5898258686065674, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0, + -2.9699935913085938, + -1.9358844757080078, + 0.5874999761581421, + -0.7061036825180054, + -0.7338628172874451, + -0.1587669849395752, + -0.6922522187232971, + 0.0, + -3.2342641353607178, + -2.2783024311065674, + 1.5898258686065674, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9699935913085938, + -1.9358844757080078, + 1.0035598278045654, + -0.7061036825180054, + -0.7116292119026184, + -0.1587669849395752, + 0.596879243850708, + 0.0, + -3.232053756713867, + -2.277339220046997, + 1.5898258686065674, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9699935913085938, + -1.9358844757080078, + 1.0035598278045654, + -0.7061036825180054, + -0.7116292119026184, + -0.1587669849395752, + 0.596879243850708, + 0.0, + -3.228199005126953, + -2.2756600379943848, + 1.5898258686065674, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9699935913085938, + -1.9358844757080078, + 1.0035598278045654, + -0.7061036825180054, + -0.7116292119026184, + -0.1587669849395752, + 0.596879243850708, + 0.0, + -3.087686777114868, + -2.214447021484375, + 1.5898258686065674, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9699935913085938, + -1.9358844757080078, + 1.0035598278045654, + -0.7061036825180054, + -0.7116292119026184, + -0.1587669849395752, + 0.596879243850708, + 0.0, + -2.999959945678711, + -2.17622971534729, + 1.5898258686065674, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9699935913085938, + -1.9358844757080078, + 1.0035598278045654, + -0.7061036825180054, + -0.7116292119026184, + -0.1587669849395752, + 0.596879243850708, + 0.0, + -2.9444921016693115, + -2.1520657539367676, + 1.5898258686065674, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9699935913085938, + -1.9358844757080078, + 1.0035598278045654, + -0.7061036825180054, + -0.7116292119026184, + -0.1587669849395752, + 0.596879243850708, + 0.0, + -2.855586051940918, + -2.1133346557617188, + 1.5898258686065674, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9699935913085938, + -1.9358844757080078, + 1.0035598278045654, + -0.7061036825180054, + -0.7116292119026184, + -0.1587669849395752, + 0.596879243850708, + 0.0, + -2.8010497093200684, + -2.089576482772827, + 1.5898258686065674, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9699935913085938, + -1.9358844757080078, + 1.0035598278045654, + -0.7061036825180054, + -0.7116292119026184, + -0.1587669849395752, + 0.596879243850708, + 0.0, + -2.7648513317108154, + -2.0738070011138916, + 1.5898258686065674, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9699935913085938, + -1.9358844757080078, + 1.0035598278045654, + -0.7061036825180054, + -0.7116292119026184, + -0.1587669849395752, + 0.596879243850708, + 0.0, + -2.657092332839966, + -2.026862621307373, + 1.5898258686065674, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9699935913085938, + -1.9358844757080078, + 1.0035598278045654, + -0.7061036825180054, + -0.7116292119026184, + -0.1587669849395752, + 0.596879243850708, + 0.0, + -2.525352954864502, + -1.9694714546203613, + 1.5898258686065674, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9699935913085938, + -1.9358844757080078, + 1.0035598278045654, + -0.7061036825180054, + -0.7116292119026184, + -0.1587669849395752, + 0.596879243850708, + 0.0, + -2.513129234313965, + -1.964146375656128, + 1.5898258686065674, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9699935913085938, + -1.9358844757080078, + 1.0035598278045654, + -0.7061036825180054, + -0.7116292119026184, + -0.1587669849395752, + 0.596879243850708, + 0.0, + -2.4947071075439453, + -1.9561209678649902, + 1.5898258686065674, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9699935913085938, + -1.9358844757080078, + 1.0035598278045654, + -0.7061036825180054, + -0.7116292119026184, + -0.1587669849395752, + 0.596879243850708, + 0.0, + -2.369596242904663, + -1.9016175270080566, + 1.5898258686065674, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9699935913085938, + -1.9358844757080078, + 1.0035598278045654, + -0.7061036825180054, + -0.7116292119026184, + -0.1587669849395752, + 0.596879243850708, + 0.0, + -2.2858595848083496, + -1.8651384115219116, + 1.5898258686065674, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9699935913085938, + -1.9358844757080078, + 1.0035598278045654, + -0.7061036825180054, + -0.7116292119026184, + -0.1587669849395752, + 0.596879243850708, + 0.0, + -2.2261266708374023, + -1.8391163349151611, + 1.5898258686065674, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9699935913085938, + -1.9358844757080078, + 1.0035598278045654, + -0.7061036825180054, + -0.7116292119026184, + -0.1587669849395752, + 0.596879243850708, + 0.0, + -2.1368794441223145, + -1.8002365827560425, + 1.5898258686065674, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9699935913085938, + -1.9358844757080078, + 1.0035598278045654, + -0.7061036825180054, + -0.7116292119026184, + -0.1587669849395752, + 0.596879243850708, + 0.0, + -2.082387685775757, + -1.776497721672058, + 1.5898258686065674, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9699935913085938, + -1.9358844757080078, + 1.0035598278045654, + -0.7061036825180054, + -0.7116292119026184, + -0.1587669849395752, + 0.596879243850708, + 0.0, + -2.0456125736236572, + -1.7604769468307495, + 1.5898258686065674, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9699935913085938, + -1.9358844757080078, + 1.0035598278045654, + -0.7061036825180054, + -0.7116292119026184, + -0.1587669849395752, + 0.596879243850708, + 0.0, + -1.9382046461105347, + -1.7136855125427246, + 1.5898258686065674, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9699935913085938, + -1.9358844757080078, + 1.0035598278045654, + -0.7061036825180054, + -0.7116292119026184, + -0.1587669849395752, + 0.596879243850708, + 0.0, + -1.8041239976882935, + -1.6552743911743164, + 1.5898258686065674, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9699935913085938, + -1.9358844757080078, + 1.0035598278045654, + -0.7061036825180054, + -0.7116292119026184, + -0.1587669849395752, + 0.596879243850708, + 0.0, + -1.794021487236023, + -1.6508733034133911, + 1.5898258686065674, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9699935913085938, + -1.9358844757080078, + 1.0035598278045654, + -0.7061036825180054, + -0.7116292119026184, + -0.1587669849395752, + 0.596879243850708, + 0.0, + -1.7790522575378418, + -1.6443520784378052, + 1.5898258686065674, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9699935913085938, + -1.9358844757080078, + 1.0035598278045654, + -0.7061036825180054, + -0.7116292119026184, + -0.1587669849395752, + 0.596879243850708, + 0.0, + -1.6504781246185303, + -1.5883398056030273, + 1.5898258686065674, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9699935913085938, + -1.9358844757080078, + 1.0035598278045654, + -0.7061036825180054, + -0.7116292119026184, + -0.1587669849395752, + 0.596879243850708, + 0.0, + -1.5645767450332642, + -1.550917625427246, + 1.5898258686065674, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9699935913085938, + -1.9358844757080078, + 1.0035598278045654, + -0.7061036825180054, + -0.7116292119026184, + -0.1587669849395752, + 0.596879243850708, + 0.0, + -1.5068382024765015, + -1.5257643461227417, + 1.5898258686065674, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9699935913085938, + -1.9358844757080078, + 1.0035598278045654, + -0.7061036825180054, + -0.7116292119026184, + -0.1587669849395752, + 0.596879243850708, + 0.0, + -1.417967677116394, + -1.487048625946045, + 1.5898258686065674, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9699935913085938, + -1.9358844757080078, + 1.0035598278045654, + -0.7061036825180054, + -0.7116292119026184, + -0.1587669849395752, + 0.596879243850708, + 0.0, + -1.361897587776184, + -1.4626221656799316, + 1.5898258686065674, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9699935913085938, + -1.9358844757080078, + 1.0035598278045654, + -0.7061036825180054, + -0.7116292119026184, + -0.1587669849395752, + 0.596879243850708, + 0.0, + -1.3260886669158936, + -1.4470223188400269, + 1.5898258686065674, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9699935913085938, + -1.9358844757080078, + 1.0035598278045654, + -0.7061036825180054, + -0.7116292119026184, + -0.1587669849395752, + 0.596879243850708, + 0.0, + -1.213667869567871, + -1.3980472087860107, + 1.5898258686065674, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9699935913085938, + -1.9358844757080078, + 1.0035598278045654, + -0.7061036825180054, + -0.7116292119026184, + -0.1587669849395752, + 0.596879243850708, + 0.0, + -1.0899834632873535, + -1.3441650867462158, + 1.5898258686065674, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9699935913085938, + -1.9358844757080078, + 1.0035598278045654, + -0.7061036825180054, + -0.7116292119026184, + -0.1587669849395752, + 0.596879243850708, + 0.0, + -1.0622451305389404, + -1.3320810794830322, + 1.5898258686065674, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9699935913085938, + -1.9358844757080078, + 1.0035598278045654, + -0.7061036825180054, + -0.7116292119026184, + -0.1587669849395752, + 0.596879243850708, + 0.0, + -1.0168589353561401, + -1.3123090267181396, + 1.5898258686065674, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9699935913085938, + -1.9358844757080078, + 1.0035598278045654, + -0.7061036825180054, + -0.7116292119026184, + -0.1587669849395752, + 0.596879243850708, + 0.0, + -0.9108322858810425, + -1.2661194801330566, + 1.5898258686065674, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9699935913085938, + -1.9358844757080078, + 1.0035598278045654, + -0.7061036825180054, + -0.7116292119026184, + -0.1587669849395752, + 0.596879243850708, + 0.0, + -0.8533419966697693, + -1.2410743236541748, + 1.5898258686065674, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9699935913085938, + -1.9358844757080078, + 1.0035598278045654, + -0.7061036825180054, + -0.7116292119026184, + -0.1587669849395752, + 0.596879243850708, + 0.0, + -0.7684463858604431, + -1.2040902376174927, + 1.5898258686065674, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9699935913085938, + -1.9358844757080078, + 1.0035598278045654, + -0.7061036825180054, + -0.7116292119026184, + -0.1587669849395752, + 0.596879243850708, + 0.0, + -0.6677004098892212, + -1.160201072692871, + 1.5898258686065674, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9699935913085938, + -1.9358844757080078, + 1.0035598278045654, + -0.7061036825180054, + -0.7116292119026184, + -0.1587669849395752, + 0.596879243850708, + 0.0, + -0.6378033757209778, + -1.147176742553711, + 1.5898258686065674, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9699935913085938, + -1.9358844757080078, + 1.0035598278045654, + -0.7061036825180054, + -0.7116292119026184, + -0.1587669849395752, + 0.596879243850708, + 0.0, + -0.6143670678138733, + -1.1369669437408447, + 1.5898258686065674, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9699935913085938, + -1.9358844757080078, + 1.0035598278045654, + -0.7061036825180054, + -0.7116292119026184, + -0.1587669849395752, + 0.596879243850708, + 0.0, + -0.5060798525810242, + -1.0897924900054932, + 1.5898258686065674, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9699935913085938, + -1.9358844757080078, + 1.0035598278045654, + -0.7061036825180054, + -0.7116292119026184, + -0.1587669849395752, + 0.596879243850708, + 0.0, + -0.47282150387763977, + -1.0087435245513916, + 1.5898258686065674, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -2.9699935913085938, + -1.9358844757080078, + 1.0035598278045654, + -0.7061036825180054, + -0.7116292119026184, + -0.1587669849395752, + 0.596879243850708, + 0.0, + 1.4249179363250732, + 1.6306136846542358, + 1.5898258686065674, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.508868396282196, + -0.7273393869400024, + 1.0035598278045654, + -0.02790588140487671, + -0.7116292119026184, + -0.04642638564109802, + 0.596879243850708, + 0.0, + 1.475786566734314, + 1.7297171354293823, + 1.5898258686065674, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.508868396282196, + -0.7273393869400024, + 1.0035598278045654, + -0.02790588140487671, + -0.7116292119026184, + -0.04642638564109802, + 0.596879243850708, + 0.0, + 1.5086112022399902, + 1.7936668395996094, + 1.5898258686065674, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.508868396282196, + -0.7273393869400024, + 1.0035598278045654, + -0.02790588140487671, + -0.7116292119026184, + -0.04642638564109802, + 0.596879243850708, + 0.0, + 1.562089204788208, + 1.8978538513183594, + 1.5898258686065674, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.508868396282196, + -0.7273393869400024, + 1.0035598278045654, + -0.02790588140487671, + -0.7116292119026184, + -0.04642638564109802, + 0.596879243850708, + 0.0, + 1.5992320775985718, + 1.9702162742614746, + 1.5898258686065674, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.508868396282196, + -0.7273393869400024, + 1.0035598278045654, + -0.02790588140487671, + -0.7116292119026184, + -0.04642638564109802, + 0.596879243850708, + 0.0, + 1.6491985321044922, + 2.0675621032714844, + 1.5898258686065674, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.508868396282196, + -0.7273393869400024, + 1.0035598278045654, + -0.02790588140487671, + -0.7116292119026184, + -0.04642638564109802, + 0.596879243850708, + 0.0, + 1.6854387521743774, + 2.1236536502838135, + 1.5898258686065674, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.508868396282196, + -0.7273393869400024, + 1.0035598278045654, + -0.02790588140487671, + -0.7116292119026184, + -0.04642638564109802, + 0.596879243850708, + 0.0 + ], + "max": [ + -0.5121043920516968, + -1.036810040473938, + 1.693868637084961, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8904337882995605, + 2.9743800163269043, + 1.3731156587600708, + 0.7062728404998779, + 0.03839254751801491, + 0.4961909055709839, + 0.9633506536483765, + 1.0, + -0.4220966696739197, + -1.0026190280914307, + 1.693868637084961, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8904337882995605, + 2.5921454429626465, + 1.3730812072753906, + 0.37056466937065125, + -0.03671835735440254, + 0.3597801625728607, + 0.9633506536483765, + 0.0, + -0.39051172137260437, + -0.9906209111213684, + 1.693868637084961, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8904337882995605, + 2.5921454429626465, + 1.3730812072753906, + 0.37056466937065125, + -0.03671835735440254, + 0.3597801625728607, + 0.9633506536483765, + 0.0, + -0.3785941004753113, + -0.9860937595367432, + 1.693868637084961, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8904337882995605, + 2.5921454429626465, + 1.3730812072753906, + 0.37056466937065125, + -0.03671835735440254, + 0.3597801625728607, + 0.9633506536483765, + 0.0, + -0.24247783422470093, + -0.9343875050544739, + 1.693868637084961, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8904337882995605, + 2.5921454429626465, + 1.3730812072753906, + 0.37056466937065125, + -0.03671835735440254, + 0.3597801625728607, + 0.9633506536483765, + 0.0, + -0.18018712103366852, + -0.9107252359390259, + 1.693868637084961, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8904337882995605, + 2.5921454429626465, + 1.3730812072753906, + 0.37056466937065125, + -0.03671835735440254, + 0.3597801625728607, + 0.9633506536483765, + 0.0, + -0.09221091121435165, + -0.8773058652877808, + 1.693868637084961, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8904337882995605, + 2.5921454429626465, + 1.3730812072753906, + 0.37056466937065125, + -0.03671835735440254, + 0.3597801625728607, + 0.9633506536483765, + 0.0, + 0.0038476157933473587, + -0.8408163189888, + 1.693868637084961, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8904337882995605, + 2.5921454429626465, + 1.3730812072753906, + 0.37056466937065125, + -0.03671835735440254, + 0.3597801625728607, + 0.9633506536483765, + 0.0, + 0.052779629826545715, + -0.8222286105155945, + 1.693868637084961, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8904337882995605, + 2.5921454429626465, + 1.3730812072753906, + 0.37056466937065125, + -0.03671835735440254, + 0.3597801625728607, + 0.9633506536483765, + 0.0, + 0.11489570140838623, + -0.7986327409744263, + 1.693868637084961, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8904337882995605, + 2.5921454429626465, + 1.3730812072753906, + 0.37056466937065125, + -0.03671835735440254, + 0.3597801625728607, + 0.9633506536483765, + 0.0, + 0.2249804139137268, + -0.7568150758743286, + 1.693868637084961, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8904337882995605, + 2.5921454429626465, + 1.3730812072753906, + 0.37056466937065125, + -0.03671835735440254, + 0.3597801625728607, + 0.9633506536483765, + 0.0, + 0.25268882513046265, + -0.6914334297180176, + 1.693868637084961, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8904337882995605, + 2.5921454429626465, + 1.3730812072753906, + 0.37056466937065125, + -0.03671835735440254, + 0.3597801625728607, + 0.9633506536483765, + 0.0, + 0.3164432644844055, + -0.5409963130950928, + 1.693868637084961, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8904337882995605, + 2.5921454429626465, + 1.3730812072753906, + 0.37056466937065125, + -0.03671835735440254, + 0.3597801625728607, + 0.9633506536483765, + 0.0, + 0.3235282003879547, + -0.524278461933136, + 1.693868637084961, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8904337882995605, + 2.5921454429626465, + 1.3730812072753906, + 0.37056466937065125, + -0.03671835735440254, + 0.3597801625728607, + 0.9633506536483765, + 0.0, + 0.3275021016597748, + -0.5149015188217163, + 1.693868637084961, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8904337882995605, + 2.5921454429626465, + 1.3730812072753906, + 0.37056466937065125, + -0.03671835735440254, + 0.3597801625728607, + 0.9633506536483765, + 0.0, + 0.33547443151474, + -0.49608972668647766, + 1.693868637084961, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8904337882995605, + 2.5921454429626465, + 1.3730812072753906, + 0.37056466937065125, + -0.03671835735440254, + 0.3597801625728607, + 0.9633506536483765, + 0.0, + 0.3805304765701294, + -0.389773964881897, + 1.693868637084961, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8904337882995605, + 2.5921454429626465, + 1.3730812072753906, + 0.37056466937065125, + -0.03671835735440254, + 0.3597801625728607, + 0.9633506536483765, + 0.0, + 0.4104051887989044, + -0.31928062438964844, + 1.693868637084961, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8904337882995605, + 2.5921454429626465, + 1.3730812072753906, + 0.37056466937065125, + -0.03671835735440254, + 0.3597801625728607, + 0.9633506536483765, + 0.0, + 0.46167436242103577, + -0.2459993064403534, + 1.693868637084961, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8904337882995605, + 2.5921454429626465, + 1.3730812072753906, + 0.37056466937065125, + -0.03671835735440254, + 0.3597801625728607, + 0.9633506536483765, + 0.0, + 0.513001024723053, + -0.1460035741329193, + 1.693868637084961, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8904337882995605, + 2.5921454429626465, + 1.3730812072753906, + 0.37056466937065125, + -0.03671835735440254, + 0.3597801625728607, + 0.9633506536483765, + 0.0, + 0.5413705706596375, + -0.0907333493232727, + 1.693868637084961, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8904337882995605, + 2.5921454429626465, + 1.3730812072753906, + 0.37056466937065125, + -0.03671835735440254, + 0.3597801625728607, + 0.9633506536483765, + 0.0, + 0.6039385795593262, + 0.0311630517244339, + 1.693868637084961, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8904337882995605, + 2.5921454429626465, + 1.3730812072753906, + 0.37056466937065125, + -0.03671835735440254, + 0.3597801625728607, + 0.9633506536483765, + 0.0, + 0.6218140125274658, + 0.06598829478025436, + 1.693868637084961, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8904337882995605, + 2.5921454429626465, + 1.3730812072753906, + 0.37056466937065125, + -0.03671835735440254, + 0.3597801625728607, + 0.9633506536483765, + 0.0, + 0.7019342184066772, + 0.2220803201198578, + 1.693868637084961, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8904337882995605, + 2.5921454429626465, + 1.3730812072753906, + 0.37056466937065125, + -0.03671835735440254, + 0.3597801625728607, + 0.9633506536483765, + 0.0, + 0.7027900815010071, + 0.22374774515628815, + 1.693868637084961, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8904337882995605, + 2.5921454429626465, + 1.3730812072753906, + 0.37056466937065125, + -0.03671835735440254, + 0.3597801625728607, + 0.9633506536483765, + 0.0, + 0.7092052698135376, + 0.23624597489833832, + 1.693868637084961, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8904337882995605, + 2.5921454429626465, + 1.3730812072753906, + 0.37056466937065125, + -0.03671835735440254, + 0.3597801625728607, + 0.9633506536483765, + 0.0, + 0.7835127115249634, + 0.3810133635997772, + 1.693868637084961, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8904337882995605, + 2.5921454429626465, + 1.3730812072753906, + 0.37056466937065125, + -0.03671835735440254, + 0.3597801625728607, + 0.9633506536483765, + 0.0, + 0.7939173579216003, + 0.4012839198112488, + 1.693868637084961, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8904337882995605, + 2.5921454429626465, + 1.3730812072753906, + 0.37056466937065125, + -0.03671835735440254, + 0.3597801625728607, + 0.9633506536483765, + 0.0, + 0.8638812899589539, + 0.5375892519950867, + 1.693868637084961, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8904337882995605, + 2.5921454429626465, + 1.3730812072753906, + 0.37056466937065125, + -0.03671835735440254, + 0.3597801625728607, + 0.9633506536483765, + 0.0, + 0.8814729452133179, + 0.5718616843223572, + 1.693868637084961, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8904337882995605, + 2.5921454429626465, + 1.3730812072753906, + 0.37056466937065125, + -0.03671835735440254, + 0.3597801625728607, + 0.9633506536483765, + 0.0, + 0.9440752267837524, + 0.6938248872756958, + 1.693868637084961, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8904337882995605, + 2.5921454429626465, + 1.3730812072753906, + 0.37056466937065125, + -0.03671835735440254, + 0.3597801625728607, + 0.9633506536483765, + 0.0, + 0.9663999676704407, + 0.7373183965682983, + 1.693868637084961, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8904337882995605, + 2.5921454429626465, + 1.3730812072753906, + 0.37056466937065125, + -0.03671835735440254, + 0.3597801625728607, + 0.9633506536483765, + 0.0, + 1.0241360664367676, + 0.8498010635375977, + 1.693868637084961, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8904337882995605, + 2.5921454429626465, + 1.3730812072753906, + 0.37056466937065125, + -0.03671835735440254, + 0.3597801625728607, + 0.9633506536483765, + 0.0, + 1.0513132810592651, + 0.9027484059333801, + 1.693868637084961, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8904337882995605, + 2.5921454429626465, + 1.3730812072753906, + 0.37056466937065125, + -0.03671835735440254, + 0.3597801625728607, + 0.9633506536483765, + 0.0, + 1.1041498184204102, + 1.0056856870651245, + 1.693868637084961, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8904337882995605, + 2.5921454429626465, + 1.3730812072753906, + 0.37056466937065125, + -0.03671835735440254, + 0.3597801625728607, + 0.9633506536483765, + 0.0, + 1.135888934135437, + 1.0675206184387207, + 1.693868637084961, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8904337882995605, + 2.5921454429626465, + 1.3730812072753906, + 0.37056466937065125, + -0.03671835735440254, + 0.3597801625728607, + 0.9633506536483765, + 0.0, + 1.1841634511947632, + 1.1615701913833618, + 1.693868637084961, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8904337882995605, + 2.5921454429626465, + 1.3730812072753906, + 0.37056466937065125, + -0.03671835735440254, + 0.3597801625728607, + 0.9633506536483765, + 0.0, + 1.2206792831420898, + 1.2327113151550293, + 1.693868637084961, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8904337882995605, + 2.5921454429626465, + 1.3730812072753906, + 0.37056466937065125, + -0.03671835735440254, + 0.3597801625728607, + 0.9633506536483765, + 0.0, + 1.2641770839691162, + 1.3174546957015991, + 1.693868637084961, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8904337882995605, + 2.5921454429626465, + 1.3730812072753906, + 0.37056466937065125, + -0.03671835735440254, + 0.3597801625728607, + 0.9633506536483765, + 0.0, + 1.3053778409957886, + 1.3977229595184326, + 1.693868637084961, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8904337882995605, + 2.5921454429626465, + 1.3730812072753906, + 0.37056466937065125, + -0.03671835735440254, + 0.3597801625728607, + 0.9633506536483765, + 0.0, + 1.3441907167434692, + 1.4733390808105469, + 1.693868637084961, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8904337882995605, + 2.5921454429626465, + 1.3730812072753906, + 0.37056466937065125, + -0.03671835735440254, + 0.3597801625728607, + 0.9633506536483765, + 0.0, + 1.3902671337127686, + 1.5631061792373657, + 1.693868637084961, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8904337882995605, + 2.5921454429626465, + 1.3730812072753906, + 0.37056466937065125, + -0.03671835735440254, + 0.3597801625728607, + 0.9633506536483765, + 0.0, + 1.4249179363250732, + 1.6306136846542358, + 1.5898258686065674, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8904337882995605, + 2.5921454429626465, + 1.0035598278045654, + 0.37056466937065125, + -0.6139827370643616, + 0.3597801625728607, + 0.7025353908538818, + 0.0, + 1.475786566734314, + 1.7297171354293823, + 1.5898258686065674, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8904337882995605, + 2.5921454429626465, + 1.0035598278045654, + 0.37056466937065125, + -0.6139827370643616, + 0.3597801625728607, + 0.7025353908538818, + 0.0, + 1.5086112022399902, + 1.7936668395996094, + 1.5898258686065674, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8904337882995605, + 2.5921454429626465, + 1.0035598278045654, + 0.37056466937065125, + -0.6139827370643616, + 0.3597801625728607, + 0.7025353908538818, + 0.0, + 1.562089204788208, + 1.8978538513183594, + 1.5898258686065674, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8904337882995605, + 2.5921454429626465, + 1.0035598278045654, + 0.37056466937065125, + -0.6139827370643616, + 0.3597801625728607, + 0.7025353908538818, + 0.0, + 1.5992320775985718, + 1.9702162742614746, + 1.5898258686065674, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8904337882995605, + 2.5921454429626465, + 1.0035598278045654, + 0.37056466937065125, + -0.6139827370643616, + 0.3597801625728607, + 0.7025353908538818, + 0.0, + 1.6491985321044922, + 2.0675621032714844, + 1.5898258686065674, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8904337882995605, + 2.5921454429626465, + 1.0035598278045654, + 0.37056466937065125, + -0.6139827370643616, + 0.3597801625728607, + 0.7025353908538818, + 0.0, + 1.6854387521743774, + 2.1236536502838135, + 1.5898258686065674, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.8904337882995605, + 2.5921454429626465, + 1.0035598278045654, + 0.37056466937065125, + -0.6139827370643616, + 0.3597801625728607, + 0.7025353908538818, + 0.0 + ], + "count": [ + 2120 + ] + }, + "action.applied": { + "mean": [ + 0.08212567028273249, + 0.00024571900238405984, + 0.01096545709126831, + 0.6356166903098133, + -0.7655871071258311, + -1.0351395224644035, + 1.1086535260784176, + -1.7408631589085222, + -1.6892576119809781, + -1.2480595551695453, + -0.0017296318184443801, + 0.0017296318184443801 + ], + "std": [ + 0.12994411819158844, + 0.008560483884323124, + 0.1609686234854481, + 0.4303293778234028, + 0.49772124361710307, + 0.554567934102942, + 0.3391770208723915, + 0.8822475424617142, + 0.4391559007338126, + 0.7841990663032518, + 0.012396822207282868, + 0.012396822207282868 + ], + "min": [ + 0.0, + -0.061918310821056366, + -0.800000011920929, + -0.09734151512384415, + -1.6051605939865112, + -1.6439403295516968, + 0.49858593940734863, + -2.4669528007507324, + -2.7546520233154297, + -1.9942097663879395, + -0.009999999776482582, + -0.020833000540733337 + ], + "max": [ + 0.30000001192092896, + 0.10284006595611572, + 0.800000011920929, + 1.2232292890548706, + 0.009195023216307163, + 0.0003967906523030251, + 1.4971799850463867, + 0.005743229296058416, + -1.1309155225753784, + 0.1403605341911316, + 0.020833000540733337, + 0.009999999776482582 + ], + "count": [ + 2120 + ] + }, + "extra.reward": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 2120 + ] + }, + "next.truncated": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 2120 + ] + }, + "sim_step_idx": { + "mean": [ + 2220.0 + ], + "std": [ + 1223.9824345144827 + ], + "min": [ + 101.0 + ], + "max": [ + 4339.0 + ], + "count": [ + 2120 + ] + }, + "timestamp": { + "mean": [ + 42.38000000287199 + ], + "std": [ + 24.479648691639948 + ], + "min": [ + 0.0 + ], + "max": [ + 84.76000213623047 + ], + "count": [ + 2120 + ] + }, + "frame_index": { + "mean": [ + 1059.5 + ], + "std": [ + 611.9912172572414 + ], + "min": [ + 0.0 + ], + "max": [ + 2119.0 + ], + "count": [ + 2120 + ] + }, + "episode_index": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 2120 + ] + }, + "index": { + "mean": [ + 1059.5 + ], + "std": [ + 611.9912172572414 + ], + "min": [ + 0.0 + ], + "max": [ + 2119.0 + ], + "count": [ + 2120 + ] + }, + "task_index": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 2120 + ] + }, + "next.done": { + "mean": [ + 0.0004716981132075472 + ], + "std": [ + 0.02171348921978095 + ], + "min": [ + 0.0 + ], + "max": [ + 1.0 + ], + "count": [ + 2120 + ] + }, + "observation.images.head": { + "mean": [ + [ + [ + 0.5404768328719518 + ] + ], + [ + [ + 0.4772399313304306 + ] + ], + [ + [ + 0.4122188354216917 + ] + ] + ], + "std": [ + [ + [ + 0.12446114512621342 + ] + ], + [ + [ + 0.14218668005108123 + ] + ], + [ + [ + 0.1358380227492998 + ] + ] + ], + "min": [ + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ] + ], + "max": [ + [ + [ + 0.9294117647058824 + ] + ], + [ + [ + 0.8980392156862745 + ] + ], + [ + [ + 0.8509803921568627 + ] + ] + ], + "count": [ + 100 + ] + }, + "observation.images.wrist": { + "mean": [ + [ + [ + 0.5442263856809562 + ] + ], + [ + [ + 0.45484032590166357 + ] + ], + [ + [ + 0.37615425501763694 + ] + ] + ], + "std": [ + [ + [ + 0.1514695211449574 + ] + ], + [ + [ + 0.16369911063575263 + ] + ], + [ + [ + 0.1604609248764762 + ] + ] + ], + "min": [ + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ] + ], + "max": [ + [ + [ + 0.9529411764705882 + ] + ], + [ + [ + 0.8980392156862745 + ] + ], + [ + [ + 0.8745098039215686 + ] + ] + ], + "count": [ + 100 + ] + } +} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_off/seed_1026/rec/stationbookendxr/000/lerobot_v21/meta/tasks.jsonl b/N034/sawyer_umi/dr_off/seed_1026/rec/stationbookendxr/000/lerobot_v21/meta/tasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e639892eae0aca859cb3ed9b82a48465787b6b4a --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1026/rec/stationbookendxr/000/lerobot_v21/meta/tasks.jsonl @@ -0,0 +1 @@ +{"task_index": 0, "task": "Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it."} diff --git a/N034/sawyer_umi/dr_off/seed_1026/rec/stationbookendxr/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 b/N034/sawyer_umi/dr_off/seed_1026/rec/stationbookendxr/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8cecb1b8532f6d536fab1f4c88c5703714d45256 --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1026/rec/stationbookendxr/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:c5552e17ecb4f5a675afd542c687a1c999cbda252b91e8bf3322eb1b78604a33 +size 23772757 diff --git a/N034/sawyer_umi/dr_off/seed_1026/rec/stationbookendxr/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 b/N034/sawyer_umi/dr_off/seed_1026/rec/stationbookendxr/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..036273f4fbb48a323b0b5ba8533fec7ae412d0fa --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1026/rec/stationbookendxr/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:ce7b26b50551dea500bbf3229d7e6a628f721bbf7a95cfd0e9f7fff3da7a223b +size 37642218 diff --git a/N034/sawyer_umi/dr_off/seed_1026/rec/stationbookendxr/000/run_meta.json b/N034/sawyer_umi/dr_off/seed_1026/rec/stationbookendxr/000/run_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5d2c9a35121921fdb367a3f90a936fd690b21a1f --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1026/rec/stationbookendxr/000/run_meta.json @@ -0,0 +1,1215 @@ +{ + "run_id": "stationbookendxr/000", + "created": "2026-11-08 02:56:47", + "num_envs": 1, + "session_id": null, + "record_config": { + "output_dir": "/mnt/scratch/xc536_atomic/n034_saw_off_1026/out/rec", + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "json_round": null, + "schema": { + "source": "robot_manager", + "nan_policy": "from_raw" + }, + "lerobot": { + "subsample_every": 2 + } + }, + "config": { + "env_string": "StationBookendXREnv-V0", + "env": { + "sim": { + "device": "cpu", + "use_fabric": false, + "decimation": 4, + "dt": 0.005, + "seed": 1026, + "soft_resets": 2, + "enable_scene_query_support": true, + "scene": { + "num_envs": 1, + "env_spacing": 16 + }, + "render": { + "rendering_mode": "performance", + "enable_reflections": false, + "enable_global_illumination": false, + "enable_translucency": false, + "enable_dl_denoiser": false + } + }, + "nav": { + "navmesh": { + "enabled": true, + "visualize": false, + "bake_timeout_s": 180, + "agent_height_cm": 150, + "min_agent_radius_cm": 45.0, + "max_agent_radius_cm": 45.0, + "max_step_height_cm": 20, + "max_floor_slope_deg": 30, + "agent_island_radius_cm": 5, + "auto_exclude_rigid_bodies": true, + "validate_path_clearance": true, + "validate_path_window": true, + "navmesh_offset_z_m": 0, + "verbose": false, + "validate_path_reroute": true + }, + "occupancymap": { + "cell_size": 0.05 + } + }, + "scene": { + "background": { + "intensity": [ + 1000, + 1000 + ] + }, + "terrain": { + "type": "nav_room", + "collision": true, + "hide_top_walls": true, + "usd": [ + "$MAGICSIM_ASSETS/Room/Collected_SimpleRoom" + ], + "annotation": "Annotation", + "random": false, + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0, + "friction_combine_mode": "multiply", + "restitution_combine_mode": "multiply" + } + }, + "objects": { + "table_A": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "table_A_1": { + "pos": [ + -0.5796238805915712, + -0.14532402384828658, + 0.18 + ], + "ori": [ + 0.0, + 0.0, + 7.051520780520605 + ], + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.45, + 0.35 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "table_B": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "table_B_1": { + "pos": [ + 1.6673617393947668, + 3.0734817412117215, + 0.18 + ], + "ori": [ + 0.0, + 0.0, + 1.0903140336847343 + ], + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.45, + 0.35 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "slot_left": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "slot_left_1": { + "pos": [ + -0.5911920231074625, + -0.2676695512644207, + 0.3475 + ], + "ori": [ + 0.0, + 0.0, + 7.051520780520605 + ], + "primitive_params": { + "size": [ + 0.01, + 0.12, + 0.035 + ] + }, + "visual": { + "color": [ + [ + 0.4, + 0.3, + 0.2 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "slot_right": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "slot_right_1": { + "pos": [ + -0.5385929063844457, + -0.2611631759326065, + 0.3475 + ], + "ori": [ + 0.0, + 0.0, + 7.051520780520605 + ], + "primitive_params": { + "size": [ + 0.01, + 0.12, + 0.035 + ] + }, + "visual": { + "color": [ + [ + 0.4, + 0.3, + 0.2 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "book": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "book_1": { + "pos": [ + -0.5659542332936346, + -0.25583276905867935, + 0.40149999999999997 + ], + "ori": [ + 0.0, + 0.0, + 97.0515207805206 + ], + "primitive_params": { + "size": [ + 0.1, + 0.035, + 0.14 + ] + }, + "visual": { + "color": [ + [ + 0.78, + 0.12, + 0.12 + ] + ] + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.05, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + } + } + } + }, + "plate": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "plate_1": { + "pos": [ + 1.6407697416412337, + 2.972957536885221, + 0.37049999999999994 + ], + "ori": [ + 0.0, + 0.0, + 1.0903140336847343 + ], + "primitive_params": { + "size": [ + 0.012, + 0.14, + 0.08 + ] + }, + "visual": { + "color": [ + [ + 0.35, + 0.35, + 0.4 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "bookend": { + "usd": [ + "$MAGICSIM_ASSETS/Object/MMB_A07/bookend_l/Object.usda" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "bookend_1": { + "pos": [ + 1.7443280869163198, + 2.9566093838314202, + 0.33099999999999996 + ], + "ori": [ + 0.0, + 0.0, + 91.09031403368473 + ], + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.6, + "physics_material": { + "static_friction": 0.2, + "dynamic_friction": 0.15, + "restitution": 0.0 + } + } + } + } + } + }, + "robot": { + "RidgebackSawyerUmi": { + "name": "ridgebacksawyer_umi", + "type": "mobilemanip", + "common": { + "pos": [ + [ + -3.4, + -2.2, + 0.05 + ], + [ + -3.4, + -2.2, + 0.05 + ] + ], + "ori": [ + [ + 0, + 0, + 40.0 + ], + [ + 0, + 0, + 40.0 + ] + ], + "initial_joint_pos": { + "dummy_base_.*": 0.0, + "head_pan": 0.0, + "right_j0": 0.0, + "right_j1": -1.6, + "right_j2": 0.0, + "right_j3": 0.5, + "right_j4": 0.0, + "right_j5": -2.32, + "right_j6": 0.0, + "right_gripper_l_finger_joint": 0.0, + "right_gripper_r_finger_joint": 0.0 + } + }, + "action": { + "base_action": "holonomic_action", + "arm_action": "ik_pink", + "eef_action": "binary" + }, + "planner": { + "dual_mode": true, + "base_joint_names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint" + ], + "ik": { + "type": "ridgebacksawyer_umi", + "model_tuning": "ridgeback_sawyer_umi", + "enable": true, + "ik_num_instances": 1, + "ik_batch_size": 1, + "ik_num_seeds": 32, + "ik_position_threshold": 0.005, + "ik_rotation_threshold": 0.05, + "microbatch_wait_ms": 20.0, + "relative_to_world_frame": false + }, + "motiongen": { + "type": "ridgebacksawyer_umi", + "model_tuning": "ridgeback_sawyer_umi", + "enable": true, + "motiongen_num_instances": 1, + "batch_size": 1, + "microbatch_wait_ms": 20.0, + "mode": "position", + "relative_to_world_frame": false, + "start_state_limit_inset": 0.002 + }, + "body": { + "type": "nav", + "dwb_type": "dwb_holonomic", + "dwb_holonomic": { + "device": "cpu", + "dt": 0.02, + "debug": false, + "num_rollout_steps": 60, + "num_speed_samples": 11, + "num_steer_samples": 11, + "num_vx_samples": 7, + "num_vy_samples": 7, + "num_yaw_samples": 7, + "max_accel": 1.5, + "max_steer_rate": 1.5, + "max_accel_vx": 1.5, + "max_accel_vy": 1.5, + "max_yaw_accel": 1.5, + "w_goal": 6.0, + "w_path": 8.0, + "w_vel": 0.2, + "w_vy": 0.0, + "goal_cost_mode": "path", + "dilate_radius": 0.36, + "room_size": 12.0, + "occupancy_update_interval": 25, + "scan_height": 0.35, + "scan_min_z": 0.12, + "scan_max_z": 1.65, + "goal_pos_threshold": 0.05, + "goal_yaw_threshold": 0.05, + "kp_goal_yaw": 1.5, + "heading_reference": "path", + "turn_yaw_threshold": 0.8, + "heading_lookahead": 0.8, + "heading_min_leg": 0.35, + "route_yaw_gain": 2.0, + "goal_yaw_hysteresis": 0.02, + "min_vx": -0.3, + "max_vx": 0.3, + "min_vy": -0.3, + "max_vy": 0.3, + "min_yaw_rate": -0.8, + "max_yaw_rate": 0.8, + "safety_enabled": true, + "safety_deceleration": 0.5, + "safety_reaction_time": 0.5, + "scan_type": "3d" + }, + "p_controller": { + "kp_angular_turning_only": 2.0, + "kd_angular_turning_only": 1.0, + "kp_linear_x": 3.0, + "kp_linear_y": 3.0, + "kp_angular": 2.0, + "kd_linear_x": 1.0, + "kd_linear_y": 1.0, + "min_vel": -0.4, + "max_vel": 0.5, + "linear_dead_zone": 0.01, + "angular_dead_zone": 0.05, + "nav_heading_target": -1, + "nav_upgrade_distance": 0.03 + } + }, + "arm": { + "type": "default" + }, + "eef": { + "type": "default" + } + }, + "physics": { + "robot_radius": 0.66, + "wheel_base": 0.01 + }, + "reset": "default" + } + }, + "camera": { + "enable_tiled": false, + "colorize_depth": false, + "head": { + "camera": { + "type": "camera", + "mesh": "pinhole", + "resolution": [ + 640, + 480 + ], + "frequency": 25, + "focal_length": 2.0, + "horizontal_aperture": 3.6, + "vertical_aperture": 2.7, + "clipping_range": [ + 0.05, + 30.0 + ], + "focus_distance": 3.0, + "mode": "RGB", + "mount_link": "Robot_0/head", + "pos": [ + 0.2166, + 0.0, + -0.045 + ], + "ori": [ + -0.0, + 35.0, + -90.0 + ] + }, + "annotator": { + "enabled": true, + "rgb_capture": { + "type": "rgb", + "device": "cpu" + } + } + }, + "wrist": { + "camera": { + "type": "camera", + "mesh": "pinhole", + "resolution": [ + 640, + 480 + ], + "frequency": 25, + "focal_length": 1.8, + "horizontal_aperture": 3.6, + "vertical_aperture": 2.7, + "clipping_range": [ + 0.05, + 30.0 + ], + "focus_distance": 3.0, + "mode": "RGB", + "mount_link": "Robot_0/right_electric_gripper_base", + "pos": [ + 0.0598, + 0.0, + 0.03 + ], + "ori": [ + 180.0, + 0.0, + -90.0 + ] + }, + "annotator": { + "enabled": true, + "rgb_capture": { + "type": "rgb", + "device": "cpu" + } + } + } + } + }, + "task": { + "new_seed_per_episode": true, + "observation": {}, + "reward": {}, + "termination": { + "timeout_steps": 30000, + "success_hold_frames": 10, + "fall_height": 0.02, + "fall_tilt": 1.0, + "lift_height": 0.12, + "grasp_distance": 0.25 + }, + "station": { + "robot": { + "key": "RidgebackSawyerUmi", + "embodiment": "sawyer_umi", + "base_link": "torso", + "tcp_in_wrist": [ + 0.17174, + 0.00789, + 0.0, + 0.5, + 0.5, + 0.5, + 0.5 + ], + "wrist_ref_back": 0.0, + "spawn_dz": 0.02, + "finger_joints": [ + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ], + "dwb": { + "key": "dwb_holonomic", + "add_floor": false + } + }, + "task_id": "N034", + "task_version": "EXT60-MobileAvatar-v3", + "family_id": "bookend_support", + "primary_category": "C2", + "stage": "full", + "layout": { + "floor_z": 0.03, + "start": { + "x": -3.4, + "y": -2.2, + "yaw_deg": 40.0, + "radius": 0.3, + "yaw_spread_deg": 20.0 + }, + "stations": { + "A": { + "center": [ + -0.5796238805915712, + -0.14532402384828658 + ], + "facing_deg": 97.0515207805206, + "standoff": 0.62, + "table": { + "width": 0.9, + "depth": 0.5, + "height": 0.3 + } + }, + "B": { + "center": [ + 1.6673617393947668, + 3.0734817412117215 + ], + "facing_deg": 91.09031403368473, + "standoff": 0.7, + "table": { + "width": 0.9, + "depth": 0.5, + "height": 0.3 + } + } + } + }, + "route": [ + "A", + "B" + ], + "book": "book", + "bookend": "bookend", + "plate": "plate", + "dr": { + "enabled": true, + "stations": { + "center_m": 0.25, + "facing_deg": 8.0 + }, + "objects": { + "across_m": 0.025, + "along_m": 0.02, + "yaw_deg": 8.0 + } + }, + "book_slot": { + "across": -0.001 + }, + "push": { + "height": 0.025, + "overshoot": -0.002 + }, + "place_check": { + "book": { + "at": { + "station": "B", + "across": -0.001, + "along": -0.1, + "z": 0.0725 + }, + "yaw_deg": 90.0, + "clearance": 0.004 + } + }, + "success": { + "upright_deg": 15.0, + "rest_z_tol": 0.02, + "contact_gap": 0.006, + "max_penetration": 0.01, + "min_push": 0.04, + "release_dist": 0.15, + "rest_speed": 0.03, + "lift": 0.08 + }, + "objects": { + "slot_left": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.01, + 0.12, + 0.035 + ], + "at": { + "station": "A", + "across": -0.0265, + "along": -0.12, + "z": 0.0175 + }, + "color": [ + 0.4, + 0.3, + 0.2 + ], + "pos": [ + -0.5911920231074625, + -0.2676695512644207, + 0.3475 + ], + "yaw_deg": 7.051520780520605 + }, + "slot_right": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.01, + 0.12, + 0.035 + ], + "at": { + "station": "A", + "across": 0.0265, + "along": -0.12, + "z": 0.0175 + }, + "color": [ + 0.4, + 0.3, + 0.2 + ], + "pos": [ + -0.5385929063844457, + -0.2611631759326065, + 0.3475 + ], + "yaw_deg": 7.051520780520605 + }, + "book": { + "jitter": { + "across_m": 0.0, + "yaw_deg": 0.0 + }, + "asset": "Cube", + "type": "rigid", + "size": [ + 0.1, + 0.035, + 0.14 + ], + "yaw_deg": 97.0515207805206, + "at": { + "station": "A", + "across": 0.0, + "along": -0.11135098573980158, + "z": 0.0715 + }, + "mass": 0.05, + "color": [ + 0.78, + 0.12, + 0.12 + ], + "friction": { + "static": 1.5, + "dynamic": 1.5 + }, + "grasp": { + "part": "body", + "thin_axis": 1, + "min_elevation_deg": 60.0, + "approach_deg": [ + 0, + 15, + 30, + 45, + 60, + 75, + 90, + 105, + 120, + 135, + 150, + 165, + 180, + 195, + 210, + 225, + 240, + 255, + 270, + 285, + 300, + 315, + 330, + 345 + ], + "inset": 0.012 + }, + "pos": [ + -0.5659542332936346, + -0.25583276905867935, + 0.40149999999999997 + ] + }, + "plate": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.012, + 0.14, + 0.08 + ], + "at": { + "station": "B", + "across": -0.0285, + "along": -0.1, + "z": 0.0405 + }, + "color": [ + 0.35, + 0.35, + 0.4 + ], + "pos": [ + 1.6407697416412337, + 2.972957536885221, + 0.37049999999999994 + ], + "yaw_deg": 1.0903140336847343 + }, + "bookend": { + "jitter": { + "across_m": 0.01, + "yaw_deg": 0.0 + }, + "catalog": "bookend_l", + "type": "rigid", + "yaw_deg": 91.09031403368473, + "at": { + "station": "B", + "across": 0.07472851578918004, + "along": -0.11831574493018053, + "z": 0.001 + }, + "friction": { + "static": 0.2, + "dynamic": 0.15 + }, + "asset": "$MAGICSIM_ASSETS/Object/MMB_A07/bookend_l/Object.usda", + "parts": [ + { + "name": "wall", + "center": [ + 0.0, + 0.0, + 0.03 + ], + "half": [ + 0.06, + 0.006, + 0.03 + ], + "rpy_deg": [ + 0.0, + 0.0, + 0.0 + ] + }, + { + "name": "foot", + "center": [ + 0.0, + -0.036, + 0.004 + ], + "half": [ + 0.06, + 0.03, + 0.004 + ], + "rpy_deg": [ + 0.0, + 0.0, + 0.0 + ] + } + ], + "mass": 0.6, + "com": [ + 0.0, + -0.01, + 0.03 + ], + "pos": [ + 1.7443280869163198, + 2.9566093838314202, + 0.33099999999999996 + ] + } + }, + "report_jsonl": "/mnt/scratch/xc536_atomic/n034_saw_off_1026/out/report.episodes.jsonl", + "dr_applied": true, + "level": "easy" + }, + "command": { + "StationBookend": { + "obj_type": "rigid", + "obj_name": "book", + "obj_id": 0, + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.05, + "settle_ticks": 120 + }, + "StationBookendXR": { + "obj_type": "rigid", + "obj_name": "book", + "grasp_part": "body", + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.015, + "lift": 0.03, + "over_top": 0.005, + "pre_clear": 0.1, + "carry_ahead": 0.5, + "carry_z": 0.8, + "settle_ticks": 120, + "hover": 0.09, + "remeasure_lower": true, + "recenter_clear": 0.02, + "recenter_passes": 2, + "push_lead": 0.012, + "push_over": 0.06, + "withdraw_up": 0.2 + } + } + }, + "collect": { + "global_planner": { + "NavTo": { + "use_navmesh": true, + "use_absolute": true, + "translation_threshold": 0.12, + "rotation_threshold": 0.12, + "num_path_segments": 30, + "start_forward_offset": 0.0, + "visualize_path": false, + "carry_arm": true + }, + "RetractMoveL": { + "translation_threshold": 0.02, + "rotation_threshold": 0.2, + "motiongen_distance_threshold": 0.05, + "timeout_steps": 1800, + "base_pos_threshold": 0.12, + "base_rot_threshold": 0.5, + "eef_pos_threshold": 0.03, + "eef_rot_threshold": 0.3, + "base_waypoint_max_steps": 20, + "arm_waypoint_max_steps": 8, + "move_strategy_distance_threshold": 0.1, + "debug": false, + "debug_viz": false + }, + "MobileMoveL": { + "translation_threshold": 0.006, + "rotation_threshold": 0.08, + "motiongen_distance_threshold": 0.05, + "timeout_steps": 1800, + "stall_release_ticks": 100, + "stall_release_factor": 5.0, + "reactive": false, + "base_pos_threshold": 0.12, + "base_rot_threshold": 0.5, + "eef_pos_threshold": 0.03, + "eef_rot_threshold": 0.3, + "waypoint_max_steps": 20, + "interp_steps": 100, + "interp_validate_target": true, + "retry_mobile_on_locked_plan_failure": true, + "debug": false, + "debug_viz": false + }, + "MobileServoL": { + "base_pos_threshold": 0.12, + "waypoint_max_steps": 20, + "translation_threshold": 0.05, + "timeout_steps": 300 + }, + "ParallelGripper": { + "gripper_threshold": 0.0005, + "timeout_steps": 60 + } + }, + "atomic_skill": { + "NavToPose": { + "robot_id": 0, + "show_marker": false + }, + "Move": { + "arm_planner": "MobileMoveL", + "hand_planner": "ParallelGripper", + "obstacle_avoid_paths": [ + "dynamic/table_A", + "dynamic/table_B" + ], + "obstacle_ignore_paths": [], + "close_value": 1.0, + "open_value": 0.0, + "hold_steps": 10 + }, + "StationNavXR": { + "robot_id": 0, + "show_marker": false + }, + "ReachStance": { + "max_walks": 4 + } + }, + "command": { + "StationBookend": { + "obj_type": "rigid", + "obj_name": "book", + "obj_id": 0, + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.05, + "settle_ticks": 120 + }, + "StationBookendXR": { + "obj_type": "rigid", + "obj_name": "book", + "grasp_part": "body", + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.015, + "lift": 0.03, + "over_top": 0.005, + "pre_clear": 0.1, + "carry_ahead": 0.5, + "carry_z": 0.8, + "settle_ticks": 120, + "hover": 0.09, + "remeasure_lower": true, + "recenter_clear": 0.02, + "recenter_passes": 2, + "push_lead": 0.012, + "push_over": 0.06, + "withdraw_up": 0.2 + } + }, + "auto_collect": {}, + "record": { + "output_dir": "/mnt/scratch/xc536_atomic/n034_saw_off_1026/out/rec", + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "json_round": null, + "schema": { + "source": "robot_manager", + "nan_policy": "from_raw" + }, + "lerobot": { + "subsample_every": 2 + } + } + }, + "visual_dr": { + "keep": [ + "book", + "book_other", + "bookend" + ] + } + }, + "git_sha": null, + "collect_runtime": { + "max_trajectories": 1 + } +} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_off/seed_1026/rec/stationbookendxr/000/sim_info/0/actions.npz b/N034/sawyer_umi/dr_off/seed_1026/rec/stationbookendxr/000/sim_info/0/actions.npz new file mode 100644 index 0000000000000000000000000000000000000000..10246d5e66b9379da980554b69b21ecd56c84b79 --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1026/rec/stationbookendxr/000/sim_info/0/actions.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a568de67b0970f076b7c7f35cf9d9e6a7a523c5803e6983c2050b57f317432e0 +size 494059 diff --git a/N034/sawyer_umi/dr_off/seed_1026/rec/stationbookendxr/000/sim_info/0/device_commands.jsonl b/N034/sawyer_umi/dr_off/seed_1026/rec/stationbookendxr/000/sim_info/0/device_commands.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N034/sawyer_umi/dr_off/seed_1026/rec/stationbookendxr/000/sim_info/0/device_events.jsonl b/N034/sawyer_umi/dr_off/seed_1026/rec/stationbookendxr/000/sim_info/0/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N034/sawyer_umi/dr_off/seed_1026/rec/stationbookendxr/000/sim_info/0/scene_snapshot.json b/N034/sawyer_umi/dr_off/seed_1026/rec/stationbookendxr/000/sim_info/0/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..c637d181671f775a630ecb33fc00092cf4d0bca4 --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1026/rec/stationbookendxr/000/sim_info/0/scene_snapshot.json @@ -0,0 +1,509 @@ +{ + "trajectory_id": 0, + "env_id": 0, + "run_id": "stationbookendxr/000", + "task_type": "BookendXRCommand", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])", + "avatars": "avatar_manager.set_avatars_state(snapshot['avatars'], env_ids=[env_id]) (present when the scene has animated avatars)" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "table_A": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.5796238805915712, + -0.14532402384828658, + 0.18 + ], + "ori": [ + 0.9981072545051575, + 0.0, + 0.0, + 0.06149729713797569 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.45, + 0.35 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + } + }, + "type_specific": {} + } + ], + "table_B": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 1.6673617393947668, + 3.0734817412117215, + 0.18 + ], + "ori": [ + 0.9999547600746155, + 0.0, + 0.0, + 0.009514641016721725 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.45, + 0.35 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + } + }, + "type_specific": {} + } + ], + "slot_left": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.5911920231074625, + -0.2676695512644207, + 0.3475 + ], + "ori": [ + 0.9981072545051575, + 0.0, + 0.0, + 0.06149729713797569 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.4, + 0.3, + 0.2 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.01, + 0.12, + 0.035 + ] + } + }, + "type_specific": {} + } + ], + "slot_right": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.5385929063844457, + -0.2611631759326065, + 0.3475 + ], + "ori": [ + 0.9981072545051575, + 0.0, + 0.0, + 0.06149729713797569 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.4, + 0.3, + 0.2 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.01, + 0.12, + 0.035 + ] + } + }, + "type_specific": {} + } + ], + "book": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.5659546256065369, + -0.25583282113075256, + 0.3999998867511749 + ], + "ori": [ + 0.662283182144165, + -1.4722004380018916e-06, + -1.0216109558314201e-06, + 0.7492535710334778 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.78, + 0.12, + 0.12 + ], + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.05, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.1, + 0.035, + 0.14 + ] + } + }, + "type_specific": { + "linear_velocity": [ + -0.00022783724125474691, + -2.4197310267481953e-05, + -6.490290979854763e-05 + ], + "angular_velocity": [ + 0.00042262053466401994, + -0.003653654595836997, + 9.678456262918189e-05 + ] + } + } + ], + "plate": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 1.6407697416412337, + 2.972957536885221, + 0.37049999999999994 + ], + "ori": [ + 0.9999547600746155, + 0.0, + 0.0, + 0.009514641016721725 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.35, + 0.35, + 0.4 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.012, + 0.14, + 0.08 + ] + } + }, + "type_specific": {} + } + ], + "bookend": [ + { + "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MMB_A07/bookend_l/Object.usda", + "pose": { + "pos": [ + 1.7443281412124634, + 2.9566094875335693, + 0.32999998331069946 + ], + "ori": [ + 0.7003468871116638, + -4.470348358154297e-08, + 4.023313522338867e-07, + 0.7138025760650635 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.6, + "physics_material": { + "static_friction": 0.2, + "dynamic_friction": 0.15, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.528232070948434e-07, + 5.762142336607212e-07, + -1.8845961449187598e-06 + ], + "angular_velocity": [ + 1.0873757673834916e-05, + -0.00011568692571017891, + -1.9103155864286236e-05 + ] + } + } + ] + } + ], + "artifacts": [ + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1000.0, + "texture": null, + "color": [ + 0.85, + 0.85, + 0.85 + ] + } + } + }, + "robots": { + "RidgebackSawyerUmi": { + "root_pose": [ + [ + -3.2661492824554443, + -2.292214870452881, + 0.05000000074505806, + 0.9657766222953796, + 0.0, + 0.0, + 0.25937533378601074 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.600000023841858, + 0.0, + 0.5, + 0.0, + -2.319999933242798, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "head": [ + [ + 0.21660000085830688, + 0.0, + -0.04500000178813934, + -0.6743797063827515, + 0.21263112127780914, + -0.21263112127780914, + 0.6743797659873962 + ] + ], + "wrist": [ + [ + 0.05979999899864197, + 0.0, + 0.029999999329447746, + 6.123234262925839e-17, + 0.7071067690849304, + 0.7071067690849304, + -4.329780301713277e-17 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_off/seed_1026/rec/stationbookendxr/000/sim_info/0/sim_states.npz b/N034/sawyer_umi/dr_off/seed_1026/rec/stationbookendxr/000/sim_info/0/sim_states.npz new file mode 100644 index 0000000000000000000000000000000000000000..dcf20890586f4c6e0425b05cd67f993cb8754e93 --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1026/rec/stationbookendxr/000/sim_info/0/sim_states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ee71a862b08bdce34d6f81303f3b0ce37a7e1da8e81ec82b392d31d0b8d9a8a6 +size 547027 diff --git a/N034/sawyer_umi/dr_off/seed_1026/rec/stationbookendxr/000/sim_info/magicsim_manifest.json b/N034/sawyer_umi/dr_off/seed_1026/rec/stationbookendxr/000/sim_info/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..f9852109863642373e868ede52eb70575dfd6b8a --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1026/rec/stationbookendxr/000/sim_info/magicsim_manifest.json @@ -0,0 +1,233 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 03:12:38" + }, + "embodiment": { + "robots": [ + { + "name": "RidgebackSawyerUmi", + "cfg": "RidgebackSawyerUmiCfg", + "type": "mobilemanip", + "joint_names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 11, + "nan_policy": "from_raw", + "segments": [ + { + "name": "RidgebackSawyerUmi.base_action", + "start": 0, + "end": 3, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint" + ], + "source": "HolonomicAction", + "names_source": "_joint_names" + }, + { + "name": "RidgebackSawyerUmi.arm_action", + "start": 3, + "end": 10, + "names": [ + "frame0.pos_x", + "frame0.pos_y", + "frame0.pos_z", + "frame0.quat_w", + "frame0.quat_x", + "frame0.quat_y", + "frame0.quat_z" + ], + "source": "PinkInverseKinematicsAction", + "names_source": "pink_layout" + }, + { + "name": "RidgebackSawyerUmi.eef_action", + "start": 10, + "end": 11, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 15, + "segments": [ + { + "name": "RidgebackSawyerUmi.joint_pos", + "start": 0, + "end": 13, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ], + "source": "ObservationManager", + "names_source": "joint_names" + }, + { + "name": "RidgebackSawyerUmi.gripper_pos", + "start": 13, + "end": 15, + "names": [ + "gripper_0", + "gripper_1" + ], + "source": "ObservationManager", + "names_source": "generated" + } + ] + }, + "joint_vel_layout": { + "dim": 13, + "segments": [ + { + "name": "RidgebackSawyerUmi.joint_vel", + "start": 0, + "end": 13, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "action_levels": { + "L0": "task command list (collect.auto_collect_info.current_action)", + "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)", + "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)", + "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy", + "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)" + }, + "cameras": { + "head": { + "intrinsics": { + "K": [ + [ + 355.55555555555554, + 0.0, + 320.0 + ], + [ + 0.0, + 355.55555555555554, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 83.97442499163331, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.21660000085830688, + 0.0, + -0.04500000178813934 + ], + "quat": [ + -0.6743797063827515, + 0.21263112127780914, + -0.21263112127780914, + 0.6743797659873962 + ] + }, + "wrist": { + "intrinsics": { + "K": [ + [ + 320.0, + 0.0, + 320.0 + ], + [ + 0.0, + 320.0, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 90.0, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.05979999899864197, + 0.0, + 0.029999999329447746 + ], + "quat": [ + 6.123234262925839e-17, + 0.7071067690849304, + 0.7071067690849304, + -4.329780301713277e-17 + ] + } + }, + "generated_run": { + "run_id": "stationbookendxr/000", + "task_type": "BookendXRCommand" + } +} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_off/seed_1026/report.episodes.jsonl b/N034/sawyer_umi/dr_off/seed_1026/report.episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..42dec60553f37ef7dff8314323e0cefaedefff64 --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1026/report.episodes.jsonl @@ -0,0 +1 @@ +{"task_id": "N034", "task_version": "EXT60-MobileAvatar-v3", "instruction": null, "agent_id": "a07", "family_id": "bookend_support", "primary_category": "C2", "level": "easy", "embodiment": "sawyer_umi", "scene_seed": 1026, "execution_mode": "expert_privileged_command", "station_layout": {"A": {"center": [-0.5796238805915712, -0.14532402384828658], "facing": 1.694, "stand": [-0.473, -1.009, 1.694]}, "B": {"center": [1.6673617393947668, 3.0734817412117215], "facing": 1.59, "stand": [1.685, 2.124, 1.59]}}, "spawn_pose": [-3.266, -2.292, 0.525], "base_path": [[-3.266, -2.292, 0.525], [-3.266, -2.292, 0.525], [-3.266, -2.292, 0.525], [-3.266, -2.292, 0.525], [-3.266, -2.292, 0.524], [-3.168, -2.242, 0.456], [-3.031, -2.181, 0.427], [-2.893, -2.122, 0.417], [-2.755, -2.063, 0.413], [-2.617, -2.005, 0.412], [-2.479, -1.946, 0.411], [-2.341, -1.887, 0.411], [-2.203, -1.829, 0.411], [-2.065, -1.77, 0.411], [-1.927, -1.71, 0.411], [-1.79, -1.651, 0.411], [-1.652, -1.59, 0.411], [-1.515, -1.53, 0.411], [-1.377, -1.471, 0.411], [-1.24, -1.411, 0.411], [-1.102, -1.35, 0.411], [-0.964, -1.291, 0.411], [-0.827, -1.231, 0.411], [-0.705, -1.158, 0.411], [-0.623, -1.106, 0.411], [-0.569, -1.073, 0.411], [-0.534, -1.05, 0.411], [-0.512, -1.036, 0.458], [-0.512, -1.036, 0.858], [-0.512, -1.037, 1.251], [-0.512, -1.037, 1.487], [-0.512, -1.037, 1.574], [-0.512, -1.037, 1.574], [-0.512, -1.037, 1.574], [-0.512, -1.037, 1.574], [-0.512, -1.037, 1.574], [-0.512, -1.037, 1.574], [-0.512, -1.037, 1.574], [-0.512, -1.037, 1.574], [-0.512, -1.037, 1.574], [-0.512, -1.037, 1.574], [-0.512, -1.037, 1.574], [-0.512, -1.037, 1.574], [-0.512, -1.037, 1.574], [-0.512, -1.037, 1.574], [-0.512, -1.037, 1.574], [-0.512, -1.037, 1.574], [-0.512, -1.037, 1.574], [-0.512, -1.037, 1.574], [-0.512, -1.037, 1.574], [-0.512, -1.037, 1.574], [-0.512, -1.037, 1.574], [-0.512, -1.037, 1.574], [-0.512, -1.037, 1.574], [-0.512, -1.037, 1.574], [-0.512, -1.037, 1.574], [-0.512, -1.037, 1.574], [-0.512, -1.037, 1.574], [-0.512, -1.037, 1.574], [-0.512, -1.037, 1.574], [-0.512, -1.037, 1.574], [-0.512, -1.037, 1.574], [-0.512, -1.037, 1.574], [-0.512, -1.037, 1.574], [-0.512, -1.037, 1.574], [-0.512, -1.037, 1.574], [-0.512, -1.037, 1.574], [-0.512, -1.037, 1.574], [-0.512, -1.037, 1.574], [-0.512, -1.037, 1.574], [-0.512, -1.037, 1.574], [-0.512, -1.037, 1.574], [-0.512, -1.037, 1.574], [-0.512, -1.037, 1.574], [-0.512, -1.037, 1.574], [-0.512, -1.037, 1.574], [-0.512, -1.037, 1.574], [-0.512, -1.037, 1.574], [-0.511, -1.037, 1.447], [-0.511, -1.037, 1.047], [-0.506, -1.032, 0.68], [-0.392, -0.964, 0.477], [-0.252, -0.911, 0.404], [-0.109, -0.863, 0.378], [0.022, -0.788, 0.368], [0.154, -0.724, 0.65], [0.27, -0.629, 0.974], [0.351, -0.503, 1.099], [0.418, -0.368, 1.136], [0.476, -0.229, 1.086], [0.545, -0.096, 1.093], [0.613, 0.038, 1.095], [0.682, 0.172, 1.096], [0.751, 0.306, 1.096], [0.82, 0.44, 1.096], [0.889, 0.574, 1.096], [0.957, 0.708, 1.096], [1.026, 0.842, 1.096], [1.095, 0.976, 1.096], [1.164, 1.11, 1.096], [1.231, 1.244, 1.096], [1.298, 1.377, 1.096], [1.366, 1.51, 1.096], [1.433, 1.644, 1.096], [1.501, 1.777, 1.096], [1.563, 1.898, 1.097], [1.604, 1.979, 1.097], [1.633, 2.03, 1.097], [1.65, 2.065, 1.097], [1.659, 2.083, 1.191], [1.659, 2.082, 1.404], [1.659, 2.082, 1.472], [1.659, 2.082, 1.472], [1.659, 2.082, 1.472], [1.659, 2.082, 1.472], [1.659, 2.082, 1.472], [1.659, 2.082, 1.472], [1.659, 2.082, 1.472], [1.659, 2.082, 1.472], [1.659, 2.082, 1.472], [1.659, 2.082, 1.472], [1.659, 2.082, 1.472], [1.659, 2.082, 1.472], [1.659, 2.082, 1.472], [1.659, 2.082, 1.472], [1.659, 2.082, 1.472], [1.659, 2.082, 1.472], [1.659, 2.082, 1.472], [1.659, 2.082, 1.472], [1.659, 2.082, 1.472], [1.659, 2.082, 1.472], [1.659, 2.082, 1.472], [1.659, 2.082, 1.472], [1.659, 2.082, 1.472], [1.659, 2.082, 1.472], [1.659, 2.082, 1.472], [1.659, 2.082, 1.472], [1.659, 2.082, 1.472], [1.659, 2.082, 1.472], [1.659, 2.082, 1.472], [1.659, 2.082, 1.472], [1.659, 2.082, 1.472], [1.659, 2.082, 1.472], [1.659, 2.082, 1.472], [1.659, 2.082, 1.472], [1.659, 2.082, 1.472], [1.659, 2.082, 1.472], [1.659, 2.082, 1.472], [1.659, 2.082, 1.472], [1.659, 2.082, 1.472], [1.659, 2.082, 1.472], [1.659, 2.082, 1.472], [1.659, 2.082, 1.472], [1.659, 2.082, 1.472], [1.659, 2.082, 1.472], [1.659, 2.082, 1.472], [1.659, 2.082, 1.472], [1.659, 2.082, 1.472], [1.659, 2.082, 1.472], [1.659, 2.082, 1.472], [1.659, 2.082, 1.472], [1.659, 2.082, 1.472], [1.659, 2.082, 1.472], [1.659, 2.082, 1.472], [1.659, 2.082, 1.472], [1.659, 2.082, 1.472], [1.659, 2.082, 1.472], [1.659, 2.082, 1.472], [1.659, 2.082, 1.472], [1.659, 2.082, 1.472], [1.659, 2.082, 1.472], [1.659, 2.082, 1.472], [1.659, 2.082, 1.472], [1.659, 2.082, 1.472]], "stage_events": [{"tick": 472, "event": "enter_station", "station": "A", "xy": [-1.262, -1.42]}, {"tick": 2337, "event": "leave_station", "station": "A", "xy": [0.781, 0.365]}, {"tick": 2576, "event": "enter_station", "station": "B", "xy": [1.433, 1.644]}], "transport_state": {"book": {"held": false, "grasps": 1}}, "manipulation_success": true, "mobile_success": true, "full_success": true, "failure_reason": null, "fail_class_hint": null, "distance_to_first_interaction": 2.186, "interstation_path_lengths": [4.293], "station_transition_order": ["A", "B"], "final_approach_pose": [1.659, 2.082, 1.472], "regrasp_events": 0, "control_ticks": 3749, "wall_s": 787.0, "phase": "done", "state": "success: task sequence complete", "check": {"book": [1.668, 2.973, 0.4], "dist_wrist": 0.219, "held": false, "upright_deg": 0.0, "rest_z": true, "gaps": {"plate": 0.0034, "bookend": 0.0018}, "pushed": true, "released": true, "at_rest": true, "manipulation_success": true}, "route": ["A", "B"], "total_path_m": 6.97, "planner_seeds": "default"} diff --git a/N034/sawyer_umi/dr_off/seed_1026/report.json b/N034/sawyer_umi/dr_off/seed_1026/report.json new file mode 100644 index 0000000000000000000000000000000000000000..a0b0ea0e4016bdaf7770bc71c0313eb7c7da05b6 --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1026/report.json @@ -0,0 +1,1096 @@ +{ + "task_id": "N034", + "robot": "sawyer_umi", + "level": "easy", + "seed": 1026, + "episodes_requested": 1, + "episodes": [ + { + "task_id": "N034", + "task_version": "EXT60-MobileAvatar-v3", + "instruction": null, + "agent_id": "a07", + "family_id": "bookend_support", + "primary_category": "C2", + "level": "easy", + "embodiment": "sawyer_umi", + "scene_seed": 1026, + "execution_mode": "expert_privileged_command", + "station_layout": { + "A": { + "center": [ + -0.5796238805915712, + -0.14532402384828658 + ], + "facing": 1.694, + "stand": [ + -0.473, + -1.009, + 1.694 + ] + }, + "B": { + "center": [ + 1.6673617393947668, + 3.0734817412117215 + ], + "facing": 1.59, + "stand": [ + 1.685, + 2.124, + 1.59 + ] + } + }, + "spawn_pose": [ + -3.266, + -2.292, + 0.525 + ], + "base_path": [ + [ + -3.266, + -2.292, + 0.525 + ], + [ + -3.266, + -2.292, + 0.525 + ], + [ + -3.266, + -2.292, + 0.525 + ], + [ + -3.266, + -2.292, + 0.525 + ], + [ + -3.266, + -2.292, + 0.524 + ], + [ + -3.168, + -2.242, + 0.456 + ], + [ + -3.031, + -2.181, + 0.427 + ], + [ + -2.893, + -2.122, + 0.417 + ], + [ + -2.755, + -2.063, + 0.413 + ], + [ + -2.617, + -2.005, + 0.412 + ], + [ + -2.479, + -1.946, + 0.411 + ], + [ + -2.341, + -1.887, + 0.411 + ], + [ + -2.203, + -1.829, + 0.411 + ], + [ + -2.065, + -1.77, + 0.411 + ], + [ + -1.927, + -1.71, + 0.411 + ], + [ + -1.79, + -1.651, + 0.411 + ], + [ + -1.652, + -1.59, + 0.411 + ], + [ + -1.515, + -1.53, + 0.411 + ], + [ + -1.377, + -1.471, + 0.411 + ], + [ + -1.24, + -1.411, + 0.411 + ], + [ + -1.102, + -1.35, + 0.411 + ], + [ + -0.964, + -1.291, + 0.411 + ], + [ + -0.827, + -1.231, + 0.411 + ], + [ + -0.705, + -1.158, + 0.411 + ], + [ + -0.623, + -1.106, + 0.411 + ], + [ + -0.569, + -1.073, + 0.411 + ], + [ + -0.534, + -1.05, + 0.411 + ], + [ + -0.512, + -1.036, + 0.458 + ], + [ + -0.512, + -1.036, + 0.858 + ], + [ + -0.512, + -1.037, + 1.251 + ], + [ + -0.512, + -1.037, + 1.487 + ], + [ + -0.512, + -1.037, + 1.574 + ], + [ + -0.512, + -1.037, + 1.574 + ], + [ + -0.512, + -1.037, + 1.574 + ], + [ + -0.512, + -1.037, + 1.574 + ], + [ + -0.512, + -1.037, + 1.574 + ], + [ + -0.512, + -1.037, + 1.574 + ], + [ + -0.512, + -1.037, + 1.574 + ], + [ + -0.512, + -1.037, + 1.574 + ], + [ + -0.512, + -1.037, + 1.574 + ], + [ + -0.512, + -1.037, + 1.574 + ], + [ + -0.512, + -1.037, + 1.574 + ], + [ + -0.512, + -1.037, + 1.574 + ], + [ + -0.512, + -1.037, + 1.574 + ], + [ + -0.512, + -1.037, + 1.574 + ], + [ + -0.512, + -1.037, + 1.574 + ], + [ + -0.512, + -1.037, + 1.574 + ], + [ + -0.512, + -1.037, + 1.574 + ], + [ + -0.512, + -1.037, + 1.574 + ], + [ + -0.512, + -1.037, + 1.574 + ], + [ + -0.512, + -1.037, + 1.574 + ], + [ + -0.512, + -1.037, + 1.574 + ], + [ + -0.512, + -1.037, + 1.574 + ], + [ + -0.512, + -1.037, + 1.574 + ], + [ + -0.512, + -1.037, + 1.574 + ], + [ + -0.512, + -1.037, + 1.574 + ], + [ + -0.512, + -1.037, + 1.574 + ], + [ + -0.512, + -1.037, + 1.574 + ], + [ + -0.512, + -1.037, + 1.574 + ], + [ + -0.512, + -1.037, + 1.574 + ], + [ + -0.512, + -1.037, + 1.574 + ], + [ + -0.512, + -1.037, + 1.574 + ], + [ + -0.512, + -1.037, + 1.574 + ], + [ + -0.512, + -1.037, + 1.574 + ], + [ + -0.512, + -1.037, + 1.574 + ], + [ + -0.512, + -1.037, + 1.574 + ], + [ + -0.512, + -1.037, + 1.574 + ], + [ + -0.512, + -1.037, + 1.574 + ], + [ + -0.512, + -1.037, + 1.574 + ], + [ + -0.512, + -1.037, + 1.574 + ], + [ + -0.512, + -1.037, + 1.574 + ], + [ + -0.512, + -1.037, + 1.574 + ], + [ + -0.512, + -1.037, + 1.574 + ], + [ + -0.512, + -1.037, + 1.574 + ], + [ + -0.512, + -1.037, + 1.574 + ], + [ + -0.512, + -1.037, + 1.574 + ], + [ + -0.512, + -1.037, + 1.574 + ], + [ + -0.512, + -1.037, + 1.574 + ], + [ + -0.511, + -1.037, + 1.447 + ], + [ + -0.511, + -1.037, + 1.047 + ], + [ + -0.506, + -1.032, + 0.68 + ], + [ + -0.392, + -0.964, + 0.477 + ], + [ + -0.252, + -0.911, + 0.404 + ], + [ + -0.109, + -0.863, + 0.378 + ], + [ + 0.022, + -0.788, + 0.368 + ], + [ + 0.154, + -0.724, + 0.65 + ], + [ + 0.27, + -0.629, + 0.974 + ], + [ + 0.351, + -0.503, + 1.099 + ], + [ + 0.418, + -0.368, + 1.136 + ], + [ + 0.476, + -0.229, + 1.086 + ], + [ + 0.545, + -0.096, + 1.093 + ], + [ + 0.613, + 0.038, + 1.095 + ], + [ + 0.682, + 0.172, + 1.096 + ], + [ + 0.751, + 0.306, + 1.096 + ], + [ + 0.82, + 0.44, + 1.096 + ], + [ + 0.889, + 0.574, + 1.096 + ], + [ + 0.957, + 0.708, + 1.096 + ], + [ + 1.026, + 0.842, + 1.096 + ], + [ + 1.095, + 0.976, + 1.096 + ], + [ + 1.164, + 1.11, + 1.096 + ], + [ + 1.231, + 1.244, + 1.096 + ], + [ + 1.298, + 1.377, + 1.096 + ], + [ + 1.366, + 1.51, + 1.096 + ], + [ + 1.433, + 1.644, + 1.096 + ], + [ + 1.501, + 1.777, + 1.096 + ], + [ + 1.563, + 1.898, + 1.097 + ], + [ + 1.604, + 1.979, + 1.097 + ], + [ + 1.633, + 2.03, + 1.097 + ], + [ + 1.65, + 2.065, + 1.097 + ], + [ + 1.659, + 2.083, + 1.191 + ], + [ + 1.659, + 2.082, + 1.404 + ], + [ + 1.659, + 2.082, + 1.472 + ], + [ + 1.659, + 2.082, + 1.472 + ], + [ + 1.659, + 2.082, + 1.472 + ], + [ + 1.659, + 2.082, + 1.472 + ], + [ + 1.659, + 2.082, + 1.472 + ], + [ + 1.659, + 2.082, + 1.472 + ], + [ + 1.659, + 2.082, + 1.472 + ], + [ + 1.659, + 2.082, + 1.472 + ], + [ + 1.659, + 2.082, + 1.472 + ], + [ + 1.659, + 2.082, + 1.472 + ], + [ + 1.659, + 2.082, + 1.472 + ], + [ + 1.659, + 2.082, + 1.472 + ], + [ + 1.659, + 2.082, + 1.472 + ], + [ + 1.659, + 2.082, + 1.472 + ], + [ + 1.659, + 2.082, + 1.472 + ], + [ + 1.659, + 2.082, + 1.472 + ], + [ + 1.659, + 2.082, + 1.472 + ], + [ + 1.659, + 2.082, + 1.472 + ], + [ + 1.659, + 2.082, + 1.472 + ], + [ + 1.659, + 2.082, + 1.472 + ], + [ + 1.659, + 2.082, + 1.472 + ], + [ + 1.659, + 2.082, + 1.472 + ], + [ + 1.659, + 2.082, + 1.472 + ], + [ + 1.659, + 2.082, + 1.472 + ], + [ + 1.659, + 2.082, + 1.472 + ], + [ + 1.659, + 2.082, + 1.472 + ], + [ + 1.659, + 2.082, + 1.472 + ], + [ + 1.659, + 2.082, + 1.472 + ], + [ + 1.659, + 2.082, + 1.472 + ], + [ + 1.659, + 2.082, + 1.472 + ], + [ + 1.659, + 2.082, + 1.472 + ], + [ + 1.659, + 2.082, + 1.472 + ], + [ + 1.659, + 2.082, + 1.472 + ], + [ + 1.659, + 2.082, + 1.472 + ], + [ + 1.659, + 2.082, + 1.472 + ], + [ + 1.659, + 2.082, + 1.472 + ], + [ + 1.659, + 2.082, + 1.472 + ], + [ + 1.659, + 2.082, + 1.472 + ], + [ + 1.659, + 2.082, + 1.472 + ], + [ + 1.659, + 2.082, + 1.472 + ], + [ + 1.659, + 2.082, + 1.472 + ], + [ + 1.659, + 2.082, + 1.472 + ], + [ + 1.659, + 2.082, + 1.472 + ], + [ + 1.659, + 2.082, + 1.472 + ], + [ + 1.659, + 2.082, + 1.472 + ], + [ + 1.659, + 2.082, + 1.472 + ], + [ + 1.659, + 2.082, + 1.472 + ], + [ + 1.659, + 2.082, + 1.472 + ], + [ + 1.659, + 2.082, + 1.472 + ], + [ + 1.659, + 2.082, + 1.472 + ], + [ + 1.659, + 2.082, + 1.472 + ], + [ + 1.659, + 2.082, + 1.472 + ], + [ + 1.659, + 2.082, + 1.472 + ], + [ + 1.659, + 2.082, + 1.472 + ], + [ + 1.659, + 2.082, + 1.472 + ], + [ + 1.659, + 2.082, + 1.472 + ], + [ + 1.659, + 2.082, + 1.472 + ], + [ + 1.659, + 2.082, + 1.472 + ], + [ + 1.659, + 2.082, + 1.472 + ], + [ + 1.659, + 2.082, + 1.472 + ], + [ + 1.659, + 2.082, + 1.472 + ], + [ + 1.659, + 2.082, + 1.472 + ], + [ + 1.659, + 2.082, + 1.472 + ] + ], + "stage_events": [ + { + "tick": 472, + "event": "enter_station", + "station": "A", + "xy": [ + -1.262, + -1.42 + ] + }, + { + "tick": 2337, + "event": "leave_station", + "station": "A", + "xy": [ + 0.781, + 0.365 + ] + }, + { + "tick": 2576, + "event": "enter_station", + "station": "B", + "xy": [ + 1.433, + 1.644 + ] + } + ], + "transport_state": { + "book": { + "held": false, + "grasps": 1 + } + }, + "manipulation_success": true, + "mobile_success": true, + "full_success": true, + "failure_reason": null, + "fail_class_hint": null, + "distance_to_first_interaction": 2.186, + "interstation_path_lengths": [ + 4.293 + ], + "station_transition_order": [ + "A", + "B" + ], + "final_approach_pose": [ + 1.659, + 2.082, + 1.472 + ], + "regrasp_events": 0, + "control_ticks": 3749, + "wall_s": 787.0, + "phase": "done", + "state": "success: task sequence complete", + "check": { + "book": [ + 1.668, + 2.973, + 0.4 + ], + "dist_wrist": 0.219, + "held": false, + "upright_deg": 0.0, + "rest_z": true, + "gaps": { + "plate": 0.0034, + "bookend": 0.0018 + }, + "pushed": true, + "released": true, + "at_rest": true, + "manipulation_success": true + }, + "route": [ + "A", + "B" + ], + "total_path_m": 6.97, + "planner_seeds": "default" + } + ], + "error": null, + "collect": { + "task": "N034", + "robot": "sawyer_umi", + "visual_dr": false, + "env": { + "MMB_COLLECT": "1", + "MMB_TASK_ID": "N034", + "MMB_CLEAN_VIEW": "1", + "MMB_REAL_ROBOT_LOOK": "1", + "MMB_VISUAL_DR": "0" + }, + "cameras": { + "head": { + "link": "Robot_0/head", + "pos": [ + 0.2166, + 0.0, + -0.045 + ], + "ori": [ + -0.0, + 35.0, + -90.0 + ], + "focal_length": 2.0, + "horizontal_aperture": 3.6, + "vertical_aperture": 2.7 + }, + "wrist": { + "link": "Robot_0/right_electric_gripper_base", + "pos": [ + 0.0598, + 0.0, + 0.03 + ], + "ori": [ + 180.0, + 0.0, + -90.0 + ], + "focal_length": 1.8, + "horizontal_aperture": 3.6, + "vertical_aperture": 2.7 + } + }, + "resolution": [ + 640, + 480 + ], + "camera_hz": 25, + "record": { + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + } + }, + "review_cameras": [], + "policy_obs_signature": [ + "/camera_info[0]/rgb[0]:(480, 640, 4):uint8", + "/camera_info[1]/rgb[0]:(480, 640, 4):uint8", + "/robot_state[0]/RidgebackSawyerUmi/base_ang_vel:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/base_heading_quat:(1, 4):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/base_lin_vel:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/base_pos:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/base_quat:(1, 4):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/eef_pos:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/eef_quat:(1, 4):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/eef_relative_pos:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/eef_relative_quat:(1, 4):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/eef_relatvie_pos_arm_base:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/gripper_pos:(1, 2):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/joint_effort:(1, 13):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/joint_pos:(1, 13):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/joint_vel:(1, 13):torch.float32" + ], + "n_success": 1, + "elapsed_s": 1052.8, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 53.6 + } +} diff --git a/N034/sawyer_umi/dr_on/seed_2020/check.json b/N034/sawyer_umi/dr_on/seed_2020/check.json new file mode 100644 index 0000000000000000000000000000000000000000..f1ab03127e5490e0bacabf094e7325542a1a2f93 --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2020/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'; expected 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "3036 rows vs ceil(6072/2) = 3036" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..6171, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "70.76 MB, 3036 frames at 25 fps, mean luma 73..155, std 42, new picture 3035x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "3036 vs 3036" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "68.83 MB, 3036 frames at 25 fps, mean luma 75..148, std 35, new picture 3035x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "3036 vs 3036" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationbookendxr/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_on/seed_2020/check.txt b/N034/sawyer_umi/dr_on/seed_2020/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..9ea3ef638d58b1f7196eb1323854adaa20bfa898 --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2020/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n034_saw_on_2020/out task=N034 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n034_saw_on_2020/out/rec/stationbookendxr/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 3036 videos 2 robot_type RidgebackSawyerUmiCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 3036 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1'] +[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z'] +[PASS] task text = MobileBench instruction: task_index 0: 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'; expected 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.' +rows 3036 at dataset fps 25 = 121.44 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3036 rows vs ceil(6072/2) = 3036 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..6171, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 70.76 MB, 3036 frames at 25 fps, mean luma 73..155, std 42, new picture 3035x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 3036 vs 3036 +[PASS] video observation.images.wrist decodes, 640x480, not black: 68.83 MB, 3036 frames at 25 fps, mean luma 75..148, std 35, new picture 3035x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 3036 vs 3036 +parquet size 2.97 MB +[PASS] sim_info present: rec/stationbookendxr/000/sim_info +dataset size 142.76 MB; whole cell dir 144.3 MB +RESULT: ALL PASS diff --git a/N034/sawyer_umi/dr_on/seed_2020/rec/stationbookendxr/000/completed/0.json b/N034/sawyer_umi/dr_on/seed_2020/rec/stationbookendxr/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..2218f14552b5319a4951e60bfd54adf3df3cac5e --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2020/rec/stationbookendxr/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationbookendxr/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_on/seed_2020/rec/stationbookendxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N034/sawyer_umi/dr_on/seed_2020/rec/stationbookendxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..4d8f76387c67df3687d6818e038efe1ac847223b --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2020/rec/stationbookendxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:48b7c61ae95f61d304680b82cd9195e047cb31fe23e20dc2876b9c495633a637 +size 2966764 diff --git a/N034/sawyer_umi/dr_on/seed_2020/rec/stationbookendxr/000/lerobot_v21/meta/episodes.jsonl b/N034/sawyer_umi/dr_on/seed_2020/rec/stationbookendxr/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..43c1a4c8ad6b34ae575368c1d0e283c405939ab9 --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2020/rec/stationbookendxr/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it."], "length": 3036, "magicsim/control_steps": 6072, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the brown slot left. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is to the left of the brown slot right. The gray table B is to the left of the bookend. The red book is on top of the brown slot left. The gray plate is to the left of the bookend. The bookend is to the right of the gray plate. The scene is viewed from front, at table height."} diff --git a/N034/sawyer_umi/dr_on/seed_2020/rec/stationbookendxr/000/lerobot_v21/meta/episodes_stats.jsonl b/N034/sawyer_umi/dr_on/seed_2020/rec/stationbookendxr/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..69ebf61554ba1b87119d53da19fba799e6664e7e --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2020/rec/stationbookendxr/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.061892812693067026, -0.0006014905773024707, 0.007150022284623496, 0.8450003671650045, 1.1787341808917415, 0.9060300534225422, 0.0311291168802154, -0.05011636273240933, 0.029693939257739083, 0.11854754481587328, 0.6264822134387352], "std": [0.11821317074900245, 0.014066890297189145, 0.13287912895422224, 1.3629710262200148, 1.7707347586775533, 0.23945491331338184, 0.28496224615204563, 0.6199769309114315, 0.2060273620927933, 0.6881582599830451, 0.4837377902166077], "min": [0.0, -0.09324733912944794, -0.800000011920929, -3.1939339637756348, -2.0879335403442383, 0.5874999761581421, -0.6337365508079529, -0.8904667496681213, -0.4151822030544281, -0.7878567576408386, 0.0], "max": [0.30000001192092896, 0.2562023103237152, 0.800000011920929, 2.194173574447632, 3.0665440559387207, 1.3731155395507812, 0.691862940788269, 0.7636003494262695, 0.5132288932800293, 0.958622395992279, 1.0], "count": [3036]}, "action_is_hold": {"mean": [0.08036890645586298, 0.08036890645586298, 0.08036890645586298, 0.09453227931488802, 0.09453227931488802, 0.09453227931488802, 0.09453227931488802, 0.09453227931488802, 0.09453227931488802, 0.09453227931488802, 0.9917654808959157], "std": [0.2718634681801742, 0.2718634681801742, 0.2718634681801742, 0.2925678168945072, 0.2925678168945072, 0.2925678168945072, 0.2925678168945072, 0.2925678168945072, 0.2925678168945072, 0.2925678168945072, 0.09036986112199608], "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": [3036]}, "observation.state": {"mean": [1.60353755039974, -1.853236446699449, 1.22031387320581, 1.9067052074374096, -1.9051946047795563, -2.5428692948205667, -0.5776578229943365, 1.3726668057469982, 1.5872892037227972, -2.157888981860931, -0.22621601411476547, 0.01378625498273917, -0.014313169087542052, -0.014313169087542052, -0.01378625498273917], "std": [1.9890511866108078, 0.785026886016112, 0.3410702959142925, 1.0850008380099936, 1.0855242664570033, 0.5571385216394812, 0.3274550331946925, 0.46279487113614876, 0.953617281820607, 0.2364073675341079, 0.44234930312397014, 0.00865270470898168, 0.008927599583388422, 0.008927599583388422, 0.00865270470898168], "min": [-3.497370958328247, -2.866246223449707, 0.12555652856826782, -0.040998805314302444, -3.0409677028656006, -3.3710551261901855, -1.0803221464157104, 0.49721595644950867, -0.061386317014694214, -2.5148308277130127, -0.9386231899261475, 0.0, -0.020833000540733337, -0.020833000540733337, -0.020833000540733337], "max": [3.518089532852173, -1.039729356765747, 1.4039404392242432, 3.041501522064209, 0.04004170373082161, -1.565491795539856, 0.0007986507844179869, 2.161651611328125, 2.895434617996216, -1.2740068435668945, 0.914379894733429, 0.020833000540733337, 0.0, 0.0, -0.0], "count": [3036]}, "observation.joint_vel": {"mean": [0.05779666542016789, 0.011529592303092907, 0.007428212511268867, 0.024710973010584836, -0.020390654841836154, -0.011701443409332997, -0.004721589479733648, 0.004606629961823566, 0.009159573462629671, -0.001042806105313895, 0.007379316550462047, -0.0013310790250942305, -0.00028629623120188957], "std": [0.11019737272948738, 0.050080681955481855, 0.1345880240890567, 0.08810711119982015, 0.07322553263678139, 0.06489971596871696, 0.06088593263931007, 0.06617639866238295, 0.10856153308721163, 0.07861047352344279, 0.07912629731278976, 0.008111456414493567, 0.008132741195468262], "min": [-0.0003185414825566113, -0.1283116340637207, -0.8000220656394958, -0.19638296961784363, -0.20887348055839539, -0.19057045876979828, -0.20357000827789307, -0.2058357447385788, -0.32871168851852417, -0.18628312647342682, -0.3522762954235077, -0.10001516342163086, -0.10008683800697327], "max": [0.3712759017944336, 0.17703169584274292, 0.8000711798667908, 0.17507876455783844, 0.16651780903339386, 0.30366235971450806, 0.3807089328765869, 0.20691251754760742, 0.33110204339027405, 0.32432296872138977, 0.4117746353149414, 0.10001004487276077, 0.10009407252073288], "count": [3036]}, "observation.eef_pose": {"mean": [0.8464083459469237, 1.173217120202754, 0.9079792080582052, -0.09158484204331774, 0.4376183412134726, -0.012067984940228942, -0.27206502852615394], "std": [1.3644590624462838, 1.7672748998184828, 0.24228838622587426, 0.2706462775069586, 0.4402564447807095, 0.20727333082131816, 0.6449030265663092], "min": [-3.1939339637756348, -2.089326858520508, 0.5884621739387512, -0.6859452724456787, -0.7062000632286072, -0.5140196681022644, -0.7953104972839355], "max": [2.2019922733306885, 3.0717415809631348, 1.3739824295043945, 0.516771137714386, 0.8944641351699829, 0.5138348340988159, 0.9589042067527771], "count": [3036]}, "observation.environment_state": {"mean": [0.9561337112795825, 1.3235019218791733, 0.506650551230854, 0.7437143243937624, 0.013029806816168221, 0.00019602419199809634, 0.6590372846315815, 2.111057157494491, 3.0571219248891035, 0.33000003823296353, 0.7248890825371811, -2.478078912081763e-07, -7.133022938406082e-08, 0.688864101612835, 2.0125203132629395, 3.065073013305664, 0.37049999833106995, 0.9996863603591919, 0.0, 0.0, -0.025043580681085587, -0.32989951968193054, -0.23284251987934113, 0.3474999964237213, 0.9992436766624451, 0.0, 0.0, -0.03888540342450142, -0.2770598232746124, -0.23696133494377136, 0.3474999964237213, 0.9992436766624451, 0.0, 0.0, -0.03888540342450142, -0.2941540479660034, -0.11526484787464142, 0.18000000715255737, 0.9992436766624451, 0.0, 0.0, -0.03888540342450142, 2.0459916591644287, 3.163520574569702, 0.18000000715255737, 0.9996863603591919, 0.0, 0.0, -0.025043580681085587], "std": [1.1226245330077433, 1.593027083375457, 0.1425101693734482, 0.05146991489980036, 0.023640182168518424, 0.029807028719354547, 0.0910635873288991, 0.012851352242065189, 0.001262436796092393, 4.216092399962979e-08, 0.0009839868116381122, 1.8853677358409855e-06, 1.6646716235654659e-06, 0.0010400081331544792, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 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": [-0.3148156702518463, -0.8533029556274414, 0.39999979734420776, 0.6934570074081421, -0.003597577568143606, -0.0821978971362114, 0.13147413730621338, 2.0658888816833496, 3.0567336082458496, 0.3299998641014099, 0.7244523763656616, -4.2527921323198825e-05, -3.743172055692412e-05, 0.6852472424507141, 2.0125203132629395, 3.065073013305664, 0.37049999833106995, 0.9996863603591919, 0.0, 0.0, -0.025043580681085587, -0.32989951968193054, -0.23284251987934113, 0.3474999964237213, 0.9992436766624451, 0.0, 0.0, -0.03888540342450142, -0.2770598232746124, -0.23696133494377136, 0.3474999964237213, 0.9992436766624451, 0.0, 0.0, -0.03888540342450142, -0.2941540479660034, -0.11526484787464142, 0.18000000715255737, 0.9992436766624451, 0.0, 0.0, -0.03888540342450142, 2.0459916591644287, 3.163520574569702, 0.18000000715255737, 0.9996863603591919, 0.0, 0.0, -0.025043580681085587], "max": [2.200664520263672, 3.0622541904449463, 0.758686900138855, 0.9908921122550964, 0.1038321703672409, 0.11345412582159042, 0.7160115242004395, 2.114832639694214, 3.061567544937134, 0.3300008177757263, 0.7283104658126831, 1.0877848808377166e-06, 1.2516975402832031e-06, 0.6893248558044434, 2.0125203132629395, 3.065073013305664, 0.37049999833106995, 0.9996863603591919, 0.0, 0.0, -0.025043580681085587, -0.32989951968193054, -0.23284251987934113, 0.3474999964237213, 0.9992436766624451, 0.0, 0.0, -0.03888540342450142, -0.2770598232746124, -0.23696133494377136, 0.3474999964237213, 0.9992436766624451, 0.0, 0.0, -0.03888540342450142, -0.2941540479660034, -0.11526484787464142, 0.18000000715255737, 0.9992436766624451, 0.0, 0.0, -0.03888540342450142, 2.0459916591644287, 3.163520574569702, 0.18000000715255737, 0.9996863603591919, 0.0, 0.0, -0.025043580681085587], "count": [3036]}, "action.command": {"mean": [-1.7825078069055833, -1.637482113406856, 1.508382190263552, 0.0, 0.0, 0.0, 0.0, -0.11931611495089123, 0.7855285480699785, 1.0863839135945341, 0.9154793546606559, 0.031067660443617588, -0.0925437395151592, 0.025365227212077977, 0.16358532781772675, 0.6, -1.707507195230458, -1.6064559488639216, 1.508382190263552, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07183414730883886, -0.0882693381779256, 1.1678515876536033, -0.22278469005112606, 0.32922324431596195, -0.1375973155304254, 0.05129246692527478, 0.0, -1.6569686937509416, -1.5824742361515427, 1.508382190263552, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07183414730883886, -0.0882693381779256, 1.1678515876536033, -0.22278469005112606, 0.32922324431596195, -0.1375973155304254, 0.05129246692527478, 0.0, -1.6317819355441143, -1.5736132770075084, 1.508382190263552, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07183414730883886, -0.0882693381779256, 1.1678515876536033, -0.22278469005112606, 0.32922324431596195, -0.1375973155304254, 0.05129246692527478, 0.0, -1.5268875613088502, -1.5519935691814588, 1.508382190263552, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07183414730883886, -0.0882693381779256, 1.1678515876536033, -0.22278469005112606, 0.32922324431596195, -0.1375973155304254, 0.05129246692527478, 0.0, -1.4733449233952065, -1.531317217790209, 1.508382190263552, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07183414730883886, -0.0882693381779256, 1.1678515876536033, -0.22278469005112606, 0.32922324431596195, -0.1375973155304254, 0.05129246692527478, 0.0, -1.3704973401633338, -1.508487948697739, 1.508382190263552, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07183414730883886, -0.0882693381779256, 1.1678515876536033, -0.22278469005112606, 0.32922324431596195, -0.1375973155304254, 0.05129246692527478, 0.0, -1.3041814252494142, -1.4878849888675127, 1.508382190263552, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07183414730883886, -0.0882693381779256, 1.1678515876536033, -0.22278469005112606, 0.32922324431596195, -0.1375973155304254, 0.05129246692527478, 0.0, -1.1995847434950289, -1.4577895930265405, 1.508382190263552, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07183414730883886, -0.0882693381779256, 1.1678515876536033, -0.22278469005112606, 0.32922324431596195, -0.1375973155304254, 0.05129246692527478, 0.0, -1.139310389498648, -1.4449510624565305, 1.508382190263552, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07183414730883886, -0.0882693381779256, 1.1678515876536033, -0.22278469005112606, 0.32922324431596195, -0.1375973155304254, 0.05129246692527478, 0.0, -1.082333849856106, -1.4337553647075592, 1.508382190263552, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07183414730883886, -0.0882693381779256, 1.1678515876536033, -0.22278469005112606, 0.32922324431596195, -0.1375973155304254, 0.05129246692527478, 0.0, -0.9912914562107167, -1.4039792532962199, 1.508382190263552, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07183414730883886, -0.0882693381779256, 1.1678515876536033, -0.22278469005112606, 0.32922324431596195, -0.1375973155304254, 0.05129246692527478, 0.0, -0.8788921865536525, -1.3683838455798163, 1.508382190263552, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07183414730883886, -0.0882693381779256, 1.1678515876536033, -0.22278469005112606, 0.32922324431596195, -0.1375973155304254, 0.05129246692527478, 0.0, -0.8540980384547766, -1.321783441888651, 1.508382190263552, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07183414730883886, -0.0882693381779256, 1.1678515876536033, -0.22278469005112606, 0.32922324431596195, -0.1375973155304254, 0.05129246692527478, 0.0, -0.821000512500087, -1.2594074671153241, 1.508382190263552, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07183414730883886, -0.0882693381779256, 1.1678515876536033, -0.22278469005112606, 0.32922324431596195, -0.1375973155304254, 0.05129246692527478, 0.0, -0.7518161711048755, -1.2094310722977404, 1.508382190263552, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07183414730883886, -0.0882693381779256, 1.1678515876536033, -0.22278469005112606, 0.32922324431596195, -0.1375973155304254, 0.05129246692527478, 0.0, -0.6830856655314657, -1.140006111161564, 1.508382190263552, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07183414730883886, -0.0882693381779256, 1.1678515876536033, -0.22278469005112606, 0.32922324431596195, -0.1375973155304254, 0.05129246692527478, 0.0, -0.6580211433779352, -1.1144808916354267, 1.508382190263552, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07183414730883886, -0.0882693381779256, 1.1678515876536033, -0.22278469005112606, 0.32922324431596195, -0.1375973155304254, 0.05129246692527478, 0.0, -0.6093671629124562, -1.0479012789779436, 1.508382190263552, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07183414730883886, -0.0882693381779256, 1.1678515876536033, -0.22278469005112606, 0.32922324431596195, -0.1375973155304254, 0.05129246692527478, 0.0, -0.5618376915044205, -1.014976556711776, 1.508382190263552, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07183414730883886, -0.0882693381779256, 1.1678515876536033, -0.22278469005112606, 0.32922324431596195, -0.1375973155304254, 0.05129246692527478, 0.0, -0.5271262886208081, -0.994541872980574, 1.508382190263552, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07183414730883886, -0.0882693381779256, 1.1678515876536033, -0.22278469005112606, 0.32922324431596195, -0.1375973155304254, 0.05129246692527478, 0.0, -0.46990791764548867, -0.92438606539328, 1.508382190263552, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07183414730883886, -0.0882693381779256, 1.1678515876536033, -0.22278469005112606, 0.32922324431596195, -0.1375973155304254, 0.05129246692527478, 0.0, -0.40973086457565666, -0.8609212665014255, 1.508382190263552, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07183414730883886, -0.0882693381779256, 1.1678515876536033, -0.22278469005112606, 0.32922324431596195, -0.1375973155304254, 0.05129246692527478, 0.0, -0.3529036826508344, -0.7826753704078135, 1.508382190263552, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07183414730883886, -0.0882693381779256, 1.1678515876536033, -0.22278469005112606, 0.32922324431596195, -0.1375973155304254, 0.05129246692527478, 0.0, -0.32498901026251886, -0.7549475958799341, 1.508382190263552, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07183414730883886, -0.0882693381779256, 1.1678515876536033, -0.22278469005112606, 0.32922324431596195, -0.1375973155304254, 0.05129246692527478, 0.0, -0.2474930540484271, -0.664754511403033, 1.508382190263552, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07183414730883886, -0.0882693381779256, 1.1678515876536033, -0.22278469005112606, 0.32922324431596195, -0.1375973155304254, 0.05129246692527478, 0.0, -0.18404326858425968, -0.6222563067628843, 1.508382190263552, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07183414730883886, -0.0882693381779256, 1.1678515876536033, -0.22278469005112606, 0.32922324431596195, -0.1375973155304254, 0.05129246692527478, 0.0, -0.17526204376267973, -0.614328599330661, 1.508382190263552, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07183414730883886, -0.0882693381779256, 1.1678515876536033, -0.22278469005112606, 0.32922324431596195, -0.1375973155304254, 0.05129246692527478, 0.0, -0.13127921283466665, -0.532728172737131, 1.508382190263552, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07183414730883886, -0.0882693381779256, 1.1678515876536033, -0.22278469005112606, 0.32922324431596195, -0.1375973155304254, 0.05129246692527478, 0.0, -0.05545586162931118, -0.4676741256737502, 1.508382190263552, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07183414730883886, -0.0882693381779256, 1.1678515876536033, -0.22278469005112606, 0.32922324431596195, -0.1375973155304254, 0.05129246692527478, 0.0, 0.023321163550924045, -0.3913757969455648, 1.508382190263552, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07183414730883886, -0.0882693381779256, 1.1678515876536033, -0.22278469005112606, 0.32922324431596195, -0.1375973155304254, 0.05129246692527478, 0.0, 0.058839837857781734, -0.33225639217995945, 1.508382190263552, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07183414730883886, -0.0882693381779256, 1.1678515876536033, -0.22278469005112606, 0.32922324431596195, -0.1375973155304254, 0.05129246692527478, 0.0, 0.0857370155303747, -0.2944738901828449, 1.508382190263552, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07183414730883886, -0.0882693381779256, 1.1678515876536033, -0.22278469005112606, 0.32922324431596195, -0.1375973155304254, 0.05129246692527478, 0.0, 0.16889378557713353, -0.20515684877629617, 1.508382190263552, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07183414730883886, -0.0882693381779256, 1.1678515876536033, -0.22278469005112606, 0.32922324431596195, -0.1375973155304254, 0.05129246692527478, 0.0, 0.21780581234999305, -0.16403593183893253, 1.508382190263552, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07183414730883886, -0.0882693381779256, 1.1678515876536033, -0.22278469005112606, 0.32922324431596195, -0.1375973155304254, 0.05129246692527478, 0.0, 0.27790772597290475, -0.080350677320062, 1.508382190263552, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07183414730883886, -0.0882693381779256, 1.1678515876536033, -0.22278469005112606, 0.32922324431596195, -0.1375973155304254, 0.05129246692527478, 0.0, 0.32303795465897156, -0.04690889753816739, 1.508382190263552, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07183414730883886, -0.0882693381779256, 1.1678515876536033, -0.22278469005112606, 0.32922324431596195, -0.1375973155304254, 0.05129246692527478, 0.0, 0.3867878515037905, 0.043414989516342144, 1.508382190263552, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07183414730883886, -0.0882693381779256, 1.1678515876536033, -0.22278469005112606, 0.32922324431596195, -0.1375973155304254, 0.05129246692527478, 0.0, 0.40492233896196406, 0.05877421572896775, 1.508382190263552, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07183414730883886, -0.0882693381779256, 1.1678515876536033, -0.22278469005112606, 0.32922324431596195, -0.1375973155304254, 0.05129246692527478, 0.0, 0.4962378651679227, 0.16816604728296936, 1.508382190263552, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07183414730883886, -0.0882693381779256, 1.1678515876536033, -0.22278469005112606, 0.32922324431596195, -0.1375973155304254, 0.05129246692527478, 0.0, 0.5473455152990206, 0.19394136036491158, 1.508382190263552, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07183414730883886, -0.0882693381779256, 1.1678515876536033, -0.22278469005112606, 0.32922324431596195, -0.1375973155304254, 0.05129246692527478, 0.0, 0.5660911925515573, 0.21507625243034503, 1.508382190263552, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07183414730883886, -0.0882693381779256, 1.1678515876536033, -0.22278469005112606, 0.32922324431596195, -0.1375973155304254, 0.05129246692527478, 0.0, 0.6169226829890425, 0.29363037655049246, 1.508382190263552, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07183414730883886, -0.0882693381779256, 1.1678515876536033, -0.22278469005112606, 0.32922324431596195, -0.1375973155304254, 0.05129246692527478, 0.0, 0.6641391791966472, 0.3205891296618342, 1.508382190263552, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07183414730883886, -0.0882693381779256, 1.1678515876536033, -0.22278469005112606, 0.32922324431596195, -0.1375973155304254, 0.05129246692527478, 0.0, 0.7337556797480199, 0.4163343932253425, 1.508382190263552, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07183414730883886, -0.0882693381779256, 1.1678515876536033, -0.22278469005112606, 0.32922324431596195, -0.1375973155304254, 0.05129246692527478, 0.0, 0.7322994384549956, 0.39336018181201693, 1.508382190263552, 0.0, 0.0, 0.0, 0.0, 2.0, 0.07183414730883886, -0.0882693381779256, 1.1678515876536033, -0.22278469005112606, 0.32922324431596195, -0.1375973155304254, 0.05129246692527478, 0.0, 1.6745600700378418, 1.6292238235473633, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2409802051261067, 0.8197184757861707, 1.0033929347991943, -0.19111513792138016, 0.6820370596168297, -0.153171042313001, -0.6657672734665019, 0.0, 1.691563606262207, 1.6637853384017944, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2409802051261067, 0.8197184757861707, 1.0033929347991943, -0.19111513792138016, 0.6820370596168297, -0.153171042313001, -0.6657672734665019, 0.0, 1.7516475915908813, 1.7859127521514893, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2409802051261067, 0.8197184757861707, 1.0033929347991943, -0.19111513792138016, 0.6820370596168297, -0.153171042313001, -0.6657672734665019, 0.0, 1.7754825353622437, 1.834359884262085, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2409802051261067, 0.8197184757861707, 1.0033929347991943, -0.19111513792138016, 0.6820370596168297, -0.153171042313001, -0.6657672734665019, 0.0, 1.8301939964294434, 1.94556725025177, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2409802051261067, 0.8197184757861707, 1.0033929347991943, -0.19111513792138016, 0.6820370596168297, -0.153171042313001, -0.6657672734665019, 0.0, 1.8619976043701172, 2.010211706161499, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2409802051261067, 0.8197184757861707, 1.0033929347991943, -0.19111513792138016, 0.6820370596168297, -0.153171042313001, -0.6657672734665019, 0.0, 1.9117568731307983, 2.1113529205322266, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2409802051261067, 0.8197184757861707, 1.0033929347991943, -0.19111513792138016, 0.6820370596168297, -0.153171042313001, -0.6657672734665019, 0.0, 1.9545984268188477, 2.1984331607818604, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2409802051261067, 0.8197184757861707, 1.0033929347991943, -0.19111513792138016, 0.6820370596168297, -0.153171042313001, -0.6657672734665019, 0.0, 1.998424768447876, 2.214712142944336, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, 1.2409802051261067, 0.8197184757861707, 1.0033929347991943, -0.19111513792138016, 0.6820370596168297, -0.153171042313001, -0.6657672734665019, 0.0], "std": [1.5350997426092774, 0.7167943925198551, 0.013765785096050856, 0.0, 0.0, 0.0, 0.0, 1.3661799111984403, 1.3767479429686527, 1.775015192395858, 0.24096549709936377, 0.2870111036450157, 0.6117350304774478, 0.20603608650518668, 0.6811907051988061, 0.4898979485566357, 1.481717374674472, 0.6858710644900257, 0.013765785096050856, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5463322546898453, 1.4078129686089254, 0.18371664726703635, 0.10975087788986201, 0.39556244455166945, 0.09019267614679535, 0.8023497584030158, 0.0, 1.4287529968252743, 0.6595102456802474, 0.013765785096050856, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5463322546898453, 1.4078129686089254, 0.18371664726703635, 0.10975087788986201, 0.39556244455166945, 0.09019267614679535, 0.8023497584030158, 0.0, 1.4194373406647867, 0.6519245468564907, 0.013765785096050856, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5463322546898453, 1.4078129686089254, 0.18371664726703635, 0.10975087788986201, 0.39556244455166945, 0.09019267614679535, 0.8023497584030158, 0.0, 1.4650982070585394, 0.647784633714142, 0.013765785096050856, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5463322546898453, 1.4078129686089254, 0.18371664726703635, 0.10975087788986201, 0.39556244455166945, 0.09019267614679535, 0.8023497584030158, 0.0, 1.4351299485339826, 0.6283546927082903, 0.013765785096050856, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5463322546898453, 1.4078129686089254, 0.18371664726703635, 0.10975087788986201, 0.39556244455166945, 0.09019267614679535, 0.8023497584030158, 0.0, 1.4708844402732852, 0.6213651662582708, 0.013765785096050856, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5463322546898453, 1.4078129686089254, 0.18371664726703635, 0.10975087788986201, 0.39556244455166945, 0.09019267614679535, 0.8023497584030158, 0.0, 1.4614298832733863, 0.6062917236979322, 0.013765785096050856, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5463322546898453, 1.4078129686089254, 0.18371664726703635, 0.10975087788986201, 0.39556244455166945, 0.09019267614679535, 0.8023497584030158, 0.0, 1.4597844249732563, 0.5868292001109209, 0.013765785096050856, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5463322546898453, 1.4078129686089254, 0.18371664726703635, 0.10975087788986201, 0.39556244455166945, 0.09019267614679535, 0.8023497584030158, 0.0, 1.4837263870085993, 0.5837041455102917, 0.013765785096050856, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5463322546898453, 1.4078129686089254, 0.18371664726703635, 0.10975087788986201, 0.39556244455166945, 0.09019267614679535, 0.8023497584030158, 0.0, 1.5115550510998736, 0.5824392008478574, 0.013765785096050856, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5463322546898453, 1.4078129686089254, 0.18371664726703635, 0.10975087788986201, 0.39556244455166945, 0.09019267614679535, 0.8023497584030158, 0.0, 1.4903354377722275, 0.5590670933468127, 0.013765785096050856, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5463322546898453, 1.4078129686089254, 0.18371664726703635, 0.10975087788986201, 0.39556244455166945, 0.09019267614679535, 0.8023497584030158, 0.0, 1.4705795524726102, 0.5323060715787464, 0.013765785096050856, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5463322546898453, 1.4078129686089254, 0.18371664726703635, 0.10975087788986201, 0.39556244455166945, 0.09019267614679535, 0.8023497584030158, 0.0, 1.4872484159299741, 0.5713301994200418, 0.013765785096050856, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5463322546898453, 1.4078129686089254, 0.18371664726703635, 0.10975087788986201, 0.39556244455166945, 0.09019267614679535, 0.8023497584030158, 0.0, 1.5097173342810897, 0.623680899163279, 0.013765785096050856, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5463322546898453, 1.4078129686089254, 0.18371664726703635, 0.10975087788986201, 0.39556244455166945, 0.09019267614679535, 0.8023497584030158, 0.0, 1.4533542081494415, 0.6108052405641466, 0.013765785096050856, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5463322546898453, 1.4078129686089254, 0.18371664726703635, 0.10975087788986201, 0.39556244455166945, 0.09019267614679535, 0.8023497584030158, 0.0, 1.4227745967303944, 0.6280946837105864, 0.013765785096050856, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5463322546898453, 1.4078129686089254, 0.18371664726703635, 0.10975087788986201, 0.39556244455166945, 0.09019267614679535, 0.8023497584030158, 0.0, 1.4118894672557087, 0.6347152864802359, 0.013765785096050856, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5463322546898453, 1.4078129686089254, 0.18371664726703635, 0.10975087788986201, 0.39556244455166945, 0.09019267614679535, 0.8023497584030158, 0.0, 1.4126459755492924, 0.6734721779149239, 0.013765785096050856, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5463322546898453, 1.4078129686089254, 0.18371664726703635, 0.10975087788986201, 0.39556244455166945, 0.09019267614679535, 0.8023497584030158, 0.0, 1.372114162815885, 0.6624836579860836, 0.013765785096050856, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5463322546898453, 1.4078129686089254, 0.18371664726703635, 0.10975087788986201, 0.39556244455166945, 0.09019267614679535, 0.8023497584030158, 0.0, 1.337873335612841, 0.6489666705177634, 0.013765785096050856, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5463322546898453, 1.4078129686089254, 0.18371664726703635, 0.10975087788986201, 0.39556244455166945, 0.09019267614679535, 0.8023497584030158, 0.0, 1.3282981147626158, 0.6821591383615516, 0.013765785096050856, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5463322546898453, 1.4078129686089254, 0.18371664726703635, 0.10975087788986201, 0.39556244455166945, 0.09019267614679535, 0.8023497584030158, 0.0, 1.3048345094495275, 0.7013080101740474, 0.013765785096050856, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5463322546898453, 1.4078129686089254, 0.18371664726703635, 0.10975087788986201, 0.39556244455166945, 0.09019267614679535, 0.8023497584030158, 0.0, 1.3071917999557863, 0.7477245517840424, 0.013765785096050856, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5463322546898453, 1.4078129686089254, 0.18371664726703635, 0.10975087788986201, 0.39556244455166945, 0.09019267614679535, 0.8023497584030158, 0.0, 1.2944081130971188, 0.7541495887179359, 0.013765785096050856, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5463322546898453, 1.4078129686089254, 0.18371664726703635, 0.10975087788986201, 0.39556244455166945, 0.09019267614679535, 0.8023497584030158, 0.0, 1.2761251678098848, 0.7921974942941554, 0.013765785096050856, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5463322546898453, 1.4078129686089254, 0.18371664726703635, 0.10975087788986201, 0.39556244455166945, 0.09019267614679535, 0.8023497584030158, 0.0, 1.2203433149262308, 0.7754108374007491, 0.013765785096050856, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5463322546898453, 1.4078129686089254, 0.18371664726703635, 0.10975087788986201, 0.39556244455166945, 0.09019267614679535, 0.8023497584030158, 0.0, 1.2152872684630867, 0.7762166749817215, 0.013765785096050856, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5463322546898453, 1.4078129686089254, 0.18371664726703635, 0.10975087788986201, 0.39556244455166945, 0.09019267614679535, 0.8023497584030158, 0.0, 1.2445048983689286, 0.8443177574346713, 0.013765785096050856, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5463322546898453, 1.4078129686089254, 0.18371664726703635, 0.10975087788986201, 0.39556244455166945, 0.09019267614679535, 0.8023497584030158, 0.0, 1.1964211245935228, 0.846077127956021, 0.013765785096050856, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5463322546898453, 1.4078129686089254, 0.18371664726703635, 0.10975087788986201, 0.39556244455166945, 0.09019267614679535, 0.8023497584030158, 0.0, 1.1578045456015538, 0.8612251550066962, 0.013765785096050856, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5463322546898453, 1.4078129686089254, 0.18371664726703635, 0.10975087788986201, 0.39556244455166945, 0.09019267614679535, 0.8023497584030158, 0.0, 1.1725751775007314, 0.9058557823993932, 0.013765785096050856, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5463322546898453, 1.4078129686089254, 0.18371664726703635, 0.10975087788986201, 0.39556244455166945, 0.09019267614679535, 0.8023497584030158, 0.0, 1.1746640763997755, 0.9289685473646333, 0.013765785096050856, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5463322546898453, 1.4078129686089254, 0.18371664726703635, 0.10975087788986201, 0.39556244455166945, 0.09019267614679535, 0.8023497584030158, 0.0, 1.1453274904521678, 0.9583808137621338, 0.013765785096050856, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5463322546898453, 1.4078129686089254, 0.18371664726703635, 0.10975087788986201, 0.39556244455166945, 0.09019267614679535, 0.8023497584030158, 0.0, 1.1132108401974095, 0.9582250394036282, 0.013765785096050856, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5463322546898453, 1.4078129686089254, 0.18371664726703635, 0.10975087788986201, 0.39556244455166945, 0.09019267614679535, 0.8023497584030158, 0.0, 1.1169152723322169, 1.0087391182876402, 0.013765785096050856, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5463322546898453, 1.4078129686089254, 0.18371664726703635, 0.10975087788986201, 0.39556244455166945, 0.09019267614679535, 0.8023497584030158, 0.0, 1.0814233332534842, 1.0017140768241326, 0.013765785096050856, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5463322546898453, 1.4078129686089254, 0.18371664726703635, 0.10975087788986201, 0.39556244455166945, 0.09019267614679535, 0.8023497584030158, 0.0, 1.0873825096254661, 1.0576786291265559, 0.013765785096050856, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5463322546898453, 1.4078129686089254, 0.18371664726703635, 0.10975087788986201, 0.39556244455166945, 0.09019267614679535, 0.8023497584030158, 0.0, 1.0756225082259787, 1.0577941491870408, 0.013765785096050856, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5463322546898453, 1.4078129686089254, 0.18371664726703635, 0.10975087788986201, 0.39556244455166945, 0.09019267614679535, 0.8023497584030158, 0.0, 1.0581347852628569, 1.1073906433443523, 0.013765785096050856, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5463322546898453, 1.4078129686089254, 0.18371664726703635, 0.10975087788986201, 0.39556244455166945, 0.09019267614679535, 0.8023497584030158, 0.0, 1.0021938405215396, 1.0809374973477799, 0.013765785096050856, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5463322546898453, 1.4078129686089254, 0.18371664726703635, 0.10975087788986201, 0.39556244455166945, 0.09019267614679535, 0.8023497584030158, 0.0, 0.996883324099485, 1.0890978936622522, 0.013765785096050856, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5463322546898453, 1.4078129686089254, 0.18371664726703635, 0.10975087788986201, 0.39556244455166945, 0.09019267614679535, 0.8023497584030158, 0.0, 1.0101415318220444, 1.143713438242825, 0.013765785096050856, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5463322546898453, 1.4078129686089254, 0.18371664726703635, 0.10975087788986201, 0.39556244455166945, 0.09019267614679535, 0.8023497584030158, 0.0, 0.9625555014047402, 1.1240851285587394, 0.013765785096050856, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5463322546898453, 1.4078129686089254, 0.18371664726703635, 0.10975087788986201, 0.39556244455166945, 0.09019267614679535, 0.8023497584030158, 0.0, 0.9652996360110133, 1.180779204853435, 0.013765785096050856, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5463322546898453, 1.4078129686089254, 0.18371664726703635, 0.10975087788986201, 0.39556244455166945, 0.09019267614679535, 0.8023497584030158, 0.0, 0.9793795319997598, 1.2317561044926268, 0.013765785096050856, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5463322546898453, 1.4078129686089254, 0.18371664726703635, 0.10975087788986201, 0.39556244455166945, 0.09019267614679535, 0.8023497584030158, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6744260405068401, 1.234269075424645, 0.0, 0.1147302696401936, 0.04356676790798793, 0.11850259670127561, 0.049886799861728066, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6744260405068401, 1.234269075424645, 0.0, 0.1147302696401936, 0.04356676790798793, 0.11850259670127561, 0.049886799861728066, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6744260405068401, 1.234269075424645, 0.0, 0.1147302696401936, 0.04356676790798793, 0.11850259670127561, 0.049886799861728066, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6744260405068401, 1.234269075424645, 0.0, 0.1147302696401936, 0.04356676790798793, 0.11850259670127561, 0.049886799861728066, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6744260405068401, 1.234269075424645, 0.0, 0.1147302696401936, 0.04356676790798793, 0.11850259670127561, 0.049886799861728066, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6744260405068401, 1.234269075424645, 0.0, 0.1147302696401936, 0.04356676790798793, 0.11850259670127561, 0.049886799861728066, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6744260405068401, 1.234269075424645, 0.0, 0.1147302696401936, 0.04356676790798793, 0.11850259670127561, 0.049886799861728066, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6744260405068401, 1.234269075424645, 0.0, 0.1147302696401936, 0.04356676790798793, 0.11850259670127561, 0.049886799861728066, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.6744260405068401, 1.234269075424645, 0.0, 0.1147302696401936, 0.04356676790798793, 0.11850259670127561, 0.049886799861728066, 0.0], "min": [-3.4973666667938232, -2.4382126331329346, 1.4930044412612915, 0.0, 0.0, 0.0, 0.0, -1.0, -3.1939339637756348, -2.0879335403442383, 0.5874999761581421, -0.6323034763336182, -0.8904667496681213, -0.4151822030544281, -0.7878567576408386, 0.0, -3.3627326488494873, -2.3726420402526855, 1.4930044412612915, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1939339637756348, -2.0879335403442383, 1.0033929347991943, -0.6323034763336182, -0.11529850959777832, -0.4151822030544281, -0.7031341791152954, 0.0, -3.2530276775360107, -2.3192126750946045, 1.4930044412612915, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1939339637756348, -2.0879335403442383, 1.0033929347991943, -0.6323034763336182, -0.11529850959777832, -0.4151822030544281, -0.7031341791152954, 0.0, -3.2174344062805176, -2.301877737045288, 1.4930044412612915, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1939339637756348, -2.0879335403442383, 1.0033929347991943, -0.6323034763336182, -0.11529850959777832, -0.4151822030544281, -0.7031341791152954, 0.0, -3.1635477542877197, -2.2756333351135254, 1.4930044412612915, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1939339637756348, -2.0879335403442383, 1.0033929347991943, -0.6323034763336182, -0.11529850959777832, -0.4151822030544281, -0.7031341791152954, 0.0, -3.0765275955200195, -2.2332518100738525, 1.4930044412612915, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1939339637756348, -2.0879335403442383, 1.0033929347991943, -0.6323034763336182, -0.11529850959777832, -0.4151822030544281, -0.7031341791152954, 0.0, -3.0136213302612305, -2.2026145458221436, 1.4930044412612915, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1939339637756348, -2.0879335403442383, 1.0033929347991943, -0.6323034763336182, -0.11529850959777832, -0.4151822030544281, -0.7031341791152954, 0.0, -2.93674373626709, -2.165173053741455, 1.4930044412612915, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1939339637756348, -2.0879335403442383, 1.0033929347991943, -0.6323034763336182, -0.11529850959777832, -0.4151822030544281, -0.7031341791152954, 0.0, -2.8303089141845703, -2.1133360862731934, 1.4930044412612915, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1939339637756348, -2.0879335403442383, 1.0033929347991943, -0.6323034763336182, -0.11529850959777832, -0.4151822030544281, -0.7031341791152954, 0.0, -2.7967801094055176, -2.0970065593719482, 1.4930044412612915, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1939339637756348, -2.0879335403442383, 1.0033929347991943, -0.6323034763336182, -0.11529850959777832, -0.4151822030544281, -0.7031341791152954, 0.0, -2.770890951156616, -2.084397792816162, 1.4930044412612915, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1939339637756348, -2.0879335403442383, 1.0033929347991943, -0.6323034763336182, -0.11529850959777832, -0.4151822030544281, -0.7031341791152954, 0.0, -2.656144142150879, -2.028512716293335, 1.4930044412612915, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1939339637756348, -2.0879335403442383, 1.0033929347991943, -0.6323034763336182, -0.11529850959777832, -0.4151822030544281, -0.7031341791152954, 0.0, -2.5216755867004395, -1.9630225896835327, 1.4930044412612915, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1939339637756348, -2.0879335403442383, 1.0033929347991943, -0.6323034763336182, -0.11529850959777832, -0.4151822030544281, -0.7031341791152954, 0.0, -2.5155022144317627, -1.9600160121917725, 1.4930044412612915, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1939339637756348, -2.0879335403442383, 1.0033929347991943, -0.6323034763336182, -0.11529850959777832, -0.4151822030544281, -0.7031341791152954, 0.0, -2.50750470161438, -1.9561209678649902, 1.4930044412612915, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1939339637756348, -2.0879335403442383, 1.0033929347991943, -0.6323034763336182, -0.11529850959777832, -0.4151822030544281, -0.7031341791152954, 0.0, -2.375357151031494, -1.8917611837387085, 1.4930044412612915, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1939339637756348, -2.0879335403442383, 1.0033929347991943, -0.6323034763336182, -0.11529850959777832, -0.4151822030544281, -0.7031341791152954, 0.0, -2.2724661827087402, -1.8416502475738525, 1.4930044412612915, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1939339637756348, -2.0879335403442383, 1.0033929347991943, -0.6323034763336182, -0.11529850959777832, -0.4151822030544281, -0.7031341791152954, 0.0, -2.2352418899536133, -1.8235208988189697, 1.4930044412612915, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1939339637756348, -2.0879335403442383, 1.0033929347991943, -0.6323034763336182, -0.11529850959777832, -0.4151822030544281, -0.7031341791152954, 0.0, -2.1874330043792725, -1.8002365827560425, 1.4930044412612915, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1939339637756348, -2.0879335403442383, 1.0033929347991943, -0.6323034763336182, -0.11529850959777832, -0.4151822030544281, -0.7031341791152954, 0.0, -2.094625473022461, -1.7550365924835205, 1.4930044412612915, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1939339637756348, -2.0879335403442383, 1.0033929347991943, -0.6323034763336182, -0.11529850959777832, -0.4151822030544281, -0.7031341791152954, 0.0, -2.0216636657714844, -1.7195020914077759, 1.4930044412612915, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1939339637756348, -2.0879335403442383, 1.0033929347991943, -0.6323034763336182, -0.11529850959777832, -0.4151822030544281, -0.7031341791152954, 0.0, -1.9537488222122192, -1.6864255666732788, 1.4930044412612915, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1939339637756348, -2.0879335403442383, 1.0033929347991943, -0.6323034763336182, -0.11529850959777832, -0.4151822030544281, -0.7031341791152954, 0.0, -1.8673605918884277, -1.6443519592285156, 1.4930044412612915, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1939339637756348, -2.0879335403442383, 1.0033929347991943, -0.6323034763336182, -0.11529850959777832, -0.4151822030544281, -0.7031341791152954, 0.0, -1.8131667375564575, -1.6179579496383667, 1.4930044412612915, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1939339637756348, -2.0879335403442383, 1.0033929347991943, -0.6323034763336182, -0.11529850959777832, -0.4151822030544281, -0.7031341791152954, 0.0, -1.770971417427063, -1.597407579421997, 1.4930044412612915, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1939339637756348, -2.0879335403442383, 1.0033929347991943, -0.6323034763336182, -0.11529850959777832, -0.4151822030544281, -0.7031341791152954, 0.0, -1.6730515956878662, -1.5497177839279175, 1.4930044412612915, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1939339637756348, -2.0879335403442383, 1.0033929347991943, -0.6323034763336182, -0.11529850959777832, -0.4151822030544281, -0.7031341791152954, 0.0, -1.547287940979004, -1.4884672164916992, 1.4930044412612915, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1939339637756348, -2.0879335403442383, 1.0033929347991943, -0.6323034763336182, -0.11529850959777832, -0.4151822030544281, -0.7031341791152954, 0.0, -1.5328586101531982, -1.4814397096633911, 1.4930044412612915, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1939339637756348, -2.0879335403442383, 1.0033929347991943, -0.6323034763336182, -0.11529850959777832, -0.4151822030544281, -0.7031341791152954, 0.0, -1.5215147733688354, -1.4759149551391602, 1.4930044412612915, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1939339637756348, -2.0879335403442383, 1.0033929347991943, -0.6323034763336182, -0.11529850959777832, -0.4151822030544281, -0.7031341791152954, 0.0, -1.391977071762085, -1.4128262996673584, 1.4930044412612915, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1939339637756348, -2.0879335403442383, 1.0033929347991943, -0.6323034763336182, -0.11529850959777832, -0.4151822030544281, -0.7031341791152954, 0.0, -1.2700614929199219, -1.353449821472168, 1.4930044412612915, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1939339637756348, -2.0879335403442383, 1.0033929347991943, -0.6323034763336182, -0.11529850959777832, -0.4151822030544281, -0.7031341791152954, 0.0, -1.2510430812835693, -1.3441872596740723, 1.4930044412612915, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1939339637756348, -2.0879335403442383, 1.0033929347991943, -0.6323034763336182, -0.11529850959777832, -0.4151822030544281, -0.7031341791152954, 0.0, -1.226479411125183, -1.3322240114212036, 1.4930044412612915, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1939339637756348, -2.0879335403442383, 1.0033929347991943, -0.6323034763336182, -0.11529850959777832, -0.4151822030544281, -0.7031341791152954, 0.0, -1.1105507612228394, -1.2757633924484253, 1.4930044412612915, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1939339637756348, -2.0879335403442383, 1.0033929347991943, -0.6323034763336182, -0.11529850959777832, -0.4151822030544281, -0.7031341791152954, 0.0, -1.0257612466812134, -1.2344684600830078, 1.4930044412612915, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1939339637756348, -2.0879335403442383, 1.0033929347991943, -0.6323034763336182, -0.11529850959777832, -0.4151822030544281, -0.7031341791152954, 0.0, -0.9697975516319275, -1.2072124481201172, 1.4930044412612915, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1939339637756348, -2.0879335403442383, 1.0033929347991943, -0.6323034763336182, -0.11529850959777832, -0.4151822030544281, -0.7031341791152954, 0.0, -0.8850193023681641, -1.165922999382019, 1.4930044412612915, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1939339637756348, -2.0879335403442383, 1.0033929347991943, -0.6323034763336182, -0.11529850959777832, -0.4151822030544281, -0.7031341791152954, 0.0, -0.8279263973236084, -1.1381170749664307, 1.4930044412612915, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1939339637756348, -2.0879335403442383, 1.0033929347991943, -0.6323034763336182, -0.11529850959777832, -0.4151822030544281, -0.7031341791152954, 0.0, -0.7966548204421997, -1.1228868961334229, 1.4930044412612915, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1939339637756348, -2.0879335403442383, 1.0033929347991943, -0.6323034763336182, -0.11529850959777832, -0.4151822030544281, -0.7031341791152954, 0.0, -0.6858037710189819, -1.0688992738723755, 1.4930044412612915, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1939339637756348, -2.0879335403442383, 1.0033929347991943, -0.6323034763336182, -0.11529850959777832, -0.4151822030544281, -0.7031341791152954, 0.0, -0.5722045302391052, -1.013573169708252, 1.4930044412612915, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1939339637756348, -2.0879335403442383, 1.0033929347991943, -0.6323034763336182, -0.11529850959777832, -0.4151822030544281, -0.7031341791152954, 0.0, -0.547526478767395, -1.001554250717163, 1.4930044412612915, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1939339637756348, -2.0879335403442383, 1.0033929347991943, -0.6323034763336182, -0.11529850959777832, -0.4151822030544281, -0.7031341791152954, 0.0, -0.5115057229995728, -0.9840111136436462, 1.4930044412612915, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1939339637756348, -2.0879335403442383, 1.0033929347991943, -0.6323034763336182, -0.11529850959777832, -0.4151822030544281, -0.7031341791152954, 0.0, -0.4111309051513672, -0.9351255893707275, 1.4930044412612915, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1939339637756348, -2.0879335403442383, 1.0033929347991943, -0.6323034763336182, -0.11529850959777832, -0.4151822030544281, -0.7031341791152954, 0.0, -0.34457987546920776, -0.9027132391929626, 1.4930044412612915, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1939339637756348, -2.0879335403442383, 1.0033929347991943, -0.6323034763336182, -0.11529850959777832, -0.4151822030544281, -0.7031341791152954, 0.0, -0.3617647588253021, -0.9826337099075317, 1.4930044412612915, 0.0, 0.0, 0.0, 0.0, 2.0, -3.1939339637756348, -2.0879335403442383, 1.0033929347991943, -0.6323034763336182, -0.11529850959777832, -0.4151822030544281, -0.7031341791152954, 0.0, 1.6745600700378418, 1.6292238235473633, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, -0.302302747964859, -0.8519032001495361, 1.0033929347991943, -0.44415727257728577, 0.5763684511184692, -0.4151822030544281, -0.7031341791152954, 0.0, 1.691563606262207, 1.6637853384017944, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, -0.302302747964859, -0.8519032001495361, 1.0033929347991943, -0.44415727257728577, 0.5763684511184692, -0.4151822030544281, -0.7031341791152954, 0.0, 1.7516475915908813, 1.7859127521514893, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, -0.302302747964859, -0.8519032001495361, 1.0033929347991943, -0.44415727257728577, 0.5763684511184692, -0.4151822030544281, -0.7031341791152954, 0.0, 1.7754825353622437, 1.834359884262085, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, -0.302302747964859, -0.8519032001495361, 1.0033929347991943, -0.44415727257728577, 0.5763684511184692, -0.4151822030544281, -0.7031341791152954, 0.0, 1.8301939964294434, 1.94556725025177, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, -0.302302747964859, -0.8519032001495361, 1.0033929347991943, -0.44415727257728577, 0.5763684511184692, -0.4151822030544281, -0.7031341791152954, 0.0, 1.8619976043701172, 2.010211706161499, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, -0.302302747964859, -0.8519032001495361, 1.0033929347991943, -0.44415727257728577, 0.5763684511184692, -0.4151822030544281, -0.7031341791152954, 0.0, 1.9117568731307983, 2.1113529205322266, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, -0.302302747964859, -0.8519032001495361, 1.0033929347991943, -0.44415727257728577, 0.5763684511184692, -0.4151822030544281, -0.7031341791152954, 0.0, 1.9545984268188477, 2.1984331607818604, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, -0.302302747964859, -0.8519032001495361, 1.0033929347991943, -0.44415727257728577, 0.5763684511184692, -0.4151822030544281, -0.7031341791152954, 0.0, 1.998424768447876, 2.214712142944336, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, -0.302302747964859, -0.8519032001495361, 1.0033929347991943, -0.44415727257728577, 0.5763684511184692, -0.4151822030544281, -0.7031341791152954, 0.0], "max": [-0.4083240330219269, -0.9958252906799316, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, 2.194173574447632, 3.0665440559387207, 1.3731155395507812, 0.691862940788269, 0.7636003494262695, 0.5132288932800293, 0.958622395992279, 1.0, -0.3811100125312805, -0.9924809336662292, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, 2.194173574447632, 2.680699110031128, 1.3730814456939697, -0.03201627731323242, 0.710335373878479, 0.009324789047241211, 0.958622395992279, 0.0, -0.3779839277267456, -0.9920967817306519, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, 2.194173574447632, 2.680699110031128, 1.3730814456939697, -0.03201627731323242, 0.710335373878479, 0.009324789047241211, 0.958622395992279, 0.0, -0.3611363172531128, -0.9900263547897339, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, 2.194173574447632, 2.680699110031128, 1.3730814456939697, -0.03201627731323242, 0.710335373878479, 0.009324789047241211, 0.958622395992279, 0.0, -0.21536745131015778, -0.9721125960350037, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, 2.194173574447632, 2.680699110031128, 1.3730814456939697, -0.03201627731323242, 0.710335373878479, 0.009324789047241211, 0.958622395992279, 0.0, -0.1886516660451889, -0.9688294529914856, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, 2.194173574447632, 2.680699110031128, 1.3730814456939697, -0.03201627731323242, 0.710335373878479, 0.009324789047241211, 0.958622395992279, 0.0, -0.053797535598278046, -0.9522570371627808, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, 2.194173574447632, 2.680699110031128, 1.3730814456939697, -0.03201627731323242, 0.710335373878479, 0.009324789047241211, 0.958622395992279, 0.0, 0.00405489094555378, -0.9451474547386169, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, 2.194173574447632, 2.680699110031128, 1.3730814456939697, -0.03201627731323242, 0.710335373878479, 0.009324789047241211, 0.958622395992279, 0.0, 0.10717859864234924, -0.9324744343757629, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, 2.194173574447632, 2.680699110031128, 1.3730814456939697, -0.03201627731323242, 0.710335373878479, 0.009324789047241211, 0.958622395992279, 0.0, 0.18888521194458008, -0.9224333763122559, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, 2.194173574447632, 2.680699110031128, 1.3730814456939697, -0.03201627731323242, 0.710335373878479, 0.009324789047241211, 0.958622395992279, 0.0, 0.2707732915878296, -0.9123700261116028, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, 2.194173574447632, 2.680699110031128, 1.3730814456939697, -0.03201627731323242, 0.710335373878479, 0.009324789047241211, 0.958622395992279, 0.0, 0.342820405960083, -0.9035160541534424, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, 2.194173574447632, 2.680699110031128, 1.3730814456939697, -0.03201627731323242, 0.710335373878479, 0.009324789047241211, 0.958622395992279, 0.0, 0.4375346899032593, -0.8918764591217041, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, 2.194173574447632, 2.680699110031128, 1.3730814456939697, -0.03201627731323242, 0.710335373878479, 0.009324789047241211, 0.958622395992279, 0.0, 0.4772503972053528, -0.8103426098823547, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, 2.194173574447632, 2.680699110031128, 1.3730814456939697, -0.03201627731323242, 0.710335373878479, 0.009324789047241211, 0.958622395992279, 0.0, 0.5304615497589111, -0.7011035680770874, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, 2.194173574447632, 2.680699110031128, 1.3730814456939697, -0.03201627731323242, 0.710335373878479, 0.009324789047241211, 0.958622395992279, 0.0, 0.5491909980773926, -0.6626531481742859, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, 2.194173574447632, 2.680699110031128, 1.3730814456939697, -0.03201627731323242, 0.710335373878479, 0.009324789047241211, 0.958622395992279, 0.0, 0.5905473828315735, -0.577751100063324, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, 2.194173574447632, 2.680699110031128, 1.3730814456939697, -0.03201627731323242, 0.710335373878479, 0.009324789047241211, 0.958622395992279, 0.0, 0.6058678030967712, -0.5462992787361145, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, 2.194173574447632, 2.680699110031128, 1.3730814456939697, -0.03201627731323242, 0.710335373878479, 0.009324789047241211, 0.958622395992279, 0.0, 0.6551989912986755, -0.4450254440307617, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, 2.194173574447632, 2.680699110031128, 1.3730814456939697, -0.03201627731323242, 0.710335373878479, 0.009324789047241211, 0.958622395992279, 0.0, 0.6664453744888306, -0.42193737626075745, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, 2.194173574447632, 2.680699110031128, 1.3730814456939697, -0.03201627731323242, 0.710335373878479, 0.009324789047241211, 0.958622395992279, 0.0, 0.6705052256584167, -0.4136027693748474, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, 2.194173574447632, 2.680699110031128, 1.3730814456939697, -0.03201627731323242, 0.710335373878479, 0.009324789047241211, 0.958622395992279, 0.0, 0.7191520929336548, -0.31373387575149536, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, 2.194173574447632, 2.680699110031128, 1.3730814456939697, -0.03201627731323242, 0.710335373878479, 0.009324789047241211, 0.958622395992279, 0.0, 0.7583250999450684, -0.23312747478485107, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, 2.194173574447632, 2.680699110031128, 1.3730814456939697, -0.03201627731323242, 0.710335373878479, 0.009324789047241211, 0.958622395992279, 0.0, 0.8172624707221985, -0.11333062499761581, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, 2.194173574447632, 2.680699110031128, 1.3730814456939697, -0.03201627731323242, 0.710335373878479, 0.009324789047241211, 0.958622395992279, 0.0, 0.8337334990501404, -0.07985131442546844, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, 2.194173574447632, 2.680699110031128, 1.3730814456939697, -0.03201627731323242, 0.710335373878479, 0.009324789047241211, 0.958622395992279, 0.0, 0.8948630094528198, 0.04440132528543472, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, 2.194173574447632, 2.680699110031128, 1.3730814456939697, -0.03201627731323242, 0.710335373878479, 0.009324789047241211, 0.958622395992279, 0.0, 0.9083782434463501, 0.0718725249171257, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, 2.194173574447632, 2.680699110031128, 1.3730814456939697, -0.03201627731323242, 0.710335373878479, 0.009324789047241211, 0.958622395992279, 0.0, 0.9126334190368652, 0.0805215984582901, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, 2.194173574447632, 2.680699110031128, 1.3730814456939697, -0.03201627731323242, 0.710335373878479, 0.009324789047241211, 0.958622395992279, 0.0, 0.9827711582183838, 0.2230844497680664, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, 2.194173574447632, 2.680699110031128, 1.3730814456939697, -0.03201627731323242, 0.710335373878479, 0.009324789047241211, 0.958622395992279, 0.0, 1.0155510902404785, 0.28971344232559204, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, 2.194173574447632, 2.680699110031128, 1.3730814456939697, -0.03201627731323242, 0.710335373878479, 0.009324789047241211, 0.958622395992279, 0.0, 1.059759497642517, 0.37957191467285156, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, 2.194173574447632, 2.680699110031128, 1.3730814456939697, -0.03201627731323242, 0.710335373878479, 0.009324789047241211, 0.958622395992279, 0.0, 1.1085004806518555, 0.4786435663700104, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, 2.194173574447632, 2.680699110031128, 1.3730814456939697, -0.03201627731323242, 0.710335373878479, 0.009324789047241211, 0.958622395992279, 0.0, 1.1372675895690918, 0.5371160507202148, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, 2.194173574447632, 2.680699110031128, 1.3730814456939697, -0.03201627731323242, 0.710335373878479, 0.009324789047241211, 0.958622395992279, 0.0, 1.1941629648208618, 0.652762234210968, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, 2.194173574447632, 2.680699110031128, 1.3730814456939697, -0.03201627731323242, 0.710335373878479, 0.009324789047241211, 0.958622395992279, 0.0, 1.214324951171875, 0.6937437057495117, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, 2.194173574447632, 2.680699110031128, 1.3730814456939697, -0.03201627731323242, 0.710335373878479, 0.009324789047241211, 0.958622395992279, 0.0, 1.2777429819107056, 0.8226479291915894, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, 2.194173574447632, 2.680699110031128, 1.3730814456939697, -0.03201627731323242, 0.710335373878479, 0.009324789047241211, 0.958622395992279, 0.0, 1.2911016941070557, 0.8498010635375977, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, 2.194173574447632, 2.680699110031128, 1.3730814456939697, -0.03201627731323242, 0.710335373878479, 0.009324789047241211, 0.958622395992279, 0.0, 1.3601861000061035, 0.9902230501174927, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, 2.194173574447632, 2.680699110031128, 1.3730814456939697, -0.03201627731323242, 0.710335373878479, 0.009324789047241211, 0.958622395992279, 0.0, 1.367793321609497, 1.0056856870651245, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, 2.194173574447632, 2.680699110031128, 1.3730814456939697, -0.03201627731323242, 0.710335373878479, 0.009324789047241211, 0.958622395992279, 0.0, 1.4434542655944824, 1.1594750881195068, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, 2.194173574447632, 2.680699110031128, 1.3730814456939697, -0.03201627731323242, 0.710335373878479, 0.009324789047241211, 0.958622395992279, 0.0, 1.4444849491119385, 1.1615701913833618, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, 2.194173574447632, 2.680699110031128, 1.3730814456939697, -0.03201627731323242, 0.710335373878479, 0.009324789047241211, 0.958622395992279, 0.0, 1.4584767818450928, 1.1900100708007812, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, 2.194173574447632, 2.680699110031128, 1.3730814456939697, -0.03201627731323242, 0.710335373878479, 0.009324789047241211, 0.958622395992279, 0.0, 1.5211766958236694, 1.3174546957015991, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, 2.194173574447632, 2.680699110031128, 1.3730814456939697, -0.03201627731323242, 0.710335373878479, 0.009324789047241211, 0.958622395992279, 0.0, 1.525795340538025, 1.3268426656723022, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, 2.194173574447632, 2.680699110031128, 1.3730814456939697, -0.03201627731323242, 0.710335373878479, 0.009324789047241211, 0.958622395992279, 0.0, 1.5978683233261108, 1.4733390808105469, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, 2.194173574447632, 2.680699110031128, 1.3730814456939697, -0.03201627731323242, 0.710335373878479, 0.009324789047241211, 0.958622395992279, 0.0, 1.6090160608291626, 1.4959981441497803, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, 2.194173574447632, 2.680699110031128, 1.3730814456939697, -0.03201627731323242, 0.710335373878479, 0.009324789047241211, 0.958622395992279, 0.0, 1.6745600700378418, 1.6292238235473633, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, 2.194173574447632, 2.680699110031128, 1.0033929347991943, -0.03201627731323242, 0.710335373878479, 0.009324789047241211, -0.5460284948348999, 0.0, 1.691563606262207, 1.6637853384017944, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, 2.194173574447632, 2.680699110031128, 1.0033929347991943, -0.03201627731323242, 0.710335373878479, 0.009324789047241211, -0.5460284948348999, 0.0, 1.7516475915908813, 1.7859127521514893, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, 2.194173574447632, 2.680699110031128, 1.0033929347991943, -0.03201627731323242, 0.710335373878479, 0.009324789047241211, -0.5460284948348999, 0.0, 1.7754825353622437, 1.834359884262085, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, 2.194173574447632, 2.680699110031128, 1.0033929347991943, -0.03201627731323242, 0.710335373878479, 0.009324789047241211, -0.5460284948348999, 0.0, 1.8301939964294434, 1.94556725025177, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, 2.194173574447632, 2.680699110031128, 1.0033929347991943, -0.03201627731323242, 0.710335373878479, 0.009324789047241211, -0.5460284948348999, 0.0, 1.8619976043701172, 2.010211706161499, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, 2.194173574447632, 2.680699110031128, 1.0033929347991943, -0.03201627731323242, 0.710335373878479, 0.009324789047241211, -0.5460284948348999, 0.0, 1.9117568731307983, 2.1113529205322266, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, 2.194173574447632, 2.680699110031128, 1.0033929347991943, -0.03201627731323242, 0.710335373878479, 0.009324789047241211, -0.5460284948348999, 0.0, 1.9545984268188477, 2.1984331607818604, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, 2.194173574447632, 2.680699110031128, 1.0033929347991943, -0.03201627731323242, 0.710335373878479, 0.009324789047241211, -0.5460284948348999, 0.0, 1.998424768447876, 2.214712142944336, 1.520704984664917, 0.0, 0.0, 0.0, 0.0, 2.0, 2.194173574447632, 2.680699110031128, 1.0033929347991943, -0.03201627731323242, 0.710335373878479, 0.009324789047241211, -0.5460284948348999, 0.0], "count": [3036]}, "action.applied": {"mean": [0.061892812693067026, -0.0006014905773024707, 0.007150022284623496, 1.9085457564852037, -2.5436250664421376, -0.5779306652391875, 1.3729842401677754, 1.5879996332120874, -2.158021327810011, -0.22562949838030116, -0.0009467800249675674, 0.0009467800249675674], "std": [0.11821317074900245, 0.014066890297189145, 0.13287912895422224, 1.0845354879198237, 0.5568150987838337, 0.32717595040951997, 0.4623396179903434, 0.9529393692869259, 0.23641514399977775, 0.44312310843195674, 0.013135547089921536, 0.013135547089921536], "min": [0.0, -0.09324733912944794, -0.800000011920929, -0.04163603484630585, -3.3708765506744385, -1.0803325176239014, 0.49860769510269165, -0.06326673924922943, -2.5159521102905273, -0.9390190243721008, -0.009999999776482582, -0.020833000540733337], "max": [0.30000001192092896, 0.2562023103237152, 0.800000011920929, 3.0406494140625, -1.5674422979354858, 0.0004021032655145973, 2.163416862487793, 2.896436929702759, -1.2728867530822754, 0.9143892526626587, 0.020833000540733337, 0.009999999776482582], "count": [3036]}, "extra.reward": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [3036]}, "next.truncated": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [3036]}, "sim_step_idx": {"mean": [3136.0], "std": [1752.8353221756647], "min": [101.0], "max": [6171.0], "count": [3036]}, "timestamp": {"mean": [60.70000000150288], "std": [35.05670644288658], "min": [0.0], "max": [121.4000015258789], "count": [3036]}, "frame_index": {"mean": [1517.5], "std": [876.4176610878324], "min": [0.0], "max": [3035.0], "count": [3036]}, "episode_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [3036]}, "index": {"mean": [1517.5], "std": [876.4176610878324], "min": [0.0], "max": [3035.0], "count": [3036]}, "task_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [3036]}, "next.done": {"mean": [0.00032938076416337287], "std": [0.01814586102877381], "min": [0.0], "max": [1.0], "count": [3036]}, "observation.images.head": {"mean": [[[0.4977712106888892]], [[0.4078655017111496]], [[0.3606126801540559]]], "std": [[[0.2162469781793794]], [[0.21526148821715252]], [[0.1929946893850082]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9490196078431372]], [[0.9333333333333333]], [[0.9137254901960784]]], "count": [100]}, "observation.images.wrist": {"mean": [[[0.5349111278107759]], [[0.44100159734398314]], [[0.36130605686591655]]], "std": [[[0.16219006940310549]], [[0.16374519139708127]], [[0.1566278212524524]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9647058823529412]], [[0.9529411764705882]], [[0.9372549019607843]]], "count": [100]}}} diff --git a/N034/sawyer_umi/dr_on/seed_2020/rec/stationbookendxr/000/lerobot_v21/meta/extra/episode_000000.json b/N034/sawyer_umi/dr_on/seed_2020/rec/stationbookendxr/000/lerobot_v21/meta/extra/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..e73a142e681a49765eac62edbc3aca6c0ebeb96e --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2020/rec/stationbookendxr/000/lerobot_v21/meta/extra/episode_000000.json @@ -0,0 +1,409 @@ +{ + "episode_index": 0, + "trajectory_id": 0, + "env_id": 0, + "task_type": "BookendXRCommand", + "subsample_every": 2, + "control_steps": 6072, + "language": { + "scene": { + "objects": [ + { + "id": "table_A_1", + "cat_name": "table_A", + "inst_id": 1, + "noun": "table A", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 3.9263247552558633, + 0.4889266430282979, + 0.1299999879709408 + ], + "bbox": { + "extent": [ + 0.9774769517771018, + 0.6394585524197371, + 0.30000001192092896 + ], + "center": [ + 2.7755575615628914e-17, + 0.0, + 0.0 + ] + } + }, + { + "id": "table_B_1", + "cat_name": "table_B", + "inst_id": 1, + "noun": "table B", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 7.558160016473044, + 2.231478788380409, + 0.1299999874621158 + ], + "bbox": { + "extent": [ + 0.9500086196244435, + 0.5900155558547437, + 0.30000001192092896 + ], + "center": [ + 2.220446049250313e-16, + 0.0, + 0.0 + ] + } + }, + { + "id": "slot_left_1", + "cat_name": "slot_left", + "inst_id": 1, + "noun": "slot left", + "color": "brown", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.838279428534112, + 0.4031929241632182, + 0.29749998764862345 + ], + "bbox": { + "extent": [ + 0.028594473509413916, + 0.12154953679553529, + 0.03500000014901161 + ], + "center": [ + 2.42861286636753e-17, + -4.163336342344337e-17, + 0.0 + ] + } + }, + { + "id": "slot_right_1", + "cat_name": "slot_right", + "inst_id": 1, + "noun": "slot right", + "color": "brown", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.882572570686219, + 0.3740876401362026, + 0.29749998725492005 + ], + "bbox": { + "extent": [ + 0.02859447350941392, + 0.12154953679553529, + 0.03500000014901161 + ], + "center": [ + 2.6020852139652106e-17, + -1.3877787807814457e-17, + 0.0 + ] + } + }, + { + "id": "book_1", + "cat_name": "book", + "inst_id": 1, + "noun": "book", + "color": "red", + "size": "small", + "material": null, + "category": "rigid", + "pos": [ + 3.854050849932381, + 0.3789384882114605, + 0.34999996355968915 + ], + "bbox": { + "extent": [ + 0.1054236487676562, + 0.050495850860521524, + 0.14000008730137048 + ], + "center": [ + 1.734723475976807e-17, + -7.45931094670027e-17, + 0.0 + ] + } + }, + { + "id": "plate_1", + "cat_name": "plate", + "inst_id": 1, + "noun": "plate", + "color": "gray", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 7.481337788871648, + 2.1614031475368023, + 0.3204999872172786 + ], + "bbox": { + "extent": [ + 0.02600242033448777, + 0.14120020804966948, + 0.07999999821186066 + ], + "center": [ + -4.163336342344337e-17, + 0.0, + 0.0 + ] + } + }, + { + "id": "bookend_1", + "cat_name": "bookend", + "inst_id": 1, + "noun": "bookend", + "color": null, + "size": "small", + "material": null, + "category": "rigid", + "pos": [ + 7.566934240902525, + 2.1047440645942146, + 0.2800000889732571 + ], + "bbox": { + "extent": [ + 0.1272014195329358, + 0.08400223291273258, + 0.06000066216314681 + ], + "center": [ + -2.8160622306261374e-09, + -0.029999943468391, + 0.029999999569607305 + ] + } + } + ], + "relations": [ + { + "subject": "table_A_1", + "relation": "left_of", + "object": "slot_right_1" + }, + { + "subject": "table_B_1", + "relation": "left_of", + "object": "bookend_1" + }, + { + "subject": "book_1", + "relation": "on_top_of", + "object": "slot_left_1" + }, + { + "subject": "plate_1", + "relation": "left_of", + "object": "bookend_1" + }, + { + "subject": "bookend_1", + "relation": "right_of", + "object": "plate_1" + } + ], + "cameras": [ + { + "name": "head", + "intrinsics": { + "K": [ + [ + 355.55555555555554, + 0.0, + 320.0 + ], + [ + 0.0, + 355.55555555555554, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 83.97442499163331, + "resolution": [ + 640, + 480 + ] + }, + "pos_robot": [ + 4.429299348873087, + 0.3434197904815795, + -0.0950000168643509 + ], + "viewpoint": "front, at table height", + "extrinsics": { + "R": [ + [ + -8.039232568535226e-08, + -0.9999999999999964, + 2.5347603738179458e-08 + ], + [ + 0.8191520331270514, + -8.039232568535226e-08, + -0.5735764522919431 + ], + [ + 0.5735764522919431, + -2.5347603738179458e-08, + 0.819152033127055 + ] + ], + "t": [ + 1.855362002599171e-08, + -0.2032392724571752, + -0.08737481710326404 + ] + } + }, + { + "name": "wrist", + "intrinsics": { + "K": [ + [ + 320.0, + 0.0, + 320.0 + ], + [ + 0.0, + 320.0, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 90.0, + "resolution": [ + 640, + 480 + ] + }, + "pos_robot": [ + 4.2919630770123, + 0.4190834465410902, + -0.020000014638238 + ], + "viewpoint": "front, at table height", + "extrinsics": { + "R": [ + [ + 0.0, + 1.0, + -1.4782795217992896e-16 + ], + [ + 1.0, + 0.0, + 2.5363269588459423e-17 + ], + [ + 2.5363269588459423e-17, + -1.4782795217992896e-16, + -1.0 + ] + ], + "t": [ + 4.4348384662715026e-18, + -0.05979999899864197, + 0.029999999329447746 + ] + } + } + ], + "robots": [ + { + "name": "RidgebackSawyerUmi", + "model": "ridgebacksawyer_umi", + "type": "mobilemanip", + "noun": "Ridgeback-Sawyer mobile manipulator with a UMI gripper", + "arms": 1, + "arm_layout": null, + "mobile": true, + "dexterous": false, + "base_pose": { + "pos": [ + -3.4, + -2.2, + 0.05 + ], + "ori": [ + 0.9396926164627075, + 0.0, + 0.0, + 0.3420201539993286 + ] + }, + "facing_yaw_deg": 40.000001288448495, + "gripper": "parallel gripper" + } + ], + "lighting": [], + "background": { + "name": null, + "kind": "background", + "type": "dome", + "pose": null, + "setting": null, + "time_of_day": null, + "indoor": false, + "intensity": 1000.0, + "ambient": "dim" + }, + "effects": [], + "caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the brown slot left. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is to the left of the brown slot right. The gray table B is to the left of the bookend. The red book is on top of the brown slot left. The gray plate is to the left of the bookend. The bookend is to the right of the gray plate. The scene is viewed from front, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n[[[bookend]\n\n\n\n [slot [book]\n\n\n\n [robot]" + }, + "task": { + "task_type": "StationBookendXR", + "instruction": "Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.", + "template_id": -1, + "slots": { + "obj": 1.4930044101861055, + "support": null + }, + "generic_instruction": "Stationbookendxr the 1.4930044101861055.", + "task_id": "N034", + "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 +} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_on/seed_2020/rec/stationbookendxr/000/lerobot_v21/meta/info.json b/N034/sawyer_umi/dr_on/seed_2020/rec/stationbookendxr/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..12fa394448f4466317288c260d804b1e63de6ed5 --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2020/rec/stationbookendxr/000/lerobot_v21/meta/info.json @@ -0,0 +1,296 @@ +{ + "codebase_version": "v2.1", + "robot_type": "RidgebackSawyerUmiCfg", + "total_episodes": 1, + "total_frames": 3036, + "total_tasks": 1, + "total_videos": 2, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 25, + "splits": { + "train": "0:1" + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", + "features": { + "action": { + "dtype": "float32", + "shape": [ + 11 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "frame0.pos_x", + "frame0.pos_y", + "frame0.pos_z", + "frame0.quat_w", + "frame0.quat_x", + "frame0.quat_y", + "frame0.quat_z", + "gripper" + ] + }, + "action_is_hold": { + "dtype": "bool", + "shape": [ + 11 + ], + "names": null + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 15 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint", + "gripper_0", + "gripper_1" + ] + }, + "observation.joint_vel": { + "dtype": "float32", + "shape": [ + 13 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ] + }, + "observation.eef_pose": { + "dtype": "float32", + "shape": [ + 7 + ], + "names": null + }, + "observation.environment_state": { + "dtype": "float32", + "shape": [ + 49 + ], + "names": [ + "object_pose.book.0", + "object_pose.book.1", + "object_pose.book.2", + "object_pose.book.3", + "object_pose.book.4", + "object_pose.book.5", + "object_pose.book.6", + "object_pose.bookend.0", + "object_pose.bookend.1", + "object_pose.bookend.2", + "object_pose.bookend.3", + "object_pose.bookend.4", + "object_pose.bookend.5", + "object_pose.bookend.6", + "object_pose.plate.0", + "object_pose.plate.1", + "object_pose.plate.2", + "object_pose.plate.3", + "object_pose.plate.4", + "object_pose.plate.5", + "object_pose.plate.6", + "object_pose.slot_left.0", + "object_pose.slot_left.1", + "object_pose.slot_left.2", + "object_pose.slot_left.3", + "object_pose.slot_left.4", + "object_pose.slot_left.5", + "object_pose.slot_left.6", + "object_pose.slot_right.0", + "object_pose.slot_right.1", + "object_pose.slot_right.2", + "object_pose.slot_right.3", + "object_pose.slot_right.4", + "object_pose.slot_right.5", + "object_pose.slot_right.6", + "object_pose.table_A.0", + "object_pose.table_A.1", + "object_pose.table_A.2", + "object_pose.table_A.3", + "object_pose.table_A.4", + "object_pose.table_A.5", + "object_pose.table_A.6", + "object_pose.table_B.0", + "object_pose.table_B.1", + "object_pose.table_B.2", + "object_pose.table_B.3", + "object_pose.table_B.4", + "object_pose.table_B.5", + "object_pose.table_B.6" + ] + }, + "action.command": { + "dtype": "float32", + "shape": [ + 880 + ], + "names": null + }, + "action.applied": { + "dtype": "float32", + "shape": [ + 12 + ], + "names": null + }, + "narration": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "collect_info": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "extra.reward": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "extra.action_info": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "next.truncated": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "sim_step_idx": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "next.done": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "observation.images.head": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25, + "video.codec": "libsvtav1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.wrist": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25, + "video.codec": "libsvtav1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + } + } +} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_on/seed_2020/rec/stationbookendxr/000/lerobot_v21/meta/magicsim_manifest.json b/N034/sawyer_umi/dr_on/seed_2020/rec/stationbookendxr/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..5977e59458871ebda01a3f9ea01600ab71c064dd --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2020/rec/stationbookendxr/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,264 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 03:05:19" + }, + "embodiment": { + "robots": [ + { + "name": "RidgebackSawyerUmi", + "cfg": "RidgebackSawyerUmiCfg", + "type": "mobilemanip", + "joint_names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 11, + "nan_policy": "from_raw", + "segments": [ + { + "name": "RidgebackSawyerUmi.base_action", + "start": 0, + "end": 3, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint" + ], + "source": "HolonomicAction", + "names_source": "_joint_names" + }, + { + "name": "RidgebackSawyerUmi.arm_action", + "start": 3, + "end": 10, + "names": [ + "frame0.pos_x", + "frame0.pos_y", + "frame0.pos_z", + "frame0.quat_w", + "frame0.quat_x", + "frame0.quat_y", + "frame0.quat_z" + ], + "source": "PinkInverseKinematicsAction", + "names_source": "pink_layout" + }, + { + "name": "RidgebackSawyerUmi.eef_action", + "start": 10, + "end": 11, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 15, + "segments": [ + { + "name": "RidgebackSawyerUmi.joint_pos", + "start": 0, + "end": 13, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ], + "source": "ObservationManager", + "names_source": "joint_names" + }, + { + "name": "RidgebackSawyerUmi.gripper_pos", + "start": 13, + "end": 15, + "names": [ + "gripper_0", + "gripper_1" + ], + "source": "ObservationManager", + "names_source": "generated" + } + ] + }, + "joint_vel_layout": { + "dim": 13, + "segments": [ + { + "name": "RidgebackSawyerUmi.joint_vel", + "start": 0, + "end": 13, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "action_levels": { + "L0": "task command list (collect.auto_collect_info.current_action)", + "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)", + "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)", + "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy", + "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)" + }, + "cameras": { + "head": { + "intrinsics": { + "K": [ + [ + 355.55555555555554, + 0.0, + 320.0 + ], + [ + 0.0, + 355.55555555555554, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 83.97442499163331, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.21660000085830688, + 0.0, + -0.04500000178813934 + ], + "quat": [ + -0.6743797063827515, + 0.21263112127780914, + -0.21263112127780914, + 0.6743797659873962 + ] + }, + "wrist": { + "intrinsics": { + "K": [ + [ + 320.0, + 0.0, + 320.0 + ], + [ + 0.0, + 320.0, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 90.0, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.05979999899864197, + 0.0, + 0.029999999329447746 + ], + "quat": [ + 6.123234262925839e-17, + 0.7071067690849304, + 0.7071067690849304, + -4.329780301713277e-17 + ] + } + }, + "lerobot": { + "codebase_version": "v2.1", + "video_keys": [ + "observation.images.head", + "observation.images.wrist" + ], + "columns": [ + "action", + "action.applied", + "action.command", + "action_is_hold", + "collect_info", + "episode_index", + "extra.action_info", + "extra.reward", + "frame_index", + "index", + "narration", + "next.done", + "next.truncated", + "observation.eef_pose", + "observation.environment_state", + "observation.images.head", + "observation.images.wrist", + "observation.joint_vel", + "observation.state", + "sim_step_idx", + "task_index", + "timestamp" + ] + }, + "generated_run": { + "run_id": "stationbookendxr/000", + "task_type": "BookendXRCommand" + } +} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_on/seed_2020/rec/stationbookendxr/000/lerobot_v21/meta/stats.json b/N034/sawyer_umi/dr_on/seed_2020/rec/stationbookendxr/000/lerobot_v21/meta/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..b480de95c08763f5812ee687bce1068d1ae7059e --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2020/rec/stationbookendxr/000/lerobot_v21/meta/stats.json @@ -0,0 +1,4397 @@ +{ + "action": { + "mean": [ + 0.061892812693067026, + -0.0006014905773024707, + 0.007150022284623496, + 0.8450003671650045, + 1.1787341808917415, + 0.9060300534225422, + 0.0311291168802154, + -0.05011636273240933, + 0.029693939257739083, + 0.11854754481587328, + 0.6264822134387352 + ], + "std": [ + 0.11821317074900245, + 0.014066890297189145, + 0.13287912895422224, + 1.3629710262200148, + 1.7707347586775533, + 0.23945491331338184, + 0.28496224615204563, + 0.6199769309114315, + 0.2060273620927933, + 0.6881582599830451, + 0.4837377902166077 + ], + "min": [ + 0.0, + -0.09324733912944794, + -0.800000011920929, + -3.1939339637756348, + -2.0879335403442383, + 0.5874999761581421, + -0.6337365508079529, + -0.8904667496681213, + -0.4151822030544281, + -0.7878567576408386, + 0.0 + ], + "max": [ + 0.30000001192092896, + 0.2562023103237152, + 0.800000011920929, + 2.194173574447632, + 3.0665440559387207, + 1.3731155395507812, + 0.691862940788269, + 0.7636003494262695, + 0.5132288932800293, + 0.958622395992279, + 1.0 + ], + "count": [ + 3036 + ] + }, + "action_is_hold": { + "mean": [ + 0.08036890645586298, + 0.08036890645586298, + 0.08036890645586298, + 0.09453227931488802, + 0.09453227931488802, + 0.09453227931488802, + 0.09453227931488802, + 0.09453227931488802, + 0.09453227931488802, + 0.09453227931488802, + 0.9917654808959157 + ], + "std": [ + 0.2718634681801742, + 0.2718634681801742, + 0.2718634681801742, + 0.2925678168945072, + 0.2925678168945072, + 0.2925678168945072, + 0.2925678168945072, + 0.2925678168945072, + 0.2925678168945072, + 0.2925678168945072, + 0.09036986112199608 + ], + "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": [ + 3036 + ] + }, + "observation.state": { + "mean": [ + 1.60353755039974, + -1.853236446699449, + 1.22031387320581, + 1.9067052074374096, + -1.9051946047795563, + -2.5428692948205667, + -0.5776578229943365, + 1.3726668057469982, + 1.5872892037227972, + -2.157888981860931, + -0.22621601411476547, + 0.01378625498273917, + -0.014313169087542052, + -0.014313169087542052, + -0.01378625498273917 + ], + "std": [ + 1.9890511866108076, + 0.785026886016112, + 0.3410702959142925, + 1.0850008380099936, + 1.0855242664570033, + 0.5571385216394812, + 0.3274550331946925, + 0.46279487113614876, + 0.9536172818206069, + 0.2364073675341079, + 0.44234930312397014, + 0.00865270470898168, + 0.008927599583388422, + 0.008927599583388422, + 0.00865270470898168 + ], + "min": [ + -3.497370958328247, + -2.866246223449707, + 0.12555652856826782, + -0.040998805314302444, + -3.0409677028656006, + -3.3710551261901855, + -1.0803221464157104, + 0.49721595644950867, + -0.061386317014694214, + -2.5148308277130127, + -0.9386231899261475, + 0.0, + -0.020833000540733337, + -0.020833000540733337, + -0.020833000540733337 + ], + "max": [ + 3.518089532852173, + -1.039729356765747, + 1.4039404392242432, + 3.041501522064209, + 0.04004170373082161, + -1.565491795539856, + 0.0007986507844179869, + 2.161651611328125, + 2.895434617996216, + -1.2740068435668945, + 0.914379894733429, + 0.020833000540733337, + 0.0, + 0.0, + -0.0 + ], + "count": [ + 3036 + ] + }, + "observation.joint_vel": { + "mean": [ + 0.05779666542016789, + 0.011529592303092907, + 0.007428212511268867, + 0.024710973010584836, + -0.020390654841836154, + -0.011701443409332997, + -0.004721589479733648, + 0.004606629961823566, + 0.009159573462629671, + -0.001042806105313895, + 0.007379316550462047, + -0.0013310790250942305, + -0.00028629623120188957 + ], + "std": [ + 0.11019737272948738, + 0.050080681955481855, + 0.1345880240890567, + 0.08810711119982015, + 0.07322553263678139, + 0.06489971596871696, + 0.06088593263931007, + 0.06617639866238295, + 0.10856153308721163, + 0.07861047352344279, + 0.07912629731278976, + 0.008111456414493567, + 0.008132741195468262 + ], + "min": [ + -0.0003185414825566113, + -0.1283116340637207, + -0.8000220656394958, + -0.19638296961784363, + -0.20887348055839539, + -0.19057045876979828, + -0.20357000827789307, + -0.2058357447385788, + -0.32871168851852417, + -0.18628312647342682, + -0.3522762954235077, + -0.10001516342163086, + -0.10008683800697327 + ], + "max": [ + 0.3712759017944336, + 0.17703169584274292, + 0.8000711798667908, + 0.17507876455783844, + 0.16651780903339386, + 0.30366235971450806, + 0.3807089328765869, + 0.20691251754760742, + 0.33110204339027405, + 0.32432296872138977, + 0.4117746353149414, + 0.10001004487276077, + 0.10009407252073288 + ], + "count": [ + 3036 + ] + }, + "observation.eef_pose": { + "mean": [ + 0.8464083459469237, + 1.173217120202754, + 0.9079792080582052, + -0.09158484204331774, + 0.4376183412134726, + -0.012067984940228942, + -0.27206502852615394 + ], + "std": [ + 1.3644590624462838, + 1.7672748998184828, + 0.24228838622587426, + 0.2706462775069586, + 0.4402564447807095, + 0.20727333082131816, + 0.6449030265663092 + ], + "min": [ + -3.1939339637756348, + -2.089326858520508, + 0.5884621739387512, + -0.6859452724456787, + -0.7062000632286072, + -0.5140196681022644, + -0.7953104972839355 + ], + "max": [ + 2.2019922733306885, + 3.0717415809631348, + 1.3739824295043945, + 0.516771137714386, + 0.8944641351699829, + 0.5138348340988159, + 0.9589042067527771 + ], + "count": [ + 3036 + ] + }, + "observation.environment_state": { + "mean": [ + 0.9561337112795825, + 1.3235019218791733, + 0.506650551230854, + 0.7437143243937624, + 0.013029806816168221, + 0.00019602419199809634, + 0.6590372846315815, + 2.111057157494491, + 3.0571219248891035, + 0.33000003823296353, + 0.7248890825371811, + -2.478078912081763e-07, + -7.133022938406082e-08, + 0.688864101612835, + 2.0125203132629395, + 3.065073013305664, + 0.37049999833106995, + 0.9996863603591919, + 0.0, + 0.0, + -0.025043580681085587, + -0.32989951968193054, + -0.23284251987934113, + 0.3474999964237213, + 0.9992436766624451, + 0.0, + 0.0, + -0.03888540342450142, + -0.2770598232746124, + -0.23696133494377136, + 0.3474999964237213, + 0.9992436766624451, + 0.0, + 0.0, + -0.03888540342450142, + -0.2941540479660034, + -0.11526484787464142, + 0.18000000715255737, + 0.9992436766624451, + 0.0, + 0.0, + -0.03888540342450142, + 2.0459916591644287, + 3.163520574569702, + 0.18000000715255737, + 0.9996863603591919, + 0.0, + 0.0, + -0.025043580681085587 + ], + "std": [ + 1.1226245330077433, + 1.593027083375457, + 0.1425101693734482, + 0.05146991489980036, + 0.023640182168518424, + 0.029807028719354547, + 0.0910635873288991, + 0.012851352242065189, + 0.001262436796092393, + 4.216092399962979e-08, + 0.0009839868116381122, + 1.8853677358409855e-06, + 1.6646716235654659e-06, + 0.0010400081331544792, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 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": [ + -0.3148156702518463, + -0.8533029556274414, + 0.39999979734420776, + 0.6934570074081421, + -0.003597577568143606, + -0.0821978971362114, + 0.13147413730621338, + 2.0658888816833496, + 3.0567336082458496, + 0.3299998641014099, + 0.7244523763656616, + -4.2527921323198825e-05, + -3.743172055692412e-05, + 0.6852472424507141, + 2.0125203132629395, + 3.065073013305664, + 0.37049999833106995, + 0.9996863603591919, + 0.0, + 0.0, + -0.025043580681085587, + -0.32989951968193054, + -0.23284251987934113, + 0.3474999964237213, + 0.9992436766624451, + 0.0, + 0.0, + -0.03888540342450142, + -0.2770598232746124, + -0.23696133494377136, + 0.3474999964237213, + 0.9992436766624451, + 0.0, + 0.0, + -0.03888540342450142, + -0.2941540479660034, + -0.11526484787464142, + 0.18000000715255737, + 0.9992436766624451, + 0.0, + 0.0, + -0.03888540342450142, + 2.0459916591644287, + 3.163520574569702, + 0.18000000715255737, + 0.9996863603591919, + 0.0, + 0.0, + -0.025043580681085587 + ], + "max": [ + 2.200664520263672, + 3.0622541904449463, + 0.758686900138855, + 0.9908921122550964, + 0.1038321703672409, + 0.11345412582159042, + 0.7160115242004395, + 2.114832639694214, + 3.061567544937134, + 0.3300008177757263, + 0.7283104658126831, + 1.0877848808377166e-06, + 1.2516975402832031e-06, + 0.6893248558044434, + 2.0125203132629395, + 3.065073013305664, + 0.37049999833106995, + 0.9996863603591919, + 0.0, + 0.0, + -0.025043580681085587, + -0.32989951968193054, + -0.23284251987934113, + 0.3474999964237213, + 0.9992436766624451, + 0.0, + 0.0, + -0.03888540342450142, + -0.2770598232746124, + -0.23696133494377136, + 0.3474999964237213, + 0.9992436766624451, + 0.0, + 0.0, + -0.03888540342450142, + -0.2941540479660034, + -0.11526484787464142, + 0.18000000715255737, + 0.9992436766624451, + 0.0, + 0.0, + -0.03888540342450142, + 2.0459916591644287, + 3.163520574569702, + 0.18000000715255737, + 0.9996863603591919, + 0.0, + 0.0, + -0.025043580681085587 + ], + "count": [ + 3036 + ] + }, + "action.command": { + "mean": [ + -1.7825078069055833, + -1.637482113406856, + 1.508382190263552, + 0.0, + 0.0, + 0.0, + 0.0, + -0.11931611495089123, + 0.7855285480699785, + 1.0863839135945341, + 0.9154793546606559, + 0.031067660443617588, + -0.0925437395151592, + 0.025365227212077977, + 0.16358532781772675, + 0.6, + -1.707507195230458, + -1.6064559488639216, + 1.508382190263552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07183414730883886, + -0.0882693381779256, + 1.1678515876536033, + -0.22278469005112606, + 0.32922324431596195, + -0.1375973155304254, + 0.05129246692527478, + 0.0, + -1.6569686937509416, + -1.5824742361515427, + 1.508382190263552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07183414730883886, + -0.0882693381779256, + 1.1678515876536033, + -0.22278469005112606, + 0.32922324431596195, + -0.1375973155304254, + 0.05129246692527478, + 0.0, + -1.6317819355441143, + -1.5736132770075084, + 1.508382190263552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07183414730883886, + -0.0882693381779256, + 1.1678515876536033, + -0.22278469005112606, + 0.32922324431596195, + -0.1375973155304254, + 0.05129246692527478, + 0.0, + -1.5268875613088502, + -1.5519935691814588, + 1.508382190263552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07183414730883886, + -0.0882693381779256, + 1.1678515876536033, + -0.22278469005112606, + 0.32922324431596195, + -0.1375973155304254, + 0.05129246692527478, + 0.0, + -1.4733449233952065, + -1.531317217790209, + 1.508382190263552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07183414730883886, + -0.0882693381779256, + 1.1678515876536033, + -0.22278469005112606, + 0.32922324431596195, + -0.1375973155304254, + 0.05129246692527478, + 0.0, + -1.3704973401633338, + -1.508487948697739, + 1.508382190263552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07183414730883886, + -0.0882693381779256, + 1.1678515876536033, + -0.22278469005112606, + 0.32922324431596195, + -0.1375973155304254, + 0.05129246692527478, + 0.0, + -1.3041814252494142, + -1.4878849888675127, + 1.508382190263552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07183414730883886, + -0.0882693381779256, + 1.1678515876536033, + -0.22278469005112606, + 0.32922324431596195, + -0.1375973155304254, + 0.05129246692527478, + 0.0, + -1.1995847434950289, + -1.4577895930265405, + 1.508382190263552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07183414730883886, + -0.0882693381779256, + 1.1678515876536033, + -0.22278469005112606, + 0.32922324431596195, + -0.1375973155304254, + 0.05129246692527478, + 0.0, + -1.139310389498648, + -1.4449510624565305, + 1.508382190263552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07183414730883886, + -0.0882693381779256, + 1.1678515876536033, + -0.22278469005112606, + 0.32922324431596195, + -0.1375973155304254, + 0.05129246692527478, + 0.0, + -1.082333849856106, + -1.4337553647075592, + 1.508382190263552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07183414730883886, + -0.0882693381779256, + 1.1678515876536033, + -0.22278469005112606, + 0.32922324431596195, + -0.1375973155304254, + 0.05129246692527478, + 0.0, + -0.9912914562107167, + -1.4039792532962199, + 1.508382190263552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07183414730883886, + -0.0882693381779256, + 1.1678515876536033, + -0.22278469005112606, + 0.32922324431596195, + -0.1375973155304254, + 0.05129246692527478, + 0.0, + -0.8788921865536525, + -1.3683838455798163, + 1.508382190263552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07183414730883886, + -0.0882693381779256, + 1.1678515876536033, + -0.22278469005112606, + 0.32922324431596195, + -0.1375973155304254, + 0.05129246692527478, + 0.0, + -0.8540980384547766, + -1.321783441888651, + 1.508382190263552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07183414730883886, + -0.0882693381779256, + 1.1678515876536033, + -0.22278469005112606, + 0.32922324431596195, + -0.1375973155304254, + 0.05129246692527478, + 0.0, + -0.821000512500087, + -1.2594074671153241, + 1.508382190263552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07183414730883886, + -0.0882693381779256, + 1.1678515876536033, + -0.22278469005112606, + 0.32922324431596195, + -0.1375973155304254, + 0.05129246692527478, + 0.0, + -0.7518161711048755, + -1.2094310722977404, + 1.508382190263552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07183414730883886, + -0.0882693381779256, + 1.1678515876536033, + -0.22278469005112606, + 0.32922324431596195, + -0.1375973155304254, + 0.05129246692527478, + 0.0, + -0.6830856655314657, + -1.140006111161564, + 1.508382190263552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07183414730883886, + -0.0882693381779256, + 1.1678515876536033, + -0.22278469005112606, + 0.32922324431596195, + -0.1375973155304254, + 0.05129246692527478, + 0.0, + -0.6580211433779352, + -1.1144808916354267, + 1.508382190263552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07183414730883886, + -0.0882693381779256, + 1.1678515876536033, + -0.22278469005112606, + 0.32922324431596195, + -0.1375973155304254, + 0.05129246692527478, + 0.0, + -0.6093671629124562, + -1.0479012789779436, + 1.508382190263552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07183414730883886, + -0.0882693381779256, + 1.1678515876536033, + -0.22278469005112606, + 0.32922324431596195, + -0.1375973155304254, + 0.05129246692527478, + 0.0, + -0.5618376915044205, + -1.014976556711776, + 1.508382190263552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07183414730883886, + -0.0882693381779256, + 1.1678515876536033, + -0.22278469005112606, + 0.32922324431596195, + -0.1375973155304254, + 0.05129246692527478, + 0.0, + -0.5271262886208081, + -0.994541872980574, + 1.508382190263552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07183414730883886, + -0.0882693381779256, + 1.1678515876536033, + -0.22278469005112606, + 0.32922324431596195, + -0.1375973155304254, + 0.05129246692527478, + 0.0, + -0.46990791764548867, + -0.92438606539328, + 1.508382190263552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07183414730883886, + -0.0882693381779256, + 1.1678515876536033, + -0.22278469005112606, + 0.32922324431596195, + -0.1375973155304254, + 0.05129246692527478, + 0.0, + -0.40973086457565666, + -0.8609212665014255, + 1.508382190263552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07183414730883886, + -0.0882693381779256, + 1.1678515876536033, + -0.22278469005112606, + 0.32922324431596195, + -0.1375973155304254, + 0.05129246692527478, + 0.0, + -0.3529036826508344, + -0.7826753704078135, + 1.508382190263552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07183414730883886, + -0.0882693381779256, + 1.1678515876536033, + -0.22278469005112606, + 0.32922324431596195, + -0.1375973155304254, + 0.05129246692527478, + 0.0, + -0.32498901026251886, + -0.7549475958799341, + 1.508382190263552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07183414730883886, + -0.0882693381779256, + 1.1678515876536033, + -0.22278469005112606, + 0.32922324431596195, + -0.1375973155304254, + 0.05129246692527478, + 0.0, + -0.2474930540484271, + -0.664754511403033, + 1.508382190263552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07183414730883886, + -0.0882693381779256, + 1.1678515876536033, + -0.22278469005112606, + 0.32922324431596195, + -0.1375973155304254, + 0.05129246692527478, + 0.0, + -0.18404326858425968, + -0.6222563067628843, + 1.508382190263552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07183414730883886, + -0.0882693381779256, + 1.1678515876536033, + -0.22278469005112606, + 0.32922324431596195, + -0.1375973155304254, + 0.05129246692527478, + 0.0, + -0.17526204376267973, + -0.614328599330661, + 1.508382190263552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07183414730883886, + -0.0882693381779256, + 1.1678515876536033, + -0.22278469005112606, + 0.32922324431596195, + -0.1375973155304254, + 0.05129246692527478, + 0.0, + -0.13127921283466665, + -0.532728172737131, + 1.508382190263552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07183414730883886, + -0.0882693381779256, + 1.1678515876536033, + -0.22278469005112606, + 0.32922324431596195, + -0.1375973155304254, + 0.05129246692527478, + 0.0, + -0.05545586162931118, + -0.4676741256737502, + 1.508382190263552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07183414730883886, + -0.0882693381779256, + 1.1678515876536033, + -0.22278469005112606, + 0.32922324431596195, + -0.1375973155304254, + 0.05129246692527478, + 0.0, + 0.023321163550924045, + -0.3913757969455648, + 1.508382190263552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07183414730883886, + -0.0882693381779256, + 1.1678515876536033, + -0.22278469005112606, + 0.32922324431596195, + -0.1375973155304254, + 0.05129246692527478, + 0.0, + 0.058839837857781734, + -0.33225639217995945, + 1.508382190263552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07183414730883886, + -0.0882693381779256, + 1.1678515876536033, + -0.22278469005112606, + 0.32922324431596195, + -0.1375973155304254, + 0.05129246692527478, + 0.0, + 0.0857370155303747, + -0.2944738901828449, + 1.508382190263552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07183414730883886, + -0.0882693381779256, + 1.1678515876536033, + -0.22278469005112606, + 0.32922324431596195, + -0.1375973155304254, + 0.05129246692527478, + 0.0, + 0.16889378557713353, + -0.20515684877629617, + 1.508382190263552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07183414730883886, + -0.0882693381779256, + 1.1678515876536033, + -0.22278469005112606, + 0.32922324431596195, + -0.1375973155304254, + 0.05129246692527478, + 0.0, + 0.21780581234999305, + -0.16403593183893253, + 1.508382190263552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07183414730883886, + -0.0882693381779256, + 1.1678515876536033, + -0.22278469005112606, + 0.32922324431596195, + -0.1375973155304254, + 0.05129246692527478, + 0.0, + 0.27790772597290475, + -0.080350677320062, + 1.508382190263552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07183414730883886, + -0.0882693381779256, + 1.1678515876536033, + -0.22278469005112606, + 0.32922324431596195, + -0.1375973155304254, + 0.05129246692527478, + 0.0, + 0.32303795465897156, + -0.04690889753816739, + 1.508382190263552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07183414730883886, + -0.0882693381779256, + 1.1678515876536033, + -0.22278469005112606, + 0.32922324431596195, + -0.1375973155304254, + 0.05129246692527478, + 0.0, + 0.3867878515037905, + 0.043414989516342144, + 1.508382190263552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07183414730883886, + -0.0882693381779256, + 1.1678515876536033, + -0.22278469005112606, + 0.32922324431596195, + -0.1375973155304254, + 0.05129246692527478, + 0.0, + 0.40492233896196406, + 0.05877421572896775, + 1.508382190263552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07183414730883886, + -0.0882693381779256, + 1.1678515876536033, + -0.22278469005112606, + 0.32922324431596195, + -0.1375973155304254, + 0.05129246692527478, + 0.0, + 0.4962378651679227, + 0.16816604728296936, + 1.508382190263552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07183414730883886, + -0.0882693381779256, + 1.1678515876536033, + -0.22278469005112606, + 0.32922324431596195, + -0.1375973155304254, + 0.05129246692527478, + 0.0, + 0.5473455152990206, + 0.19394136036491158, + 1.508382190263552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07183414730883886, + -0.0882693381779256, + 1.1678515876536033, + -0.22278469005112606, + 0.32922324431596195, + -0.1375973155304254, + 0.05129246692527478, + 0.0, + 0.5660911925515573, + 0.21507625243034503, + 1.508382190263552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07183414730883886, + -0.0882693381779256, + 1.1678515876536033, + -0.22278469005112606, + 0.32922324431596195, + -0.1375973155304254, + 0.05129246692527478, + 0.0, + 0.6169226829890425, + 0.29363037655049246, + 1.508382190263552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07183414730883886, + -0.0882693381779256, + 1.1678515876536033, + -0.22278469005112606, + 0.32922324431596195, + -0.1375973155304254, + 0.05129246692527478, + 0.0, + 0.6641391791966472, + 0.3205891296618342, + 1.508382190263552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07183414730883886, + -0.0882693381779256, + 1.1678515876536033, + -0.22278469005112606, + 0.32922324431596195, + -0.1375973155304254, + 0.05129246692527478, + 0.0, + 0.7337556797480199, + 0.4163343932253425, + 1.508382190263552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07183414730883886, + -0.0882693381779256, + 1.1678515876536033, + -0.22278469005112606, + 0.32922324431596195, + -0.1375973155304254, + 0.05129246692527478, + 0.0, + 0.7322994384549956, + 0.39336018181201693, + 1.508382190263552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 0.07183414730883886, + -0.0882693381779256, + 1.1678515876536033, + -0.22278469005112606, + 0.32922324431596195, + -0.1375973155304254, + 0.05129246692527478, + 0.0, + 1.6745600700378418, + 1.6292238235473633, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2409802051261067, + 0.8197184757861707, + 1.0033929347991943, + -0.19111513792138016, + 0.6820370596168297, + -0.153171042313001, + -0.6657672734665019, + 0.0, + 1.691563606262207, + 1.6637853384017944, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2409802051261067, + 0.8197184757861707, + 1.0033929347991943, + -0.19111513792138016, + 0.6820370596168297, + -0.153171042313001, + -0.6657672734665019, + 0.0, + 1.7516475915908813, + 1.7859127521514893, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2409802051261067, + 0.8197184757861707, + 1.0033929347991943, + -0.19111513792138016, + 0.6820370596168297, + -0.153171042313001, + -0.6657672734665019, + 0.0, + 1.7754825353622437, + 1.834359884262085, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2409802051261067, + 0.8197184757861707, + 1.0033929347991943, + -0.19111513792138016, + 0.6820370596168297, + -0.153171042313001, + -0.6657672734665019, + 0.0, + 1.8301939964294434, + 1.94556725025177, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2409802051261067, + 0.8197184757861707, + 1.0033929347991943, + -0.19111513792138016, + 0.6820370596168297, + -0.153171042313001, + -0.6657672734665019, + 0.0, + 1.8619976043701172, + 2.010211706161499, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2409802051261067, + 0.8197184757861707, + 1.0033929347991943, + -0.19111513792138016, + 0.6820370596168297, + -0.153171042313001, + -0.6657672734665019, + 0.0, + 1.9117568731307983, + 2.1113529205322266, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2409802051261067, + 0.8197184757861707, + 1.0033929347991943, + -0.19111513792138016, + 0.6820370596168297, + -0.153171042313001, + -0.6657672734665019, + 0.0, + 1.9545984268188477, + 2.1984331607818604, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2409802051261067, + 0.8197184757861707, + 1.0033929347991943, + -0.19111513792138016, + 0.6820370596168297, + -0.153171042313001, + -0.6657672734665019, + 0.0, + 1.998424768447876, + 2.214712142944336, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 1.2409802051261067, + 0.8197184757861707, + 1.0033929347991943, + -0.19111513792138016, + 0.6820370596168297, + -0.153171042313001, + -0.6657672734665019, + 0.0 + ], + "std": [ + 1.5350997426092774, + 0.7167943925198551, + 0.013765785096050856, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3661799111984403, + 1.3767479429686527, + 1.775015192395858, + 0.24096549709936377, + 0.2870111036450157, + 0.6117350304774478, + 0.20603608650518668, + 0.6811907051988061, + 0.4898979485566357, + 1.481717374674472, + 0.6858710644900257, + 0.013765785096050856, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5463322546898453, + 1.4078129686089254, + 0.18371664726703635, + 0.10975087788986201, + 0.39556244455166945, + 0.09019267614679535, + 0.8023497584030158, + 0.0, + 1.4287529968252743, + 0.6595102456802474, + 0.013765785096050856, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5463322546898453, + 1.4078129686089254, + 0.18371664726703635, + 0.10975087788986201, + 0.39556244455166945, + 0.09019267614679535, + 0.8023497584030158, + 0.0, + 1.4194373406647867, + 0.6519245468564907, + 0.013765785096050856, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5463322546898453, + 1.4078129686089254, + 0.18371664726703635, + 0.10975087788986201, + 0.39556244455166945, + 0.09019267614679535, + 0.8023497584030158, + 0.0, + 1.4650982070585394, + 0.647784633714142, + 0.013765785096050856, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5463322546898453, + 1.4078129686089254, + 0.18371664726703635, + 0.10975087788986201, + 0.39556244455166945, + 0.09019267614679535, + 0.8023497584030158, + 0.0, + 1.4351299485339826, + 0.6283546927082903, + 0.013765785096050856, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5463322546898453, + 1.4078129686089254, + 0.18371664726703635, + 0.10975087788986201, + 0.39556244455166945, + 0.09019267614679535, + 0.8023497584030158, + 0.0, + 1.4708844402732852, + 0.6213651662582708, + 0.013765785096050856, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5463322546898453, + 1.4078129686089254, + 0.18371664726703635, + 0.10975087788986201, + 0.39556244455166945, + 0.09019267614679535, + 0.8023497584030158, + 0.0, + 1.4614298832733863, + 0.6062917236979322, + 0.013765785096050856, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5463322546898453, + 1.4078129686089254, + 0.18371664726703635, + 0.10975087788986201, + 0.39556244455166945, + 0.09019267614679535, + 0.8023497584030158, + 0.0, + 1.4597844249732563, + 0.5868292001109209, + 0.013765785096050856, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5463322546898453, + 1.4078129686089254, + 0.18371664726703635, + 0.10975087788986201, + 0.39556244455166945, + 0.09019267614679535, + 0.8023497584030158, + 0.0, + 1.4837263870085993, + 0.5837041455102917, + 0.013765785096050856, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5463322546898453, + 1.4078129686089254, + 0.18371664726703635, + 0.10975087788986201, + 0.39556244455166945, + 0.09019267614679535, + 0.8023497584030158, + 0.0, + 1.5115550510998736, + 0.5824392008478574, + 0.013765785096050856, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5463322546898453, + 1.4078129686089254, + 0.18371664726703635, + 0.10975087788986201, + 0.39556244455166945, + 0.09019267614679535, + 0.8023497584030158, + 0.0, + 1.4903354377722275, + 0.5590670933468127, + 0.013765785096050856, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5463322546898453, + 1.4078129686089254, + 0.18371664726703635, + 0.10975087788986201, + 0.39556244455166945, + 0.09019267614679535, + 0.8023497584030158, + 0.0, + 1.4705795524726102, + 0.5323060715787464, + 0.013765785096050856, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5463322546898453, + 1.4078129686089254, + 0.18371664726703635, + 0.10975087788986201, + 0.39556244455166945, + 0.09019267614679535, + 0.8023497584030158, + 0.0, + 1.4872484159299741, + 0.5713301994200418, + 0.013765785096050856, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5463322546898453, + 1.4078129686089254, + 0.18371664726703635, + 0.10975087788986201, + 0.39556244455166945, + 0.09019267614679535, + 0.8023497584030158, + 0.0, + 1.5097173342810897, + 0.623680899163279, + 0.013765785096050856, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5463322546898453, + 1.4078129686089254, + 0.18371664726703635, + 0.10975087788986201, + 0.39556244455166945, + 0.09019267614679535, + 0.8023497584030158, + 0.0, + 1.4533542081494415, + 0.6108052405641466, + 0.013765785096050856, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5463322546898453, + 1.4078129686089254, + 0.18371664726703635, + 0.10975087788986201, + 0.39556244455166945, + 0.09019267614679535, + 0.8023497584030158, + 0.0, + 1.4227745967303944, + 0.6280946837105864, + 0.013765785096050856, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5463322546898453, + 1.4078129686089254, + 0.18371664726703635, + 0.10975087788986201, + 0.39556244455166945, + 0.09019267614679535, + 0.8023497584030158, + 0.0, + 1.4118894672557087, + 0.6347152864802359, + 0.013765785096050856, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5463322546898453, + 1.4078129686089254, + 0.18371664726703635, + 0.10975087788986201, + 0.39556244455166945, + 0.09019267614679535, + 0.8023497584030158, + 0.0, + 1.4126459755492924, + 0.6734721779149239, + 0.013765785096050856, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5463322546898453, + 1.4078129686089254, + 0.18371664726703635, + 0.10975087788986201, + 0.39556244455166945, + 0.09019267614679535, + 0.8023497584030158, + 0.0, + 1.372114162815885, + 0.6624836579860836, + 0.013765785096050856, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5463322546898453, + 1.4078129686089254, + 0.18371664726703635, + 0.10975087788986201, + 0.39556244455166945, + 0.09019267614679535, + 0.8023497584030158, + 0.0, + 1.337873335612841, + 0.6489666705177634, + 0.013765785096050856, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5463322546898453, + 1.4078129686089254, + 0.18371664726703635, + 0.10975087788986201, + 0.39556244455166945, + 0.09019267614679535, + 0.8023497584030158, + 0.0, + 1.3282981147626158, + 0.6821591383615516, + 0.013765785096050856, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5463322546898453, + 1.4078129686089254, + 0.18371664726703635, + 0.10975087788986201, + 0.39556244455166945, + 0.09019267614679535, + 0.8023497584030158, + 0.0, + 1.3048345094495275, + 0.7013080101740474, + 0.013765785096050856, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5463322546898453, + 1.4078129686089254, + 0.18371664726703635, + 0.10975087788986201, + 0.39556244455166945, + 0.09019267614679535, + 0.8023497584030158, + 0.0, + 1.3071917999557863, + 0.7477245517840424, + 0.013765785096050856, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5463322546898453, + 1.4078129686089254, + 0.18371664726703635, + 0.10975087788986201, + 0.39556244455166945, + 0.09019267614679535, + 0.8023497584030158, + 0.0, + 1.2944081130971188, + 0.7541495887179359, + 0.013765785096050856, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5463322546898453, + 1.4078129686089254, + 0.18371664726703635, + 0.10975087788986201, + 0.39556244455166945, + 0.09019267614679535, + 0.8023497584030158, + 0.0, + 1.2761251678098848, + 0.7921974942941554, + 0.013765785096050856, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5463322546898453, + 1.4078129686089254, + 0.18371664726703635, + 0.10975087788986201, + 0.39556244455166945, + 0.09019267614679535, + 0.8023497584030158, + 0.0, + 1.2203433149262306, + 0.7754108374007491, + 0.013765785096050856, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5463322546898453, + 1.4078129686089254, + 0.18371664726703635, + 0.10975087788986201, + 0.39556244455166945, + 0.09019267614679535, + 0.8023497584030158, + 0.0, + 1.2152872684630867, + 0.7762166749817215, + 0.013765785096050856, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5463322546898453, + 1.4078129686089254, + 0.18371664726703635, + 0.10975087788986201, + 0.39556244455166945, + 0.09019267614679535, + 0.8023497584030158, + 0.0, + 1.2445048983689286, + 0.8443177574346713, + 0.013765785096050856, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5463322546898453, + 1.4078129686089254, + 0.18371664726703635, + 0.10975087788986201, + 0.39556244455166945, + 0.09019267614679535, + 0.8023497584030158, + 0.0, + 1.1964211245935228, + 0.846077127956021, + 0.013765785096050856, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5463322546898453, + 1.4078129686089254, + 0.18371664726703635, + 0.10975087788986201, + 0.39556244455166945, + 0.09019267614679535, + 0.8023497584030158, + 0.0, + 1.1578045456015538, + 0.8612251550066962, + 0.013765785096050856, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5463322546898453, + 1.4078129686089254, + 0.18371664726703635, + 0.10975087788986201, + 0.39556244455166945, + 0.09019267614679535, + 0.8023497584030158, + 0.0, + 1.1725751775007314, + 0.9058557823993931, + 0.013765785096050856, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5463322546898453, + 1.4078129686089254, + 0.18371664726703635, + 0.10975087788986201, + 0.39556244455166945, + 0.09019267614679535, + 0.8023497584030158, + 0.0, + 1.1746640763997755, + 0.9289685473646333, + 0.013765785096050856, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5463322546898453, + 1.4078129686089254, + 0.18371664726703635, + 0.10975087788986201, + 0.39556244455166945, + 0.09019267614679535, + 0.8023497584030158, + 0.0, + 1.1453274904521678, + 0.9583808137621338, + 0.013765785096050856, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5463322546898453, + 1.4078129686089254, + 0.18371664726703635, + 0.10975087788986201, + 0.39556244455166945, + 0.09019267614679535, + 0.8023497584030158, + 0.0, + 1.1132108401974095, + 0.9582250394036282, + 0.013765785096050856, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5463322546898453, + 1.4078129686089254, + 0.18371664726703635, + 0.10975087788986201, + 0.39556244455166945, + 0.09019267614679535, + 0.8023497584030158, + 0.0, + 1.1169152723322169, + 1.0087391182876402, + 0.013765785096050856, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5463322546898453, + 1.4078129686089254, + 0.18371664726703635, + 0.10975087788986201, + 0.39556244455166945, + 0.09019267614679535, + 0.8023497584030158, + 0.0, + 1.0814233332534842, + 1.0017140768241326, + 0.013765785096050856, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5463322546898453, + 1.4078129686089254, + 0.18371664726703635, + 0.10975087788986201, + 0.39556244455166945, + 0.09019267614679535, + 0.8023497584030158, + 0.0, + 1.0873825096254661, + 1.0576786291265559, + 0.013765785096050856, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5463322546898453, + 1.4078129686089254, + 0.18371664726703635, + 0.10975087788986201, + 0.39556244455166945, + 0.09019267614679535, + 0.8023497584030158, + 0.0, + 1.0756225082259787, + 1.0577941491870408, + 0.013765785096050856, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5463322546898453, + 1.4078129686089254, + 0.18371664726703635, + 0.10975087788986201, + 0.39556244455166945, + 0.09019267614679535, + 0.8023497584030158, + 0.0, + 1.0581347852628569, + 1.1073906433443523, + 0.013765785096050856, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5463322546898453, + 1.4078129686089254, + 0.18371664726703635, + 0.10975087788986201, + 0.39556244455166945, + 0.09019267614679535, + 0.8023497584030158, + 0.0, + 1.0021938405215396, + 1.0809374973477799, + 0.013765785096050856, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5463322546898453, + 1.4078129686089254, + 0.18371664726703635, + 0.10975087788986201, + 0.39556244455166945, + 0.09019267614679535, + 0.8023497584030158, + 0.0, + 0.9968833240994851, + 1.0890978936622522, + 0.013765785096050856, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5463322546898453, + 1.4078129686089254, + 0.18371664726703635, + 0.10975087788986201, + 0.39556244455166945, + 0.09019267614679535, + 0.8023497584030158, + 0.0, + 1.0101415318220444, + 1.143713438242825, + 0.013765785096050856, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5463322546898453, + 1.4078129686089254, + 0.18371664726703635, + 0.10975087788986201, + 0.39556244455166945, + 0.09019267614679535, + 0.8023497584030158, + 0.0, + 0.9625555014047402, + 1.1240851285587394, + 0.013765785096050856, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5463322546898453, + 1.4078129686089254, + 0.18371664726703635, + 0.10975087788986201, + 0.39556244455166945, + 0.09019267614679535, + 0.8023497584030158, + 0.0, + 0.9652996360110133, + 1.1807792048534351, + 0.013765785096050856, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5463322546898453, + 1.4078129686089254, + 0.18371664726703635, + 0.10975087788986201, + 0.39556244455166945, + 0.09019267614679535, + 0.8023497584030158, + 0.0, + 0.9793795319997597, + 1.2317561044926268, + 0.013765785096050856, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5463322546898453, + 1.4078129686089254, + 0.18371664726703635, + 0.10975087788986201, + 0.39556244455166945, + 0.09019267614679535, + 0.8023497584030158, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.6744260405068401, + 1.234269075424645, + 0.0, + 0.1147302696401936, + 0.04356676790798793, + 0.1185025967012756, + 0.049886799861728066, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.6744260405068401, + 1.234269075424645, + 0.0, + 0.1147302696401936, + 0.04356676790798793, + 0.1185025967012756, + 0.049886799861728066, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.6744260405068401, + 1.234269075424645, + 0.0, + 0.1147302696401936, + 0.04356676790798793, + 0.1185025967012756, + 0.049886799861728066, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.6744260405068401, + 1.234269075424645, + 0.0, + 0.1147302696401936, + 0.04356676790798793, + 0.1185025967012756, + 0.049886799861728066, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.6744260405068401, + 1.234269075424645, + 0.0, + 0.1147302696401936, + 0.04356676790798793, + 0.1185025967012756, + 0.049886799861728066, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.6744260405068401, + 1.234269075424645, + 0.0, + 0.1147302696401936, + 0.04356676790798793, + 0.1185025967012756, + 0.049886799861728066, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.6744260405068401, + 1.234269075424645, + 0.0, + 0.1147302696401936, + 0.04356676790798793, + 0.1185025967012756, + 0.049886799861728066, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.6744260405068401, + 1.234269075424645, + 0.0, + 0.1147302696401936, + 0.04356676790798793, + 0.1185025967012756, + 0.049886799861728066, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.6744260405068401, + 1.234269075424645, + 0.0, + 0.1147302696401936, + 0.04356676790798793, + 0.1185025967012756, + 0.049886799861728066, + 0.0 + ], + "min": [ + -3.4973666667938232, + -2.4382126331329346, + 1.4930044412612915, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0, + -3.1939339637756348, + -2.0879335403442383, + 0.5874999761581421, + -0.6323034763336182, + -0.8904667496681213, + -0.4151822030544281, + -0.7878567576408386, + 0.0, + -3.3627326488494873, + -2.3726420402526855, + 1.4930044412612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1939339637756348, + -2.0879335403442383, + 1.0033929347991943, + -0.6323034763336182, + -0.11529850959777832, + -0.4151822030544281, + -0.7031341791152954, + 0.0, + -3.2530276775360107, + -2.3192126750946045, + 1.4930044412612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1939339637756348, + -2.0879335403442383, + 1.0033929347991943, + -0.6323034763336182, + -0.11529850959777832, + -0.4151822030544281, + -0.7031341791152954, + 0.0, + -3.2174344062805176, + -2.301877737045288, + 1.4930044412612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1939339637756348, + -2.0879335403442383, + 1.0033929347991943, + -0.6323034763336182, + -0.11529850959777832, + -0.4151822030544281, + -0.7031341791152954, + 0.0, + -3.1635477542877197, + -2.2756333351135254, + 1.4930044412612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1939339637756348, + -2.0879335403442383, + 1.0033929347991943, + -0.6323034763336182, + -0.11529850959777832, + -0.4151822030544281, + -0.7031341791152954, + 0.0, + -3.0765275955200195, + -2.2332518100738525, + 1.4930044412612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1939339637756348, + -2.0879335403442383, + 1.0033929347991943, + -0.6323034763336182, + -0.11529850959777832, + -0.4151822030544281, + -0.7031341791152954, + 0.0, + -3.0136213302612305, + -2.2026145458221436, + 1.4930044412612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1939339637756348, + -2.0879335403442383, + 1.0033929347991943, + -0.6323034763336182, + -0.11529850959777832, + -0.4151822030544281, + -0.7031341791152954, + 0.0, + -2.93674373626709, + -2.165173053741455, + 1.4930044412612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1939339637756348, + -2.0879335403442383, + 1.0033929347991943, + -0.6323034763336182, + -0.11529850959777832, + -0.4151822030544281, + -0.7031341791152954, + 0.0, + -2.8303089141845703, + -2.1133360862731934, + 1.4930044412612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1939339637756348, + -2.0879335403442383, + 1.0033929347991943, + -0.6323034763336182, + -0.11529850959777832, + -0.4151822030544281, + -0.7031341791152954, + 0.0, + -2.7967801094055176, + -2.0970065593719482, + 1.4930044412612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1939339637756348, + -2.0879335403442383, + 1.0033929347991943, + -0.6323034763336182, + -0.11529850959777832, + -0.4151822030544281, + -0.7031341791152954, + 0.0, + -2.770890951156616, + -2.084397792816162, + 1.4930044412612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1939339637756348, + -2.0879335403442383, + 1.0033929347991943, + -0.6323034763336182, + -0.11529850959777832, + -0.4151822030544281, + -0.7031341791152954, + 0.0, + -2.656144142150879, + -2.028512716293335, + 1.4930044412612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1939339637756348, + -2.0879335403442383, + 1.0033929347991943, + -0.6323034763336182, + -0.11529850959777832, + -0.4151822030544281, + -0.7031341791152954, + 0.0, + -2.5216755867004395, + -1.9630225896835327, + 1.4930044412612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1939339637756348, + -2.0879335403442383, + 1.0033929347991943, + -0.6323034763336182, + -0.11529850959777832, + -0.4151822030544281, + -0.7031341791152954, + 0.0, + -2.5155022144317627, + -1.9600160121917725, + 1.4930044412612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1939339637756348, + -2.0879335403442383, + 1.0033929347991943, + -0.6323034763336182, + -0.11529850959777832, + -0.4151822030544281, + -0.7031341791152954, + 0.0, + -2.50750470161438, + -1.9561209678649902, + 1.4930044412612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1939339637756348, + -2.0879335403442383, + 1.0033929347991943, + -0.6323034763336182, + -0.11529850959777832, + -0.4151822030544281, + -0.7031341791152954, + 0.0, + -2.375357151031494, + -1.8917611837387085, + 1.4930044412612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1939339637756348, + -2.0879335403442383, + 1.0033929347991943, + -0.6323034763336182, + -0.11529850959777832, + -0.4151822030544281, + -0.7031341791152954, + 0.0, + -2.2724661827087402, + -1.8416502475738525, + 1.4930044412612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1939339637756348, + -2.0879335403442383, + 1.0033929347991943, + -0.6323034763336182, + -0.11529850959777832, + -0.4151822030544281, + -0.7031341791152954, + 0.0, + -2.2352418899536133, + -1.8235208988189697, + 1.4930044412612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1939339637756348, + -2.0879335403442383, + 1.0033929347991943, + -0.6323034763336182, + -0.11529850959777832, + -0.4151822030544281, + -0.7031341791152954, + 0.0, + -2.1874330043792725, + -1.8002365827560425, + 1.4930044412612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1939339637756348, + -2.0879335403442383, + 1.0033929347991943, + -0.6323034763336182, + -0.11529850959777832, + -0.4151822030544281, + -0.7031341791152954, + 0.0, + -2.094625473022461, + -1.7550365924835205, + 1.4930044412612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1939339637756348, + -2.0879335403442383, + 1.0033929347991943, + -0.6323034763336182, + -0.11529850959777832, + -0.4151822030544281, + -0.7031341791152954, + 0.0, + -2.0216636657714844, + -1.7195020914077759, + 1.4930044412612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1939339637756348, + -2.0879335403442383, + 1.0033929347991943, + -0.6323034763336182, + -0.11529850959777832, + -0.4151822030544281, + -0.7031341791152954, + 0.0, + -1.9537488222122192, + -1.6864255666732788, + 1.4930044412612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1939339637756348, + -2.0879335403442383, + 1.0033929347991943, + -0.6323034763336182, + -0.11529850959777832, + -0.4151822030544281, + -0.7031341791152954, + 0.0, + -1.8673605918884277, + -1.6443519592285156, + 1.4930044412612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1939339637756348, + -2.0879335403442383, + 1.0033929347991943, + -0.6323034763336182, + -0.11529850959777832, + -0.4151822030544281, + -0.7031341791152954, + 0.0, + -1.8131667375564575, + -1.6179579496383667, + 1.4930044412612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1939339637756348, + -2.0879335403442383, + 1.0033929347991943, + -0.6323034763336182, + -0.11529850959777832, + -0.4151822030544281, + -0.7031341791152954, + 0.0, + -1.770971417427063, + -1.597407579421997, + 1.4930044412612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1939339637756348, + -2.0879335403442383, + 1.0033929347991943, + -0.6323034763336182, + -0.11529850959777832, + -0.4151822030544281, + -0.7031341791152954, + 0.0, + -1.6730515956878662, + -1.5497177839279175, + 1.4930044412612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1939339637756348, + -2.0879335403442383, + 1.0033929347991943, + -0.6323034763336182, + -0.11529850959777832, + -0.4151822030544281, + -0.7031341791152954, + 0.0, + -1.547287940979004, + -1.4884672164916992, + 1.4930044412612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1939339637756348, + -2.0879335403442383, + 1.0033929347991943, + -0.6323034763336182, + -0.11529850959777832, + -0.4151822030544281, + -0.7031341791152954, + 0.0, + -1.5328586101531982, + -1.4814397096633911, + 1.4930044412612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1939339637756348, + -2.0879335403442383, + 1.0033929347991943, + -0.6323034763336182, + -0.11529850959777832, + -0.4151822030544281, + -0.7031341791152954, + 0.0, + -1.5215147733688354, + -1.4759149551391602, + 1.4930044412612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1939339637756348, + -2.0879335403442383, + 1.0033929347991943, + -0.6323034763336182, + -0.11529850959777832, + -0.4151822030544281, + -0.7031341791152954, + 0.0, + -1.391977071762085, + -1.4128262996673584, + 1.4930044412612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1939339637756348, + -2.0879335403442383, + 1.0033929347991943, + -0.6323034763336182, + -0.11529850959777832, + -0.4151822030544281, + -0.7031341791152954, + 0.0, + -1.2700614929199219, + -1.353449821472168, + 1.4930044412612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1939339637756348, + -2.0879335403442383, + 1.0033929347991943, + -0.6323034763336182, + -0.11529850959777832, + -0.4151822030544281, + -0.7031341791152954, + 0.0, + -1.2510430812835693, + -1.3441872596740723, + 1.4930044412612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1939339637756348, + -2.0879335403442383, + 1.0033929347991943, + -0.6323034763336182, + -0.11529850959777832, + -0.4151822030544281, + -0.7031341791152954, + 0.0, + -1.226479411125183, + -1.3322240114212036, + 1.4930044412612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1939339637756348, + -2.0879335403442383, + 1.0033929347991943, + -0.6323034763336182, + -0.11529850959777832, + -0.4151822030544281, + -0.7031341791152954, + 0.0, + -1.1105507612228394, + -1.2757633924484253, + 1.4930044412612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1939339637756348, + -2.0879335403442383, + 1.0033929347991943, + -0.6323034763336182, + -0.11529850959777832, + -0.4151822030544281, + -0.7031341791152954, + 0.0, + -1.0257612466812134, + -1.2344684600830078, + 1.4930044412612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1939339637756348, + -2.0879335403442383, + 1.0033929347991943, + -0.6323034763336182, + -0.11529850959777832, + -0.4151822030544281, + -0.7031341791152954, + 0.0, + -0.9697975516319275, + -1.2072124481201172, + 1.4930044412612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1939339637756348, + -2.0879335403442383, + 1.0033929347991943, + -0.6323034763336182, + -0.11529850959777832, + -0.4151822030544281, + -0.7031341791152954, + 0.0, + -0.8850193023681641, + -1.165922999382019, + 1.4930044412612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1939339637756348, + -2.0879335403442383, + 1.0033929347991943, + -0.6323034763336182, + -0.11529850959777832, + -0.4151822030544281, + -0.7031341791152954, + 0.0, + -0.8279263973236084, + -1.1381170749664307, + 1.4930044412612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1939339637756348, + -2.0879335403442383, + 1.0033929347991943, + -0.6323034763336182, + -0.11529850959777832, + -0.4151822030544281, + -0.7031341791152954, + 0.0, + -0.7966548204421997, + -1.1228868961334229, + 1.4930044412612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1939339637756348, + -2.0879335403442383, + 1.0033929347991943, + -0.6323034763336182, + -0.11529850959777832, + -0.4151822030544281, + -0.7031341791152954, + 0.0, + -0.6858037710189819, + -1.0688992738723755, + 1.4930044412612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1939339637756348, + -2.0879335403442383, + 1.0033929347991943, + -0.6323034763336182, + -0.11529850959777832, + -0.4151822030544281, + -0.7031341791152954, + 0.0, + -0.5722045302391052, + -1.013573169708252, + 1.4930044412612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1939339637756348, + -2.0879335403442383, + 1.0033929347991943, + -0.6323034763336182, + -0.11529850959777832, + -0.4151822030544281, + -0.7031341791152954, + 0.0, + -0.547526478767395, + -1.001554250717163, + 1.4930044412612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1939339637756348, + -2.0879335403442383, + 1.0033929347991943, + -0.6323034763336182, + -0.11529850959777832, + -0.4151822030544281, + -0.7031341791152954, + 0.0, + -0.5115057229995728, + -0.9840111136436462, + 1.4930044412612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1939339637756348, + -2.0879335403442383, + 1.0033929347991943, + -0.6323034763336182, + -0.11529850959777832, + -0.4151822030544281, + -0.7031341791152954, + 0.0, + -0.4111309051513672, + -0.9351255893707275, + 1.4930044412612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1939339637756348, + -2.0879335403442383, + 1.0033929347991943, + -0.6323034763336182, + -0.11529850959777832, + -0.4151822030544281, + -0.7031341791152954, + 0.0, + -0.34457987546920776, + -0.9027132391929626, + 1.4930044412612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1939339637756348, + -2.0879335403442383, + 1.0033929347991943, + -0.6323034763336182, + -0.11529850959777832, + -0.4151822030544281, + -0.7031341791152954, + 0.0, + -0.3617647588253021, + -0.9826337099075317, + 1.4930044412612915, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.1939339637756348, + -2.0879335403442383, + 1.0033929347991943, + -0.6323034763336182, + -0.11529850959777832, + -0.4151822030544281, + -0.7031341791152954, + 0.0, + 1.6745600700378418, + 1.6292238235473633, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.302302747964859, + -0.8519032001495361, + 1.0033929347991943, + -0.44415727257728577, + 0.5763684511184692, + -0.4151822030544281, + -0.7031341791152954, + 0.0, + 1.691563606262207, + 1.6637853384017944, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.302302747964859, + -0.8519032001495361, + 1.0033929347991943, + -0.44415727257728577, + 0.5763684511184692, + -0.4151822030544281, + -0.7031341791152954, + 0.0, + 1.7516475915908813, + 1.7859127521514893, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.302302747964859, + -0.8519032001495361, + 1.0033929347991943, + -0.44415727257728577, + 0.5763684511184692, + -0.4151822030544281, + -0.7031341791152954, + 0.0, + 1.7754825353622437, + 1.834359884262085, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.302302747964859, + -0.8519032001495361, + 1.0033929347991943, + -0.44415727257728577, + 0.5763684511184692, + -0.4151822030544281, + -0.7031341791152954, + 0.0, + 1.8301939964294434, + 1.94556725025177, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.302302747964859, + -0.8519032001495361, + 1.0033929347991943, + -0.44415727257728577, + 0.5763684511184692, + -0.4151822030544281, + -0.7031341791152954, + 0.0, + 1.8619976043701172, + 2.010211706161499, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.302302747964859, + -0.8519032001495361, + 1.0033929347991943, + -0.44415727257728577, + 0.5763684511184692, + -0.4151822030544281, + -0.7031341791152954, + 0.0, + 1.9117568731307983, + 2.1113529205322266, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.302302747964859, + -0.8519032001495361, + 1.0033929347991943, + -0.44415727257728577, + 0.5763684511184692, + -0.4151822030544281, + -0.7031341791152954, + 0.0, + 1.9545984268188477, + 2.1984331607818604, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.302302747964859, + -0.8519032001495361, + 1.0033929347991943, + -0.44415727257728577, + 0.5763684511184692, + -0.4151822030544281, + -0.7031341791152954, + 0.0, + 1.998424768447876, + 2.214712142944336, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.302302747964859, + -0.8519032001495361, + 1.0033929347991943, + -0.44415727257728577, + 0.5763684511184692, + -0.4151822030544281, + -0.7031341791152954, + 0.0 + ], + "max": [ + -0.4083240330219269, + -0.9958252906799316, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.194173574447632, + 3.0665440559387207, + 1.3731155395507812, + 0.691862940788269, + 0.7636003494262695, + 0.5132288932800293, + 0.958622395992279, + 1.0, + -0.3811100125312805, + -0.9924809336662292, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.194173574447632, + 2.680699110031128, + 1.3730814456939697, + -0.03201627731323242, + 0.710335373878479, + 0.009324789047241211, + 0.958622395992279, + 0.0, + -0.3779839277267456, + -0.9920967817306519, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.194173574447632, + 2.680699110031128, + 1.3730814456939697, + -0.03201627731323242, + 0.710335373878479, + 0.009324789047241211, + 0.958622395992279, + 0.0, + -0.3611363172531128, + -0.9900263547897339, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.194173574447632, + 2.680699110031128, + 1.3730814456939697, + -0.03201627731323242, + 0.710335373878479, + 0.009324789047241211, + 0.958622395992279, + 0.0, + -0.21536745131015778, + -0.9721125960350037, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.194173574447632, + 2.680699110031128, + 1.3730814456939697, + -0.03201627731323242, + 0.710335373878479, + 0.009324789047241211, + 0.958622395992279, + 0.0, + -0.1886516660451889, + -0.9688294529914856, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.194173574447632, + 2.680699110031128, + 1.3730814456939697, + -0.03201627731323242, + 0.710335373878479, + 0.009324789047241211, + 0.958622395992279, + 0.0, + -0.053797535598278046, + -0.9522570371627808, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.194173574447632, + 2.680699110031128, + 1.3730814456939697, + -0.03201627731323242, + 0.710335373878479, + 0.009324789047241211, + 0.958622395992279, + 0.0, + 0.00405489094555378, + -0.9451474547386169, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.194173574447632, + 2.680699110031128, + 1.3730814456939697, + -0.03201627731323242, + 0.710335373878479, + 0.009324789047241211, + 0.958622395992279, + 0.0, + 0.10717859864234924, + -0.9324744343757629, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.194173574447632, + 2.680699110031128, + 1.3730814456939697, + -0.03201627731323242, + 0.710335373878479, + 0.009324789047241211, + 0.958622395992279, + 0.0, + 0.18888521194458008, + -0.9224333763122559, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.194173574447632, + 2.680699110031128, + 1.3730814456939697, + -0.03201627731323242, + 0.710335373878479, + 0.009324789047241211, + 0.958622395992279, + 0.0, + 0.2707732915878296, + -0.9123700261116028, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.194173574447632, + 2.680699110031128, + 1.3730814456939697, + -0.03201627731323242, + 0.710335373878479, + 0.009324789047241211, + 0.958622395992279, + 0.0, + 0.342820405960083, + -0.9035160541534424, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.194173574447632, + 2.680699110031128, + 1.3730814456939697, + -0.03201627731323242, + 0.710335373878479, + 0.009324789047241211, + 0.958622395992279, + 0.0, + 0.4375346899032593, + -0.8918764591217041, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.194173574447632, + 2.680699110031128, + 1.3730814456939697, + -0.03201627731323242, + 0.710335373878479, + 0.009324789047241211, + 0.958622395992279, + 0.0, + 0.4772503972053528, + -0.8103426098823547, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.194173574447632, + 2.680699110031128, + 1.3730814456939697, + -0.03201627731323242, + 0.710335373878479, + 0.009324789047241211, + 0.958622395992279, + 0.0, + 0.5304615497589111, + -0.7011035680770874, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.194173574447632, + 2.680699110031128, + 1.3730814456939697, + -0.03201627731323242, + 0.710335373878479, + 0.009324789047241211, + 0.958622395992279, + 0.0, + 0.5491909980773926, + -0.6626531481742859, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.194173574447632, + 2.680699110031128, + 1.3730814456939697, + -0.03201627731323242, + 0.710335373878479, + 0.009324789047241211, + 0.958622395992279, + 0.0, + 0.5905473828315735, + -0.577751100063324, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.194173574447632, + 2.680699110031128, + 1.3730814456939697, + -0.03201627731323242, + 0.710335373878479, + 0.009324789047241211, + 0.958622395992279, + 0.0, + 0.6058678030967712, + -0.5462992787361145, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.194173574447632, + 2.680699110031128, + 1.3730814456939697, + -0.03201627731323242, + 0.710335373878479, + 0.009324789047241211, + 0.958622395992279, + 0.0, + 0.6551989912986755, + -0.4450254440307617, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.194173574447632, + 2.680699110031128, + 1.3730814456939697, + -0.03201627731323242, + 0.710335373878479, + 0.009324789047241211, + 0.958622395992279, + 0.0, + 0.6664453744888306, + -0.42193737626075745, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.194173574447632, + 2.680699110031128, + 1.3730814456939697, + -0.03201627731323242, + 0.710335373878479, + 0.009324789047241211, + 0.958622395992279, + 0.0, + 0.6705052256584167, + -0.4136027693748474, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.194173574447632, + 2.680699110031128, + 1.3730814456939697, + -0.03201627731323242, + 0.710335373878479, + 0.009324789047241211, + 0.958622395992279, + 0.0, + 0.7191520929336548, + -0.31373387575149536, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.194173574447632, + 2.680699110031128, + 1.3730814456939697, + -0.03201627731323242, + 0.710335373878479, + 0.009324789047241211, + 0.958622395992279, + 0.0, + 0.7583250999450684, + -0.23312747478485107, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.194173574447632, + 2.680699110031128, + 1.3730814456939697, + -0.03201627731323242, + 0.710335373878479, + 0.009324789047241211, + 0.958622395992279, + 0.0, + 0.8172624707221985, + -0.11333062499761581, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.194173574447632, + 2.680699110031128, + 1.3730814456939697, + -0.03201627731323242, + 0.710335373878479, + 0.009324789047241211, + 0.958622395992279, + 0.0, + 0.8337334990501404, + -0.07985131442546844, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.194173574447632, + 2.680699110031128, + 1.3730814456939697, + -0.03201627731323242, + 0.710335373878479, + 0.009324789047241211, + 0.958622395992279, + 0.0, + 0.8948630094528198, + 0.04440132528543472, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.194173574447632, + 2.680699110031128, + 1.3730814456939697, + -0.03201627731323242, + 0.710335373878479, + 0.009324789047241211, + 0.958622395992279, + 0.0, + 0.9083782434463501, + 0.0718725249171257, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.194173574447632, + 2.680699110031128, + 1.3730814456939697, + -0.03201627731323242, + 0.710335373878479, + 0.009324789047241211, + 0.958622395992279, + 0.0, + 0.9126334190368652, + 0.0805215984582901, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.194173574447632, + 2.680699110031128, + 1.3730814456939697, + -0.03201627731323242, + 0.710335373878479, + 0.009324789047241211, + 0.958622395992279, + 0.0, + 0.9827711582183838, + 0.2230844497680664, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.194173574447632, + 2.680699110031128, + 1.3730814456939697, + -0.03201627731323242, + 0.710335373878479, + 0.009324789047241211, + 0.958622395992279, + 0.0, + 1.0155510902404785, + 0.28971344232559204, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.194173574447632, + 2.680699110031128, + 1.3730814456939697, + -0.03201627731323242, + 0.710335373878479, + 0.009324789047241211, + 0.958622395992279, + 0.0, + 1.059759497642517, + 0.37957191467285156, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.194173574447632, + 2.680699110031128, + 1.3730814456939697, + -0.03201627731323242, + 0.710335373878479, + 0.009324789047241211, + 0.958622395992279, + 0.0, + 1.1085004806518555, + 0.4786435663700104, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.194173574447632, + 2.680699110031128, + 1.3730814456939697, + -0.03201627731323242, + 0.710335373878479, + 0.009324789047241211, + 0.958622395992279, + 0.0, + 1.1372675895690918, + 0.5371160507202148, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.194173574447632, + 2.680699110031128, + 1.3730814456939697, + -0.03201627731323242, + 0.710335373878479, + 0.009324789047241211, + 0.958622395992279, + 0.0, + 1.1941629648208618, + 0.652762234210968, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.194173574447632, + 2.680699110031128, + 1.3730814456939697, + -0.03201627731323242, + 0.710335373878479, + 0.009324789047241211, + 0.958622395992279, + 0.0, + 1.214324951171875, + 0.6937437057495117, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.194173574447632, + 2.680699110031128, + 1.3730814456939697, + -0.03201627731323242, + 0.710335373878479, + 0.009324789047241211, + 0.958622395992279, + 0.0, + 1.2777429819107056, + 0.8226479291915894, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.194173574447632, + 2.680699110031128, + 1.3730814456939697, + -0.03201627731323242, + 0.710335373878479, + 0.009324789047241211, + 0.958622395992279, + 0.0, + 1.2911016941070557, + 0.8498010635375977, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.194173574447632, + 2.680699110031128, + 1.3730814456939697, + -0.03201627731323242, + 0.710335373878479, + 0.009324789047241211, + 0.958622395992279, + 0.0, + 1.3601861000061035, + 0.9902230501174927, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.194173574447632, + 2.680699110031128, + 1.3730814456939697, + -0.03201627731323242, + 0.710335373878479, + 0.009324789047241211, + 0.958622395992279, + 0.0, + 1.367793321609497, + 1.0056856870651245, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.194173574447632, + 2.680699110031128, + 1.3730814456939697, + -0.03201627731323242, + 0.710335373878479, + 0.009324789047241211, + 0.958622395992279, + 0.0, + 1.4434542655944824, + 1.1594750881195068, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.194173574447632, + 2.680699110031128, + 1.3730814456939697, + -0.03201627731323242, + 0.710335373878479, + 0.009324789047241211, + 0.958622395992279, + 0.0, + 1.4444849491119385, + 1.1615701913833618, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.194173574447632, + 2.680699110031128, + 1.3730814456939697, + -0.03201627731323242, + 0.710335373878479, + 0.009324789047241211, + 0.958622395992279, + 0.0, + 1.4584767818450928, + 1.1900100708007812, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.194173574447632, + 2.680699110031128, + 1.3730814456939697, + -0.03201627731323242, + 0.710335373878479, + 0.009324789047241211, + 0.958622395992279, + 0.0, + 1.5211766958236694, + 1.3174546957015991, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.194173574447632, + 2.680699110031128, + 1.3730814456939697, + -0.03201627731323242, + 0.710335373878479, + 0.009324789047241211, + 0.958622395992279, + 0.0, + 1.525795340538025, + 1.3268426656723022, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.194173574447632, + 2.680699110031128, + 1.3730814456939697, + -0.03201627731323242, + 0.710335373878479, + 0.009324789047241211, + 0.958622395992279, + 0.0, + 1.5978683233261108, + 1.4733390808105469, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.194173574447632, + 2.680699110031128, + 1.3730814456939697, + -0.03201627731323242, + 0.710335373878479, + 0.009324789047241211, + 0.958622395992279, + 0.0, + 1.6090160608291626, + 1.4959981441497803, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.194173574447632, + 2.680699110031128, + 1.3730814456939697, + -0.03201627731323242, + 0.710335373878479, + 0.009324789047241211, + 0.958622395992279, + 0.0, + 1.6745600700378418, + 1.6292238235473633, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.194173574447632, + 2.680699110031128, + 1.0033929347991943, + -0.03201627731323242, + 0.710335373878479, + 0.009324789047241211, + -0.5460284948348999, + 0.0, + 1.691563606262207, + 1.6637853384017944, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.194173574447632, + 2.680699110031128, + 1.0033929347991943, + -0.03201627731323242, + 0.710335373878479, + 0.009324789047241211, + -0.5460284948348999, + 0.0, + 1.7516475915908813, + 1.7859127521514893, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.194173574447632, + 2.680699110031128, + 1.0033929347991943, + -0.03201627731323242, + 0.710335373878479, + 0.009324789047241211, + -0.5460284948348999, + 0.0, + 1.7754825353622437, + 1.834359884262085, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.194173574447632, + 2.680699110031128, + 1.0033929347991943, + -0.03201627731323242, + 0.710335373878479, + 0.009324789047241211, + -0.5460284948348999, + 0.0, + 1.8301939964294434, + 1.94556725025177, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.194173574447632, + 2.680699110031128, + 1.0033929347991943, + -0.03201627731323242, + 0.710335373878479, + 0.009324789047241211, + -0.5460284948348999, + 0.0, + 1.8619976043701172, + 2.010211706161499, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.194173574447632, + 2.680699110031128, + 1.0033929347991943, + -0.03201627731323242, + 0.710335373878479, + 0.009324789047241211, + -0.5460284948348999, + 0.0, + 1.9117568731307983, + 2.1113529205322266, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.194173574447632, + 2.680699110031128, + 1.0033929347991943, + -0.03201627731323242, + 0.710335373878479, + 0.009324789047241211, + -0.5460284948348999, + 0.0, + 1.9545984268188477, + 2.1984331607818604, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.194173574447632, + 2.680699110031128, + 1.0033929347991943, + -0.03201627731323242, + 0.710335373878479, + 0.009324789047241211, + -0.5460284948348999, + 0.0, + 1.998424768447876, + 2.214712142944336, + 1.520704984664917, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.194173574447632, + 2.680699110031128, + 1.0033929347991943, + -0.03201627731323242, + 0.710335373878479, + 0.009324789047241211, + -0.5460284948348999, + 0.0 + ], + "count": [ + 3036 + ] + }, + "action.applied": { + "mean": [ + 0.061892812693067026, + -0.0006014905773024707, + 0.007150022284623496, + 1.9085457564852037, + -2.5436250664421376, + -0.5779306652391875, + 1.3729842401677754, + 1.5879996332120874, + -2.158021327810011, + -0.22562949838030116, + -0.0009467800249675674, + 0.0009467800249675674 + ], + "std": [ + 0.11821317074900245, + 0.014066890297189145, + 0.13287912895422224, + 1.0845354879198237, + 0.5568150987838337, + 0.32717595040951997, + 0.46233961799034345, + 0.9529393692869259, + 0.23641514399977775, + 0.44312310843195674, + 0.013135547089921536, + 0.013135547089921536 + ], + "min": [ + 0.0, + -0.09324733912944794, + -0.800000011920929, + -0.04163603484630585, + -3.3708765506744385, + -1.0803325176239014, + 0.49860769510269165, + -0.06326673924922943, + -2.5159521102905273, + -0.9390190243721008, + -0.009999999776482582, + -0.020833000540733337 + ], + "max": [ + 0.30000001192092896, + 0.2562023103237152, + 0.800000011920929, + 3.0406494140625, + -1.5674422979354858, + 0.0004021032655145973, + 2.163416862487793, + 2.896436929702759, + -1.2728867530822754, + 0.9143892526626587, + 0.020833000540733337, + 0.009999999776482582 + ], + "count": [ + 3036 + ] + }, + "extra.reward": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 3036 + ] + }, + "next.truncated": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 3036 + ] + }, + "sim_step_idx": { + "mean": [ + 3136.0 + ], + "std": [ + 1752.8353221756647 + ], + "min": [ + 101.0 + ], + "max": [ + 6171.0 + ], + "count": [ + 3036 + ] + }, + "timestamp": { + "mean": [ + 60.70000000150288 + ], + "std": [ + 35.05670644288658 + ], + "min": [ + 0.0 + ], + "max": [ + 121.4000015258789 + ], + "count": [ + 3036 + ] + }, + "frame_index": { + "mean": [ + 1517.5 + ], + "std": [ + 876.4176610878324 + ], + "min": [ + 0.0 + ], + "max": [ + 3035.0 + ], + "count": [ + 3036 + ] + }, + "episode_index": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 3036 + ] + }, + "index": { + "mean": [ + 1517.5 + ], + "std": [ + 876.4176610878324 + ], + "min": [ + 0.0 + ], + "max": [ + 3035.0 + ], + "count": [ + 3036 + ] + }, + "task_index": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 3036 + ] + }, + "next.done": { + "mean": [ + 0.00032938076416337287 + ], + "std": [ + 0.01814586102877381 + ], + "min": [ + 0.0 + ], + "max": [ + 1.0 + ], + "count": [ + 3036 + ] + }, + "observation.images.head": { + "mean": [ + [ + [ + 0.4977712106888892 + ] + ], + [ + [ + 0.4078655017111496 + ] + ], + [ + [ + 0.3606126801540559 + ] + ] + ], + "std": [ + [ + [ + 0.21624697817937938 + ] + ], + [ + [ + 0.21526148821715252 + ] + ], + [ + [ + 0.1929946893850082 + ] + ] + ], + "min": [ + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ] + ], + "max": [ + [ + [ + 0.9490196078431372 + ] + ], + [ + [ + 0.9333333333333333 + ] + ], + [ + [ + 0.9137254901960784 + ] + ] + ], + "count": [ + 100 + ] + }, + "observation.images.wrist": { + "mean": [ + [ + [ + 0.5349111278107759 + ] + ], + [ + [ + 0.44100159734398314 + ] + ], + [ + [ + 0.36130605686591655 + ] + ] + ], + "std": [ + [ + [ + 0.16219006940310549 + ] + ], + [ + [ + 0.16374519139708127 + ] + ], + [ + [ + 0.1566278212524524 + ] + ] + ], + "min": [ + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ] + ], + "max": [ + [ + [ + 0.9647058823529412 + ] + ], + [ + [ + 0.9529411764705882 + ] + ], + [ + [ + 0.9372549019607843 + ] + ] + ], + "count": [ + 100 + ] + } +} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_on/seed_2020/rec/stationbookendxr/000/lerobot_v21/meta/tasks.jsonl b/N034/sawyer_umi/dr_on/seed_2020/rec/stationbookendxr/000/lerobot_v21/meta/tasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e639892eae0aca859cb3ed9b82a48465787b6b4a --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2020/rec/stationbookendxr/000/lerobot_v21/meta/tasks.jsonl @@ -0,0 +1 @@ +{"task_index": 0, "task": "Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it."} diff --git a/N034/sawyer_umi/dr_on/seed_2020/rec/stationbookendxr/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 b/N034/sawyer_umi/dr_on/seed_2020/rec/stationbookendxr/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8d845f298a23a37dd26e4c4661f5ea73a85d056c --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2020/rec/stationbookendxr/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:e4a6bdf3630bc37510358c8140803a0d09f6052b285f0706902f975ef633eda7 +size 70761785 diff --git a/N034/sawyer_umi/dr_on/seed_2020/rec/stationbookendxr/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 b/N034/sawyer_umi/dr_on/seed_2020/rec/stationbookendxr/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..2945198b0ac7ea6ef57a517bb99c7adf12e2f563 --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2020/rec/stationbookendxr/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 sha256:18447bd97ba1d1cf0d860ddefbb89f172971c32dbebfe5a5d08c1100deb61546 +size 68834569 diff --git a/N034/sawyer_umi/dr_on/seed_2020/rec/stationbookendxr/000/run_meta.json b/N034/sawyer_umi/dr_on/seed_2020/rec/stationbookendxr/000/run_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b1b2b77cb386a79c7029b16d06858fc7841115bb --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2020/rec/stationbookendxr/000/run_meta.json @@ -0,0 +1,1215 @@ +{ + "run_id": "stationbookendxr/000", + "created": "2026-11-08 02:43:18", + "num_envs": 1, + "session_id": null, + "record_config": { + "output_dir": "/mnt/scratch/xc536_atomic/n034_saw_on_2020/out/rec", + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "json_round": null, + "schema": { + "source": "robot_manager", + "nan_policy": "from_raw" + }, + "lerobot": { + "subsample_every": 2 + } + }, + "config": { + "env_string": "StationBookendXREnv-V0", + "env": { + "sim": { + "device": "cpu", + "use_fabric": false, + "decimation": 4, + "dt": 0.005, + "seed": 2020, + "soft_resets": 2, + "enable_scene_query_support": true, + "scene": { + "num_envs": 1, + "env_spacing": 16 + }, + "render": { + "rendering_mode": "performance", + "enable_reflections": false, + "enable_global_illumination": false, + "enable_translucency": false, + "enable_dl_denoiser": false + } + }, + "nav": { + "navmesh": { + "enabled": true, + "visualize": false, + "bake_timeout_s": 180, + "agent_height_cm": 150, + "min_agent_radius_cm": 45.0, + "max_agent_radius_cm": 45.0, + "max_step_height_cm": 20, + "max_floor_slope_deg": 30, + "agent_island_radius_cm": 5, + "auto_exclude_rigid_bodies": true, + "validate_path_clearance": true, + "validate_path_window": true, + "navmesh_offset_z_m": 0, + "verbose": false, + "validate_path_reroute": true + }, + "occupancymap": { + "cell_size": 0.05 + } + }, + "scene": { + "background": { + "intensity": [ + 1000, + 1000 + ] + }, + "terrain": { + "type": "nav_room", + "collision": true, + "hide_top_walls": true, + "usd": [ + "$MAGICSIM_ASSETS/Room/Collected_SimpleRoom" + ], + "annotation": "Annotation", + "random": false, + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0, + "friction_combine_mode": "multiply", + "restitution_combine_mode": "multiply" + } + }, + "objects": { + "table_A": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "table_A_1": { + "pos": [ + -0.29415405208559803, + -0.11526484605055042, + 0.18 + ], + "ori": [ + 0.0, + 0.0, + -4.4571485019173736 + ], + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.45, + 0.35 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "table_B": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "table_B_1": { + "pos": [ + 2.0459916384928905, + 3.163520522154976, + 0.18 + ], + "ori": [ + 0.0, + 0.0, + -2.870025125160595 + ], + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.45, + 0.35 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "slot_left": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "slot_left_1": { + "pos": [ + -0.3298995266063233, + -0.23284252697379443, + 0.3475 + ], + "ori": [ + 0.0, + 0.0, + -4.4571485019173736 + ], + "primitive_params": { + "size": [ + 0.01, + 0.12, + 0.035 + ] + }, + "visual": { + "color": [ + [ + 0.4, + 0.3, + 0.2 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "slot_right": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "slot_right_1": { + "pos": [ + -0.2770598126805049, + -0.2369613413951632, + 0.3475 + ], + "ori": [ + 0.0, + 0.0, + -4.4571485019173736 + ], + "primitive_params": { + "size": [ + 0.01, + 0.12, + 0.035 + ] + }, + "visual": { + "color": [ + [ + 0.4, + 0.3, + 0.2 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "book": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "book_1": { + "pos": [ + -0.3043818393242133, + -0.24647574717266713, + 0.40149999999999997 + ], + "ori": [ + 0.0, + 0.0, + 85.54285149808263 + ], + "primitive_params": { + "size": [ + 0.1, + 0.035, + 0.14 + ] + }, + "visual": { + "color": [ + [ + 0.78, + 0.12, + 0.12 + ] + ] + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.05, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + } + } + } + }, + "plate": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "plate_1": { + "pos": [ + 2.0125203420742537, + 3.065072960905061, + 0.37049999999999994 + ], + "ori": [ + 0.0, + 0.0, + -2.8700251251605806 + ], + "primitive_params": { + "size": [ + 0.012, + 0.14, + 0.08 + ] + }, + "visual": { + "color": [ + [ + 0.35, + 0.35, + 0.4 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "bookend": { + "usd": [ + "$MAGICSIM_ASSETS/Object/MMB_A07/bookend_l/Object.usda" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "bookend_1": { + "pos": [ + 2.1148326452675255, + 3.0567514206668864, + 0.33099999999999996 + ], + "ori": [ + 0.0, + 0.0, + 87.12997487483942 + ], + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.6, + "physics_material": { + "static_friction": 0.2, + "dynamic_friction": 0.15, + "restitution": 0.0 + } + } + } + } + } + }, + "robot": { + "RidgebackSawyerUmi": { + "name": "ridgebacksawyer_umi", + "type": "mobilemanip", + "common": { + "pos": [ + [ + -3.4, + -2.2, + 0.05 + ], + [ + -3.4, + -2.2, + 0.05 + ] + ], + "ori": [ + [ + 0, + 0, + 40.0 + ], + [ + 0, + 0, + 40.0 + ] + ], + "initial_joint_pos": { + "dummy_base_.*": 0.0, + "head_pan": 0.0, + "right_j0": 0.0, + "right_j1": -1.6, + "right_j2": 0.0, + "right_j3": 0.5, + "right_j4": 0.0, + "right_j5": -2.32, + "right_j6": 0.0, + "right_gripper_l_finger_joint": 0.0, + "right_gripper_r_finger_joint": 0.0 + } + }, + "action": { + "base_action": "holonomic_action", + "arm_action": "ik_pink", + "eef_action": "binary" + }, + "planner": { + "dual_mode": true, + "base_joint_names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint" + ], + "ik": { + "type": "ridgebacksawyer_umi", + "model_tuning": "ridgeback_sawyer_umi", + "enable": true, + "ik_num_instances": 1, + "ik_batch_size": 1, + "ik_num_seeds": 32, + "ik_position_threshold": 0.005, + "ik_rotation_threshold": 0.05, + "microbatch_wait_ms": 20.0, + "relative_to_world_frame": false + }, + "motiongen": { + "type": "ridgebacksawyer_umi", + "model_tuning": "ridgeback_sawyer_umi", + "enable": true, + "motiongen_num_instances": 1, + "batch_size": 1, + "microbatch_wait_ms": 20.0, + "mode": "position", + "relative_to_world_frame": false, + "start_state_limit_inset": 0.002 + }, + "body": { + "type": "nav", + "dwb_type": "dwb_holonomic", + "dwb_holonomic": { + "device": "cpu", + "dt": 0.02, + "debug": false, + "num_rollout_steps": 60, + "num_speed_samples": 11, + "num_steer_samples": 11, + "num_vx_samples": 7, + "num_vy_samples": 7, + "num_yaw_samples": 7, + "max_accel": 1.5, + "max_steer_rate": 1.5, + "max_accel_vx": 1.5, + "max_accel_vy": 1.5, + "max_yaw_accel": 1.5, + "w_goal": 6.0, + "w_path": 8.0, + "w_vel": 0.2, + "w_vy": 0.0, + "goal_cost_mode": "path", + "dilate_radius": 0.36, + "room_size": 12.0, + "occupancy_update_interval": 25, + "scan_height": 0.35, + "scan_min_z": 0.12, + "scan_max_z": 1.65, + "goal_pos_threshold": 0.05, + "goal_yaw_threshold": 0.05, + "kp_goal_yaw": 1.5, + "heading_reference": "path", + "turn_yaw_threshold": 0.8, + "heading_lookahead": 0.8, + "heading_min_leg": 0.35, + "route_yaw_gain": 2.0, + "goal_yaw_hysteresis": 0.02, + "min_vx": -0.3, + "max_vx": 0.3, + "min_vy": -0.3, + "max_vy": 0.3, + "min_yaw_rate": -0.8, + "max_yaw_rate": 0.8, + "safety_enabled": true, + "safety_deceleration": 0.5, + "safety_reaction_time": 0.5, + "scan_type": "3d" + }, + "p_controller": { + "kp_angular_turning_only": 2.0, + "kd_angular_turning_only": 1.0, + "kp_linear_x": 3.0, + "kp_linear_y": 3.0, + "kp_angular": 2.0, + "kd_linear_x": 1.0, + "kd_linear_y": 1.0, + "min_vel": -0.4, + "max_vel": 0.5, + "linear_dead_zone": 0.01, + "angular_dead_zone": 0.05, + "nav_heading_target": -1, + "nav_upgrade_distance": 0.03 + } + }, + "arm": { + "type": "default" + }, + "eef": { + "type": "default" + } + }, + "physics": { + "robot_radius": 0.66, + "wheel_base": 0.01 + }, + "reset": "default" + } + }, + "camera": { + "enable_tiled": false, + "colorize_depth": false, + "head": { + "camera": { + "type": "camera", + "mesh": "pinhole", + "resolution": [ + 640, + 480 + ], + "frequency": 25, + "focal_length": 2.0, + "horizontal_aperture": 3.6, + "vertical_aperture": 2.7, + "clipping_range": [ + 0.05, + 30.0 + ], + "focus_distance": 3.0, + "mode": "RGB", + "mount_link": "Robot_0/head", + "pos": [ + 0.2166, + 0.0, + -0.045 + ], + "ori": [ + -0.0, + 35.0, + -90.0 + ] + }, + "annotator": { + "enabled": true, + "rgb_capture": { + "type": "rgb", + "device": "cpu" + } + } + }, + "wrist": { + "camera": { + "type": "camera", + "mesh": "pinhole", + "resolution": [ + 640, + 480 + ], + "frequency": 25, + "focal_length": 1.8, + "horizontal_aperture": 3.6, + "vertical_aperture": 2.7, + "clipping_range": [ + 0.05, + 30.0 + ], + "focus_distance": 3.0, + "mode": "RGB", + "mount_link": "Robot_0/right_electric_gripper_base", + "pos": [ + 0.0598, + 0.0, + 0.03 + ], + "ori": [ + 180.0, + 0.0, + -90.0 + ] + }, + "annotator": { + "enabled": true, + "rgb_capture": { + "type": "rgb", + "device": "cpu" + } + } + } + } + }, + "task": { + "new_seed_per_episode": true, + "observation": {}, + "reward": {}, + "termination": { + "timeout_steps": 30000, + "success_hold_frames": 10, + "fall_height": 0.02, + "fall_tilt": 1.0, + "lift_height": 0.12, + "grasp_distance": 0.25 + }, + "station": { + "robot": { + "key": "RidgebackSawyerUmi", + "embodiment": "sawyer_umi", + "base_link": "torso", + "tcp_in_wrist": [ + 0.17174, + 0.00789, + 0.0, + 0.5, + 0.5, + 0.5, + 0.5 + ], + "wrist_ref_back": 0.0, + "spawn_dz": 0.02, + "finger_joints": [ + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ], + "dwb": { + "key": "dwb_holonomic", + "add_floor": false + } + }, + "task_id": "N034", + "task_version": "EXT60-MobileAvatar-v3", + "family_id": "bookend_support", + "primary_category": "C2", + "stage": "full", + "layout": { + "floor_z": 0.03, + "start": { + "x": -3.4, + "y": -2.2, + "yaw_deg": 40.0, + "radius": 0.3, + "yaw_spread_deg": 20.0 + }, + "stations": { + "A": { + "center": [ + -0.29415405208559803, + -0.11526484605055042 + ], + "facing_deg": 85.54285149808263, + "standoff": 0.62, + "table": { + "width": 0.9, + "depth": 0.5, + "height": 0.3 + } + }, + "B": { + "center": [ + 2.0459916384928905, + 3.163520522154976 + ], + "facing_deg": 87.1299748748394, + "standoff": 0.7, + "table": { + "width": 0.9, + "depth": 0.5, + "height": 0.3 + } + } + } + }, + "route": [ + "A", + "B" + ], + "book": "book", + "bookend": "bookend", + "plate": "plate", + "dr": { + "enabled": true, + "stations": { + "center_m": 0.25, + "facing_deg": 8.0 + }, + "objects": { + "across_m": 0.025, + "along_m": 0.02, + "yaw_deg": 8.0 + } + }, + "book_slot": { + "across": -0.001 + }, + "push": { + "height": 0.025, + "overshoot": -0.002 + }, + "place_check": { + "book": { + "at": { + "station": "B", + "across": -0.001, + "along": -0.1, + "z": 0.0725 + }, + "yaw_deg": 90.0, + "clearance": 0.004 + } + }, + "success": { + "upright_deg": 15.0, + "rest_z_tol": 0.02, + "contact_gap": 0.006, + "max_penetration": 0.01, + "min_push": 0.04, + "release_dist": 0.15, + "rest_speed": 0.03, + "lift": 0.08 + }, + "objects": { + "slot_left": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.01, + 0.12, + 0.035 + ], + "at": { + "station": "A", + "across": -0.0265, + "along": -0.12, + "z": 0.0175 + }, + "color": [ + 0.4, + 0.3, + 0.2 + ], + "pos": [ + -0.3298995266063233, + -0.23284252697379443, + 0.3475 + ], + "yaw_deg": -4.4571485019173736 + }, + "slot_right": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.01, + 0.12, + 0.035 + ], + "at": { + "station": "A", + "across": 0.0265, + "along": -0.12, + "z": 0.0175 + }, + "color": [ + 0.4, + 0.3, + 0.2 + ], + "pos": [ + -0.2770598126805049, + -0.2369613413951632, + 0.3475 + ], + "yaw_deg": -4.4571485019173736 + }, + "book": { + "jitter": { + "across_m": 0.0, + "yaw_deg": 0.0 + }, + "asset": "Cube", + "type": "rigid", + "size": [ + 0.1, + 0.035, + 0.14 + ], + "yaw_deg": 85.54285149808263, + "at": { + "station": "A", + "across": 0.0, + "along": -0.13160892144940733, + "z": 0.0715 + }, + "mass": 0.05, + "color": [ + 0.78, + 0.12, + 0.12 + ], + "friction": { + "static": 1.5, + "dynamic": 1.5 + }, + "grasp": { + "part": "body", + "thin_axis": 1, + "min_elevation_deg": 60.0, + "approach_deg": [ + 0, + 15, + 30, + 45, + 60, + 75, + 90, + 105, + 120, + 135, + 150, + 165, + 180, + 195, + 210, + 225, + 240, + 255, + 270, + 285, + 300, + 315, + 330, + 345 + ], + "inset": 0.012 + }, + "pos": [ + -0.3043818393242133, + -0.24647574717266713, + 0.40149999999999997 + ] + }, + "plate": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.012, + 0.14, + 0.08 + ], + "at": { + "station": "B", + "across": -0.0285, + "along": -0.1, + "z": 0.0405 + }, + "color": [ + 0.35, + 0.35, + 0.4 + ], + "pos": [ + 2.0125203420742537, + 3.065072960905061, + 0.37049999999999994 + ], + "yaw_deg": -2.8700251251605806 + }, + "bookend": { + "jitter": { + "across_m": 0.01, + "yaw_deg": 0.0 + }, + "catalog": "bookend_l", + "type": "rigid", + "yaw_deg": 87.12997487483942, + "at": { + "station": "B", + "across": 0.07410063492319224, + "along": -0.10318828010146837, + "z": 0.001 + }, + "friction": { + "static": 0.2, + "dynamic": 0.15 + }, + "asset": "$MAGICSIM_ASSETS/Object/MMB_A07/bookend_l/Object.usda", + "parts": [ + { + "name": "wall", + "center": [ + 0.0, + 0.0, + 0.03 + ], + "half": [ + 0.06, + 0.006, + 0.03 + ], + "rpy_deg": [ + 0.0, + 0.0, + 0.0 + ] + }, + { + "name": "foot", + "center": [ + 0.0, + -0.036, + 0.004 + ], + "half": [ + 0.06, + 0.03, + 0.004 + ], + "rpy_deg": [ + 0.0, + 0.0, + 0.0 + ] + } + ], + "mass": 0.6, + "com": [ + 0.0, + -0.01, + 0.03 + ], + "pos": [ + 2.1148326452675255, + 3.0567514206668864, + 0.33099999999999996 + ] + } + }, + "report_jsonl": "/mnt/scratch/xc536_atomic/n034_saw_on_2020/out/report.episodes.jsonl", + "dr_applied": true, + "level": "easy" + }, + "command": { + "StationBookend": { + "obj_type": "rigid", + "obj_name": "book", + "obj_id": 0, + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.05, + "settle_ticks": 120 + }, + "StationBookendXR": { + "obj_type": "rigid", + "obj_name": "book", + "grasp_part": "body", + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.015, + "lift": 0.03, + "over_top": 0.005, + "pre_clear": 0.1, + "carry_ahead": 0.5, + "carry_z": 0.8, + "settle_ticks": 120, + "hover": 0.09, + "remeasure_lower": true, + "recenter_clear": 0.02, + "recenter_passes": 2, + "push_lead": 0.012, + "push_over": 0.06, + "withdraw_up": 0.2 + } + } + }, + "collect": { + "global_planner": { + "NavTo": { + "use_navmesh": true, + "use_absolute": true, + "translation_threshold": 0.12, + "rotation_threshold": 0.12, + "num_path_segments": 30, + "start_forward_offset": 0.0, + "visualize_path": false, + "carry_arm": true + }, + "RetractMoveL": { + "translation_threshold": 0.02, + "rotation_threshold": 0.2, + "motiongen_distance_threshold": 0.05, + "timeout_steps": 1800, + "base_pos_threshold": 0.12, + "base_rot_threshold": 0.5, + "eef_pos_threshold": 0.03, + "eef_rot_threshold": 0.3, + "base_waypoint_max_steps": 20, + "arm_waypoint_max_steps": 8, + "move_strategy_distance_threshold": 0.1, + "debug": false, + "debug_viz": false + }, + "MobileMoveL": { + "translation_threshold": 0.006, + "rotation_threshold": 0.08, + "motiongen_distance_threshold": 0.05, + "timeout_steps": 1800, + "stall_release_ticks": 100, + "stall_release_factor": 5.0, + "reactive": false, + "base_pos_threshold": 0.12, + "base_rot_threshold": 0.5, + "eef_pos_threshold": 0.03, + "eef_rot_threshold": 0.3, + "waypoint_max_steps": 20, + "interp_steps": 100, + "interp_validate_target": true, + "retry_mobile_on_locked_plan_failure": true, + "debug": false, + "debug_viz": false + }, + "MobileServoL": { + "base_pos_threshold": 0.12, + "waypoint_max_steps": 20, + "translation_threshold": 0.05, + "timeout_steps": 300 + }, + "ParallelGripper": { + "gripper_threshold": 0.0005, + "timeout_steps": 60 + } + }, + "atomic_skill": { + "NavToPose": { + "robot_id": 0, + "show_marker": false + }, + "Move": { + "arm_planner": "MobileMoveL", + "hand_planner": "ParallelGripper", + "obstacle_avoid_paths": [ + "dynamic/table_A", + "dynamic/table_B" + ], + "obstacle_ignore_paths": [], + "close_value": 1.0, + "open_value": 0.0, + "hold_steps": 10 + }, + "StationNavXR": { + "robot_id": 0, + "show_marker": false + }, + "ReachStance": { + "max_walks": 4 + } + }, + "command": { + "StationBookend": { + "obj_type": "rigid", + "obj_name": "book", + "obj_id": 0, + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.05, + "settle_ticks": 120 + }, + "StationBookendXR": { + "obj_type": "rigid", + "obj_name": "book", + "grasp_part": "body", + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.015, + "lift": 0.03, + "over_top": 0.005, + "pre_clear": 0.1, + "carry_ahead": 0.5, + "carry_z": 0.8, + "settle_ticks": 120, + "hover": 0.09, + "remeasure_lower": true, + "recenter_clear": 0.02, + "recenter_passes": 2, + "push_lead": 0.012, + "push_over": 0.06, + "withdraw_up": 0.2 + } + }, + "auto_collect": {}, + "record": { + "output_dir": "/mnt/scratch/xc536_atomic/n034_saw_on_2020/out/rec", + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "json_round": null, + "schema": { + "source": "robot_manager", + "nan_policy": "from_raw" + }, + "lerobot": { + "subsample_every": 2 + } + } + }, + "visual_dr": { + "keep": [ + "book", + "book_other", + "bookend" + ] + } + }, + "git_sha": null, + "collect_runtime": { + "max_trajectories": 1 + } +} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_on/seed_2020/rec/stationbookendxr/000/sim_info/0/actions.npz b/N034/sawyer_umi/dr_on/seed_2020/rec/stationbookendxr/000/sim_info/0/actions.npz new file mode 100644 index 0000000000000000000000000000000000000000..02956843bcb3c746f3e07abbf7bca88229fdb5f3 --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2020/rec/stationbookendxr/000/sim_info/0/actions.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4db5cb1bc13a963fa0aa6d731b3bc1c6e42e5e388b4efa1cbb68d256d3791d2c +size 599018 diff --git a/N034/sawyer_umi/dr_on/seed_2020/rec/stationbookendxr/000/sim_info/0/device_commands.jsonl b/N034/sawyer_umi/dr_on/seed_2020/rec/stationbookendxr/000/sim_info/0/device_commands.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N034/sawyer_umi/dr_on/seed_2020/rec/stationbookendxr/000/sim_info/0/device_events.jsonl b/N034/sawyer_umi/dr_on/seed_2020/rec/stationbookendxr/000/sim_info/0/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N034/sawyer_umi/dr_on/seed_2020/rec/stationbookendxr/000/sim_info/0/scene_snapshot.json b/N034/sawyer_umi/dr_on/seed_2020/rec/stationbookendxr/000/sim_info/0/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..3dfc5ae43684a2b04898ca2b53f5123ddda26050 --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2020/rec/stationbookendxr/000/sim_info/0/scene_snapshot.json @@ -0,0 +1,509 @@ +{ + "trajectory_id": 0, + "env_id": 0, + "run_id": "stationbookendxr/000", + "task_type": "BookendXRCommand", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])", + "avatars": "avatar_manager.set_avatars_state(snapshot['avatars'], env_ids=[env_id]) (present when the scene has animated avatars)" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "table_A": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.29415405208559803, + -0.11526484605055042, + 0.18 + ], + "ori": [ + 0.9992436766624451, + 0.0, + 0.0, + -0.03888615220785141 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.45, + 0.35 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + } + }, + "type_specific": {} + } + ], + "table_B": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 2.0459916384928905, + 3.163520522154976, + 0.18 + ], + "ori": [ + 0.9996863603591919, + 0.0, + 0.0, + -0.025043075904250145 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.45, + 0.35 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + } + }, + "type_specific": {} + } + ], + "slot_left": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.3298995266063233, + -0.23284252697379443, + 0.3475 + ], + "ori": [ + 0.9992436766624451, + 0.0, + 0.0, + -0.03888615220785141 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.4, + 0.3, + 0.2 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.01, + 0.12, + 0.035 + ] + } + }, + "type_specific": {} + } + ], + "slot_right": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.2770598126805049, + -0.2369613413951632, + 0.3475 + ], + "ori": [ + 0.9992436766624451, + 0.0, + 0.0, + -0.03888615220785141 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.4, + 0.3, + 0.2 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.01, + 0.12, + 0.035 + ] + } + }, + "type_specific": {} + } + ], + "book": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.3043818175792694, + -0.24647574126720428, + 0.4000000059604645 + ], + "ori": [ + 0.7340686917304993, + 6.41200870177272e-07, + 5.131648208589468e-07, + 0.6790751814842224 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.78, + 0.12, + 0.12 + ], + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.05, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.1, + 0.035, + 0.14 + ] + } + }, + "type_specific": { + "linear_velocity": [ + -0.00021701773221138865, + 1.5259771316777915e-05, + -5.171404336579144e-05 + ], + "angular_velocity": [ + -0.0002177222486352548, + -0.0029742331244051456, + -9.261536615667865e-05 + ] + } + } + ], + "plate": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 2.0125203420742537, + 3.065072960905061, + 0.37049999999999994 + ], + "ori": [ + 0.9996863603591919, + 0.0, + 0.0, + -0.025043075904250145 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.35, + 0.35, + 0.4 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.012, + 0.14, + 0.08 + ] + } + }, + "type_specific": {} + } + ], + "bookend": [ + { + "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MMB_A07/bookend_l/Object.usda", + "pose": { + "pos": [ + 2.114832639694214, + 3.0567514896392822, + 0.33000004291534424 + ], + "ori": [ + 0.7245937585830688, + -2.5331974029541016e-07, + 5.066394805908203e-07, + 0.6891761422157288 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.6, + "physics_material": { + "static_friction": 0.2, + "dynamic_friction": 0.15, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.256975110663916e-07, + 1.9482502722212303e-08, + -1.2694904683030472e-07 + ], + "angular_velocity": [ + -6.3718118781253e-07, + 2.049499698841828e-06, + 3.176291443196533e-07 + ] + } + } + ] + } + ], + "artifacts": [ + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1000.0, + "texture": null, + "color": [ + 0.85, + 0.85, + 0.85 + ] + } + } + }, + "robots": { + "RidgebackSawyerUmi": { + "root_pose": [ + [ + -3.497370958328247, + -2.438236713409424, + 0.05000000074505806, + 0.968396008014679, + 0.0, + 0.0, + 0.2494177669286728 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.600000023841858, + 0.0, + 0.5, + 0.0, + -2.319999933242798, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "head": [ + [ + 0.21660000085830688, + 0.0, + -0.04500000178813934, + -0.6743797063827515, + 0.21263112127780914, + -0.21263112127780914, + 0.6743797659873962 + ] + ], + "wrist": [ + [ + 0.05979999899864197, + 0.0, + 0.029999999329447746, + 6.123234262925839e-17, + 0.7071067690849304, + 0.7071067690849304, + -4.329780301713277e-17 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_on/seed_2020/rec/stationbookendxr/000/sim_info/0/sim_states.npz b/N034/sawyer_umi/dr_on/seed_2020/rec/stationbookendxr/000/sim_info/0/sim_states.npz new file mode 100644 index 0000000000000000000000000000000000000000..c54db35c36fb478601a0e719e0ffe079256dc4c4 --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2020/rec/stationbookendxr/000/sim_info/0/sim_states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:047779af4c151c6d9f7c25c6687c086f6347a0e6127377d8c6b90741386b5d53 +size 767844 diff --git a/N034/sawyer_umi/dr_on/seed_2020/rec/stationbookendxr/000/sim_info/magicsim_manifest.json b/N034/sawyer_umi/dr_on/seed_2020/rec/stationbookendxr/000/sim_info/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..a307a590358234a7a43999a0c3e019758abd0d2e --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2020/rec/stationbookendxr/000/sim_info/magicsim_manifest.json @@ -0,0 +1,233 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 03:06:05" + }, + "embodiment": { + "robots": [ + { + "name": "RidgebackSawyerUmi", + "cfg": "RidgebackSawyerUmiCfg", + "type": "mobilemanip", + "joint_names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 11, + "nan_policy": "from_raw", + "segments": [ + { + "name": "RidgebackSawyerUmi.base_action", + "start": 0, + "end": 3, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint" + ], + "source": "HolonomicAction", + "names_source": "_joint_names" + }, + { + "name": "RidgebackSawyerUmi.arm_action", + "start": 3, + "end": 10, + "names": [ + "frame0.pos_x", + "frame0.pos_y", + "frame0.pos_z", + "frame0.quat_w", + "frame0.quat_x", + "frame0.quat_y", + "frame0.quat_z" + ], + "source": "PinkInverseKinematicsAction", + "names_source": "pink_layout" + }, + { + "name": "RidgebackSawyerUmi.eef_action", + "start": 10, + "end": 11, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 15, + "segments": [ + { + "name": "RidgebackSawyerUmi.joint_pos", + "start": 0, + "end": 13, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ], + "source": "ObservationManager", + "names_source": "joint_names" + }, + { + "name": "RidgebackSawyerUmi.gripper_pos", + "start": 13, + "end": 15, + "names": [ + "gripper_0", + "gripper_1" + ], + "source": "ObservationManager", + "names_source": "generated" + } + ] + }, + "joint_vel_layout": { + "dim": 13, + "segments": [ + { + "name": "RidgebackSawyerUmi.joint_vel", + "start": 0, + "end": 13, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "action_levels": { + "L0": "task command list (collect.auto_collect_info.current_action)", + "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)", + "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)", + "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy", + "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)" + }, + "cameras": { + "head": { + "intrinsics": { + "K": [ + [ + 355.55555555555554, + 0.0, + 320.0 + ], + [ + 0.0, + 355.55555555555554, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 83.97442499163331, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.21660000085830688, + 0.0, + -0.04500000178813934 + ], + "quat": [ + -0.6743797063827515, + 0.21263112127780914, + -0.21263112127780914, + 0.6743797659873962 + ] + }, + "wrist": { + "intrinsics": { + "K": [ + [ + 320.0, + 0.0, + 320.0 + ], + [ + 0.0, + 320.0, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 90.0, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.05979999899864197, + 0.0, + 0.029999999329447746 + ], + "quat": [ + 6.123234262925839e-17, + 0.7071067690849304, + 0.7071067690849304, + -4.329780301713277e-17 + ] + } + }, + "generated_run": { + "run_id": "stationbookendxr/000", + "task_type": "BookendXRCommand" + } +} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_on/seed_2020/rec/stationbookendxr/000/visual_dr.json b/N034/sawyer_umi/dr_on/seed_2020/rec/stationbookendxr/000/visual_dr.json new file mode 100644 index 0000000000000000000000000000000000000000..cf850680da56c2e873521466dea276301eebda64 --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2020/rec/stationbookendxr/000/visual_dr.json @@ -0,0 +1,677 @@ +{ + "version": 1, + "settings": { + "enabled": false, + "keep": [ + "book", + "book_other", + "bookend" + ], + "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": 2020, + "seeds": { + "0": 2020 + }, + "lights": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/RectLight", + "type": "RectLight", + "intensity": 19776.92382, + "intensity_base": 15000.0, + "enable_color_temperature": true, + "color_temperature_k": 4965.304468, + "rotate_deg": [ + 0.81, + -2.041, + -3.872 + ] + } + ], + "domes": [ + { + "path": "/World/background", + "type": "DomeLight", + "intensity": 1451.358318, + "intensity_base": 1000.0, + "enable_color_temperature": true, + "color_temperature_k": 7008.424572, + "rotate_deg": [ + 0.0, + 0.0, + 121.876 + ], + "dome": { + "path": "/World/background", + "hdr_base": null, + "color": [ + 0.796705, + 0.81821, + 0.77401 + ] + } + } + ], + "materials": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light", + "shader": "omnipbr", + "color": [ + 0.9615, + 0.9604, + 0.9678 + ], + "color_base": [ + 1.0, + 1.0, + 1.0 + ], + "roughness": 0.51435, + "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/Ceramic/Ceramic_Tiles_Glazed_Subway.mdl", + "material": "/MmbVdrLooks/Source_Ceramic_Ceramic_Tiles_Glazed_Subway", + "bound_prims": 1, + "pool_size": 42, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic", + "role": "wall", + "mdl": "Source/Concrete/Concrete_Polished.mdl", + "material": "/MmbVdrLooks/Source_Concrete_Concrete_Polished", + "bound_prims": 17, + "pool_size": 28, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic2", + "role": "wall", + "mdl": "Source/Paint/Paint_Gun_Metal.mdl", + "material": "/MmbVdrLooks/Source_Paint_Paint_Gun_Metal", + "bound_prims": 22, + "pool_size": 28, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WoodWall", + "role": "wall", + "mdl": "Source/Concrete/Spongy_Concrete_Weathered.mdl", + "material": "/MmbVdrLooks/Source_Concrete_Spongy_Concrete_Weathered", + "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": { + "book": 1, + "book_other": 0, + "bookend": 2 + }, + "physics_skip": { + "physics_binding": 8, + "rigid_body": 95, + "examples": [ + [ + "/World/envs/env_0/Robot_0/base_link/visuals/base_link_visuals_mesh_0/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/base_link_visuals_mesh_1/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_2/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_3/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_4/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_5/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_6/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_7/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/collisions/base_link_collisions_mesh_0/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/collisions/base_link_collisions_mesh_1/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/front_laser/visuals/front_laser_visuals/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/front_laser/collisions/mesh_0/box", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/rear_laser/visuals/rear_laser_visuals/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/rear_laser/collisions/mesh_0/box", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_arm_base_link/visuals/right_arm_base_link_visuals_mesh_0/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_arm_base_link/visuals/right_arm_base_link_visuals_mesh_0/World/mesh/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_arm_base_link/visuals/right_arm_base_link_visuals_mesh_0/World/mesh/mesh1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_arm_base_link/collisions/mesh_0/cylinder", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh2", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh3", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh4", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh5", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh6", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/collisions/mesh_0/sphere", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh3", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh5", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh2", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh6", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh4", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh7", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh8", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh9", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/collisions/mesh_0/sphere", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/screen/visuals/mesh_0/box", + "rigid_body" + ] + ] + }, + "material_library": { + "root": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Material", + "pool_sizes": { + "ground": 42, + "wall": 28, + "furniture": 38, + "object": 54 + } + }, + "no_swap": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass", + "reason": "glass", + "bound_prims": 1 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light", + "reason": "emissive", + "bound_prims": 1 + } + ], + "unsupported": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass", + "mdl": "OmniGlass.mdl", + "bound_prims": 1 + } + ] + }, + { + "env_ids": [ + 0 + ], + "reset_index": 1, + "episode_seed": 2020, + "seeds": { + "0": 2020 + }, + "lights": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/RectLight", + "type": "RectLight", + "intensity": 19776.92382, + "intensity_base": 15000.0, + "enable_color_temperature": true, + "color_temperature_k": 4965.304468, + "rotate_deg": [ + 0.81, + -2.041, + -3.872 + ] + } + ], + "domes": [ + { + "path": "/World/background", + "type": "DomeLight", + "intensity": 1451.358318, + "intensity_base": 1000.0, + "enable_color_temperature": true, + "color_temperature_k": 7008.424572, + "rotate_deg": [ + 0.0, + 0.0, + 121.876 + ], + "dome": { + "path": "/World/background", + "hdr_base": null, + "color": [ + 0.796705, + 0.81821, + 0.77401 + ] + } + } + ], + "materials": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light", + "shader": "omnipbr", + "color": [ + 0.9615, + 0.9604, + 0.9678 + ], + "color_base": [ + 1.0, + 1.0, + 1.0 + ], + "roughness": 0.51435, + "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/Ceramic/Ceramic_Tiles_Glazed_Subway.mdl", + "material": "/MmbVdrLooks/Source_Ceramic_Ceramic_Tiles_Glazed_Subway", + "bound_prims": 1, + "pool_size": 42, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic", + "role": "wall", + "mdl": "Source/Concrete/Concrete_Polished.mdl", + "material": "/MmbVdrLooks/Source_Concrete_Concrete_Polished", + "bound_prims": 17, + "pool_size": 28, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic2", + "role": "wall", + "mdl": "Source/Paint/Paint_Gun_Metal.mdl", + "material": "/MmbVdrLooks/Source_Paint_Paint_Gun_Metal", + "bound_prims": 22, + "pool_size": 28, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WoodWall", + "role": "wall", + "mdl": "Source/Concrete/Spongy_Concrete_Weathered.mdl", + "material": "/MmbVdrLooks/Source_Concrete_Spongy_Concrete_Weathered", + "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": { + "book": 1, + "book_other": 0, + "bookend": 2 + }, + "physics_skip": { + "physics_binding": 8, + "rigid_body": 95, + "examples": [ + [ + "/World/envs/env_0/Robot_0/base_link/visuals/base_link_visuals_mesh_0/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/base_link_visuals_mesh_1/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_2/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_3/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_4/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_5/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_6/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_7/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/collisions/base_link_collisions_mesh_0/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/collisions/base_link_collisions_mesh_1/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/front_laser/visuals/front_laser_visuals/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/front_laser/collisions/mesh_0/box", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/rear_laser/visuals/rear_laser_visuals/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/rear_laser/collisions/mesh_0/box", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_arm_base_link/visuals/right_arm_base_link_visuals_mesh_0/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_arm_base_link/visuals/right_arm_base_link_visuals_mesh_0/World/mesh/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_arm_base_link/visuals/right_arm_base_link_visuals_mesh_0/World/mesh/mesh1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_arm_base_link/collisions/mesh_0/cylinder", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh2", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh3", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh4", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh5", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh6", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/collisions/mesh_0/sphere", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh3", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh5", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh2", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh6", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh4", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh7", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh8", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh9", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/collisions/mesh_0/sphere", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/screen/visuals/mesh_0/box", + "rigid_body" + ] + ] + }, + "material_library": { + "root": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Material", + "pool_sizes": { + "ground": 42, + "wall": 28, + "furniture": 38, + "object": 54 + } + }, + "no_swap": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass", + "reason": "glass", + "bound_prims": 1 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light", + "reason": "emissive", + "bound_prims": 1 + } + ], + "unsupported": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass", + "mdl": "OmniGlass.mdl", + "bound_prims": 1 + } + ] + } + ] +} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_on/seed_2020/report.episodes.jsonl b/N034/sawyer_umi/dr_on/seed_2020/report.episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e52cb8b4eba1fee41c6e3a828cf397f1a5539f19 --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2020/report.episodes.jsonl @@ -0,0 +1 @@ +{"task_id": "N034", "task_version": "EXT60-MobileAvatar-v3", "instruction": null, "agent_id": "a07", "family_id": "bookend_support", "primary_category": "C2", "level": "easy", "embodiment": "sawyer_umi", "scene_seed": 2020, "execution_mode": "expert_privileged_command", "station_layout": {"A": {"center": [-0.29415405208559803, -0.11526484605055042], "facing": 1.493, "stand": [-0.362, -0.983, 1.493]}, "B": {"center": [2.0459916384928905, 3.163520522154976], "facing": 1.521, "stand": [1.998, 2.215, 1.521]}}, "spawn_pose": [-3.497, -2.438, 0.504], "base_path": [[-3.497, -2.438, 0.504], [-3.497, -2.438, 0.504], [-3.497, -2.438, 0.504], [-3.497, -2.438, 0.504], [-3.497, -2.438, 0.504], [-3.4, -2.387, 0.472], [-3.264, -2.322, 0.46], [-3.129, -2.257, 0.456], [-2.994, -2.193, 0.454], [-2.858, -2.129, 0.454], [-2.724, -2.062, 0.453], [-2.588, -1.998, 0.453], [-2.454, -1.931, 0.453], [-2.319, -1.865, 0.453], [-2.183, -1.8, 0.453], [-2.049, -1.734, 0.453], [-1.914, -1.668, 0.453], [-1.779, -1.603, 0.453], [-1.644, -1.537, 0.453], [-1.509, -1.471, 0.453], [-1.374, -1.406, 0.453], [-1.24, -1.339, 0.453], [-1.105, -1.275, 0.453], [-0.97, -1.209, 0.453], [-0.835, -1.142, 0.453], [-0.698, -1.082, 0.453], [-0.58, -1.046, 0.453], [-0.504, -1.023, 0.453], [-0.453, -1.009, 0.453], [-0.42, -1.0, 0.453], [-0.409, -0.995, 0.676], [-0.409, -0.996, 1.066], [-0.408, -0.996, 1.294], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.408, -0.996, 1.374], [-0.407, -0.996, 1.135], [-0.407, -0.996, 0.735], [-0.39, -0.988, 0.387], [-0.251, -0.951, 0.218], [-0.102, -0.933, 0.157], [0.048, -0.922, 0.135], [0.195, -0.884, 0.127], [0.324, -0.803, 0.129], [0.393, -0.743, 0.48], [0.411, -0.743, 0.836], [0.518, -0.648, 1.016], [0.602, -0.524, 1.081], [0.676, -0.393, 1.104], [0.744, -0.259, 1.112], [0.811, -0.125, 1.113], [0.878, 0.009, 1.113], [0.945, 0.143, 1.114], [1.011, 0.278, 1.114], [1.078, 0.412, 1.114], [1.143, 0.546, 1.114], [1.21, 0.681, 1.114], [1.276, 0.815, 1.114], [1.343, 0.95, 1.114], [1.408, 1.084, 1.114], [1.475, 1.219, 1.114], [1.54, 1.354, 1.114], [1.608, 1.488, 1.114], [1.673, 1.623, 1.114], [1.74, 1.757, 1.114], [1.805, 1.892, 1.114], [1.871, 2.005, 1.114], [1.915, 2.08, 1.114], [1.944, 2.128, 1.114], [1.962, 2.16, 1.114], [1.97, 2.175, 1.22], [1.97, 2.175, 1.381], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404], [1.97, 2.175, 1.404]], "stage_events": [{"tick": 545, "event": "enter_station", "station": "A", "xy": [-1.137, -1.291]}, {"tick": 3072, "event": "leave_station", "station": "A", "xy": [1.067, 0.39]}, {"tick": 3325, "event": "enter_station", "station": "B", "xy": [1.737, 1.751]}], "transport_state": {"book": {"held": false, "grasps": 1}}, "manipulation_success": true, "mobile_success": true, "full_success": true, "failure_reason": null, "fail_class_hint": null, "distance_to_first_interaction": 2.625, "interstation_path_lengths": [4.511], "station_transition_order": ["A", "B"], "final_approach_pose": [1.97, 2.175, 1.404], "regrasp_events": 0, "control_ticks": 5582, "wall_s": 1171.4, "phase": "done", "state": "success: task sequence complete", "check": {"book": [2.04, 3.062, 0.4], "dist_wrist": 0.221, "held": false, "upright_deg": 0.0, "rest_z": true, "gaps": {"plate": 0.004, "bookend": 0.0018}, "pushed": true, "released": true, "at_rest": true, "manipulation_success": true}, "route": ["A", "B"], "total_path_m": 7.62, "planner_seeds": "default"} diff --git a/N034/sawyer_umi/dr_on/seed_2020/report.json b/N034/sawyer_umi/dr_on/seed_2020/report.json new file mode 100644 index 0000000000000000000000000000000000000000..de0b6686d8d63a15ec263edd2443f90ac711d220 --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2020/report.json @@ -0,0 +1,1461 @@ +{ + "task_id": "N034", + "robot": "sawyer_umi", + "level": "easy", + "seed": 2020, + "episodes_requested": 1, + "episodes": [ + { + "task_id": "N034", + "task_version": "EXT60-MobileAvatar-v3", + "instruction": null, + "agent_id": "a07", + "family_id": "bookend_support", + "primary_category": "C2", + "level": "easy", + "embodiment": "sawyer_umi", + "scene_seed": 2020, + "execution_mode": "expert_privileged_command", + "station_layout": { + "A": { + "center": [ + -0.29415405208559803, + -0.11526484605055042 + ], + "facing": 1.493, + "stand": [ + -0.362, + -0.983, + 1.493 + ] + }, + "B": { + "center": [ + 2.0459916384928905, + 3.163520522154976 + ], + "facing": 1.521, + "stand": [ + 1.998, + 2.215, + 1.521 + ] + } + }, + "spawn_pose": [ + -3.497, + -2.438, + 0.504 + ], + "base_path": [ + [ + -3.497, + -2.438, + 0.504 + ], + [ + -3.497, + -2.438, + 0.504 + ], + [ + -3.497, + -2.438, + 0.504 + ], + [ + -3.497, + -2.438, + 0.504 + ], + [ + -3.497, + -2.438, + 0.504 + ], + [ + -3.4, + -2.387, + 0.472 + ], + [ + -3.264, + -2.322, + 0.46 + ], + [ + -3.129, + -2.257, + 0.456 + ], + [ + -2.994, + -2.193, + 0.454 + ], + [ + -2.858, + -2.129, + 0.454 + ], + [ + -2.724, + -2.062, + 0.453 + ], + [ + -2.588, + -1.998, + 0.453 + ], + [ + -2.454, + -1.931, + 0.453 + ], + [ + -2.319, + -1.865, + 0.453 + ], + [ + -2.183, + -1.8, + 0.453 + ], + [ + -2.049, + -1.734, + 0.453 + ], + [ + -1.914, + -1.668, + 0.453 + ], + [ + -1.779, + -1.603, + 0.453 + ], + [ + -1.644, + -1.537, + 0.453 + ], + [ + -1.509, + -1.471, + 0.453 + ], + [ + -1.374, + -1.406, + 0.453 + ], + [ + -1.24, + -1.339, + 0.453 + ], + [ + -1.105, + -1.275, + 0.453 + ], + [ + -0.97, + -1.209, + 0.453 + ], + [ + -0.835, + -1.142, + 0.453 + ], + [ + -0.698, + -1.082, + 0.453 + ], + [ + -0.58, + -1.046, + 0.453 + ], + [ + -0.504, + -1.023, + 0.453 + ], + [ + -0.453, + -1.009, + 0.453 + ], + [ + -0.42, + -1.0, + 0.453 + ], + [ + -0.409, + -0.995, + 0.676 + ], + [ + -0.409, + -0.996, + 1.066 + ], + [ + -0.408, + -0.996, + 1.294 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.408, + -0.996, + 1.374 + ], + [ + -0.407, + -0.996, + 1.135 + ], + [ + -0.407, + -0.996, + 0.735 + ], + [ + -0.39, + -0.988, + 0.387 + ], + [ + -0.251, + -0.951, + 0.218 + ], + [ + -0.102, + -0.933, + 0.157 + ], + [ + 0.048, + -0.922, + 0.135 + ], + [ + 0.195, + -0.884, + 0.127 + ], + [ + 0.324, + -0.803, + 0.129 + ], + [ + 0.393, + -0.743, + 0.48 + ], + [ + 0.411, + -0.743, + 0.836 + ], + [ + 0.518, + -0.648, + 1.016 + ], + [ + 0.602, + -0.524, + 1.081 + ], + [ + 0.676, + -0.393, + 1.104 + ], + [ + 0.744, + -0.259, + 1.112 + ], + [ + 0.811, + -0.125, + 1.113 + ], + [ + 0.878, + 0.009, + 1.113 + ], + [ + 0.945, + 0.143, + 1.114 + ], + [ + 1.011, + 0.278, + 1.114 + ], + [ + 1.078, + 0.412, + 1.114 + ], + [ + 1.143, + 0.546, + 1.114 + ], + [ + 1.21, + 0.681, + 1.114 + ], + [ + 1.276, + 0.815, + 1.114 + ], + [ + 1.343, + 0.95, + 1.114 + ], + [ + 1.408, + 1.084, + 1.114 + ], + [ + 1.475, + 1.219, + 1.114 + ], + [ + 1.54, + 1.354, + 1.114 + ], + [ + 1.608, + 1.488, + 1.114 + ], + [ + 1.673, + 1.623, + 1.114 + ], + [ + 1.74, + 1.757, + 1.114 + ], + [ + 1.805, + 1.892, + 1.114 + ], + [ + 1.871, + 2.005, + 1.114 + ], + [ + 1.915, + 2.08, + 1.114 + ], + [ + 1.944, + 2.128, + 1.114 + ], + [ + 1.962, + 2.16, + 1.114 + ], + [ + 1.97, + 2.175, + 1.22 + ], + [ + 1.97, + 2.175, + 1.381 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ], + [ + 1.97, + 2.175, + 1.404 + ] + ], + "stage_events": [ + { + "tick": 545, + "event": "enter_station", + "station": "A", + "xy": [ + -1.137, + -1.291 + ] + }, + { + "tick": 3072, + "event": "leave_station", + "station": "A", + "xy": [ + 1.067, + 0.39 + ] + }, + { + "tick": 3325, + "event": "enter_station", + "station": "B", + "xy": [ + 1.737, + 1.751 + ] + } + ], + "transport_state": { + "book": { + "held": false, + "grasps": 1 + } + }, + "manipulation_success": true, + "mobile_success": true, + "full_success": true, + "failure_reason": null, + "fail_class_hint": null, + "distance_to_first_interaction": 2.625, + "interstation_path_lengths": [ + 4.511 + ], + "station_transition_order": [ + "A", + "B" + ], + "final_approach_pose": [ + 1.97, + 2.175, + 1.404 + ], + "regrasp_events": 0, + "control_ticks": 5582, + "wall_s": 1171.4, + "phase": "done", + "state": "success: task sequence complete", + "check": { + "book": [ + 2.04, + 3.062, + 0.4 + ], + "dist_wrist": 0.221, + "held": false, + "upright_deg": 0.0, + "rest_z": true, + "gaps": { + "plate": 0.004, + "bookend": 0.0018 + }, + "pushed": true, + "released": true, + "at_rest": true, + "manipulation_success": true + }, + "route": [ + "A", + "B" + ], + "total_path_m": 7.62, + "planner_seeds": "default" + } + ], + "error": null, + "collect": { + "task": "N034", + "robot": "sawyer_umi", + "visual_dr": true, + "env": { + "MMB_COLLECT": "1", + "MMB_TASK_ID": "N034", + "MMB_CLEAN_VIEW": "1", + "MMB_REAL_ROBOT_LOOK": "1", + "MMB_VISUAL_DR": "1" + }, + "cameras": { + "head": { + "link": "Robot_0/head", + "pos": [ + 0.2166, + 0.0, + -0.045 + ], + "ori": [ + -0.0, + 35.0, + -90.0 + ], + "focal_length": 2.0, + "horizontal_aperture": 3.6, + "vertical_aperture": 2.7 + }, + "wrist": { + "link": "Robot_0/right_electric_gripper_base", + "pos": [ + 0.0598, + 0.0, + 0.03 + ], + "ori": [ + 180.0, + 0.0, + -90.0 + ], + "focal_length": 1.8, + "horizontal_aperture": 3.6, + "vertical_aperture": 2.7 + } + }, + "resolution": [ + 640, + 480 + ], + "camera_hz": 25, + "record": { + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + } + }, + "review_cameras": [], + "policy_obs_signature": [ + "/camera_info[0]/rgb[0]:(480, 640, 4):uint8", + "/camera_info[1]/rgb[0]:(480, 640, 4):uint8", + "/robot_state[0]/RidgebackSawyerUmi/base_ang_vel:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/base_heading_quat:(1, 4):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/base_lin_vel:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/base_pos:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/base_quat:(1, 4):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/eef_pos:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/eef_quat:(1, 4):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/eef_relative_pos:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/eef_relative_quat:(1, 4):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/eef_relatvie_pos_arm_base:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/gripper_pos:(1, 2):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/joint_effort:(1, 13):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/joint_pos:(1, 13):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/joint_vel:(1, 13):torch.float32" + ], + "n_success": 1, + "elapsed_s": 1451.0, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 51.1 + } +} diff --git a/N034/sawyer_umi/dr_on/seed_2021/check.json b/N034/sawyer_umi/dr_on/seed_2021/check.json new file mode 100644 index 0000000000000000000000000000000000000000..2584b9b7f155dcece1258e46072e69008a638ec8 --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2021/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'; expected 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "2948 rows vs ceil(5895/2) = 2948" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..5995, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "65.12 MB, 2948 frames at 25 fps, mean luma 66..106, std 42, new picture 2947x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2948 vs 2948" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "62.54 MB, 2948 frames at 25 fps, mean luma 43..133, std 36, new picture 2947x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2948 vs 2948" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationbookendxr/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_on/seed_2021/check.txt b/N034/sawyer_umi/dr_on/seed_2021/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..d878f85366937a225204b1dd52776708d95d52e1 --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2021/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n034_saw_on_2021/out task=N034 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n034_saw_on_2021/out/rec/stationbookendxr/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2948 videos 2 robot_type RidgebackSawyerUmiCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 2948 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1'] +[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z'] +[PASS] task text = MobileBench instruction: task_index 0: 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'; expected 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.' +rows 2948 at dataset fps 25 = 117.92 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2948 rows vs ceil(5895/2) = 2948 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..5995, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 65.12 MB, 2948 frames at 25 fps, mean luma 66..106, std 42, new picture 2947x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2948 vs 2948 +[PASS] video observation.images.wrist decodes, 640x480, not black: 62.54 MB, 2948 frames at 25 fps, mean luma 43..133, std 36, new picture 2947x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2948 vs 2948 +parquet size 2.70 MB +[PASS] sim_info present: rec/stationbookendxr/000/sim_info +dataset size 130.54 MB; whole cell dir 132.0 MB +RESULT: ALL PASS diff --git a/N034/sawyer_umi/dr_on/seed_2021/rec/stationbookendxr/000/completed/0.json b/N034/sawyer_umi/dr_on/seed_2021/rec/stationbookendxr/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..2218f14552b5319a4951e60bfd54adf3df3cac5e --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2021/rec/stationbookendxr/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationbookendxr/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_on/seed_2021/rec/stationbookendxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N034/sawyer_umi/dr_on/seed_2021/rec/stationbookendxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..180ede078b49c001a9b2c50862b72885ba0f4a81 --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2021/rec/stationbookendxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ad8820c044a7efcddfeaee793fe42fac26fb5abb3228cb5a25ee5e5bd79b3ced +size 2700301 diff --git a/N034/sawyer_umi/dr_on/seed_2021/rec/stationbookendxr/000/lerobot_v21/meta/episodes.jsonl b/N034/sawyer_umi/dr_on/seed_2021/rec/stationbookendxr/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9b0add5adbaf3abed8e239c2dc26abf21dc23588 --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2021/rec/stationbookendxr/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it."], "length": 2948, "magicsim/control_steps": 5895, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the brown slot right. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is to the left of the brown slot right. The gray table B is to the left of the bookend. The red book is on top of the brown slot right. The gray plate is to the left of the bookend. The bookend is to the right of the gray plate. The scene is viewed from front, at table height."} diff --git a/N034/sawyer_umi/dr_on/seed_2021/rec/stationbookendxr/000/lerobot_v21/meta/episodes_stats.jsonl b/N034/sawyer_umi/dr_on/seed_2021/rec/stationbookendxr/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..060d0a1fed8a1ffd5f34e17befb9308ae56874c2 --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2021/rec/stationbookendxr/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.058455125050267946, -0.0011152810277480485, 0.0052332420265508986, 0.7000258468708157, 1.2650243438719653, 0.9035230633604316, 0.027044781898377692, -0.06574532009087493, 0.025530078195068945, 0.13536709154295146, 0.6210990502035278], "std": [0.11574218615555729, 0.012432839234452514, 0.1483536181777527, 1.244332919754301, 1.5347696102657942, 0.2404451198323683, 0.2832880952488527, 0.6210513588670022, 0.1934423481378446, 0.6874540994677742, 0.48511340946194426], "min": [0.0, -0.12872132658958435, -0.800000011920929, -3.2127041816711426, -1.6484390497207642, 0.5874999761581421, -0.6585304737091064, -0.8837262392044067, -0.384316086769104, -0.787695050239563, 0.0], "max": [0.30000001192092896, 0.09703919291496277, 0.800000011920929, 2.057950496673584, 2.905226230621338, 1.373114824295044, 0.7161067724227905, 0.7609541416168213, 0.4788842499256134, 0.9577616453170776, 1.0], "count": [2948]}, "action_is_hold": {"mean": [0.08344640434192672, 0.08344640434192672, 0.08344640434192672, 0.09769335142469471, 0.09769335142469471, 0.09769335142469471, 0.09769335142469471, 0.09769335142469471, 0.09769335142469471, 0.09769335142469471, 0.9915196743554953], "std": [0.276555784507084, 0.276555784507084, 0.276555784507084, 0.29689957984494814, 0.29689957984494814, 0.29689957984494814, 0.29689957984494814, 0.29689957984494814, 0.29689957984494814, 0.29689957984494814, 0.09169738121379555], "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": [2948]}, "observation.state": {"mean": [1.2183129319180628, -3.5298200754329985, 1.310991829678194, 1.9245025028438791, -1.9229450227507985, -2.548645446913537, -0.5874232023985136, 1.3620770228483299, 1.5676050401079487, -2.156958239898591, -0.22101661472266865, 0.013682956348612685, -0.01445340533182027, -0.01445340533182027, -0.013682956348612685], "std": [1.881956210940025, 0.28808806269063497, 0.3674376325805597, 1.0877126199572005, 1.0882762186378743, 0.5537922807561405, 0.3287868422863297, 0.46579534942962225, 0.9458275631494325, 0.23016570940675624, 0.4355104776642249, 0.008576428509850737, 0.00897731080567202, 0.00897731080567202, 0.008576428509850737], "min": [-3.356022596359253, -4.005521774291992, 0.23074668645858765, -0.03092963621020317, -3.0409629344940186, -3.362461805343628, -1.0589673519134521, 0.4969444274902344, -0.072745680809021, -2.510643482208252, -0.940824568271637, 0.0, -0.020833000540733337, -0.020833000540733337, -0.020833000540733337], "max": [3.034208059310913, -2.0892906188964844, 1.5369763374328613, 3.041229248046875, 0.03009023517370224, -1.5702509880065918, 0.0007936900947242975, 2.1538710594177246, 2.8982200622558594, -1.3044825792312622, 0.9240626692771912, 0.020833000540733337, 0.0, 0.0, -0.0], "count": [2948]}, "observation.joint_vel": {"mean": [0.05415868036606853, -0.012908046680317186, 0.005442130647131209, 0.025597252429827907, -0.021146242331252226, -0.01193876296203738, -0.0051065730282353625, 0.004770948948649577, 0.009096982226353953, 6.367028359911291e-05, 0.008086732273951864, -0.0026963760564394134, -0.00046362116838722165], "std": [0.10774132705255376, 0.047240973000295734, 0.14812524714603806, 0.08957826761311627, 0.07410628707543113, 0.06442291387267994, 0.06238223628533757, 0.06806983897784241, 0.10967572952144788, 0.07795926425136317, 0.0780974443325529, 0.008672022635085116, 0.00815002475896145], "min": [-0.0003104784991592169, -0.19946347177028656, -0.8000184297561646, -0.19892536103725433, -0.14258123934268951, -0.13832752406597137, -0.20171533524990082, -0.20815065503120422, -0.32791316509246826, -0.18614482879638672, -0.3431735038757324, -0.10001193732023239, -0.10008684545755386], "max": [0.32371091842651367, 0.1576983481645584, 0.800088107585907, 0.1783437877893448, 0.1679995059967041, 0.18786388635635376, 0.18589098751544952, 0.20629233121871948, 0.33194220066070557, 0.3275112211704254, 0.41179201006889343, 0.10001005977392197, 0.1000746563076973], "count": [2948]}, "observation.eef_pose": {"mean": [0.7023810210146182, 1.2593106140131118, 0.9053899634482903, -0.07969928471195566, 0.4403873732770961, 0.005660504310659109, -0.2762847272363293], "std": [1.2464202335154984, 1.5312470485425933, 0.243429944068366, 0.27192879504582856, 0.4403668964305358, 0.1951002535051967, 0.646072142900422], "min": [-3.2127041816711426, -1.6507601737976074, 0.588395893573761, -0.710599422454834, -0.6630898118019104, -0.4804322421550751, -0.7951103448867798], "max": [2.0579769611358643, 2.9198355674743652, 1.3740724325180054, 0.48275989294052124, 0.8871322870254517, 0.4797133207321167, 0.9580477476119995], "count": [2948]}, "observation.environment_state": {"mean": [0.7969826522035736, 1.4029228631417092, 0.5030184869061817, 0.7124236309382777, 0.01314499374639118, 0.0011769721681737294, 0.6915362336934422, 1.8259713145900451, 2.9004305931897467, 0.33000006574222485, 0.679575187663372, -1.5993475702343404e-07, -2.226075872861982e-07, 0.7334339329555853, 1.7155407667160034, 2.8750760555267334, 0.37049999833106995, 0.9990823268890381, 0.0, 0.0, 0.04283111169934273, -0.3736504316329956, 0.07110568135976791, 0.3474999964237213, 0.9999797344207764, 0.0, 0.0, -0.006366376299411058, -0.3206547200679779, 0.07043039798736572, 0.3474999964237213, 0.9999797344207764, 0.0, 0.0, -0.006366376299411058, -0.345623642206192, 0.19075830280780792, 0.18000000715255737, 0.9999797344207764, 0.0, 0.0, -0.006366376299411058, 1.7353777885437012, 2.9771482944488525, 0.18000000715255737, 0.9990823268890381, 0.0, 0.0, 0.04283111169934273], "std": [1.0219693460138684, 1.353422013444451, 0.13996843510335077, 0.06271252155869832, 0.022928707528511807, 0.031846326290964976, 0.09264580223181335, 0.016330394143843206, 0.005209407584673821, 4.5124411361418665e-08, 0.011382088855406198, 2.4005760519292565e-06, 2.7227577924996353e-06, 0.011076856412731052, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 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": [-0.3485325276851654, -0.4668962359428406, 0.39999669790267944, 0.6432359218597412, -0.0068657672964036465, -0.07999706268310547, 0.18302185833454132, 1.7689623832702637, 2.8822829723358154, 0.32999977469444275, 0.675686240196228, -4.25875186920166e-05, -4.735589027404785e-05, 0.6945282816886902, 1.7155407667160034, 2.8750760555267334, 0.37049999833106995, 0.9990823268890381, 0.0, 0.0, 0.04283111169934273, -0.3736504316329956, 0.07110568135976791, 0.3474999964237213, 0.9999797344207764, 0.0, 0.0, -0.006366376299411058, -0.3206547200679779, 0.07043039798736572, 0.3474999964237213, 0.9999797344207764, 0.0, 0.0, -0.006366376299411058, -0.345623642206192, 0.19075830280780792, 0.18000000715255737, 0.9999797344207764, 0.0, 0.0, -0.006366376299411058, 1.7353777885437012, 2.9771482944488525, 0.18000000715255737, 0.9990823268890381, 0.0, 0.0, 0.04283111169934273], "max": [2.065495729446411, 2.8761484622955322, 0.758821427822113, 0.9825963377952576, 0.10680995136499405, 0.12023603916168213, 0.7613539099693298, 1.830814003944397, 2.9019789695739746, 0.3300008773803711, 0.7194653749465942, 1.1473895256131073e-06, 1.2814999763577362e-06, 0.7371893525123596, 1.7155407667160034, 2.8750760555267334, 0.37049999833106995, 0.9990823268890381, 0.0, 0.0, 0.04283111169934273, -0.3736504316329956, 0.07110568135976791, 0.3474999964237213, 0.9999797344207764, 0.0, 0.0, -0.006366376299411058, -0.3206547200679779, 0.07043039798736572, 0.3474999964237213, 0.9999797344207764, 0.0, 0.0, -0.006366376299411058, -0.345623642206192, 0.19075830280780792, 0.18000000715255737, 0.9999797344207764, 0.0, 0.0, -0.006366376299411058, 1.7353777885437012, 2.9771482944488525, 0.18000000715255737, 0.9990823268890381, 0.0, 0.0, 0.04283111169934273], "count": [2948]}, "action.command": {"mean": [-1.7960100145356075, -1.3502845666698506, 1.610063360349552, 0.0, 0.0, 0.0, 0.0, -0.16541353383458646, 0.6440140648892051, 1.1812989734337294, 0.913275883632495, 0.024098719521000594, -0.11003094941615722, 0.017990627068994722, 0.18262425844270483, 0.6, -1.7821646267095128, -1.3463562103542122, 1.610063360349552, 0.0, 0.0, 0.0, 0.0, 2.0, -0.006431737582425813, 0.11166805117516904, 1.1779827013209059, -0.2337289739098098, 0.31004825174003037, -0.13809516175171813, 0.09063030827689815, 0.0, -1.7590819417222125, -1.335201778846818, 1.610063360349552, 0.0, 0.0, 0.0, 0.0, 2.0, -0.006431737582425813, 0.11166805117516904, 1.1779827013209059, -0.2337289739098098, 0.31004825174003037, -0.13809516175171813, 0.09063030827689815, 0.0, -1.7089430059130128, -1.3113965664360974, 1.610063360349552, 0.0, 0.0, 0.0, 0.0, 2.0, -0.006431737582425813, 0.11166805117516904, 1.1779827013209059, -0.2337289739098098, 0.31004825174003037, -0.13809516175171813, 0.09063030827689815, 0.0, -1.5746443853386352, -1.265859547418517, 1.610063360349552, 0.0, 0.0, 0.0, 0.0, 2.0, -0.006431737582425813, 0.11166805117516904, 1.1779827013209059, -0.2337289739098098, 0.31004825174003037, -0.13809516175171813, 0.09063030827689815, 0.0, -1.5426219904744947, -1.2556329059439737, 1.610063360349552, 0.0, 0.0, 0.0, 0.0, 2.0, -0.006431737582425813, 0.11166805117516904, 1.1779827013209059, -0.2337289739098098, 0.31004825174003037, -0.13809516175171813, 0.09063030827689815, 0.0, -1.4724180736956565, -1.2372789449788428, 1.610063360349552, 0.0, 0.0, 0.0, 0.0, 2.0, -0.006431737582425813, 0.11166805117516904, 1.1779827013209059, -0.2337289739098098, 0.31004825174003037, -0.13809516175171813, 0.09063030827689815, 0.0, -1.3718456503230374, -1.1990355949949574, 1.610063360349552, 0.0, 0.0, 0.0, 0.0, 2.0, -0.006431737582425813, 0.11166805117516904, 1.1779827013209059, -0.2337289739098098, 0.31004825174003037, -0.13809516175171813, 0.09063030827689815, 0.0, -1.2715450093250822, -1.159732099481531, 1.610063360349552, 0.0, 0.0, 0.0, 0.0, 2.0, -0.006431737582425813, 0.11166805117516904, 1.1779827013209059, -0.2337289739098098, 0.31004825174003037, -0.13809516175171813, 0.09063030827689815, 0.0, -1.209503117848087, -1.1443646621059727, 1.610063360349552, 0.0, 0.0, 0.0, 0.0, 2.0, -0.006431737582425813, 0.11166805117516904, 1.1779827013209059, -0.2337289739098098, 0.31004825174003037, -0.13809516175171813, 0.09063030827689815, 0.0, -1.1798192699414654, -1.1360740789690533, 1.610063360349552, 0.0, 0.0, 0.0, 0.0, 2.0, -0.006431737582425813, 0.11166805117516904, 1.1779827013209059, -0.2337289739098098, 0.31004825174003037, -0.13809516175171813, 0.09063030827689815, 0.0, -1.073392067446902, -1.095589539328137, 1.610063360349552, 0.0, 0.0, 0.0, 0.0, 2.0, -0.006431737582425813, 0.11166805117516904, 1.1779827013209059, -0.2337289739098098, 0.31004825174003037, -0.13809516175171813, 0.09063030827689815, 0.0, -0.9819713586488286, -1.0130046445775676, 1.610063360349552, 0.0, 0.0, 0.0, 0.0, 2.0, -0.006431737582425813, 0.11166805117516904, 1.1779827013209059, -0.2337289739098098, 0.31004825174003037, -0.13809516175171813, 0.09063030827689815, 0.0, -0.9592380264320889, -0.9970558597026644, 1.610063360349552, 0.0, 0.0, 0.0, 0.0, 2.0, -0.006431737582425813, 0.11166805117516904, 1.1779827013209059, -0.2337289739098098, 0.31004825174003037, -0.13809516175171813, 0.09063030827689815, 0.0, -0.8813323999578888, -0.9091903241099538, 1.610063360349552, 0.0, 0.0, 0.0, 0.0, 2.0, -0.006431737582425813, 0.11166805117516904, 1.1779827013209059, -0.2337289739098098, 0.31004825174003037, -0.13809516175171813, 0.09063030827689815, 0.0, -0.8300506369487659, -0.8777216596579229, 1.610063360349552, 0.0, 0.0, 0.0, 0.0, 2.0, -0.006431737582425813, 0.11166805117516904, 1.1779827013209059, -0.2337289739098098, 0.31004825174003037, -0.13809516175171813, 0.09063030827689815, 0.0, -0.7889460374374647, -0.8523917272485592, 1.610063360349552, 0.0, 0.0, 0.0, 0.0, 2.0, -0.006431737582425813, 0.11166805117516904, 1.1779827013209059, -0.2337289739098098, 0.31004825174003037, -0.13809516175171813, 0.09063030827689815, 0.0, -0.7311462824409073, -0.7997546485751061, 1.610063360349552, 0.0, 0.0, 0.0, 0.0, 2.0, -0.006431737582425813, 0.11166805117516904, 1.1779827013209059, -0.2337289739098098, 0.31004825174003037, -0.13809516175171813, 0.09063030827689815, 0.0, -0.6860960875008557, -0.7453245876205934, 1.610063360349552, 0.0, 0.0, 0.0, 0.0, 2.0, -0.006431737582425813, 0.11166805117516904, 1.1779827013209059, -0.2337289739098098, 0.31004825174003037, -0.13809516175171813, 0.09063030827689815, 0.0, -0.6575680425843677, -0.6905617592856288, 1.610063360349552, 0.0, 0.0, 0.0, 0.0, 2.0, -0.006431737582425813, 0.11166805117516904, 1.1779827013209059, -0.2337289739098098, 0.31004825174003037, -0.13809516175171813, 0.09063030827689815, 0.0, -0.6108885309986166, -0.6392910338535502, 1.610063360349552, 0.0, 0.0, 0.0, 0.0, 2.0, -0.006431737582425813, 0.11166805117516904, 1.1779827013209059, -0.2337289739098098, 0.31004825174003037, -0.13809516175171813, 0.09063030827689815, 0.0, -0.5358879314081089, -0.5655176854818253, 1.610063360349552, 0.0, 0.0, 0.0, 0.0, 2.0, -0.006431737582425813, 0.11166805117516904, 1.1779827013209059, -0.2337289739098098, 0.31004825174003037, -0.13809516175171813, 0.09063030827689815, 0.0, -0.4639083254981685, -0.5089386488336164, 1.610063360349552, 0.0, 0.0, 0.0, 0.0, 2.0, -0.006431737582425813, 0.11166805117516904, 1.1779827013209059, -0.2337289739098098, 0.31004825174003037, -0.13809516175171813, 0.09063030827689815, 0.0, -0.4197196477168315, -0.44955319456152015, 1.610063360349552, 0.0, 0.0, 0.0, 0.0, 2.0, -0.006431737582425813, 0.11166805117516904, 1.1779827013209059, -0.2337289739098098, 0.31004825174003037, -0.13809516175171813, 0.09063030827689815, 0.0, -0.39332071043349603, -0.41690027524490614, 1.610063360349552, 0.0, 0.0, 0.0, 0.0, 2.0, -0.006431737582425813, 0.11166805117516904, 1.1779827013209059, -0.2337289739098098, 0.31004825174003037, -0.13809516175171813, 0.09063030827689815, 0.0, -0.3030891104324444, -0.33247531761188764, 1.610063360349552, 0.0, 0.0, 0.0, 0.0, 2.0, -0.006431737582425813, 0.11166805117516904, 1.1779827013209059, -0.2337289739098098, 0.31004825174003037, -0.13809516175171813, 0.09063030827689815, 0.0, -0.22588408057754103, -0.27667201040564354, 1.610063360349552, 0.0, 0.0, 0.0, 0.0, 2.0, -0.006431737582425813, 0.11166805117516904, 1.1779827013209059, -0.2337289739098098, 0.31004825174003037, -0.13809516175171813, 0.09063030827689815, 0.0, -0.18673766448691084, -0.21586099798614913, 1.610063360349552, 0.0, 0.0, 0.0, 0.0, 2.0, -0.006431737582425813, 0.11166805117516904, 1.1779827013209059, -0.2337289739098098, 0.31004825174003037, -0.13809516175171813, 0.09063030827689815, 0.0, -0.16776994660093977, -0.18964347251363703, 1.610063360349552, 0.0, 0.0, 0.0, 0.0, 2.0, -0.006431737582425813, 0.11166805117516904, 1.1779827013209059, -0.2337289739098098, 0.31004825174003037, -0.13809516175171813, 0.09063030827689815, 0.0, -0.06991432099728971, -0.09895381863052781, 1.610063360349552, 0.0, 0.0, 0.0, 0.0, 2.0, -0.006431737582425813, 0.11166805117516904, 1.1779827013209059, -0.2337289739098098, 0.31004825174003037, -0.13809516175171813, 0.09063030827689815, 0.0, -0.006536695602777842, -0.051255667773452966, 1.610063360349552, 0.0, 0.0, 0.0, 0.0, 2.0, -0.006431737582425813, 0.11166805117516904, 1.1779827013209059, -0.2337289739098098, 0.31004825174003037, -0.13809516175171813, 0.09063030827689815, 0.0, 0.04572328345195667, 0.01572076646057335, 1.610063360349552, 0.0, 0.0, 0.0, 0.0, 2.0, -0.006431737582425813, 0.11166805117516904, 1.1779827013209059, -0.2337289739098098, 0.31004825174003037, -0.13809516175171813, 0.09063030827689815, 0.0, 0.08206558823585511, 0.05072478120391433, 1.610063360349552, 0.0, 0.0, 0.0, 0.0, 2.0, -0.006431737582425813, 0.11166805117516904, 1.1779827013209059, -0.2337289739098098, 0.31004825174003037, -0.13809516175171813, 0.09063030827689815, 0.0, 0.16106477557001886, 0.1297890865319484, 1.610063360349552, 0.0, 0.0, 0.0, 0.0, 2.0, -0.006431737582425813, 0.11166805117516904, 1.1779827013209059, -0.2337289739098098, 0.31004825174003037, -0.13809516175171813, 0.09063030827689815, 0.0, 0.20852797192496222, 0.1712861292265557, 1.610063360349552, 0.0, 0.0, 0.0, 0.0, 2.0, -0.006431737582425813, 0.11166805117516904, 1.1779827013209059, -0.2337289739098098, 0.31004825174003037, -0.13809516175171813, 0.09063030827689815, 0.0, 0.2760139943780126, 0.24325711437173791, 1.610063360349552, 0.0, 0.0, 0.0, 0.0, 2.0, -0.006431737582425813, 0.11166805117516904, 1.1779827013209059, -0.2337289739098098, 0.31004825174003037, -0.13809516175171813, 0.09063030827689815, 0.0, 0.3406944759794184, 0.2946232292297724, 1.610063360349552, 0.0, 0.0, 0.0, 0.0, 2.0, -0.006431737582425813, 0.11166805117516904, 1.1779827013209059, -0.2337289739098098, 0.31004825174003037, -0.13809516175171813, 0.09063030827689815, 0.0, 0.39019101149327046, 0.35657567003288787, 1.610063360349552, 0.0, 0.0, 0.0, 0.0, 2.0, -0.006431737582425813, 0.11166805117516904, 1.1779827013209059, -0.2337289739098098, 0.31004825174003037, -0.13809516175171813, 0.09063030827689815, 0.0, 0.4182169245707022, 0.3908521406553887, 1.610063360349552, 0.0, 0.0, 0.0, 0.0, 2.0, -0.006431737582425813, 0.11166805117516904, 1.1779827013209059, -0.2337289739098098, 0.31004825174003037, -0.13809516175171813, 0.09063030827689815, 0.0, 0.502751921238126, 0.468893869664218, 1.610063360349552, 0.0, 0.0, 0.0, 0.0, 2.0, -0.006431737582425813, 0.11166805117516904, 1.1779827013209059, -0.2337289739098098, 0.31004825174003037, -0.13809516175171813, 0.09063030827689815, 0.0, 0.5754496315041104, 0.5266639286601865, 1.610063360349552, 0.0, 0.0, 0.0, 0.0, 2.0, -0.006431737582425813, 0.11166805117516904, 1.1779827013209059, -0.2337289739098098, 0.31004825174003037, -0.13809516175171813, 0.09063030827689815, 0.0, 0.6152650216141262, 0.5810149296715453, 1.610063360349552, 0.0, 0.0, 0.0, 0.0, 2.0, -0.006431737582425813, 0.11166805117516904, 1.1779827013209059, -0.2337289739098098, 0.31004825174003037, -0.13809516175171813, 0.09063030827689815, 0.0, 0.6503368444539405, 0.6219753536823633, 1.610063360349552, 0.0, 0.0, 0.0, 0.0, 2.0, -0.006431737582425813, 0.11166805117516904, 1.1779827013209059, -0.2337289739098098, 0.31004825174003037, -0.13809516175171813, 0.09063030827689815, 0.0, 0.7271615419838879, 0.6920094541601233, 1.610063360349552, 0.0, 0.0, 0.0, 0.0, 2.0, -0.006431737582425813, 0.11166805117516904, 1.1779827013209059, -0.2337289739098098, 0.31004825174003037, -0.13809516175171813, 0.09063030827689815, 0.0, 0.7829297220787487, 0.7472751214697554, 1.610063360349552, 0.0, 0.0, 0.0, 0.0, 2.0, -0.006431737582425813, 0.11166805117516904, 1.1779827013209059, -0.2337289739098098, 0.31004825174003037, -0.13809516175171813, 0.09063030827689815, 0.0, 0.7916645017427367, 0.7526312924720145, 1.610063360349552, 0.0, 0.0, 0.0, 0.0, 2.0, -0.006431737582425813, 0.11166805117516904, 1.1779827013209059, -0.2337289739098098, 0.31004825174003037, -0.13809516175171813, 0.09063030827689815, 0.0], "std": [1.4738414843269179, 0.6981863424739704, 0.04913592394832613, 0.0, 0.0, 0.0, 0.0, 1.3443306248797726, 1.2593005725607946, 1.5409070711338984, 0.24216897668547635, 0.28598379141372715, 0.6112992533188942, 0.1931510387563134, 0.6788639374694239, 0.4898979485566357, 1.4811683572815533, 0.6990433550618299, 0.04913592394832613, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4929540991306276, 1.2467734909933537, 0.18432224343009834, 0.11232869968186698, 0.39652615162174254, 0.08195205187038508, 0.8033614526267236, 0.0, 1.4589532746745038, 0.6877425894502287, 0.04913592394832613, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4929540991306276, 1.2467734909933537, 0.18432224343009834, 0.11232869968186698, 0.39652615162174254, 0.08195205187038508, 0.8033614526267236, 0.0, 1.4138679350453123, 0.6643673576290888, 0.04913592394832613, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4929540991306276, 1.2467734909933537, 0.18432224343009834, 0.11232869968186698, 0.39652615162174254, 0.08195205187038508, 0.8033614526267236, 0.0, 1.4293701317477958, 0.6521356400385503, 0.04913592394832613, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4929540991306276, 1.2467734909933537, 0.18432224343009834, 0.11232869968186698, 0.39652615162174254, 0.08195205187038508, 0.8033614526267236, 0.0, 1.4377860634979993, 0.6509640354258354, 0.04913592394832613, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4929540991306276, 1.2467734909933537, 0.18432224343009834, 0.11232869968186698, 0.39652615162174254, 0.08195205187038508, 0.8033614526267236, 0.0, 1.4866379195956427, 0.6596353853723091, 0.04913592394832613, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4929540991306276, 1.2467734909933537, 0.18432224343009834, 0.11232869968186698, 0.39652615162174254, 0.08195205187038508, 0.8033614526267236, 0.0, 1.467280022613174, 0.6390263198969085, 0.04913592394832613, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4929540991306276, 1.2467734909933537, 0.18432224343009834, 0.11232869968186698, 0.39652615162174254, 0.08195205187038508, 0.8033614526267236, 0.0, 1.439275700474403, 0.6152569033462497, 0.04913592394832613, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4929540991306276, 1.2467734909933537, 0.18432224343009834, 0.11232869968186698, 0.39652615162174254, 0.08195205187038508, 0.8033614526267236, 0.0, 1.4888228992680277, 0.6252770744097396, 0.04913592394832613, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4929540991306276, 1.2467734909933537, 0.18432224343009834, 0.11232869968186698, 0.39652615162174254, 0.08195205187038508, 0.8033614526267236, 0.0, 1.505515505289537, 0.6274782664466152, 0.04913592394832613, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4929540991306276, 1.2467734909933537, 0.18432224343009834, 0.11232869968186698, 0.39652615162174254, 0.08195205187038508, 0.8033614526267236, 0.0, 1.4849191225768907, 0.6056282391268877, 0.04913592394832613, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4929540991306276, 1.2467734909933537, 0.18432224343009834, 0.11232869968186698, 0.39652615162174254, 0.08195205187038508, 0.8033614526267236, 0.0, 1.473556676338481, 0.6351673085232193, 0.04913592394832613, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4929540991306276, 1.2467734909933537, 0.18432224343009834, 0.11232869968186698, 0.39652615162174254, 0.08195205187038508, 0.8033614526267236, 0.0, 1.4602087119771077, 0.6329586332843916, 0.04913592394832613, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4929540991306276, 1.2467734909933537, 0.18432224343009834, 0.11232869968186698, 0.39652615162174254, 0.08195205187038508, 0.8033614526267236, 0.0, 1.4906430877223862, 0.6945558439869491, 0.04913592394832613, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4929540991306276, 1.2467734909933537, 0.18432224343009834, 0.11232869968186698, 0.39652615162174254, 0.08195205187038508, 0.8033614526267236, 0.0, 1.450191218798989, 0.6801837000421809, 0.04913592394832613, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4929540991306276, 1.2467734909933537, 0.18432224343009834, 0.11232869968186698, 0.39652615162174254, 0.08195205187038508, 0.8033614526267236, 0.0, 1.41801139735604, 0.6688854932988445, 0.04913592394832613, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4929540991306276, 1.2467734909933537, 0.18432224343009834, 0.11232869968186698, 0.39652615162174254, 0.08195205187038508, 0.8033614526267236, 0.0, 1.4117996256323768, 0.6884438011783506, 0.04913592394832613, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4929540991306276, 1.2467734909933537, 0.18432224343009834, 0.11232869968186698, 0.39652615162174254, 0.08195205187038508, 0.8033614526267236, 0.0, 1.3782228108896506, 0.7020961295300898, 0.04913592394832613, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4929540991306276, 1.2467734909933537, 0.18432224343009834, 0.11232869968186698, 0.39652615162174254, 0.08195205187038508, 0.8033614526267236, 0.0, 1.3491742110797798, 0.7260528994970395, 0.04913592394832613, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4929540991306276, 1.2467734909933537, 0.18432224343009834, 0.11232869968186698, 0.39652615162174254, 0.08195205187038508, 0.8033614526267236, 0.0, 1.3480966299985675, 0.7520791653289198, 0.04913592394832613, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4929540991306276, 1.2467734909933537, 0.18432224343009834, 0.11232869968186698, 0.39652615162174254, 0.08195205187038508, 0.8033614526267236, 0.0, 1.331573839103676, 0.7784293046620042, 0.04913592394832613, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4929540991306276, 1.2467734909933537, 0.18432224343009834, 0.11232869968186698, 0.39652615162174254, 0.08195205187038508, 0.8033614526267236, 0.0, 1.2912658023800452, 0.7781511616327698, 0.04913592394832613, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4929540991306276, 1.2467734909933537, 0.18432224343009834, 0.11232869968186698, 0.39652615162174254, 0.08195205187038508, 0.8033614526267236, 0.0, 1.3088992016093117, 0.822293625254477, 0.04913592394832613, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4929540991306276, 1.2467734909933537, 0.18432224343009834, 0.11232869968186698, 0.39652615162174254, 0.08195205187038508, 0.8033614526267236, 0.0, 1.3145774493003195, 0.8435871136043264, 0.04913592394832613, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4929540991306276, 1.2467734909933537, 0.18432224343009834, 0.11232869968186698, 0.39652615162174254, 0.08195205187038508, 0.8033614526267236, 0.0, 1.2872550441675463, 0.8675043494285389, 0.04913592394832613, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4929540991306276, 1.2467734909933537, 0.18432224343009834, 0.11232869968186698, 0.39652615162174254, 0.08195205187038508, 0.8033614526267236, 0.0, 1.23562606842905, 0.8584280288252857, 0.04913592394832613, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4929540991306276, 1.2467734909933537, 0.18432224343009834, 0.11232869968186698, 0.39652615162174254, 0.08195205187038508, 0.8033614526267236, 0.0, 1.2653473232947943, 0.9122771203240876, 0.04913592394832613, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4929540991306276, 1.2467734909933537, 0.18432224343009834, 0.11232869968186698, 0.39652615162174254, 0.08195205187038508, 0.8033614526267236, 0.0, 1.2741655998863757, 0.9325313064766619, 0.04913592394832613, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4929540991306276, 1.2467734909933537, 0.18432224343009834, 0.11232869968186698, 0.39652615162174254, 0.08195205187038508, 0.8033614526267236, 0.0, 1.2430413116015855, 0.956907948416798, 0.04913592394832613, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4929540991306276, 1.2467734909933537, 0.18432224343009834, 0.11232869968186698, 0.39652615162174254, 0.08195205187038508, 0.8033614526267236, 0.0, 1.2039067540104524, 0.9528531241124726, 0.04913592394832613, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4929540991306276, 1.2467734909933537, 0.18432224343009834, 0.11232869968186698, 0.39652615162174254, 0.08195205187038508, 0.8033614526267236, 0.0, 1.2191632026583508, 0.9992051481629165, 0.04913592394832613, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4929540991306276, 1.2467734909933537, 0.18432224343009834, 0.11232869968186698, 0.39652615162174254, 0.08195205187038508, 0.8033614526267236, 0.0, 1.2098785574488469, 1.0106366838444285, 0.04913592394832613, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4929540991306276, 1.2467734909933537, 0.18432224343009834, 0.11232869968186698, 0.39652615162174254, 0.08195205187038508, 0.8033614526267236, 0.0, 1.1948091442183353, 1.0408324302471343, 0.04913592394832613, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4929540991306276, 1.2467734909933537, 0.18432224343009834, 0.11232869968186698, 0.39652615162174254, 0.08195205187038508, 0.8033614526267236, 0.0, 1.1754313704455912, 1.0481790005365417, 0.04913592394832613, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4929540991306276, 1.2467734909933537, 0.18432224343009834, 0.11232869968186698, 0.39652615162174254, 0.08195205187038508, 0.8033614526267236, 0.0, 1.170172777149585, 1.0819362750002992, 0.04913592394832613, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4929540991306276, 1.2467734909933537, 0.18432224343009834, 0.11232869968186698, 0.39652615162174254, 0.08195205187038508, 0.8033614526267236, 0.0, 1.1348539682059549, 1.082629222476569, 0.04913592394832613, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4929540991306276, 1.2467734909933537, 0.18432224343009834, 0.11232869968186698, 0.39652615162174254, 0.08195205187038508, 0.8033614526267236, 0.0, 1.1467553835106856, 1.1238655630480237, 0.04913592394832613, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4929540991306276, 1.2467734909933537, 0.18432224343009834, 0.11232869968186698, 0.39652615162174254, 0.08195205187038508, 0.8033614526267236, 0.0, 1.1521150223487489, 1.1457723317837494, 0.04913592394832613, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4929540991306276, 1.2467734909933537, 0.18432224343009834, 0.11232869968186698, 0.39652615162174254, 0.08195205187038508, 0.8033614526267236, 0.0, 1.124707014146356, 1.1662863918363473, 0.04913592394832613, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4929540991306276, 1.2467734909933537, 0.18432224343009834, 0.11232869968186698, 0.39652615162174254, 0.08195205187038508, 0.8033614526267236, 0.0, 1.0850739830668656, 1.1671317407456265, 0.04913592394832613, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4929540991306276, 1.2467734909933537, 0.18432224343009834, 0.11232869968186698, 0.39652615162174254, 0.08195205187038508, 0.8033614526267236, 0.0, 1.1024110891547807, 1.2084205083621615, 0.04913592394832613, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4929540991306276, 1.2467734909933537, 0.18432224343009834, 0.11232869968186698, 0.39652615162174254, 0.08195205187038508, 0.8033614526267236, 0.0, 1.1057945973459196, 1.2323593755494928, 0.04913592394832613, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4929540991306276, 1.2467734909933537, 0.18432224343009834, 0.11232869968186698, 0.39652615162174254, 0.08195205187038508, 0.8033614526267236, 0.0, 1.079357114317666, 1.2494032531871195, 0.04913592394832613, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4929540991306276, 1.2467734909933537, 0.18432224343009834, 0.11232869968186698, 0.39652615162174254, 0.08195205187038508, 0.8033614526267236, 0.0, 1.0677761377542108, 1.2697334020219444, 0.04913592394832613, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4929540991306276, 1.2467734909933537, 0.18432224343009834, 0.11232869968186698, 0.39652615162174254, 0.08195205187038508, 0.8033614526267236, 0.0, 1.0849437932054526, 1.352718451902927, 0.04913592394832613, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4929540991306276, 1.2467734909933537, 0.18432224343009834, 0.11232869968186698, 0.39652615162174254, 0.08195205187038508, 0.8033614526267236, 0.0], "min": [-3.3560166358947754, -2.0892889499664307, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, -1.0, -3.2127041816711426, -1.6484390497207642, 0.5874999761581421, -0.6571530103683472, -0.8837262392044067, -0.384316086769104, -0.787695050239563, 0.0, -3.349926471710205, -2.0862677097320557, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0038412809371948, -0.6571530103683472, -0.11487622559070587, -0.384316086769104, -0.7038376927375793, 0.0, -3.3033299446105957, -2.0631518363952637, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0038412809371948, -0.6571530103683472, -0.11487622559070587, -0.384316086769104, -0.7038376927375793, 0.0, -3.205469846725464, -2.0146048069000244, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0038412809371948, -0.6571530103683472, -0.11487622559070587, -0.384316086769104, -0.7038376927375793, 0.0, -3.0875797271728516, -1.9561209678649902, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0038412809371948, -0.6571530103683472, -0.11487622559070587, -0.384316086769104, -0.7038376927375793, 0.0, -3.064465284347534, -1.9446542263031006, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0038412809371948, -0.6571530103683472, -0.11487622559070587, -0.384316086769104, -0.7038376927375793, 0.0, -3.045969247817993, -1.9354785680770874, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0038412809371948, -0.6571530103683472, -0.11487622559070587, -0.384316086769104, -0.7038376927375793, 0.0, -2.9249072074890137, -1.8754212856292725, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0038412809371948, -0.6571530103683472, -0.11487622559070587, -0.384316086769104, -0.7038376927375793, 0.0, -2.7949650287628174, -1.810958743095398, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0038412809371948, -0.6571530103683472, -0.11487622559070587, -0.384316086769104, -0.7038376927375793, 0.0, -2.785367012023926, -1.8061972856521606, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0038412809371948, -0.6571530103683472, -0.11487622559070587, -0.384316086769104, -0.7038376927375793, 0.0, -2.7733516693115234, -1.8002365827560425, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0038412809371948, -0.6571530103683472, -0.11487622559070587, -0.384316086769104, -0.7038376927375793, 0.0, -2.6451239585876465, -1.7366245985031128, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0038412809371948, -0.6571530103683472, -0.11487622559070587, -0.384316086769104, -0.7038376927375793, 0.0, -2.5416765213012695, -1.6853057146072388, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0038412809371948, -0.6571530103683472, -0.11487622559070587, -0.384316086769104, -0.7038376927375793, 0.0, -2.504814863204956, -1.6670191287994385, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0038412809371948, -0.6571530103683472, -0.11487622559070587, -0.384316086769104, -0.7038376927375793, 0.0, -2.459122896194458, -1.6443519592285156, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0038412809371948, -0.6571530103683472, -0.11487622559070587, -0.384316086769104, -0.7038376927375793, 0.0, -2.3650243282318115, -1.5976709127426147, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0038412809371948, -0.6571530103683472, -0.11487622559070587, -0.384316086769104, -0.7038376927375793, 0.0, -2.28985857963562, -1.5603822469711304, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0038412809371948, -0.6571530103683472, -0.11487622559070587, -0.384316086769104, -0.7038376927375793, 0.0, -2.2254838943481445, -1.528446912765503, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0038412809371948, -0.6571530103683472, -0.11487622559070587, -0.384316086769104, -0.7038376927375793, 0.0, -2.1448938846588135, -1.4884673357009888, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0038412809371948, -0.6571530103683472, -0.11487622559070587, -0.384316086769104, -0.7038376927375793, 0.0, -2.0856189727783203, -1.459061861038208, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0038412809371948, -0.6571530103683472, -0.11487622559070587, -0.384316086769104, -0.7038376927375793, 0.0, -2.0377988815307617, -1.4353389739990234, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0038412809371948, -0.6571530103683472, -0.11487622559070587, -0.384316086769104, -0.7038376927375793, 0.0, -1.9453095197677612, -1.3894562721252441, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0038412809371948, -0.6571530103683472, -0.11487622559070587, -0.384316086769104, -0.7038376927375793, 0.0, -1.8306653499603271, -1.3325828313827515, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0038412809371948, -0.6571530103683472, -0.11487622559070587, -0.384316086769104, -0.7038376927375793, 0.0, -1.8051409721374512, -1.319920539855957, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0038412809371948, -0.6571530103683472, -0.11487622559070587, -0.384316086769104, -0.7038376927375793, 0.0, -1.7847522497177124, -1.309805989265442, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0038412809371948, -0.6571530103683472, -0.11487622559070587, -0.384316086769104, -0.7038376927375793, 0.0, -1.6656008958816528, -1.2506965398788452, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0038412809371948, -0.6571530103683472, -0.11487622559070587, -0.384316086769104, -0.7038376927375793, 0.0, -1.5337485074996948, -1.185286283493042, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0038412809371948, -0.6571530103683472, -0.11487622559070587, -0.384316086769104, -0.7038376927375793, 0.0, -1.526060938835144, -1.1814725399017334, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0038412809371948, -0.6571530103683472, -0.11487622559070587, -0.384316086769104, -0.7038376927375793, 0.0, -1.5164270401000977, -1.176693320274353, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0038412809371948, -0.6571530103683472, -0.11487622559070587, -0.384316086769104, -0.7038376927375793, 0.0, -1.3856275081634521, -1.1118054389953613, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0038412809371948, -0.6571530103683472, -0.11487622559070587, -0.384316086769104, -0.7038376927375793, 0.0, -1.2808274030685425, -1.0598154067993164, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0038412809371948, -0.6571530103683472, -0.11487622559070587, -0.384316086769104, -0.7038376927375793, 0.0, -1.2447158098220825, -1.041900873184204, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0038412809371948, -0.6571530103683472, -0.11487622559070587, -0.384316086769104, -0.7038376927375793, 0.0, -1.198546051979065, -1.0189967155456543, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0038412809371948, -0.6571530103683472, -0.11487622559070587, -0.384316086769104, -0.7038376927375793, 0.0, -1.1035964488983154, -0.9718934893608093, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0038412809371948, -0.6571530103683472, -0.11487622559070587, -0.384316086769104, -0.7038376927375793, 0.0, -1.0356225967407227, -0.9381725192070007, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0038412809371948, -0.6571530103683472, -0.11487622559070587, -0.384316086769104, -0.7038376927375793, 0.0, -0.9625705480575562, -0.9019323587417603, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0038412809371948, -0.6571530103683472, -0.11487622559070587, -0.384316086769104, -0.7038376927375793, 0.0, -0.8605064153671265, -0.8512997031211853, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0038412809371948, -0.6571530103683472, -0.11487622559070587, -0.384316086769104, -0.7038376927375793, 0.0, -0.8236070871353149, -0.8329944014549255, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0038412809371948, -0.6571530103683472, -0.11487622559070587, -0.384316086769104, -0.7038376927375793, 0.0, -0.801254153251648, -0.8219054341316223, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0038412809371948, -0.6571530103683472, -0.11487622559070587, -0.384316086769104, -0.7038376927375793, 0.0, -0.6877087950706482, -0.7655770778656006, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0038412809371948, -0.6571530103683472, -0.11487622559070587, -0.384316086769104, -0.7038376927375793, 0.0, -0.5730609893798828, -0.7087017893791199, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0038412809371948, -0.6571530103683472, -0.11487622559070587, -0.384316086769104, -0.7038376927375793, 0.0, -0.5515962839126587, -0.6980534195899963, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0038412809371948, -0.6571530103683472, -0.11487622559070587, -0.384316086769104, -0.7038376927375793, 0.0, -0.52010577917099, -0.6824313998222351, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0038412809371948, -0.6571530103683472, -0.11487622559070587, -0.384316086769104, -0.7038376927375793, 0.0, -0.4152979850769043, -0.6304376125335693, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0038412809371948, -0.6571530103683472, -0.11487622559070587, -0.384316086769104, -0.7038376927375793, 0.0, -0.34727177023887634, -0.5966906547546387, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0038412809371948, -0.6571530103683472, -0.11487622559070587, -0.384316086769104, -0.7038376927375793, 0.0, -0.3567083179950714, -0.679171085357666, 1.558054804801941, 0.0, 0.0, 0.0, 0.0, 2.0, -3.2127041816711426, -1.6484390497207642, 1.0038412809371948, -0.6571530103683472, -0.11487622559070587, -0.384316086769104, -0.7038376927375793, 0.0], "max": [-0.4035744369029999, -0.6906617283821106, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.057950496673584, 2.905226230621338, 1.373114824295044, 0.7161067724227905, 0.7609541416168213, 0.4788842499256134, 0.9577616453170776, 1.0, -0.3828068673610687, -0.68592369556427, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.057950496673584, 2.499417304992676, 1.3730809688568115, 0.014182895421981812, 0.7103594541549683, 0.056490540504455566, 0.9577616453170776, 0.0, -0.38071224093437195, -0.6854458451271057, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.057950496673584, 2.499417304992676, 1.3730809688568115, 0.014182895421981812, 0.7103594541549683, 0.056490540504455566, 0.9577616453170776, 0.0, -0.373168408870697, -0.6837247610092163, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.057950496673584, 2.499417304992676, 1.3730809688568115, 0.014182895421981812, 0.7103594541549683, 0.056490540504455566, 0.9577616453170776, 0.0, -0.22422383725643158, -0.6497438549995422, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.057950496673584, 2.499417304992676, 1.3730809688568115, 0.014182895421981812, 0.7103594541549683, 0.056490540504455566, 0.9577616453170776, 0.0, -0.1842503547668457, -0.6406241059303284, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.057950496673584, 2.499417304992676, 1.3730809688568115, 0.014182895421981812, 0.7103594541549683, 0.056490540504455566, 0.9577616453170776, 0.0, -0.06789285689592361, -0.6140777468681335, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.057950496673584, 2.499417304992676, 1.3730809688568115, 0.014182895421981812, 0.7103594541549683, 0.056490540504455566, 0.9577616453170776, 0.0, 0.01439088024199009, -0.5953051447868347, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.057950496673584, 2.499417304992676, 1.3730809688568115, 0.014182895421981812, 0.7103594541549683, 0.056490540504455566, 0.9577616453170776, 0.0, 0.08823398500680923, -0.5784581899642944, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.057950496673584, 2.499417304992676, 1.3730809688568115, 0.014182895421981812, 0.7103594541549683, 0.056490540504455566, 0.9577616453170776, 0.0, 0.1970863938331604, -0.5536240339279175, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.057950496673584, 2.499417304992676, 1.3730809688568115, 0.014182895421981812, 0.7103594541549683, 0.056490540504455566, 0.9577616453170776, 0.0, 0.2425408512353897, -0.5432538390159607, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.057950496673584, 2.499417304992676, 1.3730809688568115, 0.014182895421981812, 0.7103594541549683, 0.056490540504455566, 0.9577616453170776, 0.0, 0.32950928807258606, -0.5234124660491943, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.057950496673584, 2.499417304992676, 1.3730809688568115, 0.014182895421981812, 0.7103594541549683, 0.056490540504455566, 0.9577616453170776, 0.0, 0.41019514203071594, -0.4129200577735901, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.057950496673584, 2.499417304992676, 1.3730809688568115, 0.014182895421981812, 0.7103594541549683, 0.056490540504455566, 0.9577616453170776, 0.0, 0.42031776905059814, -0.39905795454978943, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.057950496673584, 2.499417304992676, 1.3730809688568115, 0.014182895421981812, 0.7103594541549683, 0.056490540504455566, 0.9577616453170776, 0.0, 0.5269767642021179, -0.2529974579811096, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.057950496673584, 2.499417304992676, 1.3730809688568115, 0.014182895421981812, 0.7103594541549683, 0.056490540504455566, 0.9577616453170776, 0.0, 0.5400409698486328, -0.23510710895061493, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.057950496673584, 2.499417304992676, 1.3730809688568115, 0.014182895421981812, 0.7103594541549683, 0.056490540504455566, 0.9577616453170776, 0.0, 0.5507431626319885, -0.22045134007930756, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.057950496673584, 2.499417304992676, 1.3730809688568115, 0.014182895421981812, 0.7103594541549683, 0.056490540504455566, 0.9577616453170776, 0.0, 0.6026742458343506, -0.14933623373508453, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.057950496673584, 2.499417304992676, 1.3730809688568115, 0.014182895421981812, 0.7103594541549683, 0.056490540504455566, 0.9577616453170776, 0.0, 0.6160022020339966, -0.08200791478157043, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.057950496673584, 2.499417304992676, 1.3730809688568115, 0.014182895421981812, 0.7103594541549683, 0.056490540504455566, 0.9577616453170776, 0.0, 0.6170861124992371, -0.004611540585756302, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.057950496673584, 2.499417304992676, 1.3730809688568115, 0.014182895421981812, 0.7103594541549683, 0.056490540504455566, 0.9577616453170776, 0.0, 0.6627475619316101, 0.07124792039394379, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.057950496673584, 2.499417304992676, 1.3730809688568115, 0.014182895421981812, 0.7103594541549683, 0.056490540504455566, 0.9577616453170776, 0.0, 0.722137987613678, 0.16991598904132843, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.057950496673584, 2.499417304992676, 1.3730809688568115, 0.014182895421981812, 0.7103594541549683, 0.056490540504455566, 0.9577616453170776, 0.0, 0.7560359239578247, 0.22623224556446075, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.057950496673584, 2.499417304992676, 1.3730809688568115, 0.014182895421981812, 0.7103594541549683, 0.056490540504455566, 0.9577616453170776, 0.0, 0.8168840408325195, 0.32732200622558594, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.057950496673584, 2.499417304992676, 1.3730809688568115, 0.014182895421981812, 0.7103594541549683, 0.056490540504455566, 0.9577616453170776, 0.0, 0.8486475944519043, 0.3800922930240631, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.057950496673584, 2.499417304992676, 1.3730809688568115, 0.014182895421981812, 0.7103594541549683, 0.056490540504455566, 0.9577616453170776, 0.0, 0.9130659103393555, 0.48711344599723816, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.057950496673584, 2.499417304992676, 1.3730809688568115, 0.014182895421981812, 0.7103594541549683, 0.056490540504455566, 0.9577616453170776, 0.0, 0.9414936304092407, 0.5343417525291443, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.057950496673584, 2.499417304992676, 1.3730809688568115, 0.014182895421981812, 0.7103594541549683, 0.056490540504455566, 0.9577616453170776, 0.0, 1.0087196826934814, 0.6460275650024414, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.057950496673584, 2.499417304992676, 1.3730809688568115, 0.014182895421981812, 0.7103594541549683, 0.056490540504455566, 0.9577616453170776, 0.0, 1.0360186100006104, 0.6913805603981018, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.057950496673584, 2.499417304992676, 1.3730809688568115, 0.014182895421981812, 0.7103594541549683, 0.056490540504455566, 0.9577616453170776, 0.0, 1.1044690608978271, 0.8051004409790039, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.057950496673584, 2.499417304992676, 1.3730809688568115, 0.014182895421981812, 0.7103594541549683, 0.056490540504455566, 0.9577616453170776, 0.0, 1.130873680114746, 0.8489677309989929, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.057950496673584, 2.499417304992676, 1.3730809688568115, 0.014182895421981812, 0.7103594541549683, 0.056490540504455566, 0.9577616453170776, 0.0, 1.197547435760498, 0.9597359895706177, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.057950496673584, 2.499417304992676, 1.3730809688568115, 0.014182895421981812, 0.7103594541549683, 0.056490540504455566, 0.9577616453170776, 0.0, 1.2251179218292236, 1.005540132522583, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.057950496673584, 2.499417304992676, 1.3730809688568115, 0.014182895421981812, 0.7103594541549683, 0.056490540504455566, 0.9577616453170776, 0.0, 1.2898800373077393, 1.113132357597351, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.057950496673584, 2.499417304992676, 1.3730809688568115, 0.014182895421981812, 0.7103594541549683, 0.056490540504455566, 0.9577616453170776, 0.0, 1.3190357685089111, 1.1615701913833618, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.057950496673584, 2.499417304992676, 1.3730809688568115, 0.014182895421981812, 0.7103594541549683, 0.056490540504455566, 0.9577616453170776, 0.0, 1.3815536499023438, 1.26543390750885, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.057950496673584, 2.499417304992676, 1.3730809688568115, 0.014182895421981812, 0.7103594541549683, 0.056490540504455566, 0.9577616453170776, 0.0, 1.4128661155700684, 1.3174546957015991, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.057950496673584, 2.499417304992676, 1.3730809688568115, 0.014182895421981812, 0.7103594541549683, 0.056490540504455566, 0.9577616453170776, 0.0, 1.4736067056655884, 1.4183658361434937, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.057950496673584, 2.499417304992676, 1.3730809688568115, 0.014182895421981812, 0.7103594541549683, 0.056490540504455566, 0.9577616453170776, 0.0, 1.5066962242126465, 1.4733390808105469, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.057950496673584, 2.499417304992676, 1.3730809688568115, 0.014182895421981812, 0.7103594541549683, 0.056490540504455566, 0.9577616453170776, 0.0, 1.565337061882019, 1.570761799812317, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.057950496673584, 2.499417304992676, 1.3730809688568115, 0.014182895421981812, 0.7103594541549683, 0.056490540504455566, 0.9577616453170776, 0.0, 1.6005908250808716, 1.6293305158615112, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.057950496673584, 2.499417304992676, 1.3730809688568115, 0.014182895421981812, 0.7103594541549683, 0.056490540504455566, 0.9577616453170776, 0.0, 1.6567857265472412, 1.7226897478103638, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.057950496673584, 2.499417304992676, 1.3730809688568115, 0.014182895421981812, 0.7103594541549683, 0.056490540504455566, 0.9577616453170776, 0.0, 1.6950541734695435, 1.786266803741455, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.057950496673584, 2.499417304992676, 1.3730809688568115, 0.014182895421981812, 0.7103594541549683, 0.056490540504455566, 0.9577616453170776, 0.0, 1.7469016313552856, 1.8724033832550049, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.057950496673584, 2.499417304992676, 1.3730809688568115, 0.014182895421981812, 0.7103594541549683, 0.056490540504455566, 0.9577616453170776, 0.0, 1.7917284965515137, 1.9468762874603271, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.057950496673584, 2.499417304992676, 1.3730809688568115, 0.014182895421981812, 0.7103594541549683, 0.056490540504455566, 0.9577616453170776, 0.0, 1.8166826963424683, 2.0306339263916016, 1.6564853191375732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.057950496673584, 2.499417304992676, 1.3730809688568115, 0.014182895421981812, 0.7103594541549683, 0.056490540504455566, 0.9577616453170776, 0.0], "count": [2948]}, "action.applied": {"mean": [0.058455125050267946, -0.0011152810277480485, 0.0052332420265508986, 1.926389549482795, -2.5494343920672766, -0.5876894476715252, 1.362388960663305, 1.5683393579756129, -2.157087125359267, -0.22045124076563047, -0.0007836686483909107, 0.0007836686483909107], "std": [0.11574218615555729, 0.012432839234452514, 0.1483536181777527, 1.0872046586360735, 0.5534372967332537, 0.32848143931985707, 0.4653272380008948, 0.945112936404928, 0.23012879518131138, 0.4363197846991579, 0.013212235310986952, 0.013212235310986952], "min": [0.0, -0.12872132658958435, -0.800000011920929, -0.0311895739287138, -3.3633627891540527, -1.0589877367019653, 0.4984678328037262, -0.07389888167381287, -2.5117597579956055, -0.9412364959716797, -0.009999999776482582, -0.020833000540733337], "max": [0.30000001192092896, 0.09703919291496277, 0.800000011920929, 3.040506362915039, -1.571998953819275, 0.0004009586409665644, 2.155487060546875, 2.899369478225708, -1.3023823499679565, 0.9240720272064209, 0.020833000540733337, 0.009999999776482582], "count": [2948]}, "extra.reward": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [2948]}, "next.truncated": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [2948]}, "sim_step_idx": {"mean": [3048.0], "std": [1702.028495648648], "min": [101.0], "max": [5995.0], "count": [2948]}, "timestamp": {"mean": [58.940000000926624], "std": [34.04056991129605], "min": [0.0], "max": [117.87999725341797], "count": [2948]}, "frame_index": {"mean": [1473.5], "std": [851.014247824324], "min": [0.0], "max": [2947.0], "count": [2948]}, "episode_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [2948]}, "index": {"mean": [1473.5], "std": [851.014247824324], "min": [0.0], "max": [2947.0], "count": [2948]}, "task_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [2948]}, "next.done": {"mean": [0.00033921302578018993], "std": [0.01841461268404337], "min": [0.0], "max": [1.0], "count": [2948]}, "observation.images.head": {"mean": [[[0.38175472875546085]], [[0.29318502543821906]], [[0.26952541913113626]]], "std": [[[0.21697705796736771]], [[0.1856625589841404]], [[0.15793866227843775]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9450980392156862]], [[0.9294117647058824]], [[0.9372549019607843]]], "count": [100]}, "observation.images.wrist": {"mean": [[[0.4435786139176781]], [[0.35444432637334605]], [[0.2929176232083616]]], "std": [[[0.20399125903735274]], [[0.17349249820599735]], [[0.1445811680458038]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "count": [100]}}} diff --git a/N034/sawyer_umi/dr_on/seed_2021/rec/stationbookendxr/000/lerobot_v21/meta/extra/episode_000000.json b/N034/sawyer_umi/dr_on/seed_2021/rec/stationbookendxr/000/lerobot_v21/meta/extra/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..b7664c139988f40d182389b70a643f39f9660986 --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2021/rec/stationbookendxr/000/lerobot_v21/meta/extra/episode_000000.json @@ -0,0 +1,409 @@ +{ + "episode_index": 0, + "trajectory_id": 0, + "env_id": 0, + "task_type": "BookendXRCommand", + "subsample_every": 2, + "control_steps": 5895, + "language": { + "scene": { + "objects": [ + { + "id": "table_A_1", + "cat_name": "table_A", + "inst_id": 1, + "noun": "table A", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 3.6544253673890426, + -0.9509282930902248, + 0.12999995440155626 + ], + "bbox": { + "extent": [ + 0.9127314386944949, + 0.5229166319583516, + 0.30000001192092896 + ], + "center": [ + 5.551115123125783e-17, + -2.7755575615628914e-17, + 0.0 + ] + } + }, + { + "id": "table_B_1", + "cat_name": "table_B", + "inst_id": 1, + "noun": "table B", + "color": "gray", + "size": "large", + "material": null, + "category": "geometry", + "pos": [ + 7.130924878196758, + -0.8588009766811113, + 0.12999992237844718 + ], + "bbox": { + "extent": [ + 0.9852695819283602, + 0.6534852863204219, + 0.30000001192092896 + ], + "center": [ + -5.551115123125783e-17, + -2.220446049250313e-16, + 0.0 + ] + } + }, + { + "id": "slot_left_1", + "cat_name": "slot_left", + "inst_id": 1, + "noun": "slot left", + "color": "brown", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.543128940088196, + -1.0030373618209083, + 0.2974999550764466 + ], + "bbox": { + "extent": [ + 0.01305555071691035, + 0.12025462656282665, + 0.03500000014901161 + ], + "center": [ + 1.0408340855860843e-17, + -1.0408340855860843e-17, + 0.0 + ] + } + }, + { + "id": "slot_right_1", + "cat_name": "slot_right", + "inst_id": 1, + "noun": "slot right", + "color": "brown", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 3.575424095041375, + -1.04506143785537, + 0.2974999544734185 + ], + "bbox": { + "extent": [ + 0.01305555071691035, + 0.12025462656282662, + 0.03500000014901161 + ], + "center": [ + -1.3877787807814457e-17, + -3.469446951953614e-18, + 0.0 + ] + } + }, + { + "id": "book_1", + "cat_name": "book", + "inst_id": 1, + "noun": "book", + "color": "red", + "size": "small", + "material": null, + "category": "rigid", + "pos": [ + 3.5548538502798395, + -1.027448185151524, + 0.34999996075275214 + ], + "bbox": { + "extent": [ + 0.10089193412628741, + 0.03754838926870589, + 0.14000018108469403 + ], + "center": [ + 1.3877787807814457e-17, + -5.0306980803327406e-17, + 5.551115123125783e-17 + ] + } + }, + { + "id": "plate_1", + "cat_name": "plate", + "inst_id": 1, + "noun": "plate", + "color": "gray", + "size": "small", + "material": null, + "category": "geometry", + "pos": [ + 7.038503142638619, + -0.9064504530138016, + 0.3204999229076903 + ], + "bbox": { + "extent": [ + 0.03587548982161859, + 0.14204647115232083, + 0.07999999821186066 + ], + "center": [ + 1.1102230246251565e-16, + 2.220446049250313e-16, + 0.0 + ] + } + }, + { + "id": "bookend_1", + "cat_name": "bookend", + "inst_id": 1, + "noun": "bookend", + "color": null, + "size": "small", + "material": null, + "category": "rigid", + "pos": [ + 7.131023699572434, + -0.9802853557003447, + 0.2799999942295286 + ], + "bbox": { + "extent": [ + 0.1322788772888719, + 0.0924647036337128, + 0.06000023133209709 + ], + "center": [ + -2.3468064221099372e-08, + -0.029999996987323786, + 0.02999999956970756 + ] + } + } + ], + "relations": [ + { + "subject": "table_A_1", + "relation": "left_of", + "object": "slot_right_1" + }, + { + "subject": "table_B_1", + "relation": "left_of", + "object": "bookend_1" + }, + { + "subject": "book_1", + "relation": "on_top_of", + "object": "slot_right_1" + }, + { + "subject": "plate_1", + "relation": "left_of", + "object": "bookend_1" + }, + { + "subject": "bookend_1", + "relation": "right_of", + "object": "plate_1" + } + ], + "cameras": [ + { + "name": "head", + "intrinsics": { + "K": [ + [ + 355.55555555555554, + 0.0, + 320.0 + ], + [ + 0.0, + 355.55555555555554, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 83.97442499163331, + "resolution": [ + 640, + 480 + ] + }, + "pos_robot": [ + 3.8529039086620664, + -1.5104731143949988, + -0.0950000532394344 + ], + "viewpoint": "front, at table height", + "extrinsics": { + "R": [ + [ + -8.039232568535226e-08, + -0.9999999999999964, + 2.5347603738179458e-08 + ], + [ + 0.8191520331270514, + -8.039232568535226e-08, + -0.5735764522919431 + ], + [ + 0.5735764522919431, + -2.5347603738179458e-08, + 0.819152033127055 + ] + ], + "t": [ + 1.855362002599171e-08, + -0.2032392724571752, + -0.08737481710326404 + ] + } + }, + { + "name": "wrist", + "intrinsics": { + "K": [ + [ + 320.0, + 0.0, + 320.0 + ], + [ + 0.0, + 320.0, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 90.0, + "resolution": [ + 640, + 480 + ] + }, + "pos_robot": [ + 3.75578266934621, + -1.3873727277651253, + -0.020000050331722842 + ], + "viewpoint": "front, at table height", + "extrinsics": { + "R": [ + [ + 0.0, + 1.0, + -1.4782795217992896e-16 + ], + [ + 1.0, + 0.0, + 2.5363269588459423e-17 + ], + [ + 2.5363269588459423e-17, + -1.4782795217992896e-16, + -1.0 + ] + ], + "t": [ + 4.4348384662715026e-18, + -0.05979999899864197, + 0.029999999329447746 + ] + } + } + ], + "robots": [ + { + "name": "RidgebackSawyerUmi", + "model": "ridgebacksawyer_umi", + "type": "mobilemanip", + "noun": "Ridgeback-Sawyer mobile manipulator with a UMI gripper", + "arms": 1, + "arm_layout": null, + "mobile": true, + "dexterous": false, + "base_pose": { + "pos": [ + -3.4, + -2.2, + 0.05 + ], + "ori": [ + 0.9396926164627075, + 0.0, + 0.0, + 0.3420201539993286 + ] + }, + "facing_yaw_deg": 40.000001288448495, + "gripper": "parallel gripper" + } + ], + "lighting": [], + "background": { + "name": null, + "kind": "background", + "type": "dome", + "pose": null, + "setting": null, + "time_of_day": null, + "indoor": false, + "intensity": 1000.0, + "ambient": "dim" + }, + "effects": [], + "caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the brown slot right. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is to the left of the brown slot right. The gray table B is to the left of the bookend. The red book is on top of the brown slot right. The gray plate is to the left of the bookend. The bookend is to the right of the gray plate. The scene is viewed from front, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n [bookend]\n\n\n\n [slot [book]\n\n\n\n[robot]" + }, + "task": { + "task_type": "StationBookendXR", + "instruction": "Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.", + "template_id": -1, + "slots": { + "obj": 1.558054802834693, + "support": null + }, + "generic_instruction": "Stationbookendxr the 1.558054802834693.", + "task_id": "N034", + "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 +} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_on/seed_2021/rec/stationbookendxr/000/lerobot_v21/meta/info.json b/N034/sawyer_umi/dr_on/seed_2021/rec/stationbookendxr/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..6f100cacebacbd4dc0fdcacc29fc8391242a3c0e --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2021/rec/stationbookendxr/000/lerobot_v21/meta/info.json @@ -0,0 +1,296 @@ +{ + "codebase_version": "v2.1", + "robot_type": "RidgebackSawyerUmiCfg", + "total_episodes": 1, + "total_frames": 2948, + "total_tasks": 1, + "total_videos": 2, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 25, + "splits": { + "train": "0:1" + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", + "features": { + "action": { + "dtype": "float32", + "shape": [ + 11 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "frame0.pos_x", + "frame0.pos_y", + "frame0.pos_z", + "frame0.quat_w", + "frame0.quat_x", + "frame0.quat_y", + "frame0.quat_z", + "gripper" + ] + }, + "action_is_hold": { + "dtype": "bool", + "shape": [ + 11 + ], + "names": null + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 15 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint", + "gripper_0", + "gripper_1" + ] + }, + "observation.joint_vel": { + "dtype": "float32", + "shape": [ + 13 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ] + }, + "observation.eef_pose": { + "dtype": "float32", + "shape": [ + 7 + ], + "names": null + }, + "observation.environment_state": { + "dtype": "float32", + "shape": [ + 49 + ], + "names": [ + "object_pose.book.0", + "object_pose.book.1", + "object_pose.book.2", + "object_pose.book.3", + "object_pose.book.4", + "object_pose.book.5", + "object_pose.book.6", + "object_pose.bookend.0", + "object_pose.bookend.1", + "object_pose.bookend.2", + "object_pose.bookend.3", + "object_pose.bookend.4", + "object_pose.bookend.5", + "object_pose.bookend.6", + "object_pose.plate.0", + "object_pose.plate.1", + "object_pose.plate.2", + "object_pose.plate.3", + "object_pose.plate.4", + "object_pose.plate.5", + "object_pose.plate.6", + "object_pose.slot_left.0", + "object_pose.slot_left.1", + "object_pose.slot_left.2", + "object_pose.slot_left.3", + "object_pose.slot_left.4", + "object_pose.slot_left.5", + "object_pose.slot_left.6", + "object_pose.slot_right.0", + "object_pose.slot_right.1", + "object_pose.slot_right.2", + "object_pose.slot_right.3", + "object_pose.slot_right.4", + "object_pose.slot_right.5", + "object_pose.slot_right.6", + "object_pose.table_A.0", + "object_pose.table_A.1", + "object_pose.table_A.2", + "object_pose.table_A.3", + "object_pose.table_A.4", + "object_pose.table_A.5", + "object_pose.table_A.6", + "object_pose.table_B.0", + "object_pose.table_B.1", + "object_pose.table_B.2", + "object_pose.table_B.3", + "object_pose.table_B.4", + "object_pose.table_B.5", + "object_pose.table_B.6" + ] + }, + "action.command": { + "dtype": "float32", + "shape": [ + 736 + ], + "names": null + }, + "action.applied": { + "dtype": "float32", + "shape": [ + 12 + ], + "names": null + }, + "narration": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "collect_info": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "extra.reward": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "extra.action_info": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "next.truncated": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "sim_step_idx": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "next.done": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": null + }, + "observation.images.head": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25, + "video.codec": "libsvtav1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.wrist": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25, + "video.codec": "libsvtav1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + } + } +} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_on/seed_2021/rec/stationbookendxr/000/lerobot_v21/meta/magicsim_manifest.json b/N034/sawyer_umi/dr_on/seed_2021/rec/stationbookendxr/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..72607c0fecfe98f75e60135a5c9798b9cde5f962 --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2021/rec/stationbookendxr/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,264 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 03:13:55" + }, + "embodiment": { + "robots": [ + { + "name": "RidgebackSawyerUmi", + "cfg": "RidgebackSawyerUmiCfg", + "type": "mobilemanip", + "joint_names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 11, + "nan_policy": "from_raw", + "segments": [ + { + "name": "RidgebackSawyerUmi.base_action", + "start": 0, + "end": 3, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint" + ], + "source": "HolonomicAction", + "names_source": "_joint_names" + }, + { + "name": "RidgebackSawyerUmi.arm_action", + "start": 3, + "end": 10, + "names": [ + "frame0.pos_x", + "frame0.pos_y", + "frame0.pos_z", + "frame0.quat_w", + "frame0.quat_x", + "frame0.quat_y", + "frame0.quat_z" + ], + "source": "PinkInverseKinematicsAction", + "names_source": "pink_layout" + }, + { + "name": "RidgebackSawyerUmi.eef_action", + "start": 10, + "end": 11, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 15, + "segments": [ + { + "name": "RidgebackSawyerUmi.joint_pos", + "start": 0, + "end": 13, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ], + "source": "ObservationManager", + "names_source": "joint_names" + }, + { + "name": "RidgebackSawyerUmi.gripper_pos", + "start": 13, + "end": 15, + "names": [ + "gripper_0", + "gripper_1" + ], + "source": "ObservationManager", + "names_source": "generated" + } + ] + }, + "joint_vel_layout": { + "dim": 13, + "segments": [ + { + "name": "RidgebackSawyerUmi.joint_vel", + "start": 0, + "end": 13, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "action_levels": { + "L0": "task command list (collect.auto_collect_info.current_action)", + "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)", + "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)", + "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy", + "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)" + }, + "cameras": { + "head": { + "intrinsics": { + "K": [ + [ + 355.55555555555554, + 0.0, + 320.0 + ], + [ + 0.0, + 355.55555555555554, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 83.97442499163331, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.21660000085830688, + 0.0, + -0.04500000178813934 + ], + "quat": [ + -0.6743797063827515, + 0.21263112127780914, + -0.21263112127780914, + 0.6743797659873962 + ] + }, + "wrist": { + "intrinsics": { + "K": [ + [ + 320.0, + 0.0, + 320.0 + ], + [ + 0.0, + 320.0, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 90.0, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.05979999899864197, + 0.0, + 0.029999999329447746 + ], + "quat": [ + 6.123234262925839e-17, + 0.7071067690849304, + 0.7071067690849304, + -4.329780301713277e-17 + ] + } + }, + "lerobot": { + "codebase_version": "v2.1", + "video_keys": [ + "observation.images.head", + "observation.images.wrist" + ], + "columns": [ + "action", + "action.applied", + "action.command", + "action_is_hold", + "collect_info", + "episode_index", + "extra.action_info", + "extra.reward", + "frame_index", + "index", + "narration", + "next.done", + "next.truncated", + "observation.eef_pose", + "observation.environment_state", + "observation.images.head", + "observation.images.wrist", + "observation.joint_vel", + "observation.state", + "sim_step_idx", + "task_index", + "timestamp" + ] + }, + "generated_run": { + "run_id": "stationbookendxr/000", + "task_type": "BookendXRCommand" + } +} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_on/seed_2021/rec/stationbookendxr/000/lerobot_v21/meta/stats.json b/N034/sawyer_umi/dr_on/seed_2021/rec/stationbookendxr/000/lerobot_v21/meta/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..278275735325cdc42fe443912eb1fdb1ce2c2920 --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2021/rec/stationbookendxr/000/lerobot_v21/meta/stats.json @@ -0,0 +1,3821 @@ +{ + "action": { + "mean": [ + 0.058455125050267946, + -0.0011152810277480485, + 0.0052332420265508986, + 0.7000258468708157, + 1.2650243438719653, + 0.9035230633604316, + 0.027044781898377692, + -0.06574532009087493, + 0.025530078195068945, + 0.13536709154295146, + 0.6210990502035278 + ], + "std": [ + 0.11574218615555729, + 0.012432839234452514, + 0.1483536181777527, + 1.244332919754301, + 1.5347696102657942, + 0.2404451198323683, + 0.2832880952488527, + 0.6210513588670022, + 0.1934423481378446, + 0.6874540994677742, + 0.48511340946194426 + ], + "min": [ + 0.0, + -0.12872132658958435, + -0.800000011920929, + -3.2127041816711426, + -1.6484390497207642, + 0.5874999761581421, + -0.6585304737091064, + -0.8837262392044067, + -0.384316086769104, + -0.787695050239563, + 0.0 + ], + "max": [ + 0.30000001192092896, + 0.09703919291496277, + 0.800000011920929, + 2.057950496673584, + 2.905226230621338, + 1.373114824295044, + 0.7161067724227905, + 0.7609541416168213, + 0.4788842499256134, + 0.9577616453170776, + 1.0 + ], + "count": [ + 2948 + ] + }, + "action_is_hold": { + "mean": [ + 0.08344640434192672, + 0.08344640434192672, + 0.08344640434192672, + 0.09769335142469471, + 0.09769335142469471, + 0.09769335142469471, + 0.09769335142469471, + 0.09769335142469471, + 0.09769335142469471, + 0.09769335142469471, + 0.9915196743554953 + ], + "std": [ + 0.276555784507084, + 0.276555784507084, + 0.276555784507084, + 0.29689957984494814, + 0.29689957984494814, + 0.29689957984494814, + 0.29689957984494814, + 0.29689957984494814, + 0.29689957984494814, + 0.29689957984494814, + 0.09169738121379555 + ], + "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": [ + 2948 + ] + }, + "observation.state": { + "mean": [ + 1.2183129319180628, + -3.5298200754329985, + 1.310991829678194, + 1.9245025028438791, + -1.9229450227507985, + -2.548645446913537, + -0.5874232023985136, + 1.3620770228483299, + 1.5676050401079487, + -2.156958239898591, + -0.22101661472266865, + 0.013682956348612685, + -0.01445340533182027, + -0.01445340533182027, + -0.013682956348612685 + ], + "std": [ + 1.881956210940025, + 0.28808806269063497, + 0.3674376325805597, + 1.0877126199572005, + 1.0882762186378743, + 0.5537922807561405, + 0.3287868422863297, + 0.46579534942962225, + 0.9458275631494324, + 0.23016570940675624, + 0.4355104776642249, + 0.008576428509850737, + 0.00897731080567202, + 0.00897731080567202, + 0.008576428509850737 + ], + "min": [ + -3.356022596359253, + -4.005521774291992, + 0.23074668645858765, + -0.03092963621020317, + -3.0409629344940186, + -3.362461805343628, + -1.0589673519134521, + 0.4969444274902344, + -0.072745680809021, + -2.510643482208252, + -0.940824568271637, + 0.0, + -0.020833000540733337, + -0.020833000540733337, + -0.020833000540733337 + ], + "max": [ + 3.034208059310913, + -2.0892906188964844, + 1.5369763374328613, + 3.041229248046875, + 0.03009023517370224, + -1.5702509880065918, + 0.0007936900947242975, + 2.1538710594177246, + 2.8982200622558594, + -1.3044825792312622, + 0.9240626692771912, + 0.020833000540733337, + 0.0, + 0.0, + -0.0 + ], + "count": [ + 2948 + ] + }, + "observation.joint_vel": { + "mean": [ + 0.05415868036606853, + -0.012908046680317186, + 0.005442130647131209, + 0.025597252429827907, + -0.021146242331252226, + -0.01193876296203738, + -0.0051065730282353625, + 0.004770948948649577, + 0.009096982226353953, + 6.367028359911291e-05, + 0.008086732273951864, + -0.0026963760564394134, + -0.00046362116838722165 + ], + "std": [ + 0.10774132705255376, + 0.047240973000295734, + 0.14812524714603806, + 0.08957826761311627, + 0.07410628707543113, + 0.06442291387267994, + 0.06238223628533757, + 0.06806983897784241, + 0.10967572952144788, + 0.07795926425136317, + 0.0780974443325529, + 0.008672022635085116, + 0.00815002475896145 + ], + "min": [ + -0.0003104784991592169, + -0.19946347177028656, + -0.8000184297561646, + -0.19892536103725433, + -0.14258123934268951, + -0.13832752406597137, + -0.20171533524990082, + -0.20815065503120422, + -0.32791316509246826, + -0.18614482879638672, + -0.3431735038757324, + -0.10001193732023239, + -0.10008684545755386 + ], + "max": [ + 0.32371091842651367, + 0.1576983481645584, + 0.800088107585907, + 0.1783437877893448, + 0.1679995059967041, + 0.18786388635635376, + 0.18589098751544952, + 0.20629233121871948, + 0.33194220066070557, + 0.3275112211704254, + 0.41179201006889343, + 0.10001005977392197, + 0.1000746563076973 + ], + "count": [ + 2948 + ] + }, + "observation.eef_pose": { + "mean": [ + 0.7023810210146182, + 1.2593106140131118, + 0.9053899634482903, + -0.07969928471195566, + 0.4403873732770961, + 0.005660504310659109, + -0.2762847272363293 + ], + "std": [ + 1.2464202335154984, + 1.5312470485425933, + 0.243429944068366, + 0.27192879504582856, + 0.4403668964305358, + 0.1951002535051967, + 0.646072142900422 + ], + "min": [ + -3.2127041816711426, + -1.6507601737976074, + 0.588395893573761, + -0.710599422454834, + -0.6630898118019104, + -0.4804322421550751, + -0.7951103448867798 + ], + "max": [ + 2.0579769611358643, + 2.9198355674743652, + 1.3740724325180054, + 0.48275989294052124, + 0.8871322870254517, + 0.4797133207321167, + 0.9580477476119995 + ], + "count": [ + 2948 + ] + }, + "observation.environment_state": { + "mean": [ + 0.7969826522035736, + 1.4029228631417092, + 0.5030184869061817, + 0.7124236309382777, + 0.01314499374639118, + 0.0011769721681737294, + 0.6915362336934422, + 1.8259713145900451, + 2.9004305931897467, + 0.33000006574222485, + 0.679575187663372, + -1.5993475702343404e-07, + -2.226075872861982e-07, + 0.7334339329555853, + 1.7155407667160034, + 2.8750760555267334, + 0.37049999833106995, + 0.9990823268890381, + 0.0, + 0.0, + 0.04283111169934273, + -0.3736504316329956, + 0.07110568135976791, + 0.3474999964237213, + 0.9999797344207764, + 0.0, + 0.0, + -0.006366376299411058, + -0.3206547200679779, + 0.07043039798736572, + 0.3474999964237213, + 0.9999797344207764, + 0.0, + 0.0, + -0.006366376299411058, + -0.345623642206192, + 0.19075830280780792, + 0.18000000715255737, + 0.9999797344207764, + 0.0, + 0.0, + -0.006366376299411058, + 1.7353777885437012, + 2.9771482944488525, + 0.18000000715255737, + 0.9990823268890381, + 0.0, + 0.0, + 0.04283111169934273 + ], + "std": [ + 1.0219693460138684, + 1.353422013444451, + 0.13996843510335077, + 0.06271252155869832, + 0.022928707528511807, + 0.031846326290964976, + 0.09264580223181335, + 0.016330394143843206, + 0.005209407584673821, + 4.5124411361418665e-08, + 0.011382088855406198, + 2.4005760519292565e-06, + 2.7227577924996353e-06, + 0.011076856412731052, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 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": [ + -0.3485325276851654, + -0.4668962359428406, + 0.39999669790267944, + 0.6432359218597412, + -0.0068657672964036465, + -0.07999706268310547, + 0.18302185833454132, + 1.7689623832702637, + 2.8822829723358154, + 0.32999977469444275, + 0.675686240196228, + -4.25875186920166e-05, + -4.735589027404785e-05, + 0.6945282816886902, + 1.7155407667160034, + 2.8750760555267334, + 0.37049999833106995, + 0.9990823268890381, + 0.0, + 0.0, + 0.04283111169934273, + -0.3736504316329956, + 0.07110568135976791, + 0.3474999964237213, + 0.9999797344207764, + 0.0, + 0.0, + -0.006366376299411058, + -0.3206547200679779, + 0.07043039798736572, + 0.3474999964237213, + 0.9999797344207764, + 0.0, + 0.0, + -0.006366376299411058, + -0.345623642206192, + 0.19075830280780792, + 0.18000000715255737, + 0.9999797344207764, + 0.0, + 0.0, + -0.006366376299411058, + 1.7353777885437012, + 2.9771482944488525, + 0.18000000715255737, + 0.9990823268890381, + 0.0, + 0.0, + 0.04283111169934273 + ], + "max": [ + 2.065495729446411, + 2.8761484622955322, + 0.758821427822113, + 0.9825963377952576, + 0.10680995136499405, + 0.12023603916168213, + 0.7613539099693298, + 1.830814003944397, + 2.9019789695739746, + 0.3300008773803711, + 0.7194653749465942, + 1.1473895256131073e-06, + 1.2814999763577362e-06, + 0.7371893525123596, + 1.7155407667160034, + 2.8750760555267334, + 0.37049999833106995, + 0.9990823268890381, + 0.0, + 0.0, + 0.04283111169934273, + -0.3736504316329956, + 0.07110568135976791, + 0.3474999964237213, + 0.9999797344207764, + 0.0, + 0.0, + -0.006366376299411058, + -0.3206547200679779, + 0.07043039798736572, + 0.3474999964237213, + 0.9999797344207764, + 0.0, + 0.0, + -0.006366376299411058, + -0.345623642206192, + 0.19075830280780792, + 0.18000000715255737, + 0.9999797344207764, + 0.0, + 0.0, + -0.006366376299411058, + 1.7353777885437012, + 2.9771482944488525, + 0.18000000715255737, + 0.9990823268890381, + 0.0, + 0.0, + 0.04283111169934273 + ], + "count": [ + 2948 + ] + }, + "action.command": { + "mean": [ + -1.7960100145356075, + -1.3502845666698506, + 1.610063360349552, + 0.0, + 0.0, + 0.0, + 0.0, + -0.16541353383458646, + 0.6440140648892051, + 1.1812989734337294, + 0.913275883632495, + 0.024098719521000594, + -0.11003094941615722, + 0.017990627068994722, + 0.18262425844270483, + 0.6, + -1.7821646267095128, + -1.3463562103542122, + 1.610063360349552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.006431737582425813, + 0.11166805117516904, + 1.1779827013209059, + -0.2337289739098098, + 0.31004825174003037, + -0.13809516175171813, + 0.09063030827689815, + 0.0, + -1.7590819417222125, + -1.335201778846818, + 1.610063360349552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.006431737582425813, + 0.11166805117516904, + 1.1779827013209059, + -0.2337289739098098, + 0.31004825174003037, + -0.13809516175171813, + 0.09063030827689815, + 0.0, + -1.7089430059130128, + -1.3113965664360974, + 1.610063360349552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.006431737582425813, + 0.11166805117516904, + 1.1779827013209059, + -0.2337289739098098, + 0.31004825174003037, + -0.13809516175171813, + 0.09063030827689815, + 0.0, + -1.5746443853386352, + -1.265859547418517, + 1.610063360349552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.006431737582425813, + 0.11166805117516904, + 1.1779827013209059, + -0.2337289739098098, + 0.31004825174003037, + -0.13809516175171813, + 0.09063030827689815, + 0.0, + -1.5426219904744947, + -1.2556329059439737, + 1.610063360349552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.006431737582425813, + 0.11166805117516904, + 1.1779827013209059, + -0.2337289739098098, + 0.31004825174003037, + -0.13809516175171813, + 0.09063030827689815, + 0.0, + -1.4724180736956565, + -1.2372789449788428, + 1.610063360349552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.006431737582425813, + 0.11166805117516904, + 1.1779827013209059, + -0.2337289739098098, + 0.31004825174003037, + -0.13809516175171813, + 0.09063030827689815, + 0.0, + -1.3718456503230374, + -1.1990355949949574, + 1.610063360349552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.006431737582425813, + 0.11166805117516904, + 1.1779827013209059, + -0.2337289739098098, + 0.31004825174003037, + -0.13809516175171813, + 0.09063030827689815, + 0.0, + -1.2715450093250822, + -1.159732099481531, + 1.610063360349552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.006431737582425813, + 0.11166805117516904, + 1.1779827013209059, + -0.2337289739098098, + 0.31004825174003037, + -0.13809516175171813, + 0.09063030827689815, + 0.0, + -1.209503117848087, + -1.1443646621059727, + 1.610063360349552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.006431737582425813, + 0.11166805117516904, + 1.1779827013209059, + -0.2337289739098098, + 0.31004825174003037, + -0.13809516175171813, + 0.09063030827689815, + 0.0, + -1.1798192699414654, + -1.1360740789690533, + 1.610063360349552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.006431737582425813, + 0.11166805117516904, + 1.1779827013209059, + -0.2337289739098098, + 0.31004825174003037, + -0.13809516175171813, + 0.09063030827689815, + 0.0, + -1.073392067446902, + -1.095589539328137, + 1.610063360349552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.006431737582425813, + 0.11166805117516904, + 1.1779827013209059, + -0.2337289739098098, + 0.31004825174003037, + -0.13809516175171813, + 0.09063030827689815, + 0.0, + -0.9819713586488286, + -1.0130046445775676, + 1.610063360349552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.006431737582425813, + 0.11166805117516904, + 1.1779827013209059, + -0.2337289739098098, + 0.31004825174003037, + -0.13809516175171813, + 0.09063030827689815, + 0.0, + -0.9592380264320889, + -0.9970558597026644, + 1.610063360349552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.006431737582425813, + 0.11166805117516904, + 1.1779827013209059, + -0.2337289739098098, + 0.31004825174003037, + -0.13809516175171813, + 0.09063030827689815, + 0.0, + -0.8813323999578888, + -0.9091903241099538, + 1.610063360349552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.006431737582425813, + 0.11166805117516904, + 1.1779827013209059, + -0.2337289739098098, + 0.31004825174003037, + -0.13809516175171813, + 0.09063030827689815, + 0.0, + -0.8300506369487659, + -0.8777216596579229, + 1.610063360349552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.006431737582425813, + 0.11166805117516904, + 1.1779827013209059, + -0.2337289739098098, + 0.31004825174003037, + -0.13809516175171813, + 0.09063030827689815, + 0.0, + -0.7889460374374647, + -0.8523917272485592, + 1.610063360349552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.006431737582425813, + 0.11166805117516904, + 1.1779827013209059, + -0.2337289739098098, + 0.31004825174003037, + -0.13809516175171813, + 0.09063030827689815, + 0.0, + -0.7311462824409073, + -0.7997546485751061, + 1.610063360349552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.006431737582425813, + 0.11166805117516904, + 1.1779827013209059, + -0.2337289739098098, + 0.31004825174003037, + -0.13809516175171813, + 0.09063030827689815, + 0.0, + -0.6860960875008557, + -0.7453245876205934, + 1.610063360349552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.006431737582425813, + 0.11166805117516904, + 1.1779827013209059, + -0.2337289739098098, + 0.31004825174003037, + -0.13809516175171813, + 0.09063030827689815, + 0.0, + -0.6575680425843677, + -0.6905617592856288, + 1.610063360349552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.006431737582425813, + 0.11166805117516904, + 1.1779827013209059, + -0.2337289739098098, + 0.31004825174003037, + -0.13809516175171813, + 0.09063030827689815, + 0.0, + -0.6108885309986166, + -0.6392910338535502, + 1.610063360349552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.006431737582425813, + 0.11166805117516904, + 1.1779827013209059, + -0.2337289739098098, + 0.31004825174003037, + -0.13809516175171813, + 0.09063030827689815, + 0.0, + -0.5358879314081089, + -0.5655176854818253, + 1.610063360349552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.006431737582425813, + 0.11166805117516904, + 1.1779827013209059, + -0.2337289739098098, + 0.31004825174003037, + -0.13809516175171813, + 0.09063030827689815, + 0.0, + -0.4639083254981685, + -0.5089386488336164, + 1.610063360349552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.006431737582425813, + 0.11166805117516904, + 1.1779827013209059, + -0.2337289739098098, + 0.31004825174003037, + -0.13809516175171813, + 0.09063030827689815, + 0.0, + -0.4197196477168315, + -0.44955319456152015, + 1.610063360349552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.006431737582425813, + 0.11166805117516904, + 1.1779827013209059, + -0.2337289739098098, + 0.31004825174003037, + -0.13809516175171813, + 0.09063030827689815, + 0.0, + -0.39332071043349603, + -0.41690027524490614, + 1.610063360349552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.006431737582425813, + 0.11166805117516904, + 1.1779827013209059, + -0.2337289739098098, + 0.31004825174003037, + -0.13809516175171813, + 0.09063030827689815, + 0.0, + -0.3030891104324444, + -0.33247531761188764, + 1.610063360349552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.006431737582425813, + 0.11166805117516904, + 1.1779827013209059, + -0.2337289739098098, + 0.31004825174003037, + -0.13809516175171813, + 0.09063030827689815, + 0.0, + -0.22588408057754103, + -0.27667201040564354, + 1.610063360349552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.006431737582425813, + 0.11166805117516904, + 1.1779827013209059, + -0.2337289739098098, + 0.31004825174003037, + -0.13809516175171813, + 0.09063030827689815, + 0.0, + -0.18673766448691084, + -0.21586099798614913, + 1.610063360349552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.006431737582425813, + 0.11166805117516904, + 1.1779827013209059, + -0.2337289739098098, + 0.31004825174003037, + -0.13809516175171813, + 0.09063030827689815, + 0.0, + -0.16776994660093977, + -0.18964347251363703, + 1.610063360349552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.006431737582425813, + 0.11166805117516904, + 1.1779827013209059, + -0.2337289739098098, + 0.31004825174003037, + -0.13809516175171813, + 0.09063030827689815, + 0.0, + -0.06991432099728971, + -0.09895381863052781, + 1.610063360349552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.006431737582425813, + 0.11166805117516904, + 1.1779827013209059, + -0.2337289739098098, + 0.31004825174003037, + -0.13809516175171813, + 0.09063030827689815, + 0.0, + -0.006536695602777842, + -0.051255667773452966, + 1.610063360349552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.006431737582425813, + 0.11166805117516904, + 1.1779827013209059, + -0.2337289739098098, + 0.31004825174003037, + -0.13809516175171813, + 0.09063030827689815, + 0.0, + 0.04572328345195667, + 0.01572076646057335, + 1.610063360349552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.006431737582425813, + 0.11166805117516904, + 1.1779827013209059, + -0.2337289739098098, + 0.31004825174003037, + -0.13809516175171813, + 0.09063030827689815, + 0.0, + 0.08206558823585511, + 0.05072478120391433, + 1.610063360349552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.006431737582425813, + 0.11166805117516904, + 1.1779827013209059, + -0.2337289739098098, + 0.31004825174003037, + -0.13809516175171813, + 0.09063030827689815, + 0.0, + 0.16106477557001886, + 0.1297890865319484, + 1.610063360349552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.006431737582425813, + 0.11166805117516904, + 1.1779827013209059, + -0.2337289739098098, + 0.31004825174003037, + -0.13809516175171813, + 0.09063030827689815, + 0.0, + 0.20852797192496222, + 0.1712861292265557, + 1.610063360349552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.006431737582425813, + 0.11166805117516904, + 1.1779827013209059, + -0.2337289739098098, + 0.31004825174003037, + -0.13809516175171813, + 0.09063030827689815, + 0.0, + 0.2760139943780126, + 0.24325711437173791, + 1.610063360349552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.006431737582425813, + 0.11166805117516904, + 1.1779827013209059, + -0.2337289739098098, + 0.31004825174003037, + -0.13809516175171813, + 0.09063030827689815, + 0.0, + 0.3406944759794184, + 0.2946232292297724, + 1.610063360349552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.006431737582425813, + 0.11166805117516904, + 1.1779827013209059, + -0.2337289739098098, + 0.31004825174003037, + -0.13809516175171813, + 0.09063030827689815, + 0.0, + 0.39019101149327046, + 0.35657567003288787, + 1.610063360349552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.006431737582425813, + 0.11166805117516904, + 1.1779827013209059, + -0.2337289739098098, + 0.31004825174003037, + -0.13809516175171813, + 0.09063030827689815, + 0.0, + 0.4182169245707022, + 0.3908521406553887, + 1.610063360349552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.006431737582425813, + 0.11166805117516904, + 1.1779827013209059, + -0.2337289739098098, + 0.31004825174003037, + -0.13809516175171813, + 0.09063030827689815, + 0.0, + 0.502751921238126, + 0.468893869664218, + 1.610063360349552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.006431737582425813, + 0.11166805117516904, + 1.1779827013209059, + -0.2337289739098098, + 0.31004825174003037, + -0.13809516175171813, + 0.09063030827689815, + 0.0, + 0.5754496315041104, + 0.5266639286601865, + 1.610063360349552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.006431737582425813, + 0.11166805117516904, + 1.1779827013209059, + -0.2337289739098098, + 0.31004825174003037, + -0.13809516175171813, + 0.09063030827689815, + 0.0, + 0.6152650216141262, + 0.5810149296715453, + 1.610063360349552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.006431737582425813, + 0.11166805117516904, + 1.1779827013209059, + -0.2337289739098098, + 0.31004825174003037, + -0.13809516175171813, + 0.09063030827689815, + 0.0, + 0.6503368444539405, + 0.6219753536823633, + 1.610063360349552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.006431737582425813, + 0.11166805117516904, + 1.1779827013209059, + -0.2337289739098098, + 0.31004825174003037, + -0.13809516175171813, + 0.09063030827689815, + 0.0, + 0.7271615419838879, + 0.6920094541601233, + 1.610063360349552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.006431737582425813, + 0.11166805117516904, + 1.1779827013209059, + -0.2337289739098098, + 0.31004825174003037, + -0.13809516175171813, + 0.09063030827689815, + 0.0, + 0.7829297220787487, + 0.7472751214697554, + 1.610063360349552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.006431737582425813, + 0.11166805117516904, + 1.1779827013209059, + -0.2337289739098098, + 0.31004825174003037, + -0.13809516175171813, + 0.09063030827689815, + 0.0, + 0.7916645017427367, + 0.7526312924720145, + 1.610063360349552, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -0.006431737582425813, + 0.11166805117516904, + 1.1779827013209059, + -0.2337289739098098, + 0.31004825174003037, + -0.13809516175171813, + 0.09063030827689815, + 0.0 + ], + "std": [ + 1.4738414843269179, + 0.6981863424739704, + 0.04913592394832613, + 0.0, + 0.0, + 0.0, + 0.0, + 1.3443306248797726, + 1.2593005725607946, + 1.5409070711338984, + 0.24216897668547635, + 0.28598379141372715, + 0.6112992533188942, + 0.1931510387563134, + 0.6788639374694239, + 0.4898979485566357, + 1.4811683572815533, + 0.6990433550618299, + 0.04913592394832613, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4929540991306276, + 1.2467734909933537, + 0.18432224343009834, + 0.11232869968186698, + 0.39652615162174254, + 0.08195205187038508, + 0.8033614526267236, + 0.0, + 1.4589532746745038, + 0.6877425894502287, + 0.04913592394832613, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4929540991306276, + 1.2467734909933537, + 0.18432224343009834, + 0.11232869968186698, + 0.39652615162174254, + 0.08195205187038508, + 0.8033614526267236, + 0.0, + 1.4138679350453123, + 0.6643673576290888, + 0.04913592394832613, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4929540991306276, + 1.2467734909933537, + 0.18432224343009834, + 0.11232869968186698, + 0.39652615162174254, + 0.08195205187038508, + 0.8033614526267236, + 0.0, + 1.4293701317477958, + 0.6521356400385503, + 0.04913592394832613, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4929540991306276, + 1.2467734909933537, + 0.18432224343009834, + 0.11232869968186698, + 0.39652615162174254, + 0.08195205187038508, + 0.8033614526267236, + 0.0, + 1.4377860634979993, + 0.6509640354258354, + 0.04913592394832613, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4929540991306276, + 1.2467734909933537, + 0.18432224343009834, + 0.11232869968186698, + 0.39652615162174254, + 0.08195205187038508, + 0.8033614526267236, + 0.0, + 1.4866379195956427, + 0.6596353853723091, + 0.04913592394832613, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4929540991306276, + 1.2467734909933537, + 0.18432224343009834, + 0.11232869968186698, + 0.39652615162174254, + 0.08195205187038508, + 0.8033614526267236, + 0.0, + 1.467280022613174, + 0.6390263198969085, + 0.04913592394832613, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4929540991306276, + 1.2467734909933537, + 0.18432224343009834, + 0.11232869968186698, + 0.39652615162174254, + 0.08195205187038508, + 0.8033614526267236, + 0.0, + 1.439275700474403, + 0.6152569033462497, + 0.04913592394832613, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4929540991306276, + 1.2467734909933537, + 0.18432224343009834, + 0.11232869968186698, + 0.39652615162174254, + 0.08195205187038508, + 0.8033614526267236, + 0.0, + 1.4888228992680277, + 0.6252770744097396, + 0.04913592394832613, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4929540991306276, + 1.2467734909933537, + 0.18432224343009834, + 0.11232869968186698, + 0.39652615162174254, + 0.08195205187038508, + 0.8033614526267236, + 0.0, + 1.505515505289537, + 0.6274782664466152, + 0.04913592394832613, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4929540991306276, + 1.2467734909933537, + 0.18432224343009834, + 0.11232869968186698, + 0.39652615162174254, + 0.08195205187038508, + 0.8033614526267236, + 0.0, + 1.4849191225768907, + 0.6056282391268877, + 0.04913592394832613, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4929540991306276, + 1.2467734909933537, + 0.18432224343009834, + 0.11232869968186698, + 0.39652615162174254, + 0.08195205187038508, + 0.8033614526267236, + 0.0, + 1.473556676338481, + 0.6351673085232193, + 0.04913592394832613, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4929540991306276, + 1.2467734909933537, + 0.18432224343009834, + 0.11232869968186698, + 0.39652615162174254, + 0.08195205187038508, + 0.8033614526267236, + 0.0, + 1.4602087119771077, + 0.6329586332843916, + 0.04913592394832613, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4929540991306276, + 1.2467734909933537, + 0.18432224343009834, + 0.11232869968186698, + 0.39652615162174254, + 0.08195205187038508, + 0.8033614526267236, + 0.0, + 1.4906430877223862, + 0.6945558439869491, + 0.04913592394832613, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4929540991306276, + 1.2467734909933537, + 0.18432224343009834, + 0.11232869968186698, + 0.39652615162174254, + 0.08195205187038508, + 0.8033614526267236, + 0.0, + 1.450191218798989, + 0.6801837000421809, + 0.04913592394832613, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4929540991306276, + 1.2467734909933537, + 0.18432224343009834, + 0.11232869968186698, + 0.39652615162174254, + 0.08195205187038508, + 0.8033614526267236, + 0.0, + 1.41801139735604, + 0.6688854932988445, + 0.04913592394832613, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4929540991306276, + 1.2467734909933537, + 0.18432224343009834, + 0.11232869968186698, + 0.39652615162174254, + 0.08195205187038508, + 0.8033614526267236, + 0.0, + 1.4117996256323768, + 0.6884438011783506, + 0.04913592394832613, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4929540991306276, + 1.2467734909933537, + 0.18432224343009834, + 0.11232869968186698, + 0.39652615162174254, + 0.08195205187038508, + 0.8033614526267236, + 0.0, + 1.3782228108896506, + 0.7020961295300898, + 0.04913592394832613, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4929540991306276, + 1.2467734909933537, + 0.18432224343009834, + 0.11232869968186698, + 0.39652615162174254, + 0.08195205187038508, + 0.8033614526267236, + 0.0, + 1.3491742110797798, + 0.7260528994970395, + 0.04913592394832613, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4929540991306276, + 1.2467734909933537, + 0.18432224343009834, + 0.11232869968186698, + 0.39652615162174254, + 0.08195205187038508, + 0.8033614526267236, + 0.0, + 1.3480966299985675, + 0.7520791653289198, + 0.04913592394832613, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4929540991306276, + 1.2467734909933537, + 0.18432224343009834, + 0.11232869968186698, + 0.39652615162174254, + 0.08195205187038508, + 0.8033614526267236, + 0.0, + 1.331573839103676, + 0.7784293046620042, + 0.04913592394832613, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4929540991306276, + 1.2467734909933537, + 0.18432224343009834, + 0.11232869968186698, + 0.39652615162174254, + 0.08195205187038508, + 0.8033614526267236, + 0.0, + 1.2912658023800452, + 0.7781511616327698, + 0.04913592394832613, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4929540991306276, + 1.2467734909933537, + 0.18432224343009834, + 0.11232869968186698, + 0.39652615162174254, + 0.08195205187038508, + 0.8033614526267236, + 0.0, + 1.3088992016093117, + 0.822293625254477, + 0.04913592394832613, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4929540991306276, + 1.2467734909933537, + 0.18432224343009834, + 0.11232869968186698, + 0.39652615162174254, + 0.08195205187038508, + 0.8033614526267236, + 0.0, + 1.3145774493003195, + 0.8435871136043264, + 0.04913592394832613, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4929540991306276, + 1.2467734909933537, + 0.18432224343009834, + 0.11232869968186698, + 0.39652615162174254, + 0.08195205187038508, + 0.8033614526267236, + 0.0, + 1.2872550441675463, + 0.8675043494285389, + 0.04913592394832613, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4929540991306276, + 1.2467734909933537, + 0.18432224343009834, + 0.11232869968186698, + 0.39652615162174254, + 0.08195205187038508, + 0.8033614526267236, + 0.0, + 1.23562606842905, + 0.8584280288252856, + 0.04913592394832613, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4929540991306276, + 1.2467734909933537, + 0.18432224343009834, + 0.11232869968186698, + 0.39652615162174254, + 0.08195205187038508, + 0.8033614526267236, + 0.0, + 1.2653473232947943, + 0.9122771203240876, + 0.04913592394832613, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4929540991306276, + 1.2467734909933537, + 0.18432224343009834, + 0.11232869968186698, + 0.39652615162174254, + 0.08195205187038508, + 0.8033614526267236, + 0.0, + 1.2741655998863757, + 0.9325313064766619, + 0.04913592394832613, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4929540991306276, + 1.2467734909933537, + 0.18432224343009834, + 0.11232869968186698, + 0.39652615162174254, + 0.08195205187038508, + 0.8033614526267236, + 0.0, + 1.2430413116015855, + 0.9569079484167979, + 0.04913592394832613, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4929540991306276, + 1.2467734909933537, + 0.18432224343009834, + 0.11232869968186698, + 0.39652615162174254, + 0.08195205187038508, + 0.8033614526267236, + 0.0, + 1.2039067540104524, + 0.9528531241124727, + 0.04913592394832613, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4929540991306276, + 1.2467734909933537, + 0.18432224343009834, + 0.11232869968186698, + 0.39652615162174254, + 0.08195205187038508, + 0.8033614526267236, + 0.0, + 1.2191632026583508, + 0.9992051481629165, + 0.04913592394832613, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4929540991306276, + 1.2467734909933537, + 0.18432224343009834, + 0.11232869968186698, + 0.39652615162174254, + 0.08195205187038508, + 0.8033614526267236, + 0.0, + 1.2098785574488469, + 1.0106366838444285, + 0.04913592394832613, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4929540991306276, + 1.2467734909933537, + 0.18432224343009834, + 0.11232869968186698, + 0.39652615162174254, + 0.08195205187038508, + 0.8033614526267236, + 0.0, + 1.1948091442183353, + 1.0408324302471343, + 0.04913592394832613, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4929540991306276, + 1.2467734909933537, + 0.18432224343009834, + 0.11232869968186698, + 0.39652615162174254, + 0.08195205187038508, + 0.8033614526267236, + 0.0, + 1.1754313704455912, + 1.0481790005365417, + 0.04913592394832613, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4929540991306276, + 1.2467734909933537, + 0.18432224343009834, + 0.11232869968186698, + 0.39652615162174254, + 0.08195205187038508, + 0.8033614526267236, + 0.0, + 1.170172777149585, + 1.0819362750002992, + 0.04913592394832613, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4929540991306276, + 1.2467734909933537, + 0.18432224343009834, + 0.11232869968186698, + 0.39652615162174254, + 0.08195205187038508, + 0.8033614526267236, + 0.0, + 1.1348539682059549, + 1.082629222476569, + 0.04913592394832613, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4929540991306276, + 1.2467734909933537, + 0.18432224343009834, + 0.11232869968186698, + 0.39652615162174254, + 0.08195205187038508, + 0.8033614526267236, + 0.0, + 1.1467553835106856, + 1.1238655630480237, + 0.04913592394832613, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4929540991306276, + 1.2467734909933537, + 0.18432224343009834, + 0.11232869968186698, + 0.39652615162174254, + 0.08195205187038508, + 0.8033614526267236, + 0.0, + 1.1521150223487489, + 1.1457723317837494, + 0.04913592394832613, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4929540991306276, + 1.2467734909933537, + 0.18432224343009834, + 0.11232869968186698, + 0.39652615162174254, + 0.08195205187038508, + 0.8033614526267236, + 0.0, + 1.124707014146356, + 1.1662863918363473, + 0.04913592394832613, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4929540991306276, + 1.2467734909933537, + 0.18432224343009834, + 0.11232869968186698, + 0.39652615162174254, + 0.08195205187038508, + 0.8033614526267236, + 0.0, + 1.0850739830668656, + 1.1671317407456265, + 0.04913592394832613, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4929540991306276, + 1.2467734909933537, + 0.18432224343009834, + 0.11232869968186698, + 0.39652615162174254, + 0.08195205187038508, + 0.8033614526267236, + 0.0, + 1.1024110891547807, + 1.2084205083621615, + 0.04913592394832613, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4929540991306276, + 1.2467734909933537, + 0.18432224343009834, + 0.11232869968186698, + 0.39652615162174254, + 0.08195205187038508, + 0.8033614526267236, + 0.0, + 1.1057945973459196, + 1.2323593755494928, + 0.04913592394832613, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4929540991306276, + 1.2467734909933537, + 0.18432224343009834, + 0.11232869968186698, + 0.39652615162174254, + 0.08195205187038508, + 0.8033614526267236, + 0.0, + 1.079357114317666, + 1.2494032531871195, + 0.04913592394832613, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4929540991306276, + 1.2467734909933537, + 0.18432224343009834, + 0.11232869968186698, + 0.39652615162174254, + 0.08195205187038508, + 0.8033614526267236, + 0.0, + 1.0677761377542108, + 1.2697334020219444, + 0.04913592394832613, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4929540991306276, + 1.2467734909933537, + 0.18432224343009834, + 0.11232869968186698, + 0.39652615162174254, + 0.08195205187038508, + 0.8033614526267236, + 0.0, + 1.0849437932054526, + 1.3527184519029272, + 0.04913592394832613, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.4929540991306276, + 1.2467734909933537, + 0.18432224343009834, + 0.11232869968186698, + 0.39652615162174254, + 0.08195205187038508, + 0.8033614526267236, + 0.0 + ], + "min": [ + -3.3560166358947754, + -2.0892889499664307, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + -1.0, + -3.2127041816711426, + -1.6484390497207642, + 0.5874999761581421, + -0.6571530103683472, + -0.8837262392044067, + -0.384316086769104, + -0.787695050239563, + 0.0, + -3.349926471710205, + -2.0862677097320557, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0038412809371948, + -0.6571530103683472, + -0.11487622559070587, + -0.384316086769104, + -0.7038376927375793, + 0.0, + -3.3033299446105957, + -2.0631518363952637, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0038412809371948, + -0.6571530103683472, + -0.11487622559070587, + -0.384316086769104, + -0.7038376927375793, + 0.0, + -3.205469846725464, + -2.0146048069000244, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0038412809371948, + -0.6571530103683472, + -0.11487622559070587, + -0.384316086769104, + -0.7038376927375793, + 0.0, + -3.0875797271728516, + -1.9561209678649902, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0038412809371948, + -0.6571530103683472, + -0.11487622559070587, + -0.384316086769104, + -0.7038376927375793, + 0.0, + -3.064465284347534, + -1.9446542263031006, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0038412809371948, + -0.6571530103683472, + -0.11487622559070587, + -0.384316086769104, + -0.7038376927375793, + 0.0, + -3.045969247817993, + -1.9354785680770874, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0038412809371948, + -0.6571530103683472, + -0.11487622559070587, + -0.384316086769104, + -0.7038376927375793, + 0.0, + -2.9249072074890137, + -1.8754212856292725, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0038412809371948, + -0.6571530103683472, + -0.11487622559070587, + -0.384316086769104, + -0.7038376927375793, + 0.0, + -2.7949650287628174, + -1.810958743095398, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0038412809371948, + -0.6571530103683472, + -0.11487622559070587, + -0.384316086769104, + -0.7038376927375793, + 0.0, + -2.785367012023926, + -1.8061972856521606, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0038412809371948, + -0.6571530103683472, + -0.11487622559070587, + -0.384316086769104, + -0.7038376927375793, + 0.0, + -2.7733516693115234, + -1.8002365827560425, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0038412809371948, + -0.6571530103683472, + -0.11487622559070587, + -0.384316086769104, + -0.7038376927375793, + 0.0, + -2.6451239585876465, + -1.7366245985031128, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0038412809371948, + -0.6571530103683472, + -0.11487622559070587, + -0.384316086769104, + -0.7038376927375793, + 0.0, + -2.5416765213012695, + -1.6853057146072388, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0038412809371948, + -0.6571530103683472, + -0.11487622559070587, + -0.384316086769104, + -0.7038376927375793, + 0.0, + -2.504814863204956, + -1.6670191287994385, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0038412809371948, + -0.6571530103683472, + -0.11487622559070587, + -0.384316086769104, + -0.7038376927375793, + 0.0, + -2.459122896194458, + -1.6443519592285156, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0038412809371948, + -0.6571530103683472, + -0.11487622559070587, + -0.384316086769104, + -0.7038376927375793, + 0.0, + -2.3650243282318115, + -1.5976709127426147, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0038412809371948, + -0.6571530103683472, + -0.11487622559070587, + -0.384316086769104, + -0.7038376927375793, + 0.0, + -2.28985857963562, + -1.5603822469711304, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0038412809371948, + -0.6571530103683472, + -0.11487622559070587, + -0.384316086769104, + -0.7038376927375793, + 0.0, + -2.2254838943481445, + -1.528446912765503, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0038412809371948, + -0.6571530103683472, + -0.11487622559070587, + -0.384316086769104, + -0.7038376927375793, + 0.0, + -2.1448938846588135, + -1.4884673357009888, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0038412809371948, + -0.6571530103683472, + -0.11487622559070587, + -0.384316086769104, + -0.7038376927375793, + 0.0, + -2.0856189727783203, + -1.459061861038208, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0038412809371948, + -0.6571530103683472, + -0.11487622559070587, + -0.384316086769104, + -0.7038376927375793, + 0.0, + -2.0377988815307617, + -1.4353389739990234, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0038412809371948, + -0.6571530103683472, + -0.11487622559070587, + -0.384316086769104, + -0.7038376927375793, + 0.0, + -1.9453095197677612, + -1.3894562721252441, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0038412809371948, + -0.6571530103683472, + -0.11487622559070587, + -0.384316086769104, + -0.7038376927375793, + 0.0, + -1.8306653499603271, + -1.3325828313827515, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0038412809371948, + -0.6571530103683472, + -0.11487622559070587, + -0.384316086769104, + -0.7038376927375793, + 0.0, + -1.8051409721374512, + -1.319920539855957, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0038412809371948, + -0.6571530103683472, + -0.11487622559070587, + -0.384316086769104, + -0.7038376927375793, + 0.0, + -1.7847522497177124, + -1.309805989265442, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0038412809371948, + -0.6571530103683472, + -0.11487622559070587, + -0.384316086769104, + -0.7038376927375793, + 0.0, + -1.6656008958816528, + -1.2506965398788452, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0038412809371948, + -0.6571530103683472, + -0.11487622559070587, + -0.384316086769104, + -0.7038376927375793, + 0.0, + -1.5337485074996948, + -1.185286283493042, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0038412809371948, + -0.6571530103683472, + -0.11487622559070587, + -0.384316086769104, + -0.7038376927375793, + 0.0, + -1.526060938835144, + -1.1814725399017334, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0038412809371948, + -0.6571530103683472, + -0.11487622559070587, + -0.384316086769104, + -0.7038376927375793, + 0.0, + -1.5164270401000977, + -1.176693320274353, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0038412809371948, + -0.6571530103683472, + -0.11487622559070587, + -0.384316086769104, + -0.7038376927375793, + 0.0, + -1.3856275081634521, + -1.1118054389953613, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0038412809371948, + -0.6571530103683472, + -0.11487622559070587, + -0.384316086769104, + -0.7038376927375793, + 0.0, + -1.2808274030685425, + -1.0598154067993164, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0038412809371948, + -0.6571530103683472, + -0.11487622559070587, + -0.384316086769104, + -0.7038376927375793, + 0.0, + -1.2447158098220825, + -1.041900873184204, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0038412809371948, + -0.6571530103683472, + -0.11487622559070587, + -0.384316086769104, + -0.7038376927375793, + 0.0, + -1.198546051979065, + -1.0189967155456543, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0038412809371948, + -0.6571530103683472, + -0.11487622559070587, + -0.384316086769104, + -0.7038376927375793, + 0.0, + -1.1035964488983154, + -0.9718934893608093, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0038412809371948, + -0.6571530103683472, + -0.11487622559070587, + -0.384316086769104, + -0.7038376927375793, + 0.0, + -1.0356225967407227, + -0.9381725192070007, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0038412809371948, + -0.6571530103683472, + -0.11487622559070587, + -0.384316086769104, + -0.7038376927375793, + 0.0, + -0.9625705480575562, + -0.9019323587417603, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0038412809371948, + -0.6571530103683472, + -0.11487622559070587, + -0.384316086769104, + -0.7038376927375793, + 0.0, + -0.8605064153671265, + -0.8512997031211853, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0038412809371948, + -0.6571530103683472, + -0.11487622559070587, + -0.384316086769104, + -0.7038376927375793, + 0.0, + -0.8236070871353149, + -0.8329944014549255, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0038412809371948, + -0.6571530103683472, + -0.11487622559070587, + -0.384316086769104, + -0.7038376927375793, + 0.0, + -0.801254153251648, + -0.8219054341316223, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0038412809371948, + -0.6571530103683472, + -0.11487622559070587, + -0.384316086769104, + -0.7038376927375793, + 0.0, + -0.6877087950706482, + -0.7655770778656006, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0038412809371948, + -0.6571530103683472, + -0.11487622559070587, + -0.384316086769104, + -0.7038376927375793, + 0.0, + -0.5730609893798828, + -0.7087017893791199, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0038412809371948, + -0.6571530103683472, + -0.11487622559070587, + -0.384316086769104, + -0.7038376927375793, + 0.0, + -0.5515962839126587, + -0.6980534195899963, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0038412809371948, + -0.6571530103683472, + -0.11487622559070587, + -0.384316086769104, + -0.7038376927375793, + 0.0, + -0.52010577917099, + -0.6824313998222351, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0038412809371948, + -0.6571530103683472, + -0.11487622559070587, + -0.384316086769104, + -0.7038376927375793, + 0.0, + -0.4152979850769043, + -0.6304376125335693, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0038412809371948, + -0.6571530103683472, + -0.11487622559070587, + -0.384316086769104, + -0.7038376927375793, + 0.0, + -0.34727177023887634, + -0.5966906547546387, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0038412809371948, + -0.6571530103683472, + -0.11487622559070587, + -0.384316086769104, + -0.7038376927375793, + 0.0, + -0.3567083179950714, + -0.679171085357666, + 1.558054804801941, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + -3.2127041816711426, + -1.6484390497207642, + 1.0038412809371948, + -0.6571530103683472, + -0.11487622559070587, + -0.384316086769104, + -0.7038376927375793, + 0.0 + ], + "max": [ + -0.4035744369029999, + -0.6906617283821106, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.057950496673584, + 2.905226230621338, + 1.373114824295044, + 0.7161067724227905, + 0.7609541416168213, + 0.4788842499256134, + 0.9577616453170776, + 1.0, + -0.3828068673610687, + -0.68592369556427, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.057950496673584, + 2.499417304992676, + 1.3730809688568115, + 0.014182895421981812, + 0.7103594541549683, + 0.056490540504455566, + 0.9577616453170776, + 0.0, + -0.38071224093437195, + -0.6854458451271057, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.057950496673584, + 2.499417304992676, + 1.3730809688568115, + 0.014182895421981812, + 0.7103594541549683, + 0.056490540504455566, + 0.9577616453170776, + 0.0, + -0.373168408870697, + -0.6837247610092163, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.057950496673584, + 2.499417304992676, + 1.3730809688568115, + 0.014182895421981812, + 0.7103594541549683, + 0.056490540504455566, + 0.9577616453170776, + 0.0, + -0.22422383725643158, + -0.6497438549995422, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.057950496673584, + 2.499417304992676, + 1.3730809688568115, + 0.014182895421981812, + 0.7103594541549683, + 0.056490540504455566, + 0.9577616453170776, + 0.0, + -0.1842503547668457, + -0.6406241059303284, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.057950496673584, + 2.499417304992676, + 1.3730809688568115, + 0.014182895421981812, + 0.7103594541549683, + 0.056490540504455566, + 0.9577616453170776, + 0.0, + -0.06789285689592361, + -0.6140777468681335, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.057950496673584, + 2.499417304992676, + 1.3730809688568115, + 0.014182895421981812, + 0.7103594541549683, + 0.056490540504455566, + 0.9577616453170776, + 0.0, + 0.01439088024199009, + -0.5953051447868347, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.057950496673584, + 2.499417304992676, + 1.3730809688568115, + 0.014182895421981812, + 0.7103594541549683, + 0.056490540504455566, + 0.9577616453170776, + 0.0, + 0.08823398500680923, + -0.5784581899642944, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.057950496673584, + 2.499417304992676, + 1.3730809688568115, + 0.014182895421981812, + 0.7103594541549683, + 0.056490540504455566, + 0.9577616453170776, + 0.0, + 0.1970863938331604, + -0.5536240339279175, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.057950496673584, + 2.499417304992676, + 1.3730809688568115, + 0.014182895421981812, + 0.7103594541549683, + 0.056490540504455566, + 0.9577616453170776, + 0.0, + 0.2425408512353897, + -0.5432538390159607, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.057950496673584, + 2.499417304992676, + 1.3730809688568115, + 0.014182895421981812, + 0.7103594541549683, + 0.056490540504455566, + 0.9577616453170776, + 0.0, + 0.32950928807258606, + -0.5234124660491943, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.057950496673584, + 2.499417304992676, + 1.3730809688568115, + 0.014182895421981812, + 0.7103594541549683, + 0.056490540504455566, + 0.9577616453170776, + 0.0, + 0.41019514203071594, + -0.4129200577735901, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.057950496673584, + 2.499417304992676, + 1.3730809688568115, + 0.014182895421981812, + 0.7103594541549683, + 0.056490540504455566, + 0.9577616453170776, + 0.0, + 0.42031776905059814, + -0.39905795454978943, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.057950496673584, + 2.499417304992676, + 1.3730809688568115, + 0.014182895421981812, + 0.7103594541549683, + 0.056490540504455566, + 0.9577616453170776, + 0.0, + 0.5269767642021179, + -0.2529974579811096, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.057950496673584, + 2.499417304992676, + 1.3730809688568115, + 0.014182895421981812, + 0.7103594541549683, + 0.056490540504455566, + 0.9577616453170776, + 0.0, + 0.5400409698486328, + -0.23510710895061493, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.057950496673584, + 2.499417304992676, + 1.3730809688568115, + 0.014182895421981812, + 0.7103594541549683, + 0.056490540504455566, + 0.9577616453170776, + 0.0, + 0.5507431626319885, + -0.22045134007930756, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.057950496673584, + 2.499417304992676, + 1.3730809688568115, + 0.014182895421981812, + 0.7103594541549683, + 0.056490540504455566, + 0.9577616453170776, + 0.0, + 0.6026742458343506, + -0.14933623373508453, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.057950496673584, + 2.499417304992676, + 1.3730809688568115, + 0.014182895421981812, + 0.7103594541549683, + 0.056490540504455566, + 0.9577616453170776, + 0.0, + 0.6160022020339966, + -0.08200791478157043, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.057950496673584, + 2.499417304992676, + 1.3730809688568115, + 0.014182895421981812, + 0.7103594541549683, + 0.056490540504455566, + 0.9577616453170776, + 0.0, + 0.6170861124992371, + -0.004611540585756302, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.057950496673584, + 2.499417304992676, + 1.3730809688568115, + 0.014182895421981812, + 0.7103594541549683, + 0.056490540504455566, + 0.9577616453170776, + 0.0, + 0.6627475619316101, + 0.07124792039394379, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.057950496673584, + 2.499417304992676, + 1.3730809688568115, + 0.014182895421981812, + 0.7103594541549683, + 0.056490540504455566, + 0.9577616453170776, + 0.0, + 0.722137987613678, + 0.16991598904132843, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.057950496673584, + 2.499417304992676, + 1.3730809688568115, + 0.014182895421981812, + 0.7103594541549683, + 0.056490540504455566, + 0.9577616453170776, + 0.0, + 0.7560359239578247, + 0.22623224556446075, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.057950496673584, + 2.499417304992676, + 1.3730809688568115, + 0.014182895421981812, + 0.7103594541549683, + 0.056490540504455566, + 0.9577616453170776, + 0.0, + 0.8168840408325195, + 0.32732200622558594, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.057950496673584, + 2.499417304992676, + 1.3730809688568115, + 0.014182895421981812, + 0.7103594541549683, + 0.056490540504455566, + 0.9577616453170776, + 0.0, + 0.8486475944519043, + 0.3800922930240631, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.057950496673584, + 2.499417304992676, + 1.3730809688568115, + 0.014182895421981812, + 0.7103594541549683, + 0.056490540504455566, + 0.9577616453170776, + 0.0, + 0.9130659103393555, + 0.48711344599723816, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.057950496673584, + 2.499417304992676, + 1.3730809688568115, + 0.014182895421981812, + 0.7103594541549683, + 0.056490540504455566, + 0.9577616453170776, + 0.0, + 0.9414936304092407, + 0.5343417525291443, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.057950496673584, + 2.499417304992676, + 1.3730809688568115, + 0.014182895421981812, + 0.7103594541549683, + 0.056490540504455566, + 0.9577616453170776, + 0.0, + 1.0087196826934814, + 0.6460275650024414, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.057950496673584, + 2.499417304992676, + 1.3730809688568115, + 0.014182895421981812, + 0.7103594541549683, + 0.056490540504455566, + 0.9577616453170776, + 0.0, + 1.0360186100006104, + 0.6913805603981018, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.057950496673584, + 2.499417304992676, + 1.3730809688568115, + 0.014182895421981812, + 0.7103594541549683, + 0.056490540504455566, + 0.9577616453170776, + 0.0, + 1.1044690608978271, + 0.8051004409790039, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.057950496673584, + 2.499417304992676, + 1.3730809688568115, + 0.014182895421981812, + 0.7103594541549683, + 0.056490540504455566, + 0.9577616453170776, + 0.0, + 1.130873680114746, + 0.8489677309989929, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.057950496673584, + 2.499417304992676, + 1.3730809688568115, + 0.014182895421981812, + 0.7103594541549683, + 0.056490540504455566, + 0.9577616453170776, + 0.0, + 1.197547435760498, + 0.9597359895706177, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.057950496673584, + 2.499417304992676, + 1.3730809688568115, + 0.014182895421981812, + 0.7103594541549683, + 0.056490540504455566, + 0.9577616453170776, + 0.0, + 1.2251179218292236, + 1.005540132522583, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.057950496673584, + 2.499417304992676, + 1.3730809688568115, + 0.014182895421981812, + 0.7103594541549683, + 0.056490540504455566, + 0.9577616453170776, + 0.0, + 1.2898800373077393, + 1.113132357597351, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.057950496673584, + 2.499417304992676, + 1.3730809688568115, + 0.014182895421981812, + 0.7103594541549683, + 0.056490540504455566, + 0.9577616453170776, + 0.0, + 1.3190357685089111, + 1.1615701913833618, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.057950496673584, + 2.499417304992676, + 1.3730809688568115, + 0.014182895421981812, + 0.7103594541549683, + 0.056490540504455566, + 0.9577616453170776, + 0.0, + 1.3815536499023438, + 1.26543390750885, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.057950496673584, + 2.499417304992676, + 1.3730809688568115, + 0.014182895421981812, + 0.7103594541549683, + 0.056490540504455566, + 0.9577616453170776, + 0.0, + 1.4128661155700684, + 1.3174546957015991, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.057950496673584, + 2.499417304992676, + 1.3730809688568115, + 0.014182895421981812, + 0.7103594541549683, + 0.056490540504455566, + 0.9577616453170776, + 0.0, + 1.4736067056655884, + 1.4183658361434937, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.057950496673584, + 2.499417304992676, + 1.3730809688568115, + 0.014182895421981812, + 0.7103594541549683, + 0.056490540504455566, + 0.9577616453170776, + 0.0, + 1.5066962242126465, + 1.4733390808105469, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.057950496673584, + 2.499417304992676, + 1.3730809688568115, + 0.014182895421981812, + 0.7103594541549683, + 0.056490540504455566, + 0.9577616453170776, + 0.0, + 1.565337061882019, + 1.570761799812317, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.057950496673584, + 2.499417304992676, + 1.3730809688568115, + 0.014182895421981812, + 0.7103594541549683, + 0.056490540504455566, + 0.9577616453170776, + 0.0, + 1.6005908250808716, + 1.6293305158615112, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.057950496673584, + 2.499417304992676, + 1.3730809688568115, + 0.014182895421981812, + 0.7103594541549683, + 0.056490540504455566, + 0.9577616453170776, + 0.0, + 1.6567857265472412, + 1.7226897478103638, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.057950496673584, + 2.499417304992676, + 1.3730809688568115, + 0.014182895421981812, + 0.7103594541549683, + 0.056490540504455566, + 0.9577616453170776, + 0.0, + 1.6950541734695435, + 1.786266803741455, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.057950496673584, + 2.499417304992676, + 1.3730809688568115, + 0.014182895421981812, + 0.7103594541549683, + 0.056490540504455566, + 0.9577616453170776, + 0.0, + 1.7469016313552856, + 1.8724033832550049, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.057950496673584, + 2.499417304992676, + 1.3730809688568115, + 0.014182895421981812, + 0.7103594541549683, + 0.056490540504455566, + 0.9577616453170776, + 0.0, + 1.7917284965515137, + 1.9468762874603271, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.057950496673584, + 2.499417304992676, + 1.3730809688568115, + 0.014182895421981812, + 0.7103594541549683, + 0.056490540504455566, + 0.9577616453170776, + 0.0, + 1.8166826963424683, + 2.0306339263916016, + 1.6564853191375732, + 0.0, + 0.0, + 0.0, + 0.0, + 2.0, + 2.057950496673584, + 2.499417304992676, + 1.3730809688568115, + 0.014182895421981812, + 0.7103594541549683, + 0.056490540504455566, + 0.9577616453170776, + 0.0 + ], + "count": [ + 2948 + ] + }, + "action.applied": { + "mean": [ + 0.058455125050267946, + -0.0011152810277480485, + 0.0052332420265508986, + 1.926389549482795, + -2.5494343920672766, + -0.5876894476715252, + 1.362388960663305, + 1.5683393579756129, + -2.157087125359267, + -0.22045124076563047, + -0.0007836686483909107, + 0.0007836686483909107 + ], + "std": [ + 0.11574218615555729, + 0.012432839234452514, + 0.1483536181777527, + 1.0872046586360735, + 0.5534372967332537, + 0.32848143931985707, + 0.4653272380008948, + 0.945112936404928, + 0.23012879518131138, + 0.4363197846991579, + 0.013212235310986952, + 0.013212235310986952 + ], + "min": [ + 0.0, + -0.12872132658958435, + -0.800000011920929, + -0.0311895739287138, + -3.3633627891540527, + -1.0589877367019653, + 0.4984678328037262, + -0.07389888167381287, + -2.5117597579956055, + -0.9412364959716797, + -0.009999999776482582, + -0.020833000540733337 + ], + "max": [ + 0.30000001192092896, + 0.09703919291496277, + 0.800000011920929, + 3.040506362915039, + -1.571998953819275, + 0.0004009586409665644, + 2.155487060546875, + 2.899369478225708, + -1.3023823499679565, + 0.9240720272064209, + 0.020833000540733337, + 0.009999999776482582 + ], + "count": [ + 2948 + ] + }, + "extra.reward": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 2948 + ] + }, + "next.truncated": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 2948 + ] + }, + "sim_step_idx": { + "mean": [ + 3048.0 + ], + "std": [ + 1702.028495648648 + ], + "min": [ + 101.0 + ], + "max": [ + 5995.0 + ], + "count": [ + 2948 + ] + }, + "timestamp": { + "mean": [ + 58.940000000926624 + ], + "std": [ + 34.04056991129605 + ], + "min": [ + 0.0 + ], + "max": [ + 117.87999725341797 + ], + "count": [ + 2948 + ] + }, + "frame_index": { + "mean": [ + 1473.5 + ], + "std": [ + 851.014247824324 + ], + "min": [ + 0.0 + ], + "max": [ + 2947.0 + ], + "count": [ + 2948 + ] + }, + "episode_index": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 2948 + ] + }, + "index": { + "mean": [ + 1473.5 + ], + "std": [ + 851.014247824324 + ], + "min": [ + 0.0 + ], + "max": [ + 2947.0 + ], + "count": [ + 2948 + ] + }, + "task_index": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "count": [ + 2948 + ] + }, + "next.done": { + "mean": [ + 0.00033921302578018993 + ], + "std": [ + 0.01841461268404337 + ], + "min": [ + 0.0 + ], + "max": [ + 1.0 + ], + "count": [ + 2948 + ] + }, + "observation.images.head": { + "mean": [ + [ + [ + 0.38175472875546085 + ] + ], + [ + [ + 0.29318502543821906 + ] + ], + [ + [ + 0.26952541913113626 + ] + ] + ], + "std": [ + [ + [ + 0.21697705796736771 + ] + ], + [ + [ + 0.1856625589841404 + ] + ], + [ + [ + 0.15793866227843775 + ] + ] + ], + "min": [ + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ] + ], + "max": [ + [ + [ + 0.9450980392156862 + ] + ], + [ + [ + 0.9294117647058824 + ] + ], + [ + [ + 0.9372549019607843 + ] + ] + ], + "count": [ + 100 + ] + }, + "observation.images.wrist": { + "mean": [ + [ + [ + 0.4435786139176781 + ] + ], + [ + [ + 0.35444432637334605 + ] + ], + [ + [ + 0.2929176232083616 + ] + ] + ], + "std": [ + [ + [ + 0.20399125903735274 + ] + ], + [ + [ + 0.17349249820599735 + ] + ], + [ + [ + 0.1445811680458038 + ] + ] + ], + "min": [ + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ], + [ + [ + 0.0 + ] + ] + ], + "max": [ + [ + [ + 1.0 + ] + ], + [ + [ + 1.0 + ] + ], + [ + [ + 1.0 + ] + ] + ], + "count": [ + 100 + ] + } +} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_on/seed_2021/rec/stationbookendxr/000/lerobot_v21/meta/tasks.jsonl b/N034/sawyer_umi/dr_on/seed_2021/rec/stationbookendxr/000/lerobot_v21/meta/tasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e639892eae0aca859cb3ed9b82a48465787b6b4a --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2021/rec/stationbookendxr/000/lerobot_v21/meta/tasks.jsonl @@ -0,0 +1 @@ +{"task_index": 0, "task": "Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it."} diff --git a/N034/sawyer_umi/dr_on/seed_2021/rec/stationbookendxr/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 b/N034/sawyer_umi/dr_on/seed_2021/rec/stationbookendxr/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..34df0cf7c1b283bab48ed632afa07f665941c2cc --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2021/rec/stationbookendxr/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:e82b054be5b85a9e718f642e5a445621abb48ff798a7033031f0c207370e3ed5 +size 65118529 diff --git a/N034/sawyer_umi/dr_on/seed_2021/rec/stationbookendxr/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 b/N034/sawyer_umi/dr_on/seed_2021/rec/stationbookendxr/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..98f92fbc08437217f8119577fc9ac86f187444e0 --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2021/rec/stationbookendxr/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 sha256:9abfa64c267c0e7cc23a20f590d4bb1f6139f7db1dc66dffeea8b96a53c59fdb +size 62544146 diff --git a/N034/sawyer_umi/dr_on/seed_2021/rec/stationbookendxr/000/run_meta.json b/N034/sawyer_umi/dr_on/seed_2021/rec/stationbookendxr/000/run_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8c79e88ec5b6afa121c803762f2cf71acf3f17d6 --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2021/rec/stationbookendxr/000/run_meta.json @@ -0,0 +1,1215 @@ +{ + "run_id": "stationbookendxr/000", + "created": "2026-11-08 02:54:41", + "num_envs": 1, + "session_id": null, + "record_config": { + "output_dir": "/mnt/scratch/xc536_atomic/n034_saw_on_2021/out/rec", + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "json_round": null, + "schema": { + "source": "robot_manager", + "nan_policy": "from_raw" + }, + "lerobot": { + "subsample_every": 2 + } + }, + "config": { + "env_string": "StationBookendXREnv-V0", + "env": { + "sim": { + "device": "cpu", + "use_fabric": false, + "decimation": 4, + "dt": 0.005, + "seed": 2021, + "soft_resets": 2, + "enable_scene_query_support": true, + "scene": { + "num_envs": 1, + "env_spacing": 16 + }, + "render": { + "rendering_mode": "performance", + "enable_reflections": false, + "enable_global_illumination": false, + "enable_translucency": false, + "enable_dl_denoiser": false + } + }, + "nav": { + "navmesh": { + "enabled": true, + "visualize": false, + "bake_timeout_s": 180, + "agent_height_cm": 150, + "min_agent_radius_cm": 45.0, + "max_agent_radius_cm": 45.0, + "max_step_height_cm": 20, + "max_floor_slope_deg": 30, + "agent_island_radius_cm": 5, + "auto_exclude_rigid_bodies": true, + "validate_path_clearance": true, + "validate_path_window": true, + "navmesh_offset_z_m": 0, + "verbose": false, + "validate_path_reroute": true + }, + "occupancymap": { + "cell_size": 0.05 + } + }, + "scene": { + "background": { + "intensity": [ + 1000, + 1000 + ] + }, + "terrain": { + "type": "nav_room", + "collision": true, + "hide_top_walls": true, + "usd": [ + "$MAGICSIM_ASSETS/Room/Collected_SimpleRoom" + ], + "annotation": "Annotation", + "random": false, + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ], + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0, + "friction_combine_mode": "multiply", + "restitution_combine_mode": "multiply" + } + }, + "objects": { + "table_A": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "table_A_1": { + "pos": [ + -0.3456236314222738, + 0.19075829820448897, + 0.18 + ], + "ori": [ + 0.0, + 0.0, + -0.7300355474844764 + ], + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.45, + 0.35 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "table_B": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "table_B_1": { + "pos": [ + 1.7353778432795572, + 2.977148284075784, + 0.18 + ], + "ori": [ + 0.0, + 0.0, + 4.909614375351296 + ], + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + }, + "visual": { + "color": [ + [ + 0.55, + 0.45, + 0.35 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "slot_left": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "slot_left_1": { + "pos": [ + -0.3736504218658815, + 0.0711056801076412, + 0.3475 + ], + "ori": [ + 0.0, + 0.0, + -0.7300355474844764 + ], + "primitive_params": { + "size": [ + 0.01, + 0.12, + 0.035 + ] + }, + "visual": { + "color": [ + [ + 0.4, + 0.3, + 0.2 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "slot_right": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "slot_right_1": { + "pos": [ + -0.3206547239881481, + 0.07043039760971395, + 0.3475 + ], + "ori": [ + 0.0, + 0.0, + -0.7300355474844764 + ], + "primitive_params": { + "size": [ + 0.01, + 0.12, + 0.035 + ] + }, + "visual": { + "color": [ + [ + 0.4, + 0.3, + 0.2 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "book": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "book_1": { + "pos": [ + -0.3472236406401698, + 0.06519069446313078, + 0.40149999999999997 + ], + "ori": [ + 0.0, + 0.0, + 89.26996445251552 + ], + "primitive_params": { + "size": [ + 0.1, + 0.035, + 0.14 + ] + }, + "visual": { + "color": [ + [ + 0.78, + 0.12, + 0.12 + ] + ] + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.05, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + } + } + } + }, + "plate": { + "usd": [ + "Cube" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "plate_1": { + "pos": [ + 1.7155408223504414, + 2.8750760420084234, + 0.37049999999999994 + ], + "ori": [ + 0.0, + 0.0, + 4.909614375351296 + ], + "primitive_params": { + "size": [ + 0.012, + 0.14, + 0.08 + ] + }, + "visual": { + "color": [ + [ + 0.35, + 0.35, + 0.4 + ] + ] + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + } + } + } + }, + "bookend": { + "usd": [ + "$MAGICSIM_ASSETS/Object/MMB_A07/bookend_l/Object.usda" + ], + "random": false, + "num_per_env": 1, + "common": { + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "bookend_1": { + "pos": [ + 1.830813897415525, + 2.9019789162117036, + 0.33099999999999996 + ], + "ori": [ + 0.0, + 0.0, + 94.9096143753513 + ], + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.6, + "physics_material": { + "static_friction": 0.2, + "dynamic_friction": 0.15, + "restitution": 0.0 + } + } + } + } + } + }, + "robot": { + "RidgebackSawyerUmi": { + "name": "ridgebacksawyer_umi", + "type": "mobilemanip", + "common": { + "pos": [ + [ + -3.4, + -2.2, + 0.05 + ], + [ + -3.4, + -2.2, + 0.05 + ] + ], + "ori": [ + [ + 0, + 0, + 40.0 + ], + [ + 0, + 0, + 40.0 + ] + ], + "initial_joint_pos": { + "dummy_base_.*": 0.0, + "head_pan": 0.0, + "right_j0": 0.0, + "right_j1": -1.6, + "right_j2": 0.0, + "right_j3": 0.5, + "right_j4": 0.0, + "right_j5": -2.32, + "right_j6": 0.0, + "right_gripper_l_finger_joint": 0.0, + "right_gripper_r_finger_joint": 0.0 + } + }, + "action": { + "base_action": "holonomic_action", + "arm_action": "ik_pink", + "eef_action": "binary" + }, + "planner": { + "dual_mode": true, + "base_joint_names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint" + ], + "ik": { + "type": "ridgebacksawyer_umi", + "model_tuning": "ridgeback_sawyer_umi", + "enable": true, + "ik_num_instances": 1, + "ik_batch_size": 1, + "ik_num_seeds": 32, + "ik_position_threshold": 0.005, + "ik_rotation_threshold": 0.05, + "microbatch_wait_ms": 20.0, + "relative_to_world_frame": false + }, + "motiongen": { + "type": "ridgebacksawyer_umi", + "model_tuning": "ridgeback_sawyer_umi", + "enable": true, + "motiongen_num_instances": 1, + "batch_size": 1, + "microbatch_wait_ms": 20.0, + "mode": "position", + "relative_to_world_frame": false, + "start_state_limit_inset": 0.002 + }, + "body": { + "type": "nav", + "dwb_type": "dwb_holonomic", + "dwb_holonomic": { + "device": "cpu", + "dt": 0.02, + "debug": false, + "num_rollout_steps": 60, + "num_speed_samples": 11, + "num_steer_samples": 11, + "num_vx_samples": 7, + "num_vy_samples": 7, + "num_yaw_samples": 7, + "max_accel": 1.5, + "max_steer_rate": 1.5, + "max_accel_vx": 1.5, + "max_accel_vy": 1.5, + "max_yaw_accel": 1.5, + "w_goal": 6.0, + "w_path": 8.0, + "w_vel": 0.2, + "w_vy": 0.0, + "goal_cost_mode": "path", + "dilate_radius": 0.36, + "room_size": 12.0, + "occupancy_update_interval": 25, + "scan_height": 0.35, + "scan_min_z": 0.12, + "scan_max_z": 1.65, + "goal_pos_threshold": 0.05, + "goal_yaw_threshold": 0.05, + "kp_goal_yaw": 1.5, + "heading_reference": "path", + "turn_yaw_threshold": 0.8, + "heading_lookahead": 0.8, + "heading_min_leg": 0.35, + "route_yaw_gain": 2.0, + "goal_yaw_hysteresis": 0.02, + "min_vx": -0.3, + "max_vx": 0.3, + "min_vy": -0.3, + "max_vy": 0.3, + "min_yaw_rate": -0.8, + "max_yaw_rate": 0.8, + "safety_enabled": true, + "safety_deceleration": 0.5, + "safety_reaction_time": 0.5, + "scan_type": "3d" + }, + "p_controller": { + "kp_angular_turning_only": 2.0, + "kd_angular_turning_only": 1.0, + "kp_linear_x": 3.0, + "kp_linear_y": 3.0, + "kp_angular": 2.0, + "kd_linear_x": 1.0, + "kd_linear_y": 1.0, + "min_vel": -0.4, + "max_vel": 0.5, + "linear_dead_zone": 0.01, + "angular_dead_zone": 0.05, + "nav_heading_target": -1, + "nav_upgrade_distance": 0.03 + } + }, + "arm": { + "type": "default" + }, + "eef": { + "type": "default" + } + }, + "physics": { + "robot_radius": 0.66, + "wheel_base": 0.01 + }, + "reset": "default" + } + }, + "camera": { + "enable_tiled": false, + "colorize_depth": false, + "head": { + "camera": { + "type": "camera", + "mesh": "pinhole", + "resolution": [ + 640, + 480 + ], + "frequency": 25, + "focal_length": 2.0, + "horizontal_aperture": 3.6, + "vertical_aperture": 2.7, + "clipping_range": [ + 0.05, + 30.0 + ], + "focus_distance": 3.0, + "mode": "RGB", + "mount_link": "Robot_0/head", + "pos": [ + 0.2166, + 0.0, + -0.045 + ], + "ori": [ + -0.0, + 35.0, + -90.0 + ] + }, + "annotator": { + "enabled": true, + "rgb_capture": { + "type": "rgb", + "device": "cpu" + } + } + }, + "wrist": { + "camera": { + "type": "camera", + "mesh": "pinhole", + "resolution": [ + 640, + 480 + ], + "frequency": 25, + "focal_length": 1.8, + "horizontal_aperture": 3.6, + "vertical_aperture": 2.7, + "clipping_range": [ + 0.05, + 30.0 + ], + "focus_distance": 3.0, + "mode": "RGB", + "mount_link": "Robot_0/right_electric_gripper_base", + "pos": [ + 0.0598, + 0.0, + 0.03 + ], + "ori": [ + 180.0, + 0.0, + -90.0 + ] + }, + "annotator": { + "enabled": true, + "rgb_capture": { + "type": "rgb", + "device": "cpu" + } + } + } + } + }, + "task": { + "new_seed_per_episode": true, + "observation": {}, + "reward": {}, + "termination": { + "timeout_steps": 30000, + "success_hold_frames": 10, + "fall_height": 0.02, + "fall_tilt": 1.0, + "lift_height": 0.12, + "grasp_distance": 0.25 + }, + "station": { + "robot": { + "key": "RidgebackSawyerUmi", + "embodiment": "sawyer_umi", + "base_link": "torso", + "tcp_in_wrist": [ + 0.17174, + 0.00789, + 0.0, + 0.5, + 0.5, + 0.5, + 0.5 + ], + "wrist_ref_back": 0.0, + "spawn_dz": 0.02, + "finger_joints": [ + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ], + "dwb": { + "key": "dwb_holonomic", + "add_floor": false + } + }, + "task_id": "N034", + "task_version": "EXT60-MobileAvatar-v3", + "family_id": "bookend_support", + "primary_category": "C2", + "stage": "full", + "layout": { + "floor_z": 0.03, + "start": { + "x": -3.4, + "y": -2.2, + "yaw_deg": 40.0, + "radius": 0.3, + "yaw_spread_deg": 20.0 + }, + "stations": { + "A": { + "center": [ + -0.3456236314222738, + 0.19075829820448897 + ], + "facing_deg": 89.26996445251552, + "standoff": 0.62, + "table": { + "width": 0.9, + "depth": 0.5, + "height": 0.3 + } + }, + "B": { + "center": [ + 1.7353778432795572, + 2.977148284075784 + ], + "facing_deg": 94.9096143753513, + "standoff": 0.7, + "table": { + "width": 0.9, + "depth": 0.5, + "height": 0.3 + } + } + } + }, + "route": [ + "A", + "B" + ], + "book": "book", + "bookend": "bookend", + "plate": "plate", + "dr": { + "enabled": true, + "stations": { + "center_m": 0.25, + "facing_deg": 8.0 + }, + "objects": { + "across_m": 0.025, + "along_m": 0.02, + "yaw_deg": 8.0 + } + }, + "book_slot": { + "across": -0.001 + }, + "push": { + "height": 0.025, + "overshoot": -0.002 + }, + "place_check": { + "book": { + "at": { + "station": "B", + "across": -0.001, + "along": -0.1, + "z": 0.0725 + }, + "yaw_deg": 90.0, + "clearance": 0.004 + } + }, + "success": { + "upright_deg": 15.0, + "rest_z_tol": 0.02, + "contact_gap": 0.006, + "max_penetration": 0.01, + "min_push": 0.04, + "release_dist": 0.15, + "rest_speed": 0.03, + "lift": 0.08 + }, + "objects": { + "slot_left": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.01, + 0.12, + 0.035 + ], + "at": { + "station": "A", + "across": -0.0265, + "along": -0.12, + "z": 0.0175 + }, + "color": [ + 0.4, + 0.3, + 0.2 + ], + "pos": [ + -0.3736504218658815, + 0.0711056801076412, + 0.3475 + ], + "yaw_deg": -0.7300355474844764 + }, + "slot_right": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.01, + 0.12, + 0.035 + ], + "at": { + "station": "A", + "across": 0.0265, + "along": -0.12, + "z": 0.0175 + }, + "color": [ + 0.4, + 0.3, + 0.2 + ], + "pos": [ + -0.3206547239881481, + 0.07043039760971395, + 0.3475 + ], + "yaw_deg": -0.7300355474844764 + }, + "book": { + "jitter": { + "across_m": 0.0, + "yaw_deg": 0.0 + }, + "asset": "Cube", + "type": "rigid", + "size": [ + 0.1, + 0.035, + 0.14 + ], + "yaw_deg": 89.26996445251552, + "at": { + "station": "A", + "across": 0.0, + "along": -0.12557779715715714, + "z": 0.0715 + }, + "mass": 0.05, + "color": [ + 0.78, + 0.12, + 0.12 + ], + "friction": { + "static": 1.5, + "dynamic": 1.5 + }, + "grasp": { + "part": "body", + "thin_axis": 1, + "min_elevation_deg": 60.0, + "approach_deg": [ + 0, + 15, + 30, + 45, + 60, + 75, + 90, + 105, + 120, + 135, + 150, + 165, + 180, + 195, + 210, + 225, + 240, + 255, + 270, + 285, + 300, + 315, + 330, + 345 + ], + "inset": 0.012 + }, + "pos": [ + -0.3472236406401698, + 0.06519069446313078, + 0.40149999999999997 + ] + }, + "plate": { + "asset": "Cube", + "type": "geometry", + "size": [ + 0.012, + 0.14, + 0.08 + ], + "at": { + "station": "B", + "across": -0.0285, + "along": -0.1, + "z": 0.0405 + }, + "color": [ + 0.35, + 0.35, + 0.4 + ], + "pos": [ + 1.7155408223504414, + 2.8750760420084234, + 0.37049999999999994 + ], + "yaw_deg": 4.909614375351296 + }, + "bookend": { + "jitter": { + "across_m": 0.01, + "yaw_deg": 0.0 + }, + "catalog": "bookend_l", + "type": "rigid", + "yaw_deg": 94.9096143753513, + "at": { + "station": "B", + "across": 0.08865259084920836, + "along": -0.08306137748587906, + "z": 0.001 + }, + "friction": { + "static": 0.2, + "dynamic": 0.15 + }, + "asset": "$MAGICSIM_ASSETS/Object/MMB_A07/bookend_l/Object.usda", + "parts": [ + { + "name": "wall", + "center": [ + 0.0, + 0.0, + 0.03 + ], + "half": [ + 0.06, + 0.006, + 0.03 + ], + "rpy_deg": [ + 0.0, + 0.0, + 0.0 + ] + }, + { + "name": "foot", + "center": [ + 0.0, + -0.036, + 0.004 + ], + "half": [ + 0.06, + 0.03, + 0.004 + ], + "rpy_deg": [ + 0.0, + 0.0, + 0.0 + ] + } + ], + "mass": 0.6, + "com": [ + 0.0, + -0.01, + 0.03 + ], + "pos": [ + 1.830813897415525, + 2.9019789162117036, + 0.33099999999999996 + ] + } + }, + "report_jsonl": "/mnt/scratch/xc536_atomic/n034_saw_on_2021/out/report.episodes.jsonl", + "dr_applied": true, + "level": "easy" + }, + "command": { + "StationBookend": { + "obj_type": "rigid", + "obj_name": "book", + "obj_id": 0, + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.05, + "settle_ticks": 120 + }, + "StationBookendXR": { + "obj_type": "rigid", + "obj_name": "book", + "grasp_part": "body", + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.015, + "lift": 0.03, + "over_top": 0.005, + "pre_clear": 0.1, + "carry_ahead": 0.5, + "carry_z": 0.8, + "settle_ticks": 120, + "hover": 0.09, + "remeasure_lower": true, + "recenter_clear": 0.02, + "recenter_passes": 2, + "push_lead": 0.012, + "push_over": 0.06, + "withdraw_up": 0.2 + } + } + }, + "collect": { + "global_planner": { + "NavTo": { + "use_navmesh": true, + "use_absolute": true, + "translation_threshold": 0.12, + "rotation_threshold": 0.12, + "num_path_segments": 30, + "start_forward_offset": 0.0, + "visualize_path": false, + "carry_arm": true + }, + "RetractMoveL": { + "translation_threshold": 0.02, + "rotation_threshold": 0.2, + "motiongen_distance_threshold": 0.05, + "timeout_steps": 1800, + "base_pos_threshold": 0.12, + "base_rot_threshold": 0.5, + "eef_pos_threshold": 0.03, + "eef_rot_threshold": 0.3, + "base_waypoint_max_steps": 20, + "arm_waypoint_max_steps": 8, + "move_strategy_distance_threshold": 0.1, + "debug": false, + "debug_viz": false + }, + "MobileMoveL": { + "translation_threshold": 0.006, + "rotation_threshold": 0.08, + "motiongen_distance_threshold": 0.05, + "timeout_steps": 1800, + "stall_release_ticks": 100, + "stall_release_factor": 5.0, + "reactive": false, + "base_pos_threshold": 0.12, + "base_rot_threshold": 0.5, + "eef_pos_threshold": 0.03, + "eef_rot_threshold": 0.3, + "waypoint_max_steps": 20, + "interp_steps": 100, + "interp_validate_target": true, + "retry_mobile_on_locked_plan_failure": true, + "debug": false, + "debug_viz": false + }, + "MobileServoL": { + "base_pos_threshold": 0.12, + "waypoint_max_steps": 20, + "translation_threshold": 0.05, + "timeout_steps": 300 + }, + "ParallelGripper": { + "gripper_threshold": 0.0005, + "timeout_steps": 60 + } + }, + "atomic_skill": { + "NavToPose": { + "robot_id": 0, + "show_marker": false + }, + "Move": { + "arm_planner": "MobileMoveL", + "hand_planner": "ParallelGripper", + "obstacle_avoid_paths": [ + "dynamic/table_A", + "dynamic/table_B" + ], + "obstacle_ignore_paths": [], + "close_value": 1.0, + "open_value": 0.0, + "hold_steps": 10 + }, + "StationNavXR": { + "robot_id": 0, + "show_marker": false + }, + "ReachStance": { + "max_walks": 4 + } + }, + "command": { + "StationBookend": { + "obj_type": "rigid", + "obj_name": "book", + "obj_id": 0, + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.05, + "settle_ticks": 120 + }, + "StationBookendXR": { + "obj_type": "rigid", + "obj_name": "book", + "grasp_part": "body", + "init_limit": 100, + "max_attempt": 2, + "lift_check": 0.015, + "lift": 0.03, + "over_top": 0.005, + "pre_clear": 0.1, + "carry_ahead": 0.5, + "carry_z": 0.8, + "settle_ticks": 120, + "hover": 0.09, + "remeasure_lower": true, + "recenter_clear": 0.02, + "recenter_passes": 2, + "push_lead": 0.012, + "push_over": 0.06, + "withdraw_up": 0.2 + } + }, + "auto_collect": {}, + "record": { + "output_dir": "/mnt/scratch/xc536_atomic/n034_saw_on_2021/out/rec", + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "json_round": null, + "schema": { + "source": "robot_manager", + "nan_policy": "from_raw" + }, + "lerobot": { + "subsample_every": 2 + } + } + }, + "visual_dr": { + "keep": [ + "book", + "book_other", + "bookend" + ] + } + }, + "git_sha": null, + "collect_runtime": { + "max_trajectories": 1 + } +} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_on/seed_2021/rec/stationbookendxr/000/sim_info/0/actions.npz b/N034/sawyer_umi/dr_on/seed_2021/rec/stationbookendxr/000/sim_info/0/actions.npz new file mode 100644 index 0000000000000000000000000000000000000000..48fd83192eceaccf905faf6a0efa01c2fb1f0b86 --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2021/rec/stationbookendxr/000/sim_info/0/actions.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bff15f0ec24c55d6ca0e3d9341d5d3a63a7dedfcc2ce38f882d4430cb25edbce +size 548263 diff --git a/N034/sawyer_umi/dr_on/seed_2021/rec/stationbookendxr/000/sim_info/0/device_commands.jsonl b/N034/sawyer_umi/dr_on/seed_2021/rec/stationbookendxr/000/sim_info/0/device_commands.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N034/sawyer_umi/dr_on/seed_2021/rec/stationbookendxr/000/sim_info/0/device_events.jsonl b/N034/sawyer_umi/dr_on/seed_2021/rec/stationbookendxr/000/sim_info/0/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N034/sawyer_umi/dr_on/seed_2021/rec/stationbookendxr/000/sim_info/0/scene_snapshot.json b/N034/sawyer_umi/dr_on/seed_2021/rec/stationbookendxr/000/sim_info/0/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..b9a1681e435d538fa5db89854ff74686125e179b --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2021/rec/stationbookendxr/000/sim_info/0/scene_snapshot.json @@ -0,0 +1,509 @@ +{ + "trajectory_id": 0, + "env_id": 0, + "run_id": "stationbookendxr/000", + "task_type": "BookendXRCommand", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])", + "avatars": "avatar_manager.set_avatars_state(snapshot['avatars'], env_ids=[env_id]) (present when the scene has animated avatars)" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "table_A": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.3456236314222738, + 0.19075829820448897, + 0.18 + ], + "ori": [ + 0.9999797344207764, + 0.0, + 0.0, + -0.00637071905657649 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.45, + 0.35 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + } + }, + "type_specific": {} + } + ], + "table_B": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 1.7353778432795572, + 2.977148284075784, + 0.18 + ], + "ori": [ + 0.9990823268890381, + 0.0, + 0.0, + 0.042831361293792725 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.45, + 0.35 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.9, + 0.5, + 0.3 + ] + } + }, + "type_specific": {} + } + ], + "slot_left": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.3736504218658815, + 0.0711056801076412, + 0.3475 + ], + "ori": [ + 0.9999797344207764, + 0.0, + 0.0, + -0.00637071905657649 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.4, + 0.3, + 0.2 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.01, + 0.12, + 0.035 + ] + } + }, + "type_specific": {} + } + ], + "slot_right": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.3206547239881481, + 0.07043039760971395, + 0.3475 + ], + "ori": [ + 0.9999797344207764, + 0.0, + 0.0, + -0.00637071905657649 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.4, + 0.3, + 0.2 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.01, + 0.12, + 0.035 + ] + } + }, + "type_specific": {} + } + ], + "book": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -0.3472234904766083, + 0.06519068777561188, + 0.40000003576278687 + ], + "ori": [ + 0.7115972638130188, + 8.92867547008791e-07, + 3.7764039007015526e-07, + 0.7025875449180603 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.78, + 0.12, + 0.12 + ], + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.05, + "physics_material": { + "static_friction": 1.5, + "dynamic_friction": 1.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.1, + 0.035, + 0.14 + ] + } + }, + "type_specific": { + "linear_velocity": [ + -0.0001931467850226909, + -5.751120625063777e-06, + -5.28359851159621e-05 + ], + "angular_velocity": [ + 8.899171371012926e-05, + -0.002690854948014021, + -0.00012842034630011767 + ] + } + } + ], + "plate": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 1.7155408223504414, + 2.8750760420084234, + 0.37049999999999994 + ], + "ori": [ + 0.9990823268890381, + 0.0, + 0.0, + 0.042831361293792725 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.35, + 0.35, + 0.4 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "physics_material": { + "static_friction": 1.0, + "dynamic_friction": 1.0, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.012, + 0.14, + 0.08 + ] + } + }, + "type_specific": {} + } + ], + "bookend": [ + { + "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MMB_A07/bookend_l/Object.usda", + "pose": { + "pos": [ + 1.8308138847351074, + 2.9019789695739746, + 0.3300001621246338 + ], + "ori": [ + 0.6761717200279236, + 5.662441253662109e-07, + 6.109476089477539e-07, + 0.7367439866065979 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.6, + "physics_material": { + "static_friction": 0.2, + "dynamic_friction": 0.15, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.6864123507693876e-06, + -3.352526789512922e-08, + -4.763203833135776e-06 + ], + "angular_velocity": [ + -0.0001350642996840179, + 0.0001049550119205378, + -1.600027303538809e-06 + ] + } + } + ] + } + ], + "artifacts": [ + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1000.0, + "texture": null, + "color": [ + 0.85, + 0.85, + 0.85 + ] + } + } + }, + "robots": { + "RidgebackSawyerUmi": { + "root_pose": [ + [ + -3.356022596359253, + -2.0892906188964844, + 0.05000000074505806, + 0.8997000455856323, + 0.0, + 0.0, + 0.4365086555480957 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.600000023841858, + 0.0, + 0.5, + 0.0, + -2.319999933242798, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "head": [ + [ + 0.21660000085830688, + 0.0, + -0.04500000178813934, + -0.6743797063827515, + 0.21263112127780914, + -0.21263112127780914, + 0.6743797659873962 + ] + ], + "wrist": [ + [ + 0.05979999899864197, + 0.0, + 0.029999999329447746, + 6.123234262925839e-17, + 0.7071067690849304, + 0.7071067690849304, + -4.329780301713277e-17 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_on/seed_2021/rec/stationbookendxr/000/sim_info/0/sim_states.npz b/N034/sawyer_umi/dr_on/seed_2021/rec/stationbookendxr/000/sim_info/0/sim_states.npz new file mode 100644 index 0000000000000000000000000000000000000000..054c8b47fd41e515810ed2d74c38cfb141157c7c --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2021/rec/stationbookendxr/000/sim_info/0/sim_states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aa66b7376fdabc73c72beb079603d1bd7ef831bcdef07f8061931c29ac75e253 +size 754077 diff --git a/N034/sawyer_umi/dr_on/seed_2021/rec/stationbookendxr/000/sim_info/magicsim_manifest.json b/N034/sawyer_umi/dr_on/seed_2021/rec/stationbookendxr/000/sim_info/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..b78cd46cda37b8d6a38f2dc4df72584bcd07b4b7 --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2021/rec/stationbookendxr/000/sim_info/magicsim_manifest.json @@ -0,0 +1,233 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 03:14:36" + }, + "embodiment": { + "robots": [ + { + "name": "RidgebackSawyerUmi", + "cfg": "RidgebackSawyerUmiCfg", + "type": "mobilemanip", + "joint_names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 11, + "nan_policy": "from_raw", + "segments": [ + { + "name": "RidgebackSawyerUmi.base_action", + "start": 0, + "end": 3, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint" + ], + "source": "HolonomicAction", + "names_source": "_joint_names" + }, + { + "name": "RidgebackSawyerUmi.arm_action", + "start": 3, + "end": 10, + "names": [ + "frame0.pos_x", + "frame0.pos_y", + "frame0.pos_z", + "frame0.quat_w", + "frame0.quat_x", + "frame0.quat_y", + "frame0.quat_z" + ], + "source": "PinkInverseKinematicsAction", + "names_source": "pink_layout" + }, + { + "name": "RidgebackSawyerUmi.eef_action", + "start": 10, + "end": 11, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 15, + "segments": [ + { + "name": "RidgebackSawyerUmi.joint_pos", + "start": 0, + "end": 13, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ], + "source": "ObservationManager", + "names_source": "joint_names" + }, + { + "name": "RidgebackSawyerUmi.gripper_pos", + "start": 13, + "end": 15, + "names": [ + "gripper_0", + "gripper_1" + ], + "source": "ObservationManager", + "names_source": "generated" + } + ] + }, + "joint_vel_layout": { + "dim": 13, + "segments": [ + { + "name": "RidgebackSawyerUmi.joint_vel", + "start": 0, + "end": 13, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "action_levels": { + "L0": "task command list (collect.auto_collect_info.current_action)", + "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)", + "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)", + "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy", + "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)" + }, + "cameras": { + "head": { + "intrinsics": { + "K": [ + [ + 355.55555555555554, + 0.0, + 320.0 + ], + [ + 0.0, + 355.55555555555554, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 83.97442499163331, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.21660000085830688, + 0.0, + -0.04500000178813934 + ], + "quat": [ + -0.6743797063827515, + 0.21263112127780914, + -0.21263112127780914, + 0.6743797659873962 + ] + }, + "wrist": { + "intrinsics": { + "K": [ + [ + 320.0, + 0.0, + 320.0 + ], + [ + 0.0, + 320.0, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 90.0, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.05979999899864197, + 0.0, + 0.029999999329447746 + ], + "quat": [ + 6.123234262925839e-17, + 0.7071067690849304, + 0.7071067690849304, + -4.329780301713277e-17 + ] + } + }, + "generated_run": { + "run_id": "stationbookendxr/000", + "task_type": "BookendXRCommand" + } +} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_on/seed_2021/rec/stationbookendxr/000/visual_dr.json b/N034/sawyer_umi/dr_on/seed_2021/rec/stationbookendxr/000/visual_dr.json new file mode 100644 index 0000000000000000000000000000000000000000..dc89b555be494cc148e2bfc4cea2accf1cc345f1 --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2021/rec/stationbookendxr/000/visual_dr.json @@ -0,0 +1,679 @@ +{ + "version": 1, + "settings": { + "enabled": false, + "keep": [ + "book", + "book_other", + "bookend" + ], + "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": 2021, + "seeds": { + "0": 2021 + }, + "lights": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/RectLight", + "type": "RectLight", + "intensity": 16169.818742, + "intensity_base": 15000.0, + "enable_color_temperature": true, + "color_temperature_k": 5296.821738, + "rotate_deg": [ + -2.744, + 0.839, + -2.322 + ] + } + ], + "domes": [ + { + "path": "/World/background", + "type": "DomeLight", + "intensity": 1452.327263, + "intensity_base": 1000.0, + "enable_color_temperature": true, + "color_temperature_k": 6371.013957, + "rotate_deg": [ + 0.0, + 0.0, + 135.865 + ], + "dome": { + "path": "/World/background", + "hdr_base": null, + "hdr": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Background/kloofendal_48d_partly_cloudy_4k.hdr", + "color": [ + 0.825775, + 0.71689, + 0.82841 + ] + } + } + ], + "materials": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light", + "shader": "omnipbr", + "color": [ + 0.8338, + 0.8419, + 0.8066 + ], + "color_base": [ + 1.0, + 1.0, + 1.0 + ], + "roughness": 0.445844, + "roughness_base": 0.5, + "bound_prims": 1 + } + ], + "display_colors": [], + "swapped": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/ParquetFloor", + "role": "ground", + "mdl": "Ground/Large_Granite_Paving.mdl", + "material": "/MmbVdrLooks/Ground_Large_Granite_Paving", + "bound_prims": 1, + "pool_size": 42, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic", + "role": "wall", + "mdl": "Source/Paint/Paint_Gun_Metal.mdl", + "material": "/MmbVdrLooks/Source_Paint_Paint_Gun_Metal", + "bound_prims": 17, + "pool_size": 28, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic2", + "role": "wall", + "mdl": "Source/Masonry/Facade_Brick_Grey.mdl", + "material": "/MmbVdrLooks/Source_Masonry_Facade_Brick_Grey", + "bound_prims": 22, + "pool_size": 28, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WoodWall", + "role": "wall", + "mdl": "Source/Paint/Chalk_Paint.mdl", + "material": "/MmbVdrLooks/Source_Paint_Chalk_Paint", + "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": { + "book": 1, + "book_other": 0, + "bookend": 2 + }, + "physics_skip": { + "physics_binding": 8, + "rigid_body": 95, + "examples": [ + [ + "/World/envs/env_0/Robot_0/base_link/visuals/base_link_visuals_mesh_0/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/base_link_visuals_mesh_1/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_2/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_3/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_4/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_5/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_6/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_7/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/collisions/base_link_collisions_mesh_0/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/collisions/base_link_collisions_mesh_1/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/front_laser/visuals/front_laser_visuals/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/front_laser/collisions/mesh_0/box", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/rear_laser/visuals/rear_laser_visuals/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/rear_laser/collisions/mesh_0/box", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_arm_base_link/visuals/right_arm_base_link_visuals_mesh_0/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_arm_base_link/visuals/right_arm_base_link_visuals_mesh_0/World/mesh/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_arm_base_link/visuals/right_arm_base_link_visuals_mesh_0/World/mesh/mesh1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_arm_base_link/collisions/mesh_0/cylinder", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh2", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh3", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh4", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh5", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh6", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/collisions/mesh_0/sphere", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh3", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh5", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh2", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh6", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh4", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh7", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh8", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh9", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/collisions/mesh_0/sphere", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/screen/visuals/mesh_0/box", + "rigid_body" + ] + ] + }, + "material_library": { + "root": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Material", + "pool_sizes": { + "ground": 42, + "wall": 28, + "furniture": 38, + "object": 54 + } + }, + "no_swap": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass", + "reason": "glass", + "bound_prims": 1 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light", + "reason": "emissive", + "bound_prims": 1 + } + ], + "unsupported": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass", + "mdl": "OmniGlass.mdl", + "bound_prims": 1 + } + ] + }, + { + "env_ids": [ + 0 + ], + "reset_index": 1, + "episode_seed": 2021, + "seeds": { + "0": 2021 + }, + "lights": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/RectLight", + "type": "RectLight", + "intensity": 16169.818742, + "intensity_base": 15000.0, + "enable_color_temperature": true, + "color_temperature_k": 5296.821738, + "rotate_deg": [ + -2.744, + 0.839, + -2.322 + ] + } + ], + "domes": [ + { + "path": "/World/background", + "type": "DomeLight", + "intensity": 1452.327263, + "intensity_base": 1000.0, + "enable_color_temperature": true, + "color_temperature_k": 6371.013957, + "rotate_deg": [ + 0.0, + 0.0, + 135.865 + ], + "dome": { + "path": "/World/background", + "hdr_base": null, + "hdr": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Background/kloofendal_48d_partly_cloudy_4k.hdr", + "color": [ + 0.825775, + 0.71689, + 0.82841 + ] + } + } + ], + "materials": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light", + "shader": "omnipbr", + "color": [ + 0.8338, + 0.8419, + 0.8066 + ], + "color_base": [ + 1.0, + 1.0, + 1.0 + ], + "roughness": 0.445844, + "roughness_base": 0.5, + "bound_prims": 1 + } + ], + "display_colors": [], + "swapped": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/ParquetFloor", + "role": "ground", + "mdl": "Ground/Large_Granite_Paving.mdl", + "material": "/MmbVdrLooks/Ground_Large_Granite_Paving", + "bound_prims": 1, + "pool_size": 42, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic", + "role": "wall", + "mdl": "Source/Paint/Paint_Gun_Metal.mdl", + "material": "/MmbVdrLooks/Source_Paint_Paint_Gun_Metal", + "bound_prims": 17, + "pool_size": 28, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic2", + "role": "wall", + "mdl": "Source/Masonry/Facade_Brick_Grey.mdl", + "material": "/MmbVdrLooks/Source_Masonry_Facade_Brick_Grey", + "bound_prims": 22, + "pool_size": 28, + "bind_failed": 0 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WoodWall", + "role": "wall", + "mdl": "Source/Paint/Chalk_Paint.mdl", + "material": "/MmbVdrLooks/Source_Paint_Chalk_Paint", + "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": { + "book": 1, + "book_other": 0, + "bookend": 2 + }, + "physics_skip": { + "physics_binding": 8, + "rigid_body": 95, + "examples": [ + [ + "/World/envs/env_0/Robot_0/base_link/visuals/base_link_visuals_mesh_0/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/base_link_visuals_mesh_1/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_2/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_3/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_4/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_5/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_6/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/visuals/mesh_7/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/collisions/base_link_collisions_mesh_0/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/base_link/collisions/base_link_collisions_mesh_1/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/front_laser/visuals/front_laser_visuals/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/front_laser/collisions/mesh_0/box", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/rear_laser/visuals/rear_laser_visuals/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/rear_laser/collisions/mesh_0/box", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_arm_base_link/visuals/right_arm_base_link_visuals_mesh_0/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_arm_base_link/visuals/right_arm_base_link_visuals_mesh_0/World/mesh/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_arm_base_link/visuals/right_arm_base_link_visuals_mesh_0/World/mesh/mesh1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_arm_base_link/collisions/mesh_0/cylinder", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh2", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh3", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh4", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh5", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh6", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/right_l0/collisions/mesh_0/sphere", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh3", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh5", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh2", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh6", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh4", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh7", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh8", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh1", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh9", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/head/collisions/mesh_0/sphere", + "rigid_body" + ], + [ + "/World/envs/env_0/Robot_0/screen/visuals/mesh_0/box", + "rigid_body" + ] + ] + }, + "material_library": { + "root": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Material", + "pool_sizes": { + "ground": 42, + "wall": 28, + "furniture": 38, + "object": 54 + } + }, + "no_swap": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass", + "reason": "glass", + "bound_prims": 1 + }, + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light", + "reason": "emissive", + "bound_prims": 1 + } + ], + "unsupported": [ + { + "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass", + "mdl": "OmniGlass.mdl", + "bound_prims": 1 + } + ] + } + ] +} \ No newline at end of file diff --git a/N034/sawyer_umi/dr_on/seed_2021/report.episodes.jsonl b/N034/sawyer_umi/dr_on/seed_2021/report.episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a309e64da4f3ef8d385dec0e40d59c663af00d3d --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2021/report.episodes.jsonl @@ -0,0 +1 @@ +{"task_id": "N034", "task_version": "EXT60-MobileAvatar-v3", "instruction": null, "agent_id": "a07", "family_id": "bookend_support", "primary_category": "C2", "level": "easy", "embodiment": "sawyer_umi", "scene_seed": 2021, "execution_mode": "expert_privileged_command", "station_layout": {"A": {"center": [-0.3456236314222738, 0.19075829820448897], "facing": 1.558, "stand": [-0.357, -0.679, 1.558]}, "B": {"center": [1.7353778432795572, 2.977148284075784], "facing": 1.656, "stand": [1.817, 2.031, 1.656]}}, "spawn_pose": [-3.356, -2.089, 0.903], "base_path": [[-3.356, -2.089, 0.903], [-3.356, -2.089, 0.903], [-3.356, -2.089, 0.903], [-3.356, -2.089, 0.903], [-3.356, -2.089, 0.903], [-3.268, -2.02, 0.709], [-3.14, -1.941, 0.55], [-3.003, -1.879, 0.493], [-2.864, -1.82, 0.472], [-2.727, -1.761, 0.465], [-2.59, -1.699, 0.462], [-2.454, -1.635, 0.461], [-2.318, -1.571, 0.461], [-2.184, -1.504, 0.461], [-2.049, -1.437, 0.461], [-1.915, -1.37, 0.461], [-1.78, -1.303, 0.461], [-1.646, -1.236, 0.461], [-1.511, -1.171, 0.461], [-1.377, -1.104, 0.461], [-1.242, -1.037, 0.461], [-1.108, -0.97, 0.461], [-0.973, -0.903, 0.461], [-0.838, -0.837, 0.461], [-0.704, -0.771, 0.461], [-0.582, -0.738, 0.461], [-0.503, -0.717, 0.461], [-0.451, -0.704, 0.461], [-0.416, -0.695, 0.461], [-0.404, -0.69, 0.668], [-0.404, -0.69, 1.067], [-0.404, -0.691, 1.329], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.404, -0.691, 1.441], [-0.403, -0.691, 1.137], [-0.403, -0.691, 0.737], [-0.356, -0.666, 0.43], [-0.213, -0.62, 0.299], [-0.066, -0.591, 0.251], [0.079, -0.552, 0.234], [0.215, -0.496, 0.318], [0.347, -0.419, 0.48], [0.468, -0.333, 0.77], [0.548, -0.203, 0.881], [0.648, -0.087, 1.166], [0.734, 0.043, 1.378], [0.767, 0.19, 1.232], [0.819, 0.33, 1.102], [0.891, 0.462, 1.055], [0.97, 0.59, 1.038], [1.049, 0.718, 1.032], [1.128, 0.846, 1.03], [1.206, 0.975, 1.029], [1.284, 1.103, 1.029], [1.361, 1.231, 1.029], [1.438, 1.36, 1.029], [1.515, 1.489, 1.029], [1.593, 1.617, 1.029], [1.667, 1.746, 1.029], [1.72, 1.847, 1.029], [1.756, 1.911, 1.029], [1.779, 1.953, 1.029], [1.793, 1.98, 1.029], [1.795, 1.987, 1.288], [1.795, 1.987, 1.484], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537], [1.795, 1.987, 1.537]], "stage_events": [{"tick": 515, "event": "enter_station", "station": "A", "xy": [-1.167, -0.999]}, {"tick": 2993, "event": "leave_station", "station": "A", "xy": [1.023, 0.678]}, {"tick": 3161, "event": "enter_station", "station": "B", "xy": [1.547, 1.54]}], "transport_state": {"book": {"held": false, "grasps": 1}}, "manipulation_success": true, "mobile_success": true, "full_success": true, "failure_reason": null, "fail_class_hint": null, "distance_to_first_interaction": 2.45, "interstation_path_lengths": [3.961], "station_transition_order": ["A", "B"], "final_approach_pose": [1.795, 1.987, 1.537], "regrasp_events": 0, "control_ticks": 5405, "wall_s": 926.1, "phase": "done", "state": "success: task sequence complete", "check": {"book": [1.742, 2.875, 0.4], "dist_wrist": 0.221, "held": false, "upright_deg": 0.0, "rest_z": true, "gaps": {"plate": 0.0002, "bookend": -0.0055}, "pushed": true, "released": true, "at_rest": true, "manipulation_success": true}, "route": ["A", "B"], "total_path_m": 6.92, "planner_seeds": "default"} diff --git a/N034/sawyer_umi/dr_on/seed_2021/report.json b/N034/sawyer_umi/dr_on/seed_2021/report.json new file mode 100644 index 0000000000000000000000000000000000000000..94318871e17144e5bf5a3ae77a6311a922830a4a --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2021/report.json @@ -0,0 +1,1426 @@ +{ + "task_id": "N034", + "robot": "sawyer_umi", + "level": "easy", + "seed": 2021, + "episodes_requested": 1, + "episodes": [ + { + "task_id": "N034", + "task_version": "EXT60-MobileAvatar-v3", + "instruction": null, + "agent_id": "a07", + "family_id": "bookend_support", + "primary_category": "C2", + "level": "easy", + "embodiment": "sawyer_umi", + "scene_seed": 2021, + "execution_mode": "expert_privileged_command", + "station_layout": { + "A": { + "center": [ + -0.3456236314222738, + 0.19075829820448897 + ], + "facing": 1.558, + "stand": [ + -0.357, + -0.679, + 1.558 + ] + }, + "B": { + "center": [ + 1.7353778432795572, + 2.977148284075784 + ], + "facing": 1.656, + "stand": [ + 1.817, + 2.031, + 1.656 + ] + } + }, + "spawn_pose": [ + -3.356, + -2.089, + 0.903 + ], + "base_path": [ + [ + -3.356, + -2.089, + 0.903 + ], + [ + -3.356, + -2.089, + 0.903 + ], + [ + -3.356, + -2.089, + 0.903 + ], + [ + -3.356, + -2.089, + 0.903 + ], + [ + -3.356, + -2.089, + 0.903 + ], + [ + -3.268, + -2.02, + 0.709 + ], + [ + -3.14, + -1.941, + 0.55 + ], + [ + -3.003, + -1.879, + 0.493 + ], + [ + -2.864, + -1.82, + 0.472 + ], + [ + -2.727, + -1.761, + 0.465 + ], + [ + -2.59, + -1.699, + 0.462 + ], + [ + -2.454, + -1.635, + 0.461 + ], + [ + -2.318, + -1.571, + 0.461 + ], + [ + -2.184, + -1.504, + 0.461 + ], + [ + -2.049, + -1.437, + 0.461 + ], + [ + -1.915, + -1.37, + 0.461 + ], + [ + -1.78, + -1.303, + 0.461 + ], + [ + -1.646, + -1.236, + 0.461 + ], + [ + -1.511, + -1.171, + 0.461 + ], + [ + -1.377, + -1.104, + 0.461 + ], + [ + -1.242, + -1.037, + 0.461 + ], + [ + -1.108, + -0.97, + 0.461 + ], + [ + -0.973, + -0.903, + 0.461 + ], + [ + -0.838, + -0.837, + 0.461 + ], + [ + -0.704, + -0.771, + 0.461 + ], + [ + -0.582, + -0.738, + 0.461 + ], + [ + -0.503, + -0.717, + 0.461 + ], + [ + -0.451, + -0.704, + 0.461 + ], + [ + -0.416, + -0.695, + 0.461 + ], + [ + -0.404, + -0.69, + 0.668 + ], + [ + -0.404, + -0.69, + 1.067 + ], + [ + -0.404, + -0.691, + 1.329 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.404, + -0.691, + 1.441 + ], + [ + -0.403, + -0.691, + 1.137 + ], + [ + -0.403, + -0.691, + 0.737 + ], + [ + -0.356, + -0.666, + 0.43 + ], + [ + -0.213, + -0.62, + 0.299 + ], + [ + -0.066, + -0.591, + 0.251 + ], + [ + 0.079, + -0.552, + 0.234 + ], + [ + 0.215, + -0.496, + 0.318 + ], + [ + 0.347, + -0.419, + 0.48 + ], + [ + 0.468, + -0.333, + 0.77 + ], + [ + 0.548, + -0.203, + 0.881 + ], + [ + 0.648, + -0.087, + 1.166 + ], + [ + 0.734, + 0.043, + 1.378 + ], + [ + 0.767, + 0.19, + 1.232 + ], + [ + 0.819, + 0.33, + 1.102 + ], + [ + 0.891, + 0.462, + 1.055 + ], + [ + 0.97, + 0.59, + 1.038 + ], + [ + 1.049, + 0.718, + 1.032 + ], + [ + 1.128, + 0.846, + 1.03 + ], + [ + 1.206, + 0.975, + 1.029 + ], + [ + 1.284, + 1.103, + 1.029 + ], + [ + 1.361, + 1.231, + 1.029 + ], + [ + 1.438, + 1.36, + 1.029 + ], + [ + 1.515, + 1.489, + 1.029 + ], + [ + 1.593, + 1.617, + 1.029 + ], + [ + 1.667, + 1.746, + 1.029 + ], + [ + 1.72, + 1.847, + 1.029 + ], + [ + 1.756, + 1.911, + 1.029 + ], + [ + 1.779, + 1.953, + 1.029 + ], + [ + 1.793, + 1.98, + 1.029 + ], + [ + 1.795, + 1.987, + 1.288 + ], + [ + 1.795, + 1.987, + 1.484 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ], + [ + 1.795, + 1.987, + 1.537 + ] + ], + "stage_events": [ + { + "tick": 515, + "event": "enter_station", + "station": "A", + "xy": [ + -1.167, + -0.999 + ] + }, + { + "tick": 2993, + "event": "leave_station", + "station": "A", + "xy": [ + 1.023, + 0.678 + ] + }, + { + "tick": 3161, + "event": "enter_station", + "station": "B", + "xy": [ + 1.547, + 1.54 + ] + } + ], + "transport_state": { + "book": { + "held": false, + "grasps": 1 + } + }, + "manipulation_success": true, + "mobile_success": true, + "full_success": true, + "failure_reason": null, + "fail_class_hint": null, + "distance_to_first_interaction": 2.45, + "interstation_path_lengths": [ + 3.961 + ], + "station_transition_order": [ + "A", + "B" + ], + "final_approach_pose": [ + 1.795, + 1.987, + 1.537 + ], + "regrasp_events": 0, + "control_ticks": 5405, + "wall_s": 926.1, + "phase": "done", + "state": "success: task sequence complete", + "check": { + "book": [ + 1.742, + 2.875, + 0.4 + ], + "dist_wrist": 0.221, + "held": false, + "upright_deg": 0.0, + "rest_z": true, + "gaps": { + "plate": 0.0002, + "bookend": -0.0055 + }, + "pushed": true, + "released": true, + "at_rest": true, + "manipulation_success": true + }, + "route": [ + "A", + "B" + ], + "total_path_m": 6.92, + "planner_seeds": "default" + } + ], + "error": null, + "collect": { + "task": "N034", + "robot": "sawyer_umi", + "visual_dr": true, + "env": { + "MMB_COLLECT": "1", + "MMB_TASK_ID": "N034", + "MMB_CLEAN_VIEW": "1", + "MMB_REAL_ROBOT_LOOK": "1", + "MMB_VISUAL_DR": "1" + }, + "cameras": { + "head": { + "link": "Robot_0/head", + "pos": [ + 0.2166, + 0.0, + -0.045 + ], + "ori": [ + -0.0, + 35.0, + -90.0 + ], + "focal_length": 2.0, + "horizontal_aperture": 3.6, + "vertical_aperture": 2.7 + }, + "wrist": { + "link": "Robot_0/right_electric_gripper_base", + "pos": [ + 0.0598, + 0.0, + 0.03 + ], + "ori": [ + 180.0, + 0.0, + -90.0 + ], + "focal_length": 1.8, + "horizontal_aperture": 3.6, + "vertical_aperture": 2.7 + } + }, + "resolution": [ + 640, + 480 + ], + "camera_hz": 25, + "record": { + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + } + }, + "review_cameras": [], + "policy_obs_signature": [ + "/camera_info[0]/rgb[0]:(480, 640, 4):uint8", + "/camera_info[1]/rgb[0]:(480, 640, 4):uint8", + "/robot_state[0]/RidgebackSawyerUmi/base_ang_vel:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/base_heading_quat:(1, 4):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/base_lin_vel:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/base_pos:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/base_quat:(1, 4):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/eef_pos:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/eef_quat:(1, 4):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/eef_relative_pos:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/eef_relative_quat:(1, 4):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/eef_relatvie_pos_arm_base:(1, 3):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/gripper_pos:(1, 2):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/joint_effort:(1, 13):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/joint_pos:(1, 13):torch.float32", + "/robot_state[0]/RidgebackSawyerUmi/joint_vel:(1, 13):torch.float32" + ], + "n_success": 1, + "elapsed_s": 1208.7, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 46.4 + } +}